JP5716564B2 - 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 for specifying such a guidance branch point, there is guidance using the number of traffic lights from the vehicle to the guidance branch point (or the number of branch points where traffic lights are installed). For example, when the guidance branch point is a branch point where a traffic signal is installed, the guidance branch point after the traffic signal at the branch point with a traffic light two before the guidance branch point disappears from the user's view. On the other hand, with the signal at the branching point with the signal on the near side remaining in the user's field of vision, guidance is given as “the second signal is to the left”. In addition, in order to perform guidance using the number of traffic lights from the vehicle to the guidance branch point, information on traffic lights (information on the installation position and direction of traffic lights, etc.) is required. As a part, it is obtained from storage means (for example, hard disk, DVD, memory card, server, etc.) (see, for example, JP-A-10-274544).

JP-A-10-274544 (4th page, 5th page, FIG. 4)

  Here, the installation state of the traffic light with respect to the branch point may change as time passes. For example, a new traffic signal may be installed at a branch point where no traffic signal is installed, or a traffic signal may be removed at a branch point where a traffic signal is installed. However, a certain period of time is required before such information regarding the increase or decrease of traffic lights is reflected in the map information.

  As a result, in the technique described in the above-mentioned Patent Document 1, when the guidance for specifying the guidance branch point is performed in the vicinity where the traffic signal has increased or decreased, the actual guidance branch point is different from the branch point specified by the guidance. There is a possibility that the user may erroneously recognize the guidance branch point. In such a case, especially when the vehicle accidentally enters a road provided with an entrance to an expressway, the burden on the user is increased.

  The present invention has been made to solve the above-described conventional problems, and allows the user to accurately identify the guidance branch point by guidance using the number of traffic lights from the moving body to the guidance branch point. In a situation where the user's burden increases when the user misrecognizes the guidance branch point, it is possible to install a new traffic signal by not performing guidance using the number of traffic lights from the moving body to the guidance branch point. Provided are a movement guidance system, a movement guidance device, a movement guidance method, and a computer program that reduce the possibility that an actual guidance branch point is different from a branch point specified by guidance even when removal is performed. For the purpose.

In order to achieve the above object, the movement guide system (1) according to claim 1 of the present application includes a guide route (62, 71) for guiding the movement of the moving body (73) and a guide branch point (61, 61) on the guide route. 72), a guidance route setting means (13) for setting guidance, a guidance setting means (13) for setting guidance at the guidance branch point, and the guidance set by the guidance setting means. Branch point guide means (13) for performing guidance, and the guide setting means is provided with an entrance to a highway on the departure side or destination side of the guide route with respect to the guidance branch point. A branch determination means (13) for determining whether or not there is a high-speed approach branch point (74) that is a branch point to which the given road (79) is connected under a predetermined condition. It is determined that there is no branch point In this case, the first guidance for specifying the guidance branch point using the number of traffic lights located between the moving body and the guidance branch point is set as the guidance for the guidance branch point, and the branch determination means If it is determined that the high-speed approach branch point exists, a second guide for specifying the guide branch point without using the number of traffic lights located between the moving body and the guide branch point is the guide branch. It is characterized by being set to point guidance.
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 “number of traffic lights located between the moving body and the guidance branch point” may be the number of traffic lights in the branch point unit. That is, when a plurality of traffic lights are provided at the same branch point on a large road or the like, the plurality of traffic lights may be counted as one traffic light. In that case, the “branch point guiding means” according to the present invention uses the number of branch points (that is, signal intersections) where traffic lights located between the moving body and the guide branch point are used to guide the branch point. It corresponds to the structure which performs the guidance which specifies this. 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 claims.

  The travel guidance system (1) according to claim 2 is the travel guidance system according to claim 1, wherein the high-speed approach branch point (74) is a road provided with an entrance to the highway. (79) is a branch point connected to the guide route at a predetermined angle or more.

  Further, the movement guidance system (1) according to claim 3 is the movement guidance system according to claim 1 or 2, wherein the high-speed approach branch point (74) has an entrance to the highway. In the provided road (79), there is no road or lane to evacuate to the entrance.

Further, the movement guidance system (1) according to claim 4 is the movement guidance system according to any one of claims 1 to 3 , wherein the moving body (73) is configured so that the high-speed moving body (73) is the high speed. It is performed after passing the approach branch point (74).

The mobile guidance system according to claim 5 (1) is a mobile guidance system according to any one of claims 1 to 3, wherein the second guide, the guide from the moving body (73) The guidance is based on the distance to the branch point (74).

Further, the movement guidance system (1) according to claim 6 is the movement guidance system according to any one of claims 1 to 5 , wherein the branch determination means (13) includes the guidance branch point (61). 72) and the traffic light installed on the departure side of the guide route with respect to the guide branch point, it is determined whether or not the high-speed approach branch point (74) exists.

Further, the movement guidance system (1) according to claim 7 is the movement guidance system according to claim 6 , wherein the branch determination means (13) is arranged at the guidance branch point (61) and the guidance branch point. On the other hand, it is determined whether or not the high-speed approach branch point (74) exists between the first traffic light installed on the departure side of the guide route.

