JP5691915B2 - Movement guidance system, movement guidance apparatus, movement guidance method, and computer program - Google Patents

Description

  The present invention relates to a movement guidance system, a movement guidance device, a movement guidance method, and a computer program that guide the movement of a moving body based on a guidance route.

  2. Description of the Related Art In recent years, a navigation device is often mounted on a vehicle that provides vehicle travel guidance so that a driver can easily arrive at a desired destination. Here, the navigation device detects the current position of the vehicle by a GPS receiver or the like, acquires map data corresponding to the current position through a recording medium such as a DVD-ROM or HDD or a network, and displays it on a liquid crystal monitor. It is a device that can do. Further, such a navigation device has a route search function for searching for an optimum route from the departure place to the destination when a desired destination is input. The guidance route set based on the search result is displayed on the display screen, and when approaching a branch point (hereinafter referred to as a guidance branch point) for guidance such as turning left or right, a voice or display screen is displayed. By performing the guidance used, the user is surely guided to a desired destination. In recent years, some cellular phones, PDAs (Personal Digital Assistants), personal computers, and the like have functions similar to those of the navigation device. Furthermore, it is also possible to perform the above guidance for pedestrians and two-wheeled vehicles as well as vehicles.

  Here, when performing guidance such as turning left or right at the guidance branch point, it is necessary for the user to accurately identify the guidance branch point. And as one of the guidance methods which make a user specify such a guidance branch point correctly, there exists guidance using the traffic signal installed in the front branch point which is a branch point in front of a guide branch point. For example, Japanese Patent Application Laid-Open No. 10-274544 describes that guidance is performed for specifying a guidance branch point using the number of traffic lights from the current position of the vehicle to the guidance branch point.

JP 10-274544 A (page 5)

  Further, in the guidance using the traffic signal installed at the front branch point as in Patent Document 1, it is important to perform the guidance at an appropriate timing based on the positional relationship between the traffic signal and the vehicle. If it is not performed at an appropriate timing, there is a high possibility that the user will erroneously recognize the guidance branch point. For example, in the case of guiding “the second signal is to the left”, after the traffic light at the branch point with the traffic light that is two in front of the guidance branch point disappears from the user's view. It is desirable to start outputting guidance.

  However, it has been difficult to pre-store information on all traffic signals installed on roads nationwide. Therefore, when traveling on a road where traffic signal information is not stored, it may be impossible to specify an appropriate timing for outputting guidance at a guidance branch point.

  The present invention has been made to solve the above-described conventional problems, and accurately estimates the position of the exit side signal using a substitute even when the position information of the exit side signal cannot be obtained. The guidance system based on the traffic light installed at the front branch point can be started at an appropriate timing based on the content of the guidance, and the user can accurately identify the guidance branch point. An object of the present invention is to provide a movement guidance device, a movement guidance method, and a computer program.

In order to achieve the above object, a travel guidance system (1) according to claim 1 of the present application includes a guide route for guiding the movement of the mobile body (81), and a guide route setting means for setting a guide branch point on the guide route. The traffic signal information acquisition means (13) for acquiring the position information of the traffic signal installed at the near branch point (82) existing on the departure side of the guide route from the guidance branch point, and the traffic signal information acquisition means When it is determined by the acquisition determination means (13) whether the position information of the exit side traffic light (83) at the front branch point has been acquired, and by the acquisition determination means, it is determined that the position information of the exit side traffic signal has not been acquired. Further, the traffic signal position estimation means (13) for estimating the position of the exit side traffic signal using the features (84, 85, 86) around the front branch point and the traffic signal position estimation means Branch point guide means (13) for guiding the guide branch point when the mobile body reaches the guidance start point specified based on the position of the exit side traffic signal. To do.
The “moving body” includes a pedestrian and a two-wheeled vehicle in addition to the vehicle.
In addition, the “guidance branch point” corresponds to a branch point that is a target for performing guidance such as a right / left turn instruction when performing guidance of movement of the moving object according to the guidance route.
Further, the “exit-side traffic signal” refers to a traffic signal that is located on the most exit side in the passing direction at the branch point of the mobile body (that is, a traffic signal that can be visually recognized at the end when the mobile body passes through the branch point). In addition, “features” include objects installed on or near roads, and include obstacles, buildings, road signs (including road markings), and the like.

  Further, the movement guidance system (1) according to claim 2 is the movement guidance system according to claim 1, wherein the moving body (81) moves in an opposite lane of the lane in which the moving body (81) moves at the front branch point (82). There is an opposite traffic signal acquisition means (13) for acquiring position information of an opposite approach traffic signal (84) which is an approach side traffic signal, and the traffic signal position estimation means (13) determines the position of the opposite approach side traffic signal as the width of the road. The position of the leaving traffic signal is estimated based on a first estimated reference position that is a position moved on the lane in which the moving body moves in a direction.

  Further, the movement guidance system (1) according to claim 3 is the movement guidance system according to claim 2, wherein the traffic light position estimation means (13) is configured to calculate the first estimation reference from the first estimation reference position. The position of the exit side traffic light is estimated with respect to a section up to a position where the position has been moved by a first predetermined distance in the exit direction of the preceding branch point.

  Further, the movement guidance system (1) according to claim 4 is the movement guidance system according to claim 1, wherein the moving body (81) moves in the opposite lane of the lane in which the moving body (81) moves at the front branch point (82). It has opposing stop line acquisition means (13) for acquiring position information of the stop line (85), and the traffic signal position estimation means (13) moves the moving body in the width direction of the road at the position of the stop line. The position of the exit signal is estimated based on a second estimated reference position that is a position moved on the lane.

  Further, the movement guidance system (1) according to claim 5 is the movement guidance system according to claim 4, wherein the traffic light position estimation means (13) is configured to calculate the second estimation reference from the second estimation reference position. The position of the exit signal is estimated with respect to a section up to a position where the position has been moved by a second predetermined distance in the exit direction of the preceding branch point.

Further, the movement guidance system (1) according to claim 6 is the movement guidance system according to claim 1, wherein the traffic signal (86) on the lane where the movable body (81) moves at the front branch point. The traffic light position obtaining means (13) for obtaining the position information of the traffic light, the traffic light position estimating means (13) is a target position of the position of the traffic light on the approach side with the link of the intersection road at the front branching point as an axis The position of the exit side traffic light is estimated based on the third estimated reference position.
Note that the “entrance-side traffic light” is the traffic light that is closest to the entry side (that is, the departure side) in the direction of exit from the branch point of the mobile body (that is, when the mobile body passes through the branch point, A traffic light that can be visually recognized).

  Further, the movement guidance system (1) according to claim 7 is the movement guidance system according to claim 6, wherein the traffic light position estimation means (13) is configured to calculate the third estimation reference from the third estimation reference position. The position of the exit signal is estimated with respect to a section up to a position where the position has been moved by a third predetermined distance in the exit direction of the preceding branch point.

