JP2019120666A - Navigation device, navigation method, and navigation program - Google Patents

Abstract

To prevent an amount of information to be offered to drivers from increasing in a navigation device causing a plurality of vehicles to be mutually coordinated and causing group travelling.SOLUTION: A radio communication unit 5 is configured to transmit vehicle information about an own vehicle 1 to a group travelling other vehicle 1a, and receive vehicle information about the other vehicle 1a. A coordination processing unit 48 is configured to generate other vehicle coordination screen indicating at least positions of the own vehicle 1 and the other vehicle 1a on a map on the basis of the vehicle information on the own vehicle 1 and the other vehicle 1a. An input unit 31 is configured to receive an operation of a driver of the own vehicle 1. A display unit 32 is configured to, when the input unit 31 receives the operation of the driver, display other vehicle coordination screen generated by the coordination processing unit 48 on the basis of latest vehicle information on the own vehicle 1 and the other vehicle 1a in a static state.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a navigation device, a navigation method, and a navigation program for traveling a plurality of vehicles in a group.

  When a plurality of vehicles form a group and travel, it is necessary for the driver of each vehicle to communicate by grasping the current position and the traveling condition of each vehicle by talking with a mobile phone or the like. Therefore, for example, the navigation device according to Patent Document 1 is mounted on each of a plurality of vehicles traveling in a group, performs mutual communication of information among the vehicles in the group, and displays information of each vehicle in real time Route guidance enabled smooth group driving.

Japanese Patent Application Laid-Open No. 6-282795

  The time for the driver to view or manipulate the screen of the navigation device while driving is very short. Therefore, when the information on the other vehicles in the group is displayed in real time in addition to the information on the own vehicle as in the navigation device according to Patent Document 1, there is a problem that the amount of information provided to the driver becomes too large. there were. When the amount of information provided to the driver is too large, the driver is confused and it is difficult to grasp the necessary information in a short time.

  The present invention has been made to solve the above-described problems, and it is an object of the present invention to prevent an increase in the amount of information to be provided to a driver in a navigation device in which a plurality of vehicles cooperate with one another to make group travel. Do.

  A navigation device according to the present invention is a navigation device mounted on each of a plurality of vehicles traveling in a group in cooperation with each other, and a route guidance unit guiding guidance according to a planned traveling route of the vehicle, and a vehicle related to the vehicle The position of at least the subject vehicle and the other vehicle is indicated on the map based on the wireless communication unit that transmits the information to the other vehicles traveling in a group and receives the vehicle information on the other vehicle, and the vehicle information of the subject vehicle and the other vehicle. When the cooperation processing unit that generates the other vehicle cooperation screen, the input unit that receives the operation of the driver of the own vehicle, and the input processing unit receives the operation of the driver, the cooperation processing unit is the latest vehicle of the own vehicle and other vehicles And a display unit for displaying, in a static state, the other vehicle cooperation screen generated based on the information.

  According to the present invention, the cooperation processing unit displays the other-vehicle cooperation screen generated on the basis of the latest vehicle information of the current vehicle and the other vehicle in a static state. Compared to the case of displaying vehicle information of a vehicle and other vehicles in real time, it is possible to prevent an increase in the amount of information provided to the driver.

FIG. 1 is a block diagram showing an overview of a navigation device in accordance with a first embodiment. FIG. 2 is a block diagram showing an example of an internal configuration of the navigation device in accordance with Embodiment 1. 5 is a diagram showing an example of a display screen of a planned travel route in Embodiment 1. FIG. FIG. 5 is a diagram showing an example of a vehicle navigation screen in the first embodiment. FIG. 7 is a diagram showing an example of another vehicle cooperation screen in the first embodiment. FIG. 7 is a diagram showing an example of another vehicle cooperation screen in the first embodiment. FIG. 8 is a diagram showing an example of another vehicle cooperation screen on which the merging candidate site selection screen is displayed in the first embodiment. FIG. 8 is a diagram showing an example of another vehicle cooperation screen on which the merging candidate site selection screen is displayed in the first embodiment. FIG. 8 is a diagram showing an example of another vehicle cooperation screen on which the merging candidate site selection screen is displayed in the first embodiment. 5 is a flowchart showing an operation example of the navigation device in accordance with Embodiment 1. FIG. It is a continuation of the flowchart in FIG. 10A. FIG. 2 is a diagram showing an example of a hardware configuration of the navigation device in accordance with Embodiment 1. FIG. 2 is a diagram showing an example of a hardware configuration of the navigation device in accordance with Embodiment 1.

Embodiment 1
FIG. 1 is a block diagram showing an outline of the navigation device 2, 2a according to the first embodiment. In the first embodiment, it is assumed that the host vehicle 1 and the other vehicle 1a travel in a group in cooperation with each other. Although FIG. 1 shows an example in which the host vehicle 1 cooperates with one other vehicle 1a for the sake of simplicity, the host vehicle 1 may cooperate with a plurality of other vehicles 1a.

  A navigation device 2 is mounted on the host vehicle 1. The navigation device 2 includes an HMI (Human Machine Interface) unit 3, a navigation main unit 4, and a wireless communication unit 5. A navigation device 2a is mounted on the other vehicle 1a. Here, in order to distinguish between the navigation device 2 mounted on the own vehicle 1 and the navigation device 2 mounted on the other vehicle 1a, the reference numeral indicating the navigation device 2 etc. mounted on the other vehicle 1a a. The navigation device 2 and the navigation device 2a have the same configuration.

