JP2019138683A - Movement guiding device and computer program - Google Patents

Abstract

To provide a movement guiding device and a computer program with which it is possible to provide more appropriate guidance at a guidance intersection without causing a signboard to be misrecognized, when guiding movement at a guidance intersection using the signboard as a mark.SOLUTION: When guiding travel of a vehicle at a guidance intersection using a signboard located in the periphery of a travel route of the vehicle, a signboard used for travel guidance is selected excluding duplicate signboards present in a section from a guidance start point where travel guidance is started to the guidance intersection, and travel guidance at the guidance intersection is provided using the selected signboard.SELECTED DRAWING: Figure 10

Description

  The present invention relates to a movement guide device and a computer program for performing movement guidance using a signboard.

  2. Description of the Related Art In recent years, a navigation device is often mounted on a vehicle that provides vehicle travel guidance so that a driver can easily arrive at a desired destination. Here, the navigation device detects the current position of the vehicle by a GPS receiver or the like, acquires map data corresponding to the current position through a recording medium such as a DVD-ROM or HDD or a network, and displays it on a liquid crystal monitor. It is a device that can do. Further, such a navigation device has a route search function for searching for an optimum route from the departure place to the destination when a desired destination is input. Then, the guidance route set based on the search result is displayed on the display screen, and when approaching an intersection (hereinafter referred to as a guidance intersection) for guidance such as a right or left turn, a voice or a display screen is used. By performing the guidance, the user is surely guided to a desired destination. In recent years, some mobile phones, smartphones, PDAs (Personal Digital Assistants), personal computers, and the like have functions similar to those of the navigation device. Furthermore, it is also possible to perform the above guidance for pedestrians and two-wheeled vehicles as well as vehicles.

  Here, when performing guidance such as turning left or right at the guidance intersection, it is important to allow the user to accurately identify the guidance intersection. Therefore, conventionally, guidance is performed using a landmark object that serves as a landmark of a guidance intersection. In addition, there is a signboard installed around the road as one of the landmark objects. For example, in Japanese Patent Application Laid-Open No. 2014-185925, when a user is guided to travel at a guidance intersection, an image of a signboard installed around the guidance intersection is displayed in correspondence with an angle and a size that can be actually seen by the user. The technology to display above is described.

Japanese Patent Laying-Open No. 2014-185925 (pages 13-14, FIG. 1)

  However, many signboards are often installed around intersections and around roads connected to intersections, especially at intersections in central Tokyo. There is a high possibility that there are signs that are similar in terms of description content, shape, size, color, and the like among many signs. Therefore, when the image of the signboard is displayed as in Patent Document 1, the user may mistakenly recognize a different signboard as the displayed signboard, and as a result, the guidance intersection may be misidentified. Especially when the user is driving a car, it is difficult to compare the displayed signboard image with the actual signboard in detail, so there is a possibility of misidentifying the signboard if there are other similar signs. Get higher.

  The present invention has been made to solve the above-described conventional problems, and when performing guidance for moving a guidance intersection using a signboard as a landmark, more appropriate guidance is provided at a guidance intersection without misidentifying the signboard. It is an object of the present invention to provide a movement guide device and a computer program that make it possible.

  In order to achieve the above object, a movement guide apparatus according to the present invention is a movement guide apparatus that performs movement guidance of a moving body at a guidance intersection using a signboard located around the movement path of the moving body, and the movement guidance starts. The signboard selecting means for selecting the signboard used for the travel guidance by excluding the signboard that overlaps between the guidance start point and the guidance intersection, and the signboard selected by the signboard selection means Movement guidance means for performing movement guidance at the guidance intersection.

  Further, the computer program according to the present invention, when performing moving guidance of the moving body at the guidance intersection using a signboard located around the moving path of the moving body, causes the computer to move from the guidance start point where the movement guidance is started. The signboard selection means for selecting a signboard to be used for the travel guidance by excluding the signboard that exists between the guidance intersection and the travel guidance at the guidance intersection using the signboard selected by the signboard selection means It is made to function as a movement guide means for performing.

  According to the movement guide device and the computer program according to the present invention having the above-described configuration, when performing movement guidance of a guidance intersection using a signboard as a mark, there is an overlap between the guidance start point where movement guidance is started and the guidance intersection. Since the signboard used for the travel guidance is selected by excluding existing signboards, the possibility of the user misidentifying the signboard used for the travel guidance as another signboard is reduced. As a result, it is possible to perform more appropriate guidance at the guidance intersection.

It is the block diagram which showed the navigation apparatus which concerns on this embodiment. It is the figure which showed an example of the information memorize | stored in signboard DB. It is a flowchart of the movement guidance processing program which concerns on this embodiment. It is the figure which showed the guidance audio | voice output when performing the guidance of the guidance intersection using a signboard. It is the figure which showed the guidance image output when performing the guidance of the guidance intersection using a signboard. It is a flowchart of the sub process program of the guidance information generation process which concerns on this embodiment. It is a flowchart of the sub process program of the signboard guidance determination process which concerns on this embodiment. It is a figure explaining the selection method of the signboard in the case where there are a plurality of candidates. It is a figure explaining the selection method of the signboard in the case where there are a plurality of candidates. It is a figure explaining the selection method of the signboard in the case where there are a plurality of candidates. It is the figure which showed the area which divided the periphery of the guidance intersection. It is a flowchart of the sub process program of the signboard selection process which concerns on this embodiment. It is the figure which showed the priority for every area which divided the periphery of the guidance intersection.

  DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a movement guide device according to the present invention will be described in detail with reference to the drawings based on an embodiment in which the navigation device is embodied. First, a schematic configuration of the navigation device 1 according to the present embodiment will be described with reference to FIG. FIG. 1 is a block diagram showing a navigation device 1 according to this embodiment.

  As shown in FIG. 1, the navigation device 1 according to the present embodiment includes a current position detection unit 11 that detects a current position of a vehicle on which the navigation device 1 is mounted, a data recording unit 12 that records various data, Based on the input information, the navigation ECU 13 that performs various arithmetic processes, the operation unit 14 that receives operations from the user, the liquid crystal display 15 that displays a guide route to the map and the destination for the user, and the route Communication that performs communication between a speaker 16 that outputs voice guidance related to guidance, a DVD drive 17 that reads a DVD as a storage medium, and an information center such as a probe center or VICS (registered trademark: Vehicle Information and Communication System) center. And a module 18.

