JP5036407B2 - Navigation device - Google Patents

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JP5036407B2
JP5036407B2 JP2007144204A JP2007144204A JP5036407B2 JP 5036407 B2 JP5036407 B2 JP 5036407B2 JP 2007144204 A JP2007144204 A JP 2007144204A JP 2007144204 A JP2007144204 A JP 2007144204A JP 5036407 B2 JP5036407 B2 JP 5036407B2
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speed limit
speed
lane
information
display
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JP2008298547A (en
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陳中 中西
憲司 東
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アルパイン株式会社
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Description

  The present invention relates to a navigation device, and more particularly to a method for displaying a speed limit set for each lane of a road.

  A navigation system that searches for a route to a destination and guides the route is developed and used in vehicles, portable terminals, and the like. The navigation device calculates a position where the vehicle is traveling, displays a vehicle position mark on a road map displayed on a display, and performs road guidance and the like. Further, the optimum route to the destination is searched, the searched route is displayed on the display, and at the same time, the arrival time to the destination by the searched route is also displayed.

  In order to alleviate chronic traffic congestion and improve convenience and safety, roads and expansions are being developed regardless of urban areas, rural areas, expressways, and general roads. Due to the increase in the number of lanes due to such road maintenance, overtaking lanes and merging lanes have been improved, and the setting of speed limits according to each lane has begun.

  In the conventional navigation device, the calculated travel time is the actual travel time because it does not take into account traffic regulation such as traffic lights, deceleration or stop due to road shapes such as sharp curves, acceleration time to return to normal speed, etc. Was estimated to be shorter. Therefore, in Patent Document 1, in order to calculate the required travel time more accurately, an estimated required time closer to the actual travel time is calculated in consideration of the road sign, the refraction angle of the road, and the number of road lanes.

  In addition, when making a right turn or a left turn at an intersection or the like, if the link to the intersection is a multiple lane on one side, it is necessary to change the lane to the lane closest to the turning direction in advance. In order to guide such a lane change, it is necessary to store the number of lanes of each link in the database. However, if the lane information is included in the link information, the storage capacity of the database may be insufficient. Therefore, in Patent Document 2, even if there is no lane number data, it is determined whether the link is a single lane or a plurality of lanes from speed limit data and geographical conditions (suburbs or urban areas). .

JP-A-11-325938 Utility model registration No. 2571258

  As described above, when the number of lanes due to road expansion increases and overtaking lanes, merge lanes, and the like are prepared, speed limits are set for each lane in order to improve safety and convenience of road traffic. For example, when a car traveling at a speed of 60 km / h on a lane having a minimum speed of 80 km / h may interfere with the traffic of other vehicles and cause traffic congestion. Furthermore, the number of overtaking vehicles increases to avoid this 60 km / h automobile, so the accident rate also increases. In order to avoid such a situation, the lane on the left side of the lane having the minimum speed of 80 km / h is set to the minimum speed of 60 km / h, and the lane on the right side is set to the minimum speed of 100 km.

  When the speed limit is set for each lane, the user should travel in a lane that is suitable for the driving skill, purpose, driving condition, and the like. Therefore, the navigation device is required not only to display a map around the vehicle position but also to provide guidance when a speed limit is set for each lane of the road.

  SUMMARY OF THE INVENTION An object of the present invention is to solve the above-described conventional problems and to provide a navigation device that guides the speed limit for each lane to the user in advance when the speed limit is set for each lane of the road.

  In the present invention, when the vehicle travels on the speed limit target road, the speed limit information set in the lane of the speed limit target road is displayed. Furthermore, when the traveling speed of the vehicle violates the speed limit set for the lane, the vehicle is urged to travel within the speed limit or issue a warning to move to the lane according to the traveling speed.

  Here, the speed limit information includes a display for identifying each lane and a display for identifying the speed limit corresponding to the lane. Preferably, the speed limit information is displayed together with the vehicle position lane guidance so that the lane in which the vehicle is traveling can be easily distinguished from other lanes by a method such as color coding or blinking. Further, the content displayed by the speed limit may be only the maximum speed, only the minimum speed, or both the maximum speed and the minimum speed. Further, the speed limit information may be a photograph, 3D stereoscopic display, or a schematic diagram such as an arrow.

