JP3168819B2 - Driving support device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a driving support device, and more particularly to a driving support device for transmitting a guidance message to a driver and prompting a driving operation suitable for various driving states.

[0002]

2. Description of the Related Art In recent years, various devices have been developed for the purpose of assisting a driver in driving operation, and have been mounted on vehicles. One such device, a navigation device, uses GPS (Global Positioning System).
The position of the own vehicle is detected by a vehicle speed sensor, a direction sensor, or the like, and is displayed by being superimposed on the map data. The route to the destination is displayed by an arrow or the like. The driver can travel along a desired route while watching the map data displayed on the display and the position of the vehicle.

Further, there has been proposed a method of displaying a route guidance message on a display, further converting the route guidance message into a voice, and informing a driver of the route with a guidance voice. For example, JP-A-5-9967
In Japanese Patent Application Publication No. 8 (1994), all data necessary for navigation, such as maps and voices, are stored in a CD ROM, and phrases necessary for route guidance are written in a buffer in advance, and a phrase selected according to the current position of the vehicle is stored in the buffer. A configuration for sequentially reading and outputting is disclosed.

[0004]

However, such a configuration in which guidance voices are output uniformly according to the current position of the vehicle cannot cope with various drivers, and some drivers lack guidance voices. May be felt, or conversely, too much. Therefore, there is a problem that the guidance sound is not effective, for example, the voice output is cut off depending on the driver.

The present invention has been made in view of the above-mentioned problems of the related art, and an object of the present invention is to provide a driving assistance device capable of outputting various guidance voices suitable for a driver.

[0006]

According to one aspect of the present invention, there is provided a driving support apparatus for driving a driver.
A driving support device for guiding the operation contents of the vehicle, a position detecting means for detecting a position of the own vehicle , a storage means for storing guidance texts of different guidance levels, and an output of a guidance text at a guidance point
The threshold level that controls
Based on the weighted addition of several factors
Enter the level setting means to be set and the threshold level
Level input means and the level setting means
And the threshold level input by the level input means.
Threshold levels are compared, and the difference between the two levels is detected.
Level difference detecting means; and
Analyze the contributions of multiple factors and, based on the results of the analysis,
Weight coefficient change to change the weight coefficient in weighted addition
And the weight changed by the weight adjusting means.
In the case where the resetting means for resetting the threshold level, the detected vehicle position reaches the point to be guided on the basis of the previous
Wherein the guiding level of the guide sentence stored in the serial storage means
Comparing the reconfigured threshold level by resetting means, and having an output control means for outputting a guidance statement reaching the threshold value level, the.

Further, the driving support apparatus according to claim 2, wherein the 請
2. The driving support device according to claim 1, wherein the level setting is performed.
Several factors in the means include at least the content of the guidance.
It is characterized by the following.

[0008] The driving support device according to claim 3 is the driving support device according to claim 1 or 2 , wherein
Several factors in the bell setting means at least
It is characterized by including a number .

Further, the driving support apparatus according to a fourth aspect of the present invention is a position detecting means for detecting a position of the own vehicle, a storage means for storing a phrase constituting a guidance sentence, and a level addition for adding a guidance level for each of the phrases. Means, a guide sentence creating means for creating a guide sentence by combining the clauses, and the guide level of a clause constituting the created guide sentence when the detected vehicle position reaches a point to be guided. And the threshold level,
Possess an output control means for outputting only the threshold level or higher clause as guidance statement, the threshold level, the threshold
Weighting of multiple factors considered to contribute to value level
It is set based on the addition .

According to a fifth aspect of the present invention, there is provided a driving assistance apparatus according to the first, second, third, or fourth aspect, wherein the output control means includes a route guidance means, and It is characterized in that an intersection on a guidance route is used as a point to be performed.

Further, the driving support apparatus according to claim 6, in the driving support apparatus according to claim 5, the threshold value les <br/> level when the driver's driving operation is not in line with the guidance contents Correct downwards, and having a an adjustment means for adjusting the guide sentence is easily output

Further, the driving support apparatus according to claim 7, wherein, in the driving support apparatus according to claim 5, modifying said threshold value level upward in response to the past travel times of the induction path
In addition, there is provided an adjusting means for adjusting the output of the guide text so that the output is difficult .

Further, the driving support device according to claim 8 is
6. The driving support device according to claim 5, wherein the clause includes a facility name near the intersection.

