JP2019144173A - Navigation device, and navigation program - Google Patents

Abstract

To perform a course guide using a guidance mark easily recognized by a driver.SOLUTION: A navigation device of the present embodiment uses, for a route guide, a signboard of a height corresponding to the visual field of a driver, and uses a first threshold H1 for a manual operation and a second threshold for an automatic operation in relation to the height of the signboard. When a signboard 120 lower than the first threshold H1 exists at a guidance intersection J, "turn right at the intersection ahead of A signboard" is issued as the guidance data using the signboard 120 for the manual operation and automatic operation. While, when a signboard 121 lower than the second threshold H2 and the first threshold H1 or higher exists, "turn right at the intersection ahead of ○× signboard" is issued during the automatic operation, and "turn right at the intersection ahead of L m" is issued during the manual operation.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a navigation device and a navigation program, and relates to a travel route search to a destination.

2. Description of the Related Art Navigation devices that display a route to a destination on a map or provide voice guidance are widely used.
In this navigation device, the route from the set departure point or current position to the destination is acquired by searching with the own device or by communication from the outside. Then, detect the current position of moving and approach the intersection existing on the acquisition route, display a map around the intersection, or perform voice guidance such as "Next intersection is left" It has become.

In such a navigation device, various techniques have been proposed for guiding the acquired route and the direction to be traveled more easily.
For example, in the technology described in Patent Document 1, each image viewed from a plurality of directions with respect to one signboard is stored in association with the direction in which each image can be viewed, and the user terminal approaches the signboard in route guidance. By searching for a signboard corresponding to the direction in which the user performs, guidance using a signboard that the user can actually see from the route has been proposed.

The navigation device described in Patent Document 1 mainly targets pedestrians, and only the direction from the user terminal is considered in determining whether the signboard is visible.
However, in the case of a navigation device mounted on a vehicle, it is necessary to consider whether or not a driving driver can recognize.
For example, whether or not a signboard can be recognized while driving a vehicle depends largely on the height of the signboard. In other words, since the driver's line of sight during driving is low, it is difficult to clearly recognize a signboard at a high position even if it is nearby.
Moreover, although automatic driving has been put into practical use in recent years, the height that can be recognized by the driver depends on whether it is during manual driving or automatic driving.
As described above, the navigation device described in Patent Document 1 does not consider the recognition by the height of the signboard.

JP 2014-185925 A

  An object of the present invention is to provide route guidance using a guide mark that is more easily recognized by a driver.

(1) In the invention described in claim 1, route information acquisition means for acquiring a guidance intersection and its route, guidance mark selection means for selecting a guidance mark used for route guidance of the guidance intersection, and for the guidance intersection A route guidance means that performs guidance using the guidance landmark when the guidance landmark is selected, and performs normal guidance without using the guidance landmark when the guidance landmark is not selected, and the guidance landmark selection means includes: The navigation apparatus is characterized in that a guide mark whose height is less than a predetermined threshold is selected.
(2) In the invention according to claim 2, the guide mark selection means selects the guide mark using a first threshold value for manual operation and a second threshold value for automatic operation which is larger than the first threshold value. The navigation device according to claim 1 is provided.
(3) In the invention according to claim 3, the guide mark selecting means displays both the guide mark for automatic driving and the guide mark for manual driving for the plurality of guide intersections on the acquired route. The navigation apparatus according to claim 1 or 2, wherein the navigation apparatus is selected in advance.
(4) In the invention according to claim 4, driving selection means for determining whether the driving state is automatic driving or manual driving, and the selected guide mark is used for the plurality of guidance intersections. Guidance information creating means for creating in advance at least a part of the guidance information for automatic driving and at least a part of the guidance information for manual driving, wherein the route guidance means is in the determined driving state. The navigation apparatus according to claim 1, wherein the route guidance for the guidance intersection is performed using the corresponding guidance information.
(5) The invention according to claim 5, further comprising arrival determination means for determining whether or not a guide point that is a predetermined distance from the guide intersection has been reached, and the route guide means has reached the guide point 5. The navigation device according to claim 4, wherein the route guidance is performed using guidance information created in advance based on a determination result by the driving determination unit when the determination is made. .
(6) In the invention according to claim 6, the guide mark selecting means uses a larger threshold value as the distance to the guide intersection is larger. A navigation device according to claim 1 is provided.
(7) In the invention according to claim 7, the guide mark selection means uses a smaller threshold value as the vehicle speed to the guidance intersection increases. A navigation device according to claim 1 is provided.
(8) The invention according to claim 8 is provided with stop detection means for detecting a stop state of the vehicle, and the guide mark selection means is further provided as a guide mark for the stop state when the vehicle is stopped. A guide mark is selected without using a threshold value, and the route guide means guides the route using the guide mark for the stop state when the stop state is detected. A navigation device according to any one of claims 1 to 7 is provided.
(9) In the invention according to claim 9, the guide mark selecting means selects at least one of a signboard and a building as a guide mark, according to any one of claims 1 to 8. A navigation device according to one claim is provided.
(10) In the invention described in claim 10, a route information acquisition function for acquiring a guide intersection and its route, a guide mark selection function for selecting a guide mark used for route guidance of the guide intersection, and the guide intersection A navigation program for causing a computer to implement a route guidance function that performs guidance using a guidance landmark when the guidance landmark is selected, and performs normal guidance without using the guidance landmark when the guidance landmark is not selected. The guidance mark selection function provides a navigation program characterized by selecting a guidance mark whose height is less than a predetermined threshold.

  According to the present invention, since the guide mark whose height is equal to or less than the predetermined threshold value is selected, it is possible to perform route guidance using the guide mark that is more easily recognized by the driver.

It is an outline explanatory view showing the guidance image using the signboard by an embodiment. It is a block diagram of a navigation apparatus. It is explanatory drawing which represented the content of signboard DB notionally. It is explanatory drawing which represented the content of guidance data notionally. It is a flowchart showing operation | movement of the guidance process by a navigation apparatus. It is a flowchart showing operation | movement of the guidance data generation process in a guidance process. It is explanatory drawing about actual guidance content. It is explanatory drawing about a modification.

(1) Outline of Embodiment FIG. 1 shows an outline of an operation according to the embodiment.
The navigation device of this embodiment uses a signboard having a height that falls within the driver's field of view for route guidance. Therefore, a threshold value for the height of the signboard is provided, and the first threshold value H1 for manual operation and the second threshold value for automatic operation are used.
When there is a signboard 120 less than the first threshold value H1 at the guidance intersection J, guidance data using the signboard 120 for manual driving and automatic driving is guided as “the intersection at the end of the A signboard is in the right direction”. On the other hand, in the case of the signboard 121 that is less than the second threshold value H2 and is equal to or greater than the first threshold value H1, if the automatic operation is in progress, “○ × the intersection at the tip of the signboard is in the right direction”. "Turn right at the previous intersection."

