JP5786519B2 - 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 mark from a vehicle to a guidance branch point. Examples of landmarks include traffic lights, intersections, landmarks (stores, store signs, structures), and the like. Here, Japanese Patent Laid-Open No. 10-274544 describes a technique for guiding a guide branch point using the number of traffic lights from the current position of the vehicle to the guide branch point as a mark.

JP 10-274544 A (page 5)

  Here, in the case of guiding a guidance branch point using a mark as in Patent Document 1, it is important to output guidance at an appropriate timing according to the content of guidance. However, when the vehicle travels in an urban center where the interval between the branch points is short, the output timing of the guide may not be in time for the original output timing. As a result, the guidance branch point could not be accurately specified by the user, and the timing of the right / left turn operation was delayed or the vehicle traveled off the guidance route.

  The present invention has been made to solve the above-described conventional problems, and guides the number of guide marks located from the moving body to the guide branch point in a count format, thereby reducing the interval between the branch points. The purpose of the present invention is also to provide a movement guidance system, a movement guidance device, a movement guidance method, and a computer program that allow a user to specify a guidance branch point accurately.

In order to achieve the above object, a travel guidance system (1) according to claim 1 of the present application provides a guide route for guiding the movement of a mobile body (51) and a guide route for setting a guide branch point (52) on the guide route. There are a plurality of setting means (13), a guide mark (54, 56, around the guide branch point) and a guide mark (54, 56, which is closer to the departure point side of the guide route than the guide branch point) for guiding the guide branch point. 58) and a guide mark setting means (13) for setting the guide mark located between the moving body and the guide branch point when the mobile body is positioned a predetermined distance before the guide branch point. Guidance notice means (13) for notifying that the number is to be guided in a count format, and the guidance mark located between the moving body and the guidance branch point after the notice by the guidance notice means is given. The number of And counting means for cement (13), and counting the guide means (13) for guiding the counted count value by said counting means, have a, notice by the guide announcement means, said guide mark for which to count It includes a phrase for guiding the phrase to be specified and counting of the guide landmarks from now on.
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.
The “mark” is an object that can be a mark of the user, and includes, for example, a traffic signal, an intersection, a landmark (a store, a signboard of a store, a structure), and the like.

The movement guidance system (1) according to claim 2 is the movement guidance system according to claim 1, wherein the moving body (51) has passed the guidance mark (54, 56, 58). Passage detection means (13) for detecting, the count means (13) from the moving body to the guide branch point every time the passage detecting means detects that the moving body has passed the guide mark. It counts the number of the guide marks located in between.
Note that “passing the guide mark” includes not only the case where the point where the guide mark is installed but also the case where the point is beyond a predetermined distance or the back side of the point.

Moreover, the movement guidance system (1) according to claim 3 is the movement guidance system according to claim 1 or 2, wherein the guidance mark located between the moving body and the guidance branch point is provided. , Guide mark acquisition means for acquiring up to the upper limit of the number to be guided in order from the guide branch point, and a guide mark for determining whether or not the number of the guide marks acquired by the guide mark acquisition means is a predetermined number or more Number guidance means, wherein the guidance notice means and count means perform notice and count when the number of the guidance landmarks acquired by the guidance landmark acquisition means is a predetermined number or more .

Further, the movement guidance system (1) according to claim 4 is the movement guidance system according to claim 3, wherein the guidance notice means (13) includes the guide mark acquired by the guide mark acquisition means. Among them, the advance notice is completed before the moving body reaches the guide mark that is closest to the moving body .

  Further, the movement guidance system (1) according to claim 5 is the movement guidance system according to any one of claims 1 to 4, wherein the guidance notice means (13) is the movable body (51). The guidance for specifying the moving direction at the guidance branch point (52) is also performed.

Further, the movement guide device (1) according to claim 6 includes a guide route for guiding the movement of the mobile body (51) and a guide route setting means (13) for setting a guide branch point (52) on the guide route. Guides (54, 56, 58) for setting a guide mark (54, 56, 58) around the guide branch point and on the departure side of the guide route from the guide branch point and serving as a guide for guiding the guide branch point. When the moving body is positioned a predetermined distance before the guide branch point with the mark setting means (13), the number of the guide marks positioned between the moving body and the guide branch point is counted. Guidance notice means (13) for giving a notice of guidance according to the form, and a count for counting the number of the guide marks located between the moving body and the guidance branch point after the notice by the guidance notice means Means (1 ) And, have a, count the guide means (13) for guiding the counted count value by said counting means, notice by the guiding notifying means, said guide and phrases for specifying the guiding mark for which to count It includes a phrase that guides the user to count the mark from now on.