  The speed restriction target road is not limited to the guide route to the destination. Preferably, the speed limit information is guided when the distance between the host vehicle and the speed limit target road reaches a certain value or less.

  The navigation device according to the present invention includes a detecting means for detecting a vehicle position, a road map display means for displaying a road map around the detected vehicle position, and a traveling direction of the vehicle based on the detected vehicle position. An identification means for identifying a speed restriction target road that is a speed restriction for each lane, a measurement means for measuring a distance from the vehicle position to the speed restriction target road, and the measurement means And a speed limit information display means for displaying speed limit information indicating a speed limit for each lane on the road map when the distance measured by the above reaches a predetermined value.

  Preferably, the speed limit information display means continuously displays the speed limit information until the vehicle position passes the speed limit target road. The detection means includes a determination means for determining the lane in which the host vehicle is traveling, and the speed limit information display means displays the lane determined by the determination means in distinction from other lanes.

The navigation device further includes a comparison unit that compares the priority of the other information and the speed limit information when other information is displayed on the road map, and the speed information display unit includes the speed information display unit, The speed limit information may be displayed when the priority of the speed limit information is high according to the comparison result of the comparison means, and the speed limit information may be hidden when the priority of the other information is high.

  The navigation device further compares the traveling speed of the host vehicle with a speed limit set for the lane in which the host vehicle travels, and a speed limit for setting the traveling speed of the host vehicle to the lane by the comparing means. Warning means for issuing a warning of lane change, acceleration or deceleration when the vehicle deviates may be included. In this case, the warning means may include a display guide or a voice guide for guiding to a lane in which a speed limit matching the traveling speed of the host vehicle is set.

  Further, the speed restriction information display method or display program in the navigation device according to the present invention includes a step of detecting the own vehicle position, and a road existing in the traveling direction of the own vehicle based on the detected own vehicle position, for each lane. A step of identifying a speed restriction target road for which speed restriction is set, a step of measuring a distance from the vehicle position to the speed restriction target road, and a value determined in advance by the distance measured by the measuring means When the speed limit information indicating the speed limit for each lane is displayed on the road map.

  According to the present invention, since the speed limit information is displayed before entering the road where the speed limit is set for each lane, the user can grasp the contents of the speed limit for each lane in advance, User driving assistance can be provided. In addition, if the speed limit set for the lane in which the vehicle is traveling is violated, a warning, a change to an appropriate driving lane, and an instruction for the driving speed will only reduce the burden on the user. Not only will it improve the safety and convenience of driving.

  The best mode for carrying out the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a block diagram illustrating a configuration of a vehicle electronic device according to the present embodiment. The vehicle electronic device 1 includes a sensor unit 2, a bus communication control unit 4, an external bus 3 that connects the sensor unit 2 and the bus communication control unit, an internal bus 5, a bus communication control unit 4, a navigation device 6, an instrument display unit 7, An alarm unit 8 and an engine control unit (ECU) are connected.

  The sensor unit 2 outputs a distance sensor that detects the speed or distance of the host vehicle, a gyro sensor that detects the direction of the host vehicle, an acceleration sensor, a rotation sensor that detects a pulse signal corresponding to the engine speed, and a remaining fuel amount. A fuel sensor that detects whether the parking brake is on or off, a sensor that detects whether the door is opened or closed, a sensor that detects whether the seat belt is attached or detached, and the like.

FIG. 2 is a block diagram illustrating a configuration of the navigation device 6 according to the present embodiment. The navigation device 6 includes a bus interface (bus I / F) 10 connected to the internal bus 5, a GPS receiver 12 that receives radio waves from GPS satellites and measures the current position / current direction of the vehicle, and an antenna 14. VICS (Registered trademark: Vehicle Information and Communication System, FM multiplex receiver 16, user input interface 20 (including operation panel 22, voice input unit 24, and remote control operation unit 26), and a large-capacity hard disk A storage device 30, a data communication control unit 32 for performing data communication wirelessly or by wire, an audio output unit 40 for outputting sound to the speaker 42, a display control unit 50 for displaying an image on the display 52, a program memory 60 for storing a program, A data memory 70 for temporarily storing data; and A control unit 80 is included.