In the present embodiment, a signboard database (DB) including the position of the signboard, the direction in which the signboard can be seen, and the height is stored as data about the signboard that is a guide mark existing around the intersection, or the outside of a predetermined server or the like To obtain and store a predetermined amount of signboard data as a target by communication.
Then, the travel route 111 to the destination is searched or acquired from the outside. When the vehicle 100 starts traveling on the acquired travel route 111, a guidance intersection existing on the travel route 111 is extracted, and automatic driving guidance data (guidance information) and manual driving guidance data (for each guidance intersection) Guidance information) is created in advance.
In the present embodiment, guidance data is created in units of a predetermined distance, but guidance data may be created in advance for all guidance intersections existing on the travel route 111. Further, it may be created immediately before arriving at the guidance point I a predetermined distance before the guidance intersection, but in this case, guidance data corresponding to the driving state at the time of creation (during automatic driving or manual driving) is provided. create.

When creating guidance data for each guidance intersection, guidance data using a sign less than a first threshold H1 (for example, 5 m) is created as a sign for manual driving, and a second threshold H2 (for example, 10 m) is used as a sign for automatic driving. ) Create guide data using less than signboards. When there is no sign at the guidance intersection or when there is no sign less than the first threshold H1 and the second threshold H2, guidance data for normal guidance (existing guidance) is created.
For example, as shown in FIG. 1, when the signboard 120 of the store 110 exists at the guidance intersection J and the height of the signboard 120 is less than the first threshold value H1 for manual operation, the manual operation and the automatic operation are performed. Therefore, guide data using the signboard 120 is created.
On the other hand, when the signboard 121 exists at the guidance intersection J and the height of the signboard 121 is less than the second threshold value H2 for automatic driving and is equal to or more than the first threshold value H1, the signboard 121 is used for automatic driving. Create guidance data and create normal guidance data for manual operation.
When there is no signboard at the guidance intersection or when the signboard height is equal to or greater than the second threshold value H2, guidance data for normal guidance is created for automatic operation and manual operation.

As shown in FIG. 1, when the vehicle 100 arrives at a guide point I before a predetermined distance Lm (for example, 100 m) from the guide intersection J, if the current driving state is automatic driving, the guidance data for automatic driving is used. In the case of manual operation, the guidance data for manual operation is used to guide the guidance intersection J to the right.
For example, when there is a signboard 121 at the guidance intersection J, if the vehicle 100 is automatically driving at the guidance point I, the signboard 121 is used and an image or sound such as “X is the right of the intersection ahead of the signboard”. To guide. On the other hand, in the case of manual operation, normal guidance using the distance to the intersection such as “Lm ahead at the intersection is in the right direction” is performed as normal guidance. As normal guidance, guidance using an instruction word for an intersection such as “next intersection / second intersection / ABC intersection / to the right” is performed in addition to the distance.

According to the present embodiment, the driver's line of sight during driving is low, and a signboard at a high position cannot be clearly seen even if it is nearby. Thus, it is possible to perform guidance using a signboard (guide mark) that is easier to recognize.
Since the driver during automatic driving can check a wider range than during manual driving, paying attention to entering the field of view up to a relatively high place, the first threshold H1 for manual driving and the first threshold H1 By selecting a signboard (guide mark) using a larger second threshold value H2 for automatic driving, route guidance using a signboard (guide mark) that is easy to recognize in response to manual driving or automatic driving. It can be performed. That is, guidance using a signboard that can be recognized more reliably can be performed in any of the driving states during manual driving and automatic driving.

(2) Details of Embodiment Hereinafter, a preferred embodiment of the navigation device of the present invention will be described in detail with reference to FIGS.
FIG. 2 is a system configuration diagram of the navigation apparatus used in the present embodiment.
The navigation device 1 is configured by a computer system mounted on a vehicle, and includes a control unit 10, an automatic driving detection unit 20, a current position detection unit 21, an input unit 22, a display 23, an audio output unit 24, a communication control unit 25, and a storage. The unit 30 is provided.

The control unit 10 includes a CPU (Central Processing Unit) 11, a ROM (Read Only Memory) 12, a RAM (Random Access Memory) 13, and the like.
The CPU 11 performs various types of information processing and control in accordance with programs stored in various storage units such as the ROM 12 and the storage unit 30. Specifically, the CPU 11 executes a guidance processing program (navigation program), which will be described later, to reach the destination based on various information acquired from the current position detection unit 21, the storage unit 30, the input unit 22, and the like. The travel route is searched, and the travel route is guided using a signboard corresponding to the driving state (automatic driving or manual driving).
The ROM 12 is a read-only storage device, and stores basic programs and parameters for operating the CPU 11.

The RAM 13 is a working memory that temporarily stores programs and data required when the CPU 11 performs various calculations and controls. In the present embodiment, the RAM 13 is a travel route 130, a pointer 132, guide data 131, and a current position of the vehicle (not shown). Etc.) are temporarily stored.
The travel route 130 is data on a travel route to a destination obtained from a route search or the outside.
The pointer 132 is data for specifying the signboard data being processed, and stores the values of the guide numbers i, j, and N. The guide number i is a pointer used for route guidance, the guide number j is a pointer for generating guide data, and the guide number N is a pointer for determining the end of guide data generation and guidance for all the target intersections. It is.
The guidance data 131 is guidance data for automatic driving and manual driving with respect to each intersection, which is created for each predetermined distance for a guidance intersection existing on the travel route to the destination. Details of the guidance data 131 will be described later.

The automatic driving detection unit 20 detects whether the driving state of the vehicle is during automatic driving or manual driving.
The automatic driving detection unit 20 of the present embodiment detects whether automatic driving is being performed (whether manual driving is being performed) based on an input signal from an automatic driving button arranged in the vehicle. Since the signal from the automatic operation button is a signal that requests the vehicle control unit to start automatic operation, by acquiring travel state data indicating whether automatic operation or manual operation is being performed from the vehicle control unit. You may make it detect.

