JP2020160027A - Navigation device, navigation method and program - Google Patents

Abstract

To provide a technique capable of accurately detecting an obstacle which hinders traveling, and searching for a route.SOLUTION: A navigation device includes: a route search part 10 for searching for a route on which a vehicle travels; a peripheral information acquisition part 20 for acquiring information in the periphery of the vehicle including a peripheral image of the vehicle; a safety degree determination part 30 for determining the safety degree of a road around the vehicle based on the peripheral information; and a route presentation control part 50 for presenting the searched route to a user. The safety degree determination part 30 determines that the safety degree of the road is relatively low when an obstacle is detected from the peripheral image of the vehicle and it is determined that the obstacle exists in a position where the traveling of the vehicle is interfered. The route search part 10 performs the route search in which possibility of selecting the road determined to be relatively low in the safety degree is set low.SELECTED DRAWING: Figure 1

Description

The present invention relates to navigation devices, navigation methods, and programs.

When the vehicle is running, various obstacles are generated on the road, which hinders the safe running of the vehicle. In Patent Document 1, map data is generated by generating obstacle information in which the type of the obstacle and the condition for generating the obstacle are associated with each place where an obstacle such as a puddle or a fallen leaf may occur. The map data structure is disclosed.

JP-A-2018-105967

When there are many obstacles on the road, such as pedestrians, bicycles, and vehicles parked on the street, the user who drives the vehicle must operate the vehicle to avoid the obstacles, such as sudden movement of pedestrians or parking on the street. There are many behaviors that can cause accidents, such as jumping out of the shadow of a vehicle. There is a need for a technique for grasping the degree of safety of each road by using the number of obstacles for each road as map data.

Therefore, the present invention solves the above-mentioned problems, that is, detects obstacles that hinder the safe driving of vehicles existing on the road, and sets the degree of safety of each road according to the number of obstacles. It is an object of the present invention to provide a navigation device capable of guiding a safer route for a user by preferentially searching a road having a high degree of safety.

In order to solve the above problems, one aspect of the navigation device of the present invention is a route search unit that searches for a route on which the vehicle travels, and a peripheral information acquisition unit that acquires information around the vehicle including a peripheral image of the vehicle. The safety degree determination unit includes a safety degree determination unit that determines the safety degree of the road around the vehicle based on the peripheral information, and a route presentation control unit that presents the searched route to the user. When an obstacle is detected from the image around the vehicle and it is determined that the obstacle exists at a position that hinders the running of the vehicle, it is determined that the degree of safety of the road is relatively low, and the route The search unit performs a route search in which the possibility that the road determined to have a relatively low degree of safety is selected is low.

One aspect of the car navigation method of the present invention includes a route search step for performing a route search with a low possibility of selecting a road determined to have a relatively low degree of safety, and a peripheral image of the vehicle. The peripheral information acquisition step for acquiring information around the vehicle and the degree of safety of the road around the vehicle based on the peripheral information are determined. An obstacle is detected from the vehicle peripheral image, and the obstacle hinders the running of the vehicle. When it is determined that the road exists at a position, the safety degree determination step of determining that the safety degree of the road is relatively low, and a route presentation control step of presenting the searched route to the user are included.

One aspect of the program of the present invention is a route search step in which a computer is set to perform a route search with a low possibility of selecting a road determined to have a relatively low degree of safety, and a peripheral image of the vehicle. The peripheral information acquisition step for acquiring information on the surroundings of the vehicle including the vehicle, and the safety level of the road around the vehicle based on the peripheral information, the obstacle is detected from the vehicle peripheral image, and the obstacle is the traveling of the vehicle. When it is determined that the road exists at an obstructive position, the safety degree determination step of determining that the safety degree of the road is relatively low and the route presentation control step of presenting the searched route to the user are included. Execute a process including executing a process.

According to the present invention, by detecting an obstacle, determining whether or not it interferes with the safe driving of the own vehicle, and determining the degree of safety of the traveling section, the vehicle is considered to be safer and an obstacle for the user. It is possible to provide route guidance that preferentially searches for roads with a low possibility of collision.

