JP4581674B2 - Route guidance system and route guidance method - Google Patents

Description

  The present invention relates to a route guidance system and a route guidance method.

  Conventionally, in a navigation device, for example, the current position of a vehicle, that is, the current position is detected by GPS (Global Positioning System), and the direction of the vehicle, that is, based on the turning angle of the vehicle detected by a gyro sensor, that is, The vehicle direction is detected, map data is read from the data recording unit, a map screen is formed on the display unit, the vehicle position indicating the current location, a map around the vehicle position, and the vehicle The direction is displayed. Therefore, the driver who is an operator can drive the vehicle according to the vehicle position displayed on the map screen, the map around the vehicle position, and the vehicle direction.

  When the driver inputs a destination and sets search conditions, a route search process is performed based on the search conditions, and a route from the starting point represented by the current location to the destination is searched according to the map data. Is done. The searched route, that is, the searched route is displayed together with the vehicle position on the map screen, and route guidance is performed. Therefore, the driver can drive the vehicle along the displayed search route.

By the way, the map data includes lane information about road links, lane regulation information, and the like. Therefore, for example, a route guidance process is provided that guides a lane that is preferable to drive the vehicle as a recommended travel lane when entering or leaving the intersection (see, for example, Patent Document 1). .
JP 2001-227970 A

  However, in the conventional navigation device, if a road parked vehicle exists on the recommended travel lane, a lane in which the vehicle cannot actually travel is guided.

  FIG. 2 is a diagram for explaining route guidance processing of a conventional navigation device.

  In the figure, r1 is a road link, m1 is an intersection, k1 to k3 are lanes, w1 is a vehicle that is the own vehicle, and v1 to v3 are road parking vehicles.

  In this case, as shown by the arrow A in the figure, even if the lane k1 is guided as the recommended travel lane, the road parked vehicles v1 to v3 exist on the lane k1, so that the vehicle w1 can actually be traveled. Can not.

  In other words, it is not possible to reliably guide the lane k2 in which the vehicle w1 is preferably traveled, and route guidance cannot be performed appropriately.

  The present invention solves the problems of the conventional navigation device, can reliably guide a lane in which the vehicle is preferably traveled, and can provide a route guidance system and route guidance method that can appropriately perform the route guidance. The purpose is to provide.

Therefore, in the route guidance system of the present invention, the recommended lane setting processing means for setting the recommended travel lane for each section based on the lane information for each road link and the guidance route information, and the road parking vehicle for each road link Road condition information acquisition processing means for acquiring road condition information representing a road condition that fluctuates with the presence of the vehicle, and recommended lane determination processing means for changing the recommended travel lane set based on the road condition information.
The recommended lane determination processing means is configured such that the recommended travel lane in the predetermined section is different from the recommended travel lane set in the sections ahead and behind the predetermined section, and the sections ahead and behind the predetermined section. If the recommended travel lanes set in step 1 are the same, the recommended travel lanes in the predetermined section are changed to the same lanes as the recommended travel lanes set in the sections ahead and behind the predetermined section.

  According to the present invention, since the recommended travel lane is changed according to the road conditions that fluctuate with the presence of a road parked vehicle for each road link, it is possible to reliably guide a lane in which the vehicle is preferably driven. Route guidance can be performed appropriately.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a diagram showing a navigation system according to an embodiment of the present invention.

  In the figure, 14 is an information terminal, for example, a navigation device as an in-vehicle device mounted on a vehicle, 63 is a network, 51 is an information center as an information provider, the navigation device 14, the network 63, the information center 51, etc. The navigation system is configured by the above.

