JP5536976B2 - Navigation device - Google Patents

Description

  The present invention relates to a navigation apparatus that guides a route to a destination, and more particularly, to a navigation apparatus that guides the host vehicle to the recommended lane when it is determined that the host vehicle is not traveling in the recommended lane.

  2. Description of the Related Art Conventionally, a driving assistance device including a vehicle periphery monitoring device that can satisfactorily monitor the traveling position of the host vehicle on a road is known (see, for example, Patent Document 1).

  This vehicle periphery monitoring device captures a road lane marking that divides a lane with a camera attached to a predetermined position of the host vehicle, and a lane (hereinafter referred to as a lane) in which the vehicle travels from the arrangement of the road lane marking on the captured image. “Current lane”).

As a result, the driving support device including the vehicle periphery monitoring device is based on the information on the lane identified by the vehicle periphery monitoring device, the current position information of the own vehicle acquired through the GPS (Global Positioning System), and the map data. Thus, the vehicle can be guided to the recommended lane recommended when the route is guided.
JP 2006-300534 A

  However, the driving support device described in Patent Literature 1 determines whether or not the recommended lane and the current lane match after specifying the current lane, and determines that the recommended lane and the current lane do not match. As long as it tries to guide its own vehicle to the recommended lane, it does not prepare for the processing when the current lane cannot be specified, and therefore the host vehicle can be guided to the recommended lane only when the current lane can be specified.

  In view of the above points, the present invention is directed to the recommended lane when it can be determined that the vehicle is not traveling in the recommended lane even if the lane in which the vehicle is traveling cannot be specified. An object is to provide a navigation device for guiding.

  In order to achieve the above object, a navigation device according to a first invention is a navigation device for guiding a route to a destination, and a recommended lane determining means for determining a recommended lane recommended when guiding the route. And the recommended lane travel determining means for determining whether or not the host vehicle is traveling in the recommended lane without specifying the lane in which the host vehicle is traveling, and the recommended lane travel determining means determines that the host vehicle determines the recommended lane. Lane guidance means for guiding the vehicle to the recommended lane when it is determined that the vehicle is not traveling.

  Moreover, 2nd invention is a navigation apparatus which concerns on 1st invention, Comprising: The end lane travel determination means which determines whether the own vehicle is drive | working an end lane is further provided, The said recommended lane travel determination means When the end lane travel determination means determines that the host vehicle is not traveling in the end lane, it is determined that the host vehicle is not traveling in the recommended lane at the left end or the right end.

  The third invention is the navigation apparatus according to the first or second invention, further comprising lane line type determination means for determining the type of lane line of the lane in which the vehicle travels from an image around the vehicle. The recommended lane travel determination means determines that the lane marking type determination means determines that the lane marking on the right side of the lane in which the vehicle travels is an intermittent line, and the vehicle is not traveling in the recommended lane at the right end. And when it is determined by the lane marking type determination means that the lane marking on the left side of the lane in which the vehicle travels is an intermittent line, it is determined that the vehicle is not traveling in the recommended lane at the left end. Features.

  By the means described above, the present invention guides the host vehicle to the recommended lane when it is determined that the host vehicle is not traveling in the recommended lane even when the lane in which the host vehicle is traveling cannot be specified. A navigation device can be provided.

  Hereinafter, the best mode for carrying out the present invention will be described with reference to the drawings.

  FIG. 1 is a block diagram illustrating a configuration example of a navigation device according to the present invention. A navigation device 100 includes a control unit 1, an imaging unit 2, a positioning unit 3, a distance measuring unit 4, a communication unit 5, a storage unit 6, The unit is composed of an audio output unit 7 and a display unit 8, and each unit is connected via a CAN (Controller Area Network) or a LIN (Local Interconnect Network).

  The control unit 1 is a computer including a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), and the like. For example, the recommended route searching means 10, the recommended lane determining means 11, the recommended lane While storing programs corresponding to each of the travel determination means 12, the lane guidance means 13, the lane line type determination means 14, and the end lane travel determination means 15 in the ROM, the CPU is caused to execute processing corresponding to each means.

