JP2018169877A - Navigation system and navigation program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a navigation system and a navigation program with which it is possible to ease congestion while maintaining the convenience of the user of a target vehicle.SOLUTION: An onboard device 1 comprises: a travelling determination unit 17b for determining whether or not the traveling of the target vehicle could be obstructed by an other vehicle entering a first point on the route searched by a search unit 17a; a change determination unit 17c for determining whether or not a travel time of the target vehicle from the current position of the target vehicle to a second point on the route would change depending on whether or not the other vehicle is allowed to enter the first point when it is determined by the travelling determination unit 17b that the traveling of the target vehicle could be obstructed; an allowability determination unit 17d for determining whether or not to allow the other vehicle to enter the first point on the basis of the determination result of the change determination unit 17c; and an allowability processing unit 17e for performing a process related to whether or not to allow the other vehicle to enter the first point on the basis of the determination result of the allowability determination unit 17d.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a navigation system and a navigation program.

  2. Description of the Related Art Conventionally, there has been proposed a technique for reducing traffic congestion on a road connected to an intersection by supporting the passage of a plurality of vehicles at the intersection. In this technique, for example, when there is a vehicle that is going to turn right at an intersection (hereinafter referred to as a “right turn vehicle”) and a vehicle that is going straight through the intersection (hereinafter referred to as “straight-ahead vehicle”), a right turn vehicle The information on the priority of traffic is exchanged between the vehicle and the straight vehicle, and the right turn vehicle is counted up according to the waiting time on the right turn side. When the priority is higher than the priority, information indicating the priority of the right turn vehicle is transmitted from the right turn vehicle to the straight ahead vehicle. Then, when it is determined that the information indicating the priority of the right turn vehicle received on the straight vehicle side is higher than the priority of the straight vehicle, information indicating permission to pass from the straight vehicle to the right turn vehicle is transmitted, and the right turn When information indicating permission to pass is received on the vehicle side, guidance for instructing right-turn traffic to the user of a right-turn vehicle is performed (see, for example, Patent Document 1).

JP-A-11-110893

  Here, in the above-described conventional technology, a right turn vehicle can perform a right turn when the priority of the own vehicle is higher than the priority of the straight vehicle, but the priority of the own vehicle is a waiting time. Therefore, a certain amount of time must be waited until the priority of the vehicle is higher than the priority of the straight-ahead car, resulting in traffic jams in the lane on which the right turn is passing. There was a possibility. Therefore, there is room for improvement from the viewpoint of alleviating the traffic jam while maintaining the convenience of the user of the target vehicle such as a straight vehicle.

  The present invention has been made in view of the above, and an object of the present invention is to provide a navigation system and a navigation program that can alleviate traffic congestion while maintaining the convenience of the user of the target vehicle. To do.

  In order to solve the above-described problems and achieve the object, a navigation system according to the present invention searches for a route from a departure place to a destination based on map information storage means for storing map information and the map information. Of the target vehicle acquired by the current position acquisition unit among the points on the route searched by the search unit, the current position acquisition unit that acquires the current position of the target vehicle Travel that determines whether or not there is a possibility that the other vehicle may interfere with the travel of the target vehicle when another vehicle other than the target vehicle enters the first point located ahead of the current position. Whether the other vehicle is allowed to enter the first point when it is determined by the determination means and the travel determination means that the other vehicle may interfere with the travel of the target vehicle Depending on whether or not A second point on the route searched for by the search means from the current position of the target vehicle acquired by the current position acquisition means, and is located in front of the first point. Based on the determination result of the fluctuation determination means, whether or not the travel time of the target vehicle to the point fluctuates is determined, and whether or not the other vehicle is permitted to enter the first point is determined. And a permission / rejection processing unit that performs processing related to permission / prohibition of the entry of the other vehicle to the first point based on a determination result of the permission / rejection determination unit.

  The navigation program according to the present invention includes a computer, a map information storage unit that stores map information, a search unit that searches for a route from a departure point to a destination based on the map information, and a current vehicle current A current position acquisition means for acquiring a position, and a point located ahead of the current position of the target vehicle acquired by the current position acquisition means among points on the route searched by the search means A travel determination means for determining whether or not there is a possibility that the other vehicle may interfere with the travel of the target vehicle when a vehicle other than the target vehicle enters the one point; If it is determined that the other vehicle may interfere with the traveling of the target vehicle, the current position acquisition is performed depending on whether or not the other vehicle is allowed to enter the first point. The target vehicle from the current position of the target vehicle acquired by the means to the second point on the route searched by the search means and positioned ahead of the first point A variation determination unit that determines whether or not the travel time of the vehicle fluctuates, and a permission determination unit that determines whether to allow the other vehicle to enter the first point based on a determination result of the variation determination unit; Based on the determination result of the permission determination means, it functions as permission / rejection processing means for performing processing related to permission / inhibition of the entry to the first point for the other vehicle.

  According to the navigation system of the present invention, when the travel determination unit determines that another vehicle may interfere with the travel of the target vehicle, the other vehicle is allowed to enter the first point. A second point on the route searched for by the search means from the current position of the target vehicle acquired by the current position acquisition means and positioned ahead of the first point, depending on whether or not Variation determining means for determining whether or not the travel time of the target vehicle varies, and permission determination means for determining whether or not another vehicle is allowed to enter the first point based on the determination result of the variation determining means, , Based on the determination result of the permission determination means, provided with permission processing means for performing processing related to permission of the entry to the first point for the other vehicle, for example, when the travel time of the target vehicle does not vary To other vehicles If the travel time of the target vehicle fluctuates or the travel time of the target vehicle fluctuates, non-permissible processing for other vehicles can be performed, and congestion can be alleviated while maintaining the convenience of the user of the target vehicle it can.

  According to the navigation program of the present invention, when it is determined by the traveling determination means that the other vehicle may interfere with the traveling of the target vehicle, the other vehicle enters the first point. Depending on whether or not to allow, the second position on the route searched by the search means from the current position of the target vehicle acquired by the current position acquisition means, and located ahead of the first point Fluctuation determining means for determining whether or not the travel time of the target vehicle to the second point fluctuates, and permission or disapproval for determining whether or not another vehicle is allowed to enter the first point based on the determination result of the fluctuation determining means Based on the determination result of the determination means and the permission determination means, the function is performed as permission / rejection processing means for performing processing related to permission / inhibition of entry of the other vehicle to the first point. If there is not, the permissible process for the other vehicle is performed, or if the travel time of the target vehicle fluctuates, the nonpermissive process for the other vehicle can be performed, and the convenience of the user of the target vehicle is maintained. However, traffic congestion can be alleviated.