The movement guide device (1) according to claim 8 is a guide for setting a guide route (62, 71) for guiding the movement of the mobile body (73) and a guide branch point (61, 72) on the guide route. Route setting means (13), guidance setting means (13) for setting guidance at the guidance branch point, and branch point guidance for guiding the guidance branch point using the guidance set by the guidance setting means. Means (13), wherein the guide setting means is a road (79) provided with an entrance to an expressway on the departure side or destination side of the guidance route with respect to the guidance branch point. Is further provided with a branch determination means (13) for determining whether or not there is a high-speed approach branch point (74) that is a branch point connected under a predetermined condition. If determined, from the moving object When the first guidance for specifying the guidance branch point is set in the guidance of the guidance branch point using the number of traffic lights located between the guide branch point and the high speed approach branch point exists by the branch determination means If determined, the second guidance for specifying the guidance branch point without using the number of traffic lights located between the moving body and the guidance branch point is set as the guidance of the guidance branch point. Features.

Further, in the movement guidance method according to claim 9 , the guidance route setting means includes a guidance route (62, 71) for guiding the movement of the moving body (73) and a guidance branch point (61, 72) on the guidance route. Configuration and Luz step be, the guide setting means, and answering step to set the guide in the guidance branch point, branch point guide means, by using the guidance set by the guidance setting means, the guidance branch point anda row mortar step guidance, the guide setting means, the starting point side or destination side of the guide path to the guidance branch point, a road entrance motorway is provided (79) it is determined whether or not high-speed enters the branch point is connected to the branch point at a predetermined condition exists, the result of the determination, if the previous SL fast entry branch point is determined not to exist, the Of traffic lights located between the moving body and the guidance branch point. Was used to set the first guide to identify the guide branch points in the guidance of the guide branch point, the determination result, when it is determined that the previous SL fast entry branching point is present, the from the mobile The second guidance for specifying the guidance branch point is set in the guidance of the guidance branch point without using the number of traffic lights located between the guidance branch point and the guide branch point.

Further, the computer program according to claim 10 causes the computer to set a guide route (62, 71) for guiding the movement of the moving body (73) and a guide branch point (61, 72) on the guide route. a setting unit, a guidance setting means for setting a guide in the guidance branch point, using the guidance set by the guidance setting unit, a junction guiding unit that performs a guidance of the guide branch point, thereby to function The guidance setting means includes a predetermined road (79) provided with an entrance to a highway on the departure side or destination side of the guidance route with respect to the guidance branch point. or fast entry branch point is connected to the branch point (74) is present whether determined by the conditions, the result of the determination, if the previous SL fast entry branch point is determined not to exist, the movable body Or Set the first guide to identify the guide branch point with the number of traffic signals located until the guidance branch point guidance the guide branch point, a result of the determination, there are pre-Symbol fast entry branch point If it is determined, the second guidance for specifying the guidance branch point is set as the guidance for the guidance branch point without using the number of traffic lights located between the moving body and the guidance branch point. It is characterized by.

  According to the movement guidance system according to claim 1 having the above configuration, the guidance branch point can be accurately specified to the user by guidance using the number of traffic lights from the moving body to the guidance branch point. Become. Also, in situations where the user's burden increases when the user misrecognizes the guidance branch point, new traffic signals can be newly installed or removed by not performing guidance using the number of traffic lights from the moving body to the guidance branch point. Even in such a case, it is possible to reduce the possibility that the actual guidance branch point differs from the branch point specified by the guidance.

  Further, according to the movement guidance system according to claim 2, in a situation where there is a possibility that a traffic signal is newly installed at a branch point to which a road provided with an entrance to the expressway is connected, the guidance branch from the moving body By not performing the guidance using the number of traffic lights up to the point, it is possible to reduce the possibility that the user erroneously enters the road where the entrance to the expressway is provided.

  Moreover, according to the movement guidance system of Claim 3, in the situation where the road which must approach to a highway when a vehicle approachs accidentally is connected, from a moving body to a guidance branch point By not performing guidance using the number of traffic lights, it is possible to reduce the possibility that the user will accidentally enter the highway.

Further, according to the mobile guidance system according to claim 4, since the guide to identify the guidance branch point after passing through the fast entry branch point, the fast entry branch point the user to recognize erroneously as a guidance branch point It becomes possible to prevent.

Further, according to the movement guidance system of the fifth aspect, when the user misrecognizes the guidance branch point, the guidance using the distance from the moving body to the guidance branch point is performed in a situation where the burden on the user becomes large. Therefore, even when new traffic lights are installed or removed, it is possible to reduce the possibility that the actual guidance branch point and the branch point specified by the guidance will be different without being affected by the number of traffic lights. Become.

Further, according to the movement guidance system according to claim 6 , when there is a high-speed approach branch point between the guide branch point and the traffic signal installed on the departure side of the guide route with respect to the guide branch point, Since it is configured not to perform guidance using the number of traffic lights from the moving body to the guidance branch point, even when a traffic signal is newly established, an actual guidance branch point and a branch point specified by guidance Can be reduced.

According to the movement guidance system of claim 7 , when a high-speed approach branch point exists between the guide branch point and the first traffic light installed on the departure side of the guide route with respect to the guide branch point In addition, since it is configured not to perform guidance using the number of traffic lights from the moving body to the guidance branch point, even if a traffic signal is newly installed especially at the intersection adjacent to the guidance branch point, the actual guidance branch It is possible to reduce the possibility that the point differs from the branch point specified by the guidance.

In addition, according to the movement guide device of the eighth aspect , the guidance branch point can be accurately specified to the user by the guidance using the number of traffic lights from the moving body to the guidance branch point. Also, in situations where the user's burden increases when the user misrecognizes the guidance branch point, new traffic signals can be newly installed or removed by not performing guidance using the number of traffic lights from the moving body to the guidance branch point. Even in such a case, it is possible to reduce the possibility that the actual guidance branch point differs from the branch point specified by the guidance.

