JP2018146462A - Information output device and information output method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a movable body with guidance information on a lane to be selected on the road on which the movable body travels.SOLUTION: An event information acquisition part 740 receives information transmitted from an analysis part 725 and a communication part 730, the information being on information on an event that may hinder a movable body MV from traveling, and derives, from the information, event information including the presence/absence of a traffic jam sequence waiting for parking and a travel hindering section. A determination part 770, when a traffic jam sequence waiting for parking is present on a lane on which the movable body should travel and a lane on which the movable body travels is the lane on which the movable body should travel, determines that lane change is necessary before the movable body MV reaches the travel hindering section. Sequentially, a selection part 775 selects traffic jam movable bodies having characteristic attributes in the traffic jam sequence waiting for parking as target movable bodies. A control part 790 then creates a guidance information output command including information on the guidance target movable bodies. When the timing to notify guidance information is reached, the control part 790 transmits the created guidance information output command to the creation part 780.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an information output device, an information output method, an information output program, and a recording medium on which the information output program is recorded.

  Conventionally, navigation devices arranged on a moving body such as a vehicle have been widely used. In recent years, the progress of the technology of the navigation apparatus is remarkable, and many functions are provided for the purpose of providing guidance guidance that is easy to understand for the user. As one of such functions, there is one that performs guidance guidance for changing lanes to a driver of a vehicle traveling in a plurality of lanes, and various techniques for performing the guidance guidance have been proposed.

  As one of such proposed technologies, when there are a plurality of lanes on the road, it is determined whether or not an event has occurred that serves as a reference material for necessity of lane change at a point where the vehicle is currently traveling. There is a guide for posting basic information for determining whether or not a lane change is necessary (see Patent Document 1: hereinafter referred to as “Conventional Example 1”). In the technology of the conventional example 1, lane change guidance is performed when a lane change event that requires a lane change is detected within a specified distance in front of the traveling lane.

  In addition, as another proposed technique, there is one that guides and guides a vehicle to change lanes according to traffic congestion in a lane when the vehicle is traveling on a road with multiple lanes (see Patent Document 2: This will be referred to as Conventional Example 2). In the technique of Conventional Example 2, in order to follow the optimum route, it is determined which lane that leads to the road junction should be traveled. If a traffic jam occurs in the lane leading to the road branch point and the traffic jam head position is before the road branch point, the traffic lane leading to the determined road branch point before the traffic jam head position Guidance to change lanes.

Japanese Patent Laying-Open No. 2015-155857 JP 2013-050397 A

  In the technology of Conventional Example 1 described above, when there is a congested vehicle line within a specified distance in front of the traveling lane when the traveling road has a plurality of lanes, the display guidance “There is a traffic jam ahead” is performed. I have to. However, such timing guidance may be too slow when the specified distance is short and the vehicle speed is high. In addition, the guidance at such timing may be too early when the specified distance is long and the vehicle speed is slow. As a result, in the technique of Conventional Example 1, there is a case where the guide information cannot be appropriately provided to the user.

  In the technique of Conventional Example 2 described above, guidance guidance is provided as to which lane is selected to travel when there is a congested vehicle train ahead when traveling on a road with multiple lanes. However, in the technique of Conventional Example 2, the timing for performing the guidance guidance is not set according to the traveling operation of the vehicle. As a result, in the technique of Conventional Example 2, even if the guidance is at an appropriate timing when the vehicle speed is a normal speed, it is not possible to change the lane to the lane leading to the road junction when the vehicle speed is faster than the normal speed. Even if a situation occurs or a lane change is made, there may be a situation where a driving operation with a margin cannot be performed. The occurrence of such a situation is not preferable from the viewpoint of appropriately performing guidance and guidance, and is not preferable from the viewpoint of safe driving.

  Further, in the techniques of the conventional examples 1 and 2, information on the lane is displayed on the display unit, but information is not provided for additional information such as a target that prompts the user to appropriately change the lane. As a result, in the technologies of the conventional examples 1 and 2, when the traffic jam queue is long, the driver does not know the advance preparation for starting the driving operation for changing the lane and the timing for starting the driving operation for changing the lane. was there.

  For this reason, the technique which can provide a user with the guidance information regarding the driving lane appropriately is desired. Meeting this requirement is one of the problems to be solved by the present invention.

  The invention according to claim 1 is a travel information acquisition unit that acquires travel information of a mobile object including the speed of the mobile object; a planned approach direction to a guide focus point on a road of a plurality of lanes, and the guide focus point A determination unit that determines a traveling lane on which the moving body should travel based on a planned leaving direction; an event information acquisition unit that acquires event information on an event that may cause travel obstruction of the moving body in the traveling lane; and the traveling information And a control unit that controls the output of guidance information related to the approach to the traveling lane based on the occurrence position of the event and the position of the guidance focus point.

  The invention according to claim 12 is an information output method used in an information output device including a travel information acquisition unit, a determination unit, an event information acquisition unit, and a control unit, wherein the travel information acquisition unit A travel information acquisition step of acquiring travel information of the mobile object including the speed of the mobile object; and the determination unit is configured to enter a planned entry direction to a guide focus point on a road in a plurality of lanes and to exit from the guide focus point. And a determination step of determining a traveling lane that the moving body should travel; and an event information acquisition step in which the event information acquisition unit acquires event information of an event that may cause a traveling disturbance of the moving body in the traveling lane An information output comprising: a control step in which the control unit controls the output of the guidance information regarding the approach to the traveling lane based on the travel information, the occurrence position of the event, and the position of the guidance attention point. Method A.

  A thirteenth aspect of the present invention is an information output program that causes a computer included in the information output apparatus to execute the information output method according to the twelfth aspect.

  The invention described in claim 14 is a recording medium in which the information output program according to claim 13 is recorded so as to be readable by a computer included in the information output apparatus.

It is a block diagram which shows the structure of the information output device which concerns on one Embodiment of this invention. It is a block diagram which shows roughly the structure of the information output device which concerns on one Example of this invention. It is a figure for demonstrating the content of the table for guidance target vehicle determination of FIG. It is a flowchart for demonstrating the production | generation and alerting | reporting process of the guidance information regarding a travel lane by the information output device of FIG. It is a flowchart for demonstrating the production | generation and alerting | reporting process of the guidance information regarding a lane accompanying the congestion line generation | occurrence | production of FIG. It is a flowchart for demonstrating the production | generation and alerting | reporting process of guidance information corresponding to the congestion line of FIG. It is a flowchart for demonstrating the production | generation and alerting | reporting process of guidance information corresponding to the waiting queue for warehousing of FIG. It is a flowchart for demonstrating the determination process of the guidance target vehicle in consideration of the attribute information of FIG. It is a flowchart for demonstrating the production | generation process of the approach guidance information to the advancing lane of FIG. It is a flowchart for demonstrating the alerting | reporting process of the guidance information of FIG. It is a flowchart for demonstrating the production | generation and process of guidance information corresponding to the traffic congestion row | line | column near the guidance attention point of FIG. It is FIG. (1) which shows the example of an image display of the approach guidance information to an approach lane. It is FIG. (2) which shows the example of an image display of the approach guidance information to an approach lane.

  Hereinafter, an embodiment of the present invention will be described with reference to FIG. In the following description and drawings, the same or equivalent elements are denoted by the same reference numerals, and redundant description is omitted.

[Constitution]
FIG. 1 is a block diagram showing a configuration of an information output apparatus 700 according to an embodiment. The information output device 700 is disposed in the moving body MV. In the present embodiment, in addition to the information output device 700, the moving body MV is provided with a position detection unit 910 and a travel operation detection unit 920.

  The position detector 910 sequentially detects the current position of the moving body MV. Then, the position detection unit 910 sends the detected current position of the moving body MV to the information output device 700.

  The traveling operation detection unit 920 described above sequentially detects the current traveling operation of the moving body MV. Then, the traveling operation detection unit 920 sends the detected traveling operation of the moving body MV to the information output device 700. In the present embodiment, the traveling operation of the moving body MV includes the speed of the moving body MV.

<Configuration of Information Output Device 700>
The configuration of the information output device 700 will be described.

  As illustrated in FIG. 1, the information output device 700 includes a storage unit 710, a travel information acquisition unit 715, an imaging unit 720, an analysis unit 725, and a communication unit 730. In addition, the information output device 700 includes an event information acquisition unit 740, a specification unit 750, a determination unit 760, and a determination unit 770. Furthermore, the information output device 700 includes a selection unit 775, a generation unit 780, a notification unit 785, and a control unit 790.

  The storage unit 710 includes a nonvolatile storage element. The storage unit 710 stores map information. The event information acquisition unit 740, the identification unit 750, the determination unit 760, and the determination unit 770 are accessible to the storage unit 710.

  The map information includes node (intersection etc.) position information, road link information connecting the nodes, POI (Point Of Interests) information, and the like. Here, the road link information includes information on the number of lanes of the road link. The information on the number of lanes of the road link includes information on lane divisions such as a straight lane, a left turn lane, and a right turn lane, information on a lane change prohibition section, and the like. The POI information includes a facility name, a facility position, and the like.