It is a block diagram which illustrates an in-vehicle device concerning an embodiment of the invention. It is a flowchart of the navigation process which concerns on embodiment. 3 is a flowchart of navigation processing following FIG. 2. It is the figure which illustrated the travel area made into the processing target of navigation processing. It is the figure which illustrated the travel area made into the processing target of navigation processing. It is the figure which illustrated the travel area made into the processing target of navigation processing.

  DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments of a navigation system and a navigation program according to the present invention will be described in detail with reference to the drawings. However, the present invention is not limited to the embodiments.

[Basic concept of the embodiment]
First, the basic concept of the embodiment will be described.

  The navigation system according to the present invention is a system for guiding a route along which a vehicle travels. Here, the “route” is a route from the departure point to the destination. Among these, the “departure point” is a point where the user starts moving, and the “destination” is a point where the user moves. Moreover, in embodiment, the case where a vehicle-mounted apparatus functions as a navigation system is demonstrated by installing a navigation program in a vehicle-mounted navigation apparatus (henceforth vehicle-mounted apparatus). However, the present invention is not limited to this, and the navigation system may be configured by an arbitrary device including a smartphone or a portable navigation device, for example. Moreover, since the function as a vehicle-mounted device in the navigation system can be obtained with the same configuration as a known vehicle-mounted navigation device, the description thereof will be omitted. In the following, a vehicle equipped with this in-vehicle device (a vehicle on which a user operating the in-vehicle device is boarded) will be referred to as “own vehicle (target vehicle)”, and vehicles other than “own vehicle” will be referred to as “ This will be described as “other vehicle”. “Vehicle” is a concept including, for example, a four-wheeled vehicle, a two-wheeled vehicle, a bicycle, and the like. Hereinafter, a case where the vehicle is a four-wheeled vehicle will be described.

[Specific contents of the embodiment]
Subsequently, specific contents of the embodiment will be described.

(Constitution)
Initially, the structure of the vehicle-mounted apparatus to which the navigation system which concerns on embodiment is applied is demonstrated. FIG. 1 is a block diagram illustrating an in-vehicle device according to an embodiment of the invention. As shown in FIG. 1, the in-vehicle device 1 schematically includes a current position acquisition unit 10, a vehicle speed acquisition unit 11, an in-vehicle camera 12, a communication unit 13, a touch pad 14, a display 15, a speaker 16, a control unit 17, and A data recording unit 18 is provided.

(Configuration-Current position acquisition unit)
The current position acquisition unit 10 is a current position acquisition unit that acquires the current position of the host vehicle. The current position acquisition unit 10 is configured by using, for example, a GPS receiver, and detects the current position and direction of the host vehicle by a known method.

(Configuration-vehicle speed acquisition unit)
The vehicle speed acquisition unit 11 is a vehicle speed acquisition unit that acquires the speed of the host vehicle. The vehicle speed acquisition unit 11 includes, for example, a known vehicle speed sensor, and outputs, for example, a vehicle speed pulse signal that is proportional to the rotational speed of the axle to the control unit 17. To do.

(Configuration-vehicle-mounted camera)
The in-vehicle camera 12 is an imaging unit for imaging an external situation of the host vehicle (for example, all or part of another vehicle). The in-vehicle camera 12 is configured using a known camera using a solid-state imaging device such as a CCD, for example, and is installed so that the optical axis direction of the in-vehicle camera 12 is ahead of the traveling direction of the host vehicle.

(Configuration-Communication Department)
The communication unit 13 is a communication unit for communicating with an external device (not shown) (for example, a center device) via a network (not shown). The specific type and configuration of the communication unit 13 is arbitrary. For example, a known mobile wireless communication unit or a known VICS (registered trademark) system wireless communication unit via FM multiplex broadcasting or beacon is used. Can be used.

(Configuration-Touchpad)
The touch pad 14 is an operation unit that receives various operation inputs from the user when pressed by a user's finger or the like. Although the specific configuration of the touch pad 14 is arbitrary, for example, a publicly known one provided with an operation position detecting means by a resistance film method or a capacitance method can be used.

(Configuration-Display)
The display 15 is a display unit that displays various images based on the control of the control unit 17. The specific configuration of the display 15 is arbitrary. For example, a known flat panel display such as a liquid crystal display or an organic EL display can be used. The touch pad 14 and the display 15 may be integrally formed as the touch pad 14.

(Configuration-Speaker)
The speaker 16 is sound output means for outputting various sounds based on the control of the control unit 17. The specific form of the sound output from the speaker 16 is arbitrary, and a synthesized sound generated as necessary and a sound recorded in advance can be output.

(Configuration-control unit)
The control unit 17 is a control unit that controls the in-vehicle device 1. Specifically, the CPU, various programs interpreted and executed on the CPU (a basic control program such as an OS, and a specific function that is activated on the OS, And an internal memory such as a RAM for storing the program and various data. In particular, the navigation program according to the embodiment substantially configures each unit of the control unit 17 by being installed in the in-vehicle device 1 via an arbitrary recording medium or network.

  In addition, as shown in FIG. 1, the control unit 17 is functionally conceptually configured as a search unit 17a, a travel determination unit 17b, a variation determination unit 17c, a permission determination unit 17d, a permission determination unit 17e, a signal state acquisition unit 17f, And a detector 17g.

  The search unit 17a is search means for searching for a route based on map information stored in a map DB 18a described later.

  The travel determination unit 17b is travel determination means that determines whether or not the other vehicle may interfere with the travel of the host vehicle when the other vehicle enters the first point. Here, the “first point” is a point located ahead of the current position of the host vehicle acquired by the current position acquisition unit 10 among the points on the route searched by the search unit 17a. means.

  When the travel determination unit 17b determines that the other vehicle may interfere with the travel of the host vehicle, the fluctuation determination unit 17c determines whether to allow the other vehicle to enter the first point. The change determination means determines whether or not the travel time of the host vehicle from the current position of the host vehicle acquired by the current position acquisition unit 10 to the second point varies. Here, the “second point” is a point on the route searched by the search unit 17a and is located ahead of the first point.