It is a figure which shows the outline of the navigation device 1. (Embodiment 1) It is a flowchart for demonstrating the process of a navigation device 1. It is a figure which shows the outline of the navigation device 1. (Embodiment 2)

[First Embodiment]
Hereinafter, the navigation device according to the first embodiment of the present invention will be described with reference to FIG. FIG. 1 is a functional block diagram for explaining a functional configuration of the navigation device 1 according to the first embodiment of the present invention.

In FIG. 1, the navigation device 1 includes, for example, a route search unit 10, a peripheral information acquisition unit 20, a safety degree determination unit 30, and a presentation control unit 50. The monitor 60 and the speaker 70 may be included. The navigation device 1 is implemented as a part of the functions of a mobile phone or a mobile terminal that the user brings into the vehicle and uses, in addition to the car navigation system mounted on the vehicle.

The route search unit 10 includes a current position acquisition unit 11, a destination information acquisition unit 12, a map information database 13, and a route calculation unit 14, and is intended to be acquired from the current position of the vehicle via a user interface (not shown). Calculate the appropriate route to the ground with reference to the map information database. The calculated route is output to the presentation control unit 50.

The current position information acquisition unit 11 acquires the current position information of the vehicle by using, for example, GNSS (Global Navigation Satellite System) 111. The current position information acquisition unit 11 may be configured to include the GNSS 111, or may be an input unit for acquiring the current position information output by the GNSS 111. The current position information may be a value represented by latitude and longitude, or information such as an address. It may include altitude information. The current location information acquisition unit 11 outputs the acquired current position information to the route calculation unit 14.

The destination information acquisition unit 12 acquires the location information of the destination via, for example, a user interface (not shown). As the user interface, a known technique such as a touch panel, a button, or acquisition via communication may be used. Further, the information searched by the facility name, the address, or the like may be acquired by referring to the map information database 13. The destination information may be a value represented by latitude and longitude, or information such as an address. It may include altitude information. The destination information acquisition unit 12 outputs the acquired destination information to the route calculation unit 14.

The map information database 13 is a database that stores map data. The map information database 13 includes a map information database management unit 131 that manages map data. The map information stored in the map information database 13 stores information such as roads through which vehicles can pass, for example, as a set of link information and node information. Links are various roads, and nodes are road connections such as intersections, junctions, and confluences. Each road connecting each node becomes each road link. The map information database 13 includes a magnetic recording medium (for example, a flexible disk, a magnetic tape, a hard disk drive), a magneto-optical recording medium (for example, a magneto-optical disk), a semiconductor memory (for example, EPROM (Erasable PROM), and a flash) included in the navigation device 1. It may be a database stored in a ROM, RAM (Random Access Memory), or the like. The map information database 13 may be a database provided in an external server and accessed by a communication unit (not shown) included in the navigation device 1.

Here, the link information of each road link will be described. In the navigation device according to the first embodiment, the road connecting each node is referred to as a road link. The link information of each road link includes, for example, information such as the link length of each road link, the road width, the road name, the road type, and the toll road in the case of a toll road. Further, the node information of each node includes, for example, coordinate information such as latitude and longitude of each node, and information such as an intersection name.

The link information of each road link includes a link cost set according to the link length, road width, road type, etc. of each road link. The link cost is set according to the distance cost according to the link length, the width cost according to the road width, and the toll cost when the road type is a toll road. For example, the longer the link length, the higher the distance cost. Set high. Further, in the navigation device according to the first embodiment, as the type of link cost of each road link, the safety degree of the road link is determined, and the link cost is set based on the determined safety degree. This is called the safety link cost, and for each road link, the safety link cost of the road link is set low if it is relatively safe, and the safety link cost of the road link is set if it is not relatively safe. Set high.

The map information database management unit 131 updates and searches information on these facilities and roads stored in the map information database 13, and sets a link cost for each road link according to the link length, road width, road type, and the like. To do. In the navigation device according to the first embodiment, the map information database management unit 131 sets a safety link cost based on the safety degree determined by the safety degree determination unit 30, which will be described later, for each road link.

The route calculation unit 14 inputs the above-mentioned current position information and destination information of the vehicle, and calculates an appropriate route from the current location to the destination while referring to the map information database 13. For the calculation of the route, for example, cost calculation by Dijkstra's algorithm may be used. The evaluation value is calculated using the link cost according to the link length, road width, road type, etc., and the route with the lowest link cost from the departure point to the destination is calculated as an appropriate route. For example, select a distance-first search mode that preferentially searches for a route with a short distance to the destination, or a time-first search mode that preferentially searches for a route that arrives at the destination early, that is, has a short travel time. It is possible to change the weighting of each type of link cost described above in each search mode to search for a route according to the user's wishes.

