JP5516021B2 - GUIDANCE METHOD, GUIDANCE CONTROL DEVICE, AND PROGRAM - Google Patents

Description

  The present invention relates to a guidance method, a guidance control device, and a program for guiding a user to a destination.

  Guidance devices that guide users to their destinations can be classified into fixed types and mobile types. The fixed type guidance device is fixedly installed at the entrance of a public facility, for example, and when the user performs an operation of inputting the destination, the route to the destination is displayed on the screen of the guidance device or voice Or output guidance. On the other hand, the mobile guidance device includes an autonomous mobile guidance robot that moves with the user, a portable terminal, and the like. The mobile guidance device moves with the user and guides the user to the destination by performing an operation in which the user inputs the destination.

  A conventional mobile guidance device guides a user to a destination by sequentially showing a corner or the like by screen display or voice guidance. However, there are many users who want to know how to get to the destination quickly and stop using the guide halfway rather than being sequentially guided to the guidance device until reaching the destination. Especially when the user is in a hurry, it is troublesome and time-consuming for the user to move according to the instructions while looking at the screen of the mobile terminal or to be guided by the autonomous mobile guidance robot. I can feel it. However, even if a user explains a complicated route to the guidance device at a time, the user cannot remember. Therefore, it may be possible to simplify the route guidance to the destination, but the complexity of the route to the destination varies depending on the current position of the user and the ease of understanding the route to the destination (or Nikusa) depends on the situation up to the destination, and it is not possible to simply determine whether or not to omit it based on the number of turns and the distance to the destination. If the route guidance to the destination is simply partially omitted, the quality of the guidance will deteriorate even if the guidance time is shortened from the user side.

  On the other hand, in the case of an autonomous mobile guidance robot, guiding each user to the destination makes it difficult to reduce the guidance time for each user, and it is difficult to efficiently guide a large number of users. If the guidance of the route to the destination is simply partially omitted, the quality of the guidance will deteriorate even if the guidance time can be shortened from the guidance device side.

JP 2007-285976 A JP 2003-75187 A

  The conventional mobile guidance apparatus has a problem that it is difficult to shorten the guidance time without reducing the quality of guidance.

  Therefore, an object of the present invention is to provide a guidance method, a guidance control device, and a program capable of reducing the guidance time without reducing the quality of guidance.

  According to one aspect of the present invention, there is provided a guidance method in which guidance by a guidance device is controlled by a computer, and the guidance device notifies the user when guidance to an arbitrary destination is instructed at a guidance start position. A route generation step for generating a route from the guidance start position to the arbitrary destination based on the arbitrary destination, the guidance start position and the map information stored in the map information holding unit; Based on the destination, the map information, and the route, a guidance sentence at a plurality of points on the route is generated, stored in the storage unit and output, and information from the guidance device The computer is caused to execute a communication step of receiving and transmitting the guidance sentence output by the guidance generation step to the guidance device. In the guidance generation step, a plurality of users use the guidance. With reference to the guidance end position information holding unit that stores the completed guidance end position for each destination, the guidance sentence is stored until the number of users at the guidance end position stored for the arbitrary destination reaches a threshold value. A guidance method is provided that sequentially outputs and outputs the remaining guidance sentences collectively at a point exceeding the threshold.

  According to one aspect of the present invention, there is provided a guidance control device for controlling guidance by a guidance device, and a guidance end position information holding unit that stores guidance termination positions at which a plurality of users have finished using guidance according to destinations. A map information holding unit that stores map information, and the guide device that is instructed to guide the user to an arbitrary destination at the guide start position. And a route generation unit that generates a route from the guidance start position to the arbitrary destination based on the map information, and on the route based on the arbitrary destination, the map information, and the route. Generates guidance sentences at a plurality of points, stores them in the storage unit and outputs them, and receives information from the guidance device and transmits the guidance sentences output by the guidance generation unit to the guidance device You A communication unit, and the guidance generation unit sequentially outputs the guidance sentences until the number of users at the guidance end position stored for the arbitrary destination in the guidance end position information holding unit reaches a threshold value. And the guidance control apparatus which outputs the remaining guidance sentences collectively in the point exceeding the said threshold value is provided.

  According to one aspect of the present invention, there is provided a program for causing a computer to control guidance by a guidance device, which is notified from the guidance device when guidance to an arbitrary destination is instructed at the guidance start position in the guidance device. A route generation procedure for generating a route from the guidance start position to the arbitrary destination based on the arbitrary destination, the guidance start position and the map information stored in the map information holding unit; Based on the destination, the map information, and the route, a guide sentence is generated at a plurality of points on the route, stored in the storage unit, and output, and information from the guide device The computer is caused to execute a communication procedure for receiving and transmitting the guidance text output by the guidance generation procedure to the guidance device. With reference to the guidance end position information holding unit that stores the finished guidance end position for each destination, the guidance sentence is stored until the number of users at the guidance end position stored for the arbitrary destination reaches a threshold value. A program is provided that sequentially outputs and collectively outputs the remaining guidance sentences at points exceeding the threshold.

  According to the disclosed guidance method, guidance control device, and program, it is possible to shorten the guidance time without reducing the quality of guidance.

It is a block diagram which shows an example of the guidance apparatus in one Example of this invention. It is a flowchart explaining operation | movement of an Example. It is a flowchart explaining the process of step S1. It is a figure explaining destination information and a guidance area. It is a figure explaining the path | route to the destination. It is a figure explaining guidance information. It is a flowchart explaining the process of step S2-S4. It is a figure explaining the destination information and the node in a guidance area. It is a flowchart explaining the process added to the process of step S2 in a 1st modification. It is a figure explaining destination information, a guidance mark, and a guidance area. It is a flowchart explaining the process added to the process of step S14 in a 1st modification. It is a flowchart explaining the process corresponded to step S3, S4 in a 2nd modification. It is a figure explaining the path | route to a destination and common path | route information.

  In the disclosed guidance method, guidance control device, and program, for each destination, a plurality of users who are guided to the destination store the guidance end positions at which the use of the guidance is terminated. At the same time as generating the route to the destination, the route guidance is generated in order, and the saved guidance end position is used to guide the user one by one until a certain percentage of people finish using the guidance, After reaching a certain point, the route guidance for the remaining routes is collectively guided to guide the user.

  Hereinafter, embodiments of the disclosed guidance method, guidance control device, and program will be described with reference to the drawings.

  FIG. 1 is a block diagram showing an example of a guidance device according to an embodiment of the present invention. In this embodiment, for convenience of explanation, the present invention is applied to an autonomous mobile guidance robot.