  The permission determination part 17d is permission / rejection determination means for determining permission / prohibition of the entry to the first point for the other vehicle based on the determination result of the fluctuation determination part 17c.

  The permission / refusal processing unit 17e performs permission / rejection processing (specifically, permission processing described later and non-permission processing described later) related to permission / prohibition of entering another vehicle with respect to the first point based on the determination result of the permission determination unit 17d. It is a processing means.

  The signal state acquisition unit 17f is a signal (traffic signal) on the route searched for by the search unit 17a, and is a signal positioned ahead of the current position of the host vehicle acquired by the current position acquisition unit 10. There is a signal state acquisition means for acquiring signal state information indicating the state of a signal (hereinafter referred to as “target signal”) located at the same position as the first point or ahead of the first point. Here, the “signal state information” is a concept including, for example, information indicating lighting timing and blinking timing of a red signal, a blue signal, and a yellow signal among the target signals.

  The detection unit 17g is a detection unit that detects a subsequent vehicle among other vehicles. Here, the “following vehicle” means a vehicle that is located behind the host vehicle on the route searched by the search unit 17a and travels in the traveling direction of the host vehicle. Details of processing executed by the control unit 17 will be described later.

(Configuration-Data recording part)
The data recording unit 18 is a recording unit that records a program and various data necessary for the operation of the in-vehicle device 1, and is configured using, for example, a hard disk (not shown) as an external recording device. However, in place of or together with the hard disk, a magnetic recording medium such as a magnetic disk, an optical recording medium such as a DVD or a Blu-ray disk, or an electric recording medium such as a flash rom, USB memory, SD card, etc. Any recording medium can be used.

  As shown in FIG. 1, the data recording unit 18 includes a map database 18a (hereinafter, the database is referred to as “DB”). The map DB 18a is map information storage means for storing map information. Here, the “map information” is information necessary for specifying various positions including roads, road structures, facilities, etc. For example, node data (for example, node ID, Coordinates), link data related to each link set on the road (for example, link ID, link name, connection node ID, road coordinates, road type (for example, toll road, general road, etc.), number of lanes, etc.), ground It includes object data (for example, traffic lights, road signs, guardrails, facilities, etc.), terrain data, and the like.

(Navigation process)
Next, navigation processing executed by the vehicle-mounted device 1 configured in this manner will be described. FIG. 2 is a flowchart of the navigation process according to the embodiment (in the following description of each process, step is abbreviated as “S”). FIG. 3 is a flowchart of the navigation process following FIG. The navigation process is generally a process for guiding a route along which the host vehicle travels. Although the timing for executing the navigation process is arbitrary, the embodiment will be described as being started after the vehicle-mounted device 1 is powered on.

  When the navigation process is started, as shown in FIG. 2, the control unit 17 first performs a process from SA1 to SA5 in order to perform a preparation process for executing a permissible process described later or a non-permissible process described later. I do.

  First, as shown in FIG. 2, in SA1, the control unit 17 determines whether or not an instruction for setting a departure place, a destination, and a search condition has been accepted. Here, the setting method of the departure place is arbitrary, but may be set by, for example, receiving a predetermined operation of the user via the touch pad 14 or may be detected by the current position acquisition unit 10. The current position of the vehicle may be set as the departure place. The destination setting method is arbitrary, but may be set by receiving a user's predetermined operation via the touch pad 14, for example. Further, although the search condition setting method is arbitrary, for example, a search condition (for example, a distance priority condition, Information specifying time priority conditions, fuel efficiency priority conditions, etc.) may be displayed as a list, and any one of the information specifying the search conditions may be set by the user via the touch pad 14. Then, the control unit 17 waits until an instruction for setting the departure point, the destination, and the search condition is accepted (SA1, No), and when an instruction for setting the departure point, the destination, and the search condition is accepted (SA1). , Yes), the process proceeds to SA2.

  In SA2, the search unit 17a searches for a route using a known route search method based on the departure point, the destination, and the search conditions set in SA1 and the map information stored in the map DB 18a.

  In SA3, the control unit 17 acquires the current position of the host vehicle via the current position acquisition unit 10.

  In SA4, the control unit 17 specifies the first point. Although the method for specifying the first point is arbitrary, in the embodiment, it is acquired at SA3 among the intersections on the route searched at SA2 based on the map information stored in the map DB 18a. An intersection located in front of the current position of the host vehicle and closest to the current position is identified as the first point. However, the present invention is not limited to this, and for example, a point where the traveling of the host vehicle may be hindered by another vehicle may be specified. As an example, a commercial facility (for example, a restaurant) or a public facility (for example, a park) A point adjacent to the doorway of the vehicle and located in front of the host vehicle and closest to the current position of the host vehicle acquired in SA3 may be specified as the first point. Here, “the other vehicle is prevented from traveling by the own vehicle” means that the other vehicle moves across the lane in which the own vehicle is traveling to another lane (for example, when the other vehicle is traveling by the own vehicle). It means that traveling of the host vehicle is hindered by turning right across the lane.

  In SA5, the control unit 17 specifies the second point. Although the method for specifying the second point is arbitrary, in the embodiment, a signal (traffic signal) is selected from the intersections on the route searched in SA2 based on the map information stored in the map DB 18a. An intersection that is installed and is located ahead of the first point specified in SA4 and closest to the first point is specified as the second point. However, the present invention is not limited to this. For example, a point where the host vehicle is likely to stop may be specified as the second point. As an example, among the intersections on the route searched for at SA2, the intersection where the signal is installed is located in front of the first point specified at SA4, and 2 is located at the first point. The closest intersection may be specified as the second point, or the destination may be specified as the second point.

  Next, as shown in FIGS. 2 and 3, the control unit 17 performs the processes from SA6 to SA15 in order to execute an allowable process described later or a non-allowable process described later.

  First, as shown in FIG. 2, in SA6, the control unit 17 determines whether an oncoming vehicle or a merged vehicle is detected. Here, the “opposite vehicle” means a vehicle that is traveling in an opposite lane on a traveling road on which the host vehicle is traveling on a route searched by the search unit 17a among other vehicles. In addition, the “merging vehicle” means a vehicle that is traveling on an intersecting road that intersects the traveling road at the first point among other vehicles and that is about to enter the traveling road. .

