JP2020091190A - Movement guiding device and computer program - Google Patents

Abstract

To provide a movement guiding device and a computer program which can specify an accurate exit road in a guide intersection for a movable body.SOLUTION: When a vehicle is guided along a guidance route, an exit road for the vehicle to exit from a guide intersection is specified if the vehicle passes by the guide intersection along a guide route. If the guide intersection is an intersection where a plurality of roads including the exit road connect together in the exit direction of the vehicle along the guide route, the vehicle is guided in the guide intersection by using the positional relation of marks and the exit road.SELECTED DRAWING: Figure 9

Description

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

2. Description of the Related Art In recent years, a navigation device that guides a vehicle so that a driver can easily reach a desired destination is often mounted on the vehicle. 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. Furthermore, such a navigation device has a route search function of searching for an optimum route from a departure place to a destination when a desired destination is input. Then, the guide route set based on the search result is displayed on the display screen, and the voice or the display screen is used when approaching an intersection (hereinafter referred to as a guidance intersection) which is a target for guidance such as turning left or right. By providing the guidance, the user is surely guided to a desired destination. In recent years, some mobile phones, smartphones, tablet terminals, personal computers, and the like have the same function as the navigation device. Furthermore, it is possible to provide the above-mentioned guidance to pedestrians and motorcycles as well as vehicles.

Here, when performing guidance such as turning to the left or right at a guidance intersection, in addition to allowing the user to accurately identify the guidance intersection, it is important to identify the exit road of the vehicle at the guidance intersection. In particular, there are intersections to which more roads are connected, such as five-forked roads and six-forked roads, in addition to general four-forked road intersections. In addition, there are some intersections where roads are not connected at right angles even if they are four-forked roads and a plurality of roads are connected in the same direction. At an intersection having such a complicated shape, there is a problem that it is difficult to specify the exit road of the vehicle at the guidance intersection. For example, Japanese Unexamined Patent Application Publication No. 2004-205405 describes a technique for guiding a high-difficult intersection by using a mark selected in advance by a user from among the marks listed.

JP-A-2004-205405 (pages 5-7)

However, in Patent Document 1 described above, it is possible to easily identify the position of a high-difficult intersection by guiding the user using a mark selected in advance. The issue of correctly identifying the exit road could not be resolved.

The present invention has been made to solve the above-mentioned problems in the related art, and in the case of performing guidance of movement of a guidance intersection using a mark, particularly by performing guidance using a positional relationship between the mark and the exit road. It is an object of the present invention to provide a movement guidance device and a computer program capable of accurately specifying an exit road of a moving body at a guidance intersection.

In order to achieve the above-mentioned object, the movement guide device according to the present invention is a movement guide device that guides the movement of a moving body at a guidance intersection by using a mark located around the movement route of the moving body, and the shape of the guidance intersection. Intersection information acquisition means for acquiring information about the exit information, exit road identification means for identifying an exit road exiting from the guidance intersection when the moving body passes through the guidance intersection along the travel route, and the guidance intersection In the case of an intersection in which a plurality of roads including the exit road are connected in the exit direction of the moving object along the travel route, a movement guide at the guidance intersection is provided by using a positional relationship between a mark and the exit road. And a movement guide means for performing the movement.
Note that the “moving body” includes pedestrians (users themselves) and two-wheeled vehicles, in addition to vehicles.

Further, the computer program according to the present invention is a program that guides the movement of a moving body at a guidance intersection using a mark located around the moving route of the moving body. Specifically, an intersection information acquisition unit that acquires information about the shape of the guidance intersection, and an exit road that exits from the guidance intersection when a moving body passes through the guidance intersection along the moving route. And an exit road identifying means for identifying the exit intersection, and the guide intersection is an intersection in which a plurality of roads including the exit road are connected in the exit direction of the moving body along the travel route. It functions as a movement guide means for performing movement guidance at the guidance intersection using the positional relationship of.

According to the movement guide device and the computer program according to the present invention having the above-described configuration, when the movement guidance of the guidance intersection is performed using the landmark, the movement guidance at the guidance intersection is performed using the positional relationship between the landmark and the exit road. Therefore, even when a plurality of roads including the exit road are connected in the exit direction of the moving body at the guidance intersection, that is, even when there are a plurality of exit road candidates from the viewpoint of the user, the exit road is accurately identified. It becomes possible. As a result, it is possible to provide more appropriate guidance at the guidance intersection.