  According to an eighth aspect of the present invention, there is provided a travel guide device (1) comprising: a guide route for guiding the movement of the mobile body (81); a guide route setting means for setting a guide branch point on the guide route; The traffic signal information acquisition means (13) for acquiring the position information of the traffic light installed at the front branch point (82) existing on the departure side of the guide route, and the exit side of the front branch point by the traffic signal information acquisition means An acquisition determination means (13) for determining whether or not the position information of the traffic light (83) has been acquired, and the front branch point when the acquisition determination means determines that the position information of the exit side traffic signal has not been acquired. The traffic signal position estimating means (13) for estimating the position of the exit side traffic light using the features (84, 85, 86) in the vicinity of the vehicle, and the exit side traffic signal estimated by the traffic signal position estimating means When the moving body guidance starting point specified based on the location has arrived, and having a branch point guide means (13) for the guidance of the guide branch point.

The mobile guide method according to claim 9, the guide route setting means, and away step to set the guidance branch point on the guidance route and the guide path for guiding the movement of the moving body (81), signal information acquisition means, and away step to acquire the position information of the installed traffic signal to the preceding junctions (82) present in the starting point side of the guidance route than the guidance branch point, the acquisition decision means, the signal information acquisition and Luz steps to determine whether to retrieve the position information of the preceding junctions of the exit-side traffic (83) by means, traffic signal position estimating portion, can obtain the location information of the exit-side traffic by the acquisition determination means If it is determined that no, the Luz step to estimate the position of the exit-side traffic using the feature (84, 85, and 86) in the neighborhood of the preceding junction, the junction guiding means, the signal unit position estimation means Therefore when the moving body guidance starting point is specified based on the estimated position of said exit-side traffic arrives, and having a, a row mortar step guidance of the guide branch point.

Further, a computer program according to claim 10, a computer, a guidance route setting means for setting a guidance branch point on the guidance route and the guide path for guiding the movement of the moving body (81), than the guidance branch point A traffic signal information acquisition means for acquiring position information of a traffic light installed at a front branch point (82) existing on the departure point side of the guide route, and an exit side traffic signal (83) at the front branch point by the traffic signal information acquisition means Acquisition determination means for determining whether or not the position information of the exit side traffic signal could not be acquired by the acquisition determination means , and the features ( a traffic light position estimating means for estimating the position of the exit-side traffic using 84, 85, 86), position of the exit-side traffic estimated by the traffic signal position estimating means Said moving body guidance start point identified when reached, the junction guiding unit that performs a guidance of the guide branch point, characterized in that to function in based on.

  According to the movement guide system according to claim 1, having the above-described configuration, even when the position information of the exit side traffic signal at the front branch point cannot be obtained, the position of the exit side traffic signal is accurately estimated using the substitute. Thus, guidance based on a traffic light installed at a front branch point can be started at an appropriate timing based on the content of guidance. As a result, it is possible for the user to specify the guidance branch point accurately.

  Moreover, according to the movement guidance system of Claim 2, since the position of the exit side traffic signal is estimated based on the position of the traffic signal on the opposite side of the lane in which the moving body moves, it is installed at the front branch point. Even when information about all traffic signals cannot be obtained, the position of the exit side traffic signal can be accurately estimated based on the position of the entrance side traffic signal in the opposite lane.

  Further, according to the movement guidance system of claim 3, the exit from the first estimated reference position to the position where the first estimated reference position is moved by the first predetermined distance in the exit direction of the preceding branch point. Since the position of the side traffic light is estimated, it is possible to set a guidance start point corresponding to the guidance content in consideration of the error even if there is an error in the estimated position of the leaving traffic light Become.

  Further, according to the movement guidance system according to claim 4, since the position of the exit side traffic light is estimated based on the position of the stop line of the opposite lane of the lane in which the moving body moves, Even when it is not possible to obtain information regarding the other traffic light, it is possible to accurately estimate the position of the exit side traffic light based on the position of the stop line of the oncoming lane.

  Further, according to the movement guidance system of claim 5, the exit from the second estimated reference position to the position where the second estimated reference position is moved by the second predetermined distance in the exit direction of the preceding branch point. Since the position of the side traffic light is estimated, it is possible to set a guidance start point corresponding to the guidance content in consideration of the error even if there is an error in the estimated position of the leaving traffic light Become.

  In addition, according to the movement guidance system of the sixth aspect, since the position of the exit side traffic signal is estimated based on the position of the entrance side traffic signal of the lane in which the mobile body moves, all the traffic signals installed at the front branching point Even when information regarding the information cannot be acquired, it is possible to accurately estimate the position of the exit side traffic signal based on the position of the entrance side traffic signal.

  Further, according to the movement guidance system of claim 7, the exit from the third estimated reference position to the position where the third estimated reference position is moved by the third predetermined distance in the exit direction of the previous branch point. Since the position of the side traffic light is estimated, it is possible to set a guidance start point corresponding to the guidance content in consideration of the error even if there is an error in the estimated position of the leaving traffic light Become.

  Further, according to the movement guide device of the eighth aspect, even when the position information of the leaving signal at the front branch point cannot be obtained, the position of the leaving signal can be accurately estimated using the substitute. The guidance based on the traffic light installed at the front branch point can be started at an appropriate timing based on the content of the guidance. As a result, it is possible for the user to specify the guidance branch point accurately.

  In addition, according to the movement guidance method of claim 9, even when the position information of the exit side traffic signal at the front branch point cannot be obtained, the position of the exit side traffic signal is accurately estimated using the substitute. The guidance based on the traffic light installed at the front branch point can be started at an appropriate timing based on the content of the guidance. As a result, it is possible for the user to specify the guidance branch point accurately.

  Furthermore, according to the computer program of the tenth aspect, even when the position information of the exit signal at the near branch point cannot be obtained, the substitute signal can be used to accurately estimate the position of the exit signal. It becomes possible, and guidance based on the traffic light installed at the front branch point can be started at an appropriate timing based on the content of guidance. As a result, it is possible for the user to specify the guidance branch point accurately.

It is the block diagram which showed the navigation apparatus which concerns on this embodiment. It is the figure which showed an example of the traffic signal and stop line which are arrange | positioned at a branch point. It is the figure which showed an example of the feature data memorize | stored in map information DB. It is the figure which showed an example of the guidance phrase condition table. It is a figure explaining the guidance start point prescribed | regulated by the guidance phrase condition table. It is a flowchart of a branch point guidance processing program according to the present embodiment. It is a flowchart of the sub process program of the guidance start point setting process which concerns on this embodiment. It is a flowchart of the sub process program of the exit side signal estimation process which concerns on this embodiment. It is the figure explaining the method of estimating the position of the exit side traffic signal of the traveling lane of the front branch point based on the position of the approach side traffic signal of the opposite lane of the near branch point. It is a figure explaining the method of estimating the position of the exit side signal of the traveling lane of the front branch point based on the position of the stop line of the opposite lane of the front branch point. It is the figure explaining the method of estimating the position of the exit side signal of the travel lane of the front branch point based on the position of the approach side traffic signal of the travel lane of the near branch point.

  DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a movement guide system and a movement guide apparatus according to the present invention will be described in detail with reference to the drawings based on an embodiment in which the navigation apparatus is embodied. First, a schematic configuration of the navigation device 1 according to the present embodiment will be described with reference to FIG. FIG. 1 is a block diagram showing a navigation device 1 according to this embodiment.

  As shown in FIG. 1, the navigation device 1 according to the present embodiment includes a current position detection unit 11 that detects a current position of a vehicle on which the navigation device 1 is mounted, a data recording unit 12 that records various data, A navigation ECU 13 that performs various arithmetic processes based on the input information, an operation unit 14 that receives operations from the user, and a liquid crystal display 15 that displays a map around the vehicle and facility information related to the facility to the user. Communicating between a speaker 16 that outputs voice guidance regarding route guidance, a DVD drive 17 that reads a DVD as a storage medium, and an information center such as a probe center or a VICS (registered trademark: Vehicle Information and Communication System) center And a communication module 18 for performing.

Below, each component which comprises the navigation apparatus 1 is demonstrated in order.
The current position detection unit 11 includes a GPS 21, a vehicle speed sensor 22, a steering sensor 23, a gyro sensor 24, and the like, and can detect the current vehicle position, direction, vehicle traveling speed, current time, and the like. . Here, in particular, the vehicle speed sensor 22 is a sensor for detecting a moving distance and a vehicle speed of the vehicle, generates a pulse according to the rotation of the driving wheel of the vehicle, and outputs a pulse signal to the navigation ECU 13. And navigation ECU13 calculates the rotational speed and moving distance of a driving wheel by counting the generated pulse. Note that the navigation device 1 does not have to include all of the above five types of sensors, and the navigation device 1 may include only one or more of these types of sensors.

  The data recording unit 12 reads an external storage device and a hard disk (not shown) as a recording medium, a map information DB 31 recorded on the hard disk, a guidance phrase condition table 32, a predetermined program, and the like and And a recording head (not shown) which is a driver for writing data. The data recording unit 12 may be configured by a memory card, an optical disk such as a CD or a DVD, instead of the hard disk.

  Here, the map information DB 31 includes, for example, link data 33 related to roads (links), node data 34 related to node points, branch point data 35 related to each branch point, and among features formed on the road surface, particularly stop lines. Storage means for storing feature data 36 relating to road markings, point data relating to points such as facilities, map display data for displaying maps, search data for searching for routes, search data for searching for points, and the like It is.

  Here, the link data 33 includes, for example, a link ID for identifying the link, end node information for identifying a node located at the end of the link, the road type of the road constituting the link, the number of lanes, and the like. Remembered. The node data 34 stores a node ID for identifying the node, position coordinates of the node, connection destination node information for specifying a connection destination node to which the node is connected via a link, and the like. Further, as the branch point data 35, relevant node information for specifying a node forming the branch point (intersection), connection link information for specifying a link connected to the branch point (hereinafter referred to as a connection link), a branch point The traffic signal information 37 and the like related to the traffic signals installed around is stored.

  Further, as the traffic signal information 37, the traffic signal installed in the vicinity of each branch point (intersection) in the country is the direction in which the traffic signal is installed (that is, the direction in which the traffic light is facing, hereinafter referred to as the installation direction). ), The number of lamps (three-lamp type, one-lamp type, etc.), the position coordinates where the traffic light is installed (hereinafter referred to as installation coordinates), and the like are stored. Furthermore, when a plurality of traffic lights are installed at one branch point, the installation direction, installation coordinates, etc. are stored for each of the traffic lights. For example, as shown in FIG. 2, eight traffic lights 52 to 59 are installed at a branching point 51 where two one-lane roads intersect. Accordingly, as the traffic signal information 37 of the branch point 51, the installation direction, installation coordinates, and the like of the traffic signals 52 to 59 are stored.

  Note that the traffic signal information 37 relates to the traffic signal on the most exit side for each exit direction from the branch point (that is, the traffic signal that can be visually recognized last when the vehicle passes through the branch point, hereinafter referred to as the exit side traffic signal). It is good also as a structure which memorize | stores only information. For example, at the branch point 51 shown in FIG. 2, information on the traffic signal 53 that is the exit side traffic signal is stored for the exit direction from the bottom to the top of the diagram, and the exit side is displayed for the exit direction from the top to the bottom of the diagram. Stores information on the traffic light 55 that is a traffic light, stores information on the traffic light 57 that is a traffic light on the exit side with respect to the exit direction from the left to the right in the figure, and exits on the exit direction from the right to the left in the figure. Information on the traffic signal 59 that is a traffic signal is stored. That is, it is good also as a structure which memorize | stores only the installation direction and installation coordinate of the traffic lights 53, 55, 57, 59 among the 8 traffic lights 52-59.

  On the other hand, the feature data 36 stores information related to the road marking of the stop line among the features formed on the road surface. Specifically, as shown in FIG. 3, the identification ID, the coordinate data for specifying the position of the stop line on the map, and the branch point ID for identifying the branch point where the stop line is installed are stored. For example, the example shown in FIG. 3 indicates that a stop line (ID: 123) of the branch point (ID: 10011) is formed at the coordinates (x1, y1). In addition, as shown in FIG. 2, stop lines 60 to 63 are installed at four points at a branch point 51 where roads on two lanes on one side intersect. Therefore, as the feature data 36, various information relating to the stop lines 60 to 63 is stored.

  And navigation ECU13 is based on each data memorize | stored in map information DB31 as mentioned later, and the branch existing in the departure place side of a guidance route from this guidance branch point ahead of the advancing direction of a vehicle. A point (hereinafter referred to as a front branch point) is specified. Further, the traffic signal information 37 of the traffic lights around the guidance branch point and the front branch point is acquired, and a guidance start point for guiding the front branch point is set based on the position of the exit side traffic signal at the front branch point. On the other hand, if the navigation ECU 13 cannot obtain information on the exit side traffic light at the front branch point from the map information DB 31 (that is, it is not stored in the map information DB 31), the navigation ECU 13 may have another feature installed at the front branch point. The position of the exit side traffic signal is predicted based on the information (for example, other traffic signals and stop lines).