  The navigation device 2 of the own vehicle 1 and the navigation device 2a of the other vehicle 1a exchange vehicle information with each other through inter-vehicle communication by the wireless communication unit 5 and the wireless communication unit 5a. The vehicle information of the host vehicle is, for example, the position of the host vehicle, the vehicle speed of the host vehicle, the planned traveling route of the host vehicle, and the distance between the host vehicle and the other vehicle. The vehicle information may be exchanged directly between the two vehicles by inter-vehicle communication, or the vehicle information may be exchanged via a server device or the like.

  The mobile terminal 6 of the own vehicle 1 and the mobile terminal 6a of the other vehicle 1a are connected by, for example, a telephone line of a general public network such as a smartphone. The portable terminal 6 and the portable terminal 6a are used to talk between drivers under the control of the navigation device 2 and the navigation device 2a.

  FIG. 2 is a block diagram showing an example of the internal configuration of the navigation device 2 according to the first embodiment. The internal configuration of the navigation device 2a is the same as the internal configuration of the navigation device 2, and thus the illustration and description thereof will be omitted.

  The HMI unit 3 includes an input unit 31, a display unit 32, and an audio output unit 33. The input unit 31 includes a push button device, a touch panel, a voice recognition device, a gesture recognition device, or the like, receives an operation of the driver, and outputs the operation to the navigation main body unit 4. The driver's operation may be not only input to the push button device or the touch panel but also voice input or gesture input. The display unit 32 is configured by a display or the like, and displays information from the navigation main unit 4. The voice output unit 33 is constituted by a speaker or the like, and voice-outputs the information from the navigation main unit 4.

  The navigation main unit 4 includes a GNSS (Global Navigation Satellite System) reception unit 41, a 6-axis sensor unit 42, an external sensor unit 43, a current position detection unit 44, a map data storage unit 45, a route calculation unit 46, a route guidance unit 47, A cooperation processing unit 48, a mobile terminal IF (Interface) unit 49, and a control unit 50 are provided.

  The GNSS receiver 41 receives radio waves from GNSS satellites and outputs the radio waves to the current position detector 44. The six-axis sensor unit 42 includes a gyro sensor and an acceleration sensor, detects the accelerations of the X, Y, and Z axes and the angular velocities of the X, Y, and Z axes of the host vehicle 1, and It is output to the detection unit 44. The external world sensor unit 43 is configured of a camera, a radar, or a combination of a camera and a radar, detects a situation around the host vehicle 1, and outputs the detected situation to the current position detection unit 44. The current position detection unit 44 detects the current position of the host vehicle 1 using information from the GNSS reception unit 41, the six-axis sensor unit 42, and the external sensor unit 43, and sets the current position as the host vehicle position information. The current position detection unit 44 outputs the detected vehicle position information to the route calculation unit 46, the route guidance unit 47, the cooperation processing unit 48, and the wireless communication unit 5 via the control unit 50.

  The map data storage unit 45 stores map data. The route calculation unit 46 is based on the vehicle position information detected by the current position detection unit 44, the departure place and destination received by the input unit 31, and the map data stored in the map data storage unit 45. The planned travel route from the departure place to the destination on the map, the time to arrive at the destination, etc. are calculated and used as vehicle route information. When the route calculation unit 46 obtains a plurality of planned travel routes as a result of the calculation, the route calculation unit 46 uses one planned travel route selected by the user as the host vehicle route information. The route calculation unit 46 outputs the calculated vehicle route information to the route guidance unit 47, the cooperation processing unit 48, and the wireless communication unit 5 via the control unit 50.

  The route guidance unit 47 is based on the vehicle route information calculated by the route calculation unit 46 and the vehicle position information calculated by the current position detection unit 44, along the planned travel route from the current position to the destination 1. Display information and voice information for guiding 1 is generated. The route guidance unit 47 outputs the generated display information to the display unit 32 via the control unit 50. In addition, the route guidance unit 47 outputs the generated voice information to the voice output unit 33 via the control unit 50.

  The cooperation processing unit 48 compares the vehicle information on the vehicle 1 (hereinafter referred to as “vehicle information”) with the vehicle information on the other vehicle 1 a (hereinafter referred to as “other vehicle information”). 1a cooperates with each other to generate display information and the like for performing group traveling. The host vehicle information is, for example, host vehicle position information and host vehicle route information. The other vehicle information is, for example, referred to as vehicle position information (hereinafter referred to as other vehicle position information) and vehicle route information (hereinafter referred to as other vehicle route information) calculated by the navigation device 2a mounted on the other vehicle 1a. And is received by the wireless communication unit 5. For example, the cooperation processing unit 48 compares the planned travel route of the host vehicle 1 with the planned travel route of the other vehicle 1a, and displays on the map display information for color-coding and displaying a portion where the planned travel route is common and a different portion. Or display information etc. which show the time which it takes for self-vehicles 1 and other vehicles 1a to merge are generated. The cooperation processing unit 48 outputs the generated display information to the display unit 32 via the control unit 50.

  The portable terminal IF unit 49 is configured by a general general-purpose interface for connecting to the portable terminal 6 by Bluetooth (registered trademark), WiFi, or the like. The portable terminal IF unit 49 operates the portable terminal 6 to realize voice communication and the like with the portable terminal 6a of the other vehicle 1a through a telephone line. At this time, the portable terminal IF unit 49 may input a call voice of the driver of the own vehicle 1 to the input unit 31 and output a call voice of the driver of the other vehicle 1 a from the voice output unit 33.

  The control unit 50 controls the exchange of information between each unit in the navigation main unit 4 and the exchange of information between the HMI unit 3, the navigation main unit 4 and the wireless communication unit 5.