It is the block diagram which showed the navigation apparatus which concerns on this embodiment. It is a figure showing an example of data which specifies the shape of an intersection stored in intersection data. It is a figure showing an example of mark data. It is a figure showing the physical relationship between a guidance intersection and a landmark candidate. It is a flow chart of a movement guidance processing program concerning this embodiment. It is a flow chart of a sub-processing program of guidance information generation processing concerning this embodiment. It is a figure explaining the determination method of a difficult intersection. It is a figure showing the physical relationship between a guide mark and an exit road. It is the figure which showed the example of guidance at the time of performing guidance of a guidance intersection using the guidance mark near the guidance intersection. It is the figure which showed the example of guidance at the time of performing guidance of a guidance intersection using the guidance mark near the guidance intersection. It is the figure which showed the example of a guide in the case of performing guidance of a guidance intersection using the guidance mark which is a little away from the guidance intersection. It is the figure which showed the example of a guide in the case of performing guidance of a guidance intersection using the guidance mark which is a little away from the guidance intersection.

Hereinafter, a detailed description will be given based on an embodiment in which a movement guidance device according to the present invention is embodied in a navigation device, with reference to the drawings. 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 the current position of a vehicle in which the navigation device 1 is mounted, a data recording unit 12 that records various data, A navigation ECU 13 that performs various kinds of arithmetic processing based on the input information, an operation unit 14 that receives operations from the user, a liquid crystal display 15 that displays a map and a guide route to a destination to the user, and a route. Communication for communication between a speaker 16 that outputs voice guidance regarding guidance, a DVD drive 17 that reads a DVD that is a storage medium, and an information center such as a probe center or a VICS (Vehicle Information and Communication System) center. And a module 18.

Below, each component which the navigation apparatus 1 has 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 is capable of detecting the current position and direction of the vehicle, the traveling speed of the vehicle, the current time, and the like. .. Here, in particular, the vehicle speed sensor 22 is a sensor for detecting the moving distance and the vehicle speed of the vehicle, generates a pulse in accordance with the rotation of the drive wheels of the vehicle, and outputs a pulse signal to the navigation ECU 13. Then, the navigation ECU 13 calculates the rotational speed and the moving distance of the drive wheels by counting the generated pulses. 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 a plurality of types of these sensors.

The data recording unit 12 also includes a hard disk (not shown) as an external storage device and a recording medium, a driver for reading the map information DB 31 and a predetermined program recorded in the hard disk, and writing predetermined data in the hard disk. Recording head (not shown). The data recording section 12 may be configured by a non-volatile 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 may be stored in an external server and the navigation device 1 may obtain it by communication.

Here, the map information DB 31 displays, for example, link data 33 regarding roads (links), node data 34 regarding node points, intersection data 35 regarding each intersection, mark data 36 regarding landmarks, point data regarding points such as facilities, and maps. It is a storage unit that stores map display data for carrying out, search data for searching a route, search data for searching a spot, and the like.

Here, as the link data 33, for example, a link ID for identifying the link, end node information for identifying a node located at the end of the link, a road type of a road forming the link, etc. are stored. .. In addition, as the node data 34, a node ID for identifying the node, a position coordinate of the node, connection destination node information for identifying a connection destination node to which the node is connected via a link, and the like are stored. Further, as the intersection data 35, corresponding node information that identifies a node forming the intersection, connection link information that identifies a link connected to the intersection (hereinafter referred to as a connection link), information that identifies the shape of the intersection, etc. Is memorized.

Further, as information for identifying the shape of the intersection included in the intersection data 35, in particular, in addition to the number of roads connected to the intersection, it is specified in which direction each road is connected to the intersection. Information is included. For example, regarding an intersection where five roads 51 to 55 are connected as shown in FIG. 2, an angle θ1 of the road 51, an angle θ2 of the road 52, and an angle of the road 53 based on one direction (for example, north direction). The angle θ3, the angle θ4 of the road 54, and the angle θ5 of the road 55 are stored.

Further, as the landmark data 36, candidates that can serve as landmarks when guiding the guidance intersection (hereinafter referred to as landmark candidates) are stored. Here, the landmark candidate is, for example, a facility that can be identified from a distance (for example, a convenience store, a gas station, a police station, a fire station, etc.), a facility (for example, a signboard, a parking lot) or an appearance (for example, a facility that does not correspond to the above facility). This applies to structures (office buildings, condominiums, etc.) that have some characteristics in terms of color, material, and size. The mark data 36 stores information for identifying the position and type of the mark candidate for each mark candidate nationwide. It should be noted that as the mark candidates, only objects located within a predetermined range (for example, within a radius of 100 m) from the intersection may be stored.

Here, FIG. 3 is a diagram showing an example of the mark data 36 stored in the map information DB 31. As shown in FIG. 3, the landmark data 36 includes, for each landmark candidate, an intersection ID that identifies an intersection where the landmark candidate is located (that is, an intersection that can be guided by the landmark candidate) (however, the landmark candidate exists around the intersection. (Only in the case), the position coordinates of the landmark candidate, the relative positional relationship with respect to the intersection, and the voice data (which may be a phrase indicating the voice content) output when guiding the landmark candidate as a landmark are associated with each other. Is remembered. The "relative positional relationship with respect to the intersection" means, as shown in FIG. 4, which area among the plurality of areas divided by the road connecting the vicinity of the guidance intersection to the guidance intersection has a candidate mark. It is the information to do. Although the example shown in FIG. 4 is an intersection of five forks, the shape and number of areas are appropriately changed according to the shape of the intersection of three forks and four forks.