  The guide device 1 includes an input unit 11, a control unit 12, a self-position acquisition unit 13, a drive unit 14, a communication unit 15, and an output unit 16, which are connected as shown in FIG. The input unit 11 includes an operation unit including a touch panel and / or various cameras including an audio input microphone and / or an omnidirectional camera for image input, an imaging device including a CCD (Charge Coupled Device), and the like. Including input, instruction, selection, etc. by the user. The control unit 12 is formed by a processor such as a CPU (Central Processing Unit) and controls the entire guide device 1. The self-position acquisition unit 13 acquires the position information of the guidance device 1 itself by comparing the information of a distance measuring device such as GPS (Global Positioning System), camera image, laser range finder, etc. with map information. . The drive unit 14 has a known configuration including a guide device 1, that is, a motor (not shown), a wheel (not shown), and the like for moving the autonomous mobile guidance robot. The communication unit 15 manages communication via the communication path 3 between the guide device 1 and an external device including at least the server 2. The communication path 3 is formed by a wireless communication path. However, when the function of the server 2 is provided in the guide device 1, the communication path 3 may be formed by a wired communication path. The information output unit 16 includes a display unit that displays guidance information for the user, an input screen and a menu, and / or a speaker for outputting the guidance information for the user.

  When the user inputs (or indicates or selects) destination information from the input unit 11 and instructs the start of guidance, the control unit 12 displays the current position information of the guidance device 1 acquired by the self-position acquisition unit 13. While notifying the server 2 as the guidance start position information, the communication unit 15 is controlled to notify the server 2 of the destination information input from the input unit 11. Further, when the user instructs the end of the use of guidance from the input unit 11, the control unit 12 notifies the server 2 of the current position information of the guidance device 1 acquired by the self-position acquisition unit 13 as the guidance end position information. The communication unit 15 is controlled. Further, when the communication unit 15 is notified of the route information from the server 2, the control unit 12 controls the driving unit 14 based on the route information to move the guide device 1 along the route.

  For example, if a display with a touch panel (Touchscreen Panel) is used, the input unit 11 and the information output unit 16 can be integrally formed.

  On the other hand, the server 2 includes a guidance end position information holding unit 21, a destination information holding unit 22, a map information holding unit 23, a guidance start position information holding unit 24, a guidance generation unit 25, and a communication unit connected as shown in FIG. 26, a route generation unit 27, and a guidance start option generation unit 28, which form a guidance control device that controls guidance by the guidance device 1. The guidance end position information holding unit 21 that stores the guidance end position notified from the guidance device 1, the destination information holding unit 22 that stores the destination information notified from the guidance device 1, and the guidance device 1 guide the user. Even if the map information holding unit 23 that stores the map information of the guidance area and the guidance start position information holding unit 24 that stores the guidance start position information notified from the guidance device 1 are formed of a single storage unit, It may be formed of a plurality of storage units. The guidance start position information notified from the guidance device 1 is current position information notified from the guidance device 1 when guidance is started. Further, the destination information holding unit 22 may store guide mark information indicating the position of the guide mark and the guide mark in addition to the destination information as described later. In the present embodiment, the guidance area is divided into a plurality of areas for convenience, so the map information stored in the map information holding unit 23 includes information on each area forming the guidance area. Note that at least one of the guidance end position information holding unit 21, the destination information holding unit 22, the map information holding unit 23, and the guidance start position information holding unit 24 is connected to the server 2 by a network (not shown). Needless to say, it may be externally connected through the like. Further, as long as a plurality of guidance devices can mutually send guidance end position information and guidance start position information, all functions of the server may be in the guidance device.

  Based on the current position information and the destination information notified from the guidance device 1, the guidance generation unit 25 generates guidance for the user of the guidance device 1 according to the procedure described later. The communication unit 26 manages communication between the server 2 and the guide device 1 via the communication path 3. Based on the current position information and the destination information notified from the guide device 1, the route generation unit 27 performs a route from the user's current position (exactly the current position of the guide device 1) to the destination based on the procedure described later. Is generated. The guidance start option generation unit 28 generates options for starting guidance for the user, as will be described later. The communication unit 26 receives information from the guidance device 1 and transmits (or notifies) the guidance, route, and guidance start option generated by the server 2 to the guidance device 1. The server 2 can be formed by a computer having a known configuration including a processor such as a CPU and a storage unit such as a semiconductor storage device or a disk device. In this case, the functions of the guidance generation unit 25, the route generation unit 27, and the guidance start option generation unit 28 are executed by the processor, and the guidance end position information holding unit 21, the destination information holding unit 22, the map information holding unit 23, and the guidance start The position information holding unit 24 can be formed by a storage unit.

  FIG. 2 is a flowchart for explaining the operation of this embodiment, that is, the procedure or process of the guidance method. The processing in steps S1 to S19 in FIG. 2 is performed by the processor of the server 2 executing a guidance program stored in the storage unit of the server 2. The guide program may be stored in a computer-readable storage medium. In this case, the program is installed in the storage unit of the server 2 from the computer-readable storage medium.

  The process of FIG. 2 is started when the guidance device 1 notifies the guidance start position information. In step S 1, the communication unit 26 stores the guidance start position information notified from the guidance device 1 in the guidance start position information holding unit 24 under the control of the guidance generation unit 25, and the destination information notified from the guidance device 1. Is stored in the destination information holding unit 22 under the control of the guidance generating unit 25.

  FIG. 3 is a flowchart for explaining the processing in step S1. In step S <b> 21, the communication unit 26 stores the guidance start position information notified from the guidance device 1 in the guidance start position information holding unit 24 under the control of the guidance generation unit 25, thereby acquiring the current position information of the guidance device 1. To do. In step S22, the map information of the guidance area where the guidance device 1 guides the user is acquired from the map information holding unit 23 through the route generation unit 27 under the control of the guidance generation unit 25, and the guidance device 1 is obtained from the current position information. It is determined to which area in the guidance area the current position belongs, and the area information is acquired.

  FIG. 4 is a diagram for explaining destination information and a guidance area. 4A is a plan view showing a guide area 50 guided by the guide device 1. FIG. In this example, the guide area 50 has ten regions R1 to R10, but the number of regions in the guide area 50 is not particularly limited as long as it is plural, and the shape of the guide area 50 and each region R1 to R10 is also not limited. It is not limited to a rectangle.