  In addition, a method for detecting these oncoming vehicles or merging vehicles is arbitrary. For example, a known image analysis method using an image captured by the in-vehicle camera 12 (specifically, an image captured in the vicinity of the first point). It is determined whether there is another vehicle that is traveling on the traveling road or on the crossing road and is likely to enter the first point based on the result of analysis using Or the current position of the other vehicle acquired using inter-vehicle communication (specifically, direct communication or indirect communication via a center device not shown) between the host vehicle and the other vehicle. On the basis of the map information in the map DB 18a, it is determined whether or not there is another vehicle that is traveling on the traveling road or on the crossing road and is likely to enter the first point. To do. Here, when the said other vehicle exists, it determines with the oncoming vehicle or the joining vehicle having been detected, and when the said other vehicle does not exist, the oncoming vehicle or the joining vehicle is not detected. judge.

  When it is determined that the oncoming vehicle or the joining vehicle is detected (SA6, Yes), the control unit 17 proceeds to SA7, and when it is determined that the oncoming vehicle or the joining vehicle is not detected (SA6, No). ) Shifts to SA3. When the processes from SA3 to SA6 are repeated and the current position of the host vehicle acquired at SA3 matches the position of the destination set at SA1, the control unit 17 performs navigation. Processing may be terminated.

  In SA7, the traveling determination unit 17b determines whether or not the oncoming vehicle or the joining vehicle may interfere with the traveling of the host vehicle when the oncoming vehicle or the joining vehicle enters the first point. Here, in the embodiment, “an oncoming vehicle or a joining vehicle enters” corresponds to the case where only one oncoming vehicle or only one joining vehicle enters the first point, but is not limited thereto. For example, it may correspond that a plurality of oncoming vehicles or a plurality of merging vehicles enter the first point.

  The method for determining whether or not there is a possibility of hindering the traveling of the host vehicle is arbitrary. For example, an image captured by the in-vehicle camera 12 at a position before the first point is a known image. Based on the result of analysis using the analysis method, it is determined whether the right turn turn signal of the oncoming vehicle or the joining vehicle is operating, or the inter-vehicle communication between the own vehicle and the oncoming vehicle or the joining vehicle is used. It is determined whether the right turn turn signal of the oncoming vehicle or the joining vehicle is operating based on the acquired information indicating the operating state of the right turn turn signal of the oncoming vehicle or the joining vehicle. Here, when the right turn turn signal is operating, it is determined that there is a possibility that the traveling of the own vehicle may be hindered, and when the other vehicle does not exist, there is a possibility that the traveling of the own vehicle may be hindered. Judge that there is no. Then, when it is determined that there is a possibility that the traveling of the host vehicle may be hindered (SA7, Yes), the control unit 17 proceeds to SA8, and it is determined that there is no possibility that the driving of the own vehicle is prevented. In the case (SA7, No), the process proceeds to SA15.

  In SA8, the signal state acquisition unit 17f acquires signal state information regarding the target signal from the external device via the network based on the route searched in SA2 and the current position of the host vehicle acquired in SA3.

  In SA9, the fluctuation determination unit 17c determines that the oncoming vehicle or the merging of the travel time of the host vehicle from the current position of the host vehicle acquired in SA3 to the second point (hereinafter referred to as "travel time of the host vehicle"). Travel time when the vehicle is allowed to enter the first point (hereinafter referred to as “allowable travel time”) and travel time when the oncoming vehicle or the joining vehicle is not allowed to enter the first point ( Hereinafter, it is referred to as “non-permissible travel time”).

  Here, although the calculation method of the allowable travel time is arbitrary, for example, first, the vehicle speed acquisition unit 11 acquires the distance from the current position of the host vehicle acquired at SA3 to the second point at the time of processing of SA9. The vehicle speed of the subject vehicle (or the vehicle speed registered in the data recording unit 18 in advance) is divided, and a value obtained by adding the first waiting time to the divided value (time) is calculated as the provisional allowable travel time. The “first waiting time” is the time required for the oncoming vehicle or the joining vehicle to pass the first point, and is set based on, for example, past probe information or calculation results. Next, based on this temporary allowable travel time and the signal state information acquired at SA8, whether or not the host vehicle can pass through the second point without stopping depending on the state of the target signal installed at the second point. Determine whether. When the second point can be passed, the provisional allowable travel time is specified as the allowable travel time. When the second point cannot be passed, the provisional allowable travel time is added to the second waiting time. Identified as allowable travel time. This “second standby time” is the time required for the target signal to switch after the host vehicle stops due to the target signal installed at the second point. For example, the signal state information acquired at SA8 Etc. are set based on the above. However, the present invention is not limited to this. For example, when the host vehicle temporarily stops (or decelerates) before the first point, in addition to adding the second waiting time to the provisional allowable travel time, additional time may be added. You may add. Here, the “additional time” is a time period until the oncoming vehicle or the joining vehicle stops to allow the oncoming vehicle or the joining vehicle to enter the first point, or a predetermined time after the oncoming vehicle or the joining vehicle passes the first point. It means the time required for acceleration to reach the speed.

  The calculation method of the unacceptable travel time is arbitrary. For example, a value (time) obtained by dividing the distance from the current position of the host vehicle to the second point acquired at SA3 by a predetermined speed is temporarily calculated. Calculated as allowable travel time. Next, based on this temporary non-permissible travel time and the signal state information acquired at SA8, can the vehicle pass through the second point without stopping due to the state of the target signal installed at the second point? Determine whether or not. If the second point can be passed, the temporary non-permissible travel time is specified as the non-permissible travel time. If the second point cannot be passed, the third waiting time is added to the temporary non-permissible travel time. Is identified as an unacceptable travel time. The “third standby time” is the time required for the target signal to switch after the host vehicle stops due to the target signal installed at the second point. For example, the signal state information acquired at SA8 Etc. are set based on the above.

  Further, as shown in FIG. 3, in SA10, the change determination unit 17c determines whether or not the travel time of the host vehicle changes depending on whether or not the oncoming vehicle or the joining vehicle is allowed to enter the first point. judge. The method for determining whether or not the travel time of the host vehicle fluctuates is arbitrary. For example, the determination is made based on whether or not the allowable travel time calculated in SA9 matches the non-allowable travel time. If it is determined that they do not match, it is determined that the travel time of the host vehicle varies, and if it is determined that they match, it is determined that the travel time of the host vehicle does not vary. When it is determined that the travel time of the host vehicle does not change (SA10, No), the control unit 17 proceeds to SA11, and when it is determined that the travel time of the host vehicle changes (SA10, Yes). Shifts to SA12. By such processing, it is possible to determine whether or not the travel time of the host vehicle fluctuates according to the signal state information, so that the determination can be performed accurately.