Below, each component which comprises the navigation apparatus 1 is demonstrated in order.
The current position detection unit 11 includes a GPS 21, a vehicle speed sensor 22, a steering sensor 23, a gyro sensor 24, and the like, and can detect the current vehicle position, direction, vehicle traveling speed, current time, and the like. . Here, in particular, the vehicle speed sensor 22 is a sensor for detecting a moving distance and a vehicle speed of the vehicle, generates a pulse according to the rotation of the driving wheel of the vehicle, and outputs a pulse signal to the navigation ECU 13. And navigation ECU13 calculates the rotational speed and moving distance of a driving wheel by counting the generated pulse. Note that the navigation device 1 does not have to include all the four types of sensors, and the navigation device 1 may include only one or more types of sensors.

  The data recording unit 12 reads an external storage device and a hard disk (not shown) as a recording medium, a map information DB 31 and a signboard DB 32 recorded on the hard disk, a predetermined program, and the like, and writes predetermined data to the hard disk. And a recording head (not shown) which is a driver for this purpose. The data recording unit 12 may be constituted by a nonvolatile memory, a memory card, an optical disk such as a CD or a DVD, instead of the hard disk. Further, the map information DB 31 and the signboard DB 32 may be stored in an external server, and the navigation device 1 may be configured to acquire by communication.

  Here, the map information DB 31 is, for example, link data 33 relating to roads (links), node data 34 relating to node points, intersection data 35 relating to each intersection, point data relating to points such as facilities, and map display data for displaying a map. The storage means stores search data for searching for routes, search data for searching for points, and the like.

  Here, as the link data 33, for example, a link ID for identifying the link, end node information for specifying a node located at the end of the link, a road type of a road constituting the link, and the like are stored. . The node data 34 stores a node ID for identifying the node, position coordinates of the node, connection destination node information for specifying a connection destination node to which the node is connected via a link, and the like. Further, as the intersection data 35, relevant node information for identifying nodes forming the intersection, connection link information for identifying a link connected to the intersection (hereinafter referred to as a connection link), landmarks located around the intersection, and the like Is memorized.

  On the other hand, the signboard DB 32 is a storage unit that stores information related to signboards installed around the road, which is an object that can serve as a landmark when guiding a guidance intersection. In the present embodiment, the signboard used when guiding a guidance intersection is a signboard that advertises a facility or guides the location of the facility, and excludes road signs and the like. However, road signs may also be included in the signboard. In addition, the signboard DB 32 may store information on all signboards installed along roads throughout the country, or advertisement or guide a specific facility (for example, a convenience store, a gas station, a fast food store, or a hospital). It is good also as memorize | storing only the signboard to do. The signboard DB 32 stores various types of information for specifying the appearance and contents of the signboard, in addition to the position coordinates where the signboard is installed.

  Here, FIG. 2 is a diagram showing an example of signboard information stored in the signboard DB 32. As shown in FIG. 2, the signboard DB 32 includes a link ID for identifying a road where the signboard is installed, a position coordinate where the signboard is installed, and a start position where the signboard can be visually recognized (how many meters away from the signboard installation position). The signboard can be visually recognized from the position of the signboard, the positional relationship with respect to the road, the genre of the facility that the signboard guides (ie, the contents of the signboard), the signboard shape, the signboard size, the signboard color, and the signboard Audio data (which may be a phrase indicating the audio content) to be output at the time of the operation, business hours of the facility guided by the signboard, and regular holidays. In particular, for signboards installed around intersections, the intersection ID that identifies the intersection where the signboard is installed is stored instead of the link ID, and the positional relationship with the intersection is stored instead of the positional relationship with the road. May be. Further, the positional relationship with respect to the road is basically specified by whether it is located on the right side or the left side with respect to the upward direction of the road. However, it may be specified in the direction (east, west, north and south) or the like on a road where the upward direction and the downward direction cannot be specified. In addition, the genre of the facility that the signboard guides is specified to a series of lower concepts than “convenience store”, “gas station”, etc., more specifically, a series using the same trademark. For example, in the case of a sign for a convenience store, it is specified to which series of convenience store signs. In addition, the color of the signboard is basically the color that occupies the most area, but may be specified by two or more colors.

  The signboard DB 32 may be generated based on probe information collected from each vehicle. For example, it can be generated by detecting signboards installed around the road by performing image processing on a captured image captured by a camera installed in each vehicle and collecting the detection results from each vehicle. . In that case, it is desirable that the signboard DB 32 is stored in an external server and distributed to the navigation device 1 as necessary.

  When the navigation ECU 13 provides guidance for the guidance intersection as described later, the navigation ECU 13 selects a signboard that is most suitable for use as a landmark from the information stored in the signboard DB 32 as a landmark object to be used for guidance of the guidance intersection. To do. Then, the guidance intersection is guided using the selected signboard.

  On the other hand, the navigation ECU (Electronic Control Unit) 13 is an electronic control unit that controls the entire navigation device 1. The CPU 41 as an arithmetic device and a control device, and a working memory when the CPU 41 performs various arithmetic processes. Read out from the ROM 43 and the ROM 43 in which a RAM 42 that stores route data when the route is searched, a control program, a movement guide processing program (FIG. 3) described later, and the like are recorded. An internal storage device such as a flash memory 44 for storing the program is provided. The navigation ECU 13 constitutes various means as processing algorithms. For example, the signboard selection means selects a signboard to be used for movement guidance by excluding signs that exist redundantly from the guidance start point where the movement guidance is started to the guidance intersection. The movement guide means performs movement guidance at the guidance intersection using the signboard selected by the signboard selection means.

  The operation unit 14 is operated when inputting a starting point as a travel start point and a destination as a travel end point, and has a plurality of operation switches (not shown) such as various keys and buttons. Then, the navigation ECU 13 performs control to execute various corresponding operations based on switch signals output by pressing the switches. The operation unit 14 may have a touch panel provided on the front surface of the liquid crystal display 15. Moreover, you may have a microphone and a speech recognition apparatus.

  The liquid crystal display 15 includes a map image including a road, traffic information, operation guidance, operation menu, key guidance, guidance route from the departure point to the destination, guidance information along the guidance route, news, weather forecast, Time, mail, TV program, etc. are displayed. Particularly in this embodiment, when the guidance intersection approaches within a predetermined distance (for example, 500 m) ahead of the traveling direction of the vehicle, an enlarged view of the vicinity of the guidance intersection including the signboard image and the traveling direction at the guidance intersection of the vehicle. indicate. In place of the liquid crystal display 15, HUD or HMD may be used.