  In step S23, the guidance generating unit 25, based on the current position information, guides the guide device 1 from the area in the guidance area to which the current position belongs in the past and the number of times of guidance to each destination (hereinafter referred to as the destination). The instruction count information) is acquired from, for example, a table provided for each area stored in a storage unit (not shown) in the guidance generation unit 25. 4B shows an example of a table stored in the storage unit in the guidance generation unit 25. FIG. If the current position is within the region R1 in FIG. 4A, FIG. 4B shows a table provided for the region R1. In step S24, the guidance generating unit 25 rearranges the destinations as options (that is, destination candidates) in order of ranking of the number of guidances (for example, in descending order of the number of guidances) (that is, sorts) the communication unit 25. To the guidance device 1 via As a result, the guidance device 1 displays the sorted destinations as options on the display unit of the information output unit 16 and prompts the user to select a destination from the input unit 11. Alternatively, in the control unit 12 that performs voice recognition by receiving the user's voice with the microphone of the input unit 11, the recognition words are prioritized so that the destination name having the highest ranking of the number of times of guidance is easily recognized. When the user selects one destination Pd from the choices, the destination information of the selected destination Pd is notified to the server 2 via the communication unit 15 under the control of the control unit 12. In step S <b> 25, the destination information notified from the guidance device 1 is supplied to the guidance generation unit 25 via the communication unit 26 and stored in the destination information holding unit 22. In step S26, based on the destination information notified from the guidance device 1, the number of times of guidance of the destination Pd indicated by the destination information in the table provided for the region R1 is incremented by 1, and the processing is the step of FIG. Proceed to S2.

  When the user directly inputs destination information indicating the destination Pd from the input unit 11 of the guidance device 1, steps S23 and S24 in FIG. 3 can be omitted.

  Returning to the description of FIG. 2, in step S <b> 2, under the control of the guidance generation unit 25, the route generation unit 27 starts from the guidance start position Ps indicated by the guidance start position information stored in the guidance start position information holding unit 24. A route to the destination Pd indicated by the destination information stored in the information holding unit 22 is generated based on the map information stored in the map information holding unit 23. FIG. 5 is a diagram for explaining the route “Ps → A → C → B → F → Pd” (hereinafter referred to as the route 500) to the destination Pd. In this example, the guidance start position (currently in the region R1) Position) It is assumed that a route 500 from Ps to the destination Pd in the region R10 is generated. Here, Ps is a node in the region R1 corresponding to the guidance start position Ps, A is a node in the region R2, C is a node in the region R4, B is a node in the region R6, F is a node in the region R9, Pd indicates a node in the region R10 corresponding to the destination Pd. A node refers to a point other than the same straight line, that is, a point where a turn can be made on a route along which the guide device 1 can move.

  In the guidance device 1, the control unit 12 notifies the server 2 of the current position information acquired by the self-position acquisition unit 13 via the communication unit 15. Whether the current position information is always notified from the guidance device 1, at regular intervals, or every time the guidance device 1 moves a certain distance, the current location is one in the guidance area. You may notify whenever it moves to another area | region from an area | region. The fixed time is preferably set to a length that does not completely pass through one area within the fixed time during which the guide device 1 moves. Further, it is desirable that the fixed distance is set to such a length that the guide device 1 does not completely pass through one area while moving the fixed distance. When the current position information is notified to the server 2 every time the current position moves from one area to another area in the guidance area, the control unit 12 needs to acquire map information of each area forming the guidance area. In this case, the map information may be acquired from the storage unit in the control unit 12 or may be acquired from the storage unit outside the control unit 12.

  In step S3, the guidance generation unit 25 guides the user at the nodes Ps, A, C, B, F, and Pd on the route 500 based on the destination Pd, the map information, and the generated route 500. And stored in the storage unit in the guidance generation unit 25. Thereby, for example, a list of guidance information shown in FIG. 6 is stored in the storage unit in the guidance generation unit 25 for the route 500 from the guidance start position Ps to the destination Pd. For example, if the current position of the guidance device 1 is the node A in the region R2, a guidance sentence “Please turn right and proceed L2 meters (m)” from the current position is stored in the list in the storage unit.

  In step S <b> 4, the guidance generation unit 25 acquires an area through which the guidance device 1 passes through the route 500. The storage unit of the guidance generation unit 25 stores a table that holds the number of times (or the number of users) the guidance to the destination for the user is completed for each area. In step S5, the guidance generation unit 25 acquires the number of times guidance to the destination Pd has been completed for each area acquired in step S4 from the table stored in the storage unit of the guidance generation unit 25. In step S6, the guidance generation unit 25 calculates a ratio (guidance end ratio) h at which the guidance to the destination Pd acquired for each area is completed from h = Ei / Es. Here, Ei indicates the number of times of guidance end to the destination Pd in an arbitrary area, and Es indicates the total number of times of guidance end to the destination Pd in all areas through which the route 500 passes. In step S7, the guidance generating unit 25 sets a variable H to be added to the guidance end ratio h to H = h (current region). In step S <b> 8, the guidance generation unit 25 calculates H = H + h (current region) and starts guidance to the user via the guidance device 1.

  The reason why Es is used as the denominator of the expression for calculating the guidance completion ratio to the destination Pd for each area is to appropriately calculate in which area in the route 500 many users have finished using the guidance. It is. For example, a method of using the number of guidance ends for all areas in the guidance area for the destination Pd as a denominator is also conceivable. In this possible method, when there are a plurality of routes to the destination Pd, the current position belongs. When the guidance starts from a different area in the direction different from the destination Pd and the number of guidance ends reaching the destination Pd is large, the guidance end ratio of the area through which the current route passes is relatively decreased. End up. For example, in FIG. 5, when the number of times of guidance from the direction of the region R7 is very large, even if most of the users who have finished using the guidance up to the region R6 in the current guidance route 500, all guidance ends. From the viewpoint of the number, the percentage of people who have finished up to the region R6 will be low. On the other hand, when the above equation using Es as the denominator is used, the above disadvantages in the conceivable method can be solved.

  In step S9, the guidance generation unit 25 determines whether or not H> Vc. If the determination result is YES, the process proceeds to step S10, and if the determination result is NO, the process proceeds to step S12. Here, Vc is a constant value or a threshold value.

  At the start of guidance, the current position of the guidance device 1 is the guidance start position Ps. Therefore, in step S12, the guidance generation unit 25 reads the top guidance sentence in the list of guidance information as shown in FIG. By notifying the guide device 1, it is presented to the user and deleted from the list. In step S13, the guidance generation unit 25 determines whether there is a guidance sentence that has not been presented to the user in the list of guidance information. If the determination result is YES, the process proceeds to step S14, and the determination result is NO. If so, the process proceeds to step S19. In step S <b> 14, the guidance generation unit 25 notifies the guidance device 1 via the communication unit 26 of a command for driving the driving unit 14 to move the guidance device 1 along the route 500. In step S15, the guidance generation unit 25 receives the current position information of the guidance device 1 notified from the guidance device 1 via the communication unit 26, and whether or not the current location of the guidance device 1 has moved into a new area. Determine whether. If the determination result in step S15 is YES, the process proceeds to step S16, and if the determination result is NO, the process proceeds to step S18. In step S16, the guidance generation unit 25 determines whether or not the new area determined in step S15 is an area in the route 500. If the determination result is YES, the process proceeds to step S17, and the determination result If NO is NO, the process returns to step S2.