Moreover, according to the movement guidance method of Claim 9 , it becomes possible to make a user identify a guidance branch point correctly by guidance using the number of traffic lights from a mobile body to a guidance branch point. Also, in situations where the user's burden increases when the user misrecognizes the guidance branch point, new traffic signals can be newly installed or removed by not performing guidance using the number of traffic lights from the moving body to the guidance branch point. Even in such a case, it is possible to reduce the possibility that the actual guidance branch point differs from the branch point specified by the guidance.

Furthermore, according to the computer program of the tenth aspect , the guidance branch point can be accurately specified to the user by performing guidance using the number of traffic lights from the moving body to the guidance branch point. become. Also, in situations where the user's burden increases when the user misrecognizes the guidance branch point, by using the number of traffic lights from the moving body to the guidance branch point, guidance is not provided, and traffic lights can be newly installed or removed. Even if it is performed, the possibility that the actual guidance branch point and the branch point specified by the guidance are different can be reduced.

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 road in which the entrance to the highway was provided. It is the figure which showed an example of the road in which the entrance to the highway was provided. It is the figure which showed an example of the guidance phrase memory | storage 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 setting process which concerns on this embodiment. It is a flowchart of the sub process program of the high speed approach branch point detection process which concerns on this embodiment. It is a figure explaining the detection process of the high-speed approach branch point. It is a figure explaining the example of guidance at the time of performing traffic signal guidance in the situation where a traffic signal was newly established. It is a figure explaining the example of guidance at the time of performing specific guidance in the situation where a traffic signal was newly established. It is a figure explaining the example of guidance at the time of performing distance guidance in the situation where a traffic signal was newly established.

  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 guide phrase storage table 32, a predetermined program, etc. 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 is, for example, link data 33 regarding roads (links), node data 34 regarding node points, branch point data 35 regarding each branch point, point data regarding points such as facilities, and a map for displaying a map. The storage means stores display data, search data for searching for a route, search data for searching for a point, and the like.

  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. Link road types include high-speed automobile national roads, automobile exclusive roads, general toll roads, attachment roads, general roads, narrow streets, and the like. In the following description, a road corresponding to a highway automobile national road or an automobile exclusive road is called a highway.

The link data 33 also includes information for identifying whether or not the road is a “road with an entrance to a highway (hereinafter referred to as a highway entry road)”. Below, an example of a high-speed approach road is demonstrated.
For example, in the example shown in FIG. 2, the road 51 is connected to the main line 50 at an angle that allows entry from only one direction (for example, 25 degrees with respect to the main line 50). An interchange 52 is provided as an entrance to the station. In the example shown in FIG. 2, the road 51 is a “high-speed approach road”.
In the example shown in FIG. 3, a road 54 that can be entered by turning right and left at an intersection from a general road 53 is connected, and an interchange 55 that is an entrance to a highway is connected to one lane of the road 54. Is provided. In the example shown in FIG. 3, the road 54 is a “high-speed approach road”.
As shown in FIG. 2, the “highway entry road” is a road that evacuates from the entrance of the highway or a road that has no lanes, that is, it is necessary to enter the highway whenever a vehicle enters the road. Includes roads that have roads or lanes that evacuate to the entrance of the highway as shown in FIG. 3, that is, roads that do not necessarily need to enter the highway once the vehicle has entered the road. It is.

  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 36 and the like related to the traffic signals installed in the vicinity of is stored.

  As the traffic signal information 36, for traffic signals installed around each branch point (intersection) in the whole country, 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 position coordinates where the traffic signal is installed (hereinafter referred to as installation coordinates) are stored. Further, when a plurality of traffic lights are installed at one branch point, the installation direction and installation coordinates are stored for each of the traffic lights.

And navigation ECU13 specifies the guidance branch point ahead of the advancing direction of a vehicle based on each data memorized by map information DB31 as mentioned below, and sets guidance at this guidance branch point. 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. As guidance candidates to be set, for example, there are the following guidance.
(1) Guidance using the number of traffic signals located between the current position of the vehicle and the guidance branch point (hereinafter referred to as “traffic signal guidance”).
(2) Guidance that specifies a guidance branch point after passing through a branch point that causes a heavy burden on the user when the user misrecognizes it as a guidance branch point (hereinafter referred to as “specific guidance”). In addition, as a branch point that increases the burden on the user when the user misrecognizes as a guide branch point, in the following embodiments, a branch point where a “high-speed approach road” is connected under a predetermined condition (hereinafter, a high-speed approach branch point) ) As an example. Details of the high-speed approach branch point will be described later.
(3) Guidance using the distance from the current position of the vehicle to the guidance branch point (hereinafter referred to as “distance guidance”).
Here, the “number of traffic lights located between the moving body and the guidance branch point” 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, “traffic signal guidance” corresponds to guidance for specifying the guidance branch point using the number of branch points (ie, traffic signal intersections) where the traffic signal located between the moving body and the guidance branch point is installed. To do. 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.

The guidance phrase storage table 32 associates the contents of the uttered phrase with the conditions for starting the guidance utterance and the like for the plurality of types of guidance candidates that are guidance candidates for guiding the guidance branch point. This is a stored table.
Hereinafter, the guidance phrase storage table 32 will be described in more detail with specific examples. FIG. 4 is a diagram showing an example of the guidance phrase storage table 32.