  In addition, the control unit 1 performs calculations by the above-described means based on the outputs of the imaging unit 2, the positioning unit 3, the distance measuring unit 4, the communication unit 5, and the storage unit 6, and outputs a control signal based on the calculation result as audio Output to the output unit 7 and the display unit 8.

  The imaging unit 2 is a means for imaging the periphery of the host vehicle, and is a camera including an imaging element such as a complementary metal oxide semiconductor (CMOS) or a charge coupled device (CCD), for example, There is a back guide monitor camera that photographs the road surface.

  The positioning unit 3 is a means for measuring the vehicle position (longitude, latitude, altitude). For example, the positioning unit 3 receives a signal output from a GPS satellite via a GPS antenna by a GPS receiver, and based on the received signal. To measure the vehicle position.

  The measurement by the positioning unit 3 may be any method such as independent positioning or relative positioning (including interference positioning), but preferably relative positioning with high accuracy is used. At this time, the vehicle position may be corrected based on outputs of various sensors such as a steering angle sensor, a vehicle speed sensor, a gyro sensor, and various information received via a beacon receiver or an FM multiplex receiver.

  The distance measuring unit 4 is a means for measuring the distance to an object existing around the own vehicle, for example, a radar or an image sensor (camera) using ultrasonic waves, infrared rays, millimeter waves, etc. It is attached to the side of the body of the car and measures the distance between the road vehicle such as guardrails, curbs, planting, or sound barriers in the roadside belt and median strip and the vehicle. Note that the distance measuring unit 4 may simultaneously measure the outer shape and height of the road installation in order to distinguish between the vehicle and the road installation.

  The communication unit 5 is a means for controlling communication between the own vehicle and the outside, for example, between an optical beacon or a radio beacon installed on a road or a magnetic nail embedded on the road and the own vehicle. There is a device for controlling road-to-vehicle communication, a device for receiving FM multiplex broadcasting distributed by a communication center, a device for controlling vehicle-to-vehicle communication between another vehicle and the vehicle.

  The storage unit 6 is a means for storing information required by the navigation device 100. For example, the storage unit 6 is a non-volatile storage medium such as a hard disk or a DVD (Digital Versatile Disc.), And includes a map information database 60 (hereinafter referred to as a map information database 60). And a voice information database 61 (hereinafter referred to as “voice information DB”) in which voice data is systematically stored.

  The audio output unit 7 is a means for outputting audio, for example, an in-vehicle speaker, and is based on audio data stored in the audio information DB 61 according to a control signal transmitted from the control unit 1. Outputs voice guidance for guidance and lane guidance.

  The display unit 8 is a means for displaying various kinds of information, such as a liquid crystal display or an organic EL display, and is a character for route guidance or lane guidance according to a control signal transmitted from the control unit 1. Information, graphic information, icons for prompting lane changes, etc. are displayed.

  In addition, when there are a plurality of lanes on the road on which the vehicle is currently traveling, the display unit 8 displays in advance the traveling direction (right turn, left turn, straight travel, etc.) at the intersection that traveled along the lane. You may make it do.

  Next, various units included in the control unit 1 will be described.

  The recommended route search means 10 is a means for searching for a recommended route from the departure point (for example, the current position of the own vehicle) to the destination. For example, the Dijkstra method is used as a route search algorithm, and the vehicle position and memory are stored. Based on the map information DB 60 stored in the unit 6, the route that is the shortest in terms of distance or time is searched, or the route that has the minimum toll is searched.

  The recommended lane determining means 11 is a means for determining a recommended lane. For example, the recommended vehicle lane searched by the positioning unit 3 and the map information DB 60 stored in the storage unit 6 and the recommended route searched by the recommended route searching unit 10. Based on the above, the lane to which the vehicle should belong is determined.