  The wireless communication unit 5 includes a transmitting antenna 51, a receiving antenna 52, a transmitting unit 53, and a receiving unit 54. The transmitting unit 53 transmits the host vehicle information and the like from the navigation main unit 4 to the other vehicle 1 a via the transmitting antenna 51. The receiving unit 54 receives other vehicle information and the like from the other vehicle 1 a via the receiving antenna 52, and outputs the information to the navigation main unit 4.

  FIG. 3 is a diagram showing an example of a display screen of a planned travel route in the first embodiment. On the map, a planned travel route 101 from the departure place S of the vehicle 1 to the destination G is shown. The planned travel route 101 is calculated by the route calculation unit 46. Further, the display information of the display screen is generated by the route calculation unit 46.

  FIG. 4 is a diagram showing an example of the vehicle navigation screen in the first embodiment. The display screen shown in FIG. 4 is an enlarged display of a part of the planned travel route 101 of the display screen shown in FIG. The route guidance unit 47 arranges the vehicle mark 102 indicating the current position of the vehicle 1 on the planned travel route 101, and along the planned travel route 101 by voice guidance or display using the enlarged map including the current position. Guide and guide from the current position to the destination. For example, the route guidance unit 47 causes the display unit 32 to display display information 103 indicating an instruction for turning the vehicle 1 at the next intersection. Also, for example, the route guidance unit 47 causes the voice output unit 33 to voice-output voice guidance such as “turn right at the next signal”. Further, the route guidance unit 47 causes the display unit 32 to display the display information 104 indicating the time when the vehicle 1 arrives at the destination and the distance from the current position to the destination, the display information 105 indicating the current time, and the like. . The other vehicle cooperation button 106 is an image of an operation button serving as a trigger for shifting the display to the other vehicle cooperation screen in FIGS. 5 and 6 described later. When receiving the driver's operation on the other vehicle cooperation button 106, the input unit 31 notifies the cooperation processing unit 48 via the control unit 50. When the cooperation processing unit 48 receives the notification, the cooperation processing unit 48 causes the display unit 32 to display the other vehicle cooperation screen. The trigger for shifting from the own-vehicle navigation screen to the other-vehicle cooperation screen is not limited to the operation button, and may be voice input or the like.

5 and 6 are diagrams showing an example of the other vehicle cooperation screen according to the first embodiment. When the other vehicle cooperation button 106 in FIG. 4 is operated, the cooperation processing unit 48 causes the display unit 32 to display the other vehicle cooperation screen in FIG. 5. FIGS. 5 and 6 show an example in which the other-vehicle cooperation screen displays vehicle information of cars A and B, which are other vehicles 1a traveling in a group with the vehicle 1. It is assumed that the information of the cars A and B traveling in a group is registered in the cooperation processing unit 48 by the operation of the driver through the input unit 31. The other vehicle cooperation screen is displayed for the purpose of causing the driver of the own vehicle 1 to instantly grasp the positional relationship between the own vehicle 1 and the other vehicle 1 a and the planned traveling route. In addition, the other car cooperation screen does not aim at real time display renewal including the current position of the own vehicle 1, but static display renewal or real time renewal at the timing when the trigger such as the other car cooperation button 106 is operated. In this case, it is assumed that the display is updated in an update cycle such as several seconds or several tens of seconds, which is slower than the above. In the other vehicle cooperation screen shown in FIGS. 5 and 6, A car mark 110 indicating the position of A car registered as a group and B car mark 120 indicating the position of B car are displayed on the same screen. As described above, the cooperation processing unit 48 adjusts the map scale.

  FIG. 5 is an example of another vehicle cooperation screen in which the cooperation between the host vehicle 1 and the vehicle A is the main object. The cooperation processing unit 48 causes the display unit 32 to display the planned traveling route 111 of the car A in addition to the planned traveling route 101 of the host vehicle 1. At this time, the cooperation processing unit 48 may change the display color of a portion common to the planned travel route 101 and the planned travel route 111 and the display color of different portions between the planned travel route 101 and the planned travel route 111. . In addition, the cooperation processing unit 48 may cause the display unit 32 to display display information 112 indicating the time difference and the distance difference between the host vehicle 1 and the A car. In the example of FIG. 5, the distance difference between the host vehicle 1 and the car A is 1.3 km, and it takes 25 minutes for the host vehicle 1 to reach the position of the car A. When the driver manipulates the A car mark 110, the cooperation processing unit 48 displays the cooperation menu 113 regarding the A car, at least one of "make a call", "send a message", or "join". Display on the part 32. The details of the cooperation menu 113 will be described later. On the other hand, when the driver operates the B car mark 120, the cooperation processing unit 48 shifts from the other vehicle cooperation screen shown in FIG. 5 to the other vehicle cooperation screen shown in FIG. The current position button 107 is an image of an operation button serving as a trigger for shifting the display from the other vehicle cooperation screen to the vehicle navigation screen of FIG. 4. When the driver operates the current position button 107, the cooperation processing unit 48 shifts from the other vehicle cooperation screen shown in FIG. 5 to the own vehicle navigation screen shown in FIG.