  The speaker 16 outputs voice guidance for guiding traveling along the guidance route based on an instruction from the navigation ECU 13 and traffic information guidance. In particular, in this embodiment, at the timing when the guidance intersection reaches a predetermined distance (for example, 700 m, 300 m, and 50 m) ahead of the traveling direction of the vehicle, output of voice guidance that guides traveling along the guidance route is started. Further, in the navigation device 1 according to the present embodiment, when there is a sign as an appropriate mark for guiding a guidance intersection in front of the traveling direction of the host vehicle, voice guidance using the sign is output. For example, “700m ahead, the intersection with the sign of OO is in the right (left) direction” is output.

  The DVD drive 17 is a drive that can read data recorded on a recording medium such as a DVD or a CD. Based on the read data, music and video are reproduced, the map information DB 31 is updated, and the like. A card slot for reading / writing a memory card may be provided instead of the DVD drive 17.

  The communication module 18 is a communication device for receiving information such as map update information, support information, and traffic information transmitted from, for example, a VICS center or a probe center, and corresponds to, for example, a mobile phone or DCM. .

  Next, a travel guidance processing program executed by the navigation ECU 13 in the navigation device 1 having the above configuration will be described with reference to FIG. FIG. 3 is a flowchart of the travel guidance processing program according to the present embodiment. Here, the travel guidance processing program is a program that is executed after an ACC power supply (accessory power supply) of the vehicle is turned on, and that performs traveling guidance of the vehicle along the guidance route. The programs shown in the flowcharts of FIGS. 3, 6, 7 and 12 below are stored in the RAM 42 and the ROM 43 provided in the navigation device 1 and executed by the CPU 41.

  First, in step (hereinafter abbreviated as S) 1 in the travel guidance processing program, the CPU 41 sets the destination of the route. The destination is basically set based on a user operation (for example, a registration point reading operation, a facility search or selection operation) received by the operation unit 14.

  Thereafter, in S2, the CPU 41 performs a route search process from the departure point to the destination set in S1 using the map information of the navigation device 1, and specifies a recommended route from the departure point to the destination. Specifically, based on the link data, node data, search data, etc. included in the map information, the link cost obtained by quantifying the appropriate degree as the route to the link (road) and the appropriate route as the route to the intersection (node) An intersection cost that is a numerical value of the degree, a toll cost that is a numerical value of the cost necessary for traveling, and the like are calculated, and a recommended route is searched using each calculated search cost. For example, a known Dijkstra method is used, and a route having a minimum cost value is set as a recommended route. Since the route search process using the Dijkstra method is already known, the details are omitted. Further, the departure point may be the current position of the vehicle, or may be an arbitrary point (for example, home) designated by the user. Then, the searched route is set as the guidance route of the navigation device 1 based on the user's operation.

  Note that the route search process of S2 may be performed by an external server device instead of the navigation device 1. In that case, a route search request for requesting a route search is transmitted to the server device, and a recommended route is searched based on the map information of the server device. Then, the searched result is received from the server device.

  Next, in S3, the CPU 41 executes guide information generation processing (FIG. 6) described later. The guidance information generation process is a process for generating guidance information used for vehicle travel guidance for a section within a predetermined distance along the guidance route from the current position of the vehicle, as will be described later.

  The subsequent steps S4 to S9 are repeatedly executed at predetermined intervals until the vehicle arrives at the destination. Then, after the vehicle arrives at the destination, the travel guidance processing program is terminated.

  First, in S4, the CPU 41 specifies the current position of the vehicle based on the detection result of the current position detection unit 11 and map information. Note that when the current position of the vehicle is specified, a map matching process for matching the current position of the vehicle with map information is also performed.

  Thereafter, in S5, the CPU 41 determines whether or not it is an output timing of voice guidance for performing travel guidance at the guidance intersection. Specifically, the timing at which the current position of the vehicle is located 700 m before, 300 m, and 50 m before the guidance intersection is set as the voice guidance output timing.

  And when it determines with it being the output timing of the voice guidance for performing driving guidance in a guidance intersection (S5: YES), it transfers to S6. On the other hand, when it is determined that it is not the output timing of the voice guidance for performing the travel guidance at the guidance intersection (S5: NO), the process proceeds to S7.

  In S <b> 6, the CPU 41 outputs voice guidance corresponding to the current position of the vehicle from the speaker 16. The voice guidance output in S6 is voice data generated in advance in the guidance information generation process in S3 or S9 described later. When text data indicating the content of the voice is generated instead of the voice data, a voice for reading the text data is output from the speaker 16. In particular, in the present embodiment, when there is a signboard suitable for guiding a guidance intersection, voice guidance using the signboard is output.

  For example, as shown in FIG. 4, at the timing when the vehicle 51 is located 300 m before the guidance intersection 52 and among the signboards 53 to 55 around the guidance intersection 52, the signboard 53 of the “convenience store XX store” provides guidance. When it is selected as the signboard to be used, the voice “300m ahead, the sign of convenience store XX is in the left (right) direction” is output. Details of processing related to selection of a signboard used for guidance and processing related to generation of audio data will be described later. Thereafter, the process proceeds to S7.

  In S <b> 7, the CPU 41 determines whether or not it is the output timing of a guidance image for performing travel guidance at a guidance intersection. In particular, in the present embodiment, an enlarged view of the intersection showing the appearance of the guidance intersection enlarged from the traveling direction of the vehicle is displayed on the liquid crystal display 15 as the guidance image. Specifically, the timing at which the current position of the vehicle is located 500 m before the guidance intersection is set as the guidance image output timing.

  And when it determines with it being the output timing of the audio | voice image for performing driving guidance in a guidance intersection (S7: YES), it transfers to S8. On the other hand, when it is determined that it is not the output timing of the guidance image for performing the travel guidance at the guidance intersection (S7: NO), the process proceeds to S9.

  In S <b> 8, the CPU 41 displays on the liquid crystal display 15 an enlarged view of the intersection of the guidance intersection in front of the vehicle traveling direction. The intersection enlarged view output in S8 is an image generated in advance in the guidance information generation process in S3 or S9 described later. In particular, in this embodiment, when there is a signboard suitable for guiding the guidance intersection, the signboard image is also included in the enlarged intersection view.