  In step S17, the guidance generation unit 25 calculates H = H + h (new area). In step S18, the guidance generation unit 25 determines whether the guidance device 1 that has moved to the new area has approached a node on the route 500 based on the current position information of the guidance device 1, and the determination result is NO. If there is, the process returns to step S14, and if the determination result is YES, the process returns to step S9.

  If the decision result in the step S9 is YES, in a step S10, the guidance generating unit 25 reads out the remaining guidance sentences in the guidance information list as shown in FIG. 6 and sends them to the guidance device 1 via the communication unit 26. By notifying, the user will be presented with a guide sentence. In the guidance device 1, the guidance text presented together is output from the information output unit 16. For example, the display unit of the information output unit 16 may display the guidance sentences presented together at the same time or sequentially at a speed that is easy to read. The speaker of the information output unit 16 may sequentially output the guidance sentences collectively presented.

  In step S <b> 11, the guidance generation unit 25 determines whether the user has finished using the guidance by the guidance device 1. When the user instructs the end of use of guidance from the input unit 11 and the current position information is notified to the server 2 as guidance end position information, the guidance generation unit 25 receives this notification via the communication unit 26. In step S11, the determination can be made. If the determination result in step S11 is NO, the process proceeds to step S12, and if the determination result is YES, the process proceeds to step S19.

  When the guidance device 1 is an autonomous mobile guidance robot, the control unit 12 determines the end of the use of the guidance when the user is searched by the camera of the input unit 11 and there is no user in the vicinity, or the guidance by the user. Control is performed when a voice instructing the end of use is received by the microphone of the input unit 11 and the control unit 12 determines the end of use of the guidance by voice recognition or when the user cannot obtain voice confirmation within a predetermined time. The unit 12 may determine the end of use of the guidance.

  If the determination result in step S13 is NO or the determination result in step S11 is YES, in step S19, the guidance generation unit 25 stores the guidance end position information in the guidance end position information holding unit 21, and the process ends. The guidance end position information is stored in the guidance end position information holding unit 21 for each destination. The stored guidance end position information may include additional information such as the guidance end date and user attributes (for example, age, sex, etc.) in addition to the guidance end position.

  In addition, when the guidance device 1 is a portable terminal, it goes without saying that the drive unit 14 of FIG. 1 is not provided, and the portable terminal moves when the user moves with the portable terminal. For this reason, when the guidance device 1 is a portable terminal, step S14 in FIG. 2 is omitted. Further, the control unit 12 can determine the end of the use of the guidance, for example, when the backlight of the screen of the portable terminal is turned off (OFF) or the power is turned off. Needless to say, portable terminals include a portable terminal dedicated to guidance, a portable terminal for communication, and the like. The mobile terminal for communication includes a mobile phone, and when the guide device 1 is a mobile phone, the mobile phone receives a guide service by the server 2, and thus an application for realizing the above function of the control unit 12 The program is installed.

  Next, the processing of steps S2 to S4 in FIG. 2 will be described in more detail with reference to FIGS. FIG. 7 is a flowchart for explaining the processing in steps S2 to S4, and FIG. 8 is a diagram for explaining destination information and nodes in the guidance area. In FIG. 8, (a) shows connection between nodes, nodes A and C are connected by an arc a, nodes B and C are connected by an arc b, and nodes C and D are connected by an arc. The nodes C and E are connected by an arc d, and the nodes B and F are connected by an arc e.

In FIG. 7, in step S <b> 31, the guidance generation unit 25 acquires the current position of the guidance device 1 received via the communication unit 26, and the map to which the area to which the current position belongs is stored in the map information holding unit 23. Obtain from information. In step S32, the guidance control unit 25 acquires the coordinates of the destination Pd stored in the destination information holding unit 22 from the destination information stored in the destination information holding unit 22, and the destination Pd belongs to it. The area is acquired from the map information stored in the map information holding unit 23. For example, destination information as shown in FIG. 8B is stored in the destination information holding unit 22. In this example, the destination information I _Pd of the destination _Pd includes a destination name “store P1”, coordinates “(x _Pd , y _Pd )”, and a region “R10” to which the destination belongs. The coordinates are shown as two-dimensional xy coordinates for convenience of explanation, but needless to say, they may be shown as three-dimensional xyz coordinates.

In step S33, under the control of the guidance generation unit 25, the route generation unit 27 is stored in the destination information holding unit 22 from the guidance start position Ps indicated by the guidance start position information stored in the guidance start position information holding unit 24. A route 500 to the destination Pd indicated by the destination information I _Pd is generated based on the map information stored in the map information holding unit 23. If there are a plurality of routes to the destination Pd, the shortest route is searched. The map information holding unit 23 stores map information including node information, arc information, and area information as indicated by (c), (d), and (e) in FIG. For generating the route 500, at least the node information and arc information of the map information are used. In this example, node information _{I C} for the node C shown in (c), node coordinates of C _"(x C, _{y C)",} arc node C is connected (connection arc) "a, c, d, b ”And the region“ R4 ”to which the node C belongs. The arc information Ia related to the arc a shown in (d) includes the nodes “A, C” to which the arc a is connected and the distance Dista of the arc a. Furthermore, the region information _{I R1} of a region R1 shown in (e) is the coordinates of the region R1 is "(x1, y1), (x2 , y2), (x3, y3), (x4, y4) ", and the region R1 The area “R2” to be connected is included. In this example, the coordinates of the area information are the coordinates of the four vertices of the rectangle since the area is a rectangle. If the area is a polygon, the coordinates of the area information are the coordinates of each vertex of the polygon.

  In step S34, the guidance generation unit 25 determines whether there is a next node on the generated route 500. If the current position of the guidance device 1 is the guidance start position Ps, the next node on the route 500 is the node A, and the determination result in the step S34 is YES. If the decision result in the step S34 is YES, in a step S35, the guidance generating unit 25 uses the node information and the arc information of the map information stored in the map information holding unit 23 at the next node on the route 500. Calculate the direction of the turn. For example, if the next node on the route 500 is the node A, the turning direction is right.