For example, FIG. 3 shows that there are two facilities, “convenience store” and “gas station”, around the intersection with ID “10001” as landmark candidates. On the other hand, it is indicated that a "glass-covered building" having a characteristic appearance exists as a mark candidate around the intersection of ID "10002". Similarly, information about other landmark candidates is also stored. In addition, especially when the facility is a landmark, the guidance phrase that is output is not a phrase that specifies a wide genre such as "convenience store" or "gas station", but a lower-level genre, such as a convenience store, You may make it output the phrase which specifies which series of convenience store. In that case, the mark data 36 includes information that specifies a genre of a lower concept of the mark candidate.

Then, the navigation ECU 13 sets a mark for guiding the guidance intersection in front of the traveling direction of the vehicle based on the mark data 36 stored in the map information DB 31 as described later. Then, based on the set mark, the guidance at the guidance intersection in the forward direction of the vehicle is generated and output. Note that the guidance intersection is an intersection to which guidance such as a right/left turn instruction is given when the navigation device 1 guides traveling according to the guide route set in the navigation device 1.

On the other hand, a navigation ECU (electronic control unit) 13 is an electronic control unit that controls the entire navigation device 1, and a CPU 41 as an arithmetic unit and a control unit, and a working memory for the CPU 41 to perform various arithmetic processes. In addition to the RAM 42 that stores the route data and the like when the route is searched, the control program, and the ROM 43 and the ROM 43 that store a movement guidance processing program (FIG. 5) described later and the like. An internal storage device such as a flash memory 44 for storing a program is provided. The navigation ECU 13 has various means as a processing algorithm. For example, the intersection information acquisition unit acquires information about the shape of the guidance intersection. The exit road identifying means identifies an exit road exiting from the guidance intersection when the moving body (vehicle) passes through the guidance intersection along the movement route. When the guidance intersection is an intersection where a plurality of roads including the exit road are connected in the exit direction of the moving body along the travel route, the movement guidance means uses the positional relationship between the landmark and the exit road to guide the guidance intersection. To guide the movement in.

The operation unit 14 is operated when inputting a departure place as a traveling start point and a destination as a traveling end point, and is composed of a plurality of operation switches (not shown) such as various keys and buttons. Then, the navigation ECU 13 performs control so as to execute various corresponding operations based on the switch signal output by pressing each switch. The operation unit 14 may have a touch panel provided on the front surface of the liquid crystal display 15. It may also have a microphone and a voice recognition device.

Further, on the liquid crystal display 15, map images including roads, traffic information, operation guides, operation menus, key guides, guide routes from the starting point to the destination, guide information along the guide routes, news, weather forecast, Time, mail, TV programs, etc. are displayed. Further, when the guidance intersection approaches within a predetermined distance (eg, 500 m) ahead of the traveling direction of the vehicle, an enlarged view near the guidance intersection and the traveling direction of the vehicle at the guidance intersection are also displayed. Note that a HUD or HMD may be used instead of the liquid crystal display 15.

Further, the speaker 16 outputs voice guidance for guiding traveling along the guide route and guidance for traffic information based on an instruction from the navigation ECU 13. Particularly, in the present embodiment, the output of the voice guidance for guiding the traveling along the guide route is started at the timing when the guidance intersection reaches a predetermined distance (for example, 700 m, 300 m, 50 m) ahead of the traveling direction of the vehicle. Further, in the navigation device 1 according to the present embodiment, if the guidance intersection in front of the own vehicle in the traveling direction is an intersection having a high degree of difficulty for the user and there is an appropriate landmark for guiding, the landmark is used. The voice guidance that has been output is output. For example, "right (left). This is the road before the convenience store." 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. Then, based on the read data, reproduction of music or video, update of the map information DB 31, etc. are performed. A card slot for reading and writing a memory card may be provided instead of the DVD drive 17.

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

Next, the movement 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. 5 is a flowchart of the movement guidance processing program according to this embodiment. Here, the movement guidance processing program is a program that is executed after the ACC power supply (accessory power supply) of the vehicle is turned on and that guides the vehicle to travel along the guidance route. The programs shown in the flowcharts of FIGS. 5 and 6 below are stored in the RAM 42 or the ROM 43 included in the navigation device 1, and are executed by the CPU 41.