  For example, the recommended lane determining means 11 is a lane connected to the right turn lane in front of the turning point for the right turn on the recommended route (in principle, it is the rightmost lane, but may be a plurality of right lanes. This is because there may be multiple lanes), and the lane that leads to the left turn lane (in principle, the leftmost lane in front of the branch for the left turn on the recommended route, If there are multiple left-turn lanes as well as right-turn lanes), or if you are going straight along an intersection along the recommended route The center lane (may be multiple lanes in the center) is used as the recommended lane.

  The recommended lane travel determination means 12 is a means for determining whether or not the host vehicle is traveling in the recommended lane. For example, the host vehicle travels in the recommended lane based on the host vehicle position measured by the positioning unit 3. It is determined whether or not.

  Further, the recommended lane travel determination means 12 may determine whether or not the host vehicle is traveling in the recommended lane based on whether or not the information transmitted by the magnetic nail embedded in the recommended lane is received. Good. In this case, it is assumed that the embedded position of the magnetic nail is stored in advance in the map information DB 60.

  The recommended lane travel determination means 12 only needs to determine whether the host vehicle is traveling in the recommended lane or whether the host vehicle is traveling in any lane other than the recommended lane. There is no need to identify the lane that is running. This is because meaningful lane guidance can be executed when it is determined that the vehicle is not traveling in the recommended lane without specifying the lane in which the vehicle is traveling.

  The lane guidance means 13 is a means for guiding the host vehicle to the recommended lane. For example, when the recommended lane travel determination unit 12 determines that the host vehicle is not traveling in the recommended lane, the host vehicle is recommended. A voice message for guiding to the lane is output from the voice output unit 7, or character information and image information for guiding the host vehicle to the recommended lane are displayed on the display unit 8.

  The lane marking type determination means 14 is a means for determining the type of lane marking painted on the road surface. For example, an image of the road surface behind the host vehicle imaged by the imaging unit 2 installed behind the host vehicle ( Hereinafter, image processing such as binarization processing and edge detection processing is performed on the “road surface image”) to extract lane markings and determine whether the lane marking is a continuous line.

  The end lane travel determination means 15 is a means for determining whether the host vehicle is traveling in an end lane (meaning the leftmost or rightmost lane in a road having a plurality of lanes), for example, Based on the own vehicle position measured by the positioning unit 3, it is determined whether or not the own vehicle is traveling in the end lane.

  Further, the end lane travel determination means 15 determines whether or not the host vehicle is traveling in the end lane based on the distance between the host vehicle and a road installation such as a guard rail measured by the distance measuring unit 4. You may do it. In this case, when the distance between the own vehicle and the road installation on the left (right) side of the own vehicle is equal to or greater than the threshold value D1, the end lane travel determination means 15 determines that the own vehicle is at the leftmost (right) end of the road. It is determined that the vehicle is traveling in any lane other than the lane.

  Further, the end lane traveling determination unit 15 may determine whether or not the own vehicle is traveling in the end lane based on the road surface image captured by the imaging unit 2. In this case, when the lane line type determination unit 14 determines that the lane markings on both sides of the host vehicle are discontinuous lines, the end lane travel determination unit 15 is other than the leftmost or rightmost lane of the road. It is determined that the vehicle is traveling in any lane. The end lane travel determination means 15 may determine whether or not the host vehicle is traveling in the end lane based on the image of the road installation around the host vehicle captured by the imaging unit 2.

  Further, the end lane traveling determination means 15 continuously monitors the road surface image captured by the imaging unit 2 and determines whether or not the host vehicle travels in the end lane based on the number of straddling lane lines and the straddling direction. You may make it determine. In this case, the end lane travel determination means 15 determines that the host vehicle is traveling in any lane other than the leftmost lane of the road when it detects that the host vehicle straddles the lane marking in the right direction. When it is detected that the vehicle has straddled the lane line in the left direction, it is determined that the vehicle is traveling in any lane other than the rightmost lane of the road.