  The travel information acquisition unit 715 acquires the current position of the moving body MV sent from the position detection unit 910. The travel information acquisition unit 715 acquires travel information including the current speed of the moving object MV sent from the travel operation detection unit 920. Then, the travel information acquisition unit 715 sends information on the current position of the moving object MV to the event information acquisition unit 740, the specification unit 750, and the determination unit 760. In addition, the travel information acquisition unit 715 sends information on the current position and speed of the moving body MV to the control unit 790.

  The imaging unit 720 captures at least an image in front of the moving body MV in an imaging field including the moving direction of the moving body MV. The imaging unit 720 includes, for example, a wide viewing angle camera installed in a front part of the moving body MV. The captured image captured by the imaging unit 720 is sent to the analysis unit 725.

  The analysis unit 725 receives the captured image sent from the imaging unit 720. Then, the analysis unit 725 analyzes the captured image and derives information related to event information (hereinafter also referred to as “event information”) that may be a traveling disturbance of the moving body MV on the traveling direction side of the moving body MV. . Information regarding the event information thus derived is sent to the event information acquisition unit 740.

  Here, “events” (hereinafter also referred to as “interfering events”) that can be a travel disturbance of the mobile MV include “congestion queues” such as a traffic jam waiting traffic and a traffic signal waiting traffic jam. The “information related to event information” derived by the analysis unit 725 is information for determining the occurrence of the event. The “information on event information” includes the presence / absence of blinking of a hazard lamp of another moving body located in front of the moving body MV, the presence / absence of blinking of a direction indicator (hereinafter referred to as “winker”), and Includes whether or not the brake lamp is lit. In the following description, the presence / absence of blinking of a hazard lamp, the presence / absence of blinking of a blinker, and the presence / absence of lighting of a brake lamp are collectively referred to as “lighting / flashing of an indicator lamp”.

  Further, “information related to event information” includes attribute information indicating the attributes of other moving objects located in front of the moving object MV. In the present embodiment, the attribute information includes color information, type information, and type information of the moving object.

  The communication unit 730 performs communication with an external device and receives information related to event information from the external device. In the present embodiment, the communication unit 730 communicates with an external server (not shown) and with another mobile unit (not shown) that exists in the vicinity of the mobile unit MV, and information on event information Is supposed to receive. Then, the communication unit 730 sends information regarding the received event information to the event information acquisition unit 740.

  Here, the other mobile objects that can communicate with the communication unit 730 are the presence / absence of lighting / flashing of the indicator light of the other mobile object, the attribute information of the other mobile object, and the current position of the other mobile object, The transmission is made to an external server and a mobile body existing around the other mobile body.

  In addition, when another moving body includes an imaging unit configured similarly to the imaging unit 720 and an analyzing unit configured similar to the analyzing unit 725, an image in front of the other moving body is displayed. Information related to event information derived by analysis may be transmitted to a mobile unit existing in the vicinity of the external server and the other mobile unit.

  In addition, the communication unit 730 receives information on the presence / absence of lighting / flashing of the indicator light of the moving body MV and information on the current position of the moving body MV sent from a drive control unit (not shown) that controls driving of the moving body MV. It is like that. Then, the communication unit 730 uses the information on the presence / absence of lighting / flashing of the indicator light of the mobile unit MV and the information on the current position of the mobile unit MV to other mobile units existing around the external server and the mobile unit MV. To send to.

  The event information acquisition unit 740 receives information related to event information sent from the analysis unit 725. The event information acquisition unit 740 receives information related to event information sent from the communication unit 730. Furthermore, the event information acquisition unit 740 receives the current position of the moving object MV sent from the travel information acquisition unit 715.

  Then, the event information acquisition unit 740 refers to the map information stored in the storage unit 710 and the current position of the moving object MV, and based on information related to event information (hereinafter also referred to as “event occurrence determination information”), the lane Event information including the presence / absence of a congestion queue is derived and acquired for each event.

  For example, when receiving event occurrence determination information that a predetermined number or more of other moving objects are lighting a brake lamp on the road, the event information acquisition unit 740 is arranged around the other moving objects in the vicinity. It is determined that a congestion queue has occurred. In addition, when receiving event occurrence determination information indicating that a certain number or more of the other moving objects in the vicinity are stopped by blinking the left turn signal on the road, the event information acquisition unit 740 displays the other moving objects in the vicinity. It is judged that there is a traffic jam line for the left turn.

  Here, the predetermined number is determined in advance based on experiments, simulations, experiences, and the like from the viewpoint of detecting occurrence of traffic jams.

  If it is determined that there is a traffic jam queue, the event information acquisition unit 740 identifies the section of the traffic jam queue as a travel disturbance zone due to the traffic jam queue. Next, the event information acquisition unit 740, when the head of the travel obstruction section is located at the entrance of a facility such as a parking lot entrance of the facility, It is also referred to as “traffic jam”). Further, the event information acquisition unit 740, when there is a traffic jam line at the guidance focus point, the traffic jam that has occurred is a traffic jam that is not a traffic jam waiting traffic (hereinafter also referred to as “the traffic jam near the guidance focus point”). Identifies it. Here, when the generated traffic jam is identified as “traffic waiting traffic”, the event information acquisition unit 740 refers to the map information, and the distance between the guidance focus point and the facility entrance. (Hereinafter also referred to as “distance between facilities”).

  Then, the circumstance information acquisition unit 740 includes information related to the point of interest for guidance, presence / absence of a traffic jam column, information on the type of traffic jam, distance between facilities, and attribute information of the traffic jam moving body included in the traffic jam queue. Event information including the section information is sent to the determination unit 770, the selection unit 775, and the control unit 790.

  Said specific | specification part 750 receives the present position of the moving body MV sent from the traveling information acquisition part 715. FIG. And the specific | specification part 750 is referring to the map information in the memory | storage part 710, and the mobile body MV is drive | working when the mobile body MV is drive | working the road of multiple lanes and is approaching the guidance focus point. Identify the driving lane. Information on the travel lane of the moving body MV specified in this way is sent to the determination unit 770.

  Here, the guidance focus point is a point where guidance guidance is performed on the road in the route of the mobile MV searched by a search unit (not shown), and an example is an intersection.

  The determination unit 760 receives the current position of the moving body MV sent from the travel information acquisition unit 715. Then, the determination unit 760 refers to the map information in the storage unit 710, and when the moving body MV is traveling on a road with a plurality of lanes and approaches the guidance focus point, the planned entry direction to the guidance focus point And a traveling lane that the moving body MV should travel from the current position to the guidance attention point is determined from the planned exit direction from the guidance attention point. Information on the traveling lane of the moving body MV determined in this way is sent to the determination unit 770.

  Here, when the guidance focus point is an intersection and the mobile MV is scheduled to turn left at the intersection that is the guidance focus point, the traveling lane is generally the leftmost left turn lane. In addition, when the guidance focus point is an intersection and the mobile MV is scheduled to turn right at the intersection that is the guidance focus point, the traveling lane is generally the rightmost right turn lane.

  The determination unit 770 receives the travel lane information of the moving body MV sent from the specifying unit 750. Further, the determination unit 770 receives the information on the traveling lane of the moving body MV sent from the determination unit 760. Furthermore, the determination unit 770 receives event information sent from the event information acquisition unit 740. Upon receiving these pieces of information, the determination unit 770 determines whether or not it is necessary to change the lane of the moving body MV according to the travel lane, the traveling lane, and the event information of the moving body MV. Then, the determination unit 770 sends the content of the determination result to the generation unit 780. Details of the processing by the determination unit 770 will be described later.

  The selection unit 775 receives the event information sent from the event information acquisition unit 740. Then, when the event information includes information indicating that the traffic waiting for warehousing is “present”, the selection unit 775 determines the characteristic in the traffic jam column from the content of each attribute information of the traffic jam moving body included in the traffic jam queue. A traffic jam moving body having various attributes is selected as a target moving body. Then, the selection unit 775 sends a selection result including the attribute information of the selected target moving body to the control unit 790. If the target moving body is not selected, the selection unit 775 sends a message to that effect to the control unit 790.

  The generation unit 780 receives the determination result sent from the determination unit 770. In addition, the generation unit 780 receives a guidance information output command sent from the control unit 790. Then, the generation unit 780 generates guidance information related to the lane on the road to travel according to the content of the determination result and the guidance information output command. The guidance information generated in this way is sent to the notification unit 785. Details of the processing by the generation unit 780 will be described later.

  The notification unit 785 includes a display unit, a sound output unit, and the like. The notification unit 785 receives the guide information sent from the generation unit 780. And the alerting | reporting part 785 alert | reports the display output of the guidance regarding the lane on the road which the mobile body MV should drive | work, audio | voice output, etc. based on the said guidance information.

  The control unit 790 receives event information including information on the travel disturbance section sent from the event information acquisition unit 740. In addition, the control unit 790 receives information on the current position and speed of the moving object MV sent from the travel information acquisition unit 715. Further, the control unit 790 receives the selection result sent from the selection unit 775. Then, the control unit 790 generates a guidance information output command according to the content of the event information and the content of the selection result, and information on the current position and speed of the moving object MV. Then, the control unit 790 sends the guidance information output command to the generation unit 780, and controls the timing at which the notification unit 785 notifies the guide information via the generation unit 780. Details of the processing by the control unit 790 will be described later.

