JP4613793B2 - 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 vehicle, that is, the current location, is detected by GPS (Global Positioning System), map data is read from a data recording unit, and a map screen is displayed on a display unit. The vehicle position is formed, and the vehicle position indicating the current location, a map around the vehicle position, and the like are displayed on the map screen. Therefore, the driver can drive the vehicle in accordance with the vehicle position displayed on the map screen.

  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 on the map screen together with the vehicle position, and guidance for the searched route, that is, route guidance is performed. Therefore, the driver can drive the vehicle along the displayed search route.

  By the way, in the route guidance, when it is necessary to turn the vehicle right or left at a predetermined point, for example, an intersection, for example, a voice is output before the vehicle reaches the intersection, that is, the guidance intersection as a guidance point. In addition, route guidance is performed. For this purpose, a plurality of route guidance points are set at locations on the searched route that are on the near side of the guidance intersection and separated by each set distance, and when the vehicle reaches each route guidance point, for each route guidance point, Route guidance with predetermined contents is output by voice (for example, see Patent Document 1).

  FIG. 2 is a diagram showing an example of route guidance at a guidance intersection in a conventional navigation device.

  In the figure, r1 to r4 are roads, cr1 is an intersection where roads r1 and r4 intersect, c1 is a guidance intersection where roads r1 and r2 intersect and roads r2 and r3 intersect, and the guidance intersection c1 is continuous. Intersections ca and cb, roads r1 and r2 intersect at intersection ca, and roads r2 and r3 intersect at intersection cb. Further, Rt1 is a searched route, and the searched route Rt1 is configured to pass through the roads r1 to r3 in order, and at the guidance intersection c1, turn right at the intersection ca and immediately turn left at the intersection cb.

  When traveling along the searched route Rt1, the route guidance points h1 to h4 are located at points 700 [m], 300 [m], 100 [m] and 30 [m] on the near side of the guidance intersection c1. Route guidance points h5 and h6 are set between the intersections ca and cb of r2.

  Then, while traveling on the road r1, at the route guidance point h1, a message such as “About 700 [m] ahead is to the right” is “about 300 [m]” at the route guidance point h2. A message such as “Turn right at XXX” is a message at the route guidance point h3, such as “Soon, it ’s right. After 200 [m], △△△△ is left.” However, a notification sound (pom-pong) indicating that it is immediately before the guidance intersection c1 at the route guidance point h4 is output by voice.

  Then, when passing through the guidance intersection c1, at the route guidance point h5, a message such as “I am about to go to the left soon” is displayed, and a notification sound (pom-pong) indicating that it is immediately before the intersection cb at the route guidance point h6 is voiced. Is output.

By the way, in a navigation device that can perform route guidance in units of lanes, that is, lane guidance, when a plurality of lanes are formed on the road r1 that enters the guidance intersection c1, predetermined route guidance is performed. Are recommended as recommended lanes, i.e., recommended lanes, and the vehicle is guided from the currently driving lane, i.e., the driving lane, to the recommended lane.
JP 7-98233 A

  However, in the conventional navigation device, there is a right / left turn lane in front of the intersection cr1 or the number of lanes decreases and the road conditions change before reaching the guidance intersection c1. The recommended lane may change in the middle, but in that case, in order to move the vehicle to the recommended lane after the change at the recommended lane change point, that is, at the recommended lane change point, about the guidance intersection at the optimal timing May not be able to start route guidance.

  It is an object of the present invention to provide a route guidance system and a route guidance method that can solve the problems of the conventional navigation device and can start route guidance for guidance points at an optimal timing.

  For this purpose, in the route guidance system of the present invention, a current location detection unit for detecting the current location of the host vehicle, route search processing means for searching for a search route to the destination based on the current location, and Guide point setting processing means for setting a guide point, recommended lane calculation processing means for calculating a recommended lane for each road on the searched route based on the searched route, and the recommended lane between the current location and the guide point. Recommended lane changing point detection processing means for detecting a changing recommended lane changing point, and route guidance point setting processing means for setting a route guidance point for the guidance point based on the recommended lane changing point.