  In SA11, the detection unit 17g specifies the number of subsequent vehicles. The method for specifying the number of subsequent vehicles is arbitrary. For example, first, based on the current position of the other vehicle acquired using inter-vehicle communication between the host vehicle and the other vehicle, and the map information in the map DB 18a. There is another vehicle located behind the current position of the host vehicle acquired at SA3 on the route searched at SA2 and within a predetermined distance (for example, within 50 m) from the host vehicle. It is determined whether or not. And when the said other vehicle exists, the total number in which the said other vehicle exists is specified as the number of subsequent vehicles, and when the said other vehicle does not exist, a zero value is set to the following vehicle. Specify the number.

  In SA12, the permission / refusal determination unit 17d determines whether the oncoming vehicle or the joining vehicle is permitted to enter the first point. The method for determining whether or not the oncoming vehicle or the joining vehicle is allowed to enter the first point is arbitrary. For example, first, it is determined whether or not the travel time of the host vehicle is determined to be varied in SA10. Here, when the travel time of the host vehicle fluctuates in SA10, it is determined that entry into the first point with respect to the oncoming vehicle or the joining vehicle is not permitted. On the other hand, if the travel time of the host vehicle does not fluctuate in SA10, it is determined whether or not the number of subsequent vehicles specified in SA11 is less than a predetermined number (for example, less than 5). Here, when the number of the following vehicles is less than the predetermined number, it is determined that the oncoming vehicle or the joining vehicle is not allowed to enter the first point, and when the number of the following vehicles is not less than the predetermined number, the oncoming vehicle or It is determined that entry of the joining vehicle to the first point is permitted. When it is determined that the oncoming vehicle or the joining vehicle is allowed to enter the first point (SA12, Yes), the control unit 17 proceeds to SA13, and the oncoming vehicle or the joining vehicle enters the first point. Is determined not to be permitted (SA12, No), the process proceeds to SA14.

  In SA13, the permission / rejection processing unit 17e executes a permission process, and then proceeds to SA15. Here, the “permissible process” means a process that allows the oncoming vehicle or the joining vehicle to enter the first point. Although the processing content of the permissible processing is arbitrary, in the embodiment, an oncoming vehicle is included in an area on the screen of the display 15 that performs guidance related to traveling of the host vehicle (hereinafter referred to as “guidance area”). Or display information indicating that entry to the first point for the joining vehicle is permitted (for example, text data including a fixed message such as “Please stop to give way to other vehicles”) Alternatively, the information is output as voice through the speaker 16. However, the present invention is not limited to this. For example, processing related to vehicle control for the host vehicle (or the oncoming vehicle or the joining vehicle) may be performed so as to allow the approaching vehicle or the joining vehicle to enter the first point. As such, a process for performing driving control on the host vehicle may be performed so that the host vehicle stops at a position before the first point until the oncoming vehicle or the joining vehicle passes the first point. By such processing, it is possible to perform processing that allows the oncoming vehicle or the joining vehicle to enter the first point, and therefore traffic congestion caused by the oncoming vehicle or the joining vehicle (for example, when the oncoming vehicle or the joining vehicle travels) It is possible to alleviate traffic congestion on the running road.

  In SA14, the permission / rejection processing unit 17e executes non-permission processing, and then proceeds to SA15. Here, the “non-permitted process” means a process that does not allow the oncoming vehicle or the joining vehicle to enter the first point. Although the processing content of this non-permissible processing is arbitrary, in the embodiment, information indicating that the approach area on the screen of the display 15 is not allowed to enter the first point with respect to the oncoming vehicle or the joining vehicle (an example) As text data including a standard message such as “Please pass without giving way to another vehicle” or the like, or the information is output as voice via the speaker 16. However, the present invention is not limited to this. For example, processing related to vehicle control for the host vehicle (or the oncoming vehicle or the joining vehicle) may be performed so as not to allow the oncoming vehicle or the joining vehicle to enter the first point. As such, before the oncoming vehicle or the merging vehicle enters the first point, a process for performing driving control on the own vehicle may be performed so that the own vehicle passes the first point. By such processing, it is possible to perform processing that does not allow the oncoming vehicle or the joining vehicle to enter the first point, so traffic congestion caused by the oncoming vehicle or the joining vehicle (for example, the traveling road on which the host vehicle is traveling) Traffic congestion).

  In SA15, the control unit 17 determines whether or not the timing for ending the navigation process (hereinafter referred to as “end timing”) has arrived. A method for determining whether or not the end timing has arrived is arbitrary. For example, whether or not the current position of the host vehicle acquired by the current position acquisition unit 10 during the processing of SA15 matches the position of the destination. Or based on whether or not a user's predetermined operation has been performed via the touch pad 14. Here, when the current position of the host vehicle coincides with the position of the destination, or when the predetermined operation is performed, it is determined that the end timing has arrived, and the current position of the host vehicle is determined as the destination position. When it does not coincide with the position or when the predetermined operation is not performed, it is determined that the end timing has not come. When it is determined that the end timing has not arrived (SA15, No), the control unit 17 proceeds to SA3, and when it is determined that the end timing has arrived (SA15, Yes), navigation processing is performed. Exit.

  For example, when the travel time of the host vehicle does not vary, the tolerance processing for the oncoming vehicle or the merged vehicle is performed, or when the travel time of the host vehicle varies, Since the non-permissible process for the vehicle can be performed, it is possible to alleviate the traffic jam while maintaining the convenience of the user of the host vehicle.

(Navigation processing-specific processing contents)
Subsequently, specific processing contents in which such navigation processing is executed will be described. 4 to 6 are diagrams exemplifying travel areas to be processed in the navigation process.

  First, an outline of the travel region R shown in FIGS. 4 to 6 as a processing target of the navigation process will be described. As shown in FIGS. 4 to 6, the traveling region R intersects the traveling road TR on which the host vehicle MV is traveling, the first intersecting road CR1 that intersects the first point P1, and the second point P2. And a second intersection road CR2. Further, a target signal TL is installed in the vicinity of the second point P2 on the traveling road TR.