  Further, the end lane travel determination means 15 continuously monitors the output of the steering angle sensor in addition to the road surface image captured by the imaging unit 2 or instead of the road surface image captured by the imaging unit 2, and determines the steering angle. When it is detected that the steering wheel is rotated to the right by a predetermined angle or more based on the output of the sensor, it is determined that the vehicle is traveling in any lane other than the leftmost lane of the road, When it is detected that the steering wheel is rotated to the left by a predetermined angle or more based on the output of the steering angle sensor, it is determined that the host vehicle is traveling in any lane other than the rightmost lane of the road.

  As described above, the end lane travel determination means 15 passively determines that the host vehicle is not traveling in the end lane, and therefore positively determines that the host vehicle is traveling in a specific lane. Compared to the above, it is possible to acquire necessary and sufficient information for executing the lane guidance while reducing the processing load.

  The end lane travel determination means 15 determines that the own vehicle is the leftmost (right) end lane of the road when the distance between the own vehicle and the left (right) side road installation is less than the threshold D2. Or if the lane marking on the left (right) side of the vehicle is determined to be a continuous line by the lane marking type determination means 14, the vehicle is leftmost on the road. (Right) You may make it determine positively the lane which the own vehicle drive | works, such as determining with driving | running | working the lane of the end.

  Next, a process (hereinafter, referred to as “lane guidance process”) in which the navigation device 100 executes lane guidance will be described with reference to FIGS. 2 and 3. 2 is a diagram illustrating a relationship between a road on which the vehicle V is traveling and an image P1 captured by the imaging unit 2, and FIG. 3 is a flowchart illustrating a flow of lane guidance processing.

  FIG. 2A shows a three-lane road on which the own vehicle V carrying the navigation device 100 is composed of lanes L1 to L3 (the number of lanes on the road is stored in advance in the map information DB 60). It is a figure which shows the state which drive | works, the own vehicle V drive | works the leftmost lane L1, and the recommended lane determination means 11 makes the rightmost lane L3 the recommended lane (the lane shown with a dashed-dotted line). Show. In addition, the imaging part 2 shall image the range R shown with a dotted line, and the guardrail G shall be installed in the both sides (it is a roadside zone and a center separation zone) of a road. FIG. 2B is a road surface image P1 captured by the imaging unit 2 of the vehicle V in FIG.

  Referring to FIG. 3, first, the navigation device 100 mounted on the vehicle V continuously monitors the distance between the branch point on the recommended route searched by the recommended route search means 10 and the vehicle position (step). S1).

  When the distance between the branch point on the recommended route and the vehicle position is greater than or equal to a threshold value D3 (for example, 500 meters) (NO in step S1), the navigation device 100 is still at the time of guiding the vehicle to the recommended lane. If not, monitoring of the distance between the branch point and the vehicle position is continued.

  When the distance between the branch point on the recommended route and the vehicle position is less than the threshold D3 (YES in step S1), the navigation device 100 determines the lane to which the vehicle belongs by the recommended lane determining unit 11 ( Step S2). In this case, the recommended lane determining means 11 assumes that the recommended route requires a right turn at a branch point, and uses the rightmost lane L3 as the recommended lane.

  The navigation device 100 determines whether or not the current lane can be specified by the end lane travel determination means 15 (step S3). If the current lane can be specified (YES in step S3), the navigation device 100 recommends the current lane. It is determined whether the lane matches (step S4).

  For example, the end lane travel determination unit 15 detects that the host vehicle has straddled a lane line in the left (right) direction or the distance between the host vehicle and the road installation on the left (right) side of the host vehicle. If it is less than the threshold value D1 or if the lane marking on the left (right) side of the vehicle is determined to be a continuous line by the lane marking type determining means 14, the current lane is the leftmost (right) end of the road Is identified as a lane.

  If it is determined that the current lane matches the recommended lane (YES in step S4), the navigation device 100 immediately ends the lane guidance process. This is because it is not necessary to guide the vehicle to the recommended lane because the vehicle is already traveling in the recommended lane.

  Note that the navigation device 100 outputs a voice message (such as “Please keep the lane as it is”) prompting the lane guidance means 13 to maintain the lane as it is, from the voice output unit 7, or maintaining the lane. The text information and image information to be urged may be displayed on the display unit 8.