  According to the present invention, a recommended lane change point at which a recommended lane changes on the searched route between the current position and the guide point is detected, and a route guide point for the guide point is set based on the recommended lane change point. Therefore, the route guidance for the guidance point can be started at the optimum timing. Accordingly, since a sufficient distance can be taken from the current location to the recommended lane change point, the vehicle can be reliably moved to the recommended lane after the change at the recommended lane change point. As a result, the route guidance for the guidance point can be started at the optimum timing.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. A navigation system as a route guidance system will be described.

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

  In the figure, reference numeral 10 denotes an automatic transmission control unit as a power train control unit. The automatic transmission control unit 10 is a power train that performs a shift at a predetermined gear ratio, for example, a continuously variable transmission as an automatic transmission. (CVT), stepped transmission (automatic transmission), electric drive device, etc. are controlled.

  Reference numeral 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, and the automatic transmission control unit 10, the navigation device 14, the network 63, the information center 51 and the like constitute a navigation system.

  The navigation device 14 is based on a GPS sensor 15 as a current location detection unit that detects the current location of a vehicle, a data recording unit 16 as an information recording unit in which various information is recorded in addition to map data, and input information. , A navigation processing unit 17 for performing various arithmetic processes such as navigation processing, a direction sensor 18 as a direction detection unit for detecting the direction of the vehicle, and a first for performing a predetermined input when operated by a driver as an operator. The operation unit 34 as an input unit 1, various displays are performed by an image displayed on a screen (not shown), a display unit 35 as a first output unit for notifying the driver, and predetermined input is performed by voice A voice input unit 36 as a second input unit for the purpose, a voice display as a second output unit for performing various displays by voice and notifying the driver Unit 37, 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, and a voice input unit. 36, an audio output unit 37 and a communication unit 38 are connected.

  The navigation processing unit 17 is attached to the automatic transmission control unit 10, a predetermined position at the front end of the vehicle, and a front monitoring device 48 for monitoring the front of the vehicle, and a predetermined position at the rear end of the vehicle. The rear camera (rear monitoring camera) 49 as an imaging device that captures the rear of the vehicle and an accelerator as an engine load detection unit that detects the operation of the accelerator pedal by the driver based on the accelerator opening A sensor 42, a brake sensor 43 as a braking detection unit that detects the operation of the brake pedal by the driver by a brake depression amount, a vehicle speed sensor 44 as a vehicle speed detection unit that detects the vehicle speed S, and the like are connected. The accelerator sensor 42, the brake sensor 43, and the like constitute an operation information detection unit for detecting 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. In the present embodiment, the azimuth sensor 18, the vehicle speed sensor 44, and the like are arranged. However, when a GPS sensor having a function of detecting the own vehicle azimuth, the vehicle speed, etc. is used, the azimuth sensor 18, The vehicle speed sensor 44 and the like are not necessary.

  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 (branch points), node data related to nodes, road data related to road links, search data processed for searching, facility data related to facilities, and other features on the road. Feature data for is included.

  The feature is a display object that is installed or formed on a road in order to provide various driving information to the driver or to perform various driving guidance. , Crosswalks, manholes, traffic lights, etc. The display line includes a stop line for stopping the vehicle, a vehicle lane boundary line that divides each lane, a partition line that indicates a parking space, and the road sign indicates an advancing direction in each lane. , A guidance sign for notifying a stop point such as “stop”, and the like. The feature data includes position information that represents the position of each feature by coordinates, image information that represents each feature by image, and the like. The temporary stop points include an entry point from a non-priority road to a priority road, a railroad crossing, an intersection where a red light flashes, and the like.

  In addition, the road data relating to the lane includes lane data as lane information including the number of lanes, the lane number assigned to each lane on the road, the position of the lane, the traffic classification indicating the traveling direction for each lane, and the like. It is. Data for outputting predetermined information by the audio output unit 37 is also recorded in the data recording unit 16.

  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 provided in the past, that is, history information representing a history, and a road traffic information center (not shown) such as a VICS (registered trademark: Vehicle Information and Communication System) center as an information provider. The road traffic census information, which is the traffic information provided in the past by the Ministry of Land, Infrastructure, Transport and Tourism, the road traffic census information that is the data representing the traffic volume provided by the Ministry of Land, Infrastructure, Transport and Tourism, Alternatively, they are used in combination, processed as necessary, and subjected to statistical processing. It is possible to add traffic jam prediction information for predicting traffic jams to the statistical data. 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 link number for each road link, a direction flag indicating a traveling direction, an information type indicating a type of information, a congestion level at each predetermined timing, and when traveling on each road link. It consists of a link required time representing a required time for each predetermined timing, average data for each day of the link required time (for example, day average data), and the like.