The current position detection unit 21 includes a GPS (Global Positioning System), a vehicle speed sensor, a steering sensor, and the like.
The GPS receives signals from a plurality of GPS satellites that orbit the earth. This signal includes time information, and the navigation device 1 can detect the current position of the host vehicle by processing this information.
For example, the vehicle speed sensor generates a pulse signal in proportion to the rotational speed of the axle. When the CPU 11 processes this, the navigation device 1 can detect the vehicle speed information of the own vehicle amount. The CPU 11 calculates the vehicle acceleration by differentiating the detected speed with time, or calculates the vehicle travel distance by integrating with time.
The steering sensor is composed of, for example, an optical rotation sensor attached to the rotating part of the steering wheel, a rotational resistance volume, or an angle sensor attached to the wheel part, and the CPU 11 processes these generated signals. The navigation device 1 can detect the steering amount operated by the driver.

  The CPU 11 appropriately corrects the current position detected by the GPS among the various signals supplied from the current position detection unit 21 using other signals, and further performs road matching by map matching processing using map data 32 described later. Identify the current position of the vehicle on the data.

  The input unit 22 includes an input device such as a touch panel, a key switch, and a voice input device, for example, and receives an input of a destination necessary for a route search from a driver or the like. When a touch panel is used, the user's touch position corresponding to various operation keys arranged on the surface of the display 23 and displayed on the display 23 is specified, and the operation displayed corresponding to the touch position. Accept key input.

The display 23 is a small display installed near the driver's seat of the vehicle, and displays various images such as an input screen and a current position screen.
On the display 23 of this embodiment, in order to guide the travel route, a road map around the current location displaying the current position of the vehicle and a travel route to the destination are displayed. The display 23 displays a signboard image of the intersection when it reaches the predetermined distance Lm from the guidance intersection (if it exists in the signboard DB), and further displays a guidance sentence using the signboard, for example, “Lotte Rya's signboard” The intersection with is on the left is displayed.
For example, the audio output unit 24 is composed of a plurality of speakers, and the existing guidance (normal guidance) that does not use a signboard, such as “the next intersection is in the right direction”, or uses the signboard “ Various guidance voices such as signage usage guidance such as “Direction” are output.

For example, the communication control unit 25 is connected to a communication network such as the Internet, communicates with the server device, and jam information, and various information stored in the storage unit 30 (for example, the map data 32, the signboard DB 33, the signboard image 34). ) Etc., and various information such as the vehicle position is transmitted to an external server device.
In the present embodiment, the travel route to the destination is acquired by route search processing. However, the information of the departure point and the destination is transmitted from the communication control unit 25 and is acquired by receiving the travel route from the server device. You may do it. In this case, map data around the vehicle (around the current location) displayed on the display 23 can also be received from an external server device along the travel route.
Furthermore, the travel route searched for and the signboard images and signboard data existing at each guidance intersection on the received travel route may be obtained from the external server device via the communication control unit 25.

The storage unit 30 includes a large-capacity storage medium and a drive device that drives the storage medium.
The storage unit 30 includes, for example, a semiconductor memory such as a large-capacity hard disk or a flash memory, or various storage means such as a magneto-optical disk, or a combination of these storage means.
The storage unit 30 stores a program 31, map data 32, a signboard DB 33, a signboard image 34, and other data.
The program 31 stores a guidance processing program related to travel route guidance in the present embodiment. This guidance processing program is stored as a subroutine program for each of various processes such as route search processing, map matching processing, and guidance generation processing.
As the map data 32, a national road map, a road map of each region, a house map, or the like is stored. The road map is composed of main roads, highways (highway automobile national roads, automobile exclusive roads, etc.), narrow streets and other roads and ground targets (facility, etc.). A house map is a city map in which a figure representing an outer shape of a ground building, a road name, and the like are displayed. The narrow street is, for example, a relatively narrow road having a road width equal to or less than a predetermined value below a national road or prefectural road.
In the map data 32, a predetermined area including the current position of the vehicle and a point designated by the user is displayed on the display 23. Along with this map, the display 23 displays the current position and travel route of the vehicle, the signboard image for guidance according to the present embodiment, and the like.

The map data 32 includes information on the location and type of each road, the number of lanes, the connection relationship between the roads, etc. for each main road, expressway (highway national highway and exclusive road), and narrow streets. Road data (intersection number, node information and link information) related to the road is also stored.
The road data is used for route search and map matching, and is also used when the searched travel route is displayed over the map data.
The node information is information representing the position coordinate data of each node used for route search on the map, and the node is set at a point where the state of the road changes such as an intersection or a point where the road curves. A straight line connecting each node is represented by a link, and information representing a distance of each link is link information.
In a signboard DB 33 described later, an intersection number (intersection node) is stored as information for specifying an intersection where a signboard exists, and link information is stored as direction information for specifying a direction in which the signboard can be recognized.

The signboard image 34 stores image data obtained by actually photographing a signboard corresponding to each signboard data stored in the signboard DB 33. Each signboard image 34 is managed by a signboard image number and stored together as image data, and the signboard number is stored in the signboard DB 33.
However, each signboard image 34 may be stored in the signboard DB 33.
Examples of other data stored in the storage unit 30 include destination data such as facilities, places, and points that can be set as destinations in route search, voice data for synthesizing guidance voices, various facilities, and sightseeing Explanation information such as the ground is saved.

FIG. 3 conceptually shows the contents of the signboard DB 33 stored in the storage unit 30.
As shown in FIG. 3A, the signboard DB 33 includes a signboard number, a signboard image number, first position information, direction information, second position information, height information, guidance display, guidance voice, and the like for each signboard. Has been.
The signboard number is a number assigned to each signboard, and each signboard data is managed by this signboard number.
The signboard image number is number information for specifying the signboard image stored in the signboard image 34, but an address where the signboard image is stored may be stored.
The first position information of the signboard is information for specifying the position where the signboard is installed. In this embodiment, the intersection number which comprises the road data of the map data 32 is used as the 1st position information of a signboard. It is also possible to use the position coordinates where the sign is installed as the first position information of the sign.

The sign direction information is information about the direction in which the sign can be recognized. In this embodiment, a link connected to an intersection where a signboard is installed is used as direction information of the signboard.
The second position information of the signboard is defined for each direction information of the signboard, and whether the guidance intersection exists “before” or “before” the signboard when viewed from the link specified by the direction information. It is information for specifying
FIG. 3B is an explanatory diagram of signboard direction information and signboard second position information.
As shown in FIG. 3B, it is assumed that a signboard K (store name “K-hat”) is installed at a guidance intersection J, and links having the intersection J as end points are links a to d.
In this case, when the vehicle travels in the direction of entering the guidance intersection J from each of the links a to d, the links that can recognize the signboard K are the links a and c. Therefore, the direction information of the signboard DB 33 includes the links a and c. The number is saved.
When the signboard K is viewed from the travel route passing through the recognizable link a, the guidance intersection J exists at the tip of the signboard K. Therefore, “destination” is stored in the second position information of the signboard DB 33.
On the other hand, when the signboard K is viewed from the travel route passing through the link c, since the guidance intersection J exists in front of the signboard K, “front” is stored in the second position information.