  FIG. 6 is an example of another vehicle cooperation screen in which cooperation between the host vehicle 1 and the B car is the main object. The cooperation processing unit 48 causes the display unit 32 to display the planned traveling route 121 of the B car in addition to the planned traveling route 101 of the host vehicle 1. In addition, since the planned travel route 101 and the planned travel route 121 are the same, they are displayed in the same color. The cooperation processing unit 48 causes the display unit 32 to display display information 122 indicating the time difference and the distance difference between the host vehicle 1 and the B car. In the example of FIG. 6, the distance difference between the host vehicle 1 and the car B is 700 m, and it takes 19 minutes for the host vehicle 1 to reach the position of the car B. When the driver operates the B car mark 120, the cooperation processing unit 48 displays the cooperation menu 123 for the B car among at least one of “Put a call”, “send a message”, or “merge”. Let Details of the cooperation menu 123 will be described later. On the other hand, when the driver operates the A car mark 110, the cooperation processing unit 48 shifts from the other vehicle cooperation screen shown in FIG. 6 to the other vehicle cooperation screen shown in FIG.

  The cooperation processing unit 48 updates the display of the other vehicle cooperation screen at the timing when the trigger of the other vehicle cooperation button 106 or the like is operated, or after shifting to the other vehicle cooperation screen, a unit of several seconds or several tens of seconds By updating the display in the update cycle, it is possible to prevent an increase in the amount of information displayed on the display screen. In addition, the amount of information displayed per display screen can be divided by separating the other car cooperation screen that focuses on cooperation with car A and the other car cooperation screen that focuses on cooperation with car B. An increase can be prevented.

  Here, the cooperation menus 113 and 123 will be described. The cooperation menu 113 is the same as that for the car A, but the cooperation menus 113 and 123 are the same except that the cooperation menu 123 is the function for the car B. Therefore, the cooperation menu 113 will be described below.

  When the driver performs an operation to select “make a call” in the cooperation menu 113, the input unit 31 receives this operation and notifies the portable terminal IF unit 49 via the control unit 50. When the portable terminal IF unit 49 receives this notification, the portable terminal IF unit 49 operates the portable terminal 6 to call the portable terminal 6a mounted on the car A.

  When the driver performs an operation to select "send message" of the cooperation menu 113, the input unit 31 receives this operation, and further receives an input of a text message, and to the portable terminal IF unit 49 via the control unit 50. Notice. When the portable terminal IF unit 49 receives this notification, the portable terminal IF unit 49 operates the portable terminal 6 to transmit a text message to the portable terminal 6a mounted on the car A.

  When the driver performs an operation of selecting “Join” of the cooperation menu 113, the input unit 31 receives this operation and notifies the cooperation processing unit 48 via the control unit 50. When the cooperation processing unit 48 receives the notification, the cooperation processing unit 48 causes the display unit 32 to display another vehicle cooperation screen of FIG. 7 described later.

  FIGS. 7, 8 and 9 are diagrams showing examples of other vehicle cooperation screens on which the merging candidate site selection screen 130 is displayed in the first embodiment. When “Join” of the cooperation menu 113 in FIG. 5 is operated, the cooperation processing unit 48 calculates a merging candidate site which is a point at which the vehicle 1 and the vehicle A can merge. Then, the cooperation processing unit 48 causes the display unit 32 to display the merging candidate site selection screen 130 in which the merging candidate site buttons 131 to 134 corresponding to the merging candidate site are arranged. For example, as shown in FIG. 7, the cooperation processing unit 48 sets a point where the planned travel route 101 of the own vehicle 1 and the planned travel route 111 of the A car merge to be the merging candidate site 141. Further, as shown in FIGS. 8 and 9, for example, the cooperation processing unit 48 connects the planned travel route 101 of the vehicle 1 and the planned travel route 111 of the A car using the map data of the map data storage unit 45. The connecting roads 151 and 152 are calculated. Then, the cooperation processing unit 48 sets a point where the planned travel route 101 and the connection road 151 merge as the merging candidate site 142 and sets a point where the planned travel route 111 and the connecting road 152 merge the merging candidate site 144. In addition, as for the cooperation process part 48, it is desirable to make the point used as a mark, such as an intersection, an interchange, and a large store, a merging candidate site. In addition, here, the cooperation processing unit 48 calculates a joining candidate site where the travel planned route of the host vehicle 1 and the car A is merged, but the present invention is not limited thereto. It is also possible to calculate a joining candidate site for joining the planned travel route with the car.

  The cooperation processing unit 48 arranges the merging candidate site buttons 131 to 134 corresponding to the calculated merging candidate site on the merging candidate site selection screen 130. In the examples of FIGS. 7, 8 and 9, the cooperation processing unit 48 merges in the order of the merging candidate site far from the merging candidate site near the destination of the host vehicle 1, that is, merging where the distance from the current position of the host vehicle 1 is long. The merging candidate site buttons 131 to 134 are arranged in the order of merging candidate sites closer in distance from the candidate site. When the driver operates the merging candidate site button 131, the cooperation processing unit 48 instructs the display unit 32 to display the merging candidate site 141 corresponding to the merging candidate site button 131 as shown in FIG. When the driver operates the merging candidate site button 132, the cooperation processing unit 48 instructs the display unit 32 to display the merging candidate site 142 corresponding to the merging candidate site button 132 as shown in FIG. When the driver operates the merging candidate site button 134, the cooperation processing unit 48 instructs the display unit 32 to display the merging candidate site 144 corresponding to the merging candidate site button 134 as shown in FIG. The cooperation processing unit 48 adjusts the map scale so that the planned traveling route 101 of the vehicle 1, the planned traveling route 111 of the car A, and the merging candidate site are displayed on the same screen.