  In the present embodiment, from the mobile MV that is before reaching the travel obstruction section and at the end of the travel obstruction section (that is, the farthest position from the guide focus point and approaching the guide focus point). When the moving body MV is located at a point that is a predetermined distance away from the adjacent position) in the direction opposite to the traveling direction of the moving body MV, the control unit 790 generates a guidance output command and outputs the guidance output command. The data is sent to the generation unit 780. Here, the predetermined distance is determined according to the speed of the moving body MV, and the higher the speed of the moving body MV, the longer the predetermined distance.

  The relationship between the speed of the moving body MV and the predetermined distance is determined in advance based on experiments, simulations, experiences, and the like from the viewpoint of safely changing lanes.

[Operation]
The operation of the information output apparatus 700 configured as described above will be described mainly focusing on the processing by the control unit 790.

  In the information output device 700, it is assumed that a search unit (not shown) searches for a route from the current position to the destination. Then, it is assumed that the search unit sets, for example, an intersection that turns left or an intersection that turns right as a guidance focus point along the route to the destination.

  In the information output device 700, the travel information acquisition unit 715 acquires the current position of the mobile unit MV sent from the position detection unit 910 and the speed information of the mobile unit MV sent from the travel operation detection unit 920. Suppose you are. Then, it is assumed that the travel information acquisition unit 715 sequentially sends the current position of the moving object MV to the event information acquisition unit 740, the specification unit 750, and the determination unit 760. In addition, it is assumed that the travel information acquisition unit 715 sequentially sends information on the current position and speed of the moving body MV to the control unit 790.

  The specifying unit 750 that has received the current position of the moving body MV sent from the traveling information acquisition unit 715 refers to the map information in the storage unit 710, and the moving body MV travels on a road with a plurality of lanes, and guides attention points. When the vehicle MV is approaching, it is assumed that the traveling lane in which the moving body MV is currently traveling is specified. And the specific | specification part 750 shall send the information of the travel lane of the specified mobile body MV to the determination part 770. FIG.

  Further, the determination unit 760 that has received the current position of the mobile unit MV sent from the travel information acquisition unit 715 refers to the map information, and the mobile unit MV travels on a road with multiple lanes and approaches the guidance point of interest. It is assumed that the traveling lane has been determined. And the determination part 760 shall send the information of the determined traveling lane of the moving body MV to the determination part 770.

  Furthermore, in the information output device 700, it is assumed that the imaging unit 720 captures at least an image in front of the moving body MV and sends it to the analysis unit 725. Then, it is assumed that the analysis unit 725 analyzes the captured image to derive event occurrence determination information and sends the event occurrence determination information to the event information acquisition unit 740.

  Also, in the information output device 700, when the communication unit 730 communicates with an external server and with other mobile units existing around the mobile unit MV and receives event occurrence determination information, It is assumed that event occurrence determination information is sent to the event information acquisition unit 740.

  Then, the event information acquisition unit 740, from the event occurrence determination information sent from the analysis unit 725 and the event occurrence determination information sent from the communication unit 730, the presence or absence of a traffic jam column for each lane, and the type of traffic jam, Deriving event information including information on the distance between facilities and information on the travel obstruction section including the attribute information of each of the traffic jams included in the traffic jam column, the event information is determined as a determination unit 770, a selection unit 775, and It is assumed that the data is sent to the control unit 790.

  In the generation and output processing of the guidance information, the determination unit 770 determines whether the mobile body MV is approaching the guidance target point from the time change of the current position of the mobile body MV and the map information while the mobile body MV is traveling. Determine whether or not. And when the result of the said determination is affirmative, the determination part 770 determines the necessity of the lane change of the mobile body MV based on the information of a travel lane and a progress lane, and event information.

  When determining whether or not it is necessary to change the lane, the determination unit 770 includes information indicating that the waiting queue for warehousing is “Yes” in the event information, the congestion lane exists on the traveling lane, and the traveling lane is the traveling lane. If it is, it is determined that the first lane change is necessary before the moving body MV reaches the travel disturbance section. When the section between the head of the travel obstruction section on the side close to the guidance focus point and the guidance focus point is not a lane change prohibition section, the determination unit 770 passes the travel obstruction section and then moves to the traveling lane. It is further determined that the second lane change is necessary. Then, the determination unit 770 sends the determination result to the generation unit 780.

  On the other hand, when the section between the head of the travel obstruction section on the side close to the guidance focus point and the guidance focus point is a lane change prohibition section, the determination unit 770 moves to the traveling lane after passing through the travel obstruction section. Since it is impossible to change the second lane, it is determined to be unnecessary. Then, the determination unit 770 sends the determination result to the generation unit 780. In this embodiment, when it is determined that the second lane change is not necessary, the determination unit 770 determines that it is necessary to re-search for a route to a destination that does not travel in the planned exit direction from the guidance focus point. A re-search command is sent to the illustrated search unit.

  When determining whether or not it is necessary to change the lane, the determination unit 770 includes information indicating that the waiting queue for warehousing is “Yes” in the event information, there is a congestion queue on the traveling lane, and the traveling lane is If it is not a traveling lane, it is determined whether or not the second lane change described above is necessary. Then, the determination unit 770 sends the determination result to the generation unit 780. If it is determined that the second lane change is not necessary, the determination unit 770 determines that it is necessary to re-search for a route to a destination that does not travel in the planned exit direction from the guidance focus point, and performs a search (not illustrated). A re-search command is sent to the part.

  Further, when determining whether or not it is necessary to change the lane, the determination unit 770 includes information indicating that the congestion line at the guidance target point is “present” in the event information, the congestion line exists on the traveling lane, and If the travel lane is not a travel lane, it is determined that a lane change to the travel lane is necessary so that the position of the moving body MV is at the end of the traffic jam column that is the travel disturbance section. Then, the determination unit 770 sends the determination result to the generation unit 780.

  Next, when the information indicating that the queuing congestion queue is “present” is included in the event information, the selection unit 775 determines from the content of each attribute information of the traffic jam moving body included in the congestion queue, A traffic jam moving body having an attribute is selected as a target moving body. Then, the selection unit 775 sends the selection result to the control unit 790. When the target moving body is not selected, the selection unit 775 sends a message to that effect to the control unit 790.

  Next, the control unit 790 generates a guidance information output command. When the guidance information output command is generated, the control unit 790 first determines the guidance target moving body when the event information includes information indicating that the queuing waiting congestion column is “present”. In the present embodiment, when the speed of the moving body MV is less than a predetermined speed, the control unit 790 determines the leading moving body in the congestion queue as the guidance target moving body.

  On the other hand, when the speed of the moving body is equal to or higher than the predetermined speed, the control unit 790 determines the guidance target moving body according to the inter-facility distance. In the present embodiment, when the inter-facility distance is less than the first distance, the control unit 790 determines the last moving body in the congestion queue as the guidance target moving body. When the distance between facilities is equal to or greater than the first distance and less than the second distance, the control unit 790 removes the moving body (hereinafter referred to as “intermediate moving body”) excluding the leading moving body and the trailing moving body in the congestion queue. The target moving body selected by the selection unit 775 is determined as the guidance target moving body. Furthermore, when the inter-facility distance is equal to or greater than the second distance, the control unit 790 determines the leading moving body in the congestion queue as the guidance target moving body.

  Here, the first and second distances are determined according to the speed of the moving body MV, and the higher the speed of the moving body MV, the longer the first and second distances. The relationship between the predetermined speed and the speed of the moving body MV and the first and second distances is based on experiments and simulations from the viewpoint of appropriately providing the user with information regarding the timing for starting the driving operation for changing lanes. , Based on experience and the like.

  When the guidance target moving body is determined in this way, the control unit 790 generates a guidance information output command including information on the guidance target moving body. Then, when it is time to notify the guidance information, the control unit 790 sends the generated guidance information output command to the generation unit 780. In the present embodiment, the control unit 790 provides a guidance output command when the moving body MV is located at a point away from the last position of the travel disturbance section by a predetermined distance in the direction opposite to the traveling direction of the moving body MV. Is sent to the generation unit 780.

  In addition, when the target moving body is not selected by the selection unit 775, the control unit 790 generates a guidance information output command including information on the guidance focus point.

  Further, when the guidance information output command is generated, if the event information includes information indicating that the traffic jam column near the guidance target point is “present”, the control unit 790 does not determine the guidance target moving body. Then, when it is time to notify the guide information, the control unit 790 generates a guide information output command and sends the guide information output command to the generation unit 780.

  Upon receiving the guidance output command sent from the control unit 790, the generation unit 780 generates guidance information according to the content of the determination result and the guidance information output command sent from the determination unit 770. Then, the generation unit 780 sends the generated guidance information to the notification unit 785. As a result, when there is a waiting-for-entry traffic jam from the notifying unit 785, guidance regarding the lane on the road on which the moving body MV including the information on the guidance target moving body or the information on the point of interest for guidance is to be traveled is notified. .

  As described above, in the present embodiment, the event information acquisition unit 740 relates to event information that can be an obstacle to traveling of the moving body MV on the traveling direction side of the moving body MV sent from the analyzing unit 725 and the communication unit 730. Receive information. Then, the event information acquisition unit 740 determines, from the information, the presence / absence of a waiting queue for warehousing for each lane and the presence / absence of traffic congestion near the guidance point of interest, the information on the distance between facilities, and the traffic jam moving bodies included in the traffic jam queue. The event information including the information of the travel disturbing section including the attribute information is derived. Subsequently, the determination unit 770 determines whether or not the lane change is necessary based on the information on the traveling lane and the traveling lane, and the event information.