[0014]

According to the present invention, the route guidance information created as in the conventional apparatus is not output as it is, but a level is given to the guidance sentence of the route guidance information or each of the clauses constituting the guidance sentence, and these levels are assigned. Guide level or phrase (or phrase) at or above the threshold level by comparing the level with the threshold level
Output only The threshold level is set by the driver according to driving conditions or using an input device. This allows
Voice guidance matching the driver can be performed. Special
Set threshold level according to the entered threshold level
Modify the bell. With this, guidance suitable for the driver
I can do it.

That is, in the present invention , the driver's input is considered.
It can assist a driving operation of the driver by using a guide sentence commensurate with the consideration the threshold level.

In the present invention , a level is assigned to each phrase (or phrase) of the guide information, and the level is compared with the threshold level to synthesize only phrases (or phrases) at or above the threshold level. Output as guidance text. Claim 2
In the driving support apparatus of the above, since the guidance sentence is created by synthesizing the clauses, there is no need to store all the plurality of sentences with different guidance information in the storage device, and there is an advantage that the storage capacity required for the storage means can be reduced.

The set threshold level is defined in claim 6.
Alternatively, the amount is increased or decreased according to the guidance content or the number of times of travel, as in the driving assistance device according to the seventh aspect. If the driver does not respond to the specific guidance content or the driver does not perform the driving operation according to the guidance content, it can be determined that the voice guidance is insufficient, and the threshold level is adjusted downward (decreased) to perform the voice guidance. Make output easier. In addition, on a road where the number of times of travel is large, since the driver is accustomed to the vehicle, it is considered that not much voice guidance is required. Therefore, the threshold level is adjusted upward (increased) to make it difficult to output voice guidance.

As a result, the threshold level gradually matches the driving characteristics of the driver, and can be set to an optimum value.

[0019]

Embodiments of the present invention will be described below with reference to the drawings. In the following embodiments, the “clause” includes grammatical clauses, sentences, and phrases.

FIG. 1 is a block diagram showing the configuration of the first embodiment . A GPS receiver 12 is provided as a vehicle position detecting means, and outputs a detection signal to the processing device 11. In addition, GPS
A vehicle speed sensor or a direction sensor may be used instead of the receiver 12, and the position detection accuracy may be improved by combining the GPS receiver 12 with the vehicle speed sensor and the direction sensor. Further, a map database 15 for storing map data necessary for providing route guidance and a guidance voice database 17 for storing guidance voice phrases are provided. The map data and guidance voice phrases are stored in the processing device 11. Output. The processing device 11 performs a process described below based on a processing program stored in the ROM 13 and outputs a guidance voice to a voice generation device 18 such as a speaker. At the time of voice output, a comparison is made between the threshold level set based on the input value from the input device 19 that can be operated by the driver and the guidance level added to each segment of the guidance voice. The guidance level may be added by the processing device 11, or the phrase and the guidance level may be stored as a set in the map database in advance. Note that variables for setting a threshold level based on an input value, an initial threshold level, and the like are stored in the RAM 14. However, if it is necessary to hold these variables while the power is off, a memory such as an EEPROM is used. Used.

FIG. 2 shows functional blocks of the processing device 11, and FIG. 3 shows a processing flowchart of the processing device. Hereinafter, the operation of this embodiment will be described in detail with reference to these drawings. Although the threshold level is stored in the RAM 14 in advance as described above, if the driver feels that the guidance voice is insufficient or excessive, the driver operates the input device 19 to input a desired level. Processing device 11
The voice guidance level input acquisition unit 11i in the unit acquires the input data and outputs it to the voice guidance level change unit 11f. The voice guidance level changing unit 11f sets a new threshold level based on the input data, and stores the new threshold level in the RAM 14 instead of the conventional threshold level (S101 to S103).