  In addition, the guidance phrase condition table 32 is a table that stores the guidance branch point guidance, the contents of the spoken phrase, the conditions for starting the guidance utterance, and the like. Hereinafter, the guidance phrase condition table 32 will be described in more detail with specific examples. FIG. 4 shows an example of the guidance phrase condition table 32. FIG. 5 is a diagram for explaining the guidance start point defined in the guidance phrase condition table 32 shown in FIG. In addition, in FIG. 4, it is the case where the traffic signal is installed at the guidance branch point among the guidance performed at the guidance branch point, and is output when the right and left turn guidance is performed with the expression content using the traffic signal. I will show you the guidance. In the following description of the embodiment, the guide branch point and the front branch point are both branch points where a traffic light is installed, and the branch on the one side before the guide branch point (the departure side along the guide route). The point is referred to as the first front branch point, the branch point on the further one side of the first front branch point (the departure side along the guide route) is referred to as the second front branch point, and further to the second front branch point. A branch point on the front side (the departure side along the guide route) will be referred to as a third front branch point.

As shown in FIG. 4, for example, in the case of guiding “the second signal is in the left (right) direction”, two traffic lights including the guidance branch point before entering the guidance branch point. Utterance of guidance must be started while the user is ready to count. Therefore, the guidance phrase “the second signal is in the left (right) direction” is guided on the condition that the vehicle has passed the guidance start point set for the exit side traffic light at the second front branch point. To start. In the present embodiment, the guidance start point set for the exit signal at the second branch point can be viewed from the state in which the exit signal at the second branch point is visible from the vehicle occupant (especially the driver). This corresponds to the point where the state is switched to disappear. Here, the point at which the exit side traffic light at the second front branching point is visible from the vehicle occupant to the state where it is no longer visible is specified by the relative positional relationship with respect to the exit side traffic signal. It is different for each (more specifically, depending on the shape of the car and the shape of the front window). For example, when the vehicle passes a point 5m before the exit signal at the second branch point, the vehicle passenger switches from a state where the exit signal at the second branch point can be viewed to a state where it cannot be viewed. As shown in FIG. 5, the point A 5 m before the exit side traffic signal 73 at the second front branch point 72 that is two near the guide branch point 71 is set as the guidance start point, and the vehicle is used as the point A. When it passes, guidance for the guidance branch point is started. As a result, the user who has received the guidance can count the branch points where two traffic lights, the first front branch point 74 and the guide branch point 71, are installed before entering the guidance branch point 71. It becomes possible to clearly specify that the “second signal” in the sentence is the approach side traffic signal 75 installed at the guidance branch point 71. However, the guidance start point may be uniquely set with respect to the position of the exit side traffic light at the second front branch point regardless of the vehicle type. For example, a guidance start point may be a point 5 m before the exit-side signal at the second branch point or the installation point of the exit-side signal.
The number of traffic lights in the guidance phrase is preferably the number of traffic lights in the branch point unit. That is, when a plurality of traffic signals are provided at the same branch point on a large road or the like, it is desirable that the plurality of traffic signals be counted as one traffic signal. In that case, the number of traffic lights in the guidance phrase corresponds to the number of branch points where traffic lights are installed (that is, traffic signal intersections). However, even when counting is performed in units of branch points, it is desirable to count the number of traffic lights (for example, push button type traffic lights) installed outside the branch point. The same applies to the following description.
Similarly, other guidance phrases are stored in the guidance phrase condition table 32. In addition to the left (right) direction, there are a right (left) diagonal direction, a right (left) front direction, and the like as the guidance direction of the guidance branch point.

  On the other hand, the navigation ECU (Electronic Control Unit) 13 is an electronic control unit that controls the entire navigation device 1. The CPU 41 as an arithmetic device and a control device, and a working memory when the CPU 41 performs various arithmetic processes. In addition to the RAM 42 for storing route data when a route is searched, a control program, a ROM 43 in which a branch point guidance processing program (see FIGS. 6 to 8) described later is recorded, etc. An internal storage device such as a flash memory 44 for storing a program read from the ROM 43 is provided. The navigation ECU 13 constitutes various means as processing algorithms. For example, the guidance route setting means sets a guidance route and a guidance branch point from a departure point (for example, the current position of the vehicle) that guides the movement of the vehicle (moving body) to the destination. The traffic signal information acquisition means acquires position information of a traffic signal installed at a front branch point existing on the departure point side of the guide route with respect to the guide branch point. The acquisition determination means determines whether or not the traffic signal information acquisition means can acquire the position information of the exit side traffic light at the front branch point, and the traffic signal position estimation means determines that the vicinity of the front branch point when it is determined that acquisition is not possible. The position of the exit side traffic light is estimated using the feature located at. The branch point guidance means guides the guidance branch point when the vehicle reaches the guidance start point specified based on the position of the exit side traffic signal estimated by the traffic signal position estimation means. The oncoming traffic signal acquisition means acquires position information of the oncoming traffic signal which is an approaching side traffic signal of the opposite lane of the lane in which the vehicle travels at the front branch point. The opposite stop line acquisition means acquires position information of the stop line of the opposite lane of the lane in which the vehicle travels at the front branch point. The approach side traffic signal acquisition means acquires position information of the approach side traffic signal of the lane in which the vehicle travels at the front branch point.

  The operation unit 14 is operated when inputting a departure point as a travel start point and a destination as a travel end point, and includes a plurality of operation switches (not shown) such as various keys and buttons. Then, the navigation ECU 13 performs control to execute various corresponding operations based on switch signals output by pressing the switches. The operation unit 14 can also be configured by a touch panel provided on the front surface of the liquid crystal display 15. Moreover, it can also be comprised with a microphone and a speech recognition apparatus.

  The liquid crystal display 15 includes a map image including a road, traffic information, operation guidance, operation menu, key guidance, guidance route from the departure point to the destination, guidance information along the guidance route, news, weather forecast, Time, mail, TV program, etc. are displayed. In particular, in the present embodiment, when the guidance branch point approaches within a predetermined distance (for example, 300 m) ahead of the traveling direction of the vehicle, an enlarged view near the guidance branch point and the traveling direction at the guidance branch point of the vehicle are displayed.

  The speaker 16 outputs voice guidance for guiding traveling along the guidance route based on an instruction from the navigation ECU 13 and traffic information guidance. In particular, in the present embodiment, when the guidance branch point is ahead of the traveling direction of the vehicle, a voice guidance indicating that the predetermined guidance start timing based on the guidance content (for example, “the second signal is to the left”) In the case of outputting, the voice guidance of the guidance branch point is output at a timing at which the vehicle occupant cannot visually recognize the exit side traffic signal at the second front branch point (for example, 5 m before the exit side traffic signal at the second front branch point) .

  The DVD drive 17 is a drive that can read data recorded on a recording medium such as a DVD or a CD. Based on the read data, music and video are reproduced, the map information DB 31 is updated, and the like.

  The communication module 18 is a communication device for receiving traffic information composed of information such as traffic jam information, regulation information, and traffic accident information transmitted from a traffic information center, for example, a VICS center or a probe center. For example, a mobile phone or DCM is applicable.