The second position information is mainly used for creating guidance information and guidance voice of guidance data 131 described later.
For example, when turning right and left at the guidance intersection J through the link a shown in FIG. 3B, the second location information “destination” and the store name “K hat” of the signboard K are used, for example, “K hat”. The sign using the signboard K is output as follows.

In the example of FIG. 3A, in the case of the signboard installed at the intersection number K0010, the signboard number is 001 and the first position information is the intersection number K0010.
Of the four links (in the case of a crossroad) having the intersection number K0010 as an end point, a link R001X and a link R001Y are stored as direction information. This means that the signboard of the signboard number 001 can be recognized in the direction toward the intersection number K0010 through the link R001X or the link R001Y. On the other hand, in the direction of passing through another link toward the intersection number K0010, this means that the signboard with the signboard number 001 cannot be recognized.
Thus, in the direction information, one or more links are stored as directions in which the signboard can be recognized.

  When the position coordinates of the signboard are used as the first position information of the signboard, the second information can be omitted because it is possible to determine whether the signboard is in front of or ahead of the road from the position coordinates of the signboard and the travel route. However, the second position information may be left in order to shorten the determination time.

The signboard height information is information representing the height of each signboard. In the present embodiment, the actual height (m) of the signboard is stored as the signboard height information.
In addition, you may make it preserve | save p, q, and r showing a height division as height information of a signboard. That is, in correspondence with the first threshold value H1 for manual operation and the second threshold value H2 for automatic operation, a signboard whose height category p is greater than or equal to the first threshold value H1 and less than the second threshold value H2 for signboards less than the first H1. Is stored as height information, and a height section r is stored as height information for signs with the second threshold value H2 or higher.

In the signage guide display, the signboard specific information to be displayed on the display 23 is stored. The signboard specific information mainly stores the notation relating to the name of the shop or facility displayed on the signboard. For example, in the example of FIG. (B), the store name “K-hat” becomes the guidance display of the signboard K.
However, in the case of a sign having a characteristic in the shape and color of the sign itself rather than a sign or name having a low degree of popularity, a notation representing the feature is stored. For example, in the case of the sign number 002 in FIG. 3A, a notation representing the signage feature such as “green signboard” is stored.
Since the actual guidance includes the direction of travel after the intersection (left turn, straight advance, right turn) in addition to the name of the signboard, the signboard DB 33 stores specific information such as the signboard name.

  The signboard guidance voice stores signboard specific information output from the voice output unit 24. For the signboard identification, voice data corresponding to the guidance display is stored. For example, in the case of the signboard number 001, the guidance voice “Roteruya” (reading voice information) is stored in correspondence with the signboard guidance display “Rotterya”.

Next, the guidance data 131 temporarily stored in the RAM 13 will be described.
FIG. 4 conceptually shows the stored contents of the guidance data 131.
The guidance data 131 is stored in the order in which data used when guiding the traveling direction from each intersection to the vehicle passenger passes along the travel route to the destination. The guidance data 131 is acquired by searching for a travel route or receiving it from the outside, and is created using information in the signboard DB 33 for each predetermined distance G (km) after the travel is started.

As shown in FIG. 4, the guidance data 131 includes a guidance number (used for i and j), a guidance intersection number, a signboard image number, in the order of guidance intersections existing within a predetermined distance G (km) of the travel route. Information on the automatic driving guide, the second flag, the manual driving guide, and the first flag is created and stored.
As the guidance intersection number, the intersection number of the corresponding intersection from the travel route is stored, and the signboard image number searched in the signboard DB 33 with this intersection number as a search key is read and stored in the guidance data 131.
In the case of the guidance data 131 shown in FIG. 4, there is no signboard image for the guidance intersections of guidance numbers 02 and 03.
This is because no signboard exists at the intersection of the guide intersection K0020 corresponding to the guide number 02, as shown in the signboard DB33 of FIG. On the other hand, there is a signboard at the intersection of the guidance intersection K0982 corresponding to the guidance number 03, but the height is 12 m, which is higher than the first threshold value H1 and the second threshold value H2. For this reason, at the guidance intersection of guidance number 03, guidance data for existing guidance using distance is stored for both automatic driving guidance and manual driving guidance.

In the automatic driving guide, when there is a sign less than the second threshold value H2 at the guidance intersection, the guide information of the signboard use guide is stored, and when there is no sign, the guide information of the existing guide is stored.
In the manual driving guide, when there is a signboard with a value less than the first threshold H1 at the guidance intersection, the guide information of the signboard usage guide is saved, and when there is no signboard information, the guidance information of the existing guide is saved.
In the guidance data 131 illustrated in FIG. 4, guidance display character strings to be displayed on the display 23 are displayed corresponding to the guidance for automatic driving and the guidance for manual driving, but the guidance voice data is actually saved. The The guidance voice data is omitted because it corresponds to the guidance character string.

For example, in the case of the guide number 02, the automatic driving guide “the intersection at the end of the green signboard is to the right” and the manual driving guide “the intersection at Lm is to the right” are created and stored in the guidance data 131. Yes. The notation of the guidance for automatic driving and the guidance for manual driving is a guidance display, and the reading is guidance voice.
The guidance for automatic driving and the guidance for manual driving of the guide number 02 are stored in the signboard DB 33 (see FIG. 3), the guidance display “green signboard” of the intersection number K0020 and the guidance voice “Midoriiro Kanban”, The second position information “destination” (when passing through the direction information RXXXX2) and the route change direction information “right” determined from the travel route are used. Since the height of the signboard is “6 m” and lower than the second threshold value H2, the signboard usage guidance data is created as the automatic driving guidance, and since it is equal to or higher than the first threshold value H1, the existing guidance data is used as the manual driving guidance. Has been created.

Returning to FIG. 4, the second flag and the first flag are flags indicating whether or not the signboard image is displayed together with the guide character string displayed on the display 23. Flag 1 is stored when the guidance at the guidance intersection is signboard usage guidance using a signboard, and flag 0 is stored when the guidance is an existing guidance that does not use a signboard.
For example, in the case of guidance with guide number N shown in FIG. 4, flag 1 is saved because automatic driving guidance is signboard usage guidance, and manual driving guidance is existing guidance using distance.