  The driver of the host vehicle 1 can select, from among a plurality of merging candidate sites, a merging candidate site to which he / she wants to merge as a merging point. For example, the driver can plan a meeting schedule such as resting at the meeting point by selecting the meeting candidate site where the parking lot is located as the meeting point. The cooperation processing unit 48 outputs the information on the selected junction point to the route calculation unit 46 and the wireless communication unit 5 via the control unit 50. The wireless communication unit 5 transmits the information on the merging point to the navigation device 2 mounted on the car A.

  The route calculation unit 46 recalculates the planned travel route of the host vehicle 1 by using the junction point from the cooperation processing unit 48 as the via point without changing the departure place and the destination. The route calculation unit 46 outputs, to the route guidance unit 47, vehicle route information indicating the recalculated travel route. The route guidance unit 47 guides the vehicle 1 by guiding the vehicle 1 based on the vehicle route information recalculated by the route calculation unit 46 and the vehicle position information calculated by the current position detection unit 44. Merge on the planned travel route of car A.

  When the driver of Car A or Car B designates a junction point, the information of the designated junction point is transmitted from navigation device 2a mounted on Car A or B to navigation device 2 mounted on vehicle 1 Be done. In that case, the wireless communication unit 5 of the navigation device 2 mounted on the host vehicle 1 receives the information on the junction and outputs the information to the route calculation unit 46 via the control unit 50. The route calculation unit 46 recalculates a planned travel route of the vehicle 1 using the junction point received by the wireless communication unit 5 as a via point. The cooperation processing unit 48 notifies the driver of a route change through the display unit 32 or the voice output unit 33 after the speed of the host vehicle 1 becomes equal to or less than a predetermined value (for example, 10 km / hour or less). Change After notification of the route change, the route guidance unit 47 guides the vehicle 1 based on the vehicle route information recalculated by the route calculation unit 46 and the vehicle position information calculated by the current position detection unit 44. Thus, the own vehicle 1 is merged onto the planned travel route of the car A or the car B. By notifying the route change, the driver while driving is not confused by the sudden route change. Also, the driver can recognize that the planned travel route has been changed by an instruction from the other vehicle 1a.

Next, the operation of the navigation device 2 will be described.
10A and 10B are flowcharts showing an operation example of the navigation device 2 according to the first embodiment. In FIG. 10A and FIG. 10B, step ST1 is a general navigation state in general. Steps ST2 to ST8 are transition states of the operation mode in which the normal navigation operation state is transited to the other vehicle cooperative navigation operation state. Steps ST9 to ST17 are the other vehicle linked navigation operation state in which the host vehicle and the other vehicle are linked.

  In the flowcharts of FIGS. 10A and 10B, it is assumed that the planned travel route 101 of the vehicle 1 has already been calculated in the route calculation unit 46 as shown in FIG. In addition, the wireless communication unit 5 periodically communicates with the wireless communication unit 5a of the navigation device 2a mounted on vehicles A and B, which are other vehicles 1a, in the background, and other vehicle position information and other vehicle route information And other vehicle information including the vehicle position information and the like, and transmits vehicle information and the like including the vehicle position information and the vehicle route information and the like.

  In step ST1, the route guidance unit 47 performs a normal navigation operation in accordance with the planned travel route 101 of the vehicle 1 as shown in FIG.

  When the cooperation processing unit 48 receives the driver's operation on the other vehicle cooperation button 106 through the input unit 31 in step ST2 (step ST2 "YES"), the process proceeds to step ST3, otherwise (step ST2 "NO") "), Go to step ST5.

  In step ST3, the cooperation processing unit 48 generates the other-vehicle cooperation screen as shown in FIG. 5 using the latest own-vehicle information and the other-vehicle information.

In step ST4, the cooperation processing unit 48 shifts the display of the display unit 32 from the own vehicle navigation screen as shown in FIG. 4 to the other vehicle cooperation screen as shown in FIG.
From this point onward, the cooperation processing unit 48 may not update the display of the other vehicle cooperation screen, and the latest own vehicle information and the other vehicle may be updated in a predetermined update cycle such as several seconds or several tens of seconds. The information may be used to update the display.

  In step ST5, when the wireless communication unit 5 receives the information on the junction from the car A or the car B that is the other vehicle 1a (step ST5 "YES"). The process proceeds to step ST6, and otherwise (step ST5 “NO”), the process returns to step ST1.

In step ST6, the route calculation unit 46 sets the junction point received from the car A or the car B as the via point, and recalculates the planned travel route of the vehicle 1.
Note that the wireless communication unit 5 includes the own vehicle route information indicating the replanned travel route recalculated in the own vehicle information periodically transmitted to the A car and the B car in the background.

  In step ST7, when the vehicle speed of the host vehicle 1 becomes equal to or less than a predetermined value (step ST7 "YES"), the cooperation processing unit 48 proceeds to step ST8, otherwise (step ST7 "NO") Step ST7 is repeated until the vehicle speed becomes equal to or less than a predetermined value.

  In step ST8, the cooperation processing unit 48 notifies the driver through the display unit 32 or the voice output unit 33 that the planned traveling route of the vehicle 1 is to be changed according to an instruction from the car A or the car B. In step ST3 after the notification, the cooperation processing unit 48 generates the other vehicle cooperation screen using the own vehicle information including the own vehicle route information indicating the recalculated travel route and the latest other vehicle information.

  In step ST9, when the cooperation processing unit 48 receives the driver's operation on the A car mark 110 through the input unit 31 on the other vehicle cooperation screen (step ST9 "YES"), the process proceeds to step ST10, otherwise (Step ST9 "NO"), it progresses to step ST11.