  The user input interface 20 includes a map search key, a map scroll key, a route search key, a set key, a search start key, and the like. The storage device 30 stores programs and databases necessary for executing various navigation functions. The database includes link (road) data, road map data including intersection data, facility data, and the like. Link data is data related to roads connecting intersections, node data indicating the longitude and latitude of the start and end points of roads, types of roads (highways, national roads, general roads, etc.), road widths, regulations ( 1-way), including the number of lanes. For roads in which speed limits for each lane are set for a plurality of lanes (hereinafter referred to as speed limit target roads), the link data includes speed limit data for each lane of the speed limit target roads. Furthermore, the storage device 30 stores speed limit information to be displayed on the display while traveling on the speed limit target road, and warning guide data for giving a warning to the user while traveling on the speed limit target road. Based on the road map data, the display control unit 50 displays not only the vehicle surrounding map but also a vehicle position mark, a guidance route image, speed limit information, and the like on the display.

  The program memory 60 stores a program loaded from the storage device 30. For example, a vehicle position detection program 61 that detects the vehicle position from position information obtained from the sensor unit 2 or the GPS receiver 12, a route search program 62 that searches for a guidance route from the departure point to the destination, A route display program 63 for displaying a guidance route to the destination, and a speed at which an icon of speed limit information is displayed on the reason map or voice guidance is provided when the next road being traveled is a speed limit target road. The restriction information guide program 64 and the like are stored. The control unit 80 controls each operation according to these programs.

  The data memory 70 includes vehicle state data 71 obtained from the sensor unit 2 and the GPS receiver 12, road map data 72 around the own vehicle position read from the storage device 30, guidance route data 73 to the destination, speed Speed limit data 74 for each lane of the restriction target road, icon data 75 for displaying speed restriction information, warning guidance data 76 for warning the user while traveling on the speed restriction target road, and the like are stored.

  FIG. 3 is a functional block diagram of the speed limit information guide program 64 of the present embodiment. As shown in FIG. 3, the speed limit information guide program 64 determines whether a road existing in the traveling direction of the own vehicle based on the own vehicle position data obtained from the sensor unit 2 and / or the GPS receiver 12 is a speed limit target road. A speed limit information identifying unit 90 for identifying whether or not, a distance measuring unit 91 for measuring the distance from the own vehicle position data to the speed limit target road, and a distance to the speed limit target road is a certain distance (for example, 300 meters before) ), The speed limit information guide unit 92 that displays speed limit information on the display and gives voice guidance thereof, the travel lane determination unit 93 that determines which lane the host vehicle is traveling, and the speed limit information An icon priority comparison unit 94 that compares the priority with the priority of the icon display that is displayed or about to be displayed, and the speed restriction target road A speed limit comparison unit 95 that compares the speed limit set for the lane with the traveling speed of the vehicle during the course, and a speed change or lane change when the speed limit set for the lane is violated A warning guide unit 96 for guiding warnings.

  In this embodiment, before entering the speed restriction target road, display of speed restriction information and guidance by voice guide are given to the navigation screen to allow the user to understand the speed restriction for each lane in advance.

  Next, the display of the speed limit information and the output operation of the voice guide in the navigation device of the present embodiment will be described with reference to the flowchart of FIG. Here, it is assumed that a guide route to the destination is set. First, when the destination is set by the user, a guide route from the departure point to the destination is searched, and the searched guide route data 73 is stored in the data memory 70. When setting the destination, it is possible to set ON / OFF for determining whether or not to guide the speed limit information of each lane, and the speed limit information guide is set to ON (step S100). If the default is on, this setting is not necessary.

  When the vehicle position is detected by the sensor unit 2 and the GPS receiver 12 as the vehicle starts running (step S101), the corresponding road map data is read from the storage device 30, and roads around the vehicle position are detected. A map is displayed on the display 52 (step S102). The own vehicle position mark and the guidance route are combined and displayed on the road map on the display.

  Next, the speed limit information identifying unit 90 identifies whether or not the road in the traveling direction of the host vehicle is a speed limit target road based on the detected host vehicle position data (step S103). This identification is performed with reference to the link data stored in the storage device. When the speed limit information identifying unit 90 identifies the speed limit target road, the distance measuring unit 92 starts measuring the distance from the vehicle position to the speed limit target road (step S104).

