JP5786522B2 - 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. In order to allow the user to accurately specify the guidance branch point, it is particularly important to perform the timing for starting the guidance output and the timing for ending the guidance output at appropriate timings according to the content of the guidance. If it is not performed at an appropriate timing, there is a high possibility that the user will erroneously recognize the guidance branch point. For example, when using a traffic light installed at a branch point to guide “the second signal is to the left”, the branch point with a traffic light that is two before the guide branch point The guidance signal is output after the traffic signal has disappeared from the user's field of view, and the guidance signal is output in a state where the traffic signal at the branch point with the traffic signal located on the near side of the guidance branch point remains in the user's field of view. It is desirable to end.

  Therefore, for example, in Japanese Patent Application Laid-Open No. 2009-250622, when guidance of a guidance branch point is performed by voice guidance using the number of traffic lights, information on a guidance branch point that the vehicle will reach next and contents of voice guidance to be output If it is determined whether the output of voice guidance can be terminated before the vehicle passes through a preset point, and it is determined that the output can be terminated, voice guidance is performed and the output cannot be terminated. When it is determined, a technique is described in which voice guidance is not performed.

JP 2009-250622 A (pages 18 and 19)

  Here, whether or not the voice guidance can be output before the vehicle passes through a preset point largely depends on the state of the vehicle at the time of output. For example, when the vehicle travels at a high speed, the travel distance of the vehicle required for outputting the voice guidance becomes longer, so the output of the voice guidance is terminated before the vehicle passes through a preset point. It becomes difficult.

  However, in the technique described in Patent Document 1, when a guidance route is set and information on a guidance branch point that the vehicle reaches next is acquired, voice guidance is performed before the vehicle passes through a preset point. It is determined whether the output can be finished. Therefore, if the state of the vehicle changes greatly after the determination, the voice guidance is performed before the vehicle passes the preset point even though the voice guidance cannot be terminated, and vice versa. Although it was possible, there was a situation where voice guidance was not performed.

  The present invention has been made to solve the problems in the prior art, and determines whether or not the guidance branch point guidance can be output in an appropriate section in a plurality of stages. It is possible to accurately determine whether or not the guidance branch point guidance can be output in an appropriate section even in a situation that greatly changes, and guides the user to accurately identify the guidance branch point It is an object of the present invention to provide a movement guidance system, a movement guidance device, a movement guidance method, and a computer program that make it possible.

In order to achieve the above object, a travel guidance system (1) according to claim 1 of the present application comprises a guide route setting means for setting a guide route for guiding the movement of a moving body and a guidance branch point (61) on the guide route. 13), a guidance section setting means (13) for setting a guidance start section and a guidance end section, a mobile body position acquisition means (13) for acquiring the position of the mobile body, and a predetermined distance before the guidance branch point. When the mobile body is located in the guidance end section, when the output of the guidance at the guidance branch point is started for the mobile body located in the guidance start section when the mobile body arrives at After the determination by the first guidance determination means (13) for determining whether or not the output of the guidance can be finished and the first guidance determination means, the mobile body reaches the start point of the guidance start section. When the mobile object Based on the situation of the mobile body acquired by the situation acquisition means and the situation acquisition means (13) for acquiring the situation, the guidance branch with respect to the mobile body located in the guidance start section reached by the mobile body Second guidance determination means (13) for judging whether or not the guidance output can be terminated while the moving body is located in the guidance end section when the point guidance output is started; and the first guidance When it is determined by the determination means or the second guidance determination means that the output of guidance can be terminated and when it is determined that the moving body is located in the guidance start section, the guidance output at the guidance branch point is output. possess a junction guiding means for initiating (13), the said second guiding determination means, when it is determined that it end the output of the guidance by the first guide determining means, the guide of the guide branch point of Wherein the determining whether it is possible to end the force.
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 “guidance start section” and the “guidance end section” may be the same section.

Further, the movement guidance system (1) according to claim 2 is the movement guidance system according to claim 1 , wherein the guidance branch point (61) is guided in a state in which the moving body moves at a predetermined speed. Assuming output, the first guidance determination means has first movement distance estimation means (13) for estimating a first movement distance that is a movement distance necessary for outputting guidance for the guidance branch point. Is based on the distance from the start point of the guidance start section to the end point of the guidance end section and the first movement distance, and determines whether or not the guidance output at the guidance branch point can be terminated. To do.