  On the other hand, if it is determined that the current lane and the recommended lane do not match (NO in step S4), the navigation device 100 causes the lane guidance means 13 to perform lane guidance (step S5), and makes the own vehicle V the recommended lane. A voice message to be guided (“Please move to the right (left) side” etc.) is output from the voice output unit 7, or text information and image information for guiding the host vehicle V to the recommended lane are displayed on the display unit 8. The lane guidance process is terminated after the display.

  If the current lane has not been identified (NO in step S3), the navigation device 100 determines whether or not the vehicle is traveling in any lane other than the recommended lane by the recommended lane travel determination means 12 (step S3). S6).

  For example, the end lane travel determination unit 15 cannot recognize the lane marking from the road surface image captured by the imaging unit 2 and cannot count the number of lane markings over which the host vehicle straddles or the road on the host vehicle and the host vehicle side. Suppose that the current lane cannot be specified when the distance to the installation is greater than or equal to the threshold value D1 or when the lane marking on both sides of the vehicle is determined to be an interrupted line by the lane marking type determination means 14 .

  In this case, the recommended lane travel determination means 12 determines that the own vehicle V is in the end lane (refers to the leftmost or rightmost lane) based on the distance between the own vehicle V and the guard rail G by the end lane travel determination means 15. Even if the current lane cannot be specified, if it can be determined that at least the host vehicle V is not driving the end lane, the host vehicle V is recommended. It is determined that the vehicle is traveling in any lane other than the lane.

  Thus, the navigation device 100 can determine that the vehicle is not traveling in the recommended lane at least even if the current lane cannot be identified, such as overlooking that the host vehicle V crosses the lane marking. If this is the case (YES in step S6), the lane guidance means 13 executes lane guidance (step S5), and a voice message for guiding the host vehicle V to the recommended lane is output from the voice output unit 7, or the host vehicle V Is displayed on the display unit 8 and the lane guidance process is terminated.

  On the other hand, if the current lane cannot be specified and it cannot be determined that the vehicle is not traveling in the recommended lane (NO in step S6), the navigation device 100 immediately ends the lane guidance process. This is to prevent improper lane guidance.

  With the above configuration, the navigation device 100 clearly shows that the vehicle is traveling in any lane other than the recommended lane, even if the current lane does not match the recommended lane, even if the current lane cannot be identified. In such a case, since the lane guidance process is started, an opportunity to execute appropriate lane guidance can be expanded and driving assistance can be supplemented.

  In addition, since the navigation device 100 starts the lane guidance process that encourages lane maintenance when the current lane matches the recommended lane, the driver can confirm that the vehicle is traveling in the recommended lane. Can give the driver a sense of security.

  In addition, since the navigation device 100 can start lane guidance without specifying the current lane using road-to-vehicle communication or the like, it does not require installation on the road such as a beacon or magnetic nail, It does not increase the cost of maintenance.

  Next, another lane guidance process will be described with reference to FIGS. 4 and 5. 4 is a diagram illustrating a relationship between the road on which the vehicle V is traveling and the images P2 to P5 captured by the imaging unit 2, and FIG. 5 is a flowchart illustrating the flow of another lane guidance process. is there.

  FIG. 4A shows a four-lane road on which the own vehicle V carrying the navigation device 100 is composed of lanes L4 to L7 (the number of lanes on the road is stored in advance in the map information DB 60). It is a figure which shows the state which drive | works, and the recommended lane determination means 11 shows the state which made the rightmost lane L7 the recommended lane (it is a lane shown with a dashed-dotted line).

  In addition, the imaging part 2 shall image the range R shown with a dotted line, FIG.4 (B) shows the road surface image P2 which the imaging part 2 of the vehicle V which drive | works the lane L7 imaged, FIG.4 (C). Shows a road surface image P3 captured by the imaging unit 2 of the vehicle V traveling in the lane L6, and FIG. 4D illustrates a road surface image P4 captured by the imaging unit 2 of the vehicle V traveling in the lane L5. 4 (E) shows a road surface image P5 captured by the imaging unit 2 of the vehicle V traveling in the lane L4.