For example, when (1) “Signal guide” is set to guidance, when “Guide the second traffic light to the left (right)” is to be guided, there are two While the traffic light is ready to be counted by the user, it is necessary to start speaking the guidance. Therefore, as shown in FIG. 4, the guidance phrase “the second signal is in the left (right) direction” is a traffic signal two before the guidance branch point (note that a plurality of traffic lights are installed at the branch point). In the case where the vehicle is present, guidance is started on the condition that the vehicle has reached 5 m before the exit side traffic signal installed on the most exit side with respect to the traveling direction of the vehicle.
Also, (2) When “specific guidance” is set as guidance, when guiding “the next signal is in the left (right) direction”, guidance is made after passing through the high-speed approach junction. It is necessary to start the utterance of guidance while the user can count one traffic signal before entering the branch point. Therefore, as shown in FIG. 4, the guidance phrase “Next signal is in the left (right) direction” is a traffic light just before the guidance branch point (in the case where multiple traffic lights are installed at the branch point) In this case, guidance is started at the later timing of the arrival timing or the timing at which the vehicle passes through the high-speed approach branch point 5 m before the exit side traffic signal installed on the most exit side with respect to the traveling direction of the vehicle.
Also, (3) When “distance guidance” is set as guidance, when the guidance is “700 m ahead left (right) direction”, the travel distance until entering the guidance branch point is 700 m. The guidance utterance needs to be made in the state. Therefore, as shown in FIG. 4, the guidance phrase “700 m ahead is in the left (right) direction” starts guidance on the condition that the vehicle has reached 750 m before the guidance branch point.
Similarly, other guidance phrases are stored in the guidance phrase storage 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. ROM 43 in which a route data and the like when a route is searched are stored, a control program, a branch point guidance processing program (see FIGS. 5 to 7) described later, and the like are recorded. 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 guidance setting means sets guidance at a guidance branch point. The branch point guidance means guides the guidance branch point using the guidance set by the guidance setting means. The branch judging means is a branch point (high speed approach road) in which a road (high speed approach road) provided with an entrance to the expressway is connected to the start point or destination side of the guide route with respect to the guide branch point under a predetermined condition. It is determined whether there is an approach 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 also includes a map image including a road, traffic information, operation guidance, operation menu, key guidance, a planned travel route from the departure point to the destination, guidance information along the planned travel 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.

  Further, the speaker 16 outputs voice guidance for guiding traveling along the planned traveling route and traffic information guidance based on an instruction from the navigation ECU 13. 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 at the guidance branch point is output at a timing 5 meters ahead (see FIG. 4) from the traffic light two before the guidance 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. 5 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 predetermined intervals after the ACC of the vehicle is turned on, and guides the guidance branch point on the guidance route. The programs shown in the flowcharts of FIGS. 5 to 7 below are stored in the RAM 42 and the ROM 43 provided in the navigation device 1 and are 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 acquires a guide route set in the navigation device 1.

  Subsequently, in S4, the CPU 41 has a guidance branch point within a predetermined distance (for example, within 1 km) ahead of the traveling direction of the vehicle based on the current position of the vehicle acquired in S1 and the guidance route acquired in S2. It is determined whether or not. 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 S6, the CPU 41 determines whether or not the guidance for the guidance branch point ahead in the traveling direction of the vehicle has already been set in the guidance setting process (S7) described later. In S6, it is determined whether or not the guidance content of the voice guidance instructing the right or left turn at the guidance branch point among the guidance to the guidance branch point is set.

  And when it determines with the guidance with respect to 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 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 setting process (FIG. 6) described later. The guidance setting process is a process for setting guidance for a guidance branch point ahead in the traveling direction of the vehicle based on each data (link data 33, traffic signal information 36, etc.) stored in the map information DB 31 as will be described later. It is.

  Next, in S8, the CPU 41 determines whether or not it is time to perform the guidance set in S7. Specifically, it is determined whether or not the guidance start condition (see FIG. 4) associated with the guidance set in S7 is met. For example, when “traffic signal guidance” is set to guidance in S7, when the vehicle reaches further 5 meters before the traffic signal three before the guidance branch point, the “third signal to the left (right ) ”Is the direction”.

  If it is determined that it is time to perform the guidance set in S7 (S8: YES), the process proceeds to S9. On the other hand, when it is determined that it is not time to perform the guidance set in S7 (S8: NO), the branch point guidance processing program is terminated.

In S9, the CPU 41 provides guidance regarding the guidance branch point based on the guidance set in S7. Specifically, guidance for specifying the guidance branch point and the exit direction of the vehicle guidance branch point (that is, guidance for identifying the exit road from which the vehicle exits the guidance branch point) is performed. For example, in S7, “Signal guidance” is set to guidance, and if the vehicle reaches 5m before the traffic signal two before the guidance branch point, “the second signal is in the left (right) direction. Is output from the speaker 16. 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 setting process executed in S7 will be described with reference to FIG. FIG. 6 is a flowchart of a sub-processing program for guidance setting processing.

  First, in S11, the CPU 41 reads the traffic signal information 36 from the map information DB 31, and determines whether or not the guidance branch point ahead of the traveling direction of the vehicle is the branch point where the traffic signal is installed.

  And when it determines with the guidance branch point ahead of the advancing direction of a vehicle being a branch point in which the traffic light is not installed (S11: NO), it transfers to S12. On the other hand, when it is determined that the guidance branch point ahead of the traveling direction of the vehicle is the branch point where the traffic light is installed (S11: YES), the process proceeds to S13.