  For example, at the timing when the vehicle 51 is located within 500 m from the guidance intersection 52 as shown in FIG. 4, among the signboards 53 to 55 around the guidance intersection 52, the signboard 53 of the “Convenience Store” provides guidance When it is selected as the signboard to be used, as shown in FIG. 5, an enlarged enlarged view 56 of the intersection where the guidance intersection 52 is visually recognized from the vehicle approach direction is displayed on the liquid crystal display 15. The enlarged intersection 56 is an image of an arrow 57 showing the traveling direction of the vehicle displayed superimposed on the appearance image visually recognizing the guidance intersection from the traveling direction of the vehicle, and an image of the signboard 53 selected as a mark. 58. In the example shown in FIG. 5, only the image 58 of the signboard 53 selected as a mark is included in the enlarged intersection view 56, but the images of the signboards 54 and 55 that are not selected may also be included. Details of processing related to selection of a signboard used for guidance and processing related to generation of image data will be described later. Thereafter, the process proceeds to S9.

  In S9, the CPU 41 determines whether or not the vehicle has traveled a certain distance (for example, 3 km) from the timing at which the latest guidance information generation process (S3 or S10) is performed. In addition, although it can set suitably about a fixed distance, it shall be 3 km, for example.

  If it is determined that the vehicle has traveled a certain distance from the timing at which the latest guidance information generation process (S3 or S10) is performed (S9: YES), the process proceeds to S10. On the other hand, if it is determined that the vehicle is not traveling a certain distance from the timing when the latest guidance information generation process (S3 or S10) is performed (S9: NO), the process returns to S4.

  In S10, the CPU 41 executes a later-described guide information generation process (FIG. 6) similarly to S3. The guidance information generation process is a process for generating guidance information used for vehicle travel guidance for a section within a predetermined distance along the guidance route from the current position of the vehicle, as will be described later. Thereafter, the process returns to S4.

  Next, sub-processes of the guidance information generation process executed in S3 and S10 will be described with reference to FIG. FIG. 6 is a flowchart of a sub-processing program for guidance information generation processing.

  First, in S11, the CPU 41 creates a link row for a section within a predetermined distance (for example, within 10 km) from the current position of the vehicle along the guidance route currently set in the navigation device 1. The link string is created with the most detailed level 0 link.

  Subsequently, in S12, the CPU 41 determines, for each link included in the link row created in S11, whether the link needs guidance, that is, whether the end point corresponds to a guidance intersection. Specifically, an intersection where the guidance route does not pass in the direction of the road, or a special intersection even when passing in the direction of the road corresponds to the guidance intersection.

  If it is determined that the processing target link corresponds to a link requiring guidance, that is, the end point of the processing target link corresponds to a guidance intersection (S12: YES), the process proceeds to S13.

  In S <b> 13, the CPU 41 executes a signboard guidance determination process (FIG. 7) described later for the guidance intersection at the end point of the processing target link. The signboard guidance determination process is a process for determining whether or not there is a signboard suitable for use in guiding a guidance intersection as will be described later, and selecting which signboard to use when there are a plurality of candidates. is there.

  Subsequently, in S <b> 14, the CPU 41 generates voice data that is output when guiding the guidance intersection at the end point of the processing target link. In particular, when a signboard is selected as a guide for guiding a guidance intersection in S13, voice data for performing guidance using the selected signboard is generated. For example, if the sign of “Convenience Store ○○” is selected as the signboard used for the guidance, “700m away, the convenience store ○○ is the left (right) direction”, “300m away, the convenience store ○○ sign Left (right) direction "and" Soon, the convenience store XX signboard is left (right) direction ". Of the audio data generated in S14, the audio data of the portion that guides the signboard is stored in advance in the signboard DB 32 (FIG. 2) for each signboard. In S14, a phrase indicating the audio content may be generated instead of the audio data itself.

  In S <b> 15, the CPU 41 generates a guidance image that is displayed when guiding the guidance intersection at the end point of the processing target link. In particular, in the present embodiment, an enlarged intersection view showing the enlarged appearance of the guidance intersection from the vehicle approach direction is displayed on the liquid crystal display 15 as a guide image (see FIG. 5). If a signboard is selected as a guide for guiding the guidance intersection in S13, an enlarged view of the intersection including the image of the selected signboard is generated. For example, if the sign of “Convenience Store” is selected as the sign used for guidance, the image of the sign of “Convenience Store” will correspond to the actual location and angle of the sign in the enlarged view of the intersection. An image drawn at the position to be generated is generated. The signboard image is generated based on the information stored in the signboard DB 32 (FIG. 2). However, a signboard image can be generated for each signboard and stored in the signboard DB 32 in advance.

  On the other hand, when it is determined that the processing target link does not correspond to the link requiring guidance (S12: NO), the processing target link is switched. And after the process of S12-S15 is complete | finished with respect to all the links contained in the link row | line created by said S11, it transfers to S4.

  Next, sub processing of the signboard guidance determination processing executed in S13 will be described with reference to FIG. FIG. 7 is a flowchart of a sub-processing program for signboard guidance determination processing.

  First, in S21, the CPU 41 searches for a signboard within 70 m from the guidance intersection (more specifically, the center coordinates of the intersection) based on the signboard DB 32 with respect to the guidance intersection at the end point of the link to be processed. In this embodiment, a signboard that advertises a facility or guides the position of the facility is a search target. The search range 70m in S21 can be changed as appropriate, and may be 50m or 100m. Moreover, you may change with the magnitude | size of a guidance intersection. For example, for a large intersection where a large road intersects, the search range is set to a wider range.

  In S21, it is desirable to search in consideration of the signboard installation direction. Specifically, only the signboards installed in a direction in which the user can travel along the guidance route, that is, the direction of approaching the guidance intersection along the guidance route, can be viewed. Therefore, for example, a signboard facing the back side with respect to the approach direction of the vehicle at the guidance intersection is excluded from the search target. The signboard installation direction is preferably stored in the signboard DB 32 in advance.

  Further, in S21, it is desirable to perform a search in consideration of the visual recognition start position stored in the signboard DB32. The visual recognition start position is a value [m] indicating how many meters away from the signboard installation position it is possible to visually recognize the signboard. Therefore, it is possible to search only for a signboard whose distance from the point where the guidance for the guidance intersection is started to the signboard is within the visual recognition start position. Alternatively, only a signboard whose visual start position is a predetermined distance or more (for example, 300 m or more) can be set as a search target.

  Thereafter, in S22, the CPU 41 determines whether or not there is one or more corresponding signboards as a result of the search in S21. And when it determines with there being one or more applicable signboards (S22: YES), it transfers to S24. On the other hand, when it is determined that there is no corresponding sign (S22: NO), the process proceeds to S23.

  In S <b> 23, the CPU 41 determines that there is no signboard suitable as a mark for guiding the guidance intersection. Thereafter, the process proceeds to S14. In S14 and S15, a guidance voice and an enlarged view of the intersection are generated for guiding the guidance intersection without using a signboard. For example, a guidance voice such as “700 m ahead and the intersection is in the left (right) direction” is generated. For the intersection enlarged view, an intersection enlarged view not including the signboard image is generated.