  The speed limit information guide unit 92 determines whether the distance from the vehicle position to the speed limit target road has reached a certain distance or less (step S105). The fixed distance is set in advance to determine the timing for starting the guidance of the speed limit information, and the set value differs depending on the road type and the like. For example, the distance can be 500 m for an automobile road such as an expressway and 300 m for other general roads. On the other hand, it is desirable to complete the voice guide of the speed limit information before entering the speed limit target road.

  When the distance to the speed limit target road becomes a certain distance or less, the speed limit information guide unit 92 reads the speed limit information and the voice guide from the storage device 30, and displays the speed limit information and the voice based on the data. Guide is started (step S106). Preferably, the storage device 30 stores lane display data for a plurality of lanes (2 lanes, 3 lanes, 4 lanes,... N lanes) and speed limit display data for displaying a speed limit. The speed limit information guide unit 92 reads out the lane display data corresponding to the number of lanes of the speed limit target road and the speed limit display data set in each lane of the speed limit target road and displays them. Similarly, voice data for speed limit information is prepared in the storage device 30, and the speed limit information guide unit 92 reads out voice data corresponding to the speed limit target road. There is a speed limit.

  When the host vehicle enters the speed limit target road (step S107) and the distance to the end of the speed target road becomes equal to or less than a certain distance, the speed limit information guide unit 92 again sets the speed limit for the next road in the traveling direction. It is identified whether it is a target road (step S108). If it is not the speed restriction target road, the speed restriction information guide unit 92 ends the guidance of the speed restriction information (step S109). If it is a speed restriction target road, the speed restriction information is again guided in the same manner as in the above step.

  FIG. 5 is a diagram illustrating a display example of the speed limit information. FIG. 5A shows an example when a road map is displayed on one screen. A guidance route 402 to the destination and a vehicle position mark M are displayed on the road map 400. When the distance from the vehicle position to the speed restriction target road becomes a certain distance, the speed restriction information 401 is displayed on the upper left of the road map.

  The speed limit information 401 represents the number of lanes of the speed limit target road and the traveling direction of the lanes by the number and direction of arrows, and the speed limit set for each lane. The speed limit indicates the speed limit for each lane using the maximum speed indicator and / or the minimum speed indicator. FIG. 8 is a display example of a speed indicator. FIG. 8 (A) is a maximum speed indicator and indicates that the speed limit is 80 km / h or less. FIG. 8B is a minimum speed indicator, and the speed limit is 80 km / h or more. Use these signs to guide speed limit information.

  FIG. 5B and FIG. 5C are examples of two-screen display. FIG. 5B is an example in which maps of different scales are arranged, such as a road map 400 and a wide area guidance route map 403. When the distance between the host vehicle and the speed limit target link is less than or equal to a certain distance, speed limit information 401 is inserted into the left screen.

  FIG. 5C shows a display example of speed limit information when a road map 400 and a travel guide 404 such as an expressway are displayed together. In this display example, when the own vehicle enters the speed restriction target road, the traveling lane discriminating unit 93 discriminates the traveling lane of the own vehicle, and the own vehicle indicating which lane the own vehicle is traveling based on the determination result. A position lane guide 405 is also displayed. The own vehicle position lane guide 405 is preferably made to be easily recognizable by changing the display color or blinking with other lanes. In FIG. 5C, it can be seen from the display of the host vehicle position lane guide 405 that the host vehicle is traveling in the second lane from the right. The display examples in FIGS. 5A to 5C can be selected by the user.

  Next, a second embodiment of the navigation apparatus of the present invention will be described. As shown in FIG. 5, when the speed limit information is displayed, the display space on the road map is limited. The speed limit information may be displayed at the same place as other icons indicating merge guidance, tunnel guidance, and the like. In such a case, which icon display has priority is a problem. Therefore, in this embodiment, priorities are set for the icons in advance, and icons with high priorities are displayed. For example, in order of high priority of icons: Enlarged guide map, 2. 2. Merge guidance, 3. Speed limit information Tunnel guidance and railroad crossing guidance. Suppose that If the icon of the enlarged guide map is displayed, the speed limit information is not displayed and only the voice guide is provided.