  In S <b> 12, the CPU 41 sets “distance guidance” as guidance for a guidance branch point in front of the traveling direction of the vehicle. The “distance guidance” is guidance using the distance from the current position of the vehicle to the guidance branch point (see FIG. 4). Thereafter, the process proceeds to S8.

  On the other hand, in S13, the CPU 41 executes a high-speed approach branch point detection process (FIG. 7) described later. The high-speed approach branch point detection process is a process of detecting a high-speed approach branch point on the departure side of the guide route with respect to the guide branch point as will be described later. The high-speed approach branch point is a branch point where “a road provided with an entrance to a highway (high-speed approach road)” is connected under a predetermined condition, and details thereof will be described later.

  Next, in S14, the CPU 41 determines whether there is a high-speed approach branch point on the departure side of the guide route with respect to the guide branch point based on the detection result in S13. In S14, it may be determined whether or not a high-speed approach branch point exists on the destination side of the guide route with respect to the guide branch point. In that case, the high-speed approach branch point detection process of S13 is configured to detect a high-speed approach branch point on the destination side of the guide route with respect to the guide branch point. Further, in S14, it may be determined whether or not a high-speed approach branch point exists on the destination side or the departure side of the guide route with respect to the guide branch point.

  If it is determined that there is a high speed approach branch point on the departure side of the guide route with respect to the guide branch point (S14: YES), the process proceeds to S15. On the other hand, when it is determined that there is no high speed approach branch point on the departure side of the guide route with respect to the guide branch point (S14: NO), the process proceeds to S16.

  In S <b> 15, the CPU 41 sets “specific guidance” or “distance guidance” (second guidance) as guidance for a guidance branch point ahead of the traveling direction of the vehicle. The “specific guidance” is guidance for specifying a guidance branch point after passing through a high-speed approach branch point that causes a heavy burden on the user when the user erroneously recognizes the guidance branch point (see FIG. 4). Thereafter, the process proceeds to S8.

  On the other hand, in S <b> 16, the CPU 41 sets “traffic signal guidance” (first guidance) as guidance for a guidance branch point in front of the traveling direction of the vehicle. The “traffic signal guidance” is guidance using the number of traffic signals from the current position of the vehicle to the guidance branch point (see FIG. 4). Thereafter, the process proceeds to S8.

  Next, the sub-process of the high-speed approach branch point detection process executed in S13 will be described with reference to FIG. FIG. 7 is a flowchart of a sub-processing program for high-speed approach branch point detection processing.

  In addition, the process of the following S21-S26 is performed for each branch point located in the departure place side of a guidance route with respect to a guidance branch point. Specifically, first, processing is performed on the first branch point on the departure point side of the guidance route with respect to the guidance branch point, and then on the branch point located on the departure point side of the guidance route in turn. Switch the process. Then, processing is performed until a branch point where a predetermined number of traffic lights located on the departure point side of the guide route with respect to the guide branch point becomes a target. Here, the predetermined number can be changed as appropriate. However, if the predetermined number is set to “1”, it is possible to consider at least the situation where the guide branch point and the high-speed approach branch point are adjacent to each other. It is possible to greatly reduce the possibility of misrecognizing as a guide branch point. Note that if the predetermined number is too large, the opportunity for traffic signal guidance is reduced. For example, if the predetermined number is “1”, in the example shown in FIG. 8, the processing is executed for the branch points 63 to 65 located on the departure point side of the guidance route 62 with respect to the guidance intersection 61.

  First, in S21, the CPU 41 acquires from the map information DB 31 the link data 33 of the link connected to the branch point to be processed. The link data 33 includes information for specifying the road type of the link and information for identifying whether the road is a “high-speed approach road”.

  Next, in S22, the CPU 41 determines whether or not a “high speed approach road” is connected to the branch point to be processed based on the link data 33 acquired in S21.

  When it is determined that the “high-speed approach road” is connected to the branch point to be processed (S22: YES), the process proceeds to S23. On the other hand, when it is determined that the “high-speed approach road” is not connected to the branch point to be processed (S22: NO), the CPU 41 erroneously recognizes the branch point as a guide branch point. Even if it is a case, it is estimated that it is not a branch point where a user's burden becomes large, and is not detected as a high-speed approach branch point. The reason for this is that if the road does not have an entrance to the expressway, the course can be easily corrected even if the vehicle enters by mistake. Thereafter, the branch point to be processed is switched, and the process returns to S21 again. In addition, when the process of S21-S26 is performed with respect to all applicable branch points, it transfers to S14.

  Next, in S23, based on the link data 33 acquired in S21, the CPU 41 connects the “high speed approach road” at a predetermined angle (for example, 30 degrees) or more to the guide route at the branch point to be processed. It is determined whether or not.

  If it is determined that the “high-speed approach road” is connected to the guide route at a predetermined angle or more (S23: YES), the process proceeds to S24. On the other hand, when it is determined that the “high-speed approach road” is connected to the guide route at a angle less than a predetermined angle (S23: NO), the CPU 41 erroneously identifies the branch point as a guide branch point. It is estimated that there is no risk of recognition, and is not detected as a high-speed approach branch point. The reason for this is that a traffic signal is not installed at a branch point of a road connected to the main line at a angle less than a predetermined angle as shown in FIG. This is because there is no possibility that the point is erroneously recognized as a guidance branch point.

  Subsequently, in S24, the CPU 41, based on the link data 33 acquired in S21, in the “highway approach road” connected to the branch point to be processed, Determine if there is a lane.