  On the other hand, in S24, the CPU 41 determines whether or not there are two or more corresponding signboards as a result of the search in S21. When it is determined that there are two or more applicable signboards (S24: YES), the process proceeds to S26. On the other hand, if it is determined that there is only one applicable sign (S24: NO), the process proceeds to S25.

  In S <b> 25, the CPU 41 selects only one searched signboard as a signboard used for guiding the guidance intersection because only one signboard can be used as a guide for guiding the guidance intersection. Thereafter, the process proceeds to S14. In S14 and S15, a guidance voice and an enlarged view of the intersection are generated for guiding the guidance intersection using the selected signboard.

On the other hand, in S26, the CPU 41 compares the searched signboards as a result of the search in S21, and determines whether all the signboards overlap each other. Here, the overlapping signboard means a case where any one of the following conditions (1) to (3) is satisfied.
(1) The genre of the facility that the signboard guides (that is, the description content of the signboard) is the same or similar.
(2) The shape and color of the signboard are the same or similar.
(3) The size and color of the signboard are the same or similar.
In addition, “same or similar” used in the above (1) to (3) is the same or similar range in the case where there is a difference within 10% in terms of shape and size in addition to the case where they completely match. It is desirable to consider that. Further, regarding colors, it is desirable that similar colors (for example, blue and light blue whose RGB value difference is equal to or less than a threshold value) are regarded as the same or similar ranges. In the above (1), the genre of the facility to which the signboard guides is specified to a series of lower concepts than “convenience store”, “gas station”, etc., more specifically, a series using the same trademark. In addition, you may provide conditions other than said (1)-(3). For example, a condition that at least the colors of the signs are the same or similar may be provided.

  And when it determines with all the signboards searched by said S21 mutually overlapping (S26: YES), it transfers to S31. On the other hand, when it is determined that there is a sign that does not overlap (S26: NO), the process proceeds to S27.

  In S27, the CPU 41 excludes overlapping signboards from the search results among the signboards searched in S21. For example, as shown in FIG. 8, when four signboards A to D are searched within 70 m from the guidance intersection 52, and among them, the signboard B and the signboard C satisfy any of the above conditions (1) to (3) Are excluded from the search results for the signboard B and the signboard C, and as a result, only the signboard A and the signboard D remain as search results.

  After that, in S28, the CPU 41 displays signboards along the road from the guidance start point (for example, a point 700 m before the guidance route to the guidance intersection) where the guidance of the guidance intersection starts (hereinafter, along the road). The signboard is searched based on the signboard DB 32. Then, the signboard searched in S21 (the signboard excluded in S27 is excluded, and hereinafter referred to as an intersection signboard) is compared with the newly searched signboard along the road, and there are overlapping signboards. It is determined whether or not. Here, overlapping means a case where any one of the above conditions (1) to (3) is satisfied as in S26.

However, since the intersection signboard and the roadside signboard at a distant position are compared in S28, the size of the signboard in (3) above is the apparent size when the signboard is visually recognized from the vehicle (that is, the user). It is desirable to do. Specifically, as shown in FIG. 9, when the road signboard 71 and the intersection signboard 72 to be compared exist ahead of the traveling direction of the vehicle 51, first, θ is calculated by the following equation (4). “B” is the width of the intersection signboard 72, “b” is the distance from the position of the guidance start point of the vehicle 51 to the intersection signboard 72, “A” is the width of the signboard 71 along the road, and “a” is the width of the vehicle 51. The distance from the position of the guidance start point to the signboard 71 along the road.
θ = (arctan (B / b) / 2π) × 360 (4)
Thereafter, the width A ′ of the signboard that appears to be the same size as the intersection signboard 72 at the position of the signboard 71 along the road is calculated by the following equation (5).
A ′ = a × tan θ (5)
When the difference between A and A ′ is within a predetermined difference (for example, within 10%), the signboard sizes are regarded as the same or similar.

  In the above example, the width of the signboard is compared. However, the size of the signboard is also compared when the difference between the width and the height is within a predetermined difference (for example, within 10%). Are considered the same or similar.

  In S <b> 28, the CPU 41 performs processing for further excluding from the search results a sign that overlaps the sign along the road among the signboards at the intersection. For example, as shown in FIG. 10, when four signboards A to D are searched within 70 m from the guidance intersection 52 and the signboard B and the signboard C are excluded in S27, the intersection signboard is the signboard A. It becomes a signboard D. On the other hand, when there is a signboard E as a signboard along the road between the guidance start point and the guidance intersection, the overlap between the signboards A and D and the signboard E is determined. When the sign D and the sign E satisfy the conditions (1) to (3) above, the sign D is further excluded from the search result, and as a result, only the sign A remains as the search result.

  After that, in S29, the CPU 41 determines whether or not two or more signboards remain as a result of excluding the signboards in S27 and S28 among the signboards searched in S21. And when it determines with two or more signboards remaining (S29: YES), it transfers to S33. On the other hand, when it is determined that only one signboard remains (S29: NO), the process proceeds to S30.

  In S30, the CPU 41 selects only one signboard remaining at the end as a signboard used for guiding the guidance intersection because the signboard suitable for guiding the guidance intersection is narrowed down to only one. Thereafter, the process proceeds to S14. In S14 and S15, a guidance voice and an enlarged view of the intersection are generated for guiding the guidance intersection using the selected signboard.

  On the other hand, in S31, the CPU 41 compares the installation positions of all the signboards determined to overlap in S26, and determines whether or not all the overlapping signboards are installed in the same area. Here, the area to be compared in S31 is an area divided by roads connected to the guidance intersection 52 as shown in FIG. Therefore, when the guidance intersection is a four-way intersection, it is divided into four areas, and it is determined whether all the signboards are installed in any one of the four areas. The signboard installation position is acquired from the signboard DB 32 (FIG. 2).

  If it is determined that all overlapping signboards are installed in the same area (S31: YES), the process proceeds to S32. On the other hand, when it is determined that overlapping signboards are installed across a plurality of areas (S31: NO), the process proceeds to S33.