In the navigation device according to the first embodiment, the route calculation unit 14 inputs the safety degree output by the safety degree determination unit 30, which will be described later, and appropriately selects a route having a low possibility of collision with an obstacle such as a pedestrian or a bicycle. It has a safety priority search mode that calculates the route to be used. More specifically, in the navigation device according to the first embodiment, the cost is calculated by the Dijkstra method using the link cost in which the safety link cost is greatly weighted by the safety priority search mode that emphasizes the safety of the vehicle running. By searching for a route to the destination, it becomes easier to set a route that is judged to be safer.

The peripheral information acquisition unit 20 is configured to include, for example, an image information acquisition unit 21, and includes image information that images the surroundings of the vehicle, and sensors such as LiDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging) and millimeter-wave radar. The information acquired by the above is output to the safety degree determination unit 30.

The image information acquisition unit 21 acquires image information around the vehicle by using a camera 211 or the like. The image information acquisition unit 21 may be configured to include the camera 211, or may be an input unit for acquiring image data output by the camera 211. The camera 211 is installed, for example, toward the front of the vehicle, which is the traveling direction of the vehicle, but is not limited to this, and may be installed toward the side of the vehicle or the rear of the vehicle, and is a group of cameras including a plurality of cameras. It may be configured as.

The safety degree determination unit 30 includes, for example, an obstacle detection unit 31 and an obstacle position determination unit 32, and exists in a bicycle traveling out of the vehicle traveling lane or in the lane in which the vehicle travels. Obstacles such as pedestrians are detected, and the degree of safety of the traveling road is determined based on the information of these obstacles. The safety degree determination unit 30 outputs the determined safety degree to the map information database management unit 131.

For example, the obstacle detection unit 31 detects obstacles such as pedestrians, bicycles, and vehicles parked on the street from the image information acquired by the peripheral information acquisition unit 20 by using image recognition technology such as pattern matching. The obstacle detection unit 31 recognizes a person by including, for example, a person recognition dictionary. In addition, bicycle recognition and vehicle recognition are performed using a dictionary that recognizes each bicycle and vehicle. By providing each dictionary for image recognition, trees, puddles, signs and utility poles may be recognized and detected as obstacles. The dictionary used for image recognition may be provided by the obstacle detection unit 31, or may be provided in an external server or the like, and an inquiry may be made by a communication unit (not shown). When an obstacle such as a pedestrian or a bicycle is detected, the obstacle information is output to the obstacle position determination unit 32.

The obstacle position determination unit 32 determines the position where the detected obstacle exists based on the position on the image from the image information acquired by the peripheral information acquisition unit 20 and the obstacle information output by the obstacle detection unit 31. It is determined whether or not the position interferes with the running of the vehicle. On the acquired image, the obstacle position determination unit 32 predetermines a region including the vehicle travel prediction locus and an region not including the vehicle travel prediction locus, and the detected obstacle exists in which region. The location of the obstacle is detected based on whether or not the obstacle is present. For example, the upper part of the image is an image of the sky, and even if an obstacle is detected in the upper part of the image, it does not hinder the running of the vehicle. It is preferable that the user operates the touch panel or the like on the screen to set the region on the image that does not include the vehicle travel prediction locus, depending on the mounting position and mounting angle of the camera 211.

The obstacle position determination unit 32 recognizes the boundary line of the traveling lane of the vehicle based on the image information acquired by the peripheral information acquisition unit 20, and the obstacle output by the obstacle detection unit 31 causes the own vehicle to travel. It may be determined whether or not the vehicle is in the lane. When the obstacle position determination unit 32 has lane boundaries on the left and right sides of the own vehicle, the obstacle position determination unit 32 sets the inside of the lane boundary line closest to the left and right own vehicles as the own vehicle traveling lane area in which the own vehicle travels. To do. Depending on whether or not a detected obstacle, for example, a bicycle, exists in the own vehicle traveling lane region on the image, it is determined whether or not the position where the obstacle exists is a position that hinders the traveling of the vehicle. The obstacle position detection unit 32 may detect the guardrail from the image, recognize the lane in which the own vehicle is traveling, and determine whether or not the vehicle is in the lane in which the vehicle is traveling.