The mobile guide method according to claim 7, 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 (51) (52), There are a plurality of guide mark setting means near the guide branch point and on the departure side of the guide route with respect to the guide branch point, and guide marks (54, 56, 58) serving as marks for guiding the guide branch point. ) and Luz step to set the guide announcement means, in the case of the moving body is positioned at a predetermined distance before the guidance branch point, the guide mark is located between the said mobile body to the guidance branch point the number of the guide mark and Luz step to notice that to guide the number by counting format, counting means, after the notice by the guiding notifying means, located between the said mobile body to the guidance branch point the count to Luz And-up, the count guiding means, have a, and answering step to guide the counted count value by said counting means, notice by the guiding notifying means identifies said guide mark for which counting phrases And a phrase for guiding the guide mark to be counted from now on.

Further, a computer program according to claim 8, a computer, a guidance route setting means for setting a guidance branch point on the guidance route and the guide route (52) for guiding the movement of the moving body (51), the guidance branch Guidance mark setting means for setting a guide mark (54, 56, 58) that is a plurality of points around the point and on the departure side of the guide route with respect to the guide branch point and serves as a guide for guiding the guide branch point; When the moving body is located a predetermined distance before the guidance branch point, a guidance notice for notifying that the number of guidance landmarks located between the moving body and the guidance branch point is to be guided in a count format. and means, after the notice by the guiding notifying means, counting means for counting the number of the guide mark located between the said mobile body to the guidance branch point, the counting And counting guide means for guiding the counted count value by the step, a computer program for causing to function, notice by the guiding notifying means, said guide and phrases for specifying the guiding mark for which to count It includes a phrase that guides the user to count the mark from now on.

  According to the movement guidance system according to claim 1 having the above-described configuration, the guidance output time can be reduced by guiding the number of guidance landmarks positioned from the moving body to the guidance branch point in a count format, and simple. In addition, it is possible to provide guidance with clear contents. As a result, there is no possibility that the guidance output timing will be delayed with respect to the original output timing even in an urban center where the interval between the branch points is short, and the user can accurately specify the guidance branch point. In addition, since the user is notified of the guidance in the count format before the guidance in the count format is started, the user can grasp in advance that the guidance in the count format is performed. Therefore, it is possible to appropriately transmit the guidance content to the user even in a special type of guidance.

  Further, according to the movement guidance system of the second aspect, every time the moving body passes through the guide mark, the number of the guide marks located from the moving body to the guidance branch point is guided in a count format. It is possible to perform guidance (that is, count down) for gradually decreasing the count value. As a result, it becomes possible for the user to easily grasp the relative position of the moving body with respect to the guidance branch point, and the operation of the movable body with respect to the guidance branch point (for example, operation of a direction indicator, brake operation, steering operation, etc.) is appropriate. It is possible to perform at a proper timing.

According to the movement guidance system of claim 3, when the number of guide marks from the moving body to the guidance branch point is equal to or greater than a predetermined number, the number of guide marks located from the mobile body to the guidance branch point is counted. Since guidance is provided according to the format, it is possible to set the count section of the guide mark to an appropriate section. Therefore, it is possible to allow the user to specify the guidance branch point with a margin without performing unnecessary guidance.

In addition, according to the movement guidance system according to claim 4, since it is announced that guidance is performed in the count format before passing through the guide landmark closest to the moving body among the guide landmarks to be counted, the count format It is possible to make the user know in advance that the guidance in the count format is performed before the guidance by is started. Therefore, it is possible to appropriately transmit the guidance content to the user even in a special type of guidance.

  Further, according to the movement guidance system of the fifth aspect, when notifying that the guidance is performed in the count format, guidance for specifying the moving direction at the guidance branch point of the moving body is also performed. Even when only the count value is guided, the user can appropriately specify the moving direction to the guidance branch point.

  Further, according to the movement guide device of the sixth aspect, the guidance output time can be reduced by guiding the number of guidance marks located from the moving body to the guidance branch point in the count format, and the method is simple and clear. It is possible to provide guidance with various contents. As a result, there is no possibility that the guidance output timing will be delayed with respect to the original output timing even in an urban center where the interval between the branch points is short, and the user can accurately specify the guidance branch point. In addition, since the user is notified of the guidance in the count format before the guidance in the count format is started, the user can grasp in advance that the guidance in the count format is performed. Therefore, it is possible to appropriately transmit the guidance content to the user even in a special type of guidance.