In S32, the CPU 41 selects a signboard to be used for guidance of the guidance intersection from among the overlapping signboards in the same area according to the following selection criteria (A) to (D). Specifically, a signboard having the highest total of points given according to the selection criteria (A) to (D) is selected as a signboard used for guidance of a guidance intersection.
(A) Higher points are given to signboards that are closer to the road (+10 points for signboards installed within 1 m from the road, and points that are given every 1 m away are reduced by -1)
(B) A higher sign is given to a signboard closer to the center of the guidance intersection (signboards installed within 5m from the center of the guidance intersection are reduced by +10 points and points given every 2m away by -1)
The size of the (C) Signs imparts high point greater the signboard (100 m ² or more billboards reduce by -1 point given to +10 points, 20 m ² smaller degree)
(D) +5 points for signs currently on

  In addition, about the installation position and size of a signboard, it acquires from signboard DB32. As to whether the signboard is in a lit state, it is estimated that the signboard of a facility that is not in business hours and is not a regular holiday is in a lit state when the current time is nighttime. Note that it is not always necessary to use all the selection criteria (A) to (D) above, and only some of the selection criteria (for example, only (A)) may be used.

  Thereafter, the process proceeds to S14. In S14 and S15, a guidance voice and an enlarged view of the intersection are generated for guiding the guidance intersection using the selected signboard.

  On the other hand, in S33, the CPU 41 executes a signboard selection process (FIG. 12) described later. The signboard selection process is a process of finally selecting a signboard used for guidance at a guidance intersection as described later from a plurality of selection candidate signboards. The selection candidate signboards are the overlapping signboards when the signboards searched at S21 are all duplicated at S26, and when it is judged at S26 that all the signboards are not duplicated, the S27. And the signboard left as a search result after the signboard is excluded in S28.

  Next, the sub-process of the signboard selection process executed in S33 will be described with reference to FIG. FIG. 12 is a flowchart of a sub-processing program for signboard selection processing.

  First, in S41, the CPU 41 determines whether or not at least one selection candidate signboard is installed in an area on the exit road side with respect to the guidance intersection among a plurality of areas divided by roads connected to the guidance intersection. judge. Note that the selection candidate signboards are the signboards that overlap when the signboards searched in S21 as described above are all duplicated in S26, and are determined not to overlap in S26. In this case, the signboard remains as a search result after the signboard is excluded in S27 and S28. The signboard installation position is acquired from the signboard DB 32 (FIG. 2).

  Further, a plurality of areas divided by roads connected to the guidance intersection are divided into four areas when the guidance intersection 52 is a four-way intersection as shown in FIG. The exit road is determined based on the guide route. For example, when the approach road and the exit road are set for the guidance intersection 52 as shown in FIG. 13, area 1 and area 2 are areas on the exit road side with respect to the guidance intersection.

  Then, when it is determined that at least one or more selection candidate signboards are installed in an area on the exit road side with respect to the guidance intersection among a plurality of areas divided by roads connected to the guidance intersection (S41: (YES), the process proceeds to S42. On the other hand, when it is determined that a selection candidate signboard is not installed in an area on the exit road side with respect to the guidance intersection among a plurality of areas divided by roads connected to the guidance intersection (S41: NO) To S45.

  In S42, the CPU 41 targets at the signboard determined to be installed in the area on the exit road side in S41, and further includes at least one selection candidate signboard in the area on the approach road side with respect to the guidance intersection. It is determined whether or not it is installed. For example, when an approach road and an exit road are set for the guidance intersection 52 as shown in FIG. 13, area 1 and area 3 are areas on the approach road side with respect to the guidance intersection.

  Then, when it is determined that at least one or more selection candidate signboards are installed in an area on the approach road side with respect to the guidance intersection among a plurality of areas divided by roads connected to the guidance intersection (S42: (YES), the process proceeds to S43. On the other hand, when it is determined that a selection candidate signboard is not installed in an area on the approach road side with respect to the guidance intersection among a plurality of areas divided by roads connected to the guidance intersection (S42: NO) The process proceeds to S44.

  In S43, the CPU 41 selects, from among a plurality of areas divided by roads connected to the guidance intersection, a selection candidate signboard in the area on the entrance road side and the exit road side with respect to the guidance intersection as a signboard used for guidance of the guidance intersection. . For example, as shown in FIG. 13, when the approach road and the exit road are set for the guidance intersection 52, the area 1 is an area on the entrance road side and the exit road side with respect to the guidance intersection. If there are a plurality of selection candidate signboards in the corresponding area, for example, the selection candidate signboard having the highest total of points given according to the selection criteria (A) to (D) described above is guided to the guidance intersection. Select as a signboard to be used for.

  Thereafter, the process proceeds to S14. In S14 and S15, a guidance voice and an enlarged view of the intersection are generated for guiding the guidance intersection using the selected signboard.

  On the other hand, in S44, the CPU 41 uses a selection candidate signboard in the area on the opposite side of the entrance road and on the exit road side from the plurality of areas divided by roads connected to the guidance intersection for guidance of the guidance intersection. Select on the sign. For example, as shown in FIG. 13, when the approach road and the exit road are set for the guidance intersection 52, the area 2 is an area on the opposite side of the entrance road and on the exit road side with respect to the guidance intersection. If there are a plurality of selection candidate signboards in the corresponding area, for example, the selection candidate signboard having the highest total of points given according to the selection criteria (A) to (D) described above is guided to the guidance intersection. Select as a signboard to be used for.

  Thereafter, the process proceeds to S14. In S14 and S15, a guidance voice and an enlarged view of the intersection are generated for guiding the guidance intersection using the selected signboard.

  In S45, the CPU 41 determines whether or not at least one selection candidate signboard is installed in an area on the approach road side with respect to the guidance intersection among a plurality of areas divided by roads connected to the guidance intersection. judge. For example, when an approach road and an exit road are set for the guidance intersection 52 as shown in FIG. 13, area 1 and area 3 are areas on the approach road side with respect to the guidance intersection.

  Then, when it is determined that at least one or more selection signboards are installed in an area on the approach road side with respect to the guidance intersection among a plurality of areas divided by roads connected to the guidance intersection (S45: (YES), the process proceeds to S46. On the other hand, when it is determined that a selection candidate signboard is not installed in an area on the approach road side with respect to the guidance intersection among a plurality of areas divided by roads connected to the guidance intersection (S45: NO) The process proceeds to S47.

  In S <b> 46, the CPU 41 uses the selection candidate signboards in the area on the entrance road side and on the opposite side of the exit road from the plurality of areas divided by roads connected to the guidance intersection as signs for guidance of the guidance intersection. select. For example, when the approach road and the exit road are set with respect to the guidance intersection 52 as shown in FIG. 13, the area 3 is an area on the entrance road side and the opposite side of the exit road with respect to the guidance intersection. If there are a plurality of selection candidate signboards in the corresponding area, for example, the selection candidate signboard having the highest total of points given according to the selection criteria (A) to (D) described above is guided to the guidance intersection. Select as a signboard to be used for.