The guidance method of this embodiment by the navigation device 1 configured as described above will be described.
FIG. 5 is a flowchart showing the operation of the guidance process.
The CPU 11 of the navigation device 1 executes the following processing by executing the guidance processing program stored in the storage unit 30.
First, the CPU 11 acquires a travel route to the destination by performing a route search (step 10). That is, the CPU 11 uses the map data 32 to search for a travel route from the departure point input by the user (or the current vehicle position detected by the current position detection unit 21) to the destination. The travel route to the destination may be received by transmitting the departure point and the destination to an external server via the communication control unit 25, or using a personal computer at home. The communication control unit 25 may acquire the route information searched in advance.
The CPU 11 stores the acquired travel route in the travel route 130 secured in the RAM 13.

  When the travel route is determined, the CPU 11 monitors whether or not the start of guidance is instructed (step 12). Here, the CPU 11 determines that the guidance is started when the guidance start button is selected / pressed by the user or when the vehicle starts traveling with the travel route being determined. The start of travel is determined by whether or not the vehicle speed has exceeded a predetermined value and whether or not the current position of the vehicle has changed by a predetermined distance or more.

When it is determined that the guidance is started (step 12; Y), the CPU 11 generates guidance data and stores it in the guidance data 131 secured in the RAM 13 (step 14). The guide data generation here generates guide data for a predetermined distance W (km) along the travel route from the departure point.
Here, a guide generation process for generating guide data will be described. The guidance generation processing includes guidance data generation at the beginning of traveling (step 14), and thereafter guidance data generation (step 32) performed at predetermined distances until reaching the destination. Both of them are the same except that the value of the predetermined distance W for generating the guidance data is different (the former is W = 13 km, the latter is W = 10 km).

FIG. 6 is a flowchart showing the operation of the guidance generation process.
The CPU 11 first generates a guidance intersection in the RAM 13 (step 42). That is, the CPU 11 stores the guidance intersection existing within a predetermined distance Wkm (= 10 km) from the start point in the case of step 14 and the current position of the vehicle detected by the current position detection unit 21 in the case of step 32. Are stored in the guide data 131 with the guide number i in order.
Then, the CPU 11 sets the number of guidance intersections stored in the guidance data 131 (the last value of the guidance number i) = N and the guidance information j = 1 for generating guidance data in the pointer 132 of the RAM 13 (step 1). 44).

  Next, the CPU 11 searches the signboard DB 33 using the guide intersection number of the guide number i corresponding to the guide information j (this intersection number depends on the travel route 130) as a search key, and acquires the signboard data of the corresponding intersection number j ( Step 46), the presence / absence of the signboard, the recognition possibility, and the height are determined (step 48 to step 54).

The CPU 11 determines whether there is a signboard at the guidance intersection of the guidance number j (step 48). That is, the CPU 11 determines that there is a signboard if the signboard data corresponding to the guide number j can be acquired in step 46 (step 48; Y), and determines that there is no signboard if it cannot be acquired (step 48; N).
When it is determined that there is a sign (step 48; Y), the CPU 11 determines whether or not the sign can be recognized from the travel route 130 (step 50). That is, the CPU 11 reads the number of the link entering the guidance intersection of the guide number j from the travel route 130, and determines that the link number can be recognized when it exists in the direction information (link) of the signboard data acquired in step 46. If it does not exist, it is determined that it cannot be recognized.
When the signboard can be recognized from the travel route (step 50; Y), the CPU 11 determines the height of the signboard of the guide number j as compared with the first threshold value H1 and the second threshold value H2 (steps 52 and 54). The following processing (a) to (c) is performed based on each determination result.

(A) When the height of the signboard is equal to or higher than the first threshold value H1 (step 52; N) and less than the second threshold value H2 (step 54; Y), the CPU 11 has a height that cannot be recognized in the case of manual operation. It is determined that the sign is a signboard, and an existing guide (for manual operation) is generated (step 56). Further, it is determined that the signboard is of a height that can be recognized in the case of automatic driving. ) Is generated (step 58) and stored in the guide data 131 of the guide number j.

Hereinafter, the case where the number is equal to or greater than the first threshold value H1 and less than the second threshold value H2 will be described with reference to the guide number j = 02 (guide intersection number K0020) shown in FIG. The guide data 131 with the guide number j = 02 is created based on the signboard data of the signboard number 002 (height 6 m) in the signboard DB 33 shown in FIG.
In the existing guidance for manual operation (step 56), since guidance is performed without using a signboard, “Lm ahead is on the right” is stored in the guidance data 131 as the manual operation guidance with the guide number j = 02. . This manual driving guidance is generated using the distance Lm from the guidance intersection to the guidance point and the course direction “right direction” after passing the guidance intersection determined from the travel route 130 of the RAM 13.
As described above, in FIG. 4, only the guidance display to be displayed on the display 23 is displayed, but the guidance voice corresponding to the notation of the guidance display is also stored in the guidance data 131 (hereinafter the same is omitted). .
Furthermore, since the CPU 11 is an existing guide that does not use a signboard, the flag 0 indicating non-use is stored in the first flag indicating whether or not the signboard image is used.

On the other hand, in the signboard usage guide for automatic driving (step 58), since the signboard is used, the signboard image number of the signboard DB 33 is stored in the signboard image number of the guidance data 131. However, since there is no signboard image number corresponding to the signboard number 002, the signboard image number is not stored in the guide data 131 of the guide number j = 02. Note that when the signboard image number does not exist as in the case of the guide number j = 02, the flag 0 may be stored first for both the first flag and the second flag.
Furthermore, the CPU 11 displays the guidance display “green signboard” from the signboard DB 33, guidance voice “Midoriiro ~”, the second position information “front” corresponding to the link used in the determination in step 50 (for example, RXXXX3), and normal Using the guidance data, create an automated driving guide "The intersection at the end of the green sign is to the right" (for guidance display) and "Midoriiro Kanban Sakino ~" (for guidance voice) And stored in the guide data 131 of guide number j = 02.
Further, since the signboard image number does not exist in the second flag of the guide number j = 02, the flag 0 is stored. If there is a signboard image, it is signboard usage guidance, so the flag 1 for using the signboard is stored in the second flag.