  The navigation device 14 includes a GPS sensor 15 as a current location detection unit for detecting a current location, a data recording unit 16 as an information recording unit in which various information is recorded in addition to map data, and navigation based on the input information. A navigation processing unit 17 that performs various arithmetic processing such as processing, a direction sensor 18 that serves as a direction detection unit that detects the vehicle direction, and a first input for performing predetermined input when operated by a driver as an operator. An operation unit 34 as an input unit, various displays by an image displayed on a screen (not shown), a display unit 35 as a first output unit for notifying the driver, and a predetermined input by voice A voice input unit 36 as a second input unit, a voice output unit 3 as a second output unit for performing various displays by voice and notifying the driver , And a communication unit 38 as a transmission / reception unit functioning as a communication terminal. The navigation processing unit 17 includes a GPS sensor 15, a data recording unit 16, an orientation sensor 18, an operation unit 34, a display unit 35, a voice input unit 36, An audio output unit 37 and a communication unit 38 are connected.

  The navigation processing unit 17 includes a forward monitoring device 48 that monitors the front of the vehicle, a display line recognition device 49 that recognizes a display line that divides the road lane, a peripheral monitoring device 50 that monitors the periphery of the vehicle, and the like. Connected.

  Further, a sensor unit 40 as a vehicle information detection unit is connected to the navigation processing unit 17, and the sensor unit 40 detects the operation of the winker lever by the driver for moving the vehicle to the side. Turn signal sensor 41 as a direction movement operation detection unit, an accelerator sensor 42 as an engine load detection unit that detects an operation of an accelerator pedal by a driver, a brake sensor 43 as a brake detection unit that detects an operation of a brake pedal by the driver, A vehicle speed sensor 44 as a vehicle speed detection unit for detecting a vehicle speed, a throttle opening sensor 45 as a throttle opening detection unit for detecting a throttle opening indicating an acceleration request by the driver, and a steering operation as a steering member by the driver. The steering sensor 46 as a steering detection unit to detect, and the driver Including a shift position sensor 47 as a speed change operation detecting section for detecting a range selected by operating the shift operation section and the like. The shift position sensor 47 detects that a neutral range (N), a forward range (D), a low range (L), a reverse range (R), and a parking range (P) are selected. The winker sensor 41, the accelerator sensor 42, the brake sensor 43, the steering sensor 46, the shift position sensor 47, and the like constitute a driver operation information detection unit that detects vehicle operation information by the driver.

  The GPS sensor 15 detects the current location on the earth by receiving radio waves generated by an artificial satellite, and also detects the time. In the present embodiment, the GPS sensor 15 is used as the current position detection unit, but a distance sensor, a steering sensor, an altimeter, etc. (not shown) are used alone or in combination instead of the GPS sensor 15. You can also Further, a gyro sensor, a geomagnetic sensor, or the like can be used as the direction sensor 18.

  The data recording unit 16 includes a map database including map data files, and map data is recorded in the map database. The map data includes intersection data related to intersections, node data related to nodes, road data related to road links, search data processed for searching, facility data related to facilities, and the like. The data recording unit 16 also records data for outputting predetermined information by the audio output unit 37.

  Further, the data recording unit 16 includes a statistical database composed of statistical data files, a travel history database composed of travel history data files, and the like. Statistical data is stored in the statistical data file, and travel history data is stored in the travel history data file. However, both are recorded as performance data.

  The statistical data is a history of traffic information such as traffic jam information provided in the past, that is, history information representing a history, and is not shown such as a VICS (registered trademark: Vehicle Information and Communication System) center as an information provider. Traffic information provided in the past by the Road Traffic Information Center, etc., and data representing the traffic volume by the Road Traffic Census provided by the Ministry of Land, Infrastructure, Transport and Tourism (hereinafter referred to as “Road Traffic Census Information”), provided by the Ministry of Land, Infrastructure, Transport and Tourism The road timetable information and the probe data, which is travel history data collected from a plurality of vehicles (own vehicle or other vehicle) by the information center 51, are used alone or in combination, and are processed and statistically processed as necessary. It is created by applying. In the statistical data, it is possible to add traffic jam prediction information for predicting a traffic jam status to the history information. In that case, in creating the statistical data, detailed conditions such as date and time, day of the week, weather, various events, seasons, facility information (presence / absence of large facilities such as department stores and supermarkets) are added to the history information.