For example, the safety degree determination unit 30 detects an obstacle such as a bicycle by the obstacle detection unit 31, and the obstacle position determination unit 32 determines that the bicycle exists at a position that hinders the running of the vehicle. In this case, it is determined that the degree of safety of the road link while driving is low. Alternatively, the safety level preset for the road link is changed to a lower setting. The degree of safety is calculated as a level from 1 (unsafe) to 10 (safe), for example. The degree of safety may be an evaluation such as upper, middle, or lower, or may be a score up to 100 points (safety). The safety degree determination unit 30 is safe when, for example, there is an obstacle such as a bicycle traveling in the vehicle traveling lane as described above on a road where the safety degree level is set to 5 (intermediate) in advance. Lower the degree level and set it to 4.

The safety degree determination unit 30 may acquire map information such as a road width, a speed limit, a lane boundary line, a sidewalk, and the presence or absence of a guardrail, and determine the safety degree for each road in advance. Generally, in residential areas, the width of roads is narrow, and lanes and sidewalks for pedestrians are often not separated. On such roads, it is relatively likely that children will jump out or the pedestrian will come into contact with the vehicle. For example, the safety level of a road where a guardrail is not set and the boundary between a lane and a sidewalk is not clear should be set to a low level in advance, for example, 3 out of levels 1 (unsafe) to 10 (safe). Therefore, it is possible to determine the degree of safety of each road more accurately.

The presentation control unit 50 controls the output of the route information so that the route information searched by the route search unit 10 is notified to the user via the monitor 60 and the speaker 70. More specifically, the presentation control unit 50 superimposes the route information searched by the route search unit 10 in the safety priority search mode based on the safety link cost on the map information acquired from the map information database 13, and maps image data. Is generated and output to the monitor 60 for display. In addition, the route guidance of the searched route is performed to the user by the voice output via the speaker 70.

The operation of the navigation device 1 according to the first embodiment will be described with reference to FIG. FIG. 2 is a flowchart of route search and travel cost setting of each road link based on the degree of road safety in the navigation device 1.

In FIG. 2, in the navigation device 1 according to the first embodiment, in step 1 (hereinafter abbreviated as S) 1, the current position information acquisition unit 11 acquires the current position information of the vehicle by using the GNSS 111. After acquiring the current position information, proceed to S2.

Next, in S2, the destination information acquisition unit 12 acquires the location information of the destination via a user interface (not shown). After acquiring the destination information, proceed to S3.

Next, in S3, the route calculation unit 14 calculates an appropriate route from the current position information and the destination information of the vehicle by referring to the map information database 13. At this time, by referring to the information of each node stored in the map information database 13 and the link information between each node, the link with the lower link cost is preferentially selected, and the appropriate route from the current position to the destination is selected. Is calculated. In the first embodiment, the route calculation is performed in the safety priority search mode, which is a route search mode in which the safety link cost set based on the safety degree of each road link determined by the safety degree determination unit 30 is largely weighted.

Next, in S4, the presentation control unit 50 generates image data in which the route information calculated by the route calculation unit 14 is superimposed on the map information, outputs the image data to the monitor 60, and presents the image data to the user. The above is the flow of route search and route presentation based on the degree of safety. After this, the change flow of each road link is based on the degree of safety.

In S5, the image information acquisition unit 21 acquires image information around the vehicle by using the camera 211.
After acquisition, proceed to S6.

In S6, the obstacle detection unit 31 performs image recognition from the acquired image information and detects an obstacle. After the detection, the process proceeds to S7.

If an obstacle is detected in S7 (YES in S7), the process proceeds to S8. If no obstacle is detected (NO in S12), the process returns to S5 and the process is continued.

In S8, the obstacle position determination unit 32 determines whether or not the detected obstacle exists at a position that hinders traveling. If it is determined that the obstacle exists at a position that hinders the running of the vehicle (YES in S8), the process proceeds to S9. If it is determined that the obstacle does not exist at a position that hinders the running of the vehicle (NO in S9), the process returns to S5 and the process is continued.

In S9, the map information database management unit 131 sets the safety link cost of the running road link, which is determined to have a low degree of safety, to be low. After setting, proceed to S10.