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

After that, in S2, the CPU 41 performs a route search process from the departure place to the destination set in S1 by using the map information of the navigation device 1, and identifies a recommended route from the departure place to the destination. Specifically, based on the link data, node data, search data, etc. included in the map information, the link cost that quantifies the appropriateness as a route for a link (road) and the appropriateness as a route for an intersection (node) An intersection cost that quantifies the degree, a toll cost that quantifies the degree of cost required for traveling, and the like are calculated, and a recommended route is searched using each calculated search cost. For example, the known Dijkstra method is used, and the route having the minimum total cost value is set as the recommended route. Since the route search process using the Dijkstra method is already known, its details are omitted. The departure place may be the current position of the vehicle or an arbitrary point (for example, home) designated by the user. Then, the searched route is set as the guide route of the navigation device 1 based on the operation of the user.

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 the recommended route is searched based on the map information of the server device. Then, the searched recommended route is received from the server device and set as the guide route of the navigation device 1 based on the operation of the user.

Next, in S3, the CPU 41 executes guidance information generation processing (FIG. 6) described later. The guide information generation process is a process of generating guide information used for traveling guide of the vehicle for a section within a predetermined distance (for example, 3 km) from the current position of the vehicle along the guide route as described later. In S3, guidance information for all routes to the destination may be generated instead of being within a predetermined distance from the current position of the vehicle. In that case, the processes of S7 and S8 described later are unnecessary.

The subsequent processes of S4 to S8 are repeatedly executed at predetermined intervals until the vehicle arrives at the destination. Then, after the vehicle arrives at the destination, the movement guidance processing program is ended.

First, in S4, the CPU 41 identifies the current position of the vehicle based on the detection result of the current position detection unit 11 and the map information. When specifying the current position of the vehicle, a map matching process for matching the current position of the vehicle with the map information is also performed.

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

Then, when it is determined that it is the output timing of the voice guidance for performing the driving guidance at the guidance intersection (S5: YES), the process proceeds to S6. On the other hand, when it is determined that it is not the output timing of the voice guidance for performing the driving guidance at the guidance intersection (S5: NO), the process proceeds to S7.

In S6, 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 by the guidance information generation processing in S3 or S8 described below. If not the voice data but the text data indicating the contents of the voice is generated, the voice for reading the text data is output from the speaker 16. In particular, in the present embodiment, when the guidance intersection is an intersection that is difficult for the user and there is an appropriate landmark for guidance, voice guidance using the landmark is output. The details of the voice guidance using the mark will be described later. Further, in S6, an enlarged view of the intersection may be displayed on the liquid crystal display 15 along with the output of the voice guidance. Further, the guidance of the guidance intersection may be provided by a sentence displayed on the liquid crystal display 15 instead of voice.

Next, in S7, the CPU 41 determines whether or not the vehicle has traveled a certain distance (for example, 3 km) from the timing when the latest guidance information generation process (S3 or S8) was performed. The fixed distance can be set as appropriate, but is set to 3 km, for example.

Then, when it is determined that the vehicle has traveled a certain distance from the timing when the latest guidance information generation process (S3 or S8) is performed (S7: YES), the process proceeds to S8. On the other hand, when it is determined that the vehicle has not traveled a certain distance from the timing when the latest guidance information generation process (S3 or S8) is performed (S7: NO), the process returns to S4.

In S8, the CPU 41 executes the guide information generation process (FIG. 6) described later, as in S3. The guide information generation process is a process of generating guide information used for vehicle travel guidance for a section within a predetermined distance from the current position of the vehicle along the guide route as described later. Then, the process returns to S4.

Next, a sub-process of the guide information generation process executed in S3 and S8 will be described with reference to FIG. FIG. 6 is a flowchart of the sub-processing program of the guide information generation processing.

First, in S11, the CPU 41 creates a link string for a section within a predetermined distance (for example, within 3 km) from the current position of the vehicle along the guide 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 string created in S11, whether the link requires guidance, that is, whether the end point corresponds to a guidance intersection. Specifically, an intersection where the guide route does not pass in the road direction or a special intersection even when the guide route passes in the road direction corresponds to the guide intersection.

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

In S13, the CPU 41 first acquires the shape of the guidance intersection at the end point of the link to be processed from the intersection data 35 stored in the map information DB 31. Then, by associating the guide route set by the navigation device 1 with the shape of the guide intersection, when the vehicle passes through the guide intersection along the guide route, a road that enters the guide intersection (hereinafter referred to as an entrance road). Road) and a road exiting from the guidance intersection (hereinafter referred to as an exit road).

Subsequently, in S14, the CPU 41 determines, based on the intersection data 35 stored in the map information DB 31, that the guidance intersection at the end point of the link to be processed is an intersection that is difficult for the user, more specifically, along the guidance route. It is determined whether or not the intersection is an intersection (hereinafter referred to as a difficult intersection) to which a plurality of roads including the exit road are connected in the exit direction of the vehicle.