  The data items of the statistical data include a route on which the vehicle has traveled in the past, that is, link number data (ID) for each road link that constitutes each travel route, a direction flag that represents the travel direction, and information that represents the type of information. Type, congestion level indicating the degree of congestion at each predetermined timing, link required time indicating the required time at each predetermined timing t when traveling on each road link, average of the link required time for each day of the week Data (for example, day-of-week average data).

  In the present embodiment, the degree of traffic jam is used as a traffic jam index indicating the level of traffic jam, and is represented by traffic jam, congestion, and non-jamming.

  In addition, the travel history data is calculated and accumulated based on the travel record of the vehicle, that is, data (travel data) representing the travel record on the travel route. The data items of the travel history data include a link required time for each predetermined cycle when traveling on each road link, a degree of congestion at each predetermined timing when traveling on each road link, and the like.

  The data recording unit 16 includes a disk (not shown) such as a hard disk, a CD, a DVD, and an optical disk for recording the various data, and a read / write for reading and writing various data. A head (not shown) such as a writing head is provided. A memory card or the like can be used for the data recording unit 16.

  In the present embodiment, the data recording unit 16 is provided with the map database, statistical database, travel history database, and the like. However, in the information center 51, the map database, statistical database, travel history, etc. A history database or the like can also be provided.

  The navigation processing unit 17 is a control device that performs overall control of the navigation device 14 and a CPU 31 as an arithmetic device, a RAM 32 that is used as a working memory when the CPU 31 performs various arithmetic processes, and a control device. In addition to the above program, a ROM 33 in which various programs for searching a route to a destination, route guidance, and the like are recorded, and a flash memory (not shown) used for recording various data, programs, and the like are provided.

  In the present embodiment, various programs can be recorded in the ROM 33 and various data can be recorded in the data recording unit 16, but the programs, data, and the like can also be recorded on a disk or the like. In this case, the program, data, etc. can be read from a disk or the like and written to the flash memory. Therefore, the program, data, etc. can be updated by exchanging the disk or the like. Further, when an automatic transmission control device is mounted to control an automatic transmission (not shown) mounted on the vehicle, the control program, data, etc. for the automatic transmission control device are also stored in the disk or the like. Can be recorded. Further, the program, data, and the like can be received via the communication unit 38 and written into the flash memory of the navigation processing unit 17.

  The operation unit 34 is operated by the driver to correct the current location at the start of traveling, to input a departure point and a destination, to input a passing point, and to activate the communication unit 38. As the operation unit 34, a keyboard, a mouse, or the like disposed independently of the display unit 35 can be used. Further, as the operation unit 34, a predetermined input operation is performed by touching or clicking an image operation unit such as various keys, switches, and buttons displayed as images on the screen formed in the display unit 35. It is possible to use a touch panel that can be used.

  A display can be used as the display unit 35. Then, on various screens formed on the display unit 35, the vehicle position indicating the current location, a map, a searched route, guidance information along the searched route, traffic information, etc. are displayed, or until the next intersection in the searched route. In addition to displaying the distance and the direction of travel at the next intersection, the operation guidance, operation menu, and key guidance of the image operation unit, operation unit 34, voice input unit 36, etc. can be displayed. A multiplex broadcast program or the like can be displayed.

  The voice input unit 36 includes a microphone (not shown) and the like, and can input necessary information by voice. Further, the voice output unit 37 includes a voice synthesizer and a speaker (not shown), and the search route, guidance information, traffic information, and the like are output from the voice output unit 37, for example, as voice synthesized by the voice synthesizer. .