When the running of the vehicle ends in S10 (YES in S10), the process ends. When the running of the vehicle continues (YES in S10), the process returns to S5 and the process is continued.

As described above, the navigation device 1 according to the first embodiment includes, for example, a route search unit 10, a peripheral information acquisition unit 20, a safety degree determination unit 30, and a route presentation control unit 50, so that obstacles exist around the vehicle. If the obstacle is present at a position that hinders driving, it is determined that the degree of safety of the road link is low, and the safety link cost of the road is set high. With this configuration, when there is a high possibility that obstacles such as bicycles and pedestrians will affect the running of the vehicle, the possibility that the road concerned will be guided as a recommended route is reduced, and safety is prioritized. It is possible to perform route search and route guidance.

[Second Embodiment]
The navigation device according to the second embodiment of the present invention will be described with reference to FIG. FIG. 3 is a functional block diagram for explaining a functional configuration of the navigation device 1 according to an embodiment of the present invention. The navigation device 1 according to the second embodiment has the same basic configuration as the first embodiment, except that it includes a vehicle information acquisition unit 40. In the following description, the same components as those of the navigation device 1 according to the first embodiment are designated by the same reference numerals or corresponding reference numerals, and detailed description thereof will be omitted.

The vehicle information acquisition unit 40 determines whether the vehicle is running or stopped, for example, via a CAN (Controller Area Network) or by using sensors 41 such as an acceleration sensor, a speed meter, and a gyro sensor. It acquires vehicle behavior information related to vehicle running such as vehicle speed, vehicle acceleration, and steering angle, and vehicle operation information related to vehicle operation by the user such as accelerator and brake operations, steering operation, and crush operation. The vehicle behavior information and the vehicle operation information are referred to as vehicle information, and the vehicle information acquisition unit 40 outputs the acquired vehicle information to the safety degree determination unit 30.

The vehicle information acquisition unit 40 may be configured to include the sensors 41, or may be an input unit that acquires the sensing data output by the sensors 41.

The safety degree determination unit 30 calculates the safety degree of the road link based on the vehicle information acquired by the vehicle information acquisition unit and the information on obstacles acquired by the obstacle detection unit 31 and the obstacle position determination unit 32. .. More specifically, the safety degree determination unit 30 indicates that the obstacle is determined to be an obstacle to the running of the vehicle and that the user has operated the vehicle so as to avoid the obstacle, or the safety degree determination unit 30 thereof. When vehicle information that shows the vehicle behavior of a vehicle that avoids obstacles is acquired, it is determined that the degree of safety of the road link is low.

Vehicle information that avoids obstacles is, for example, steering in the opposite direction to the bicycle when the distance to the bicycle is short in order to avoid the bicycle traveling in the vehicle lane. It is vehicle information indicating that the bicycle has been turned off. Specifically, when the obstacle detection unit 31 detects an obstacle and the obstacle position determination unit 32 determines that the obstacle exists at a position that hinders driving, the timing before and after that. For example, when the vehicle information acquisition unit 40 acquires information indicating that the steering operation is performed by a predetermined value or more within 3 seconds before and after, it is determined that the vehicle information avoids obstacles. At this time, on the image acquired by the image information acquisition unit 21, the recognized obstacle, for example, the vehicle information that detects that the bicycle has moved in the left-right end direction on the screen and avoids the obstacle. You may judge. On the image acquired by the image information acquisition unit 21, vehicle information that detects that a recognized obstacle, for example, a bicycle, has moved in the direction opposite to the steering operation on the screen and avoids the obstacle. You may judge.

Vehicle information that avoids obstacles is, for example, a vehicle that indicates that the vehicle speed is reduced or stopped when the distance to the pedestrian is reduced in order to avoid a pedestrian in the vehicle lane. Information. Specifically, when the obstacle detection unit 31 detects an obstacle and the obstacle position determination unit 32 determines that the obstacle exists at a position that hinders driving, the timing before and after that. For example, when the vehicle information acquisition unit 40 acquires the information that the braking operation is performed by the predetermined value or more within 3 seconds before and after, or the vehicle information acquisition unit 40 acquires the deceleration information of the predetermined value or more, an obstacle is detected. Judge as vehicle information to avoid. At this time, on the image acquired by the image information acquisition unit 21, it is detected that the moving speed of an obstacle, for example, a bicycle has changed on the screen, and it is determined that the vehicle information avoids the obstacle. May be good. By using a technique such as motion detection or motion vector detection from the image acquired by the image information acquisition unit 21, there is a change in the motion vector of the obstacle, and the change changes in the direction against the approach of the vehicle and the obstacle. It may be detected that the vehicle information is such that the vehicle information avoids obstacles.