  When determining whether or not it is necessary to change the lane, the determination unit 770 arrives at the waiting lane congestion queue on the traveling lane and the moving body MV reaches the waiting lane congestion queue when the traveling lane is the traveling lane. It is determined that the first lane change is necessary before starting. Then, after the mobile unit MV passes through the queuing queue, the section from the head of the queuing queue on the side close to the guidance focus point to the guidance focus point is not a lane change prohibition zone. Further determines that the second lane change to the traveling lane is necessary after passing through the queuing queue. In addition, the determination unit 770, when there is a waiting queue for warehousing on the traveling lane and the traveling lane is not a traveling lane, the guidance focus point from the head of the waiting queue for warehousing on the side close to the guidance focus location. When the section up to is not a lane change prohibition section, it is determined that the lane change to the traveling lane is necessary after the moving body MV passes through the waiting queue for warehousing.

  Next, the selection unit 775 selects, as a target mobile body, a traffic jam moving body having a characteristic attribute in the waiting queue for warehousing from the content of each attribute information of the traffic jam moving bodies included in the waiting queue for warehousing. Next, when the speed of the moving body MV is equal to or higher than the predetermined speed and the inter-facility distance is equal to or larger than the first distance and smaller than the second distance, the control unit 790 selects the target moving body selected by the selecting unit 775 as the guidance target moving body. To decide. Subsequently, the control unit 790 generates a guidance information output command including information on the guidance target moving body. Then, when it is time to notify the guide information, the control unit 790 sends the generated guide information output command to the generation unit 780.

  Upon receiving the guidance output command, generation unit 780 generates guidance information according to the content of the determination result of determination unit 770 and the guidance information output command.

  As described above, in the present embodiment, when there is a waiting queue for warehousing on the traveling lane and the traveling lane is a traveling lane, before the mobile MV reaches the queuing waiting queue, The driver who operates the moving body MV can recognize that the lane change is necessary. Then, after the moving body MV passes through the waiting queue for warehousing, the section between the head of the waiting queue for warehousing on the side close to the guidance focus point and the guidance focus point is not a lane change prohibition zone. It is possible to recognize that the second lane change to the traveling lane is necessary after passing through the waiting queue for warehousing.

  That is, in this embodiment, when there is a waiting queue for warehousing on the traveling lane, the driver grasps the presence of the waiting queue for warehousing and consistently drives when passing the point of interest for guidance from the current position. Operation information can be grasped in advance. As described above, in the present embodiment, prior preparation information for the driver to start the driving operation for changing the lane and information about the timing for starting the driving operation for changing the lane are used for the user (particularly, the user who uses the moving body MV). Therefore, the user can perform a sufficient driving operation.

  Further, in the present embodiment, a moving body having a characteristic attribute is selected as a target moving body from among the traffic jam moving bodies included in the waiting queue for warehousing. And the guidance information including the selected target moving body is produced | generated, and the said guidance information is shown to a user. For this reason, it becomes easy for the user to grasp the guidance information. For example, when the line is long, the driver prepares in advance to start the driving operation for changing the lane and the timing for starting the driving operation for changing the lane. It is possible to reduce the occurrence of a situation where it becomes impossible to understand. For this reason, the user can perform a driving operation with a margin.

  Further, in the present embodiment, when the section from the head of the waiting queue for entry into the garage waiting point to the guidance point of interest on the side close to the point of interest for guidance is the lane change prohibited section, the determination unit 770 Since it is impossible to change the lane to the traveling lane after passing, it is determined as unnecessary. If it is determined that a lane change to the traveling lane is not necessary, the determination unit 770 determines that a re-search for a route to a destination that does not travel in the planned exit direction is necessary, and Send a search command. For this reason, in this embodiment, it is possible to re-search for a new route to the destination while performing appropriate guidance that contributes to safe driving in compliance with traffic regulations.

  In such a case, the driver can recognize the presence of the waiting queue for warehousing before reaching the waiting queue for warehousing that occurs before the point of interest for guidance. In this case, the driver may recognize that the lane change to the traveling lane after passing through the queuing traffic jam queue is impossible and the route to the destination is re-searched. it can. In other words, the driver understands the presence of a waiting queue for warehousing, and consistent driving operation information when passing through a point of interest for guidance including re-route search without changing the lane to the approaching lane Can be grasped in advance. For this reason, when traveling at the guidance point of interest, it is possible to appropriately provide the driver with advance information regarding the driving operation, so that the driver can perform a driving operation with a margin.

  In this embodiment, when determining whether or not it is necessary to change the lane, the determination unit 770 determines that if there is a traffic jam line on the traveling lane near the guidance target point and the traveling lane is not a traveling lane, It is determined that the lane change to the traveling lane is necessary so that the position of the moving body MV is at the end of the traffic jam column. Then, the generation unit 780 generates guidance information of the content of the determination result sent from the determination unit 770. For this reason, in this embodiment, when there is a congestion line on the traveling lane near the guidance target point, it is possible to provide accurate guidance information regarding lane travel on the road.

  Further, in the present embodiment, the control unit 790 guides the mobile unit MV when the mobile unit MV is located at a point away from the rearmost position of the congestion line by a predetermined distance in the direction opposite to the traveling direction of the mobile unit MV. An output command is generated, and the guidance output command is sent to the generation unit 780. For this reason, it is possible to provide guidance information regarding the lane in which the vehicle travels at an appropriate timing that contributes to safe driving.

  For this reason, according to the present embodiment, when a waiting queue for warehousing or a waiting queue for traffic signals occurs, the user can be made aware of the occurrence of the traffic jam, and guidance on the travel lane for avoiding the traffic jam. Information can be provided in advance.

  Therefore, according to the present embodiment, it is possible to appropriately provide guidance information regarding the lane in which the vehicle is traveling to the user.

[Modification of Embodiment]
The present invention is not limited to the above-described embodiment, and various modifications are possible.

  For example, in the above-described embodiment, the jamming event that can be a hindrance to the traveling of the moving object is the “congestion queue”. On the other hand, as a matter of course, an event that interferes with the traveling of the moving object such as road works may be added. It should be noted that with respect to obstruction of the vehicle due to road construction, the same processing as in the case of “congestion waiting traffic jam” in the embodiment may be performed.

  Further, in the above embodiment, the guidance focus point is an intersection, but a road junction may be included in the guidance focus point.

  In the embodiment described above, the selection unit selects the target moving body based on the color information, the type information, and the type information of the traffic jam moving body included in the traffic jam column. On the other hand, the selection unit may select the target moving body based on at least one of color information, type information, and type information.

  Moreover, in said embodiment, the specific | specification part specified the driving | running | working lane which the mobile body is drive | working with reference to map information based on the present position of a mobile body. On the other hand, the specifying unit may analyze the image in front of the moving body MV captured by the imaging unit and specify the traveling lane in which the moving body is traveling. Further, the specifying unit may specify the traveling lane based on the current position of the moving body and the analysis result of the image ahead of the moving body MV captured by the imaging unit while referring to the map information.

  In the above embodiment, the event information based on the captured image captured by the image capturing unit is not transmitted to the outside. However, the information regarding the event information is transmitted to an external server or another mobile object. It may be.

  Further, in the above embodiment, when the moving body is located at a point that is a predetermined distance away from the rearmost position of the congestion line in the direction opposite to the traveling direction of the moving body, the control unit issues a guidance output command. Generated. The predetermined distance is determined according to the speed of the moving body. The higher the speed of the moving body, the longer the predetermined distance. On the other hand, the predetermined distance may be determined according to the speed and acceleration of the moving body. In this case, the predetermined distance may be increased as the speed of the moving body is increased, and the predetermined distance may be increased as the acceleration of the moving body is increased.

  Further, the predetermined distance may be determined according to the length of the travel disturbance section. In this case, the predetermined distance may be increased as the travel disturbance section is shorter.

  In the above embodiment, when the section between the head of the traffic jam line on the side close to the guidance focus point and the guidance focus point is a lane change prohibition zone, the determination unit lanes after passing through the traffic jam queue Since it is impossible to change, it was judged unnecessary. On the other hand, even when the section between the head of the traffic jam line on the side close to the guidance focus point and the guidance focus point is an overtaking prohibition zone, it is determined that the lane change after passing the congestion queue is unnecessary. You may do it.

  Note that the travel information acquisition unit, analysis unit, identification unit, determination unit, event information acquisition unit, determination unit, selection unit, generation unit, control unit, and search unit of the information output device in the above embodiment are connected to the central processing unit ( A generation unit and a control unit in the above embodiment are configured as a computer as a calculation unit including a CPU (Central Processing Unit), a DSP (Digital Signal Processor), and the like, and a program prepared in advance is executed by the computer. A part or all of the functions may be realized. This program is recorded on a computer-readable recording medium such as a hard disk, CD-ROM, or DVD, and is read from the recording medium and executed by the computer. The program may be acquired in a form recorded on a portable recording medium such as a CD-ROM or DVD, or may be acquired in a form distributed via a network such as the Internet. Also good.

  Hereinafter, an embodiment of the present invention will be described with reference to FIGS. In the following description and drawings, the same or equivalent elements are denoted by the same reference numerals, and redundant description is omitted.