  The communication unit 38 transmits various information such as current traffic information and general information transmitted from the road traffic information center to radio wave beacons via radio wave beacon devices, optical beacon devices and the like arranged along the road. A beacon receiver for receiving as an optical beacon, an FM receiver for receiving as an FM multiplex broadcast via an FM broadcast station, and the like. The traffic information includes traffic jam information, regulation information, parking lot information, traffic accident information, service area congestion status information, and the like, and general information includes news, weather forecasts, and the like. The beacon receiver and the FM receiver are unitized and arranged as a VICS receiver, but can be arranged separately.

  The traffic information includes information type data representing the type of information, secondary mesh X and Y data for specifying a secondary mesh as a mesh, and a road link connecting two points (for example, intersections). Link number data that identifies and identifies whether the link is upstream or downstream, and link information that represents the content of information provided in association with the link number data. For example, when the traffic information is traffic jam information, the link The information includes the traffic jam head data indicating the distance from the start point of the road link to the head of the traffic jam, the traffic jam degree indicating the level of the traffic jam, the traffic jam length indicating the distance from the traffic jam head to the traffic jam end, and each road. It consists of the link required time, which is the required time for the link.

  The communication unit 38 can also receive various information such as traffic information and general information from the information center 51.

  For this purpose, the information center 51 includes a server 53, a communication unit 57 connected to the server 53, a database (DB) 58 as an information recording unit, and the like. The server 53 includes a CPU 54, a RAM 55, ROM 56 etc. are provided. The database 58 records data similar to the various data recorded in the data recording unit 16, such as the map data, statistical data, and travel history data. Furthermore, the information center 51 can provide travel history data collected from a plurality of vehicles (own vehicle or other vehicle) in real time.

  The forward monitoring device 48 includes a radar such as a laser radar, a millimeter wave radar, an ultrasonic sensor, or the like, or a combination thereof. As the vehicle surrounding information, an inter-vehicle distance, an inter-vehicle time, an approach speed with respect to a preceding vehicle, a temporary stop Calculates approach speeds, approach speeds to obstacles, etc. for places (approach points from non-priority roads to priority roads, railroad crossings, intersections with blinking red lights, etc.), and monitors preceding vehicles, temporary stops, obstacles, etc. . In addition, the surroundings monitoring device 50 is a camera such as a CCD, C-MOS, etc., as a vehicle surroundings information on the surroundings of the vehicle, for example, objects to be photographed such as front, side or rear intersections, road signs, traffic lights, buildings. And processing the image data of the captured image of the object to be photographed, the state of the intersection, the number of surrounding vehicles, the position of the display line that divides the road lane, the position of the stop line, the position of the road sign, the color of the traffic light The surroundings of the vehicle are monitored by judging the above.

  The navigation system, the navigation processing unit 17, the CPUs 31, 54, and the like function as a computer based on various programs, data, and the like. The data recording unit 16, RAMs 32 and 55, ROMs 33 and 56, database 58, flash memory, and the like constitute a recording medium. An MPU or the like can be used instead of the CPUs 31 and 54 as the arithmetic unit.

  Next, a basic operation when the navigation system having the above configuration is used as a route guidance system will be described.

  First, when the operation unit 34 is operated by the driver and the navigation device 14 is activated, a navigation initialization processing unit (not shown) of the CPU 31 performs navigation initialization processing, and the current location and direction sensor detected by the GPS sensor 15. 18 reads the vehicle direction detected by 18 and initializes various data. Note that the matching processing means (not shown) of the CPU 31 performs matching processing, and based on the trajectory of the read current location and the shape, arrangement, etc. of each road link constituting the road around the current location, the current location is any road. The current location is identified by determining whether it is located on the link.

  Subsequently, a basic information acquisition processing unit (not shown) of the CPU 31 performs a basic information acquisition process and acquires the map data by reading it from the data recording unit 16 or receiving it from the information center 51 or the like via the communication unit 38. And get. In addition, when acquiring map data from the information center 51, the said basic information acquisition process means downloads the received map data to flash memory. Moreover, when acquiring map data via the communication part 38, a program can also be acquired.