On the other hand, the data from the GPS receiver 12 is output to the current position / traveling direction calculating means 11a, and the current position and traveling direction are calculated by well-known processing (S10).
4). In addition, the guide route obtaining unit 11d searches the map data based on the input destination and waypoint data, and calculates a route to the destination by a known method (for example, the Dijkstra method) (S105). And the route guidance means 11b
Determines whether the current position of the vehicle is a route guidance point based on the calculated current position / traveling direction data and the guidance route from the guidance route acquisition means 11d (S106). For example, when the current position is within a predetermined distance from the intersection on the guide route, it is determined that the current position is the route guide point, and the route guide unit 11b acquires the route guide information from the map database 15 (S
107). The route guidance information is stored in the map database 15 with a guidance level added in advance for each segment, and the acquired route guidance information is output to the voice guidance determination unit 11e. On the other hand, the voice guidance determination unit 11e acquires the threshold level stored in the RAM 14 as the voice guidance level in S101 to S103 described above (S108).
A comparison is made between the guidance level and the voice guidance level for each phrase (S109). If the guidance level for each phrase is greater than the voice guidance level (ie, the threshold level), the guidance voice database acquisition means 11h acquires voice data corresponding to the phrase from the guidance voice database 17 (S1).
10) Output the guidance voice to the voice generation device 18 to notify the driver of the guidance voice (S111).

FIG. 4 shows an example of route guidance information at each point of the guidance route. As described above, the route guidance unit 11b compares the current position with the guidance route, determines whether the current position is within a predetermined distance from the intersection on the guidance route, and acquires the route guidance information from the map database 15. By changing the route guidance information to be acquired according to the distance from the intersection, route guidance can be performed effectively. For example, as shown in FIG. 4A, at an intersection on a guidance route,
Route guidance information as shown in (B) can be acquired. Is the point immediately after turning right and left at the guidance intersection, and the route guidance information to be acquired is, for example, "** km straight ahead. Next is **
Turn left at the intersection. ". Then, a guidance level is added to each clause of the route guidance information to be obtained, and in this example, a guidance level of L4 is added to the clause "** km straight ahead", and the clause "Next turn left at the ** intersection" Is added with a guidance level of L5. Is a point every 5 km in a straight line, and the route guidance information to be acquired is, for example,
* Go straight on the road. Next turn left at the ** intersection. "
Becomes L2 for the phrase "It's ** km road straight ahead"
A guidance level of L3 is added to the phrase "Next turn left at the ** intersection". Also,
Is a point every 1 km in a straight line, and the route guidance information to be acquired is, for example, "It is a straight road after another ** km. Next is a left turn at an ** intersection." A guidance level of L1 is added to the phrase "It is ** km later and straight ahead", and a guidance level of L2 is added to the phrase "Next is a left turn at the ** intersection". Is a point in front of the guidance intersection ** m, and the acquired route guidance information is, for example, "remaining ** m
Turn left at the ** intersection. ". Guidance level is L
5 is added. Is a point before the guidance intersection ++ m, and the acquired route guidance information is, for example, “
Turn left at the ** intersection, + m ahead. ". L4 is added to the guidance level. Also, is a point immediately before the guidance intersection, and the route guidance information to be acquired is, for example, "Soon *
* Turn left at the intersection. ". L6 is added to the guidance level. The magnitude relation between the guide levels L1 to L6 can be set arbitrarily. For example, L1 <L2 <L3 <L4 <L5
<L6. Then, the guidance levels L1 to L6 of these phrases are compared with the voice guidance level (threshold level), and only the phrases higher than the voice guidance level are acquired from the voice database 15 and output as voice. Therefore, if the driver sets a relatively low voice guidance level L0 and satisfies L0 <L1, all the route guidance information in FIG. 4B is output as voice at each point in FIG. 4A. That is, the driver sets a relatively high voice guidance level L0, and L5 <L0 <L.
If 6 is satisfied, only the voice of "Soon to turn left at the ** intersection" will be output only at the point.

As described above, in this embodiment, when the own vehicle reaches a predetermined position on the guide route, route guide information is created,
The driver compares the guidance level of each section of the created route guidance information with the voice guidance level set by the driver, and outputs only the sections that are higher than the voice guidance level as voice. I do not feel.

Second Embodiment FIG. 5 is a block diagram showing the configuration of this embodiment. In the first embodiment described above, the driver sets the guidance voice level (threshold level) using the input device 19;
In this embodiment, the apparatus automatically sets the threshold level according to the travel information. For this reason, in this embodiment,
Instead of the input device 19, a travel information database 16 for storing travel information is provided.