(B) When the height of the signboard is not less than the first threshold value H1 (step 52; N) and not less than the second threshold value H2 (step 54; N), the CPU 11 recognizes both manual operation and automatic operation. It is determined that the signboard is not high enough, and the same existing guide (for manual operation and automatic operation) (step 60, step 62) is generated and stored in the guide data 131 of guide number j.
In this case, similar to the existing guidance described in step 56, the existing guidance is generated in accordance with the distance Lm from the guidance intersection where guidance is given to the driver and the route direction after passing through the guidance intersection in the guidance data 131 of the RAM 13. Is stored in the guidance data 131 as a guide for automatic driving of the guide number j using the “○ direction” determined from the following.
For example, the guide data 131 of the guide number j = 03 (guide intersection number K0982) shown in FIG. 4 corresponds to the signboard data (height 12 m) of the corresponding sign as shown in FIG. "Is diagonally right" is generated and saved. The “oblique right direction” is generated from the travel route 130 of the RAM 13.
In the guide data 131 with the guide number j = 03, the signboard image number is not saved because both the manual driving guide and the automatic driving guide are not used, and 0 is stored for both the first flag and the second flag. Has been.

Note that the signboard image (number 0095, height 12 m ≧ H2) is stored in the signboard DB 33 in FIG. 3 for the signboard corresponding to the guide intersection number K0982 with the guide number j = 03. However, since the signboard image of the signboard whose height is equal to or greater than the second threshold value H2 is not used in either automatic driving or manual driving, it may be excluded from the storage target.
However, in the case of using the distance from the intersection in addition to the height of the signboard as a threshold value for whether or not to perform signboard usage guidance as in a modification example described later, or when allowing the user to change the threshold value It is desirable not to limit the height of the signboard that stores the signboard image.

(C) When the height of the signboard is less than the first threshold value H1 (step 52; Y), the CPU 11 determines that the signboard has a height that can be recognized in both manual operation and automatic operation, and is identical. A signboard usage guide (for manual operation and automatic operation) is generated (step 64, step 66) and stored in the guide data 131 of guide number j.
In this case, the CPU 11 stores the signboard image number of the signboard DB 33 in the signboard image number of the guide data 131 and displays the guidance display from the signboard DB 33 in the same manner as the signboard use guide described in step 58. The automatic operation guide and the manual operation guide are generated using the guidance voice, the second position information corresponding to the link used in the determination in step 50, and the normal guidance data, and the guide data 131 of the guide number j is generated. Save to.
Further, in the first flag and the second flag of the guide number j, the flag 1 is stored if there is a signboard image number, and the flag 0 is stored if there is no signboard image number.
For example, the guide data 131 of the guide number j = 01 (guide intersection number K0010) shown in FIG. 4 corresponds to the sign data of the corresponding sign as shown in FIG. Direction "is generated and saved. As described above, the “previous” of the guidance content is determined from the second position information corresponding to the link number used in the determination in step 50.

Further, when the CPU 11 determines that there is no sign at the guidance intersection of the guide number j (step 48; N), and when it determines that a sign is present but cannot be recognized from the travel route 130 (step 50; N). In the same manner as the existing guidance described in step 56, the existing route (for manual operation and automatic operation) is generated (step 68, step 70) using the travel route 130 stored in the RAM 13, and the guide number It stores in the guide data 131 of j.
Also in this case, in the guide data 131 of the guide number j, the signboard is not used for both the manual driving guide and the automatic driving guide, so the CPU 11 does not store the signboard image number, and the first flag and the second flag. Both save 0.

When the generation of the guide data 131 for the guide number j is completed as described above, the CPU 11 adds 1 to the current guide number j (step 72), and whether or not the added guide number j exceeds the total guide number N. Is determined (step 74).
If the added guide number j is less than or equal to N (step 74; N), the CPU 11 returns to step 46 and continues to generate guide data 131 for the next guide intersection until the last guide number j = N is generated. The generation of 131 is continued.
On the other hand, if the added guide number j is greater than N (step 74; Y), the CPU 11 has completed generation of all the N pieces of guide data 131 existing within the predetermined distance Wkm. Return.

Returning to FIG. 5, when the guide data generation in step 14 is completed, the CPU 11 first sets the guide number i = 1 in order to guide the vehicle using the generated guide data 131 in the order of the guide numbers (step 1) (step 1). 16).
Next, the CPU 11 monitors whether or not the vehicle has reached the guidance point (step 18). That is, the CPU 11 determines whether or not the current position of the vehicle detected by the current position detection unit 21 has reached a point Lm before (= guide point) from the intersection of the intersection number corresponding to the guide number i.
When it is determined that the vehicle has reached the guide point of the guide number i (step 18; Y), the CPU 11 automatically drives the vehicle based on a detection signal output from the automatic driving detection unit 20 as to whether automatic driving is in progress. It is determined whether it is in the middle (step 20).

When it is determined that the vehicle is in automatic operation (step 20; Y), the CPU 11 performs automatic operation guidance (step 22). That is, the CPU 11 reads the automatic driving guidance corresponding to the guidance number i stored in the guidance data 131 of the RAM 13, displays guidance on the display 23, and outputs guidance voice from the voice output unit 24.
On the other hand, when it is determined that manual operation is being performed (step 20; N), the CPU 11 performs manual operation guidance (step 24). That is, the CPU 11 reads out the manual operation guide corresponding to the guide number i stored in the guide data 131 of the RAM 13, displays the guidance on the display 23, and outputs the guidance voice from the voice output unit 24.

FIG. 7 shows the guidance display displayed on the display 23 and the guidance voice output from the voice output unit 24 based on the guidance data 131 (see FIG. 4) with the guidance number 01 during manual operation. is there.
As shown in FIG. 7, on the route guidance screen 231 on which the road map is displayed on the display 23, the driving route 111 (the driving route 130 of the RAM 13) and the current position mark 112 of the vehicle are displayed as in the existing display. The Since the vehicle has reached the guidance point at this display time (step 18), the current position mark 112 is displayed in front Lkm of the guidance intersection J.
On the route guidance screen 231 of this embodiment, the signboard image (Rotterya signboard image) of the signboard image number 0070 corresponding to the guide number i = 01 is read from the signboard image 34 of the storage unit 30 before the guidance intersection J. And is displayed as a guidance signboard 140 at the guidance intersection J. In this display, the signboard image is displayed in a reduced size corresponding to the height (2 m) of the signboard.
Further, the Rotterya signboard image (signboard image number 0070) is displayed in a large size in the enlarged display area 232, and since manual operation is being performed in the guidance notation area 233, the "Lotterya signboard's sign is displayed based on the manual driving guidance in the guidance data 131. The intersection is on the right. "
In addition, the voice output unit 24 outputs a voice message “The intersection at the end of the Rotteriya sign is in the right direction”.
In the present embodiment, the enlarged display area 232 is provided. However, since the guide signboard 140 is displayed, it may be omitted.
Further, the guidance notation by the guidance notation area 233 and the text may not be performed. In this case, the display of the guide signboard 140 corresponds to the guide notation using the signboard. In the guidance data 131, only the guidance voice data is stored in the automatic driving guidance and the manual driving guidance.