Vehicle information that avoids obstacles is, for example, to call the attention of pedestrians in the vehicle lane, and to perform an operation to sound a horn when the distance to the pedestrian is close. Includes vehicle information to indicate. For example, when the obstacle detection unit 31 detects an obstacle, for example, a pedestrian on the road, and the obstacle position determination unit 32 determines that the pedestrian is present at a position that hinders the running of the vehicle. In addition, it is equipped with an obstacle movement determination unit (not shown) that determines whether or not the pedestrian is moving, and when the pedestrian is not moving, the user sounds a crush to call the pedestrian's attention. The operation is judged as vehicle information that avoids obstacles.

As described above, the navigation device 1 according to the second embodiment includes, for example, a route search unit 10, a peripheral information acquisition unit 20, a safety degree determination unit 30, a vehicle information acquisition unit 40, and a route presentation control unit 50. If a pedestrian or pedestrian is present in the vehicle lane and the vehicle behaves to avoid the bicycle or pedestrian, it is determined that the safety level of the road link is low and the safety link cost of the road is determined. Set high. With this configuration, if the driving behavior of the vehicle is affected by bicycles, pedestrians, etc., the road can be guided as a recommended route by setting a high safety link cost for the road. It is possible to perform route search and route guidance that prioritize safety and reduce the nature. In addition to the condition of deceleration of the vehicle and the presence or absence of steering operation, if the deceleration of the vehicle or the amount of steering operation is large, the safety link cost may be set higher and the road may become the recommended route. There may be a lower form.

In the above example, the program can be stored and supplied to a computer using various types of non-transitory computer readable media. Non-transitory computer-readable media include various types of tangible storage media. Examples of non-temporary computer-readable media include magnetic recording media (eg, flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (eg, magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / W, DVD (Digital Versatile Disc), BD (Blu-ray (registered trademark) Disc), semiconductor memory (for example, mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM ( Random Access Memory)) is included. The program may also be supplied to the computer by various types of transient computer readable media. Examples of temporary computer-readable media include electrical, optical, and electromagnetic waves. The temporary computer-readable medium can supply the program to the computer via a wired communication path such as an electric wire and an optical fiber, or a wireless communication path.

The program executed by the computer may be a program that is processed in chronological order according to the order described in this specification, or may be a program executed in parallel or at a necessary timing such as when a call is made. It may be a program in which processing is performed.

Further, the embodiment of the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the gist of the present invention.

The map information database 13 may be provided in the external server as described above. At this time, the map information database 13 communicates with a plurality of navigation devices 1 by a communication unit (not shown) provided in the external server, and receives the safety degree determined by each navigation device 1. The map information database management unit 131 sets the safety link cost based on the received safety degree for each road link. Each navigation device 1 performs a route search in the safety priority search mode based on the safety link cost set based on the safety degree determined by each of the plurality of vehicles, so that the road has no history of the own vehicle traveling. Even so, if there is a high possibility that the vehicle will be affected by obstacles such as bicycles and pedestrians, the route that prioritizes safety will reduce the possibility that the road will be guided as a recommended route. Can perform exploration and route guidance.

The map information database 13 may receive the safety degree determined by a plurality of other vehicles from the information storage unit (not shown) provided in the external server by the communication unit. At this time, the map information database management unit 131 sets the safety link cost based on the safety degree determined by the navigation device 1 of the own vehicle and the safety degree determined by the other vehicle that has been received for each road link. Alternatively, the safety degree determination unit 30 may determine the safety degree by receiving information such as obstacles detected by a plurality of other vehicles from an external server by the communication unit. The obstacle detection unit 31 may detect an obstacle by receiving peripheral information acquired by a plurality of other vehicles from an external server by a communication unit.