  If it is determined that there is no road or lane to be retreated from the entrance to the expressway (S24: YES), the process proceeds to S25. On the other hand, when it is determined that there is a road or lane to be retracted from the entrance to the expressway (S24: NO), the CPU 41 erroneously recognizes the branch point as a guide branch point. Even so, it is estimated that it is not a branch point that increases the burden on the user, and is not detected as a high-speed approach branch point. The reason for this is that, as shown in FIG. 3, if the road is a road or lane that evacuates from the entrance to the expressway, even if the vehicle enters by mistake, it will enter the expressway. This is because traveling can be continued without entering the mouth, and the course can be easily corrected.

  In S25, based on the link data 33 acquired in S21, the CPU 41 determines whether the “high-speed approach road” is connected to the guidance route in a direction other than the road direction at the branch point to be processed. To determine.

  If it is determined that the “high-speed approach road” is connected to the guidance route in a direction other than the road direction (S25: YES), the process proceeds to S26. On the other hand, when it is determined that the “high-speed approach road” is connected to the guidance route in the direction of the road (S25: NO), the CPU 41 erroneously identifies the branch point as a guidance branch point. Even if it is recognized, it is presumed that it is not a branch point that increases the burden on the user, and is not detected as a high-speed approach branch point. The reason for this is that if the road provided with the entrance to the expressway is connected in the direction of the road, the user must select the road provided with the entrance to the expressway in advance before reaching the branch point. This is because there is no possibility that the vehicle will accidentally enter the road where the entrance to the expressway is provided.

  Thereafter, in S26, the CPU 41 detects a branch point to be processed as a high-speed approach branch point. Thereafter, the branch point to be processed is switched, and the process returns to S21 again. In addition, when the process of S21-S26 is performed with respect to all applicable branch points, it transfers to S14.

  And in the navigation apparatus 1 which concerns on this embodiment, the branch specified by an actual guidance branch point and guidance compared with the past by executing the branch point guidance processing program (refer FIGS. 5-7) mentioned above. It is possible to reduce the possibility that the point is different. Hereinafter, the reason will be described with reference to FIGS. 9 to 11, the guide route 71 is set, and the vehicle 73 is traveling a predetermined distance before the guide branch point 72, and the branch point 74 is a high-speed approach branch point. The case where the traffic signal 75 is newly established and the information related to the traffic signal 75 is not updated to map data will be described as an example.

  FIG. 9 is an example in which guidance (signal guidance) using the number of traffic lights located between the vehicle and the guidance branch point is performed. In the example shown in FIG. 9, since the map data does not include information regarding the traffic signal 75, the traffic signal 77 at the branch point 76 with the traffic signal that is two before the guide branch point 72 remains in the user's field of view. In this state, the guidance “The second signal is to the left” will be given. Further, with the traffic light 75 at the branch point 74 with a traffic light located on the front side of the guidance branch point 72 remaining in the user's field of view, guidance is made that “the next signal is to the left”. It will be. As a result, the “second signal” and “next signal” being guided indicate the traffic signal 75 at the branch point 74 instead of the traffic signal 78 at the guidance branch point 72, that is, different from the actual guidance branch point 72. Guidance is performed in which the branch point 74 is specified as the guidance branch point. As a result, the user mistakenly recognizes the branch point 74 as a guidance branch point, and there is a high possibility that the user enters the road 79 provided with an entrance to the expressway.

  On the other hand, FIG. 10 is an example in which guidance (specific guidance) for specifying a guidance branch point is performed after passing through a high-speed approach branch point that causes a heavy burden on the user when the user erroneously recognizes it as a guidance branch point. In the example shown in FIG. 10, guidance is not performed before passing through the branch point 74 that is a high-speed approach branch point, and after passing through the branch point 74, “the next signal is in the left direction” is guided. Become. As a result, the “next signal” being guided indicates the traffic light 78 at the guidance branch point 72, and guidance is performed in which the actual guidance branch point 72 is specified as the guidance branch point. Furthermore, guidance is performed in a state where there is a possibility that the user may mistake the guidance branch point for the branch point 74, and guidance for specifying the guidance branch point is performed while there is no possibility that the user mistakes the guidance branch point for the branch point 74. . As a result, the user can recognize the branch point 72 as a guidance branch point, and there is little possibility of entering the road 79 provided with the entrance to the expressway.

  FIG. 11 is an example in which guidance (distance guidance) using the distance from the vehicle to the guidance branch point is performed. In the example shown in FIG. 11, the guidance branch point is specified by the distance rather than the number of traffic lights, so that the guidance “700m ahead is to the left” when the distance from the vehicle 73 to the guidance branch point is 700m. Will be done. Further, the guidance “300 m ahead is left” is performed in a state where the distance from the vehicle 73 to the guidance branch point is 300 m. In this case, since the number of traffic lights is not used, the effect of specifying the branch point is slightly reduced, but guidance is performed in which the actual guide branch point 72 is specified as the guide branch point. As a result, the user can recognize the branch point 72 as a guidance branch point, and there is little possibility of entering the road 79 provided with the entrance to the expressway.

  And in the navigation apparatus 1 which concerns on this embodiment, in the situation where a high-speed approach branch point may be misrecognized as a guidance branch point, since specific guidance and distance guidance shown in FIG.10 and FIG.11 are performed, In comparison, it is possible to reduce the possibility that the actual guidance branch point is different from the branch point specified by the guidance.