  Next, a branch point guidance processing program executed by the navigation ECU 13 in the navigation device 1 having the above configuration will be described with reference to FIG. FIG. 6 is a flowchart of the branch point guidance processing program according to this embodiment. Here, the branch point guidance processing program is a program that is repeatedly executed at a predetermined interval (for example, every detection cycle of the current position of the vehicle) after the vehicle ACC is turned on, and guides the guidance branch point on the guidance route. . 6 to 8 are stored in the RAM 42 and the ROM 43 provided in the navigation device 1 and executed by the CPU 41.

  First, in step (hereinafter abbreviated as S) 1 in the branch point guidance processing program, the CPU 41 determines whether route guidance based on the guidance route set in the navigation device 1 is being performed. Here, the guidance route is a recommended route from the departure point (for example, the current position of the host vehicle) to the destination selected by the user, and is set based on the result of the route search process. Further, the route search process is performed by a known Dijkstra method or the like using link data 33, node data 34, traffic information acquired from the VICS center, etc. stored in the map information DB 31.

  And when it determines with the route guidance based on the guidance route set in the navigation apparatus 1 being performed (S1: YES), it transfers to S2. On the other hand, when it is determined that route guidance based on the guidance route set in the navigation device 1 is not performed (S1: NO), the branch point guidance processing program is terminated.

  In S <b> 2, the CPU 41 acquires the current position of the vehicle based on the detection result of the current position detection unit 11. A map matching process for specifying the current position of the vehicle on the map data is also performed. Furthermore, it is desirable to specify the current position of the vehicle in detail using high-precision location technology. Here, the high-accuracy location technology detects the white line and road surface paint information captured from the camera behind the vehicle by image recognition, and further compares the white line and road surface paint information with a previously stored map information DB, thereby driving the vehicle. This is a technology that makes it possible to detect lanes and highly accurate vehicle positions. The details of the high-accuracy location technology are already known and will be omitted.

  Next, in S <b> 3, the CPU 41 obtains a guidance route (including a guidance branch point in the guidance route) set in the navigation device 1.

  Subsequently, in S4, the CPU 41 determines a guidance branch point within a predetermined distance (for example, within 1.47 km) ahead of the traveling direction of the vehicle based on the current position of the vehicle acquired in S2 and the guidance route acquired in S3. It is determined whether or not there is. Note that the guidance branch point is a branch point to which guidance such as a right / left turn instruction is given when the navigation device 1 guides traveling according to the guidance route set in the navigation device 1 as described above.

  If it is determined that there is a guidance branch point within a predetermined distance ahead of the traveling direction of the vehicle (S4: YES), the process proceeds to S5. On the other hand, when it is determined that there is no guidance branch point within a predetermined distance ahead of the traveling direction of the vehicle (S4: NO), the branch point guidance processing program is terminated.

  In S5, the CPU 41 determines whether or not guidance for a guidance branch point in front of the vehicle traveling direction has already been performed. In S5, it is determined whether or not voice guidance for instructing a right or left turn or the like at the guidance branch point is provided among the guidance for the guidance branch point.

  And when it determines with guidance with respect to the guidance branch point ahead of the advancing direction of a vehicle having already been performed (S5: YES), the said branch point guidance process program is complete | finished. On the other hand, when it is determined that the guidance for the guidance branch point ahead of the traveling direction of the vehicle is not performed (S5: NO), the process proceeds to S6.

  In S <b> 6, the CPU 41 determines whether or not the guidance start point for performing guidance for the guidance branch point set in the forward direction of the vehicle set in S <b> 7 has already been set in S <b> 7 described later. The guidance start point specifies the timing at which guidance is started in the vehicle as will be described later, and the CPU 41 controls the guidance branch point to be guided at the timing when the vehicle reaches the guidance start point.

  And when it determines with the guidance start point which guides the guidance branch point ahead of the advancing direction of a vehicle having been already set (S6: YES), it transfers to S8. On the other hand, when it is determined that the guidance start point for performing guidance for the guidance branch point ahead of the traveling direction of the vehicle has not been set (S6: NO), the process proceeds to S7.

  In S7, the CPU 41 executes a guidance start point setting process (FIG. 7) described later. In the guidance start point setting process, the guidance start point for guiding the guidance branch point as described later is set based on the position of the exit side traffic signal at the near branch point according to the guidance phrase condition table 32 (FIG. 4). It is processing.

  Next, in S8, the CPU 41 determines whether or not the vehicle has reached the guidance start point set in S7.

  When it is determined that the vehicle has reached the guidance start point set in S7 (S8: YES), the process proceeds to S9. On the other hand, when it is determined that the vehicle has not reached the guidance start point set in S7 (S8: NO), the branch point guidance processing program is terminated.

In S9, the CPU 41 performs guidance related to the guidance branch point using the guidance phrase corresponding to the reached guidance start point. Specifically, guidance for identifying the guidance branch point and guidance for identifying the exit direction of the vehicle at the guidance branch point (that is, guidance for identifying the exit road from which the vehicle exits the guidance branch point) are performed. For example, in this embodiment, the guidance phrases include “the third signal is to the left”, “the second signal is to the left”, and “the next signal is to the left”. The guidance start point is set corresponding to. For example, when the vehicle reaches the guidance start point set a predetermined distance before the exit side traffic light at the second branch point, the phrase “The second signal is in the left (right) direction” with the phrase 16 to output. Further, when the guidance branch point approaches within a predetermined distance (for example, 300 m) of the vehicle, an enlarged view near the guidance branch point and the traveling direction at the guidance branch point of the vehicle are displayed on the liquid crystal display 15.
As a result, it becomes possible for the user to accurately specify the guidance branch point and the road from which the vehicle exits from the guidance branch point.

  Next, sub-processing of the guidance start point setting process executed in S6 will be described with reference to FIG. FIG. 7 is a flowchart of a sub-processing program for guidance start point setting processing.

  First, in S <b> 11, the CPU 41 acquires, from the map information DB 31, information related to a traffic light installed at a front branch point located on the departure side of the guide route from the guide branch point. The information acquired in S11 includes, for example, the installation direction of the traffic signal, the number of lamps (three-lamp type, one-lamp type, etc.), the installation coordinates where the traffic signal is installed, and the like. Further, the front branch point from which information is acquired is a front branch point that serves as a reference when setting the guidance start point. For example, in this embodiment, the first branch point to the third front branch point are applicable.