  Further, according to the movement guidance method of the seventh aspect, the guidance output time can be reduced by guiding the number of guidance landmarks located from the moving body to the guidance branch point in the count format, and it is simple and clear. It is possible to provide guidance with various contents. As a result, there is no possibility that the guidance output timing will be delayed with respect to the original output timing even in an urban center where the interval between the branch points is short, and the user can accurately specify the guidance branch point. In addition, since the user is notified of the guidance in the count format before the guidance in the count format is started, the user can grasp in advance that the guidance in the count format is performed. Therefore, it is possible to appropriately transmit the guidance content to the user even in a special type of guidance.

  Further, according to the computer program of the eighth aspect, the guidance output time can be reduced by guiding the number of guidance landmarks located from the moving body to the guidance branch point in the count format, and the simple and clear It is possible to guide the contents. As a result, there is no possibility that the guidance output timing will be delayed with respect to the original output timing even in an urban center where the interval between the branch points is short, and the user can accurately specify the guidance branch point. In addition, since the guidance in the count format is notified before the count format is started, it is possible for the user to grasp that the guidance in the count format is performed in advance. Therefore, it is possible to appropriately transmit the guidance content to the user even in a special type of guidance.

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 landmark data arrange | positioned at a branch point. It is a flowchart of a branch point guidance processing program according to the present embodiment. It is the figure shown about the example of the guidance notice implemented in the navigation apparatus which concerns on this embodiment, and count guidance. 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 count guidance determination process which concerns on this embodiment. It is a figure explaining the determination method at the time of determining whether count guidance is suitable as guidance of a guidance 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 is also a hard disk (not shown) as an external storage device and a recording medium, and a driver for reading the map information DB 31 and a predetermined program recorded on the hard disk and writing predetermined data on the hard disk And a recording head (not shown). 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 relating to roads (links), node data 34 relating to node points, branch point data 35 relating to each branch point, landmark data 36 relating to landmarks, point data relating to points such as facilities, maps, and the like. The storage means stores map display data for displaying, search data for searching for routes, search data for searching for points, 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. 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), and the like are stored. Is done.

  As the mark data 36, an object that can be a mark (hereinafter referred to as a mark object candidate) when storing guidance at a guidance intersection is stored. Here, examples of the landmark object candidate include a branch point, a traffic light, and a landmark. Further, as the landmark, a facility (for example, a convenience store, a gas station, a fast food store, etc.) or a structure (for example, a pedestrian bridge) that can be identified from a distance, a signboard of the facility, and the like are applicable. However, in the present embodiment, among the landmark object candidates stored as the landmark data 36, as will be described later, in particular, branch points and traffic lights are used as landmarks when guiding guidance intersections. The mark data 36 stores the type (name) of the mark object candidate, the position coordinates, and an ID for identifying the branch point when the mark object candidate is located around the branch point for each mark object candidate in the whole country. (However, among the landmark object candidates, the branch point is stored in the branch point data 35). As the landmark, only an object located within a predetermined range (for example, within a radius of 100 m) from the branch point may be stored.

Here, FIG. 2 is a diagram showing an example of the landmark data 36 stored in the map information DB 31. As shown in FIG. 2, the landmark data 36 includes a type (name) of the landmark object candidate, an identification ID for identifying the branch point when the landmark object is located around the branch point, and the landmark object candidate. Positional position coordinates are stored in association with each other.
For example, a traffic signal is installed as a landmark object candidate at a branch point of ID “10001”, and the installation position is (X1, Y1). It also indicates that “Convenience Store XX Signboard” is installed at (X3, Y3) as a candidate mark object. Similarly, information on other landmark object candidates is also stored. When a plurality of traffic lights are installed at one branch point, the mark data 36 may be stored for each of the traffic lights, or only a specific traffic light may be stored. For example, for each exit direction from a branch point, only the signal on the most exit side (that is, the traffic light that can be visually recognized at the end of the branch when the vehicle passes through the branch point, hereinafter referred to as the exit side signal) It is good also as a structure to memorize | store. In addition, for each approach direction from the branch point, only the traffic light that is closest to the entry side (that is, the departure side) (that is, the traffic light that can be visually recognized by the vehicle first, hereinafter referred to as the entry side traffic signal) may be stored. .

The landmark data 36 stores, for each type of landmark object candidate, a voice phrase for allowing the user to specify a landmark object candidate among voice phrases used for voice guidance at a guidance intersection. For example, “Convenience Store XX” is stored as a voice phrase for allowing the user to identify the target object candidate of “Convenience Store XX Signboard”, and for the user to identify the landmark object candidate of “Signal” “Signal” is stored as the voice phrase. Similarly, other landmark object candidates are also stored.
And navigation ECU13 sets the guidance mark for guiding the guidance branch point ahead of the advancing direction of a vehicle based on the mark data 36 memorize | stored in map information DB31 as mentioned later. And while counting the number of the guide mark from the present position of the vehicle to the guidance branch point, and guiding the counted value (count value), the guidance branch point ahead of the traveling direction of the vehicle I will guide you. 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 performs traveling guidance according to the guidance route set in the navigation device 1.