  Thereafter, the process proceeds to S14. In S14 and S15, a guidance voice and an enlarged view of the intersection are generated for guiding the guidance intersection using the selected signboard.

  On the other hand, in S47, the CPU 41 guides the guidance candidate to the selection candidate signboard in the area on the opposite side of the entrance road and on the opposite side of the exit road from the plurality of areas divided by the roads connected to the guidance intersection. Select the signboard to be used. For example, when the approach road and the exit road are set for the guidance intersection 52 as shown in FIG. 13, the area 4 is an area on the opposite side of the entrance road and the exit road with respect to the guidance intersection. Become. If there are a plurality of selection candidate signboards in the corresponding area, for example, the selection candidate signboard having the highest total of points given according to the selection criteria (A) to (D) described above is guided to the guidance intersection. Select as a signboard to be used for.

  Thereafter, the process proceeds to S14. In S14 and S15, a guidance voice and an enlarged view of the intersection are generated for guiding the guidance intersection using the selected signboard.

  That is, in the processes of S41 to S47 described above, a combination of an approach road where a vehicle enters the guidance intersection and an exit road where the exit from the guidance intersection is provided for a plurality of areas divided around the guidance intersection by roads connected to the guidance intersection. The priority is set based on the above. Specifically, out of a plurality of areas divided around the guidance intersection by roads connected to the guidance intersection, the area on the approaching road side with respect to the guidance intersection is set with higher priority than other areas, and guidance is provided. The area on the exit road side with respect to the intersection is set to a higher priority than other areas. Therefore, as shown in FIG. 13, when the approach road and the exit road are set for the guidance intersection 52, area 1 has the highest priority, followed by area 2, area 3, and area 4. . And the selection candidate signboard in an area with high priority is preferentially selected as a signboard used for guidance. The area with high priority is an area where the mark is more easily noticed by the vehicle occupant when the vehicle passes through the guidance intersection along the guidance route (an area where the line of sight tends to gather).

  As described above in detail, according to the navigation device 1 and the computer program executed by the navigation device 1 according to the present embodiment, vehicle travel guidance is provided at a guidance intersection using a signboard located around the vehicle travel route. In this case, the signboard used for travel guidance is selected by excluding the signboard that overlaps between the guidance start point where the travel guidance is started and the guidance intersection (S21 to S33), and the selected signboard is used. Thus, the travel guidance at the guidance intersection is performed (S6, S8), so that it is possible to reduce the possibility of the user misidentifying the signboard used for the travel guidance as another signboard. As a result, it is possible to perform more appropriate guidance at the guidance intersection.

Note that the present invention is not limited to the above-described embodiment, and various improvements and modifications can be made without departing from the scope of the present invention.
For example, in the present embodiment, information related to signboards installed around the road is acquired from the signboard DB 32 included in the navigation device 1, but may be acquired from an external server. Furthermore, if the map information and the like are acquired from an external server, the navigation device 1 can omit the map information DB 31.

  In the present embodiment, the signboard used when guiding the guidance intersection is a signboard that advertises the facility or guides the location of the facility, but may include a road sign or the like. Moreover, you may use the signboard in positions other than the periphery of a guidance intersection for guidance of a guidance intersection. In that case, for example, guidance such as “the intersection (300m ahead of the sign of XX is in the left (right) direction” is possible.

  In this embodiment, when the vehicle approaches the guidance intersection, all the signboards in the vicinity of the guidance intersection are processed as a target after S21. However, the signboard is obtained from the captured image captured by the front camera. It is good also as a structure which performs this process and performs the process after S21 only on the detected signboard. As a result, it is possible to guide the guidance intersection using a signboard that can be surely seen by the user.

  In addition to the navigation device, the present invention can be applied to various devices having a function of performing movement guidance based on a guidance route. For example, the present invention can be applied to a mobile terminal such as a mobile phone or a smartphone, a personal computer, a tablet terminal (hereinafter referred to as a mobile terminal or the like). In that case, in addition to the vehicle movement guidance, it is also possible to target movement guidance when the user moves by walking or bicycle.

  Moreover, it becomes possible to apply also to the system comprised from the navigation apparatus 1 and a server or a portable terminal etc. and a server. In that case, each step of the above-described travel guidance processing program (FIGS. 3, 6, 7, and 12) may be configured to be partially implemented by the server. For example, the server may perform route search processing (S2) and guidance information generation processing (S3).

  Moreover, although the embodiment which actualized the movement guide apparatus and computer program which concern on this invention was demonstrated above, a movement guide apparatus can also have the following structures, and there exists the following effect in that case.

For example, the first configuration is as follows.
A movement guide device (1) for performing movement guidance of a moving body at a guidance intersection (52) using signboards (53 to 55) located around the movement path of the moving body, and starting guidance when the movement guidance is started The signboard selection means (41) for selecting the signboard used for the travel guidance by excluding the signboard that overlaps between the point and the guidance intersection, and the signboard selected by the signboard selection means Movement guidance means (41) for performing movement guidance at the guidance intersection.
According to the movement guide device having the above configuration, when performing guidance for guidance intersections using signboards as landmarks, the signboards that overlap between the guidance start point where the guidance is started and the guidance intersection are excluded. Since the signboard used for the movement guidance is selected, the possibility of the user misidentifying the signboard used for the movement guidance as another signboard is reduced. As a result, it is possible to perform more appropriate guidance at the guidance intersection.

The second configuration is as follows.
The signboard selection means (41) overlaps between the guidance start point where the travel guidance is started and the guidance intersection among the signboards (53 to 55) located around the guidance intersection (52). An existing signboard is excluded and a signboard used for the travel guidance is selected.
According to the travel guidance device having the above configuration, when performing guidance of the guidance intersection using the signboard located around the guidance intersection as a landmark, the signboard that overlaps in front of the guidance intersection is excluded. Since the signboard used for moving guidance is selected, it is possible to reduce the possibility of erroneously recognizing an intersection on the near side of the actual guidance intersection as a guidance intersection.

The third configuration is as follows.
In the signboard selection means (41), when there are a plurality of signboards (53 to 55) as selection candidates, the moving body guides a plurality of areas divided around the guidance intersection by roads connecting to the guidance intersection. Priorities are set based on a combination of an approach road that enters an intersection and an exit road that exits from a guidance intersection, and a signboard in a high priority area is preferentially selected.
According to the travel guide device having the above configuration, when there are a plurality of candidates as signboards used for guidance at the guidance intersection, a signboard used for guidance at the guidance intersection is appropriately selected based on the positional relationship between the signboard and the guidance intersection. It becomes possible.