  Further, the travel history data is collected from a plurality of vehicles, that is, the own vehicle or other vehicles by the information center 51, and is a record of the travel of the vehicle on the road on which each vehicle travels, that is, the track record information representing the track record. It is calculated and accumulated as probe data based on the running data.

  The data items of the travel history data include a link required time at each predetermined timing when traveling on each road link, a degree of congestion at each predetermined timing when traveling on each road link, and the like. Note that travel history data can be added to the statistical data. Further, in the present embodiment, the congestion level is used as a congestion index that represents the degree of congestion, and is represented separately for congestion, congestion, and non-congestion.

  The data recording unit 16 includes a disk (not shown) such as a hard disk, a CD, a DVD, and an optical disk in order to record the various data, and also reads / writes for reading and writing various data. A head (not shown) such as a head is provided. A memory card or the like can be used for the data recording unit 16. An external storage device is constituted by the disks, memory cards, and the like.

  In the present embodiment, the map database, the statistical database, the travel history database, and the like are formed in the data recording unit 16, but in the information center 51, the map database, the statistical database, the travel history A database or the like can also be formed.

  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, In addition to the above program, a ROM 33 in which various programs for searching for a route to the 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. . The RAM 32, ROM 33, flash memory, etc. constitute an internal storage device.

  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, the control program, data, and the like of the automatic transmission control unit 10 can be recorded on the disk or the like. 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 is used as the display unit 35. Then, on various screens formed on the display unit 35, the current position of the vehicle is displayed as the vehicle position, the vehicle direction is displayed as the vehicle direction, a map, a search route, guidance information along the search route, traffic In addition to displaying information and the like, displaying the distance to the next intersection on the searched route, and the traveling direction at the next intersection, the operation of the image operation unit, operation unit 34, voice input unit 36, etc. It is possible to display guidance, operation menus, key guidance, FM multiplex broadcast programs, and the like.

  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. Further, the beacon receiver and the FM receiver are unitized and arranged as a VICS receiver, but can be arranged separately.

  The traffic information includes an information type that indicates the type of information, a mesh number for specifying a mesh, a road link that connects two points (for example, intersections), and a link that indicates whether it is up / down. Number, including link information representing the content of information provided corresponding to the link number. For example, when the traffic information is traffic jam information, the link information is a distance from the start point of the road link to the head of the traffic jam Congestion head data representing traffic congestion degree, congestion section, traffic jam length representing the distance from the beginning of the traffic jam to the end of the traffic jam, link required time representing the time required to travel on the road link, and the like.

  And the communication part 38 can receive various information, such as traffic information and general information other than data, such as the said map data, statistical data, and driving history data, from the said information center 51 via the network 63. .

  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. A CPU 54, a RAM 55, a ROM 56, etc. are provided as devices. The database 58 records data similar to the various data recorded in the data recording unit 16, for example, the map data, statistical data, travel history data, and the like. Further, the information center 51 provides various information such as current traffic information and general information transmitted from the road traffic information center, and travel history data collected from a plurality of vehicles (own vehicle or other vehicles) in real time. can do.

  The forward monitoring device 48 is composed of a radar such as a laser radar or a millimeter wave radar, an ultrasonic sensor, or a combination thereof, and monitors or temporarily stops a preceding vehicle, which is a preceding traveling vehicle. Monitor places and obstacles. Further, the front monitoring device 48 detects a relative speed indicating a relative vehicle speed with respect to the preceding vehicle, an approach speed with respect to a temporary stop position, an approach speed with respect to an obstacle, and the like, and calculates an inter-vehicle distance, an inter-vehicle time, etc. To do.

  The back camera 49 is composed of a CCD element, and is mounted on the optical axis obliquely downward to monitor the rear of the vehicle. In addition to the features, the back camera 49 is another vehicle traveling behind the vehicle. A rear vehicle, a building on the road, a structure, or the like is photographed as an object to be photographed, and image data of the photographed object is generated and sent to the CPU 31. The CPU 31 reads the image data and performs image processing on the image data, thereby recognizing each object to be photographed in the image as a recognition object. In the present embodiment, a CCD element is used as the back camera 49, but a C-MOS element or the like can be used.