  A display processing unit (not shown) of the CPU 31 performs display processing and forms various screens on the display unit 35. For example, the road map display processing means of the display processing means performs road map display processing, forms a map screen on the display unit 35, and displays the vehicle position, a map around the vehicle position and the vehicle direction on the map screen. indicate. Therefore, the driver can drive the vehicle according to the vehicle position, the map around the vehicle position, and the vehicle direction.

  Further, when the driver operates the operation unit 34 to input a destination, a destination setting processing unit (not shown) of the CPU 31 performs a destination setting process to set the destination. Note that the departure place can be input and set as necessary. Moreover, a predetermined point can be registered in advance, and the registered point can be input as a destination. Subsequently, when the driver operates the operation unit 34 to input a search condition, a search condition setting processing unit (not shown) of the CPU 31 performs a search condition setting process to set the search condition.

  When the destination and search conditions are set in this way, the route search processing means (not shown) of the CPU 31 performs route search processing, reads the current location, destination, search conditions, and the like from the data recording unit 16. Based on the current location, the destination, and the search data, a route from the departure point to the destination represented by the current location is searched based on the search condition, and route data representing the searched route is output. In this case, the route having the smallest total link cost assigned to each road link is set as the searched route.

  Subsequently, a guidance processing means (not shown) of the CPU 31 performs guidance processing and guides the driver on the searched route, that is, route guidance. For this purpose, the route display processing means of the guidance processing means performs route display processing, reads the route data, and displays the searched route on the map screen according to the route data. In this case, if necessary, the voice output processing means of the guidance processing means performs voice output processing and outputs a search route by voice from the voice output unit 37 to perform route guidance.

  The information center 51 can perform route search processing. In this case, the CPU 31 transmits the current location, destination, search conditions, etc. to the information center 51. When the information center 51 receives the current location, destination, search conditions, etc., the route search processing means (not shown) of the CPU 54 performs route search processing similar to that of the CPU 31 and reads the search data from the database 58 to obtain the current location, destination. Based on the location and the search data, a route from the departure point to the destination is searched under the search conditions, and route data representing the searched route is output. Subsequently, a transmission processing unit (not shown) of the CPU 54 performs transmission processing and transmits the route data to the navigation device 14. Therefore, in the navigation device 14, when the basic information acquisition processing means receives the route data from the information center 51, the guidance processing means performs route guidance as described above.

  Here, in guiding the search route, when the road of the search route has two or more lanes, it is preferable to drive the vehicle along a lane closest to the shoulder. Furthermore, if there is an intersection that needs to make a right or left turn in front of the vehicle position on the searched route, that is, if there is a guidance intersection, the vehicle must travel in a predetermined lane before reaching the guidance intersection. preferable. For example, when turning the vehicle to the right at the guidance intersection, it is preferable to travel in the rightmost lane. When turning the vehicle to the left at the guidance intersection, it is preferable to travel in the leftmost lane.

  Therefore, the recommended lane setting processing means of the guidance processing means performs a recommended lane setting process, and calculates and sets a recommended lane as a recommended travel lane. For this purpose, the recommended lane setting processing means targets a section of a traveling road that is represented by a predetermined number of road links within a predetermined distance in front of the current position on the searched route or forward from the current position. As a section, the road data, intersection data, etc. of the target section are read from the data recording unit 16, and a predetermined lane is set as a recommended travel lane based on the number of lanes, lane regulation information, width, etc. for each road link. Calculate and set. In the present embodiment, the target section is a section sandwiched between intersections.