  FIG. 6 is a display example of speed limit information when another icon is already displayed at the display position of the speed limit information. The operations shown in FIG. 4 are the same in steps S100 to S105. The icon priority comparison unit 94 identifies the icon being displayed on the display (step S200), and compares the icon being displayed with the priority of the speed limit information (step S201). When the speed limit information has priority, the displayed icon is terminated (step S203), and the speed limit information guide unit 92 reads the speed limit information and the voice guide data from the storage device 30, and based on the data. Display of speed limit information and voice guidance are started (step S204). The voice guide is terminated before entering the speed limit target road, and only the speed limit information is displayed. It is confirmed that the vehicle has entered the speed limit target road (step S205), and then it is determined whether the end point of the speed limit target road that is running is reached (step S206). Display of the speed limit information is terminated a certain distance before (step S207).

On the other hand, the icon priority comparison unit 94 compares the displayed icon with the priority of the speed limit information (step S202). When the displayed icon has priority, the displayed icon is continued (step S210). . The speed limit information guide unit 92 reads only voice guide data from the storage device 30, and starts voice guidance based on the data (step S211). When a certain announcement is completed, the voice guide is finished (step S212). If the displayed icon is finished while traveling on the speed restriction target road, the speed restriction information can be displayed as usual.

  Next, a description will be given of a third embodiment of the navigation apparatus of the present invention. FIG. 7 is a flowchart of a warning when the speed limit according to the third embodiment is violated. Steps S100 to S106 are the same as the display operation in FIG. It is determined whether the vehicle has entered the speed limit target road based on the vehicle position (step S300). When entering the speed restriction target road, the traveling lane determining unit 93 determines the lane in which the host vehicle is traveling. The travel lane may be determined by detecting the position of the host vehicle, or by recognizing a white line drawn at the boundary of the lane using image data captured by a vehicle-mounted camera.

  Further, the speed limit comparison unit 95 detects the travel speed from the vehicle state data 71 (step S301), compares the travel speed of the host vehicle with the speed limit set in the lane, and the host vehicle sets the speed limit of the travel lane. It is determined whether or not there is a violation (step S302). When the speed limit is violated, the warning guidance unit 96 reads the warning guidance data from the storage device 30 and starts warning guidance (step S303).

  After a predetermined time has elapsed, the travel lane determination unit 93 determines the travel lane of the host vehicle again, the speed limit comparison unit 95 detects the travel speed (step S304), and the travel speed of the host vehicle becomes the limit speed of the travel lane. It is determined whether or not it is violated (step S305). If it is still violated, the warning guidance unit 96 resumes the warning guidance, and if it is not violated, the warning guidance ends (step S306).

  FIG. 9 is an example of warning / guidance guidance when the maximum speed of the traveling lane is violated. FIG. 9A shows an example in which the vehicle travels at a speed of 80 km / h on a lane with a speed limit of 60 km / h or less. That is, the speed limit is violated at 20 km / h. At this time, in the speed limit information 401, a recommended lane guide 406 indicating a recommended driving lane is displayed together with the vehicle position lane guide 405. At the same time, a warning by voice guidance such as “Current speed violates speed regulation” starts.

  Furthermore, in the violation example shown in FIG. 9A, two guide guidance patterns are prepared. First, there is a pattern of giving priority to the traveling speed and guiding to a lane that can travel at the current speed. In the case of FIG. 9A, there is a guidance by voice guidance such as “The current speed violates the speed regulation. If you drive at the current speed, please go to the right lane.” When the driving speed is changed to the right lane that is the recommended lane without changing the traveling speed as shown in (B), the guidance guidance by the voice guide and the recommended lane guidance display is ended.

  Second, there is a guidance pattern for giving priority to the travel lane and continuing the travel in the travel lane. In the case of FIG. 9 (A), guidance by voice guidance such as “Current speed violates speed regulation. Please drive at 60 km / h or less” will start, as shown in FIG. 9 (C). If the traveling speed is reduced while maintaining the lane, the guidance by the voice guide and the recommended lane guidance display is terminated. In addition to voice guidance, it is also possible to display arrows and characters on the display for guidance and warning.