  Referring to FIG. 5, first, the navigation apparatus 100 mounted on the vehicle V continuously monitors the distance between the branch point and the vehicle position on the recommended route searched by the recommended route search means 10 (step). S11).

  When the distance between the branch point on the recommended route and the vehicle position is greater than or equal to a threshold value D3 (for example, 500 meters) (NO in step S11), the navigation device 100 still has the time to guide the vehicle to the recommended lane. If not, monitoring of the distance between the branch point and the vehicle position is continued.

  When the distance between the branch point on the recommended route and the vehicle position is less than the threshold value D3 (YES in step S11), the navigation device 100 determines the lane to which the vehicle belongs by the recommended lane determining unit 11 ( Step S12). In this case, the recommended lane determining means 11 sets the rightmost lane L7 as the recommended lane because the recommended route requires a right turn at the branch point.

  Thereafter, the navigation device 100 determines whether or not the vehicle is traveling in any lane other than the recommended lane by the recommended lane travel determination means 12 without specifying the current lane (step S13).

  Even when the current lane cannot be specified, if it can be determined that at least the host vehicle V is not traveling in the recommended lane (YES in step S13), the navigation device 100 determines that the lane guidance means 13 Lane guidance is executed (step S14).

  This is because as long as the vehicle V is traveling in a lane other than the recommended lane (the rightmost lane L7), it is necessary to change the lane to the right side for at least one lane. This is because the driver does not feel uncomfortable by outputting a voice message such as “Please” from the voice output unit 7 or displaying an icon for prompting a lane change to the right side on the display unit 8.

  On the other hand, when it cannot be determined that the vehicle is traveling in a lane other than the recommended lane (NO in step S13), the navigation device 100 immediately ends the lane guidance process. This is to prevent improper lane guidance.

  In step S <b> 13, the recommended lane travel determination unit 12 uses the lane line type determination unit 14 to determine the lane line on the right side of the vehicle V (the lane line on the left side in the road surface image. The imaging unit 2 captures the back of the vehicle V. This is because the left and right are reversed.) When it is determined that the lane marking on the right side of the vehicle V is not a continuous line (FIGS. 4C, 4D, and 4E) This is the case of the road surface images P3, P4, and P5 shown in FIG.

  The recommended lane travel determination means 12 causes the lane line type determination means 14 to determine the types of lane lines on both sides of the host vehicle V, and the lane lines on both sides are not continuous lines (FIG. 4C, ( This is the case of the road surface images P3 and P4 shown in D).) Although it can be determined that the host vehicle V is traveling in any lane other than the end lane, the host vehicle V is the recommended lane (the rightmost end). It is not necessary to know whether or not the vehicle V is traveling in lanes L5 and L6 other than the end lane when determining whether or not the vehicle is traveling in the lane L7). It is assumed that the process for determining the line type is omitted.

  Similarly, the recommended lane travel determination means 12 causes the lane line type determination means 14 to determine the type of the lane line on the left side of the host vehicle V, and the lane line on the left side of the host vehicle V is a continuous line (FIG. 4). (E) is the case of the road surface image P5.) Although it can be specified that the vehicle V is traveling in the leftmost lane L4, the vehicle V is the recommended lane (the rightmost lane L7). Since it is not necessary to know whether or not the vehicle V is traveling in the leftmost lane L4 in determining whether or not the vehicle is traveling, the process of determining the type of the lane marking on the left side of the vehicle V Shall be omitted.

  With the above configuration, the navigation apparatus 100 determines whether to start the lane guidance process by positively determining that the host vehicle is traveling in a lane other than the recommended lane, and thus identifies the current lane. While omitting the arithmetic processing and reducing the processing load, it is possible to expand the opportunity to execute quick and appropriate lane guidance and complement driving support.