As described above, the navigation device 1 may include another vehicle information acquisition unit (not shown) that also acquires other vehicle information related to the other vehicle when performing a safety degree determination based on information from a plurality of other vehicles. The other vehicle information acquisition unit acquires vehicle information such as the vehicle width, vehicle height, and minimum turning radius of the other vehicle, and travel information such as the travel date, time zone, and travel speed. Based on these other vehicle information, the safety degree determination unit 30 uses, for example, the image information of the other vehicle and the information that heavily weights the obstacle information, which is the travel date and time that is small from the travel date and time of the own vehicle. May be determined. The safety degree determination unit 30 greatly weights image information and obstacle information from other vehicles that are highly similar to the own vehicle, such as a vehicle width similar to that of the own vehicle and a traveling time zone similar to that of the own vehicle. The degree of safety may be determined by. The map information database management unit 131 may set the safety link cost based on the safety degree with a small distance from the own vehicle or a large weighting of the safety degree determined by another vehicle similar to the own vehicle.

The map information database management unit 131 may set the safety link cost based on the safety degree of each road link according to the time zone, the day of the week, and the weather. Specifically, the safety degree determination unit 30 determines the safety degree based on the detected obstacles such as parked vehicles and bicycles for each time zone such as commuting time zone and nighttime, and the map information database management unit. 131 sets the safety link cost for each time zone. The safety degree determination unit 30 may determine the safety degree for each weather type such as rainy weather or fine weather. Further, the peripheral information acquisition unit 20 may detect obstacles peculiar to each weather type, such as snow cover during snowfall and puddle when the amount of rainfall is equal to or more than a predetermined value.

1 ... Navigation device 10 ... Route search unit 11 ... Current position acquisition unit 111 ... GNSS
12 ... Destination information acquisition unit 13 ... Map information database 131 ... Map information database management unit 14 ... Route calculation unit 20 ... Peripheral information acquisition unit 21 ... Image information acquisition unit 211 ... Camera 30 ... Safety degree judgment unit 31 ... Obstacle detection Unit 32 ... Obstacle position determination unit 40 ... Vehicle information acquisition unit 41 ... Sensors 50 ... Presentation control unit 60 ... Monitor 70 ... Speaker

Claims (5)

A route search unit that searches for the route on which the vehicle travels,
Peripheral information acquisition unit that acquires peripheral information of the vehicle including the peripheral image of the vehicle,
A safety degree determination unit that determines the safety degree of the road around the vehicle based on the surrounding information,
A route presentation control unit that presents the searched route to the user,
With
When the safety degree determination unit determines that an obstacle is detected from the surrounding image and the obstacle exists at a position that hinders the traveling of the vehicle, the safety degree determination unit determines the relative safety degree of the road. Judged to be low
The route search unit is a navigation device that performs a route search with a low possibility of selecting a road determined to have a relatively low degree of safety. A vehicle information acquisition unit for acquiring vehicle information including the operation information of the vehicle is further provided.
When the safety degree determination unit indicates that the vehicle information has operated the vehicle when the obstacle is detected and the obstacle is present at a position that hinders the running of the vehicle, the front Judging that the degree of safety of the road is relatively low,
The navigation device according to claim 1. When the obstacle is detected and the obstacle is present at a position that hinders the running of the vehicle, the safety degree determination unit operates the vehicle in a direction in which the vehicle information avoids the obstacle. When indicating that the road has been carried out, it is determined that the degree of safety of the road is relatively low.
2. The navigation device according to claim 2. A peripheral information acquisition step for acquiring peripheral information of the vehicle including a peripheral image of the vehicle, and
When an obstacle is detected from the peripheral image based on the peripheral information and it is determined that the obstacle exists at a position that hinders the traveling of the vehicle described above, the degree of safety of the road is relative. Safety degree judgment step to judge that it is low
A route search step that performs a route search with a low possibility of selecting a road determined to have a relatively low degree of safety, and a route search step.
A route presentation control step that presents the searched route to the user, and
A navigation method characterized by including. On the computer
A peripheral information acquisition step for acquiring peripheral information of the vehicle including a peripheral image of the vehicle, and
When an obstacle is detected from the peripheral image based on the peripheral information and it is determined that the obstacle exists at a position that hinders the traveling of the vehicle described above, the degree of safety of the road is relative. Safety degree judgment step to judge that it is low
A route search step that performs a route search with a low possibility of selecting a road determined to have a relatively low degree of safety, and a route search step.
A route presentation control step that presents the searched route to the user, and
A program that executes processing including.

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