  Next, when the host vehicle MV, the oncoming vehicle OV, and the following vehicle FV are traveling in the traveling region R of FIG. 4, the following processing is performed. That is, when the oncoming vehicle OV is detected in SA6 in FIG. 2, the oncoming vehicle OV turns right and the oncoming vehicle OV may interfere with the traveling of the host vehicle MV in SA7 in FIG. If it is determined that there is, an allowable travel time and an unacceptable travel time to the second point P2 are calculated in SA9 of FIG. Here, in SA9 of FIG. 2, regardless of whether or not the oncoming vehicle OV is allowed to enter the first point P1, the host vehicle MV does not stop depending on the state of the target signal TL. When the allowable travel time = the non-permissible travel time = 30 sec is calculated due to the fact that the vehicle cannot pass (that is, the red light of the target signal TL changes to the blue signal and cannot pass through the second point P2), SA10 in FIG. It is determined that the travel time of the host vehicle MV does not vary. Then, when the following vehicle FV = 6 is specified in SA11 of FIG. 3, if the following vehicle FV is not less than the predetermined number, it is allowed to enter the first point P1 with respect to the oncoming vehicle OV in SA12 of FIG. If it is determined, an allowable process is executed in SA13 of FIG. By such processing, it is possible to perform the permissible processing for the oncoming vehicle OV, and it is possible to alleviate the traffic jam caused by the oncoming vehicle OV (for example, traffic jam on the traveling road TR on which the oncoming vehicle OV is traveling).

  Further, when the host vehicle MV, the oncoming vehicle OV, the merging vehicle CV, and the following vehicle FV are traveling in the traveling region R of FIG. 5, the following processing is performed. That is, when the oncoming vehicle OV and the merging vehicle CV are detected in SA6 of FIG. 2, the right turn turn signal of the merging vehicle CV is activated, while the right turn turn signal of the merging vehicle CV is activated. If it is determined in SA7 that there is a possibility that the joining vehicle CV may hinder the traveling of the host vehicle MV, the allowable travel time and the non-allowable travel time to the second point P2 are calculated in SA9 of FIG. Here, in SA9 of FIG. 2, regardless of whether or not the joining vehicle CV is allowed to enter the first point P1, the host vehicle MV is not stopped depending on the state of the target signal TL. When allowable travel time = non-permissible travel time = 30 sec is calculated because the vehicle cannot pass, it is determined in SA10 of FIG. 3 that the travel time of the host vehicle MV does not vary. Then, when the following vehicle FV = 6 is specified in SA11 of FIG. 3, if the following vehicle FV is not less than the predetermined number, it is allowed to enter the first point P1 with respect to the oncoming vehicle OV in SA12 of FIG. If it is determined, an allowable process is executed in SA13 of FIG. By such processing, it is possible to perform the allowance process for the merging vehicle CV, and to relieve the traffic jam caused by the merging vehicle CV (for example, the traffic jam of the first intersection road CR1 on which the merging vehicle CV is traveling). it can.

  Further, when the host vehicle MV and the oncoming vehicle OV are traveling in the travel region R of FIG. 6, the following processing is performed. That is, when the oncoming vehicle OV is detected in SA6 in FIG. 2, the oncoming vehicle OV turns right and the oncoming vehicle OV may interfere with the traveling of the host vehicle MV in SA7 in FIG. If it is determined that there is, an allowable travel time and an unacceptable travel time to the second point P2 are calculated in SA9 of FIG. Here, in SA9 of FIG. 2, regardless of whether or not the oncoming vehicle OV is allowed to enter the first point P1, the host vehicle MV does not stop depending on the state of the target signal TL. When allowable travel time = non-permissible travel time = 30 sec is calculated because the vehicle cannot pass, it is determined in SA10 of FIG. 3 that the travel time of the host vehicle MV does not vary. Then, when the succeeding vehicle FV = 0 is identified in SA11 in FIG. 3, the approaching vehicle OV is allowed to enter the first point P1 in SA12 in FIG. 3 because the following vehicle FV is less than the predetermined number. If it is determined not to be performed, non-permissible processing is executed in SA14 of FIG. When it is determined that the travel time of the host vehicle MV does not vary by such processing, if the number of the following vehicles FV is small, the non-permissible processing for the oncoming vehicle OV can be performed, and the permissible processing is performed. Compared to the case, it can be avoided that the user of the oncoming vehicle OV feels bothered when entering the first point P1.

[Modifications to Embodiment]
Although the embodiments of the present invention have been described above, the specific configuration and means of the present invention may be arbitrarily modified and improved within the scope of the technical idea of the present invention described in the claims. Can do. Hereinafter, such a modification will be described.

(About problems to be solved and effects of the invention)
First, the problems to be solved by the invention and the effects of the invention are not limited to the above contents, and may vary depending on the implementation environment and details of the configuration of the invention. May be solved, or only some of the effects described above may be achieved.

(About distribution and integration)
Further, each of the electrical components described above is functionally conceptual and does not necessarily need to be physically configured as illustrated. In other words, the specific forms of distribution and integration of each unit are not limited to those shown in the drawings, and all or a part thereof may be functionally or physically distributed or integrated in arbitrary units according to various loads or usage conditions. Can be configured. In addition, the “apparatus” in the present application is not limited to one configured by a single apparatus, but includes one configured by a plurality of apparatuses. For example, the in-vehicle device 1 is configured to be distributed among a plurality of devices configured to be able to communicate with each other, and a control unit 17 is provided in a part of the plurality of devices, and another part of the plurality of devices is provided. A data recording unit 18 may be provided.

(About shape, numerical value, structure, time series)
Regarding the constituent elements exemplified in the embodiment and the drawings, the shape, numerical value, or the structure of a plurality of constituent elements or the mutual relationship in time series may be arbitrarily modified and improved within the scope of the technical idea of the present invention. Can do.

(About the navigation system)
In the above embodiment, the navigation system is described as being configured using the in-vehicle device 1, but is not limited thereto, and is configured using, for example, a center device that is communicably connected to the plurality of in-vehicle devices 1. May be. In this case, for example, when the center device obtains the information indicating the departure point and the destination and the current position of the vehicle from the target vehicle in SA1 of the navigation process, the process of SA2 to SA12 is executed. Thereafter, a non-permissible process of SA13 (for example, a process related to vehicle control) or an allowable process of SA14 (for example, a process related to vehicle control) may be executed.