[Constitution]
FIG. 2 is a block diagram illustrating a schematic configuration of the information output apparatus 100 according to an embodiment. The information output device 100 is an aspect of the information output device 700 (see FIG. 1) according to the embodiment described above. The information output device 100 is disposed in the vehicle CR.

  As shown in FIG. 2, the information output apparatus 100 includes a processing control unit 110 and a storage unit 120. The information output apparatus 100 includes a sound output unit 130 and a display unit 140. Furthermore, the information output device 100 includes a GPS (Global Positioning System) receiving unit 150, a sensor unit 160, a wireless communication unit 170, and an imaging unit 180.

  The process control unit 110 performs overall control of the information output apparatus 100 and executes various processes. The processing control unit 110 includes a central processing unit (CPU), a DSP (Digital Signal Processor) and its peripheral circuits as arithmetic means. Various functions as the information output device 100 are realized by the processing control unit 110 executing various programs. Among these functions, the travel information acquisition unit 715, analysis unit 725, identification unit 750, determination unit 760, event information acquisition unit 740, determination unit 770, selection unit 775, generation unit 780, control unit in the above-described embodiment. 790 and search unit functions are also included.

  The processing control unit 110 is connected to a drive control unit (not shown) that controls the driving of the vehicle CR. And the process control unit 110 receives the information on the presence / absence of lighting / flashing of the indicator light of the vehicle CR sent from the drive control unit. Information on the presence / absence of lighting / flashing of the indicator light of the vehicle CR acquired in this way is sent to the external server and other vehicles existing around the vehicle CR through the wireless communication unit 170 together with the current position of the vehicle CR. It is supposed to send. In other words, the processing control unit 110 performs a part of the function of the communication unit 730 described above. Details of the processing executed by the processing control unit 110 will be described later.

  The program executed by the processing control unit 110 is recorded on a computer-readable recording medium such as a hard disk, CD-ROM, or DVD, and is loaded from the recording medium and executed. The program may be acquired in a form recorded on a portable recording medium such as a CD-ROM or DVD, or may be acquired in a form distributed via a network such as the Internet. Also good.

  The storage unit 120 includes a nonvolatile storage device such as a hard disk device, and stores various information data used in the information output device 100. Such information data includes map information MPI, a guidance target vehicle determination table TST, and the like. The storage control unit 110 can access the storage unit 120. That is, the storage unit 120 fulfills the function of the storage unit 710 described above.

  The map information MPI includes node (intersection etc.) position information and road link information connecting the nodes. Here, the road link information includes information on the number of lanes of the road link including information on lane divisions such as a straight lane, a left turn lane, and a right turn lane, and information on a lane change prohibited section.

In the guidance target vehicle determination table TST, as shown in FIG. 3, the range (ΔV _j ) of the vehicle CR and the range of inter-facility distances (ΔV _j ) associated with the range (ΔV _j ) of the vehicle speed. The type of a traffic jam vehicle that is a guidance target vehicle determined by a combination with ΔXF _{j, k} ) is included. In addition, the guidance target vehicle determination table TST includes information on the predetermined distance XA _j determined according to the vehicle speed range (ΔV _j ) of the vehicle CR.

Here, the leading vehicle is the leading vehicle in the congestion queue, and the trailing vehicle is the trailing vehicle in the congestion queue. In addition, the intermediate vehicle is a vehicle in which a leading vehicle and a tail vehicle are excluded from vehicles in a traffic jam row (hereinafter also referred to as “traffic vehicles”). Regarding the determination of the guidance target vehicle in the table of FIG. 3, from the viewpoint of determining the last vehicle as the guidance target vehicle when the distance between facilities is short, and determining the leading vehicle as the guidance target vehicle when the distance between facilities is long. predetermined value XF _2,1 about between _{distance, XF 2,2, XF 3,1, XF} 3,2, XF 4,1, defines a XF _{4, 2.}

The predetermined values XF _2,1 , XF _3,1 , and XF _4,1 are determined according to the speed of the vehicle CR, and are longer as the speed of the vehicle CR is higher. That is, the relationship “XF _2,1 <XF _3,1 <XF _4,1 ” is established. The predetermined values XF _2,2 , XF _3,2 , and XF _4,2 are also determined according to the speed of the vehicle CR, and are longer as the speed of the vehicle CR is higher. That is, the relationship “XF _2,2 <XF _3,2 <XF _4,2 ” is established.

These predetermined values V _{1 to} V ₃ related to the vehicle speed and predetermined values XF _2,1, XF _2,2 , XF _3,1, XF _3,2 , XF _4,1, XF _4,2 The relationship is determined in advance based on experiments, simulations, experiences, and the like from the viewpoint of appropriately providing the user with information regarding the timing for starting the driving operation for changing the lane.

Further, the predetermined distance XA _j is longer as the speed of the vehicle CR is higher. That is, the relationship “XA ₁ <XA ₂ <XF ₃ <XF ₄ ” is established. The relationship between the vehicle speeds V _{1 to} V ₃ and the predetermined distances XA _{1 to} XF ₄ is determined in advance based on experiments, simulations, experiences, and the like from the viewpoint of safely changing lanes.

  Returning to FIG. 2, the sound output unit 130 includes a speaker. The sound output unit 130 receives the output sound data sent from the processing control unit 110. Then, the sound output unit 130 outputs an output sound corresponding to the output sound data. That is, the sound output unit 130 performs a part of the function of the notification unit 785 described above.

  The display unit 140 includes a display device such as a liquid crystal display panel. The display unit 140 receives display data sent from the processing control unit 110. Then, the display unit 140 displays an image corresponding to the display data. In other words, the display unit 140 performs a part of the function of the notification unit 785 described above.

  The GPS receiving unit 150 calculates the current position of the vehicle CR based on reception results of radio waves transmitted from a plurality of GPS satellites. The GPS receiving unit 150 measures the current time based on the date / time information transmitted from the GPS satellite. Information regarding these current position and current time is sent to the processing control unit 110 as GPS data. Here, the GPS receiving unit 150 performs the function of the position detecting unit 910 described above.

  The sensor unit 160 includes a vehicle speed sensor, an acceleration sensor, and the like. Detection results from various sensors included in the sensor unit 160 are sent to the processing control unit 110 as sensor data. Here, the sensor unit 160 is configured to perform the function of the traveling operation detection unit 920 described above.

  The wireless communication unit 170 is configured with an antenna (not shown). The wireless communication unit 170 processes the received signal received by the antenna and converts it into a digital data signal that can be processed by the processing control unit 110. Also, the wireless communication unit 170 processes the transmission signal sent from the processing control unit 110, converts it into a signal corresponding to the wireless signal, and sends it to the antenna.

  The wireless communication unit 170 is used to receive information (event occurrence determination information) related to event information that may interfere with traveling on the traveling direction side of the vehicle CR from an external server (not shown). Information regarding the event information received in this way is sent to the processing control unit 110.

  In addition, the wireless communication unit 170 is used to communicate with devices arranged in other vehicles (not shown) around the vehicle CR, and receive information related to event information (event occurrence determination information). Then, the wireless communication unit 170 sends information regarding the event information to the processing control unit 110. In other words, the wireless communication unit 170 performs a part of the function of the communication unit 730 described above.

  The imaging unit 180 includes an in-vehicle camera (not shown) and a data processing unit (not shown). The in-vehicle camera is disposed on the back side of the room mirror, for example. The in-vehicle camera captures a peripheral image in the traveling direction of the vehicle CR as a moving image. The data processing unit converts the imaging result obtained by the in-vehicle camera into digital image data. The digital image data of the peripheral image of the vehicle CR thus captured is sent to the processing control unit 110 as a captured image.

[Operation]
The operation of the information output apparatus 100 configured as described above will be described mainly focusing on the generation and notification processing of guidance information related to the traveling lane by the processing control unit 110.

  It is assumed that the process control unit 110 is searching for a route from the current position to the destination. Then, it is assumed that the processing control unit 110 sets, for example, an intersection that makes a left turn or an intersection that makes a right turn as a guidance attention point along the route to the destination.

  In addition, it is assumed that information regarding the current position and the current time of the vehicle CR is sent from the GPS receiving unit 150 to the processing control unit 110 as GPS data. Further, it is assumed that detection results from various sensors are sequentially sent from the sensor unit 160 to the processing control unit 110 as sensor data. Furthermore, it is assumed that information related to event information (event occurrence determination information) is sent from the wireless communication unit 170 to the processing control unit 110.

  Furthermore, in the information output device 100, the imaging unit 180 captures a peripheral image in the traveling direction of the vehicle CR, converts the imaging result into digital image data, and sends the digital image data to the processing control unit 110.

  In the following description, the jamming events that may hinder the traveling of the vehicle CR are a “congestion waiting queue” and a “congestion queue near the guide point of interest”.

  As shown in FIG. 4, in the process of generating and notifying guidance information related to the travel lane, first, in step S11, the processing control unit 110 causes the vehicle CR to travel on one side of a plurality of lanes and approaches the guidance focus point. Then, it is determined whether or not the distance to the guidance focus point is within the determination distance. Here, the determination distance is determined in advance based on experiments, simulations, experiences, and the like from the viewpoint of appropriately providing guidance information regarding the lane corresponding to the traffic jam queue.

  If the result of this determination is negative (step S11: N), the process of step S11 is repeated. When the vehicle CR approaches the guidance focus point, the distance to the guidance focus point becomes the determination distance, and when the determination result in step S11 becomes affirmative (step S11: Y), the process proceeds to step S12.