  The navigation system, the navigation processing unit 17, the CPUs 31, 54, the server 53, and the like function as a computer singly or in combination of two or more, and perform arithmetic processing 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 of the navigation system having the above configuration 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 of the vehicle detected by the GPS sensor 15, The vehicle direction detected by the direction sensor 18 is read, and various data are initialized. Next, 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 identified by determining whether it is located on the road link.

  In the present embodiment, the matching processing unit further specifies the current location based on the position of each feature that is the subject to be photographed by the back camera 49.

  For this purpose, image recognition processing means (not shown) of the CPU 31 performs image recognition processing, reads image data from the back camera 49, and recognizes a feature in the image composed of the image data. A distance calculation processing unit (not shown) of the CPU 31 performs a distance calculation process, and calculates a distance from the back camera 49 to the actual feature based on the position of the feature in the image. The current location specifying processing means of the matching processing means performs current location specifying processing, reads the distance, reads the feature data from the data recording unit 16 to acquire the coordinates of the feature, and the coordinates and the distance Based on the current location.

  A lane detection processing unit (not shown) of the CPU 31 performs a lane detection process, and similarly collates the feature recognized based on the image data with the feature data read from the data recording unit 16. Thus, the traveling lane in which the vehicle is traveling is detected.

  The lane detection processing means reads the sensor output of the geomagnetic sensor, and based on the sensor output, determines whether or not there is a detected object made of a ferromagnetic material such as a manhole in a predetermined lane on the road. The traveling lane can also be detected based on the determination result. Furthermore, it is possible to detect the current location with high accuracy using the highly accurate GPS sensor 15 and to detect the traveling lane based on the detection result. Further, if necessary, image processing can be performed on the display line image data, and at the same time, the traveling lane can be detected by combining the sensor output of the geomagnetic sensor, the current location, and the like.

  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 etc., the said basic information acquisition process means downloads the received map data to flash memory.

  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 map display processing means of the display processing means performs a map display process, forms a map screen on the display unit 35, displays a surrounding map on the map screen, and sets the current position as the vehicle position and the direction of the vehicle. Is displayed as the vehicle direction.

  Accordingly, the driver can drive the vehicle according to the map, 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 set 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 the search condition are set in this way, the route search processing unit (not shown) of the CPU 31 performs the route search process, reads the current location, the destination, the search condition, 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. At this time, the route with the smallest total link cost assigned to each road link is set as the searched route.

  The information center 51 can perform route search processing. In that case, the CPU 31 transmits the current location, the destination, search conditions, and the like 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.

  Subsequently, a guidance processing means (not shown) of the CPU 31 performs guidance processing and provides 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.

  By the way, in the route guidance, when the vehicle needs to turn right or left at a predetermined intersection, the intersection is set as a guidance point and a guidance intersection. For this purpose, the guidance point setting processing means of the guidance processing means performs guidance point setting processing to determine whether there is an intersection that requires the vehicle to turn left or right according to the route data, that is, based on the searched route. If there is an intersection that requires the vehicle to turn left or right, the intersection is set as a guide intersection.

  The guidance point enlarged map forming processing means of the guidance processing means performs a guidance point enlarged map forming process, and before the vehicle reaches the guidance intersection, an enlarged view of the guidance intersection in a predetermined area of the map screen, that is, An enlarged intersection map is formed as an enlarged guide map, and route guidance is performed using the enlarged map. For this purpose, a guide point enlarged map display point is set at a location that is a distance away from the guidance intersection on the search route (current side) by a set distance, and the vehicle reaches the guide point enlarged map display point. Then, the intersection enlarged view is displayed.

  In this case, a map around the guidance intersection, a search route, and a landmark such as a facility that serves as a landmark at the guidance intersection are displayed on the enlarged intersection. In addition, intersections that join or branch at junctions or the like are set as guidance intersections on toll roads dedicated to automobiles such as expressways, city expressways, and toll roads.

  And the route guidance point setting processing means of the guidance processing means performs route guidance point setting processing, and at least one set distance away from the guidance intersection on the searched route at a set distance, In the present embodiment, a plurality of route guidance points are set, and the voice output processing means of the guidance processing means performs voice output processing, and when the vehicle reaches each of the route guidance points, route guidance is performed for the guidance intersection. A route guidance having a predetermined content for each point is output from the voice output unit 37 by voice. It should be noted that the guide point enlarged map display point where the intersection enlarged view is displayed and one of the route guide points, for example, the first route guide point, can be set as the same point.