(About navigation processing)
In the above-described embodiment, it has been described that the process of SA11 is performed. However, the present invention is not limited to this. For example, SA11 may be omitted. In this case, in SA12, if the travel time of the host vehicle does not change in SA10, it is determined that the oncoming vehicle or the joining vehicle is allowed to enter the first point, and the travel time of the host vehicle is determined in SA10. When it fluctuates, it determines with not approaching the 1st point with respect to an oncoming vehicle or a joining vehicle.

  In the above-described embodiment, it has been described that in SA12, whether or not to allow the oncoming vehicle or the joining vehicle to enter the first point is determined based on the determination result of SA10 or the number of the following vehicles specified in SA11. Not limited to this. For example, in addition to the determination result of SA10 and the number of subsequent vehicles specified in SA11, the determination may be made based on other parameters such as the road width of the travel route and the vehicle speed of the host vehicle. As an example, if it is determined in SA10 that the travel time of the host vehicle fluctuates and the number of subsequent vehicles is not less than the predetermined number, it is determined whether the road width of the travel route is equal to or greater than the road width of the intersection road. To do. If it is equal to or greater than the width of the crossing road, it is determined that the oncoming vehicle or the joining vehicle is not allowed to enter the first point. It may be determined that entry to the first point is allowed.

[Characteristics and effects of the embodiment]
Finally, some of the features and effects of the embodiments described so far are exemplified below. However, the features and effects of the embodiment are not limited to the following contents, and only some of the following effects are achieved by including only a part of the following features, or other than the following features. By providing the characteristics, there may be other effects than the following effects.

  A navigation system according to one aspect 1 of the embodiment includes a map information storage unit that stores map information, a search unit that searches for a route from a departure place to a destination based on the map information, and a target vehicle. Among the points on the route searched by the search means and the current position acquisition means for acquiring the current position, the current position acquisition means is positioned ahead of the current position of the target vehicle acquired by the current position acquisition means. Travel determination means for determining whether there is a possibility that the other vehicle may interfere with the travel of the target vehicle when a vehicle other than the target vehicle enters the first point; and the travel determination means If it is determined that there is a possibility that the other vehicle may interfere with the traveling of the target vehicle, the current position is acquired depending on whether or not the other vehicle is allowed to enter the first point. means Travel of the target vehicle from the current position of the target vehicle acquired in the above to a second point on the route searched by the search means and positioned ahead of the first point Fluctuation determining means for determining whether or not time fluctuates, permission determination means for determining whether or not the other vehicle is allowed to enter the first point based on a determination result of the fluctuation determination means, and the permission or rejection Permission / rejection processing means for performing processing related to permission / rejection of entry to the first point for the other vehicle based on the determination result of the determination means.

  According to the navigation system according to the aspect 1, when it is determined by the travel determination means that another vehicle may interfere with the travel of the target vehicle, the other vehicle enters the first point. Depending on whether or not to allow, a second point that is a second point on the route searched by the search unit from the current position of the target vehicle acquired by the current position acquisition unit and is located ahead of the first point. Fluctuation determining means for determining whether or not the travel time of the target vehicle to the point fluctuates, and permission / rejection determining means for determining whether or not another vehicle is allowed to enter the first point based on the determination result of the fluctuation determining means And a permission / rejection processing means for performing processing related to permission / inhibition of entry to the first point for another vehicle based on the determination result of the permission / rejection determination means. For example, when the travel time of the target vehicle does not vary The other car If the target vehicle is allowed to enter the first point or if the travel time of the target vehicle varies, a process that does not allow the other vehicle to enter the first point can be performed. Traffic congestion can be reduced while maintaining user convenience.

  A navigation system according to another aspect 2 of the embodiment is a signal on the route searched by the search means in the navigation system according to the aspect 1, which is acquired by the current position acquisition means. Signal state acquisition means for acquiring signal state information indicating a state of a signal which is located ahead of the current position of the target vehicle and which is located at the same position as the first point or ahead of the first point. The fluctuation determination means determines whether or not the travel time of the target vehicle fluctuates based on the signal state information acquired by the signal state acquisition means.

  According to the navigation system according to aspect 2, the variation determination unit determines whether or not the travel time of the target vehicle varies based on the signal state information acquired by the signal state acquisition unit. It can be determined whether or not the travel time fluctuates according to the signal state information, and the determination can be performed accurately.

  The navigation system according to another side surface 3 of the embodiment is the navigation system according to the side surface 1 or the side surface 2 described above, wherein, among the other vehicles, on the route searched by the search means, from the target vehicle. Is further provided with a detecting means for detecting a succeeding vehicle that is a vehicle that travels in the advancing direction of the target vehicle, and the permission determination means is configured to detect a travel time of the target vehicle by the variation determination means. If it is determined that the vehicle does not fluctuate, and the number of the succeeding vehicles detected by the detecting means is less than a predetermined number, it is determined that the other vehicle is not allowed to enter the first point. To do.

  According to the navigation system according to aspect 3 described above, when the permission determination unit determines that the travel time of the target vehicle does not vary by the variation determination unit, the number of subsequent vehicles detected by the detection unit is a predetermined number. If it is less than, if it is determined that the travel time of the target vehicle does not fluctuate, it is determined that entry to the first point for other vehicles is not allowed. The process of not permitting the entry of the other vehicle to the first point can be performed, and the user of the other vehicle is the first compared to the case of performing the process of allowing the other vehicle to enter the first point. It is possible to avoid feeling annoying when entering the point.

  The navigation system according to another aspect 4 of the embodiment is the navigation system according to any one of the aspect 1 to the aspect 3, wherein the other vehicle is the target vehicle on a route searched by the search means. An oncoming vehicle that is traveling in a direction opposite to the target vehicle on the traveling road on which the vehicle is traveling and is about to enter an intersecting road that intersects the traveling road at the first point Or a vehicle that is traveling on the crossing road, and a joining vehicle that is about to enter the traveling road.

  According to the navigation system according to the aspect 4, the other vehicle is a vehicle traveling in the opposite direction to the target vehicle on the traveling road on which the target vehicle is traveling on the route searched by the search means. An oncoming vehicle that is about to enter an intersecting road that intersects the traveling road at the first point, or a vehicle that is traveling on the intersecting road and is about to enter the traveling road. Therefore, it is possible to perform processing according to whether or not the oncoming vehicle or the joining vehicle is allowed to enter the first point, and traffic caused by the oncoming vehicle or the joining vehicle (for example, traveling where the oncoming vehicle or the joining vehicle is traveling). Road congestion).