For example, the determination of S14 is performed by the following method.
First, as shown in FIG. 7, the vehicle is divided into three directions of “right direction”, “left direction”, and “straight ahead direction” based on the approach road 53 of the vehicle to the guidance intersection. Then, when a road other than the exit road is connected in the same direction as the direction including the exit road, it is determined to be a difficult intersection. For example, in the example shown in FIG. 7, the road 51 and the road 52 are connected in the “right direction”, the road 54 is connected in the “left direction”, and the road 55 is connected in the “straight ahead direction”. Therefore, if either the road 51 or the road 52 is an exit road, it is determined to be a difficult intersection. On the other hand, when either the road 53 or the road 54 is an exit road, it is determined that the road is not a difficult intersection. The shape of the guidance intersection (connection angle of each road) is stored in the intersection data 35 (FIG. 2). Further, the method of determining a difficult intersection is not limited to the above method, and another method may be used.

When it is determined that the guidance intersection at the end point of the link to be processed is a difficult intersection (S14: YES), the process proceeds to S16. On the other hand, when it is determined that the guidance intersection at the end point of the link to be processed is not the difficult intersection (S14: NO), the process proceeds to S15.

In S15, the CPU 41 determines to use guidance without using a mark as guidance for the guidance intersection at the end point of the link to be processed. An example of guidance that does not use landmarks is guidance that uses the distance to a guidance intersection. Then, the voice data output when guiding the guidance intersection is generated. For example, the voice data of "the point where XXm ahead, the branch is in the left (right) direction" is generated. Further, in S15, a phrase indicating the voice content may be generated instead of the voice data itself.

On the other hand, in S16, the CPU 41 determines whether or not there is an appropriate marker candidate for use in guiding the guidance intersection, targeting the guidance intersection at the end point of the link to be processed. Specifically, with reference to the landmark data 36 (FIG. 3) included in the map information DB 31, whether there is at least one landmark candidate in the vicinity of the guidance intersection, especially among a plurality of roads connected in the exit direction. Determine whether or not. As described above, the difficult intersection is an intersection where a plurality of roads including the exit road are connected in the exit direction of the vehicle. Therefore, in S16, it is determined whether or not there are landmark candidates among the plurality of roads (one of which is the exit road) connected in the exit direction.

For example, when the approach road of the vehicle to the guidance intersection is the road 53 and the exit road is the road 52 as shown in FIG. 7, the road 51 and the road 52 connected to the “right direction” which is the exit direction. It is determined whether or not there are landmark candidates in the area 56 between. The same applies when the exit road is the road 51. On the other hand, when three or more roads are connected in the exit direction, it is determined whether or not there are landmark candidates between the exit road and roads other than the exit road. In which area around the intersection the landmark candidate exists is stored in the landmark data 36.

Then, when it is determined that there is an appropriate mark candidate to be used for guiding the guidance intersection (S16: YES), the process proceeds to S17. On the other hand, when it is determined that there is no suitable mark candidate to be used for guiding the guidance intersection (S16: NO), the process proceeds to S15. In S15, as described above, the guide-free guidance is determined as the guidance for the guidance intersection at the end point of the link to be processed. As a result, for example, voice data, such as "○m ahead, branch to right front (right rear) direction" is generated.

Subsequently, in S17, the CPU 41 selects a landmark candidate used as a landmark when guiding the guidance intersection at the end point of the link to be processed. The mark candidate selected in S17 is hereinafter referred to as a guide mark.

Here, when there is only one landmark candidate linked to the guidance intersection in the landmark data 36, the landmark candidate is the guidance landmark. On the other hand, when there are a plurality of landmark candidates linked to the guidance intersection, the guidance landmark is selected from the plurality of landmark candidates based on the following criteria.

First, when there is a mark candidate corresponding to the following (1) as a type of mark candidate, the mark candidate corresponding to (1) is given the highest priority and is selected as the guide mark. When there is no landmark candidate corresponding to (1), the landmark candidate corresponding to (2) is selected as the guidance landmark.
(1) Facilities that can be identified from a distance (eg convenience stores, gas stations, police stations, fire stations, etc.)
(2) Structures (office buildings, condominiums, etc.) that do not correspond to the above facilities but have some features in the facilities (for example, signboards, parking lots) and appearance (for example, color, material, size)

As a result of selecting the guide mark based on the above-mentioned criteria, if there are more candidates, the mark candidate closer to the guide intersection is selected as the guide mark.

Subsequently, in S18, the CPU 41 determines whether or not the guidance mark selected in S17 is at least a predetermined distance from the guidance intersection at the end point of the link to be processed. Specifically, it is determined by calculating the distance between the node coordinates (center coordinates) of the guidance intersection and the position coordinates of the guidance mark. The value of the predetermined distance can be changed as appropriate, but is set to 20 m, for example.

If it is determined that the guide mark selected in S17 is a predetermined distance or more away from the guide intersection at the end point of the link to be processed (S18: YES), the process proceeds to S20. On the other hand, when it is determined that the guide mark selected in S17 is not more than the predetermined distance from the guide intersection at the end point of the link to be processed (S18: NO), the process proceeds to S19. ..