  By the way, when a road in which a plurality of lanes are formed is included in the searched route, lane guidance can be performed. Therefore, a recommended lane calculation processing unit (not shown) of the CPU 31 performs a recommended lane calculation process, reads a search route, reads intersection data, lane information, and the like, based on the search route, intersection data, lane information, etc. Calculate recommended lanes for each road on the searched route. The lane display processing means of the guidance processing means performs lane display processing, forms a lane guide map in a predetermined area of the map screen, displays the recommended lane on the lane guide map, and recommends the vehicle from the driving lane. Guide to the lane.

  Further, when a plurality of lanes are formed on a road entering the guidance intersection (hereinafter referred to as “entry road”) or a road exiting from the guidance intersection (hereinafter referred to as “exit road”), the above-described guidance point enlarged view. The formation processing means displays a recommended lane on the enlarged intersection view.

  By the way, while the lane guidance for the guidance intersection is being performed, there is a dedicated right / left turn lane before the predetermined intersection or the number of lanes may decrease until the guidance intersection is reached. When the situation changes, the recommended lane may change along the way. In that case, if the movement of the lane is prompted after passing through the recommended lane change point, the driver is confused.

  Therefore, in the present embodiment, the recommended lane change point detection processing means of the guidance processing means performs recommended lane change point detection processing, reads recommended lane information, and while the lane guidance is being performed, It is determined whether or not the recommended lane changes between the road and the guidance intersection, and when the recommended lane changes, the recommended lane change point is detected. Then, the recommended lane change point notice point setting processing means of the guidance processing means performs a recommended lane change point notice point setting process, and notifies the recommended lane change point for a point a predetermined distance before the recommended lane change point. Point, that is, as a recommended lane change point notice point, the voice output processing means of the guidance processing means performs a voice output process, and when the vehicle reaches the recommended lane change point notice point, The fact that the recommended lane is changed is output by voice from the voice output unit 37 and notified to the driver.

  Also, if there is a recommended lane change point on the searched route to the guidance intersection, if the route guidance for the guidance intersection is not started at the optimal timing, the vehicle is surely moved to the recommended lane after the change at the recommended lane change point. It may not be possible to make it.

  Therefore, in this embodiment, the recommended lane change point determination processing means of the route guidance point setting processing means performs a recommended lane change point determination process, and whether there is a recommended lane change point on the searched route to the guidance intersection. If there is no recommended lane change point, the route guidance point standard setting processing means of the route guidance point setting processing means performs route guidance point standard setting processing, sets each standard route guidance point, When there is a change point, the route guidance point correction processing means of the route guidance point setting processing means performs the route guidance point correction processing so that the vehicle can be moved to the recommended lane after the change at the recommended lane change point. Based on the recommended lane change point, the standard route guidance point for the guidance intersection is corrected and set.

  For this purpose, the minimum required distance calculation processing means of the route guidance point setting processing means performs minimum required distance calculation processing and is necessary for moving between lanes from the traveling lane to the recommended lane immediately before the recommended lane change point. The minimum distance, that is, the minimum required distance Lmin is calculated.

By the way, the vehicle speed when the route guidance is performed at the first route guidance point and moves between lanes
va = 30 [km / h]
And the time required for outputting the route guidance by voice is τ1.
τ1 = 2 [seconds]
Then, the distance L1 that the vehicle travels during route guidance is
L1≈17 [m]
Tq is the shortest time per lane required for moving between lanes.
Tq = 15 [seconds]
Assuming that the number of lane movements from the travel lane to the recommended lane is N, the distance L2 that the vehicle travels while moving between lanes after route guidance is
L2≈125 × N [m]
become. Therefore, the minimum required distance Lmin is
Lmin = 17 + 125 × N [m]
To be.

  Subsequently, the route guidance point correction processing means performs route guidance point correction processing, corrects a standard route guidance point that is in front of the recommended lane change point, and sets the position of the route guidance point as a standard route guidance point. Further, the minimum required distance Lmin is set on the near side.