In step ST10, the cooperation processing unit 48 shifts the display of the display unit 32 to the other vehicle cooperation screen focusing on cooperation between the host vehicle 1 and the A car as shown in FIG.
In the case where another display screen is displayed on the display unit 32 with another vehicle cooperation screen focusing mainly on cooperation between the own vehicle 1 and the A car as shown in FIG. When the operation is accepted, the cooperation menu 113 is displayed.

  In step ST11, when the cooperation processing unit 48 receives the driver's operation on the B car mark 120 through the input unit 31 on the other vehicle cooperation screen (step ST11 "YES"), the process proceeds to step ST12, otherwise (Step ST11 "NO"), it progresses to step ST13.

In step ST12, the cooperation processing unit 48 shifts the display of the display unit 32 to the other vehicle cooperation screen in which the cooperation between the own vehicle 1 and the B car as shown in FIG.
In the case where another display screen is displayed on the display unit 32 with another vehicle cooperation screen focusing on the cooperation between the own vehicle 1 and the B car as shown in FIG. When the operation is accepted, the cooperation menu 123 is displayed.

  In step ST13, the cooperation processing unit 48 receives, through the input unit 31, the driver's operation for either “calling”, “sending a message”, or “merging” of the cooperation menu 113 or the cooperation menu 123. If it is (step ST13 "YES"), the process proceeds to step ST14. If not (step ST13 "NO"), the process proceeds to step ST15.

In step ST14, when the driver performs an operation to select "call", the portable terminal IF unit 49 operates the portable terminal 6 so that the portable terminal 6a mounted on the A car or the B car is operated. to call.
When the driver performs an operation to select "send message", the portable terminal IF unit 49 transmits the text message to the portable terminal 6a mounted on the A car or the B car by operating the portable terminal 6. Do.
When the driver performs an operation to select “Join”, the cooperation processing unit 48 calculates a plurality of merging candidate sites, and the merging candidate site selection screen 130 as shown in FIG. 7, FIG. 8 and FIG. Display on the car cooperation screen.

  In step ST15, when one of the merging candidate site buttons 131 to 134 in the merging candidate site selection screen 130 is operated through the input unit 31 (step ST15 "YES"), the cooperation processing unit 48 performs the step. The process proceeds to ST16, and in the case other than that (step ST15 "NO"), the process proceeds to step ST17.

In step ST16, the cooperation processing unit 48 selects a merging candidate site corresponding to the merging candidate site button operated by the driver as a merging point. The route calculation unit 46 sets the selected junction point as the via point, and recalculates the planned travel route of the vehicle 1.
Note that the wireless communication unit 5 includes the own vehicle route information indicating the replanned travel route recalculated in the own vehicle information periodically transmitted to the A car and the B car in the background.

In step ST17, when the route guidance unit 47 receives the driver's operation on the current position button 107 on the other vehicle cooperation screen through the input unit 31 (step ST17 "YES"), the normal navigation operation of step ST1 is resumed. Otherwise (step ST17 “NO”), the process returns to step ST9.
When the planned travel route of the host vehicle 1 is recalculated in step ST6 or step ST16, the host vehicle 1 is guided along the planned travel route recalculated when the normal navigation operation of step ST1 is resumed.

Finally, the hardware configuration of the navigation device 2 according to the first embodiment will be described.
11A and 11B are diagrams showing an example of the hardware configuration of the navigation device 2 according to the first embodiment. In addition, since the hardware constitutions of the navigation apparatus 2a are the same as the hardware constitutions of the navigation apparatus 2, illustration and description are abbreviate | omitted.

  The input unit 31 of the HMI unit 3 in the navigation device 2 is a touch panel 1001 or the like. The display unit 32 is a display 1002 or the like. The audio output unit 33 is a speaker 1003 or the like. The wireless communication unit 5 in the navigation device 2 and the portable terminal IF unit 49 of the navigation main unit 4 are a wireless communication device 1004. The GNSS receiver 41 of the navigation main body 4 in the navigation device 2 is a GNSS receiver 1005. The six-axis sensor unit 42 and the external sensor unit 43 are sensors 1006 such as a gyro sensor. The map data storage unit 45 is a memory 1010. Each function of the current position detection unit 44, the route calculation unit 46, the route guidance unit 47, the cooperation processing unit 48, and the control unit 50 is realized by a processing circuit. That is, the navigation device 2 includes a processing circuit for realizing the above functions. The processing circuit may be a processing circuit 1011 as dedicated hardware, or may be a processor 1012 that executes a program stored in the memory 1010.

  As shown in FIG. 11A, when the processing circuit is dedicated hardware, the processing circuit 1011 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, or an ASIC (Application Specific Integrated Circuit). ), FPGA (Field Programmable Gate Array), or a combination thereof. The functions of the current position detection unit 44, the route calculation unit 46, the route guidance unit 47, the cooperation processing unit 48, and the control unit 50 may be realized by a plurality of processing circuits 1011. It may be realized by the circuit 1011.

  As shown in FIG. 11B, when the processing circuit is the processor 1012, each function of the current position detection unit 44, the route calculation unit 46, the route guidance unit 47, the cooperation processing unit 48, and the control unit 50 is software or firmware. Or realized by a combination of software and firmware. The software or firmware is written as a program and stored in the memory 1010. The processor 1012 implements the functions of the respective units by reading and executing the program stored in the memory 1010. That is, the navigation device 2 comprises a memory 1010 for storing a program which, when executed by the processor 1012, will result in the steps shown in the flow chart of FIGS. 10A and 10B. Further, it can be said that this program causes a computer to execute the procedure or method of the current position detection unit 44, the route calculation unit 46, the route guidance unit 47, the cooperation processing unit 48, and the control unit 50.