In step S36, the guidance generation unit 25 generates a guidance sentence for the user at the next node A on the route 500 based on the destination information I _Pd , the map information, and the generated route 500, thereby generating guidance. It is stored in the storage unit in the unit 25. If the current position of the guidance device 1 is the node A in the region R2, a guidance sentence “Please turn right and proceed L2 meters (m)” from the current position is stored in the list in the storage unit. In step S <b> 37, the guidance generation unit 25 acquires the passing area to the next node on the route 500 from the area information of the map information. If the next node on the route 500 is the node C, the region R3 is acquired as the passing region from the region information. In step S38, the guidance generation unit 25 starts generating a guidance sentence at the next node C on the route 500, and the process returns to step S34. If the decision result in the step S34 becomes NO, the process is ended, and the process advances to a step S5 in FIG. In this example, the determination result in step S34 is NO when the generation of the guidance sentence at the node Pd (that is, the destination Pd) is started.

  Thereby, by repeating the processing of steps S34 to S38, for example, a list of guidance information shown in FIG. 6 is stored in the storage unit in the guidance generation unit 25 with respect to the route 500 from the guidance start position Ps to the destination Pd. Stored.

  Next, a first modification using guide marks in this embodiment will be described with reference to FIGS. FIG. 9 is a flowchart illustrating a process added to the process of step S2 in the first modification. The guidance mark is a kind of sign provided to guide the user to the destination, and includes, for example, a symbol and / or character indicating a toilet and an arrow indicating a direction in which the toilet is located. If such a guide mark is installed at a position where the user can visually recognize the route 500 to the destination Pd, the use of the guide is terminated if the user is guided to a position where the guide mark can be easily seen. From that position, the user can reach the destination Pd by following the guide mark. It should be noted that the area where the guide mark is visible (hereinafter referred to as the visible area) and the area where the guide mark is installed need not be the same.

FIG. 10 is a diagram for explaining destination information, guidance marks, and guidance areas. In FIG. 10, (a) shows a path 500 to the destination, (b) shows a destination information _{I Pd} stored in the destination information holding section 22, (c) is in the information generating unit 25 The guide information stored in the storage unit is shown, and (d) shows a list of destination guide marks GM. In the example shown in FIG. 10, for convenience of explanation, as shown in FIG. 10A, the guide mark GM is installed in the region R6, and the guide mark GM is visible in the visible region Rv. In this example, the visible region Rv is formed by a part of the region R5 and a part of the region R6, but the visible region Rv is at least a part of the region where the guide mark GM is installed, or the guide mark GM At least one part of at least one area adjacent to the installed area, at least one part of the area where the guide mark GM is installed, and at least one area adjacent to the area where the guide mark GM is installed It may be formed of parts. The destination information I _Pd stored in the destination information holding unit 22 includes the number of guidance marks for the destination Pd installed in the guidance area 50 in addition to the information of FIG. Each guide mark GM1, GM2,. . . Contains information about. Each guide mark GM1, GM2,. . . The information regarding the information marks GM1, GM2,. . . Mark information (symbols and / or characters), guide marks GM1, GM2,. . . Position information and each guide mark GM1, GM2,. . . Position information (for example, the coordinates of each vertex of the polygon in the case of a polygonal visible area). If there is one guide mark GM in the guide area 50 as shown in FIG. 10A, there is one guide mark GM information in the destination information _IPD .

For example, it is determined between step S32 and step S33 in FIG. 7 whether or not there is guide mark information (information on the guide mark GM) in the destination information _IPd in FIG. For example, as shown by adding an asterisk (*) to the beginning of the guidance text in FIG. 10 (c), a guidance text such as “* This is the guidance mark for this destination (guidance mark)” corresponding to “* Current location”. Is inserted at the beginning of the guide. At this time, a list of guide marks GM of the destination Pd indicated by the destination information _{IPd in} FIG. In the list of the guide marks GM for the destination Pd, a description flag indicating whether or not the guide mark GM has been described (or has been already guided) is stored. The flag is set to YES (completed), and the already described flag for the unexplained guidance mark GM is set to NO (not yet). By using the explained flag stored in the list of guidance marks GM, the guidance mark GM once guided can be prevented from being explained many times.

In FIG. 9, step S41 is executed between, for example, step S37 and step S38 in FIG. In step S <b> 41, the guidance generation unit 25 acquires arc information to the next node from the node information and arc information of the map information stored in the map information holding unit 23. In step S42, information generating unit 25, based on such destination information I _Pd shown in FIG. 10 (b) stored in the destination information holding section 22, or the path 500 to the destination Pd passes visible region Determine whether or not. If the decision result in the step S42 is NO, the process advances to a step S3 in FIG. On the other hand, if the decision result in the step S42 is YES, in a step S43, the guidance generating unit 25 will be described with reference to the list of the guide marks GM for the destination Pd indicated by the destination information _{IPd in} FIG. It is determined whether or not the completed flag is set to YES (completed). If the determination result is YES, the process proceeds to step S3 in FIG. If the already-described flag is set to NO (not yet) with reference to the list of guide marks GM for the destination Pd and the determination result in step S43 is NO, in step S44, the guide generation unit 25 causes the guidance device 1 to The presentation of the guidance mark GM of the destination Pd according to the current position is added to the guidance information as a guidance sentence, and the process proceeds to step S3 in FIG.

That is, in step S44, if the current position of the guidance device 1 is the guidance start position Ps, the information of the guidance mark GM of the destination Pd is acquired from the destination information _IPd in FIG. ) Is added to the information output unit 16 on the guide device 1 side, as shown by adding an asterisk (*) to the current position and guide text column. If there is a display part, the guidance mark GM of the destination Pd is also presented. Further, if it is within the visible region Rv guide mark GM of the current position is the destination of Pd guide device 1, in step S44, information from the destination information _{I Pd} guide mark GM destinations Pd shown in FIG. 10 (b) As shown in FIG. 10 (c) with an asterisk (*), a guidance sentence such as “You can see the guidance mark. Proceed as directed” is added. If the flag indicating that the guide mark GM of the destination Pd has already been explained is not set to YES (completed) in the list of the guide marks GM of the destination Pd indicated by the destination information _{IPd in} FIG. At this time, a guide sentence “This is the guide mark for this destination” is also added.