The CPU 11 adds 1 to the guidance number i after the automatic driving guidance (step 22) and the manual driving guidance (step 24) for the guidance intersection of the guidance number i (step 26). It is determined whether or not the value exceeds the total guidance number N (step 28).
If the added guidance number i is N or less (step 28; N), the CPU 11 returns to step 18 and continues guidance for the next guidance intersection until the guidance for the last guidance number i = N is completed.
On the other hand, if the added guide number i is greater than N (step 28; Y), the CPU 11 determines whether or not the guide has ended (step 30). That is, the CPU 11 determines whether or not the guidance intersection number with the guidance number i = N is the last guidance intersection of the travel route 130 stored in the RAM 13, and if it coincides with the last guidance intersection, the guidance ends. (Step 30; Y) and the process is terminated.
On the other hand, if it does not coincide with the last guidance intersection (step 30; N), the CPU 11 proceeds to step 32 and guides for the next predetermined distance Wkm (10 km in this embodiment). Data 130 is generated and the stored contents of the RAM 13 are updated (step 32). The generation process of the guidance data 130 is performed in the same manner as the guidance data generation process in step 14 described with reference to FIG. 5, and the CPU 11 returns to step 16 and based on the newly generated guidance data 131 for the predetermined distance Wkm. The guidance of the travel route 130 is continued.

As described above, in this embodiment, on the premise of guidance at a predetermined distance Lm from the guidance intersection, guidance using a signboard is performed when the height of the signboard is less than a predetermined threshold value H. Then, it is determined whether the driving state of the vehicle is an automatic driving or a manual driving. In the case of manual driving, the first threshold value H1 is used as the threshold value H, and in the case of automatic driving, the second threshold value H2 is used.
As a result, according to the navigation device of the present embodiment, it is possible to provide travel route guidance using a signboard (guide mark) in a state that can be recognized by the driver.
In addition, it is possible to provide guidance using an appropriate signboard that can be easily recognized regardless of whether the driving state is manual driving or automatic driving.

Next, a first modification will be described.
In the embodiment, it is difficult to recognize that the signboard existing along the traveling route exceeds a predetermined height, and further, the height of the signboard that can be recognized is higher during automatic driving than during manual driving. Is based on that.
On the other hand, in the first modification, the elevation angle at the guidance point is used as a physical quantity that can be converted into a height, instead of using the height of the sign itself as a threshold, and within the range of the elevation angle at the guidance point. When a signboard exists, guidance using the signboard (signboard usage guidance) is performed.
Then, the first elevation angle threshold value α1 is used as a threshold value when the driving state of the vehicle is manual driving, and the second elevation angle threshold value α2 is used as a threshold value when automatic driving is performed.

FIG. 8 shows the relationship between the height of the sign 150 and the elevation angle θ from the vehicle according to the first modification.
As shown in FIG. 8, it is assumed that a signboard 150 is present at the guidance intersection J and its height is Tm. In this case, the elevation angle θ2 at the point Q2 in front of the point Q2 by the distance M2m (> M1m) is smaller than the elevation angle θ1 at the point Q1 in front by the distance M1m from the guidance intersection J.
For this reason, if the driving state at the points Q2 and Q1 is both manual driving, even if the signboard 150 cannot be recognized at the point Q1 where the elevation angle is large, the elevation angle is greater at the point Q2 where the distance is farther than that. Because it is small, the sign 150 can be recognized.

Therefore, in the first modification, the first elevation angle threshold value α1 is used as the threshold value for manual operation, and the second elevation angle threshold value α2 is used as the threshold value for automatic operation.
The first elevation angle threshold value α1 and the second elevation angle threshold value α2 are the elevation angles at the guidance point Lm before the guidance intersection J with respect to the signboard whose height is the first threshold value H1 and the second threshold value H2 described in the embodiment. Is set.
That is, the first elevation angle threshold value α1 for manual operation and the second elevation angle threshold value α2 for automatic operation are expressed by the following equations. However, at {X} represents an inverse function of tanX (tangent).
First elevation threshold value α1 = at {H1 / L}
Second elevation angle threshold α2 = at {H2 / L}

For example, the elevation angle α0 at the guidance point Q0 Mm before the guidance intersection J with respect to the signboard 150 having the height Tm shown in FIG. 8 is α0 = at {T / M}.
Therefore, if the driving state at the guidance point Q0 is manual driving, the signboard usage guidance is used when α0 <α1, and the existing guidance is used when α0 ≧ α1.
On the other hand, if the driving state at the guidance point Q0 is automatic driving, the signage guide is used when α0 <α2, and the existing guidance is provided when α0 ≧ α2.

The configuration of the navigation device in the first modification is the same as that of the embodiment.
The guidance process and the guidance generation process are almost the same as those in the embodiment. That is, for each predetermined distance Wkm on the travel route, the guide data 131 for each guide point corresponding to the guide intersection is generated. In the guidance data 131, manual driving guidance based on the first elevation angle threshold value α1 and automatic driving guidance based on the second elevation angle threshold value α2 are generated in advance in order to correspond to the traveling state at the guidance point.
However, in the present embodiment, the number of guidance intersections existing at the predetermined distance Wkm is N, and the number of guidance points is equal to the number of guidance intersections. In the first modification, however, there are a plurality of guidance points for one guidance intersection ( For example, two locations of Q1 and Q2. Therefore, the total number of the guidance data 131 generated in the guidance generation process is the number obtained by multiplying the number of guidance intersections N by the number of guidance points for the guidance intersections.