Here, the processor 1012 is a central processing unit (CPU), a processing device, an arithmetic device, a microprocessor, a microcomputer, or the like.
The memory 1010 may be a nonvolatile or volatile semiconductor memory such as a random access memory (RAM), a read only memory (ROM), an erasable programmable ROM (EPROM), or a flash memory, a hard disk, a flexible disk, or the like. Or an optical disc such as a CD (Compact Disc) or a DVD (Digital Versatile Disc).

  The functions of the current position detection unit 44, the route calculation unit 46, the route guidance unit 47, the cooperation processing unit 48, and the control unit 50 are partially realized by dedicated hardware, and partially by software or firmware. It may be realized. Thus, the processing circuit in the navigation device 2 can realize each of the functions described above by hardware, software, firmware, or a combination thereof.

  As described above, the navigation device 2 according to the first embodiment includes the route guidance unit 47, the wireless communication unit 5, the cooperation processing unit 48, the input unit 31, and the display unit 32. The route guiding unit 47 guides and guides the vehicle according to the planned traveling route 101 of the vehicle 1. The wireless communication unit 5 transmits the vehicle information on the own vehicle 1 to the other vehicle 1a traveling in a group, and receives the vehicle information on the other vehicle 1a. The cooperation processing unit 48 generates an other-vehicle cooperation screen in which at least the positions of the own vehicle 1 and the other vehicle 1 a are shown on the map based on the vehicle information of the own vehicle 1 and the other vehicle 1 a. The input unit 31 receives an operation of the driver of the host vehicle 1. When the input unit 31 receives the driver's operation, the display unit 32 sets the other vehicle cooperation screen generated by the cooperation processing unit 48 based on the latest vehicle information of the own vehicle 1 and the other vehicle 1 a in a static state. indicate. Thus, the navigation device 2 can prevent an increase in the amount of information to be provided to the driver, as compared to the conventional case where the vehicle information of the own vehicle and other vehicles in the group is displayed in real time. Do not confuse

  The cooperation processing unit 48 may update the other vehicle cooperation screen based on the latest vehicle information of the own vehicle 1 and the other vehicle 1 a at a predetermined update cycle. Also in this case, the navigation device 2 can prevent an increase in the amount of information to be provided to the driver, as compared to the conventional case where the vehicle information of the own vehicle and other vehicles in the group is displayed in real time. Do not confuse the driver.

  Further, in the first embodiment, when the input unit 31 receives the one-action operation by the driver, the display unit 32 displays the position of the host vehicle 1 on the map and the own vehicle navigation screen and the other vehicle cooperation screen Switch the display with. As described above, the navigation device 2 displays only the information related to the vehicle 1 in the normal navigation operation state, and switches the display to the other vehicle cooperation screen at the timing the driver wants to see. Thus, the navigation device 2 can prevent an increase in the amount of information provided to the driver in the normal navigation operation state. In addition, the driver switches the display to the other vehicle cooperation screen with one action at a momentary timing at which waiting can be permitted, such as waiting for a signal or ultra low speed traveling in traffic, and the positional relationship between the own vehicle 1 and the other vehicle 1a. It is possible to instantly grasp and make judgments such as route change.

  Further, the cooperation processing unit 48 of the first embodiment maps the planned travel routes 101, 111, and 121 of the own vehicle 1 and the other vehicle 1a included in the vehicle information of the own vehicle 1 and the other vehicle 1a It is displayed on the upper side, and a portion common to the planned travel route 101 of the own vehicle 1 and a planned travel route 111, 121 of the other vehicle 1a and a different portion are color-coded and displayed. As a result, the navigation device 2 can display the differences of the planned travel routes 101, 111, and 121 of the own vehicle 1 and the other vehicle 1a in an easy-to-understand manner, and can make the driver instantly grasp.

  Further, the cooperation processing unit 48 according to the first embodiment, on the basis of the planned travel routes 101, 111, 121 of the own vehicle 1 and the other vehicle 1a, a plurality of candidates for merging points where the own vehicle 1 and the other vehicle 1a merge. Calculate and display on the map of the other vehicle cooperation screen. As a result, the driver can select a joining candidate site to which he / she wants to join among the joining candidate sites as a joining point, and can freely plan a joining schedule and the like.

  Further, in the first embodiment, when the wireless communication unit 5 receives the information of the junction where the own vehicle 1 and the other vehicle 1 a are merged and transmitted from the other vehicle 1 a, the display unit 32 When the vehicle speed becomes equal to or less than a predetermined value, the driver of the host vehicle 1 is notified that the planned travel route 101 of the host vehicle 1 is to be changed. After being notified by the display unit 32, the route guidance unit 47 changes the planned travel route 101 of the vehicle 1 based on the junction point. As a result, the driver is not confused by the sudden route change while driving. In addition, the driver can recognize that the planned travel route 101 of the own vehicle 1 has been changed by an instruction from the other vehicle 1a.

  In the first embodiment, when input unit 31 receives the driver's operation on A car mark 110 or B car mark 120 indicating the position of other vehicle 1a displayed on the map of the other vehicle cooperation screen. The cooperation processing unit 48 causes the other vehicle cooperation screen to display cooperation menus 113 and 123 indicating a function for the own vehicle 1 and the other vehicle 1 a to cooperate with each other. In this way, the driver, when the other vehicle cooperation screen is displayed, displays a function such as “calling” or “join” necessary to cooperate with the other vehicle 1 a by one action. Can. Further, since the function required to cooperate with the other vehicle 1a is not displayed on the other vehicle cooperation screen at the beginning, an increase in the amount of information can be prevented.