  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 branch point guidance processing program (see FIGS. 3, 5, and 6), which will be described later, and the like are recorded. And an internal storage device such as a flash memory 44 for storing a program read from the ROM 43. 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 guide mark setting means sets a plurality of guide marks that are provided around the guide branch point and on the departure side of the guide route from the guide branch point and serve as a guide for guiding the guide branch point. When the vehicle is positioned a predetermined distance before the guidance branch point, the guidance notice unit notifies that the number of guidance landmarks located between the vehicle and the guidance branch point is to be guided in a count format. The counting means counts the number of guide marks positioned between the vehicle and the guidance branch point after the notice by the guidance notice means. The passage detection means guides the count value counted by the counting means. The passage detection means detects that the vehicle has passed the guide mark.

  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 this embodiment, when the guidance branch point is ahead of the traveling direction of the vehicle, the guidance branch is generated when voice guidance with a predetermined guidance based on the guidance content (for example, “2” is output). Voice guidance at the guidance branch point is output at a traffic light two points before the point or the timing when the vehicle passes through the 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 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. . Note that the programs shown in the flowcharts of FIGS. 3, 5, and 6 below are stored in the RAM 42 and 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 among the guidance for the guidance branch point has been performed.

  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 voice guidance for setting a left / right turn at the guidance branch point is set in the guidance for the guidance branch point.

  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. 5) described later. In the guidance setting process, a guide mark is set as described later, and a position in front of the traveling direction of the vehicle is selected from a plurality of guide candidates including a guide in a count format based on the guide mark (hereinafter referred to as count guide). This is a process of selecting the optimum guidance for guiding the guidance branch point to be set and setting it as guidance. In addition, the count guidance counts the number of guidance landmarks from the vehicle to the guidance branch point as will be described later, and also guides the counted count value (for example, “3” → “2” → “next”). Etc.) to identify the guidance branch point.

  In S8, the CPU 41 determines whether or not the vehicle has reached the guidance notice point. Here, the guidance notice point is set particularly when the count guidance is set as the guidance for the guidance branch point (S28), and the notice notice point is a point at which the notice is started when notifying the user that the count guidance will be performed from now on. is there. Further, the number of guidance landmarks (including guidance landmarks around the guidance branch point) before the count guidance is started, that is, between the vehicle and the guidance branch point, is the predetermined number (the count is not counted). It is set so that the advance notice is completed before the vehicle arrives at a point that is the number to be started, for example, 3) or less.

  When it is determined that the vehicle has reached the guidance notice point (S8: YES), the process proceeds to S9. On the other hand, when it is determined that the vehicle has not reached the guidance notice point (S8: NO), the process proceeds to S10.

In S <b> 9, the CPU 41 performs a guidance notice that informs the user that the count guidance will be performed from now on. Specifically, in addition to a phrase (phrase) that specifies a guide mark to be counted (in particular, a traffic light or a branch point in the present embodiment), a phrase that guides the user to count the guide mark from now on, respectively. Output. The guidance notice also provides guidance for specifying the distance to the guidance branch point and 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). For example, FIG. 4 shows an example in which a traffic light is set as a guide mark. In the example shown in FIG. 4, a phrase “about 300 m ahead, right direction. The signal is counted down” is output from the speaker 16 at the timing when the vehicle 51 reaches the guidance notice point.
As a result, it is possible to allow the user to grasp in advance that the guidance in the count format in which the number of traffic lights existing from the guidance branch point is counted will be performed. Further, by performing guidance for specifying the distance to the guidance branch point and the exit direction of the vehicle at the guidance branch point, even if the guidance is omitted during the subsequent count guidance, the guidance branch point and the guidance branch point It becomes possible for the user to accurately identify the road from which the vehicle exits from the point. Note that the phrase output from the speaker 16 at the timing when the guidance notice point is reached can be changed as appropriate if the user can be informed that the guidance in the count format in which the number of traffic lights existing from the guidance branch point is counted will be performed. Is possible. For example, a configuration in which guidance for specifying the distance to the guidance branch point and the exit direction of the vehicle at the guidance branch point is not performed (only “signal counts down” is guided).