As described above in detail, according to the navigation device 1 according to the present embodiment, the movement guidance method using the navigation device 1 and the computer program executed by the navigation device 1, there is a guidance branch point ahead of the traveling direction of the vehicle. In this case, there is a high-speed approach branch point that is a branch point where a road with an entrance to the highway is connected under a predetermined condition on the departure side or destination side of the guide route with respect to the guide branch point. (S14), and if it is determined that there is no high-speed approach branch point, guidance for specifying the guide branch point using the number of traffic lights located between the vehicle and the guide branch point Is set as the guidance for the guidance branch point (S16), the guidance branch point can be accurately specified to the user by guidance using the number of traffic lights from the vehicle to the guidance branch point. It made. In addition, when it is determined that a high-speed approach branch point exists, guidance for specifying the guide branch point without using the number of traffic lights located between the vehicle and the guide branch point is used as guidance for the guide branch point. In the situation where the user's burden increases when the user misrecognizes the guidance branch point because it is set (S15), the guidance using the number of traffic lights from the vehicle to the guidance branch point is not performed, so that a new traffic signal is installed. Even when the removal is performed, it is possible to reduce the possibility that the actual guidance branch point is different from the branch point specified by the guidance.
In addition, the high-speed approach branch point is based on the condition that the road provided with the entrance to the highway is connected to the guide route at a predetermined angle or more, so a traffic signal can be newly installed at the high-speed approach branch point. In situations where there is a characteristic, by not performing guidance using the number of traffic lights from the moving body to the guidance branch point, the possibility of a user accidentally entering a road with an entrance to an expressway is reduced. It becomes possible.
In addition, a high-speed approach branch point is provided on the condition that there is no road or lane that evacuates from the entrance in the road provided with the entrance to the expressway. In situations where roads that require entry into the road are connected, there is a risk that the user may accidentally enter the expressway by not providing guidance using the number of traffic lights from the moving body to the guidance junction. It becomes possible to decrease.
In addition, the highway entrance branch point is provided on the condition that the road provided with the entrance to the expressway is connected to the guide route in a direction other than the direction of the road, so an entrance to the expressway is provided. In situations where it is difficult for the user to grasp that the designated road is connected, the road with the entrance to the expressway is provided by not performing guidance using the number of traffic lights from the moving body to the guidance branch point. It is possible to reduce the possibility that the user will accidentally enter.
If there is a high-speed approach branch point on the departure side or destination side of the guidance route with respect to the guidance branch point, the guidance to be performed after the vehicle has passed the high-speed branch point is set as the guidance of the guidance branch point. Therefore, it is possible to prevent the user from erroneously recognizing the high-speed branch point as the guide branch point.
If there is a high-speed approach branch point on the departure side or destination side of the guidance route with respect to the guidance branch point, guidance using the distance from the vehicle to the guidance branch point is provided. Therefore, even when new traffic lights are installed or removed, there is no influence on the number of traffic lights, and the possibility that the actual guidance branch point and the branch point specified by guidance will be different is reduced. Is possible.
In addition, when there is a high-speed approach branch point between the guide branch point and the traffic signal installed on the departure point side of the guide route with respect to the guide branch point, the number of traffic lights from the moving body to the guide branch point is used. Therefore, even when a traffic signal is newly installed, it is possible to reduce the possibility that the actual guidance branch point is different from the branch point specified by the guidance.
In addition, if there is a high-speed approach branch point between the guide branch point and the first traffic light installed on the departure side of the guide route with respect to the guide branch point, the number of traffic lights from the moving body to the guide branch point If it is configured so as not to perform guidance using, the actual guidance branch point and the branch point specified by the guidance are different even when a traffic signal is newly installed at an intersection adjacent to the guidance branch point. The fear can be reduced.

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 this embodiment, when the guidance branch point is located within a predetermined distance ahead of the traveling direction of the vehicle, the guidance branch point guidance located in front of the guidance branch point is set (S7). The timing for setting the guidance content may be another timing. For example, guidance may be set for each guidance branch point included in the guidance route when the guidance route is set. Moreover, it is good also as a structure which sets guidance with respect to each branch point before setting a guidance route.

  In the present embodiment, when it is determined that there is a high-speed approach branch point where a road with an entrance to the highway is connected under a predetermined condition on the departure point side of the guide route with respect to the guide branch point In addition, “specific guidance” and “distance guidance” are used instead of “traffic signal guidance”, but other guidance may be used in addition to guidance using the number of traffic lights. For example, guidance for specifying a guidance branch point may be performed using the number of branch points from the current position of the vehicle to the guidance branch point.

  In the present embodiment, when it is determined that there is a high-speed approach branch point where a road with an entrance to the highway is connected under a predetermined condition on the departure point side of the guide route with respect to the guide branch point In addition, “specific guidance” and “distance guidance” are used instead of “traffic signal guidance”, but when it is determined that there is a high-speed approach branch point on the destination side of the guide route with respect to the guide branch point Instead of “signal guidance”, a configuration that performs “specific guidance” or “distance guidance” may be adopted. In that case, especially when the traffic light is newly removed, it is possible to prevent the vehicle from erroneously recognizing the guidance branch point and entering the road where the entrance to the expressway is provided.

  In the present embodiment, the signal information 36 is configured to store information related to all the traffic lights arranged around the branch point, but only information related to the signal on the most exit side is stored for each exit direction from the branch point. It is good also as composition to do. Moreover, it is good also as a structure which memorize | stores the information regarding a stop line instead of a traffic light. Even if a stop line is used instead of a traffic light, it is desirable that the guidance be performed using the traffic light.