FIG. 11 is a flowchart illustrating a process added to the process of step S14 in the first modification. In FIG. 11, in step S <b> 51, the guidance generation unit 25 determines whether or not the current position of the guidance device 1 is within the visible region Rv of the guidance mark GM of the destination Pd, and processing is performed when the determination result is NO. Advances to step S15 in FIG. On the other hand, if the decision result in the step S51 is YES, in a step S52, the guidance generating unit 25 refers to the list of the guide marks GM for the destination Pd in FIG. 2 is determined. If the determination result is YES, the process proceeds to step S15 in FIG. If the already-described flag is set to NO (not yet) with reference to the list of guidance marks GM for the destination Pd, and the determination result in step S52 is NO, in step S53, the guidance generating unit 25 selects FIG. Information on the guide mark GM of the destination Pd is obtained from the destination information I _Pd of b), and a guide sentence such as “This is the guide mark for this destination” is shown by an asterisk (*) in FIG. Is notified to the guidance device 1 via the communication unit 26, and the guidance mark GM of the destination Pd is explained to the user. In step S54, the guidance generating unit 25 sets a flag indicating that the guide mark GM of the destination Pd has been explained in step S53 in the list of the guide marks GM of the destination Pd in FIG. ) And the process proceeds to step S15 in FIG.

  Next, processing when common route data can be used will be described. The route search itself to the destination can be performed using a general algorithm such as A *. However, the amount of calculation for generating a guidance sentence from route search and acquiring a passing area is relatively large, and it is difficult to reduce the load on the processor of the server 2, and a high-speed processor with relatively high cost. Must be used. Therefore, in the second modification, the searched route is reused to reduce the amount of calculation and reduce the load on the processor.

  FIG. 12 is a flowchart for explaining the processing corresponding to steps S3 and S4 in the second modified example, and FIG. 13 is a diagram for explaining the route 500 to the destination Pd and the common route information. In FIG. 13, (a) shows the route 500 generated by the route generator 25, and (b) shows the common route information to the region R10. In this example, the common route information of the area R10 includes a node, a guide sentence, a passing area to the next node, and information on the next node. However, in FIG. 13B, the actual guidance text is not shown and is shown as blank.

  In FIG. 12, in step S <b> 61, the guidance generation unit 25 acquires the current position of the guidance device 1 received via the communication unit 26, and the map to which the area to which the current position belongs is stored in the map information holding unit 23. Obtain from information. In step S62, the guidance control unit 25 acquires the coordinates of the destination Pd stored in the destination information holding unit 22 from the destination information stored in the destination information holding unit 22, and the destination Pd belongs to it. The area is acquired from the map information stored in the map information holding unit 23. For example, destination information as shown in FIG. 8B is stored in the destination information holding unit 22. In step S <b> 63, the guidance generation unit 25 acquires node information regarding the node closest to the current position of the guidance device 1 from the map information stored in the map information holding unit 23.

  In step S64, whether the node of the node information acquired in step S63 by the guidance generation unit 25 is included in the common route information to the region R10 to which the destination Pd belongs as shown in FIG. 13B. Determine whether. The common route information to the region R10 is stored in the storage unit in the server 2 including the storage unit of the guidance generation unit 25 or a storage unit externally connected to the server 2. In this example, for convenience of explanation, it is assumed that the common route information to the region R10 is stored in the destination information holding unit 22. If the decision result in the step S64 is NO, in a step S65, the guidance generating unit 25 continues the route search to acquire the next node on the route 500, and the process returns to the step S64. If the decision result in the step S64 becomes YES, in a step S66, the guidance generating unit 35 selects the next node on the route 500 from the common route information to the area R10 stored in the destination information holding unit 22 as the last node END, That is, while tracing to the destination Pd, the guidance text and the passage area are acquired to generate guidance information including the route 500, and the process proceeds to step S5 in FIG.

  Thus, in this modification, the once generated route is stored in the common route information of the region to which the destination belongs. This common route information stores all the nodes in the guideable range. In addition, for each node of the common route information, in the “Guidance text” column at the corresponding node, “pass through until the next node is reached to reach the area to which the destination belongs (ie, the next node The information corresponding to the “passing area” column (to the next node) and the “next node” column for reaching the area to which the destination belongs are stored. Each column for a node that has never been used in a path generated in the past is blank. When guidance is started, the node closest to the current position is acquired, and if the node is blank with reference to each column of the acquired node in the common route information to the area to which the destination belongs, this node is used as the route In order to show that there is nothing, the normal node search is continued and the next node is searched.

  In the above-described embodiments and modifications, time information, user attributes, and the like may be added to information (or data) stored in the guidance end position information holding unit 21. If time information is added, ignore old information and always give guidance based on the latest information, or give priority to new information by weighting according to the newness of information. Can do. In addition, it is possible to appropriately cope with a temporal change in the environment of the guidance area such as a new guidance mark being installed. On the other hand, if attributes such as the sex and age of the user are added, guidance that is easier to understand can be provided in accordance with the attributes of the user. For example, if the user is a child, by using only the guidance position end information of the child for calculation of the guidance end ratio h = Ei / Es, guidance can be performed to an appropriate position that the child can understand at a time. .

  Furthermore, more appropriate guidance can be performed by adding the following processing. For example, if the number of remaining guide sentences or guide characters is less than a certain number, the remaining guide sentences may be collectively notified to the user. Further, when the guidance start position is very close to the destination, the remaining guidance sentences may be collectively notified to the user without calculating the above formula. On the other hand, the constant value Vc may be varied according to the length of the route from the guidance start position to the destination. In this case, in the case of guidance starting from the vicinity of the destination, by setting the constant value Vc to a small value, the remaining guidance text can be notified to the user immediately from the guidance start position.

  Even if a user explains complicated routes to the guidance device at a time, he / she can not remember it, so he / she is guided to an appropriate place that can be understood at once, and the rest can be directed to the destination as taught. And good. In addition, depending on the current location of the user, the location where guidance is difficult to understand differs from the location. By optimizing the timing for explaining all the remaining routes to the destination as described above by using the history of the user's guidance use end position, the destinations that cannot be known until the end are explained sequentially. It is possible to provide easy-to-understand destinations that can be routed and explained together, and to provide easy-to-understand guidance for the user.

  If a guidance destination that is frequently selected at the current position where guidance is started is displayed above the choices in the guidance menu, the guidance can be started with few procedures. When the user instructs the guidance destination by voice, the prioritization of the words to be recognized by voice is arranged in the order of the guidance destinations that are often selected at the place, thereby reducing the misrecognition of the voice recognition. The burden can be reduced.

  If the guide mark is installed in the guide area and you can go to the destination by following the guide mark, ask the user to find the rest of the guide mark if the guide mark shape and the guide mark installation location are shown. There are many things that can be done. Therefore, for a destination having a guide mark for guidance, the user can quickly grasp the destination by providing the user with information on the guide mark. In addition, since the user can end the use of the guide at a relatively early time, it is possible to guide a large number of users efficiently.