  Next, in S12, the CPU 41 determines whether or not the position information of the exit side traffic signal of the lane in which the vehicle at the near branch point travels in S11 (hereinafter referred to as a traveling lane) has been acquired. The exit-side traffic signal is the signal on the most exit side for each exit direction from the branch point (that is, the traffic signal that can be visually recognized last when the vehicle passes through the branch point). In S12, the CPU 41 compares the coordinates of the node at the front branch point with the installation coordinates of the traffic light installed in the traveling lane at the front branch point, and the guide branch point side (that is, the vehicle's progress) from the node coordinates. When a traffic light is located on the direction side), the traffic light is recognized as a traffic signal on the exit side of the traveling lane. That is, in S12, the CPU 41 determines that the position information of the traffic signal on the exit side of the travel lane has been acquired when the installation coordinates of the traffic signal on the travel lane acquired in S11 are located closer to the guidance branch point than the coordinates of the node. . When a plurality of traffic lights are located closer to the guidance branch point than the node coordinates, the traffic light located closest to the guidance branch point is defined as the exit side traffic signal.

  And when it determines with having acquired the positional information on the exit side signal of the driving lane of a front branch point (S12: YES), it transfers to S13. On the other hand, if it is determined that the position information of the exit side traffic signal of the traveling lane at the front branch point cannot be acquired (S12: NO), the process proceeds to S14.

  In S <b> 13, the CPU 41 sets a guidance start point based on the position information of the leaving traffic signal of the traveling lane at the front branch point and the guidance phrase condition table 32 (FIG. 4). For example, in the case of guidance that “the second signal is in the left (right) direction”, it is not possible to see from the state in which the exit signal at the second branch point is visible from the vehicle occupant (especially the driver). The point at which switching to is set as the guidance start point (see FIG. 4). Here, the point at which the exit side traffic light at the second front branching point is visible from the vehicle occupant to the state where it is no longer visible is specified by the relative positional relationship with respect to the exit side traffic signal. It is different for each (more specifically, depending on the shape of the car and the shape of the front window). However, the guidance start point may be uniquely set with respect to the position of the exit side traffic light at the second front branch point regardless of the vehicle type. For example, a guidance start point may be a point 5 m before the exit-side signal at the second branch point or the installation point of the exit-side signal.

  On the other hand, in S14, the CPU 41 executes an exit side signal estimation process (FIG. 8) described later. The exit-side signal estimation process is a process for estimating the position of the exit-side signal using features other than the exit-side signal around the near branch point.

  Thereafter, in S15, the CPU 41 sets a guidance start point based on the position of the exit side traffic signal of the traveling lane at the front branch point estimated in S14 and the guidance phrase condition table 32 (FIG. 4). The specific setting method is the same as that in S13 and will not be described. Thereafter, the process proceeds to S8.

  Next, the sub-process of the exit side traffic signal estimation process executed in S14 will be described with reference to FIG. FIG. 8 is a flowchart of a sub-processing program for the exit side traffic signal estimation process.

  First, in S21, the CPU 41 determines whether there is an oncoming lane on the road on which the vehicle travels based on the link data 33 stored in the map information DB 31.

  If it is determined that there is an oncoming lane on the road on which the vehicle travels (S21: YES), the process proceeds to S22. On the other hand, when it is determined that there is no oncoming lane on the road on which the vehicle travels (S21: NO), the process proceeds to S26.

  In S22, the CPU 41 determines whether or not the position information of the approaching traffic signal in the opposite lane at the front branch point has been acquired in S11. In addition, the approach side traffic signal is a traffic signal (that is, a traffic signal that can be visually recognized first by the vehicle) that is closest to the approach side (that is, the departure side) for each exit direction from the branch point. Then, in S22, the CPU 41 compares the coordinates of the node at the front branch point with the installation coordinates of the traffic signal installed in the opposite lane of the front branch point, and the guide branch point side (that is, the vehicle traveling direction) from the node coordinates. When the traffic light is located on the direction side), the traffic light is recognized as the traffic light on the opposite lane. That is, in S22, the CPU 41 determines that the position information of the oncoming traffic signal in the oncoming lane has been obtained when the installation coordinates of the oncoming traffic signal obtained in S11 are located closer to the guidance branch point than the coordinates of the node. . When a plurality of traffic lights are located closer to the guidance branch point than the node coordinates, the traffic light located closest to the guidance branch point is defined as the approach side traffic signal.

  And when it determines with the positional information on the approach side traffic signal of the opposite lane of a near branching point having been acquired (S22: YES), it transfers to S23. On the other hand, when it is determined that the position information of the approaching traffic signal in the opposite lane at the front branch point cannot be acquired (S22: NO), the process proceeds to S24.

In S23, the CPU 41 estimates the position of the exit side traffic signal of the traveling lane at the front branch point based on the position of the approach side traffic signal of the opposite lane at the front branch point.
The details of the process of estimating the position of the exit signal in S23 will be described below with reference to FIG. In the example shown in FIG. 9, at the front branch point 82 in front of the traveling direction of the vehicle 81, information on the exit side traffic light 83 on the traveling lane cannot be acquired, and information on the entrance side traffic signal 84 on the opposite lane can be acquired. explain. As shown in FIG. 9, when the information of the exit side traffic signal 83 of the traveling lane cannot be acquired and the information of the entrance side traffic signal 84 of the opposite lane can be acquired, the CPU 41 determines the position of the entrance side traffic signal 84 of the opposite lane. Is estimated as the position of the exit signal 83. The first estimated reference position X, which is the position moved in the road lane in the width direction of the road. Further, it is desirable to set an offset value (estimation error) at the estimated position of the exit side signal 83. For example, for the section from the first estimated reference position X to the position where the first estimated reference position X is moved by a predetermined distance (for example, 5 m) in the exit direction of the front branch point (guide branch point direction), the exit side traffic signal 83 Is estimated. As a result, even if an error occurs in the estimated position of the exit signal, the vehicle can be controlled and guided in consideration of the error. For example, when the guidance start point is set 5 m before the exit side traffic signal 83 in the processing of S15 executed thereafter, the guidance start point is set 5 m before the estimated end of the section. Thereby, even if there is an error in the estimated position of the exit signal, it is possible to prevent a guidance start point that is inconsistent with the guidance content from being set.

  On the other hand, in S24, based on the feature data 36 stored in the map information DB 31, the CPU 41 determines whether or not the position information of the stop line installed in the opposite lane at the front branch point has been acquired.

  And when it determines with having acquired the positional information on the stop line installed in the opposite lane of a near branching point (S24: YES), it transfers to S25. On the other hand, when it is determined that the position information of the stop line installed in the opposite lane at the front branch point cannot be acquired (S24: NO), the process proceeds to S26.