In S19, the CPU 41 determines to use the guidance mark set in S17 as guidance for the guidance intersection at the end point of the link to be processed. Then, the voice data output when guiding the guidance intersection is generated. Specifically, when the exit road is located in front of the guide mark with respect to the approaching direction of the vehicle at the guidance intersection, voice data of a phrase for guiding that the exit road is in front of the guide mark. To generate. For example, when "convenience store" is set as a guide mark, the sound data "Right (left). This is the road before the convenience store" is generated. On the other hand, when the exit road is located on the back side of the guide mark with respect to the approach direction of the vehicle at the guidance intersection, voice data of a phrase for guiding that the exit road is on the back side of the guide mark is generated. .. For example, when "convenience store" is set as a guide mark, the sound data "It is right (left). It is a road on the back side of the convenience store" is generated. Of the voice data generated in S19, the voice data of the phrase portion for identifying the guide mark is stored in advance in the mark data 36 (FIG. 3). In S19, not the voice data itself but the phrase indicating the voice content may be generated.

As a result, as shown in FIG. 9, for example, a guide route that turns right at a guidance intersection 61 that is a difficult intersection is set, a facility 62 of a convenience store located near the guidance intersection 61 is set as a guidance mark, and the guidance intersection 61 is further set. When the exit road is located on the front side of the guide mark with respect to the approaching direction of the vehicle 63 in, the timing is "right. 700 meters or 300 meters before the guidance intersection 61, the vehicle is on the right. Before the convenience store. The road is output. As a result, it is possible to accurately specify the exit road by using the context of the guide mark and the exit road viewed from the vehicle 63 entering the guidance intersection 61. In particular, such guidance is effective when the guidance mark is located near the guidance intersection 61.

Further, as shown in FIG. 10, a guide route for turning right at a guidance intersection 61 which is a difficult intersection is set, a facility 62 of a convenience store located near the guidance intersection 61 is set as a guidance mark, and a vehicle at the guidance intersection 61 is set. When the exit road is located on the far side from the guide mark with respect to the approach direction of 63, at the timing when the vehicle 63 is located 700 m before or 300 m before the guidance intersection 61, it is "right. The right side of the convenience store The road is output. As a result, it is possible to accurately specify the exit road by using the context of the guide mark and the exit road viewed from the vehicle 63 entering the guidance intersection 61. In particular, such guidance is effective when the guidance mark is located near the guidance intersection 61.

On the other hand, in S20, the CPU 41 determines to use the guidance mark set in S17 as guidance for the guidance intersection at the end point of the link to be processed. Then, the voice data output when guiding the guidance intersection is generated. Specifically, when the guide mark is located on the left side with respect to the traveling direction of the vehicle on the exit road, voice data of a phrase for guiding that the road where the guide mark is located on the left side is the exit road is generated. .. For example, when "convenience store" is set as a guide mark, the sound data "Right (left). It is the road where the convenience store comes to the left" is generated. On the other hand, when the guide mark is located on the right side in the traveling direction of the vehicle on the exit road, voice data of a phrase for guiding that the road where the guide mark is located on the right side is the exit road is generated. For example, when "convenience store" is set as a guide mark, the sound data "Right (left). It is the road where the convenience store comes to the right" is generated. Note that, of the voice data generated in S20, the voice data of the phrase portion that identifies the guide mark is stored in advance in the mark data 36 (FIG. 3). Further, in S20, a phrase indicating the voice content may be generated instead of the voice data itself.

As a result, for example, as shown in FIG. 11, a guidance route for turning right at a guidance intersection 61, which is a difficult intersection, is set, a facility 62 of a convenience store located slightly away from the guidance intersection 61 is set as a guidance mark, and further guidance is provided. If the mark is located on the left side of the exit road in the direction of travel of the vehicle 63, at the timing when the vehicle 63 is located 700 m or 300 m ahead of the guidance intersection 61, "It is right. The road where the convenience store comes to the left. Is output. That is, it is possible to accurately identify the exit road by guiding which of the guide marks is on the left or right as seen from the exit road. In particular, such guidance is effective when the guidance mark is located slightly away from the guidance intersection 61.

Further, as shown in FIG. 12, a guide route for turning right at a guidance intersection 61, which is a difficult intersection, is set, a facility 62 of a convenience store located slightly away from the guidance intersection 61 is set as a guidance mark, and a guidance mark is further set. When the vehicle 63 is located on the right side of the exit road in the traveling direction, at the timing when the vehicle 63 is located 700 m or 300 m before the guidance intersection 61, "it is right. The convenience store is on the right." Is output. That is, it is possible to accurately identify the exit road by guiding which of the guide marks is on the left or right as seen from the exit road. In particular, such guidance is effective when the guidance mark is located slightly away from the guidance intersection 61.