  The recommended lane setting processing means calculates a recommended travel lane with priority over the recommended travel lane set based on the lane information, based on guidance route information indicating whether a route is guided at an intersection. Set. That is, the recommended lane setting processing means determines, for each target section on the searched route, whether there is a guidance intersection within a predetermined distance L1 ahead from the target section. Then, when there is a guidance intersection within the range of the predetermined distance L1, the recommended lane setting processing means turns the vehicle to the right at the rightmost lane when turning the vehicle to the right at the guidance intersection, and turns the vehicle to the left at the guidance intersection. In this case, the leftmost lane is calculated as a recommended travel lane, and is set with priority over the recommended travel lane set based on the lane information.

  By the way, if the recommended travel lane set in the recommended lane setting process is guided as it is, for example, when a road parked vehicle exists on the recommended travel lane, a lane in which the vehicle cannot actually travel is displayed. I will guide you.

  Therefore, the recommended lane guidance processing means of the guidance processing means performs a recommended lane guidance process, determines whether the recommended travel lane set in the recommended lane setting process is appropriate, and guides an appropriate recommended travel lane.

  FIG. 3 is a flowchart showing the operation of the recommended lane guidance processing means in the embodiment of the present invention, FIG. 4 is a first diagram for explaining the recommended lane guidance processing in the embodiment of the present invention, and FIG. 5 is an implementation of the present invention. FIG. 6 is a second diagram for explaining the recommended lane guidance processing in the embodiment, and FIG. 6 is a third diagram for explaining the recommended lane guidance processing in the embodiment of the present invention.

  In this case, first, the intersection determination processing means of the recommended lane guidance processing means performs an intersection determination process, and reads road data, intersection data, and the like from the data recording unit 16 (FIG. 1) as in the recommended lane setting process. In the recommended lane guidance process, one target section in which a recommended travel lane is set is extracted, and the extracted target section is within a predetermined distance L2 (L2 <L1) ahead of the target section on the searched route. To determine if there is a guided intersection.

  When there is a guidance intersection within the range of the distance L2, the recommended travel lane set in the recommended lane setting process is set as a guide lane as it is, and the section process determination processing means is a section process determination process as described later. I do.

  In this case, the recommended travel lane set in the recommended lane setting process is set as the guide lane as it is because the vehicle is traveling in front of the guidance intersection, so other lanes are guided as the recommended travel lane. It is because it is not preferable. In that case, as shown by the arrow A in FIG. 2, even if the lane k1 is guided as the recommended travel lane, road parking vehicles v1 to v3 exist on the lane k1, so that it is actually the host vehicle. Although the vehicle w1 cannot be driven, other lanes are not guided before the guidance intersection. Therefore, the vehicle w1 can be smoothly guided at the guidance intersection.

  In addition, when there is no guidance intersection within the range of the distance L2, the other lane determination processing unit of the recommended lane guidance processing unit performs the other lane determination process, and whether or not there is a lane that can travel other than the recommended lane Judging. When there is no lane that can travel other than the recommended lane, as described above, the recommended lane set in the recommended lane setting process is set as a guide lane as it is, and the section processing determination processing means is a section Process determination processing is performed.

  When there is a lane that can be traveled other than the recommended travel lane, the road condition information acquisition processing means of the guidance processing means performs a road condition information acquisition process, and changes from the data recording unit 16 according to the presence of a road parked vehicle. As road condition information representing the road condition to be obtained, road data, road traffic census information is acquired by reading out data processed so as to correspond to the road link of the map data. In this case, the road data includes design data for each road link, for example, speed limit for each road link, number of lanes, width, road type, and the like. Further, the data obtained by processing the road traffic census information so as to correspond to the road link of the map data includes the link number data of the road link, and the number of road parked vehicles within a predetermined distance (100 [m]). This includes the number of vehicles parked on the road, the number of lanes for each road link, vehicle parking locations, width, and the like.

  The road condition information acquisition processing means can acquire the road condition information by reading output, data, and the like representing the road condition from the forward monitoring device 48, the display line recognition device 49, and the peripheral monitoring device 50. For example, the number of parked vehicles on the road is calculated based on the output of a radar such as a laser radar or a millimeter wave radar in the forward monitoring device 48, an output of an ultrasonic sensor, or a combination thereof, or the road lane in the display line recognition device 49 is calculated. The number of lanes can be calculated based on the recognition of the display lines to be classified, or the number of vehicles parked on the road, the number of lanes, etc. can be calculated based on the camera data in the periphery monitoring device 50.