  Next, in S10, the CPU 41 determines whether or not the vehicle has reached the guidance start point. The guidance start point differs depending on the guidance content set in S7. For example, in the case where the counting guidance for counting the traffic signal as a guide mark in S7 is set as guidance for the guidance branch point, the traffic signal within the predetermined number (for example, three) on the near side with respect to the guidance branch point (stop) A point that passes through a branch point where a line or a traffic light is installed) may be a guidance start point.

  And when it determines with the vehicle having reached the guidance start point (S10: YES), it transfers to S11. On the other hand, when it is determined that the vehicle has not reached the guidance start point (S10: NO), the branch point guidance processing program is terminated.

In S11, the CPU 41 provides guidance related to the guidance branch point based on the guidance set in S7. For example, if the count guidance is set as guidance for the guidance branch point in S7, the number of guidance landmarks from the vehicle to the guidance branch point is counted, and guidance for the counted value is performed. Further, guidance for specifying the guidance branch point and guidance for specifying the exit direction of the vehicle at the guidance branch point (that is, guidance for identifying the exit road from which the vehicle exits from the guidance branch point) are performed. Further, when the distance guidance to be guided based on the distance from the vehicle to the guidance branch point in S7 is set as the guidance for the guidance branch point, the distance to the guidance branch point and the exit direction at the guidance branch point of the vehicle. Guidance to identify. 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.

  For example, when count guidance using a traffic light is set as a guide mark in S7, guidance from the vehicle 51 occurs at the timing when the traffic light passes through the traffic light 54 at the third front branch point 53 that is three before the guidance branch point 52. The phrase “3”, which is the number of traffic lights up to the branch point 52, is output from the speaker 16. The phrase “2”, which is the number of traffic lights from the vehicle 51 to the guidance branch point 52 at the timing of passing the traffic signal 56 at the second nearest branch point 55 that is two before the guidance branch point 52, is a speaker. 16 to output. Further, at the timing when the signal passes through the traffic light 58 at the first front branch point 57 immediately before the guide branch point 52, “next” is suggested, which indicates the number of traffic lights from the vehicle 51 to the guide branch point 52. Is output from the speaker 16. That is, when the number of guide marks (including the guide marks around the guide branch point) located between the vehicle and the guide branch point is less than a predetermined number (for example, the number at which counting is started, for example, three) Whenever it is detected that the vehicle has passed the guide mark, the number of guide marks located between the vehicle and the guide branch point is counted, and the count value is guided. Further, the number of guide landmarks to be counted can be changed as appropriate, and may be other than three.

Note that the phrase “1” may be output instead of “next”. Alternatively, a phrase “next is right” including a phrase that specifies the exit direction at the guidance branch point of the vehicle may be output. Moreover, it is good also as the timing which passed the stop line instead of the timing which passed the traffic lights 54,56,58. Moreover, it is good also as the timing which passed the branch point in which the signal apparatus was installed. The term “passing” includes not only passing over a point where a target traffic signal, stop line, branching point, etc. are installed, but also passing over a point that is a predetermined distance before or behind that point.
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.

  Next, sub-processing of the guidance setting process executed in S7 will be described with reference to FIG. FIG. 5 is a flowchart of a sub-processing program for guidance setting processing.

  First, in S <b> 21, the CPU 41 extracts from the map information DB 31 candidate landmark objects that are located along the guidance route from the current position of the vehicle to the guidance branch point (including the vicinity of the guidance branch point). Here, the landmark object candidate is an object that can be a landmark when guiding a guidance intersection, and corresponds to traffic lights, intersections, landmarks (stores, store signs, structures), and the like. In the present embodiment, a traffic signal and an intersection are extracted from the map information DB 31 as landmark object candidates. In addition, information (such as type and position information) regarding landmark object candidates in the whole country is stored in advance in the map information DB 31 as the landmark data 36 (see FIG. 2).

  Next, in S22, the CPU 41 determines based on the branch point data 35 stored in the map information DB 31 whether or not the guide branch point ahead in the traveling direction of the vehicle is a branch point with a traffic light.

  And when it determines with the guidance branch point ahead of the advancing direction of a vehicle being a branch point with a traffic signal (S22: YES), it transfers to S23. On the other hand, when it is determined that the guidance branch point ahead of the traveling direction of the vehicle is a branch point where no traffic light is installed (S22: NO), the process proceeds to S24.

  In S23, the CPU 41 sets the traffic light as a guide mark. As described above, if the number of traffic lights is the number of traffic lights in a branch point unit, the same result can be obtained even if the branch point where the traffic signal is installed (that is, the traffic signal intersection) is used as a guide mark. Thereafter, the process proceeds to S25.

  On the other hand, in S24, the CPU 41 sets a branch point (regardless of whether a traffic light is installed) as a guide mark. Thereafter, the process proceeds to S25.