  Although the preferred embodiments of the present invention have been described in detail above, the present invention is not limited to the above-described embodiments, and various modifications and substitutions can be made to the above-described embodiments without departing from the scope of the present invention. Can be added.

  For example, in the above-described embodiment, the navigation apparatus 100 determines whether or not the vehicle V is traveling in the rightmost lane L7 determined as the recommended lane by the lane line type determination unit 14. Only the type of lane on the right side of the vehicle is determined, but the type of lane line on the left side of the vehicle V is also determined, and the vehicle V is traveling in any lane other than the end lane or The lane guidance may be executed after confirming that the vehicle V is traveling in the leftmost lane L4. This is for more accurately determining that the host vehicle V is not traveling in the recommended lane.

It is a block diagram which shows the structural example of the navigation apparatus which concerns on this invention. FIG. 3 is a diagram (part 1) illustrating a relationship between a road on which the vehicle is traveling and an image captured by an imaging unit. It is a flowchart (the 1) which shows the flow of a lane guidance process. It is FIG. (2) which shows the relationship between the road which the own vehicle drive | works, and the image which an imaging part images. It is a flowchart (the 2) which shows the flow of a lane guidance process.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Control part 2 Imaging part 3 Positioning part 4 Distance measurement part 5 Communication part 6 Storage part 7 Audio | voice output part 8 Display part 10 Recommended route search means 11 Recommended lane determination means 12 Recommended lane travel determination means 13 Lane guidance means 14 Lane type Determination means 15 End lane travel determination means 100 Navigation device G Guardrail L1 to L7 Lane R Imaging range V Own vehicle

Claims (3)

A navigation device for guiding a route to a destination,
A recommended lane determining means for determining a recommended lane when guiding a route;
Imaging unit, when a steering angle sensor, and the distance the vehicle having at least one measurement unit to travel the three lanes or roads, the imaging unit that captures an image of a periphery of the vehicle, the steering angle sensor, and the 3 of the road installation of the the adjacent parallel vehicle by measuring the profile or height road installed objects and to distinguish the distance measuring unit with measuring the distance to a road installed objects existing around the vehicle one obtained based on at least one output of the type of separation lines of only one of the left and right sides of the vehicle, the fact that crossing the separation line of only one of the left and right sides of the vehicle , the rotation angle of the steering wheel to only one of the left and right sides of the vehicle, and at least one of the four distance until said one side only the road installation of the left and right of the vehicle One on the basis, the vehicle is the The recommended lane travel determining means for determining whether Sho running one lane other than lane,
A lane guide means for guiding the vehicle when the vehicle is determined to be traveling any lane other than the recommended lane to the recommended lane by the recommended lane running determining means,
A navigation device comprising: The imaging unit, the steering angle sensor, and based on at least one output of the three of the distance measuring unit, end determines whether the vehicle is traveling either end lane of the right and left Lane driving determination means is further provided,
The recommended lane travel determining means, when the vehicle by the end lane travel determining means is determined not to be traveling lane of the left end, the vehicle is not running the recommended lane on the left end determined that, it is determined that the vehicle by the end lane travel determining means if it is determined not to be traveling the right edge of the lane, the vehicle is not running the recommended lane on the far right,
The navigation device according to claim 1. Further comprising a lane line type judgment means judges the type of the lane mark of the lane that the vehicle is traveling from the image around the vehicle to the imaging unit is imaging,
When determining whether the vehicle based on an output of the imaging unit is traveling or lane other than the recommended lane, the recommended lane travel determining means, said self by the lane mark type determination unit car determines only kind of right lane lines of the lane of travel, if the right-hand lane line is determined to be intermittent lines, the vehicle is traveling either lane other than the right edge of the recommended lane determines that, or the lane mark type by determining means determines only kind of partition lines in the left lane in which the vehicle is traveling, if the left lane line is determined to be intermittent lines, the vehicle is It is determined that the vehicle is traveling in any lane other than the recommended lane at the left end.
The navigation device according to claim 1 or 2, wherein

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