  FIG. 10 is an example of a warning when the minimum speed limit is not met. In FIG. 10A, the vehicle travels at a speed of 60 km / h on a lane with a speed limit of 80 km / h or higher, and is 20 km / h below the speed limit. At this time, the recommended lane for driving at the current speed is displayed as the recommended lane guidance 406 in the speed limit information, and at the same time, a warning by a voice guide such as “Current speed violates speed regulation”. Begins.

  First, there is a pattern that gives priority to the traveling speed and guides to a lane that can travel at the current speed. In the example of FIG. 10 (A), guidance by voice guidance such as “The current speed violates the speed regulation. If you drive at the current speed, please go to the left lane.” As shown in FIG. 10B, when the traveling speed is changed to the left lane which is the recommended lane, the guidance guidance based on the voice guide and the recommended lane guidance display is terminated.

  In addition, there is a pattern in which the traveling lane is prioritized and guided to the speed for traveling in the current lane. In the example of Fig. 10 (A), guidance by voice guidance such as "The current speed violates the speed regulation. Please drive at 80 km / h or more" is performed, as shown in Fig. 10 (C). When the traveling speed is accelerated while the traveling lane is maintained, the guidance guidance based on the voice guide and the recommended lane guidance display ends.

It is a block diagram which shows the structure of the electronic device for vehicles which concerns on the Example of this invention. It is a block diagram which shows schematic structure of the navigation apparatus shown in FIG. FIG. 3 is a functional block diagram of a speed limit information program shown in FIG. 2. It is a flowchart which shows the guidance operation | movement of the speed restriction information in the navigation apparatus which concerns on a 1st Example. It is an example of a display of the speed limit information in a 1st Example. It is a flowchart which shows the guidance operation | movement of the speed restriction information in the navigation apparatus which concerns on a 2nd Example. It is a flowchart which shows the guidance operation | movement of the speed restriction information in the navigation apparatus which concerns on a 3rd Example. It is an example of the speed indicator of speed limit information. It is an example of guidance when the maximum speed limit in the third embodiment is violated. It is an example of guidance when the minimum speed limit in the third embodiment is violated.

Explanation of symbols

6: Navigation device 12: GPS receiver 20: User input interface 30: Storage device 40: Audio output unit 42: Speaker 50: Display control unit 52: Display 60: Program memory 61: Own vehicle position detection program 62: Route search program 63: Route display program 64: Speed limit information guidance program 70: Data memory 71: Vehicle state data 72: Road map data 73: Guide route data 74: Speed limit data 75: Icon data 76: Warning guidance data 80: Control unit 90 : Speed limit information identification unit 91: Distance measurement unit 92: Speed limit guidance unit 93: Travel lane discrimination unit 94: Icon priority comparison unit 95: Speed limit comparison unit 95: Warning guidance unit
400: Road map 401: Speed limit information 402: Guidance route 403: Wide area guidance route diagram 404: Trip guide 405: Own vehicle position lane guidance 406: Recommended lane guidance M: Own vehicle position mark

Claims (21)