The fourth configuration is as follows.
The signboard selection means (41) is higher than the other areas in the area on the approach road side with respect to the guidance intersection among a plurality of areas divided around the guidance intersection (52) by roads connected to the guidance intersection. The priority is set, and the area on the exit road side with respect to the guidance intersection is set to a higher priority than the other areas among a plurality of areas divided by roads connecting the guidance intersection to the guidance intersection.
According to the travel guide apparatus having the above-described configuration, when the user passes through the guidance intersection, the signboard in the area where the user's line of sight easily gathers, that is, the area where the user can easily find the mark is used for guidance of the guidance intersection. It becomes possible to select appropriately as a signboard.

The fifth configuration is as follows.
The signboard selection means (41) is configured such that signboards (53 to 55) positioned around the moving path of the moving object overlap between the guidance start point where the movement guidance is started and the guidance intersection (52). If there are only signboards that exist, for the multiple areas divided by roads that connect the guidance intersection to the guidance intersection, the entrance road where the mobile body enters the guidance intersection and the exit road that exits from the guidance intersection A priority is set based on the combination, and a signboard in a high priority area is selected preferentially among the overlapping signboards.
According to the travel guidance device having the above configuration, the signboard candidates used for guidance at the guidance intersection are only signs that overlap between the guidance start point where the travel guidance is started and the guidance intersection. However, based on the positional relationship between the signboard and the guidance intersection, it is possible to select an appropriate signboard as a signboard used for guidance of the guidance intersection because it is used as a landmark.

The sixth configuration is as follows.
The signboard selection means (41) is configured such that signboards (53 to 55) positioned around the moving path of the moving object overlap between the guidance start point where the movement guidance is started and the guidance intersection (52). In the case of only existing signs, the distance from the road to the sign, the distance from the center of the intersection to the sign, the size of the sign, and whether or not the sign is lit is based on at least one of the overlapping signboards. Select a sign.
According to the travel guidance device having the above configuration, the signboard candidates used for guidance at the guidance intersection are only signs that overlap between the guidance start point where the travel guidance is started and the guidance intersection. However, it is possible to select an appropriate signboard as a signboard used for guidance of the guidance intersection by using the signboard in consideration of the installation position and shape of the signboard.

The seventh configuration is as follows.
At least one or more of the description content of the signboard (53-55), the shape of the signboard, the size of the signboard, and the color of the signboard are the same between the guidance start point where the movement guidance is started and the guidance intersection (52) When there are a plurality of similar signboards, the plurality of signboards are used as overlapping signboards.
According to the travel guide device having the above-described configuration, there is another sign that is easily misrecognized between the guide start point where the travel guidance is started and the guide intersection when performing the travel guidance of the guide intersection using the sign as a landmark. Since the signboard used for the travel guidance is selected excluding the signboard, the possibility of the user misidentifying the signboard used for the travel guidance as another signboard is reduced. As a result, it is possible to perform more appropriate guidance at the guidance intersection.

The eighth configuration is as follows.
The size of the signboard is the apparent size when the signboard is viewed from a moving object.
According to the movement guide device having the above configuration, whether or not the signboard is easily misrecognized by the user by comparing with the apparent size even when the installation positions of the signboards to be compared are separated. It becomes possible to determine accurately.

1 Navigation device 13 Navigation ECU
36 Placemark information 41 CPU
42 RAM
43 ROM
51 Vehicle 52 Guided intersection 53-55 Signboard 56 Enlarged view of the intersection

Claims (9)

A movement guidance device for performing movement guidance of a moving body at a guidance intersection using a signboard located around the moving path of the moving body,
Signboard selection means for selecting a signboard to be used for the travel guidance by excluding the signboard that overlaps between the guidance start point where the travel guidance is started and the guidance intersection;
A movement guide device comprising movement guide means for performing movement guidance at the guidance intersection using the signboard selected by the signboard selection means.   The signboard selection means excludes signboards that overlap between the guidance start point where the travel guidance is started and the guidance intersection from among signboards located around the guidance intersection, and The movement guide apparatus according to claim 1, wherein a signboard used for the selection is selected. The signboard selection means includes
If there are multiple signboards that are candidates for selection,
Priorities are set based on the combination of the approach road where the mobile body enters the guide intersection and the exit road which exits from the guide intersection for a plurality of areas divided around the guide intersection by roads connecting to the guide intersection.
The movement guide device according to claim 2, wherein a signboard in a high priority area is preferentially selected. The signboard selection means includes
Of the areas divided by roads that connect the guidance intersection to the guidance intersection, the area on the approach road side with respect to the guidance intersection is set to a higher priority than other areas,
The movement according to claim 3, wherein an area on the exit road side with respect to the guidance intersection is set with a higher priority than other areas among a plurality of areas divided by roads connected to the guidance intersection around the guidance intersection. Guide device. The signboard selection means includes
When the signboards located around the moving path of the moving body are only signboards that overlap between the guidance start point where the movement guidance is started and the guidance intersection,
Priorities are set based on the combination of the approach road where the mobile body enters the guide intersection and the exit road which exits from the guide intersection for a plurality of areas divided around the guide intersection by roads connecting to the guide intersection.
The movement guide device according to claim 1, wherein a signboard in a high priority area is selected with priority among the overlapping signboards. The signboard selection means includes
When the signboards located around the moving path of the moving body are only signboards that overlap between the guidance start point where the movement guidance is started and the guidance intersection,
The signboard is selected based on at least one or more of a distance from the road to the signboard, a distance from the center of the intersection to the signboard, a signboard size, and whether or not the signboard is lit from the overlapping signboards. Travel guidance device.   When there are a plurality of signboards in which at least one or more of the description contents of the signboard, the shape of the signboard, the size of the signboard, and the color of the signboard are the same or similar between the guidance start point where the travel guidance is started and the guidance intersection The movement guide device according to any one of claims 1 to 6, wherein the plurality of signboards are duplicated signboards.   The movement guide device according to claim 7, wherein the size of the signboard is an apparent size when the signboard is visually recognized from a moving body. When performing moving guidance of a moving body at a guidance intersection using a signboard located around the moving path of the moving body,
Computer
Signboard selection means for selecting a signboard to be used for the travel guidance by excluding the signboard that overlaps between the guidance start point where the travel guidance is started and the guidance intersection;
Movement guidance means for performing movement guidance at the guidance intersection using the signboard selected by the signboard selection means;
Computer program to make it function.

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