Hereinafter, the operation of the processing device 11 will be described in detail with reference to a functional block diagram of the processing device 11 shown in FIG. 6 and a processing flowchart shown in FIG. The traveling information collecting means 11k in the processing device 11 determines the currently traveling road / intersection at the time of non-route guidance traveling, and determines the traveling node / link / road.
Driving information such as a date and the number of times of running is collected, and the running information database 1 is used by using the running information database changing means 11j.
6 is stored. At the time of route guidance traveling, traveling information such as a deviation from the route is collected in addition to the traveling information and stored in the traveling database 16. Specifically, S20 in FIG.
1 to S209 are performed. That is,
The traveling link / traveling direction is calculated by the traveling direction calculating means 11a (S201). Next, a next passing node is calculated (S202), and it is determined whether or not the next passing node has been passed (S203). When the vehicle has passed the next passing node, the current traveling link is further calculated (S204), and it is determined whether or not it is connected to the preceding passing node (S205).
When connected, the node, the entry link, and the exit link that have passed as new travel information are stored in the travel information database 16. Then, it is determined whether or not the route is currently being guided (S207). If it is determined that the route is being guided and the guide route has been departed, the departure information is stored in the travel information database 16. Whether or not the vehicle has left is determined based on whether or not the node on the guide route, the node that has passed the link, and the link match.

FIG. 8 shows a format example of the traveling information database 16 collected in this way.
FIG. 8A shows a node (intersection), a link (road), a guide route (broken line), and an actual traveling route (solid line). As the travel information, a two-dimensional mesh number, a node number, an entry link number, an exit link number, a guide content, a travel count, a latest travel date, a route departure count, and a latest departure date on map data are set. Will be updated. For example, while traveling in route guidance, the passing node number is N4, the entering link number is L6, the exit link number is L8, and the exit link is FIG.
In the case of L9 as in (A), it is determined that the guide route has been departed, the route departure frequency is incremented by one, and the latest departure date is updated.

When the driving information is stored in the driving information database 16 in this way, the voice guidance level (threshold level) is automatically set. First, the guide route obtaining means 11d obtains a guide route in the same manner as in the first embodiment, and outputs the guide route to the route guide means 11b (S210). Then, the current traveling link and the traveling direction are calculated based on the map database 15 (S211), and the route guidance unit 11b determines whether the vehicle is traveling along the guidance route (S21).
2). When the vehicle is traveling along the guidance route, the traveling information database acquiring means 11m acquires traveling information on the guidance node / link (S213), updates the guidance node / link traveling information to the latest one, and outputs the voice. The guidance level calculation means 11n calculates a voice guidance level based on the traveling information (S215). The voice guidance level is α,
When β and γ are predetermined weighting factors, C is the guidance content in the travel information, R is the number of times of travel, and O is the number of times of departure from the route, the voice guidance level is calculated by: α · C + β · R + γ · O. Thereafter, as in the first embodiment, the voice guidance level is compared with the guidance level for each phrase, and only phrases higher than the voice guidance level are output as voice. By setting the voice guidance level according to the travel information, in a route where the number of times of travel is large, the voice guidance level is set relatively high (upward), and it is difficult for the guidance voice to be output.
When the number of route departures is large, the voice guidance level is set relatively low (downward), and the guidance voice is easily output. When the current travel date and the latest travel date are separated by a predetermined number of days or more, the number of travels R is corrected by R = δ · R, and the number of route departures O is also calculated by the current travel date and the latest departure date. Is more than a predetermined number of days away, it is corrected by O = ε · O. This is based on the fact that if the latest travel date or the latest departure date is long before, the driver's memory is faint and is not very useful. Here, δ and ε are predetermined weighting factors.

As described above, in this embodiment, the voice guidance level (threshold level) is automatically set in accordance with past traveling information such as the number of times of travel and the number of times of departure from the route. There is no need to set, and voice guidance that matches the driver can be performed.

Third Embodiment The first embodiment described above shows a configuration in which the driver corrects the voice guidance level (threshold level), and the second embodiment shows a configuration in which the voice guidance level is automatically calculated from the driving information. However, the third embodiment deals with a case where the driver can further correct and optimize the voice guidance level automatically calculated from the traveling information. FIG. 9 is a block diagram showing the configuration of the present embodiment. An input device 19 that can be operated by a driver is further provided in the configuration of the second embodiment.