As shown in FIGS. 9 to 12, a plurality of roads including the exit road are connected in the exit direction of the vehicle at the guidance intersection by performing travel guidance at the guidance intersection using the positional relationship between the guidance mark and the exit road. Even if there is a plurality of exit road candidates from the viewpoint of the user, it is possible to accurately specify the exit road. Further, since the content of the guide phrase is changed depending on whether the guide mark is near the guide intersection or slightly apart, it is possible to select a more appropriate guide phrase according to the position of the guide mark. ..

On the other hand, when it is determined that the link to be processed does not correspond to the link requiring guidance (S12: NO), the link to be processed is switched. Then, after the processes of S12 to S20 are completed for all the links included in the link string created in S11, the process proceeds to S4.

As described in detail above, according to the navigation device 1 and the computer program executed by the navigation device 1 according to the present embodiment, when the vehicle travel guidance is performed along the guide route, the vehicle follows the guide route. When passing through the guidance intersection, the exit road exiting from the guidance intersection is specified (S13), and particularly at the intersection where the guidance intersection is connected to a plurality of roads including the exit road in the vehicle exit direction along the guidance route. In some cases, since the travel guidance at the guidance intersection is performed using the positional relationship between the landmark and the exit road (S19, S20), when a plurality of roads including the exit road are connected in the exit direction of the vehicle at the guidance intersection. That is, even when there are a plurality of exit road candidates from the viewpoint of the user, it is possible to accurately specify the exit road. As a result, it is possible to provide more appropriate guidance at the guidance intersection.

It should be noted that the present invention is not limited to the above-described embodiment, and it is needless to say that various improvements and modifications can be made without departing from the gist of the present invention.
For example, in the present embodiment, the information about the landmark candidates that are candidates for the landmark when guiding the guidance intersection and the shape of the intersection is acquired from the map information DB 31 included in the navigation device 1, but is acquired from the external server. Is also good. Furthermore, if the map information itself is acquired from an external server, the navigation device 1 can omit the map information DB 31.

Further, in the present embodiment, the facilities and structures of (1) and (2) above are mentioned as the landmark candidates, but it is possible to include elements other than (1) and (2) in the landmark candidates. For example, a traffic light, a railroad crossing, a road sign, etc. may be included in the landmark candidates.

Further, in the present embodiment, guidance is provided when the guidance intersection is an intersection in which a plurality of roads including the exit road are connected in the exit direction of the vehicle and a mark is located between the plurality of roads. Although the guide is used for guidance, the guide may be used for guidance even when the mark is located outside the plurality of roads.

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 guide 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 type terminal (hereinafter referred to as a mobile terminal, etc.). In that case, in addition to vehicle movement guidance, movement guidance when the user walks or rides on a bicycle can be targeted.

Further, it can be applied to a system including the navigation device 1 and a server, or a mobile terminal or the like and a server. In that case, each step of the above-described movement guidance processing program (FIGS. 5 and 6) may be configured such that a part of the steps is executed by a server. For example, the route search process (S2) and the guide information generation process (S3, S8) may be performed by the server.

Although the embodiment in which the movement guiding device and the computer program according to the present invention are embodied has been described above, the movement guiding device can also have the following configuration, and in that case, the following effects can be obtained.

For example, the first configuration is as follows.
A moving guide device (1) for guiding the movement of a moving body at a guiding intersection (61) using a mark (62) located around the moving route of the moving body (63), wherein information on the shape of the guiding intersection is provided. An intersection information acquisition unit (41) for acquiring; an exit road specification unit (41) for specifying an exit road that exits from the guidance intersection when a moving body passes through the guidance intersection along the travel route; In the case where the guidance intersection is an intersection in which a plurality of roads including the exit road are connected in the exit direction of the moving body along the movement route, the guidance intersection is determined by using the positional relationship between the landmark and the exit road. A movement guide means (41) for performing movement guidance.
According to the movement guide device having the above configuration, when performing the movement guidance of the guidance intersection using the landmark, the movement guidance at the guidance intersection is performed by using the positional relationship between the landmark and the exit road. Even when a plurality of roads including the exit road are connected in the exit direction, that is, even when there are a plurality of exit road candidates from the viewpoint of the user, the exit road can be accurately identified. As a result, it is possible to provide more appropriate guidance at the guidance intersection.

The second configuration is as follows.
The movement guide means (41) is a case where the guidance intersection (61) is an intersection in which a plurality of roads including the exit road are connected in the exit direction of the moving body (63) along the travel route. In addition, when the mark (62) is located between the plurality of roads, the movement guidance at the guidance intersection is performed using the positional relationship between the mark and the exit road.
According to the movement guidance device having the above configuration, even if there are a plurality of exit road candidates, the guidance using the landmark is provided in a situation where the exit road can be specified as one by guiding the positional relationship with the landmark, so the landmark By using the guide, it is possible to accurately specify the exit road.