  1. Detection means for detecting the vehicle position;
    Road map display means for displaying a road map around the detected vehicle position;
    An identification means for identifying a road to be speed limited which is a road existing in the traveling direction of the own vehicle based on the detected own vehicle position and for which a speed limit is set for each lane;
    A measuring means for measuring a distance from the vehicle position to the speed restriction target road;
    Speed limit information display means for displaying speed limit information indicating a speed limit for each lane on the road map when the distance measured by the measuring means reaches a predetermined value;
    A navigation device.
  2. The speed limit information includes a display for identifying a plurality of lanes and a display indicating a speed limit for each of the plurality of lanes, and the display indicating the speed limit includes at least one of a maximum speed and a minimum speed. Item 4. The navigation device according to Item 1.
  3. The navigation device according to claim 1 or 2, wherein the speed limit information display means continuously displays the speed limit information until the vehicle position passes the speed limit target road.
  4. The detection means includes a determination means for determining a lane in which the host vehicle is traveling, and the speed limit information display means displays the lane determined by the determination means in distinction from other lanes. The navigation device according to any one of 3 to 3.
  5. The navigation device further includes a comparison unit that compares the priority of the other information and the speed limit information when other information is displayed on the road map, and the speed information display unit includes the speed information display unit, The speed limit information is displayed when the priority of the speed limit information is high according to the comparison result of the comparison means, and the speed limit information is not displayed when the priority of the other information is high. 4. The navigation device according to any one of 4.
  6. The navigation device further compares the traveling speed of the host vehicle with a speed limit set for the lane in which the host vehicle travels, and a speed limit for setting the traveling speed of the host vehicle to the lane by the comparing means. The navigation device according to any one of claims 1 to 5, further comprising warning means for issuing a warning of lane change, acceleration, or deceleration when the vehicle deviates.
  7. The navigation device according to claim 6, wherein the warning means includes a display guide or a voice guide that guides to a lane in which a speed limit that matches a traveling speed of the host vehicle is set.
  8. The navigation device further includes storage means for storing road information to which a speed limit is given for each lane, and the identification means identifies a speed limit target road based on the road information stored in the storage means. The navigation device according to any one of 1 to 7.
  9. The navigation device according to any one of claims 1 to 8, further comprising voice guide means for voice guidance for speed limitation for each lane.
  10. A method for displaying speed limit information in a navigation device, comprising:
    Detecting the vehicle position;
    Identifying a road that is in the traveling direction of the vehicle based on the detected vehicle position and that has a speed limit set for each lane;
    Measuring the distance from the vehicle position to the speed limit target road;
    When the distance measured by the measuring means reaches a predetermined value, displaying speed limit information indicating a speed limit for each lane on a road map; and
    Display method.
  11. The speed limit information includes a display for identifying a plurality of lanes and a display indicating a speed limit for each of the plurality of lanes, and the display indicating the speed limit includes at least one of an upper limit speed and a lower limit speed. Item 11. The display method according to Item 10.
  12. The display method according to claim 10 or 11, wherein in the displaying step, the speed limit information is continuously displayed until the vehicle position passes the speed limit target road.
  13. The detecting step includes a step of determining a lane in which the host vehicle is traveling, and the displaying step displays the determined lane separately from other lanes. Display method described in one.
  14. The display method further includes a step of comparing priorities of the other information and the speed limit information when other information is displayed on the road map, and the displaying step includes the comparison The speed limit information is displayed when the priority of the speed limit information is high according to a result, and the speed limit information is not displayed when the priority of the other information is high. Display method described in one.
  15. The display method further includes a step of comparing the traveling speed of the host vehicle with a speed limit set for a lane in which the host vehicle travels, and the traveling speed of the host vehicle deviates from the speed limit set for the lane by the comparison. 15. A display method according to claim 10, further comprising a step of issuing a warning of lane change, acceleration, or deceleration when the vehicle is in a lane.
  16. The display method according to claim 15, wherein the warning step includes a display guide or a voice guide that guides to a lane in which a speed limit that matches a traveling speed of the host vehicle is set.
  17. The display method according to claim 10, wherein the identifying step identifies a speed restriction target road based on road information stored in a storage device.
  18. A display program for speed limit information in a navigation device,
    Detecting the vehicle position;
    Identifying a road that is in the traveling direction of the vehicle based on the detected vehicle position and that has a speed limit set for each lane;
    Measuring the distance from the vehicle position to the speed limit target road;
    When the distance measured by the measuring means reaches a predetermined value, displaying speed limit information indicating a speed limit for each lane on a road map; and
    Display program.
  19. The display program according to claim 18, wherein the detecting step includes a step of determining a lane in which the host vehicle is traveling, and the displaying step displays the determined lane separately from other lanes. .
  20. The display program further includes a step of comparing priorities of the other information and the speed limit information when other information is displayed on the road map, and the displaying step includes the comparison The speed limit information is displayed when the priority of the speed limit information is high according to a result, and the speed limit information is not displayed when the priority of the other information is high. Display program.
  21. The display program further includes a step of comparing the traveling speed of the host vehicle with a speed limit set for the lane in which the host vehicle travels, and the traveling speed of the host vehicle deviates from the speed limit set for the lane by the comparison. The display program according to claim 18, further comprising a step of issuing a warning of lane change, acceleration, or deceleration when the vehicle is in lane.
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