  In step S12, the processing control unit 110 determines whether or not there is a traffic jam line that may interfere with the traveling of the vehicle CR on the traveling direction side of the vehicle CR. If the result of this determination is negative (step S12: N), the process returns to step S11.

  If the result of the determination in step S12 is affirmative (step S12: Y), the process proceeds to step S13. In step S <b> 13, the processing control unit 110 performs “generation and notification processing of guidance information regarding lanes associated with occurrence of a traffic jam”. Details of the processing in step S13 will be described later. Then, when the process of step S13 ends, the process returns to step S11. Thereafter, the processes of steps S11 to S13 are repeated.

<Generation and notification processing of guidance information regarding lanes associated with the occurrence of traffic jams>
The “guidance information generation and notification process regarding the lane accompanying the occurrence of a traffic jam” in step S13 will be described.

  As shown in FIG. 5, the “generation and notification processing of guidance information regarding lanes associated with the occurrence of a traffic jam” is first performed by the processing control unit 110 referring to the map information MPI in step S21. Based on this, the traveling lane in which the vehicle CR is traveling is specified. Subsequently, in step S22, the processing control unit 110 refers to the map information MPI and determines from the current position to the guidance focus point from the planned approach direction to the guidance focus point and the exit direction from the guidance focus point. The traveling lane on which the vehicle CR should travel is determined. Next, in step S23, the processing control unit 110 refers to the map information MPI and identifies a generated lane that is a lane in which a traffic jam column is generated based on the current position and the event information. Thereafter, the process proceeds to step S24.

  In step S24, the process control unit 110 determines whether or not the generated lane matches the traveling lane. If the result of this determination is negative (step S24: N), the process proceeds to step S25. In step S25, the processing control unit 110 determines whether or not the currently traveling lane is the same as the generated lane in which the disturbance event occurs. If the result of this determination is affirmative (step S25: Y), the process proceeds to step S26.

  In step S <b> 26, the processing control unit 110 generates guidance information indicating “change lane to traveling lane”. Subsequently, the processing control unit 110 generates display data and output sound data corresponding to the content of the guidance information. Then, the processing control unit 110 sends the display data to the display unit 140 and sends the output sound data to the sound output unit 130.

  As a result, an image of guidance information corresponding to the display data is displayed on the display unit 140. Further, the sound output unit 130 outputs an output sound of guidance information corresponding to the output sound data. When the guidance information “change lane to traveling lane” is output in this way, the process of step S26 ends. When the process of step S26 ends, the process of step S13 ends. And a process returns to step S11 of FIG. 4 mentioned above.

  On the other hand, when the result of the determination in step S25 is negative (step S25: N), the process proceeds to step S27. In step S <b> 27, the processing control unit 110 generates guidance information indicating “maintain the lane”. Subsequently, the processing control unit 110 generates display data and output sound data corresponding to the content of the guidance information. Then, the processing control unit 110 sends the display data to the display unit 140 and sends the output sound data to the sound output unit 130.

  As a result, an image of guidance information corresponding to the display data is displayed on the display unit 140. Further, the sound output unit 130 outputs an output sound of guidance information corresponding to the output sound data. When the guidance information indicating “maintain the lane” is thus output, the process of step S27 ends. When the process of step S27 ends, the process of step S13 ends. And a process returns to step S11 of FIG. 4 mentioned above.

  If the result of the determination in step S24 described above is affirmative (step S24: Y), the process proceeds to step S28. In step S <b> 28, the processing control unit 110 performs “guidance information generation and notification processing corresponding to a traffic jam queue”. When the process of step S28 ends, the process of step S13 ends. And a process returns to step S11 of FIG. 4 mentioned above.

《Guidance information generation and notification processing corresponding to traffic jam rows》
The “guidance information generation and notification process corresponding to the traffic jam column” in step S28 described above will be described.

  As shown in FIG. 6, in the “guidance information generation and notification process corresponding to a traffic jam queue”, first, in step S31, the processing control unit 110 determines whether or not the traffic jam queue is a “cargo queue traffic jam queue”. Determine whether. If the result of this determination is affirmative (step S31: Y), the process proceeds to step S32.

  In step S <b> 32, the processing control unit 110 performs “generation and notification processing of guidance information corresponding to the waiting queue for warehousing”. Details of the processing in step S32 will be described later. When the process of step S32 is completed, the process of step S28 and the process of step S13 of FIG. 5 are terminated, and the process returns to step S11 of FIG. 4 described above.

  If the result of the determination in step S31 is negative (step S31: N), the process proceeds to step S33.

  In step S <b> 33, the processing control unit 110 performs “a guide information generation and notification process corresponding to a traffic jam line near the guide point of interest”. Details of the processing in step S33 will be described later. When the process of step S33 ends, the process of step S28 and the process of step S13 of FIG. 5 end, and the process returns to step S11 of FIG. 4 described above.

(Guidance information generation and notification processing corresponding to the waiting queue for warehousing)
The “guidance information generation process corresponding to the waiting queue for warehousing” in step S32 described above will be described.

  As shown in FIG. 7, the “generation and notification processing of guidance information corresponding to a waiting-for-entry traffic jam” is performed in step S41. First, in step S41, the processing control unit 110 performs a traveling lane and a waiting-for-entry traffic queue. By determining whether or not the generated lane is different from the generated lane, it is determined whether or not it is unnecessary to avoid the waiting queue for warehousing. If the result of this determination is affirmative (step S41: Y), the process proceeds to step S45 described later. If the result of the determination in step S41 is negative (step S41: N), the process proceeds to step S42.

  In step S <b> 42, the processing control unit 110 generates guidance information indicating “change lanes to avoid waiting-for-entry traffic congestion”. Subsequently, in step S43, the processing control unit 110 generates display data and output sound data corresponding to the content of the guidance information. Then, the processing control unit 110 sends the display data to the display unit 140 and sends the output sound data to the sound output unit 130. As a result, an image of guidance information corresponding to the display data is displayed on the display unit 140. Further, the sound output unit 130 outputs an output sound of guidance information corresponding to the output sound data. Thereafter, the process proceeds to step S44.

  In step S44, the process control unit 110 refers to the map information MPI and determines whether or not a lane change for avoiding a waiting-for-entry traffic jam has been performed based on the current position. If the result of this determination is negative (step S44: N), the process of step S44 is repeated. When a lane change for avoiding waiting-for-entry traffic is performed and the result of determination in step S44 becomes affirmative (step S44: Y), the process proceeds to step S45.

  In step S45, the processing control unit 110 refers to the map information MPI and derives the inter-facility distance XF that is the distance between the guidance target point and the facility entrance. Subsequently, in step S46, the processing control unit 110 refers to the target vehicle specifying table TST based on the inter-facility distance XF and the vehicle speed V, and from the contents of the attribute information of each of the congested vehicles included in the congested example. It is determined whether or not a congested vehicle having a specific attribute is determined as a guidance target vehicle. If the result of this determination is negative (step S46: N), the process proceeds to step S47.

In step S47, the processing control unit 110 determines the guidance target vehicle without considering the attribute information of the congested vehicle. For example, when the vehicle speed V is equal to or greater than the predetermined value V ₃ and the inter-facility distance XF is equal to or greater than the predetermined value XF _4,2 , the leading vehicle is determined as the guidance target vehicle. Thereafter, the processing proceeds to step S49 described later.

  If the result of the determination in step S46 is affirmative (step S46: Y), the process proceeds to step S48. In step S48, the process control unit 110 performs “a guidance target vehicle determination process considering attribute information”. Details of the processing in step S48 will be described later. Then, when the process of step S48 ends, the process proceeds to step S49.

  In step S49, the process control unit 110 determines whether or not the position where the lane change to the traveling lane is a lane change prohibition section. If the result of this determination is negative (step S49: N), the process proceeds to step S50.

  In step S50, the processing control unit 110 performs “a process of generating approach guidance information for a traveling lane”. Details of the processing in step S50 will be described later. Then, when the process of step S50 ends, the process proceeds to step S51.

  In step S51, the process control unit 110 performs a “guidance information notification process”. Details of the processing in step S51 will be described later. Then, when the process of step S51 ends, the process of step S32 ends. When the process of step S32 is completed in this way, the above-described step S28 of FIG. 6 and step S13 of FIG. 5 are completed. And a process returns to step S11 of FIG. 4 mentioned above.

  On the other hand, when the result of the determination in step S49 is affirmative (step S49: Y), the process proceeds to step S52. In step S52, the processing control unit 110 re-searches for a new route to the destination that does not travel in the planned exit direction from the guidance focus point.

  When the process of step S52 ends, the process of step S32 ends. When the process of step S32 is completed in this way, the above-described step S28 of FIG. 6 and step S13 of FIG. 5 are completed. And a process returns to step S11 of FIG. 4 mentioned above.

((Guidance target vehicle decision processing considering attribute information))
The “guidance target vehicle determination process considering attribute information” in step S48 described above will be described.

  As shown in FIG. 8, in the “determination process of guidance target vehicle considering attribute information”, first, in step S61, the processing control unit 110 collects attribute information of the congested vehicle included in the queuing queue. To do. Subsequently, in step S62, the first candidate vehicle is selected from among the congested vehicles. In the present embodiment, the vehicle at the center of the traffic jam column is selected as the first candidate vehicle. Thereafter, the process proceeds to step S63.