The third configuration is as follows.
When the exit road is located on the front side of the mark (62) with respect to the approaching direction of the moving body (63) at the guidance intersection (61), the movement guide means (41) is provided with respect to the mark. By outputting a phrase for guiding that the exit road is on the near side, the guidance intersection is guided.
According to the movement guide device having the above configuration, it is possible to effectively guide the exit road accurately by using the front-rear relationship between the exit road and the mark seen from the moving body entering the guidance intersection. Such guidance is particularly effective when there is a mark near the guidance intersection.

The fourth configuration is as follows.
When the exit road is located farther from the mark (62) than the mark (62) with respect to the approaching direction of the moving body (63) at the guidance intersection (61), the movement guide means (41) is to the mark. By outputting a phrase for guiding that the exit road is on the back side, the guidance of the guidance intersection is provided.
According to the movement guide device having the above configuration, it is possible to effectively guide the exit road accurately by using the front-rear relationship between the exit road and the mark seen from the moving body entering the guidance intersection. Such guidance is particularly effective when there is a mark near the guidance intersection.

Further, the fifth configuration is as follows.
When the mark (62) is located on the right side with respect to the traveling direction of the moving body (63) on the exit road, the movement guide means (41) indicates that the road on which the mark is located is the exit road. The guidance at the guidance intersection (61) is provided by outputting a phrase that indicates that there is something.
According to the movement guide device having the above configuration, it is possible to effectively guide the exit road accurately by guiding the left or right of the mark as seen from the exit road. Such guidance is particularly effective when there is a mark at a position slightly distant from the guidance intersection.

The sixth configuration is as follows.
When the mark (62) is located on the left side with respect to the traveling direction of the moving body (63) on the exit road, the movement guide means (41) indicates that the road on which the mark is located is the exit road. The guidance at the guidance intersection (61) is provided by outputting a phrase that indicates that there is something.
According to the movement guide device having the above configuration, it is possible to effectively guide the exit road accurately by guiding the left or right of the mark as seen from the exit road. Such guidance is particularly effective when there is a mark at a position slightly distant from the guidance intersection.

1 Navigation device 13 Navigation ECU
35 Intersection data 36 Mark data 41 CPU
42 RAM
43 ROM
61 Guidance intersection 62 Guidance mark 63 Vehicle

Claims (7)

A movement guide device that guides movement of a moving body at a guidance intersection using a mark located around a moving route of the moving body,
Intersection information acquisition means for acquiring information on the shape of the guidance intersection,
Exit road specifying means for specifying an exit road exiting from the guided intersection when the moving body passes through the guided intersection along the moving route;
When the guidance intersection is an intersection in which a plurality of roads including the exit road are connected in the exit direction of the moving body along the travel route, the guidance intersection is obtained by using the positional relationship between the mark and the exit road. And a movement guide device for performing movement guidance in. The movement guidance means is a case where the guidance intersection is an intersection to which a plurality of roads including the exit road are connected in the exit direction of the moving body along the movement route, and between the plurality of roads. The movement guide device according to claim 1, wherein when the mark is located at, the movement guidance at the guidance intersection is performed using the positional relationship between the mark and the exit road. The movement guide means,
When the exit road is located on the front side from the mark with respect to the approaching direction of the moving body at the guidance intersection,
The movement guidance device according to claim 1 or 2, wherein the guidance at the guidance intersection is provided by outputting a phrase for guiding that the exit road is on the front side with respect to the mark. The movement guide means,
In the case where the exit road is located on the far side from the mark with respect to the approaching direction of the moving body at the guidance intersection,
The movement guidance device according to claim 1 or 2, wherein guidance is provided for the guidance intersection by outputting a phrase that guides that the exit road is on the far side with respect to the mark. The movement guide means,
When the mark is located on the right side with respect to the traveling direction of the moving body on the exit road,
The movement guidance device according to claim 1 or 2, wherein the guidance intersection is guided by outputting a phrase that indicates that the road on the right side of the mark is an exit road. The movement guide means,
When the mark is located on the left side with respect to the traveling direction of the moving body on the exit road,
The movement guide device according to claim 1 or 2, wherein the guide intersection is guided by outputting a phrase that guides that the road on the left side of the mark is an exit road. In the case of guiding the movement of the moving body at the guidance intersection using the marks located around the moving route of the moving body,
Computer,
Intersection information acquisition means for acquiring information on the shape of the guidance intersection,
Exit road specifying means for specifying an exit road exiting from the guided intersection when the moving body passes through the guided intersection along the moving route;
When the guidance intersection is an intersection in which a plurality of roads including the exit road are connected in the exit direction of the moving body along the travel route, the guidance intersection is obtained by using the positional relationship between the mark and the exit road. Movement guide means for performing movement guidance in
A computer program to make it work.

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