  Then, when the vehicle arrives at each route guidance point set in this way, the voice output processing means voices the voice guidance from the voice output unit 37 with the route guidance having the contents predetermined for each route guidance point. To output. The guide point enlarged map display point where the intersection enlarged view is displayed and one of the route guide points, for example, the first route guide point, can be set as the same point.

  During this time, it is determined whether the vehicle has passed the recommended lane change point, and when the vehicle passes the recommended lane change point, the recommended lane change point passage guide processing means of the guidance processing means performs the recommended lane change point passage guidance processing. By setting a point at a predetermined distance ahead of the recommended lane changing point as a recommended lane changing point passing guidance point, and when the vehicle reaches the recommended lane changing point passing guide point, by guiding the recommended lane after the change, The driver is notified that the recommended lane change point has been passed.

  3 is a flowchart showing the operation of the guidance processing means in the embodiment of the present invention, FIG. 4 is a conceptual diagram showing an example of a guidance intersection in the embodiment of the present invention, and FIG. 5 is a guidance intersection in the embodiment of the present invention. FIG. 6 is a diagram showing an example of lane guidance at a guidance intersection in the embodiment of the present invention.

  In the figure, r1 to r4 are roads, cr1 is an intersection where roads r1 and r4 intersect, c1 is a guidance intersection where roads r1 and r2 intersect and roads r2 and r3 intersect, and the guidance intersection c1 is continuous. Intersections ca and cb, roads r1 and r2 intersect at intersection ca, and roads r2 and r3 intersect at intersection cb. In addition, Pr is the current location, and Rt1 is a searched route. The searched route Rt1 is configured to pass through the roads r1 to r3 in order, and at the guidance intersection c1, turn right at the intersection ca and immediately turn left at the intersection cb. The

  Lanes k1 to k3 are formed on the road r1, and lanes k11 to k15 are formed on the road r2. Lane k1 is a left turn-only lane on the front side of intersection cr1, lane k1 is a right-left turnable lane on the front side of intersection ca of guide intersection c1, and lanes k2, k3 are right turn-only lanes.

  When the vehicle travels along the searched route Rt1, after passing through the intersection cr1, the vehicle turns right at the intersection ca1 and then turns left at the intersection cb and exits to the road r3.

  At this time, since the recommended lane calculation processing means needs to turn left at the intersection cb, the lane k11 is set as the recommended lane before the intersection cb, and the lane is displayed before the intersection ca in order to exit to the lane k11 at the intersection ca. Make k1 the recommended lane. When the lane k1 is extended to the current location Pr side, the lane k1 on the near side of the intersection cr1 is a left turn exclusive lane. Therefore, the recommended lane calculation processing means performs lane k2 in the lane guidance from the current location Pr to the intersection cr1. To the recommended lane.

  The recommended lane change point detection processing means reads recommended lane information and detects a recommended lane change point in the search route Rt1 to the intersection cb. In the searched route Rt1, since the recommended lane changes from the lane k2 to the lane k1 at the intersection cr1, the intersection cr1 is detected as the recommended lane change point. Actually, since it is not preferable that the lane is changed in the intersection cr1, the end on the front side of the intersection cr1 in which the end on the front side of the intersection cr1 is the recommended lane change point is set as the recommended lane change point. You can also.

  The recommended lane change point notice point setting processing means sets a point that is a predetermined distance from the intersection cr1 as a recommended lane change point notice point ha, and the audio output processing means is the recommended lane change point notice point ha. When the vehicle arrives at the intersection cr1, the voice output unit 37 outputs a voice to the effect that the recommended lane changes from the lane k2 to the lane k1, and notifies the driver.

  Then, the route guidance point standard setting processing means is located at 700 [m], 300 [m], 100 [m] and 30 [m] on the near side of the guidance intersection c1 on the searched route Rt1, and the road A standard route guidance point is set between the intersections ca and cb of r2.

  In this case, there is an intersection cr1 as a recommended lane change point on the search route Rt1 to the guidance intersection c1. Therefore, the route guidance point correction processing means, in the present embodiment, the route guidance point in front of the intersection cr1, so that the vehicle can be moved to the lane k1, which is the recommended lane after the change at the intersection cr1. The first standard route guidance point is corrected, and a route guidance point h11 is set at 800 [m] on the near side from the guidance intersection c1. As a result, the route guidance point correction processing means sets the route guidance points h11 to h14 at 800 [m], 300 [m], 100 [m] and 30 [m] between the intersections ca and cb of the road r2. Route guidance points h15 and h16 are set.