  The road condition information acquisition processing means can be acquired by reading road condition information collected by the information center 51 and transmitted from the information center 51. In this case, as described above, the road condition information acquired in each vehicle is transmitted to the information center 51, and the information center 51 transmits the collected road condition information to each vehicle.

  Subsequently, the recommended lane determination processing means of the recommended lane guidance processing means performs a recommended lane determination process, determines the suitability of the recommended travel lane based on the road condition information, and determines the recommended travel lane based on the determination result. decide. Therefore, the recommended lane determination processing means reads the road condition information, determines whether there is a road parked vehicle in the recommended travel lane, and if the road parked vehicle exists, the set recommended travel lane is not appropriate. The recommended travel lane is changed to a lane that can travel other than the recommended travel lane.

  In FIG. 4, r1 is a road link, m1 is an intersection, k1 to k3 are lanes, w1 is a vehicle that is the host vehicle, and v1 to v3 are road parking vehicles.

  In this case, since the road parked vehicles v1 to v3 exist on the lane k1, the vehicle w1 cannot actually run. Therefore, as indicated by the arrow B in the figure, the lane k2 is set as a recommended travel lane and is set as a guide lane as it is.

  In this way, when the road parked vehicles v1 to v3 exist on the lane k1 set as the recommended travel lane, the recommended travel lane is changed according to the road condition, and therefore it is preferable to drive the vehicle w1. k2 can be reliably guided and route guidance can be performed appropriately.

  The section processing determination processing means determines whether there is an unprocessed target section among all target sections. If there is an unprocessed target section, the unprocessed target section is described above. Repeat the process. When the processing described above is performed for all target sections, the lane change frequency reduction processing means of the recommended lane determination processing means performs lane change frequency reduction processing to reduce the number of lane changes.

  Therefore, the lane change frequency reduction processing means extracts a target section in which the recommended travel lane has not been changed by the recommended lane determination process among all target sections, and the recommended travel lane is extracted for the extracted target section. The suitability of the recommended travel lane is evaluated based on the stability when guiding the vehicle. That is, the lane change frequency reduction processing means determines whether there is a target section that is different from the extracted target section within a predetermined distance L3 forward and backward from the center of the extracted section. When there are different target sections, the lane change frequency reduction processing means determines that the recommended travel lane in the extracted target section is different from the recommended travel lanes in the front and rear target sections, and the front and rear target sections. Determine if the recommended driving lanes in are the same. If the recommended travel lane in the extracted target section is different from the recommended travel lane in the front and rear target sections and the recommended travel lane in the front and rear target sections is the same, the lane change frequency reduction process The means determines that the recommended travel lane set in the extracted target section is not appropriate, and the recommended travel lane is the same as the recommended travel lane of the front and rear target sections as shown in FIG. Change to

  That is, in FIG. 5, in the target section S1 within the range of the distance L3 behind the target section S2, there is a road parked vehicle on the lane k1, so the lane k2 is set as the recommended travel lane, and the target section In S2, there is no road parked vehicle on the lane k1, so the lane k1 is the recommended travel lane, and there is a road parked vehicle in the lane k1 in the target section S3 within the distance L3 ahead of the target section S2. Therefore, the lane k2 is set as the recommended travel lane. In this case, the recommended travel lane frequently changes between the lane k1 and the lane k2, and the vehicle cannot travel smoothly.