In S25, the CPU 41 estimates the position of the exit side traffic signal of the traveling lane at the front branch point based on the position of the stop line of the opposite lane at the front branch point.
The details of the process of estimating the position of the exit side traffic light in S25 will be described below with reference to FIG. In the example shown in FIG. 10, the case where the information on the exit side traffic light 83 of the traveling lane cannot be acquired and the information on the stop line 85 of the oncoming lane can be acquired at the front branch point 82 in front of the vehicle 81 in the traveling direction. To do. As shown in FIG. 10, when the information of the exit side traffic signal 83 of the traveling lane cannot be acquired and the information of the stop line 85 of the oncoming lane can be acquired, the CPU 41 determines the position of the stop line 85 of the oncoming lane as the road. The second estimated reference position Y, which is the position moved on the travel lane in the width direction, is estimated as the position of the exit signal 83. Further, it is desirable to set an offset value (estimation error) at the estimated position of the exit side signal 83. For example, for the section from the second estimated reference position Y to the position where the second estimated reference position Y is moved by a predetermined distance (for example, 8 m) in the exit direction of the front branch point (guide branch point direction), the exit side traffic signal 83 Is estimated. As a result, even if an error occurs in the estimated position of the exit signal, the vehicle can be controlled and guided in consideration of the error. For example, when the guidance start point is set 5 m before the exit side traffic signal 83 in the processing of S15 executed thereafter, the guidance start point is set 5 m before the estimated end of the section. Thereby, even if there is an error in the estimated position of the exit signal, it is possible to prevent a guidance start point that is inconsistent with the guidance content from being set.

In S <b> 26, the CPU 41 estimates the position of the exit side traffic signal of the traveling lane at the front branch point based on the position of the approach side traffic signal of the traveling lane at the front branch point.
The details of the process of estimating the position of the exit signal in S26 will be described below with reference to FIG. In the example shown in FIG. 11, at the front branch point 82 in front of the traveling direction of the vehicle 81, the information on the exit side traffic light 83 of the traveling lane cannot be acquired and the information on the entrance side traffic signal 86 on the traveling lane can be acquired. explain. As shown in FIG. 11, when the information of the traffic signal 83 on the exit side of the travel lane cannot be acquired and the information of the traffic signal 86 on the travel side of the travel lane can be acquired, the CPU 41 links the intersection road at the front branch point 82. A third estimated reference position Z, which is a target position of the position of the approach side traffic signal 86 on the traveling lane with L as an axis, is estimated as the position of the exit side traffic signal 83. Further, it is desirable to set an offset value (estimation error) at the estimated position of the exit side signal 83. For example, for the section from the third estimated reference position Z to the position where the third estimated reference position Z is moved by a predetermined distance (for example, 10 m) in the exit direction of the front branch point (guide branch point direction), the exit-side traffic signal 83 Is estimated. As a result, even if an error occurs in the estimated position of the exit signal, the vehicle can be controlled and guided in consideration of the error. For example, when the guidance start point is set 5 m before the exit side traffic signal 83 in the processing of S15 executed thereafter, the guidance start point is set 5 m before the estimated end of the section. Thereby, even if there is an error in the estimated position of the exit signal, it is possible to prevent a guidance start point that is inconsistent with the guidance content from being set. Thereafter, the process proceeds to S15.

  The offset values set in S23, S25, and S26 are preferably values that are larger in S25 than S23 and larger in S26 than S25. This is because the estimation using the approach side traffic signal of the opposite lane in S23 has the highest reliability, and the estimation using the approach side traffic signal of the traveling lane in S25 has the lowest reliability. For the same reason, in the present embodiment, the priority is set so that the estimation using the approaching traffic signal on the opposite lane in S23 is the highest, and the estimation using the traffic signal on the traveling lane in S25 is the most. The priority to be implemented is set to be low.

As described above in detail, according to the navigation device 1 according to the present embodiment, the movement guide method using the navigation device 1 and the computer program executed by the navigation device 1, the travel lane on which the vehicle at the front branch point travels. If the position information of the exit signal can be acquired, a guidance start point is set based on the acquired position of the exit signal (S13), while the exit signal of the traveling lane on which the vehicle at the front branch point travels is set. If the position information cannot be obtained, the position of the exit signal is estimated using features (for example, other traffic lights, stop lines, etc.) around the front branch point (S14), and the estimated exit signal is estimated. A guidance start point is set on the basis of the position (S15), and when the vehicle arrives at the set guidance start point, the guidance branch point is guided (S9). Even if the position information of the exit side traffic signal at the branch point cannot be obtained from the map information DB 31, it is possible to accurately estimate the location of the exit side traffic signal using the substitute, and the traffic signal installed at the front branch point Can be started at an appropriate timing based on the content of the guidance. As a result, it is possible for the user to specify the guidance branch point accurately.
In addition, since the position of the exit side traffic signal is estimated based on the position of the entrance side traffic signal in the opposite lane as a feature in S23, even when information on all the traffic signals installed at the front branch point cannot be acquired, It is possible to accurately estimate the position of the exit side traffic signal based on the position of the entrance side traffic signal in the opposite lane.
Further, the position of the exit side traffic signal is estimated for the section from the first estimated reference position X to the position where the first estimated reference position X is moved by a first predetermined distance (for example, 5 m) in the exit direction of the preceding branch point. Therefore, even if there is an error in the estimated position of the exit signal, it is possible to set a guidance start point corresponding to the guidance content in consideration of the error.
In addition, since the position of the exit side traffic signal is estimated based on the position of the stop line of the opposite lane as a feature in S25, even if information on all the traffic signals installed at the front branch point cannot be acquired, Based on the position of the lane stop line, the position of the exit side traffic light can be accurately estimated.
Further, the position of the exit side traffic light is estimated for the section from the second estimated reference position Y to the position where the second estimated reference position Y is moved by a second predetermined distance (for example, 8 m) in the exit direction of the previous branch point. Therefore, even if there is an error in the estimated position of the exit signal, it is possible to set a guidance start point corresponding to the guidance content in consideration of the error.
Further, in S26, since the position of the exit signal is estimated based on the position of the approach signal on the traveling lane of the vehicle as a feature, information on all the traffic signals installed at the front branch point cannot be obtained. However, the position of the exit side signal can be accurately estimated based on the position of the entrance side signal.
Further, the position of the exit side traffic light is estimated for the section from the third estimated reference position Z to the position where the third estimated reference position Z is moved by a third predetermined distance (for example, 10 m) in the exit direction of the previous branch point. Therefore, even if there is an error in the estimated position of the exit signal, it is possible to set a guidance start point corresponding to the guidance content in consideration of the error.

Note that the present invention is not limited to the above-described embodiment, and various improvements and modifications can be made without departing from the scope of the present invention.
For example, in the present embodiment, the guidance branch point guidance by the navigation device 1 is output by voice guidance from the speaker 16, but the guidance may be performed by displaying text on the liquid crystal display 15.

  Further, in the present embodiment, other traffic lights and stop lines are particularly used as features used for estimating the position of the exit side traffic signal of the traveling lane, but road markings other than the stop line may be used. Further, obstacles other than traffic lights and road markings, buildings, road signs, etc. may be used. However, it is desirable that the feature to be used is in the vicinity of the front branch point.