Hereinafter, the operation will be described in detail with reference to a functional block diagram of the processing apparatus of FIG. 10 and a processing flowchart of FIG. First, it is determined whether or not the driver has input a voice guidance level from the input device 19 (S301). When the voice guidance level is not input, the travel information acquisition database acquisition means 11m acquires travel information such as the number of times of travel and the number of times of departure stored in the travel information database 16 as in the second embodiment described above (S302). The voice guidance level calculation means 11n calculates the voice guidance level using the voice guidance level calculation coefficients α, β, γ (S303, S30).
4). On the other hand, when the driver inputs the voice guidance level using the input device 19, the voice guidance level input acquisition unit 11i outputs the input voice guidance level to the voice guidance level calculation unit 11n. Voice guidance level calculation means 11
In n, the difference between the voice guidance level calculated from the travel information and the voice guidance level input by the driver is calculated and stored in the travel information database 16 as the level difference (S30).
5). In order to analyze the cause of the level difference based on the driving information, the driving information is obtained and the voice guidance level calculation weight coefficient obtaining means 1 is obtained.
The voice guidance level calculation coefficients (α, β, γ in the second embodiment) are acquired from 1p (S306, S307), and it is determined whether or not the level difference and the guidance content in the travel information have a correlation (S308). . Since the level differences are stored in the travel information database as described above, it is possible to know what kind of guidance content these level differences occurred. As a result, for example, when the guidance content is “turn right” and a large level difference occurs, it is determined that there is a correlation between the level difference and the guidance content, and the voice guidance level calculation weight coefficient changing unit 11
q is adjusted so that the absolute value of the weight α of the guidance content coefficient increases (S309). As a result, the guidance content has a greater effect when calculating the voice guidance level.
On the other hand, when the level difference occurs regardless of the guidance content, it is determined that there is no correlation between the level difference and the guidance content, and the adjustment is performed so that the absolute value of the weight α of the guidance content coefficient becomes small (S310). ).

After the weight adjustment of the guidance content is completed, it is next determined whether there is a correlation between the level difference and the number of times of travel (S31).
1). This determination is also made by searching the travel information database. For example, when a level difference occurs in a link having a large number of travels, it is determined that there is a correlation, and the voice guidance level calculation weight coefficient changing means 11q outputs Is adjusted so that the absolute value of the weight β becomes large (S31).
2). If there is a level difference irrespective of the number of times of travel, it is determined that there is no correlation, and the absolute value of the weight β of the number of times of travel is adjusted to be small (S313).

After the weight adjustment of the number of times of travel is completed, it is next determined whether or not there is a correlation between the level difference and the number of times of departure from the route (S3).
14). This determination is also made by searching the travel information database. For example, when a level difference occurs when the number of route departures is large, it is determined that there is a correlation, and the voice guidance level calculation weight coefficient changing unit 11q outputs Adjustment is performed so that the absolute value of the weight γ of the number-of-times coefficient increases (S
315). If there is a level difference regardless of the number of route departures, it is determined that there is no correlation, and the absolute value of the weight γ of the route departure frequency coefficient is adjusted to be small (S31).
6).

In this way, the guidance contents in the driving information,
After adjusting the weight coefficient according to the presence or absence of the correlation between the number of times of travel, the number of times of departure and the level difference, the adjusted weight coefficient α,
β and γ are stored in the RAM 14 as new weight coefficients (S317), and the voice guidance level is automatically calculated (S3).
18). In the following, similarly to the first embodiment or the second embodiment, when the own vehicle reaches a predetermined position on the guide route, the route guide information is created, and the guide level and the driving level of each section of the created route guide information are set. By comparing the voice guidance level set by the user with the voice guidance level, only phrases having a voice guidance level or higher are output as voice.

According to the present embodiment, when the voice guidance level automatically set in accordance with the driving information is corrected by the driver, it is determined which factor of the driving information causes the correction to be made. Since the weighting factor of the factor is changed,
An optimal voice guidance level according to the driver's request can be obtained.

Fourth Embodiment In each of the above-described embodiments , the name of a feature such as a convenience store, a police station, or an overpass at an intersection may be used as route guidance information. For example, when there is an overpass, a police station, and a convenience store (convenience store) at an intersection on the route as shown in FIG. 12A, these facility names are stored in the map database 15 and the guidance voice database 16 in advance, Voice Route guidance information as shown in FIG. 12B can also be created. For example, "approximately *
* Turn right at the intersection ** where there is a convenience store on the right side of the crossroads. ”,“ Turn right at the ** intersection where the police station is at the back right of the crossroads, about ** m ahead. ”,“ About ** m
First, please go to the road between the ** intersection and the convenience store and police station. And so on. It is also possible to add a different audio level to a phrase including these facility names in advance.

In each of the embodiments described above, the case where the route guidance is performed by voice is described as an example. However, it is needless to say that the present invention can be applied to the case where the guidance text is displayed on the screen to perform the route guidance.