  On the other hand, in FIG. 6, in the target sections S1 and S3, there are road parked vehicles on the lane k1, so the lane k2 is set as the recommended travel lane. Accordingly, there is no road parked vehicle on the lane k1 in the target section S2, but the lane k2 is the recommended travel lane in the target sections S1 and S3, and thus the lane k2 is also the recommended travel lane in the target section S2. Is done. In this case, since the recommended travel lane is held in the lane k2, the vehicle can travel smoothly.

  Thus, when the predetermined lane is determined as the recommended travel lane, the notification processing unit of the recommended lane guidance processing unit performs a notification process to form a recommended lane display window in a predetermined region of the map screen. All the lanes and recommended lanes are displayed in the recommended lane display window to notify the driver.

  In this way, since the recommended travel lane is prevented from frequently changing within a predetermined distance range, the vehicle can travel smoothly.

Next, a flowchart will be described.
Step S1: A recommended travel lane is calculated.
Step S2: Extract one target section.
Step S3: It is determined whether or not there is a guidance intersection within a predetermined distance L2 ahead. If there is a guidance intersection within a predetermined distance L2 ahead, the process proceeds to step S7, and if there is no guidance intersection, the process proceeds to step S4.
Step S4: It is determined whether there is a lane where the vehicle can travel other than the recommended travel lane. If there is a lane that can travel other than the recommended travel lane, the process proceeds to step S5, and if not, the process proceeds to step S7.
Step S5: It is determined whether there is a road parked vehicle in the recommended travel lane. If there is a road parked vehicle in the recommended travel lane, the process proceeds to step S6, and if not, the process proceeds to step S7.
Step S6: Change the recommended travel lane.
Step S7: It is determined whether there is an unprocessed target section. If there is an unprocessed target section, the process returns to step S2, and if there is no unprocessed target section, the process proceeds to step S8.
Step S8: A lane change count reduction process is performed, and the process ends.

  In addition, this invention is not limited to the said embodiment, It can change variously based on the meaning of this invention, and does not exclude them from the scope of the present invention.

It is a figure which shows the navigation system in embodiment of this invention. It is a figure explaining the route guidance process of the conventional navigation apparatus. It is a flowchart which shows operation | movement of the recommended lane guidance processing means in embodiment of this invention. It is a 1st figure explaining the recommended lane guidance process in embodiment of this invention. It is a 2nd figure explaining the recommended lane guidance process in embodiment of this invention. It is a 3rd figure explaining the recommended lane guidance process in embodiment of this invention.

Explanation of symbols

14 Navigation device 17 Navigation processing unit 31, 54 CPU
51 information center 63 network m1 intersection r1 road links v1 to v3

Claims (3)

Lane information for each road link, the recommended lane setting processing means for setting a recommended lane in each section based on及beauty induction route information, the road conditions vary with the presence of street parking vehicle for each of the road links Road condition information acquisition processing means for acquiring the road condition information to be represented, and recommended lane determination processing means for changing the recommended travel lane set based on the road condition information, and the recommended lane determination processing means The recommended travel lanes in the section are different from the recommended travel lanes set in the sections ahead and behind the predetermined section, and the recommended travel lanes set in the sections ahead and behind the predetermined section are the same. In this case, the recommended travel lane in the predetermined section is set to the same lane as the recommended travel lane set in the sections ahead and behind the predetermined section. Further route guidance system, characterized by. The route guidance system according to claim 1, wherein the recommended lane determination processing means changes the recommended travel lane when a road parked vehicle exists in the set recommended travel lane . Lane information for each road link, based on及beauty induction path information to set the recommended travel lane of each section, the road condition information indicating the road conditions vary with the presence of street parking vehicle for each of the road links Obtaining and changing the recommended travel lane set based on the road condition information, the recommended travel lane in the predetermined section is different from the recommended travel lane set in the section ahead and behind the predetermined section, and When the recommended travel lanes set in the forward and backward sections from the predetermined section are the same lane, the recommended travel lanes in the predetermined section are set as the recommended travel lanes set in the forward and backward sections from the predetermined section. A route guidance method characterized by changing to the same lane .

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