  In the disclosed guidance method, guidance control device, and program, for each destination, all users who are provided with guidance to the destination store the positions where the use of the guidance is finished, and the user uses the guidance end position as the purpose. Considering the location ascertained, determine how far to go to the destination. In this way, general easy-to-understand destinations are sought and guidance according to the easy-to-understand is provided to the user.

The following additional notes are further disclosed with respect to the embodiment including the above examples.
(Appendix 1)
A guidance control device for controlling guidance by a guidance device,
A guidance end position information holding unit that stores, for each destination, guidance end positions at which a plurality of users have finished using the guidance;
A map information holding unit storing map information;
When guidance to an arbitrary destination is instructed at the guidance start position in the guidance device, the guidance start position is based on the arbitrary destination, the guidance start position, and the map information notified from the guidance device. A route generation unit for generating a route from the destination to the arbitrary destination;
Based on the arbitrary destination, the map information, and the route, a guidance sentence at a plurality of points on the route is generated, stored in a storage unit and output, and a guidance generation unit
A communication unit that receives information from the guidance device and transmits the guidance text output by the guidance generation unit to the guidance device;
The guidance generation unit sequentially outputs the guidance sentence until the number of users at the guidance end position stored for the arbitrary destination in the guidance end position information holding unit reaches a threshold value, and sets the threshold value. A guidance control device that outputs the remaining guidance sentences at a point that exceeds it.
(Appendix 2)
The guidance area where the guidance device guides the user is divided into a plurality of areas,
The current position of the guidance device is notified from the guidance device to the communication unit,
When the number of guidance completions to the arbitrary destination in an arbitrary area is indicated by Ei, and the total number of guidance completions to the arbitrary destination in all areas through which the route passes is indicated by Es, the guidance is given. The generation unit calculates a guidance end rate h at which the guidance to the arbitrary destination acquired for each area is completed from h = Ei / Es, and adds a variable H to be added to the guidance end rate h to the current state of the guidance device. It is calculated from H = h (current area) using the number of guidance end times h to the arbitrary destination in the area on the route to which the position belongs, and when the variable H exceeds the threshold, the remaining guidance The guidance control apparatus according to appendix 1, which outputs sentences in a lump.
(Appendix 3)
The storage unit stores destinations for which guidance is used for each area,
A guidance start option generation unit that generates and outputs a destination stored in the storage unit as an option for the region to which the guidance start position belongs;
The guidance control device according to supplementary note 2, wherein the communication unit transmits the options output by the guidance start option generation unit to the guidance device to prompt selection of the arbitrary destination.
(Appendix 4)
A destination information holding unit storing guide mark information indicating a position of a guide mark installed in the guide area and guiding the user to the arbitrary destination;
The guidance generating unit is configured such that, based on the guidance mark information stored in the destination information holding unit, the guidance device is located in an area where a guidance mark for guiding the user to the arbitrary destination can be visually recognized by the route. 4. The guidance control device according to appendix 2 or 3, wherein when it reaches, the guidance mark guidance is added to the guidance text.
(Appendix 5)
The guidance control device according to appendix 4, wherein the guidance generation unit collectively outputs the remaining guidance sentences when the guidance device reaches an area where the guidance mark can be visually recognized.
(Appendix 6)
The destination information holding unit stores the route once generated in the common route information of the region to which the destination belongs,
When the guidance is started, the guidance generation unit obtains the closest point from the current position of the guidance device, and refers to the information on the acquired point in the common route information to the area to which the arbitrary destination belongs. The guidance control device according to appendix 4 or 5 , wherein if the field is blank, the search is continued to search for the next point, and if there is information on the acquired point in the common route information, a guidance sentence is generated using the information.
(Appendix 7)
The guidance generation unit notifies the guidance device via the communication unit of a command that drives the driving unit of the guidance device to move the guidance device along the route when there is a remaining guidance sentence. The guidance control device according to any one of appendices 1 to 6.
(Appendix 8)
A program for causing a computer to control guidance by a guidance device,
When guidance to an arbitrary destination is instructed at the guidance start position in the guidance device, the arbitrary destination notified from the guidance device, the guidance start position, and the map information stored in the map information holding unit Based on a route generation procedure for generating a route from the guidance start position to the arbitrary destination;
Based on the arbitrary destination, the map information, and the route, a guidance generation procedure at a plurality of points on the route is generated, stored in a storage unit, and output, and
Causing the computer to execute a communication procedure for receiving the information from the guidance device and transmitting the guidance text output by the guidance generation procedure to the guidance device;
The guidance generation procedure refers to a guidance end position information holding unit that stores, for each destination, guidance end positions at which a plurality of users have finished using the guidance, and the guidance end position stored for the arbitrary destination. The program sequentially outputs the guidance sentences until the number of users reaches a threshold value, and outputs the remaining guidance sentences collectively at a point where the threshold value is exceeded.
(Appendix 9)
The guidance area where the guidance device guides the user is divided into a plurality of areas,
The current position of the guidance device is notified from the guidance device to the communication unit,
When the number of guidance completions to the arbitrary destination in an arbitrary area is indicated by Ei, and the total number of guidance completions to the arbitrary destination in all areas through which the route passes is indicated by Es, the guidance is given. The procedure is to calculate the guidance completion rate h at which guidance to the desired destination acquired for each area is completed from h = Ei / Es, and to add a variable H to be added to the guidance completion rate h to the current position of the guidance device Is calculated from H = h (current area) using the number of guidance end times h to the arbitrary destination in the area on the route to which the user belongs, and when the variable H exceeds the threshold, the remaining guidance text The program according to appendix 8, wherein
(Appendix 10)
The storage unit stores destinations for which guidance is used for each area,
The program further causes the computer to execute a guidance start option generation procedure for generating and outputting a destination stored in the storage unit as an option for an area to which the guidance start position belongs,
The program according to claim 9, wherein the communication procedure transmits the options output by the guidance start option generation procedure to the guidance device to prompt the selection of the arbitrary destination.
(Appendix 11)
The guidance generation procedure refers to a destination information holding unit that stores guidance mark information indicating a position of a guidance mark that is installed in the guidance area and guides the user to the arbitrary destination. Based on the guide mark information stored in the holding unit, when the guide device reaches an area where the guide mark that guides the user to the arbitrary destination is visible, the guide guides the guide mark. The program according to appendix 9 or 10, which is added to the sentence.
(Appendix 12)
The program according to claim 11, wherein the guide generation procedure outputs the remaining guide sentences collectively when the guide device reaches an area where the guide marks can be visually recognized.
(Appendix 13)
The destination information holding unit stores the route once generated in the common route information of the region to which the destination belongs,
The guidance generation procedure obtains the closest point from the current position of the guidance device when guidance is started, and refers to the information on the acquired point in the common route information to the area to which the arbitrary destination belongs. The program according to appendix 11 or 12 , wherein if the field is blank, the search is continued to search for the next point, and if there is information on the acquired point in the common route information, a guide sentence is generated using the information.
(Appendix 14)
In the guidance generation procedure, when there is a remaining guidance sentence, a command for driving the driving unit of the guidance device to move the guidance device along the route is notified to the guidance device via the communication procedure. 14. The program according to any one of appendices 8 to 13.
(Appendix 15)
A guidance method for controlling guidance by a guidance device by a computer,
When guidance to an arbitrary destination is instructed at the guidance start position in the guidance device, the arbitrary destination notified from the guidance device, the guidance start position, and the map information stored in the map information holding unit A route generating step for generating a route from the guidance start position to the arbitrary destination;
Based on the arbitrary destination, the map information, and the route, a guidance generation step at a plurality of points on the route is generated, stored in a storage unit, and output, and
Receiving the information from the guidance device and causing the computer to execute a communication step of transmitting the guidance text output by the guidance generation step to the guidance device;
The guidance generation step refers to a guidance end position information holding unit that stores, for each destination, guidance end positions at which a plurality of users have finished using the guidance, and the guidance end position stored for the arbitrary destination The guidance method sequentially outputs the guidance text until a point where the number of users reaches a threshold value, and outputs the remaining guidance texts collectively at a point exceeding the threshold value.