  In the present embodiment, the offset value is set in S23, S25, and S26. However, the first estimated reference position X and the second estimated value are set without setting the offset value in any one or a plurality of steps. The reference position Y and the third estimated reference position Z may be estimated as the positions of the exit side traffic lights of the traveling lane. Also, when setting an offset value, the value can be changed as appropriate. For example, the offset value may be changed depending on the road type or the branch point type of the road constituting the front branch point.

  In the present embodiment, as guidance for the guidance branch point, guidance is performed using the number of traffic lights (or branch points where traffic lights are installed) from the current position of the vehicle to the guidance branch point. However, other guidance may be provided. However, the effect of the present invention is remarkable especially when performing guidance using a traffic light.

  In addition to the navigation device, the present invention can be applied to a device having a function of performing route guidance based on a guidance route. For example, the present invention can be applied to a portable terminal such as a cellular phone or a PDA, a personal computer, a portable music player, etc. (hereinafter referred to as a portable terminal or the like). Further, the present invention can be applied to a system including a server and a mobile terminal. In that case, each step of the above-described branch point guidance processing program (FIGS. 6 to 8) may be configured to be implemented by either a server or a portable terminal. Moreover, it is good also as a structure which acquires the information regarding the leaving side traffic signal of a near branching point, and the information regarding a feature from a server by communication. In addition, when the present invention is applied to a mobile terminal or the like, travel guidance may be given to a moving body other than a vehicle, for example, a user such as a mobile terminal or a two-wheeled vehicle.

1 Navigation device 13 Navigation ECU
19 Back camera 31 Map information DB
36 Feature data 37 Traffic signal information 41 CPU
42 RAM
43 ROM
81 Vehicle 82 Front branch point 83, 84, 86 Traffic light 85 Stop line

Claims (10)

A guide route for guiding the movement of the moving body, a guide route setting means for setting a guide branch point on the guide route,
Traffic signal information acquisition means for acquiring position information of a traffic signal installed at a front branch point existing on the departure side of the guide route from the guide branch point;
Acquisition determination means for determining whether or not the traffic signal information acquisition means has acquired the position information of the exit side traffic light at the near branch point;
Signal position estimation means for estimating the position of the exit side traffic signal using features located around the front branch point when it is determined by the acquisition determination means that the position information of the exit side traffic signal has not been acquired; ,
Branch point guidance means for guiding the guidance branch point when the mobile body reaches the guidance start point specified based on the position of the exit side traffic signal estimated by the traffic signal position estimation means. A mobile guidance system characterized by that. A counter signal acquisition means for acquiring position information of a counter approaching side traffic signal that is an approach side traffic signal of the counter lane of the lane in which the moving body moves at the front branch point;
The traffic signal position estimating means is configured to determine the position of the exit side traffic signal based on a first estimated reference position that is a position where the position of the opposite approach side traffic signal is moved on the lane in which the moving body moves in the width direction of the road. The movement guidance system according to claim 1, wherein the movement guidance system is estimated.   The traffic signal position estimating means is configured to detect the position of the exit side traffic signal with respect to a section from the first estimation reference position to a position where the first estimation reference position is moved by a first predetermined distance in the exit direction of the front branch point. The movement guidance system according to claim 2, wherein the movement guidance system is estimated. An opposite stop line acquisition means for acquiring position information of a stop line of an opposite lane of a lane in which the moving body moves at the front branch point;
The traffic signal position estimating means estimates the position of the exit side traffic signal based on a second estimated reference position which is a position where the position of the stop line is moved on the lane where the moving body moves in the width direction of the road. The movement guide system according to claim 1, wherein:   The traffic signal position estimating means is configured such that the position of the exit-side traffic signal with respect to a section from the second estimation reference position to a position where the second estimation reference position is moved by a second predetermined distance in the exit direction of the front branch point. The movement guidance system according to claim 4, wherein the movement guidance system is estimated. An approach side traffic signal acquisition means for acquiring position information of an approach side traffic signal of a lane in which the moving body moves at the front branch point;
The traffic signal position estimating means estimates the position of the exit signal on the basis of a third estimated reference position that is a target position of the position of the approach signal on the basis of a link of an intersection road at the preceding branch point. The movement guide system according to claim 1.   The traffic signal position estimating means is configured to determine the position of the exit side traffic signal with respect to a section from the third estimation reference position to a position where the third estimation reference position is moved by a third predetermined distance in the exit direction of the front branch point. The movement guide system according to claim 6, wherein the movement guidance system is estimated. A guide route for guiding the movement of the moving body, a guide route setting means for setting a guide branch point on the guide route,
Traffic signal information acquisition means for acquiring position information of a traffic signal installed at a front branch point existing on the departure side of the guide route from the guide branch point;
Acquisition determination means for determining whether or not the traffic signal information acquisition means has acquired the position information of the exit side traffic light at the near branch point;
Signal position estimation means for estimating the position of the exit side traffic signal using features located around the front branch point when it is determined by the acquisition determination means that the position information of the exit side traffic signal has not been acquired; ,
Branch point guidance means for guiding the guidance branch point when the mobile body reaches the guidance start point specified based on the position of the exit side traffic signal estimated by the traffic signal position estimation means. The movement guide apparatus characterized by the above-mentioned. Guidance route setting means, and away step to set the guidance branch point on the guidance route and the guide path for guiding the movement of the moving body,
Traffic signal information acquisition unit, and Luz step to acquire the position information of the installed traffic signal to the preceding junction than the guidance branch point exists on the departure point side of the guide path,
Acquisition determination means, and away step to determine whether to retrieve the position information of the exit-side traffic of the preceding junction by the traffic information acquisition means,
When the traffic signal position estimation means determines that the position information of the exit side traffic signal cannot be acquired by the acquisition determination means , the position of the exit side traffic signal is estimated using features in the vicinity of the near branch point. and to Luz step,
Junction guiding means, when the moving body guidance starting point is specified based on the position of the exit-side traffic estimated by the traffic signal position estimating means reaches the guidance of the guide branch point line mortar And a navigation guide method. The computer,
A guide route for guiding the movement of the moving body, a guide route setting means for setting a guide branch point on the guide route,
Traffic signal information acquisition means for acquiring position information of a traffic signal installed at a front branch point existing on the departure side of the guide route from the guide branch point;
Acquisition determination means for determining whether or not the traffic signal information acquisition means has acquired the position information of the exit side traffic light at the near branch point;
Signal position estimation means for estimating the position of the exit side traffic signal using features located around the front branch point when it is determined by the acquisition determination means that the position information of the exit side traffic signal has not been acquired; ,
A branch point guide means for guiding the guide branch point when the mobile body reaches the guidance start point specified based on the position of the exit side traffic signal estimated by the traffic signal position estimating means ;
Computer program to make it function .

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