  In step S63, the process control unit 110 determines whether or not the attribute of the selected vehicle is characteristic. Here, the determination of whether the attribute of the vehicle is characteristic is different from the attribute of other vehicles in the congestion queue, and from the viewpoint that the driver is easily aware of the vehicle, experiments, simulations, experiences, etc. It is based.

  If the result of this determination is negative (step S63: N), the process proceeds to step S64. In step S64, the processing control unit 110 determines whether or not all the congested vehicles have been selected. If the result of this determination is negative (step S64: N), the process proceeds to step S65.

  In step S65, the process control unit 110 selects the next candidate vehicle from among the congested vehicles. Thereafter, the process proceeds to step S63. In this embodiment, the second selection is made to select one of the vehicles before or after the first selected vehicle. For example, in the second selection, when the vehicle immediately before the first selected vehicle is selected, in the third selection, the vehicle immediately after the first selected vehicle is selected. Yes. Subsequent selections are made in order from the center.

  When all the congested vehicles are selected and the result of the determination in step S64 becomes affirmative (step S64: N), the processing control unit 110 determines that there is no characteristic congested vehicle, and the processing of step S48 ends. . And a process progresses to step S49 of FIG. 7 mentioned above.

  On the other hand, when the result of the determination in step S63 is affirmative (step S63: Y), the process proceeds to step S66. In step S66, the process control unit 110 determines the vehicle for which the attribute is determined to be characteristic in step S63 as the guidance target vehicle.

  When the process of step S66 ends, the process of step S48 ends. And a process progresses to step S49 of FIG. 7 mentioned above.

((Procedure to generate approach guidance information for traveling lane))
The “entry guidance information generation process for approach lane” in step S50 described above will be described.

  In this “entry guidance information generation process to the approach lane”, as shown in FIG. 9, first, in step S71, it is determined whether or not the process control unit 110 has determined the guidance target vehicle. If the result of this determination is affirmative (step S71: Y), the process proceeds to step S72. In step S72, the processing control unit 110 determines whether or not the guidance target vehicle has been determined in consideration of the attribute information of the congested vehicle. If the result of this determination is affirmative (step S71: Y), the process proceeds to step S73.

  In step S73, the process control unit 110 generates guidance information including the attribute information of the guidance target vehicle. When the process of step S73 ends, the process of step S50 ends. And a process progresses to step S51 of FIG. 7 mentioned above.

  As an example of the guidance information generated in step S73, “Please enter the left turn lane after passing two cars in front of the“ red one box car ”” and the like.

  If the result of the determination in step S72 is negative (step S72: N), the process proceeds to step S74. In step S74, the process control unit 110 generates guidance information that does not include the attribute information of the guidance target vehicle. When the process of step S74 ends, the process of step S50 ends. And a process progresses to step S51 of FIG. 7 mentioned above.

  Examples of the guidance information generated in step S74 include “Please enter the left lane after passing the first vehicle in the traffic jam column” or “The last vehicle in the traffic jam queue is visible. Please enter the left lane after passing the front car.

  If the result of the determination in step S71 described above is negative (step S71: N), the process proceeds to step S75. In step S75, the processing control unit 110 generates guidance information related to the distance from the current position to the head of the traffic jam example. When the process of step S75 ends, the process of step S50 ends. And a process progresses to step S51 of FIG. 7 mentioned above.

  As an example of the guidance information generated in step S75, “It is 100 meters to the intersection to turn left. Prepare to enter the left turn lane” and the like.

((Guidance information notification process))
The “guidance information notification process” in step S51 described above will be described.

  As shown in FIG. 10, the “guidance information notification process” is performed by first determining whether or not the position of the vehicle CR has become a notification point in step S81. It is determined whether or not the output timing has come. In the present embodiment, a point that is a predetermined distance away from the rearmost position of the travel disturbance section in the direction opposite to the traveling direction of the vehicle CR is set as the notification point. If the result of this determination is negative (step S81: N), the process of step S81 is repeated.

  When the guidance information output timing is reached and the result of determination in step S81 is affirmative (step S81: N), the process proceeds to step S82. In step S82, the processing control unit 110 generates display data and output sound data corresponding to the content of the guidance information. Then, the processing control unit 110 sends the display data to the display unit 140 and sends the output sound data to the sound output unit 130.

  As a result, an image of guidance information corresponding to the display data is displayed on the display unit 140. Further, the sound output unit 130 outputs an output sound of guidance information corresponding to the output sound data. When the guidance information is output in this way, the process of step S82 ends. When the process of step S82 ends, the process of step S51 is performed. When the processing in step S51 is completed in this way, the processing in step S32 in FIG. 7, the processing in step S28 in FIG. 6, and the processing in step S13 in FIG. 5 are completed. And a process returns to step S11 of FIG. 3 mentioned above.

(Generation and notification processing of guidance information corresponding to the traffic jam line near the guidance point of interest)
The “guidance information generation and notification processing corresponding to the traffic jam column near the guidance target point” in step S33 described above will be described.

  As shown in FIG. 11, the “guidance information generation process corresponding to the traffic jam line near the guidance point of interest” is first performed in step S91 by the processing control unit 110 in which the current driving lane and the traffic jam queue are running. It is determined whether or not the generated lane in which the is generated is the same. If the result of this determination is negative (step S91: N), the process proceeds to step S92.

  In step S92, the processing control unit 110 generates lane change related information that “the lane change to the traveling lane is necessary so that the position of the vehicle CR is at the end of the traffic jam column”. Thereafter, the process proceeds to step S94 described later.

  If the result of the determination in step S91 is affirmative (step S91: Y), the process proceeds to step S93. In step S93, the processing control unit 110 generates lane change related information indicating that “the lane is maintained so that the position of the vehicle CR is at the end of the traffic jam column”. Thereafter, the process proceeds to step S94.

  In step S94, the processing control unit 110 generates guidance information related to the lane on the road to be traveled based on the content of the lane change related information generated in step S92 or step S93. Thereafter, the process proceeds to step S95.

  In step S95, the process control unit 110 performs a “guidance information notification process”. The process in step S95 is performed in the same manner as the process in step S51 described above. Then, when the process of step S95 ends, the process of step S33 ends. When the process of step S33 is thus completed, the above-described step S28 of FIG. 6 and step S13 of FIG. 5 are completed. And a process returns to step S11 of FIG. 4 mentioned above.

<Image display example of approach guidance information for approach lane>
12 and 13 show examples of guidance information images displayed on the display unit 140 by the process of step S51 of FIG. Here, in the description of the image display example of the guidance information regarding the lane, it is assumed that the planned travel route of the vehicle CR is scheduled to turn left at the intersection that is the guidance focus point. For this reason, the traveling lane of the vehicle CR is determined to be a left turn lane. In addition, it is assumed that the generated lane in which the traffic jam waiting traffic occurs is a left turn lane.

  In the example of FIG. 12, based on the inter-facility distance XF and the vehicle speed V, the target vehicle specifying table TST is referred to and the leading vehicle in the traffic jam column is determined as the guidance target vehicle. In this case, the guidance target vehicle is highlighted, and voice guidance “Please enter the left lane after passing the leading vehicle in the traffic jam column” is performed.

  In the example of FIG. 13, based on the inter-facility distance XF and the vehicle speed V, the target vehicle specifying table TST is referred to and the intermediate vehicle is set as the guidance target vehicle. It is an example decided on. In this case, the guidance target vehicle is highlighted, and voice guidance is given that “please enter the left turn lane after passing two cars in front of the“ red one box car ””.

  As described above, in the present embodiment, the processing control unit 110 analyzes the captured image captured by the imaging unit 180, determines whether there is a waiting queue for warehousing, whether there is traffic near the point of interest for guidance, and the distance between facilities. The event information including the information and the information of the travel disturbance section including the attribute information of each of the traffic jam moving bodies included in the traffic jam string is derived. In addition, the processing control unit 110 determines whether or not there is a queue for waiting for warehousing, whether or not there is a traffic jam near the guidance point of interest, information on the distance between facilities, from information on event information sent from the wireless communication unit 170 (event occurrence determination information). In addition, event information including information on the travel disturbance section including the attribute information of each of the traffic jam moving bodies included in the traffic jam column is derived. Then, the processing control unit 110 determines whether or not the lane change is necessary based on the information on the traveling lane and the traveling lane, and the event information.

  When determining whether or not it is necessary to change the lane, the processing control unit 110, when there is a waiting queue for entry into the traffic lane and the traveling lane is a driving lane, the vehicle CR reaches the waiting queue for entry. It is determined that the first lane change is necessary before starting. Then, after the vehicle CR passes through the queuing queue, the section between the head of the queuing queue on the side close to the guidance focus point and the guidance focus point is not a lane change prohibition zone, the processing control unit 110. Further determines that the second lane change to the traveling lane is necessary after passing through the queuing queue. In addition, the processing control unit 110 focuses attention from the head of the waiting queue for warehousing on the side close to the guidance focus point when there is a waiting queue for warehousing on the traveling lane and the traveling lane is not the traveling lane. When the section to the point is not the lane change prohibition section, it is determined that the lane change to the traveling lane is necessary after the vehicle CR passes through the queuing queue.