  Further, in this embodiment, the guidance start condition of “specific guidance” is set to the later timing of the vehicle arrival timing or the timing at which the vehicle has passed the high-speed approach branch point 5 meters before the traffic light one before the guidance branch point. The vehicle may reach the arrival timing 5 m before the traffic light one before the guidance branch point. Moreover, it is good also as the timing which passed the high-speed approach branch point.

  In this embodiment, in particular, when there is a high-speed branch point where a road having an entrance to the highway is provided on the near side of the guide branch point and connected under a predetermined condition, normal traffic signal guidance is not performed. If there is a branch point where a specific road other than an expressway (for example, a road where it is difficult to change the direction of travel after entering, such as a toll road or a one-way road) is connected under a predetermined condition It may be configured not to perform normal traffic signal guidance when there is a branch point where a road having an entrance to the road is connected under a predetermined condition. Furthermore, although the conditions defined in S23 to S25 are listed as the predetermined conditions, other conditions may be used.

  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. 5 to 7) may be configured to be implemented by either a server or a portable terminal. 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
31 Map information DB
32 Guidance phrase storage table 36 Traffic signal information 41 CPU
42 RAM
43 ROM
61, 72 Guide branch point 62, 71 Guide route 73 Vehicle 75, 77, 78 Traffic light

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,
Guidance setting means for setting guidance at the guidance branch point;
Branch point guidance means for guiding the guidance branch point using the guidance set by the guidance setting means,
The guidance setting means includes:
Whether there is a high-speed approach branch point that is a branch point where a road with an entrance to a highway is connected under a predetermined condition on the departure side or destination side of the guide route with respect to the guidance branch point A branch determination means for determining whether or not,
When the branch determination means determines that the high-speed approach branch point does not exist, the first guide branch point is identified using the number of traffic lights located between the moving body and the guide branch point. Set the guide to the guide branch guide,
When the branch determining means determines that the high-speed approach branch point exists, the second guide point is specified without using the number of traffic lights located between the moving body and the guide branch point. A movement guidance system, wherein guidance is set to guidance at the guidance branch point.   The movement guide according to claim 1, wherein the high-speed approach branch point is a branch point where a road provided with an entrance to the highway is connected to the guide route at a predetermined angle or more. system.   3. The movement guide according to claim 1, wherein the high-speed approach branch point has no road or lane that retreats from the entrance on the road provided with the entrance to the expressway. system. The said 2nd guidance is performed after the said mobile body passes the said high-speed approach branch point , The movement guidance system in any one of the Claims 1 thru | or 3 characterized by the above-mentioned. The said 2nd guidance is a guidance using the distance from the said mobile body to the said guidance branch point, The movement guidance system in any one of Claim 1 thru | or 3 characterized by the above-mentioned. The branch determination means determines whether or not the high-speed approach branch point exists between the guide branch point and a traffic signal installed on the departure side of the guide route with respect to the guide branch point. The movement guide system according to any one of claims 1 to 5 , characterized in that: The branch determination means determines whether or not the high-speed approach branch point exists between the guide branch point and the first traffic light installed on the departure side of the guide route with respect to the guide branch point. The movement guidance system according to claim 6 characterized by things. 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,
Guidance setting means for setting guidance at the guidance branch point;
Branch point guidance means for guiding the guidance branch point using the guidance set by the guidance setting means,
The guidance setting means includes:
Whether there is a high-speed approach branch point that is a branch point where a road with an entrance to a highway is connected under a predetermined condition on the departure side or destination side of the guide route with respect to the guidance branch point A branch determination means for determining whether or not,
When the branch determination means determines that the high-speed approach branch point does not exist, the first guide branch point is identified using the number of traffic lights located between the moving body and the guide branch point. Set the guide to the guide branch guide,
When the branch determining means determines that the high-speed approach branch point exists, the second guide point is specified without using the number of traffic lights located between the moving body and the guide branch point. A movement guide apparatus, characterized in that guidance is set to guidance at the guidance branch point. 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,
Guiding setting means, and away step to set the guide in the guidance branch point,
Junction guiding means, by using the guidance set by the guidance setting means, anda line mortar step guidance of the guide branch point,
The guidance setting means includes:
Whether there is a high-speed approach branch point that is a branch point where a road with an entrance to a highway is connected under a predetermined condition on the departure side or destination side of the guide route with respect to the guidance branch point whether or not the judgment,
The result of the determination, if the previous SL fast entry branch point is determined not to exist, the to identify the guide branch point with the number of traffic signals located between the said mobile body to the guidance branch point 1 guidance is set as guidance for the guidance branch point,
The result of the determination, if it is determined that pre-Symbol fast entry branching point is present, the to identify the guide branch point without using a number of traffic signals located between the said mobile body to the guidance branch point 2. A moving guidance method characterized in that guidance is set to guidance at the guidance branch point. 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,
Guidance setting means for setting guidance at the guidance branch point;
A computer program for functioning as a branch point guide means for guiding the guide branch point using the guidance set by the guide setting means ,
The guidance setting means includes:
Whether there is a high-speed approach branch point that is a branch point where a road with an entrance to a highway is connected under a predetermined condition on the departure side or destination side of the guide route with respect to the guidance branch point whether or not the judgment,
The result of the determination, if the previous SL fast entry branch point is determined not to exist, the to identify the guide branch point with the number of traffic signals located between the said mobile body to the guidance branch point 1 guidance is set as guidance for the guidance branch point,
The result of the determination, if it is determined that pre-Symbol fast entry branching point is present, the to identify the guide branch point without using a number of traffic signals located between the said mobile body to the guidance branch point A computer program characterized in that 2 guidance is set as guidance for the guidance branch point.

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