  In S25, the CPU 41 executes a count guidance determination process (FIG. 6) described later. In the count guidance determination process, as will be described later, the guidance in the count format based on the guidance mark set in S23 or S24 (count guidance) guides the guidance branch point located in the forward direction of the vehicle. It is the process which determines whether it is suitable as guidance of.

  Thereafter, in S26, the CPU 41 determines whether or not the count guidance is determined to be appropriate as guidance for guiding the guidance branch point located in the forward direction of the vehicle as a result of the count guidance determination process in S25. .

  If it is determined that the count guidance is appropriate as guidance for guiding a guidance branch point located forward in the traveling direction of the vehicle (S26: YES), the process proceeds to S27. On the other hand, if it is determined that the count guidance is unsuitable as guidance for guiding a guidance branch point located forward in the traveling direction of the vehicle (S26: NO), the process proceeds to S29.

  In S27, the CPU 41 sets the count guidance as guidance for guiding a guidance branch point located in front of the vehicle in the traveling direction.

  Subsequently, in S28, the CPU 41 generates a guidance phrase (see FIG. 4) for performing count guidance and stores it in a RAM or the like. Also, a guidance notice point and a guidance start point are set based on the set guide mark. For example, when a traffic signal is set as a guide mark in S23, a traffic signal within a predetermined number (for example, three) on the near side with respect to the guidance branch point (as a branch point where a stop line or a traffic signal is installed) The point that passes (good) is set as the guidance start point. In addition, the number of traffic lights (including traffic lights around the guidance branch point) located between the point where the count guidance is started, that is, between the vehicle and the guidance branch point is a predetermined number (the number at which the count starts), For example, a point in front of a predetermined distance (for example, 50 m before) of a point that is equal to or less than 3) is set as a guidance notice point.

  On the other hand, in S29, the CPU 41 sets the distance guidance as guidance for guiding a guidance branch point located forward in the traveling direction of the vehicle. The distance guidance is guidance for specifying the guidance branch point using the distance from the current position of the vehicle to the guidance branch point. For example, “300 m ahead (700 m ahead) is the right (left) direction” guidance. There is. Note that guidance other than distance guidance may be set.

  Subsequently, in S30, the CPU 41 generates a guidance phrase for performing distance guidance and stores it in a RAM or the like. Also, a guidance start point is set. For example, in the guidance “300 m ahead is in the right (left) direction”, a point 350 m before the guidance branch point is set as the guidance start point. Thereafter, the process proceeds to S8.

  Next, a sub-process of the count guidance determination process executed in S25 will be described with reference to FIG. FIG. 6 is a flowchart of a sub-processing program of the count guidance determination process.

  First, in S31, the CPU 41 selects the mark corresponding to the guide mark set in S23 among the mark target candidates extracted in S21 in the order close to the guide branch point (including the vicinity of the guide branch point). Acquire up to three.

  Thereafter, in S32, the CPU 41 determines whether or not two or more guide marks have been acquired in S31.

  If it is determined in S31 that two or more guide marks have been acquired (S32: YES), the process proceeds to S33. On the other hand, when it is determined in S31 that two or more guide marks have not been acquired (S32: NO), the count guide is used as a guide for guiding a guide branch point located forward in the traveling direction of the vehicle. It determines with it being unsuitable (S40). Thereafter, the process proceeds to S26.

  In S33, the CPU 41 sets the guide mark closest to the vehicle (that is, the guide mark farthest from the guide branch point) among the guide marks acquired in S31 as the reference mark.

  Next, in S34, the CPU 41 calculates a distance L from the current position of the vehicle to the reference mark based on the link data 33 and the mark data 36 stored in the map information DB 31. For example, as shown in FIG. 7, when a traffic light is set as a guide mark and the traffic light 54 is set as a reference mark, the distance L from the vehicle 51 to the traffic light 54 is calculated.

  Subsequently, in S35, the CPU 41 calculates the travel distance M of the vehicle necessary for outputting the guidance notice. Specifically, it is calculated by multiplying the vehicle speed by the time required to output the guidance notice. Note that the vehicle speed of the vehicle used for the calculation may be the current vehicle speed or a fixed vehicle speed (for example, 60 km / h). Alternatively, the vehicle speed may be set for each road type on which the vehicle travels (for example, a national road 60 km / h, a general road 40 km / h, etc.). Further, the time required to output the guidance notice is recorded in advance in the data recording unit 12 for each guidance notice.