  Next, the processing control unit 110 determines, as the guidance target vehicle, a traffic jam vehicle having a characteristic attribute in the waiting queue for warehousing from the contents of the attribute information of each traffic jam included in the waiting traffic queue. Then, the process control unit 110 provides the user with guidance information including information on the guidance target vehicle.

  That is, in this embodiment, when there is a waiting queue for warehousing on the traveling lane, the driver grasps the presence of the waiting queue for warehousing and consistent driving when passing the point of interest from the current position. Operation information can be grasped in advance. As described above, in the present embodiment, advance preparation information for the driver to start the driving operation for changing the lane and information regarding the timing for starting the driving operation for changing the lane are appropriately provided to the user of the vehicle CR. Therefore, the user can perform a driving operation with a margin.

  Further, in this embodiment, a vehicle having a characteristic attribute is selected as a guidance target vehicle from among the congested vehicle train included in the waiting traffic queue. Then, guidance information including the selected guidance target vehicle is generated, and the guidance information is presented to the user. For example, the information of the guidance target vehicle such as “Please enter the left turn lane after passing two cars in front of“ Red One Box Car ”” is presented to the user for guidance information on the lane. For this reason, it becomes easy for the user to grasp the guidance information. For example, when the line is long, the driver prepares in advance to start the driving operation for changing the lane and the timing for starting the driving operation for changing the lane. It is possible to reduce the occurrence of a situation where it becomes impossible to understand. For this reason, the user can perform a driving operation with a margin.

  As described above, according to the present embodiment, when there is a waiting queue for warehousing on the traveling lane, it is possible to appropriately provide the user with information regarding the timing for starting the driving operation for changing the lane.

  Also, in this embodiment, when the section from the head of the waiting queue for entry to the guidance focus point to the guidance focus point is a lane change prohibition section, the processing control unit 110 displays the waiting congestion queue for entry. Since it is impossible to change the lane to the traveling lane after passing, it is determined as unnecessary. And when it determines with the lane change to the advancing lane after passing the said waiting queue for traffic warehousing not being required, the process control unit 110 re-searches the path | route to the destination which does not drive in the leaving direction. For this reason, in this embodiment, it is possible to re-search for a new route to the destination while performing appropriate guidance that contributes to safe driving in compliance with traffic regulations.

  In such a case, the driver can recognize the presence of the waiting queue for warehousing before reaching the waiting queue for warehousing that occurs before the point of interest for guidance. In this case, the driver may recognize that the lane change to the traveling lane after passing through the queuing traffic jam queue is impossible and the route to the destination is re-searched. it can. In other words, the driver grasps the presence of a waiting queue for warehousing and performs a consistent driving operation when passing a point of interest for guidance including re-route search without changing the lane to the approaching lane. It can be grasped in advance. For this reason, when traveling at the guidance point of interest, it is possible to appropriately provide the driver with advance information regarding the driving operation, so that the driver can perform a driving operation with a margin.

  Further, in this embodiment, when determining whether or not to change lanes, the processing control unit 110, when there is a traffic jam line on the traveling lane near the guidance target point and the traveling lane is not a traveling lane, Then, it is determined that the lane change to the traveling lane is necessary so that the position of the vehicle CR is at the end of the traffic jam column that is the travel disturbance section. For this reason, in this embodiment, when there is a congestion line on the traveling lane, it is possible to provide accurate guidance information regarding lane travel on the road.

  Further, in the present embodiment, the processing control unit 110 provides guidance information when the vehicle CR is located at a point that is a predetermined distance away from the rearmost position of the traffic jam row in the direction opposite to the traveling direction of the vehicle CR. Is output. For this reason, it is possible to provide guidance information regarding the lane in which the vehicle travels at an appropriate timing that contributes to safe driving.

  For this reason, according to the present embodiment, when a waiting queue for warehousing or a waiting queue for traffic signals occurs, the user can be made aware of the occurrence of the traffic jam and guide the travel lane to avoid the traffic jam. Information can be provided in advance.

  Therefore, according to the present embodiment, it is possible to appropriately provide the user with guidance information regarding the lane in which the vehicle is traveling.

[Modification of Example]
The present invention is not limited to the above-described embodiments, and various modifications can be made.

  For example, in the above-described embodiment, the jamming events that may hinder the traveling of the vehicle are “the waiting queue for warehousing” and “the waiting queue at the point of interest such as an intersection”. On the other hand, as a matter of course, an event that may interfere with the traveling of the vehicle such as road construction may be added. It should be noted that with respect to obstruction of the vehicle due to road construction, the same processing as in the case of “congestion waiting traffic jam” in the embodiment may be performed.

  Further, in the above-described embodiment, the guidance focus point is an intersection, but a road junction may be included in the guidance focus point.

  In addition, although the vehicle was employ | adopted as the target of approach to a traveling lane, you may make it employ | adopt a building etc. as a target of approach to a traveling lane.

  In the above-described embodiment, the guidance target vehicle is determined based on the color information, the type information, and the type information of each traffic jam moving body included in the traffic jam column. On the other hand, the guidance target vehicle may be determined based on at least one of color information, type information, and type information.

  Further, in the above embodiment, the processing control unit passes through the travel obstruction section when the section between the head of the travel obstruction section on the side close to the guidance attention point and the guidance attention point is a lane change prohibition section. Since it was impossible to change the lane after On the other hand, even when the section between the head of the travel obstruction section on the side close to the guidance focus point and the guidance focus point is an overtaking prohibition section, it is not necessary to change the lane after passing the travel obstruction section. You may make it determine.

  Moreover, about said Example, the deformation | transformation similar to the deformation | transformation with respect to embodiment mentioned above can be given suitably.

DESCRIPTION OF SYMBOLS 100 ... Information output device 110 ... Processing control unit (A driving information acquisition part, a part of communication part, a determination part, event information acquisition
Acquisition unit, selection unit, generation unit, control unit)
130 ... Sound output unit (part of the notification unit)
140 ... Display unit (part of the notification unit)
170 ... Wireless communication unit (part of communication unit)
700 ... Information output device 715 ... Travel information acquisition unit 730 ... Communication unit 740 ... Event information acquisition unit 760 ... Determination unit 775 ... Selection unit 780 ... Generation unit 785 ... Notification unit 790 ... Control unit

Claims (14)

A travel information acquisition unit that acquires travel information of the mobile object including the speed of the mobile object;
A determining unit that determines a traveling lane on which the moving body should travel from a planned approach direction to a guidance target point on a road of a plurality of lanes and a planned exit direction from the guidance attention point;
An event information acquisition unit that acquires event information of an event that may cause travel disturbance of the moving body in the traveling lane;
A control unit that controls the output of guidance information related to entering the traveling lane based on the travel information, the occurrence position of the event, and the position of the guidance focus point;
An information output device comprising: The guidance attention point is a point on the road included in the searched route.
The information output apparatus according to claim 1.   The information output device according to claim 1, further comprising a generation unit that generates the guidance information based on control of the control unit. The event is a traffic jam queue waiting to enter the facility,
The event information includes attribute information indicating each attribute of the traffic jam moving body included in the traffic jam queue.
The information output apparatus according to claim 3.   5. The information output device according to claim 4, wherein the attribute information includes at least one piece of color information, type information, and type information of each of the traffic jam moving bodies included in the traffic jam column. From the attribute information, further comprising a selection unit that selects a traffic jam moving body having a characteristic attribute in the traffic jam sequence as a target mobile body,
The generation unit generates guide information including attribute information of the selected target moving body.
The information output device according to claim 5, wherein:   The information output device according to claim 6, wherein when the target moving body is not selected, the generation unit generates guidance information including information on a distance from a current position to a head of the traffic jam example. . A notification unit for notifying the guidance information;
The control unit controls the timing at which the notification unit notifies the guidance information.
The information output device according to claim 3, wherein the information output device is an information output device. The event information includes information on a travel disturbance section related to the event section,
When the moving body is located at a point away from the rearmost position of the travel obstruction section by a predetermined distance in the direction opposite to the traveling direction of the moving body, the control unit Let the notification unit notify the guide information;
The information output device according to claim 8, wherein:   The information output apparatus according to claim 9, wherein the predetermined distance is determined according to a speed of the moving body. A communication unit for communicating with an external device;
The event information acquisition unit acquires information on the event information via the communication unit from at least one of an external server and another mobile body different from the mobile body.
The information output apparatus according to claim 1, wherein the information output apparatus is an information output apparatus. An information output method used in an information output device including a travel information acquisition unit, a determination unit, an event information acquisition unit, and a control unit,
A travel information acquisition step in which the travel information acquisition unit acquires travel information of the mobile body including the speed of the mobile body;
A determining step in which the determining unit determines a traveling lane to be traveled by the moving body from a planned entry direction to a guidance target point on a road having a plurality of lanes and a planned departure direction from the guidance attention point;
An event information acquisition step in which the event information acquisition unit acquires event information of an event that may cause travel disturbance of the moving body in the traveling lane;
A control step in which the control unit controls output of guidance information related to the approaching lane based on the travel information, the occurrence position of the event, and the position of the guidance focus point;
An information output method comprising:   An information output program causing a computer included in the information output apparatus to execute the information output method according to claim 12.   14. A recording medium on which the information output program according to claim 13 is recorded so as to be readable by a computer included in the information output apparatus.

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