  In the scope of the invention, the present invention can be modified in optional components of the embodiment or omitted in optional components of the embodiment.

  1 own vehicle, 1a other vehicle, 2,2a navigation device, 3,3a HMI unit, 4,4a navigation main unit, 5,5a wireless communication unit, 6,6a portable terminal, 31 input unit, 32 display unit, 33 voice Output unit, 41 GNSS reception unit, 42 6-axis sensor unit, 43 external sensor unit, 44 current position detection unit, 45 map data storage unit, 46 route calculation unit, 47 route guidance unit, 48 cooperation processing unit, 49 mobile terminal IF 5, 50 control units, 51 transmitting antennas, 52 receiving antennas, 53 transmitting units, 54 receiving units, 101, 1111, 121 planned travel routes, 102 vehicle marks, 103 to 105, 112, 122 display information, 106 other vehicle cooperation Button, 107 current position button, 110 A car mark, 113, 123 linked menu, 120 B car mark, 130 merging candidate site Selection screen, 131 to 134 merging candidate location button, 141, 142, 144 merging candidate location, 151, 152 connecting road, 1001 touch panel, 1002 display, 1003 speaker, 1004 wireless communication device, 1005 GNSS receiver, 1006 sensors, 1010 Memory, 1011 Processing Circuit, 1012 Processor, S Starting Point, G Destination.

Claims (9)

A navigation device mounted on each of a plurality of vehicles traveling in a group in cooperation with each other,
A route guidance unit that guides guidance according to a planned travel route of the vehicle;
A wireless communication unit that transmits the vehicle information on the own vehicle to the other vehicles traveling in a group and receives the vehicle information on the other vehicles;
A cooperation processing unit that generates an other vehicle cooperation screen in which at least positions of the own vehicle and the other vehicle are indicated on a map based on vehicle information of the own vehicle and the other vehicle;
An input unit that receives an operation of a driver of the host vehicle;
A display unit for displaying, in a static state, another vehicle cooperation screen generated by the cooperation processing unit based on vehicle information of the latest own vehicle and the other vehicle when the input unit receives the driver's operation And a navigation device characterized by comprising: When the input unit receives an operation of one action by the driver,
The navigation apparatus according to claim 1, wherein the display unit switches the display of an own-vehicle navigation screen indicating the position of the own-vehicle on a map and the other-vehicle cooperation screen.   The cooperation processing unit displays the planned traveling routes of the own vehicle and the other vehicle included in the vehicle information of the own vehicle and the other vehicle on the map of the other vehicle cooperation screen, and the traveling schedule of the own vehicle The navigation apparatus according to claim 1, wherein a portion common to the route and the planned travel route of the other vehicle and a portion different from each other are displayed in color.   The cooperation processing unit calculates, on the map of the other vehicle cooperation screen, a plurality of candidates for the merging point where the own vehicle and the other vehicle merge based on the planned traveling route of the own vehicle and the other vehicle. The navigation apparatus according to claim 3, characterized in that it is displayed. When the wireless communication unit receives the information of the junction point where the host vehicle and the other vehicle are merged and transmitted from the other vehicle,
The display unit notifies the driver of the own vehicle that the planned traveling route of the own vehicle is to be changed, when the vehicle speed of the own vehicle becomes equal to or less than a predetermined value.
The navigation device according to claim 1, wherein the route guidance unit changes the planned traveling route of the vehicle based on the junction point after notification by the display unit. When the input unit receives the driver's operation on the mark indicating the position of the other vehicle displayed on the map of the other vehicle cooperation screen,
The navigation apparatus according to claim 1, wherein the cooperation processing unit displays a cooperation menu indicating a function for cooperation between the host vehicle and the other vehicle on the other vehicle cooperation screen.   The navigation apparatus according to claim 1, wherein the cooperation processing unit updates the other vehicle cooperation screen on the basis of vehicle information of the latest own vehicle and the other vehicle at a predetermined update cycle. A navigation method for causing a plurality of vehicles to cooperate with each other to make a group travel,
A route guidance unit guiding guidance according to a planned traveling route of the vehicle;
The wireless communication unit transmits the vehicle information on the own vehicle to the other vehicles traveling in a group, and receives the vehicle information on the other vehicles;
The cooperation processing unit generates an other-vehicle cooperation screen in which at least the positions of the own vehicle and the other vehicle are indicated on a map based on vehicle information of the own vehicle and the other vehicle.
A step of the input unit receiving an operation of the driver of the host vehicle;
When the display unit receives the operation of the driver by the input unit, the other vehicle cooperation screen generated by the cooperation processing unit based on the latest vehicle information of the own vehicle and the other vehicle is in a static state. And displaying. A navigation program for causing a plurality of vehicles to cooperate with one another for group travel,
A route guidance procedure for guiding guidance according to a planned travel route of the host vehicle;
A wireless communication procedure for transmitting vehicle information on the own vehicle to another vehicle traveling in a group and receiving vehicle information on the other vehicle;
A cooperation processing procedure for generating an other-vehicle cooperation screen showing positions of at least the own vehicle and the other vehicle on a map based on vehicle information of the own vehicle and the other vehicle;
An input procedure for receiving an operation of a driver of the host vehicle;
A display procedure for displaying, in a static state, another vehicle cooperation screen generated based on vehicle information of the latest own vehicle and the other vehicle in the cooperation processing procedure when the driver's operation is accepted in the input procedure. And a navigation program characterized by causing a computer to execute.

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