When the distances M1m and M2m from the guidance intersection J to the guidance points Q1 and Q2 are determined instead of using the first elevation angle threshold value α1 and the second elevation angle threshold value α2, the first elevation angle threshold value at both points is determined. You may make it use the threshold value of the height of the signboard converted from (alpha) 1 and 2nd elevation angle threshold value (alpha) 2. In this case, the threshold for the height of the signboard is as follows.
Threshold (height) of guide point Q1 for manual operation = (H1 × M1) / L
Threshold (height) of guide point Q2 for manual operation = (H1 × M2) / L
Threshold (height) of guide point Q1 for automatic driving = (H2 × M1) / L
Threshold (height) of guidance point Q2 for automatic driving = (H2 × M2) / L

As described above, according to the first modification, guidance in the course direction with respect to the guidance intersection J can be performed at a plurality of points at a predetermined distance from the guidance intersection J.
In addition to predetermined guide points (for example, Q1 and Q2) determined in advance, it is determined whether or not there is a signboard having an elevation angle threshold value α or less in response to a guide request from a driver at an arbitrary point. It is also possible to output a guide using the signboard when it exists. In this case as well, it is preferable to determine the operation state (manual operation or automatic operation) at the time when the guidance request is made, and use the elevation angle thresholds α1 and α2 corresponding to the operation state.

Next, a second modification will be described.
In the embodiment, threshold values H1 and H2 for the height of the signboard are used, and in the first modification, elevation threshold values α1 and α2 for the signboard (threshold height H for the signboard determined by the distance M from the guide intersection J) are set. The case where guidance using a signboard is performed when the signboard is equal to or less than the threshold value at the guidance point has been described.
On the other hand, in the second modified example, the threshold value H with respect to the height of the signboard and the vehicle speed V at the guidance point are further taken into consideration.
That is, in the second modified example, the vehicle speed V at the guidance point (which may be a predetermined point or an arbitrary point requested by the driver) is detected, and a smaller threshold is used as the vehicle speed is higher.
For example, v1 <40 km / h, 40 km / h ≦ v2 <70 km / h, and v3 ≧ 70 km / h are set as the vehicle speed V ranges v1, v2, and v3.
If the vehicle speed V is in the range of v1, the coefficient s1 is used for the threshold values (H1, H2, α1, α2) of the embodiment and the first modified example. If the vehicle speed V is in the range of v2, the coefficient s2 is used. Multiply s1 <s2 <s3).
As the coefficients, for example, s1 = 1.1, s2 = 1, and s3 = 0.9.
As described above, according to the second modified example, the threshold value corresponding to the narrower visual field range of the driver can be set as the vehicle speed V increases.

Moreover, although embodiment and the modification demonstrated the case where a signboard was used as a guide mark for guiding an intersection, in addition to a signboard, a well-known building (for example, the store 110 of FIG. 1) and a feature point ( A building having a color or shape may be used as a guide mark.
In this case, guidance using the feature point of the building is performed, for example, “the intersection in front of the yellow building is in the right direction”.

In the embodiment and each modification, the threshold value is set to a value determined in advance by the system side. For example, the height of the rooftop of the first floor is approximately 5 m as H1, and the rooftop height of the third floor is approximately 10 m as H2. However, this value is an example, and other heights can be set as the threshold values H1 and H2.
Further, the described values may be set as default values for the respective threshold values H, α, etc., and may be changed according to the user. The change value in this case is set by the user.

  Further, in the embodiment described above, a case has been described in which the guide data 131 for the predetermined distance Wkm is generated in advance. However, when the guide point is reached, the driving state (manual driving or automatic driving) is determined and driving is performed. If there is a signboard less than the threshold value (H1, H2) corresponding to the state, a signboard usage guide using the signboard may be generated and guided.

DESCRIPTION OF SYMBOLS 1 Navigation apparatus 10 Control part 11 CPU
12 ROM
13 RAM
130 Travel Route 131 Guide Data 132 Pointer (Guide Numbers i, j, N)
DESCRIPTION OF SYMBOLS 20 Automatic driving | operation detection part 21 Current position detection part 22 Input part 23 Display 24 Audio | voice output part 25 Communication control part 30 Memory | storage part 31 Program 32 Map data 33 Signboard data 34 Signboard image

Claims (10)

Course information acquisition means for acquiring a guidance intersection and its course;
Guidance landmark selection means for selecting a guidance landmark to be used for route guidance at the guidance intersection;
A route guidance means for performing guidance using the guidance mark when the guidance mark is selected, and performing normal guidance without using the guidance mark when the guidance mark is selected;
The guide mark selecting means selects a guide mark whose height is less than a predetermined threshold value.
A navigation device characterized by that. The guide mark selection means selects a guide mark using a first threshold value for manual driving and a second threshold value for automatic driving that is larger than the first threshold value.
The navigation device according to claim 1, wherein: The guide mark selection means preselects both the guide mark for automatic operation and the guide mark for manual operation for a plurality of guide intersections on the acquired route,
The navigation device according to claim 1 or 2, wherein Driving determination means for determining whether the driving state is automatic driving or manual driving;
Guidance information creation that creates in advance at least part of the guidance information for automatic driving and at least part of the guidance information for manual driving using the selected guide landmarks for the plurality of guidance intersections Means, and
The route guidance means performs route guidance for a guidance intersection using guidance information corresponding to the determined driving state.
The navigation device according to claim 1, claim 2, or claim 3. An arrival determining means for determining whether or not the guide point is reached a predetermined distance from the guidance intersection;
When it is determined that the route guidance means has reached the guidance point, based on the determination result by the driving determination unit, the route guidance is performed using guide information created in advance.
The navigation device according to claim 4. The guidance landmark selection means uses a larger threshold value as the distance to the guidance intersection is larger.
The navigation device according to any one of claims 1 to 5, wherein the navigation device is characterized in that: The guidance mark selection means uses a smaller threshold value as the vehicle speed to the guidance intersection increases.
The navigation device according to any one of claims 1 to 6, wherein the navigation device is characterized in that: Stop detection means for detecting the stop state of the vehicle,
The guide mark selection means further selects a guide mark without using a threshold as a guide mark for a stop state in which the vehicle is stopped,
The route guidance means, when the stop state is detected, guides the route using a guide mark for the stop state;
The navigation device according to any one of claims 1 to 7, wherein the navigation device is characterized in that: The guide mark selection means selects at least one of a signboard and a building as a guide mark,
The navigation device according to any one of claims 1 to 8, wherein the navigation device is characterized in that: A route information acquisition function for acquiring a guidance intersection and its route,
A guide mark selection function for selecting a guide mark used for route guidance at the guidance intersection;
The computer implements a route guidance function for performing guidance using the guide mark when the guide mark is selected, and performing normal guidance without using the guide mark when the guide mark is selected. A navigation program for
The guide mark selection function selects a guide mark whose height is less than a predetermined threshold value.
A navigation program characterized by that.

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