  Then, when the vehicle reaches each of the route guidance points h11 to h16, the voice output processing means outputs a lane guide having a predetermined content for each of the route guidance points h11 to h16 for the guidance intersection c1. Output by voice from 1).

  During this time, it is determined whether or not the vehicle has passed the intersection cr1, and when the vehicle passes the intersection cr1, the recommended lane change point passage guidance processing means guides the recommended lane after the change at the recommended lane change point passage guidance point hb. .

  Next, an example of lane guidance will be described.

  First, while driving on the road r1, at the route guidance point h11, a message such as "About 800 [m] ahead, right direction. The middle lane is the recommended lane." A message such as “The recommended lane changes to the left at the end of the intersection” is a recommended lane change point passing guidance point hb that has passed through the intersection cr1, and a message such as “The left is the recommended lane.” However, at the route guidance point h12, a message such as "Turn right about OOm is about 300 [m] ahead" is a message such as "Soon right, right. ] Is sent to the left by the voice indicating that the message “ΔΔΔΔ is to the left” is immediately before the guidance intersection c1 at the route guidance point h14.

  Then, when passing through the intersection ca, a message such as “Soon to the left” is output at the route guidance point h15, and a notification sound (pom-pong) indicating that the route guidance point h16 is immediately before the intersection cb is output by voice. Is done.

  In this way, the driver is notified that the recommended lane will change before the vehicle reaches the recommended lane change point, so that the driver will not be confused. Further, since the driver can know the recommended lane change point and the recommended lane after the change with the advance notice, it is not necessary to move the lane suddenly. Therefore, the vehicle can be safely and smoothly driven according to the route guidance.

  Also, since the guidance start timing for the guidance intersection is calculated based on the recommended lane change point and the first route guidance point is set, the route guidance for the guidance intersection is started at the optimum timing. Can do. Accordingly, since a sufficient distance can be taken from the current location to the recommended lane change point, the vehicle can be reliably moved to the recommended lane after the change at the recommended lane change point.

Next, a flowchart will be described.
Step S1: The process waits until a recommended lane change point is detected on the searched route Rt1, and when a recommended lane change point is detected, the process proceeds to step S2.
Step S2: Route guidance points based on recommended lane change points are calculated.
Step S3: Route guidance starts at the guidance start timing and returns.

  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 which shows the example of the route guidance of the guidance intersection in the conventional navigation apparatus. It is a flowchart which shows operation | movement of the guidance process means in embodiment of this invention. It is a conceptual diagram which shows the example of the guidance intersection in embodiment of this invention. It is detail drawing of the guidance intersection in embodiment of this invention. It is a figure which shows the example of the lane guidance of the guidance intersection in embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Automatic transmission control part 14 Navigation apparatus 15 GPS sensor 31 CPU
51 Information Center 63 Network Pr Current Location Rt1 Search Route

Claims (4)

A current location detector that detects the current location of the vehicle;
Route search processing means for searching for a search route to the destination based on the current location;
Guidance point setting processing means for setting a guidance point based on the searched route;
Recommended lane calculation processing means for calculating a recommended lane for each road on the searched route based on the searched route;
Recommended lane change point detection processing means for detecting a recommended lane change point where the recommended lane changes between the current location and the guide point;
A route guidance system comprising route guidance point setting processing means for setting a route guidance point for the guidance point on the basis of the recommended lane change point.   The route guidance point setting processing means sets a standard route guidance point for the guidance point, and sets the route guidance point by correcting the standard route guidance point that is in front of the recommended lane change point. Item 4. The route guidance system according to item 1. With lane detection processing means for detecting a traveling lane at the current location,
The route guidance point setting processing means sets a route guidance point in front of the standard route guidance point by a distance necessary to move between lanes from the travel lane to the recommended lane immediately before the recommended lane change point. The route guidance system according to claim 2 to be set. In the route guidance method in the navigation system,
Based on the current location of the vehicle detected by the current location detection unit, search for a search route to the destination,
A guide point is set based on the searched route,
Calculate recommended lanes for each road on the searched route based on the searched route,
Detecting a recommended lane change point where the recommended lane changes between the current location and the guide point,
A route guidance method, wherein a route guidance point for the guidance point is set on the basis of the recommended lane change point.

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