  Thereafter, the distance L from the current position of the vehicle calculated in S34 to the reference mark is set to a predetermined grace distance α (for example, 50 m) to the travel distance M of the vehicle necessary for outputting the guidance notice calculated in S35. It is determined whether the value is equal to or greater than the value obtained by adding

  Then, the distance L from the current position of the vehicle calculated in S34 to the reference mark is a value obtained by adding a predetermined grace distance α to the traveling distance M of the vehicle necessary for outputting the guidance notice calculated in S35. When it determines with it being above (S36: YES), it transfers to S37. On the other hand, the distance L from the current position of the vehicle calculated in S34 to the reference mark is a value obtained by adding a predetermined grace distance α to the traveling distance M of the vehicle necessary for outputting the guidance notice calculated in S35. If it is determined that it is less than (S36: NO), the process proceeds to S38.

  In S37, the CPU 41 determines that the count guidance is appropriate as guidance for guiding a guidance branch point located in front of the vehicle in the traveling direction. Thereafter, the process proceeds to S26. In S28 executed thereafter, a point passing through the guide mark between the reference mark and the guide branch point is set as the guide start point. Further, a point (X in FIG. 7) separated from the reference mark by a distance obtained by adding a predetermined grace distance α to the travel distance M calculated in S35 is set as the guidance notice point.

  On the other hand, in S38, the CPU 41 displays the guide mark next to the vehicle among the guide marks acquired in S31 (that is, the guide mark adjacent to the guide branch point side with respect to the guide mark set so far). Set as a reference landmark.

  Thereafter, in S39, the CPU 41 determines whether or not the reference mark newly set in S38 is a guidance branch point or a traffic signal installed at the guidance branch point.

  If it is determined that the reference mark newly set in S38 is a guidance branch point or a traffic signal installed at the guidance branch point (S39: YES), the process proceeds to S40. On the other hand, if it is determined that the reference mark newly set in S38 is not a guidance branch point or a traffic signal installed at the guidance branch point (S39: NO), the process returns to S34. Thereafter, the processing after S34 is performed based on the newly set reference mark.

  In S <b> 40, the CPU 41 determines that the count guidance is unsuitable as guidance for guiding a guidance branch point located in front of the traveling direction of the vehicle. Thereafter, the process proceeds to S26.

As described in detail above, 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, the vehicle is positioned a predetermined distance before the guidance branch point. In this case, a guide mark is set (S23, S24), and based on the set guide mark, the guide located between the vehicle and the guide branch point is used as a guide for the guide branch point located in the forward direction of the vehicle. It is determined whether or not the count guidance that guides the number of landmarks in the count format is appropriate (S26). If it is determined that the count guidance is appropriate, the count guidance is notified (S9). Since the number of guidance landmarks located between the vehicle and the guidance branch point after the advance notice is guided in a count format (S11), the guidance output time is shortened. It is possible, it is possible to perform guidance in a simple and clear content. As a result, there is no possibility that the guidance output timing will be delayed with respect to the original output timing even in an urban center where the interval between the branch points is short, and the user can accurately specify the guidance branch point. In addition, since the user is notified of the guidance in the count format before the guidance in the count format is started, the user can grasp in advance that the guidance in the count format is performed. Therefore, it is possible to appropriately transmit the guidance content to the user even in a special type of guidance.
In addition, every time the vehicle passes through the guide mark, the number of guide marks located from the vehicle to the guide branch point is guided in a count format, so that a guide (that is, countdown) for gradually decreasing the count value to be guided is provided. Can be done. As a result, it becomes possible for the user to easily grasp the relative position of the vehicle with respect to the guidance branch point, and the operation of the vehicle with respect to the guidance branch point (for example, operation of the direction indicator, brake operation, steering operation, etc.) is appropriately timed. It is possible to make it.
In addition, when the number of guide landmarks from the vehicle to the guidance branch point is a predetermined number (for example, three) or less, the number of guidance landmarks located from the vehicle to the guidance branch point is guided in a counting format. It becomes possible to set the section to an appropriate section. Therefore, it is possible to allow the user to specify the guidance branch point with a margin without performing unnecessary guidance.
In addition, since the user is informed that guidance is to be provided in the count format before the number of guide landmarks from the vehicle to the guide branch point is less than or equal to a predetermined number (for example, 3), before the guidance in the count format is started, It can be grasped beforehand that guidance in the count format is performed. Therefore, it is possible to appropriately transmit the guidance content to the user even in a special type of guidance.
In addition, when notifying that the guidance is performed in the count format, guidance for specifying the moving direction at the guidance branch point of the vehicle is also performed, so even if only the count value is guided in the subsequent guidance, It is possible to appropriately specify the moving direction to the guidance branch point.