Further, the driving support apparatus of the present invention measures the distance between the vehicle and the preceding vehicle, and when the vehicle is located at a predetermined distance from the position of the preceding vehicle, gives an accelerator operation instruction or a deceleration operation instruction to the driver. It can be applied when performing.

[0039]

As described above, according to the present invention ,
The only critical guidance words or clauses with a threshold value level or more levels output as screen or voice, so to inform the driver, the driver does not feel the shortage or excess feeling, securely voice guidance information Can be obtained.

[0040] Particularly, since the threshold level is automatically adjusted according to the run line status, complicated adjustment operation is not required of.

[Brief description of the drawings]

FIG. 1 is a configuration block diagram of a first embodiment of the present invention.

FIG. 2 is a functional block diagram of the processing apparatus of the embodiment.

FIG. 3 is a processing flowchart of the embodiment.

FIG. 4 is a diagram illustrating an example of route guidance information according to the embodiment.

FIG. 5 is a configuration block diagram of a second embodiment of the present invention.

FIG. 6 is a functional block diagram of the processing apparatus of the embodiment.

FIG. 7 is a processing flowchart of the embodiment.

FIG. 8 is a diagram showing a drive information format according to the embodiment.

FIG. 9 is a configuration block diagram of a third embodiment of the present invention.

FIG. 10 is a functional block diagram of the processing apparatus of the embodiment.

FIG. 11 is a processing flowchart of the embodiment.

FIG. 12 is an explanatory diagram of route guidance information according to a fourth embodiment of the present invention.

[Explanation of symbols]

 Reference Signs List 11 processing device 12 GPS receiver 13 ROM 14 RAM 15 map database (map D / B) 16 driving information database (driving information D / B) 17 guidance voice database (guidance voice D / B) 18 voice generation device 19 input device

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int. Cl. ⁷ , DB name) G01C 21/00 G01S 5/14 G08G 1/0969

Claims (8)

(57) [Claims] 1. A driving assistance device for guiding a driver about the contents of a driving operation, comprising: a position detecting means for detecting a position of a vehicle; a storage means for storing guidance texts of different guidance levels; Level setting means for setting a threshold level for controlling the output of the guidance message based on weighted addition of a plurality of factors considered to contribute to the threshold level; and level input means for inputting the threshold level. A level difference detecting means for comparing a threshold level set by the level setting means with a threshold level input by the level input means, and detecting a level difference between the two; Weight factor changing means for analyzing contributions of a plurality of factors and changing a weight coefficient in the weighted addition based on the analysis result; In the case where the resetting means for resetting the threshold level based on the modified weights and the detected vehicle position reaches the point to be guided,
Output control means for comparing the guidance level of the guidance sentence stored in the storage means with the threshold level reset by the resetting means, and outputting a guidance sentence reaching the threshold level. A driving assistance device characterized by the above-mentioned. 2. The driving assistance device according to claim 1, wherein the plurality of factors in the level setting means include at least the content of guidance. 3. The driving support device according to claim 1, wherein the plurality of factors in the level setting means include at least the number of times of driving. 4. A driving assistance device for guiding a driver about the contents of a driving operation, comprising: a position detecting means for detecting a position of the own vehicle; a storage means for storing a phrase constituting a guidance sentence; Level adding means for adding a guidance level to the information, guidance text creating means for creating a guidance text by combining the phrases, and when the detected vehicle position reaches a point to be guided,
Comparing the guide level and the threshold level of the clauses that constitute a guide statements created, possess an output control means for outputting only the threshold level or higher clause as a guide statement, the said threshold level Contributes to the threshold level
Based on the weighted addition of multiple factors
A driving assistance device characterized by being set . 5. The method according to claim 1, 2 or 3.
5. The driving support device according to claim 4, wherein the output control unit includes a route guidance unit, and uses an intersection on a guidance route as the point to be guided. 6. The driving assist apparatus according to claim 6] according to claim 5, wherein the adjustment means the driver's driving operation is the threshold value level and correct downwards when not in line with the guidance contents, to adjust the guide sentence is easily output A driving assistance device, comprising: 7. The driving support apparatus according to claim 5, the threshold value les <br/> level and correct upward depending on past travel times of the induction path, to adjust the guide statement is hardly output A driving assistance device comprising an adjusting unit. 8. The driving support apparatus according to claim 5, wherein the clause includes a facility name near the intersection.