  A navigation program according to another aspect 5 of the embodiment includes a computer, a map information storage unit that stores map information, a search unit that searches for a route from a departure place to a destination based on the map information, A current position acquisition unit that acquires a current position of the target vehicle, and a position ahead of the current position of the target vehicle acquired by the current position acquisition unit among points on the route searched by the search unit Travel determination means for determining whether there is a possibility that the other vehicle may interfere with the travel of the target vehicle when a vehicle other than the target vehicle enters the first point located at When it is determined by the travel determination means that the other vehicle may interfere with the travel of the target vehicle, whether or not the other vehicle is allowed to enter the first point From the current position of the target vehicle acquired by the location acquisition means to the second point on the route searched by the search means and located ahead of the first point Fluctuation determining means for determining whether or not the travel time of the target vehicle fluctuates, and permission determination for determining whether or not the other vehicle is allowed to enter the first point based on the determination result of the fluctuation determining means. And a permission / rejection processing means for performing processing related to permission / rejection of the entry to the first point for the other vehicle based on the determination result of the permission / rejection determination means.

  According to the navigation program according to the aspect 5, when the travel determination unit determines that there is a possibility that another vehicle may interfere with the travel of the target vehicle, the other vehicle enters the first point. Depending on whether or not to allow, it is a second point on the route searched by the search means from the current position of the target vehicle acquired by the current position acquisition means, and positioned ahead of the first point And determining whether or not the travel time of the target vehicle fluctuates up to the second point to be fluctuated and whether or not another vehicle is allowed to enter the first point based on the determination result of the fluctuation determining unit Based on the determination result of the permission determination means and the permission determination means, the permission processing means for performing processing related to permission or disapproval of entry to the first point for another vehicle, for example, the travel time of the target vehicle If it does not move, for example, if the travel time of the target vehicle does not fluctuate, processing to allow the entry to the first point for other vehicles, or if the travel time of the target vehicle fluctuates, It is possible to perform processing that does not allow the entry of the other vehicle to the first point, and it is possible to alleviate the traffic jam while maintaining the convenience of the user of the target vehicle.

DESCRIPTION OF SYMBOLS 1 In-vehicle apparatus 10 Current position acquisition part 11 Vehicle speed acquisition part 12 Car-mounted camera 13 Communication part 14 Touchpad 15 Display 16 Speaker 17 Control part 17a Search part 17b Travel determination part 17c Fluctuation determination part 17d Permit determination part 17e Permit / rejection process part 17f Signal state Acquisition unit 17g Detection unit 18 Data recording unit 18a Map DB
CR1 First intersection road CR2 Second intersection road CV Junction vehicle FV Subsequent vehicle MV Own vehicle OV Oncoming vehicle P1 First point P2 Second point R Traveling area TR Traveling road TL Target signal

Claims (5)

Map information storage means for storing map information;
Search means for searching for a route from the departure place to the destination based on the map information;
Current position acquisition means for acquiring the current position of the target vehicle;
Among the points on the route searched by the search means, the first point located ahead of the current position of the target vehicle acquired by the current position acquisition means is other than the target vehicle. Traveling determination means for determining whether there is a possibility that the other vehicle may interfere with traveling of the target vehicle when the vehicle enters the vehicle;
When it is determined by the travel determination means that the other vehicle may interfere with the travel of the target vehicle, whether or not the other vehicle is allowed to enter the first point, From the current position of the target vehicle acquired by the current position acquisition unit to a second point on the route searched by the search unit and positioned ahead of the first point Fluctuation determining means for determining whether or not the travel time of the target vehicle fluctuates,
Based on the determination result of the variation determination means, permission / rejection determination means for determining permission / prohibition of entry into the first point for the other vehicle;
Based on the determination result of the permission determination means, permission / rejection processing means for performing processing related to permission / prohibition of the entry to the first point for the other vehicle;
Navigation system equipped with. A signal on the route searched for by the search means, which is a signal positioned ahead of the current position of the target vehicle acquired by the current position acquisition means, and is the same as the first point Comprising signal state acquisition means for acquiring signal state information indicating a position or a state of a signal located in front of the first point;
The fluctuation determination means determines whether or not a travel time of the target vehicle fluctuates based on the signal state information acquired by the signal state acquisition means.
The navigation system according to claim 1. Detection that detects a succeeding vehicle that is located behind the target vehicle and travels in the traveling direction of the target vehicle on the route searched by the search unit, among the other vehicles. With means,
In the case where the travel determination time of the target vehicle is determined not to fluctuate by the fluctuation determination means, the permission / refusal determination means is when the number of the following vehicles detected by the detection means is less than a predetermined number. Determines that the other vehicle is not allowed to enter the first point.
The navigation system according to claim 1 or 2. The other vehicle is
A vehicle traveling in a direction opposite to the target vehicle on a traveling road on which the target vehicle is traveling on the route searched by the search means, the first point with respect to the traveling road An oncoming vehicle that is about to enter an intersecting road
A vehicle traveling on the crossing road, including a merging vehicle that is about to enter the traveling road;
The navigation system according to any one of claims 1 to 3. Computer
Map information storage means for storing map information;
Search means for searching for a route from the departure place to the destination based on the map information;
Current position acquisition means for acquiring the current position of the target vehicle;
Among the points on the route searched by the search means, the first point located ahead of the current position of the target vehicle acquired by the current position acquisition means is other than the target vehicle. Traveling determination means for determining whether there is a possibility that the other vehicle may interfere with traveling of the target vehicle when the vehicle enters the vehicle;
When it is determined by the travel determination means that the other vehicle may interfere with the travel of the target vehicle, whether or not the other vehicle is allowed to enter the first point, From the current position of the target vehicle acquired by the current position acquisition unit to a second point on the route searched by the search unit and positioned ahead of the first point Fluctuation determining means for determining whether or not the travel time of the target vehicle fluctuates,
Based on the determination result of the variation determination means, permission / rejection determination means for determining permission / prohibition of entry into the first point for the other vehicle;
Based on the determination result of the permission determination means, permission / rejection processing means for performing processing related to permission / prohibition of the entry to the first point for the other vehicle;
Navigation program to function as.

Images