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, in the guidance notice process of S9, it is configured to provide guidance for specifying the distance to the guidance branch point and the exit direction of the vehicle at the guidance branch point. It is good also as a structure which does not perform about these guidance. In that case, it is desirable to perform such guidance during the subsequent count guidance.

  In the present embodiment, an example using a traffic signal and an intersection as a guide mark has been described. However, any other object may be used as long as it can be a user's mark. For example, a landmark (a store, a store sign, or a structure) may be used as a guide mark.

  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. 3, 5, and 6) may be configured to be implemented by either the server or the 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 of a mobile terminal or a two-wheeled vehicle.

1 Navigation device 13 Navigation ECU
31 Map information DB
36 landmark data 41 CPU
42 RAM
43 ROM
51 Vehicle 52 Guide branch point 53, 55, 57 Branch point 54, 56, 58 Traffic light

Claims (8)

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,
A guide mark setting means for setting a guide mark as a mark for guiding the guide branch point in the vicinity of the guide branch point and at the departure side of the guide route from the guide branch point;
Guidance notice means for notifying that the number of guidance landmarks located between the moving body and the guidance branch point is guided in a count format when the movable body is located a predetermined distance before the guidance branch point. When,
Counting means for counting the number of the guide landmarks located between the moving body and the guidance branch point after performing the notice by the guidance notice means;
Have a, a counting guide means for guiding the counted count value by said counting means,
The notice by the guidance notice means includes a phrase for specifying the guide mark to be counted and a phrase for guiding the guide mark to be counted from now on . Passing detection means for detecting that the moving body has passed the guide mark;
The counting means counts the number of the guide marks located between the moving body and the guide branch point each time the passage detecting means detects that the mobile body has passed the guide marks. The movement guide system according to claim 1. Guidance landmark acquisition means for acquiring the guidance landmark located between the moving body and the guidance branch point up to the upper limit of the number to be guided in order from the guidance branch point;
Guidance mark number determination means for determining whether or not the number of the guide marks acquired by the guide mark acquisition means is a predetermined number or more,
The said guidance notice means and count means perform notice and count when the number of the said guide mark acquired by the said guide mark acquisition means is more than predetermined number, The claim 1 or Claim 2 characterized by the above-mentioned. Travel guidance system. The guide notice means completes the notice before the mobile body reaches the guide mark that is closest to the mobile body among the guide marks acquired by the guide mark acquisition means. Item 4. The travel guidance system according to item 3.   The movement guidance system according to any one of claims 1 to 4, wherein the guidance notice unit also performs guidance for specifying a moving direction of the moving body at the guidance branch point. 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,
A guide mark setting means for setting a guide mark as a mark for guiding the guide branch point in the vicinity of the guide branch point and at the departure side of the guide route from the guide branch point;
Guidance notice means for notifying that the number of guidance landmarks located between the moving body and the guidance branch point is guided in a count format when the movable body is located a predetermined distance before the guidance branch point. When,
Counting means for counting the number of the guide landmarks located between the moving body and the guidance branch point after performing the notice by the guidance notice means;
Have a, a counting guide means for guiding the counted count value by said counting means,
The advance notice by the guide notice means includes a phrase for specifying the guide mark to be counted and a phrase for guiding the guide mark to be counted from now on . 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,
Guide mark setting means, be a plurality departure point side of the guide path than the peripheral and the guidance branch point in the guidance branch point, answering step to set the guide mark to a mark that the guidance of the guide branch point When,
When the moving body is located a predetermined distance before the guidance branch point , the guidance notice means guides the number of the guide landmarks located between the movable body and the guidance branch point in a count format. and Luz step to notice,
Counting means, after the notice by the guiding notifying means, and count to Luz step the number of the guide mark located between the said mobile body to the guidance branch point,
Counting guiding means, we have a, and answering step to guide the counted count value by said counting means,
The notice by the guidance notice means includes a phrase for specifying the guide mark to be counted and a phrase for guiding the guide mark to be counted from now on . 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,
A guide mark setting means for setting a guide mark as a mark for guiding the guide branch point in the vicinity of the guide branch point and at the departure side of the guide route from the guide branch point;
Guidance notice means for notifying that the number of guidance landmarks located between the moving body and the guidance branch point is guided in a count format when the movable body is located a predetermined distance before the guidance branch point. When,
Counting means for counting the number of the guide landmarks located between the moving body and the guidance branch point after performing the notice by the guidance notice means ;
A computer program for functioning as count guide means for guiding the count value counted by the count means ,
The notice by the guide notice means includes a phrase for specifying the guide mark to be counted and a phrase for guiding the guide mark to be counted from now on .

Images