  As described above, the disclosed guidance method, guidance device, and program have been described with reference to the embodiments. However, the present invention is not limited to the above-described embodiments, and various modifications and improvements can be made within the scope of the present invention. Needless to say.

DESCRIPTION OF SYMBOLS 1 Guide apparatus 2 Server 11 Input part 12 Control part 16 Information output part 21 Guidance end position information holding part 22 Destination information holding part 23 Map information holding part 24 Guidance start position information holding part 25 Guidance generating part 26 Communication part 27 Route generation Part 28 Guidance start option generation part

Claims (6)

A guidance control device for controlling guidance by a guidance device,
A guidance end position information holding unit that stores, for each destination, guidance end positions at which a plurality of users have finished using the guidance;
A map information holding unit storing map information;
When guidance to an arbitrary destination is instructed at the guidance start position in the guidance device, the guidance start position is based on the arbitrary destination, the guidance start position, and the map information notified from the guidance device. A route generation unit for generating a route from the destination to the arbitrary destination;
Based on the arbitrary destination, the map information, and the route, a guidance sentence at a plurality of points on the route is generated, stored in a storage unit and output, and a guidance generation unit
A communication unit that receives information from the guidance device and transmits the guidance text output by the guidance generation unit to the guidance device;
The guidance generation unit sequentially outputs the guidance sentence until the number of users at the guidance end position stored for the arbitrary destination in the guidance end position information holding unit reaches a threshold value, and sets the threshold value. A guidance control device that outputs the remaining guidance sentences at a point that exceeds it. The guidance area where the guidance device guides the user is divided into a plurality of areas,
The current position of the guidance device is notified from the guidance device to the communication unit,
When the number of guidance completions to the arbitrary destination in an arbitrary area is indicated by Ei, and the total number of guidance completions to the arbitrary destination in all areas through which the route passes is indicated by Es, the guidance is given. The generation unit calculates a guidance end rate h at which the guidance to the arbitrary destination acquired for each area is completed from h = Ei / Es, and adds a variable H to be added to the guidance end rate h to the current state of the guidance device. It is calculated from H = h (current area) using the number of guidance end times h to the arbitrary destination in the area on the route to which the position belongs, and when the variable H exceeds the threshold, the remaining guidance The guidance control device according to claim 1, wherein sentences are output collectively. The storage unit stores destinations for which guidance is used for each area,
A guidance start option generation unit that generates and outputs a destination stored in the storage unit as an option for the region to which the guidance start position belongs;
The guidance control device according to claim 2, wherein the communication unit prompts selection of the arbitrary destination by transmitting the option output from the guidance start option generation unit to the guidance device. A destination information holding unit storing guide mark information indicating a position of a guide mark installed in the guide area and guiding the user to the arbitrary destination;
The guidance generating unit is configured such that, based on the guidance mark information stored in the destination information holding unit, the guidance device is located in an area where a guidance mark for guiding the user to the arbitrary destination can be visually recognized by the route. 4. The guidance control device according to claim 2 or 3, wherein upon arrival, guidance of the guidance mark is added to the guidance text. A program for causing a computer to control guidance by a guidance device,
When guidance to an arbitrary destination is instructed at the guidance start position in the guidance device, the arbitrary destination notified from the guidance device, the guidance start position, and the map information stored in the map information holding unit Based on a route generation procedure for generating a route from the guidance start position to the arbitrary destination;
Based on the arbitrary destination, the map information, and the route, a guidance generation procedure at a plurality of points on the route is generated, stored in a storage unit, and output, and
Causing the computer to execute a communication procedure for receiving the information from the guidance device and transmitting the guidance text output by the guidance generation procedure to the guidance device;
The guidance generation procedure refers to a guidance end position information holding unit that stores, for each destination, guidance end positions at which a plurality of users have finished using the guidance, and the guidance end position stored for the arbitrary destination. The program sequentially outputs the guidance sentences until the number of users reaches a threshold value, and outputs the remaining guidance sentences collectively at a point where the threshold value is exceeded. A guidance method for controlling guidance by a guidance device by a computer,
When guidance to an arbitrary destination is instructed at the guidance start position in the guidance device, the arbitrary destination notified from the guidance device, the guidance start position, and the map information stored in the map information holding unit A route generating step for generating a route from the guidance start position to the arbitrary destination;
Based on the arbitrary destination, the map information, and the route, a guidance generation step at a plurality of points on the route is generated, stored in a storage unit, and output, and
Receiving the information from the guidance device and causing the computer to execute a communication step of transmitting the guidance text output by the guidance generation step to the guidance device;
The guidance generation step refers to a guidance end position information holding unit that stores, for each destination, guidance end positions at which a plurality of users have finished using the guidance, and the guidance end position stored for the arbitrary destination The guidance method sequentially outputs the guidance text until a point where the number of users reaches a threshold value, and outputs the remaining guidance texts collectively at a point exceeding the threshold value.

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