Further, the movement guidance system (1) according to claim 3 is the movement guidance system according to claim 1 or 2 , wherein the situation acquisition means (13) moves the movement to the start point of the guidance start section. The moving speed and accelerator opening of the moving body at the time when the body arrives are acquired, and the guidance branch point guidance is obtained based on the moving speed and accelerator opening of the moving body acquired by the situation acquisition means. A second moving distance estimating means (13) for estimating a second moving distance that is a moving distance necessary for outputting, wherein the second guidance determining means (13) Based on the distance to the end point of the guidance end section and the second movement distance, it is determined whether or not the guidance output at the guidance branch point can be terminated.

According to a fourth aspect of the present invention , a travel guidance device (1) includes a guidance route for guiding the movement of a moving body, a guidance route setting means (13) for setting a guidance branch point (61) on the guidance route, and a guidance start. A guidance section setting means (13) for setting a section and a guidance end section, a mobile body position acquisition means (13) for acquiring the position of the mobile body, and the mobile body reaching a predetermined distance before the guidance branch point When the output of guidance at the guidance branch point is started for the mobile body located in the guidance start section, the output of the guidance is terminated while the mobile body is located in the guidance end section. The first guidance judgment means (13) for judging whether or not it is possible, and after the judgment by the first guidance judgment means and when the moving body reaches the start point of the guidance start section, the movement Situation acquisition hand to acquire body condition (13) Based on the status of the moving body acquired by the status acquisition means, the guidance of the guidance branch point is output to the moving body located in the guidance start section reached by the moving body. In this case, the second guidance determination means (13) for determining whether or not the output of the guidance can be completed while the moving body is located in the guidance end section, and the first guidance determination means or the second guidance. The branch point guide means for starting the guidance output of the guidance branch point when it is determined by the determination means that the output of the guidance can be terminated and the moving body is determined to be located in the guidance start section. and (13), have a, the second guiding determination means, whether or not in the case it is determined that it end the output of the guidance by the first guide determination means may terminate the output of the guidance of the guide branch point Judgment Characterized in that that.

The mobile guide method according to claim 5 is performed by moving the guide system, 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 , the guide section setting means, and away step to set the guidance start section and guidance end sections respectively, mobile location acquisition means includes Luz step to obtain the position of the movable body, the first guide determining means, When the mobile body reaches a predetermined distance before the guidance branch point and starts outputting guidance for the guidance branch point to the mobile body located in the guidance start section, the guidance end section is entered. wherein the Luz step to determine whether it terminates the output of the guiding while the moving body is located, the state acquisition means, said first guiding determination means and said guidance start section even after the decision has been made by The moving body at the start point of When the reached was the absence steps to get the status of the movable body, the second guide determining means, based on the status of the movable body acquired by the status acquiring unit, the guidance start of the moving body has reached If you start the output of the guidance of the guide branch point with respect to the moving body is located in the section, it determines whether it terminates the output of the guiding during the said moving body is located at the guidance end section Graphics and step, junction guiding means, in the case it is determined that it end the output of the guidance by the first guide determination means or the second guiding determining means, when the moving body is positioned at the guidance start section when it is determined, have a, and answering step to start an output of the guidance of the guide branch point, said second guiding determining means is determined to not be terminated output of guided by the first guiding determination means In the case of Wherein the determining whether it is possible to end the output of the guidance of the serial guidance branch point.

Further, the computer program according to claim 6 , the computer program includes a guidance route for guiding the movement of the moving body, a guidance route setting means for setting a guidance branch point on the guidance route, a guidance start section and a guidance end section. A guide section setting means for setting; a mobile body position acquisition means for acquiring the position of the mobile body; and the movement located in the guidance start section when the mobile body reaches a predetermined distance before the guide branch point. First guidance determination means for determining whether or not the output of the guidance can be completed while the moving body is located in the guidance end section when the guidance output of the guidance branch point is started for the body; when the movable body to the starting point of the guidance start section even after the determination by the first guiding determination means has been performed has reached a status obtaining means for obtaining a status of the moving object, the state acquisition hand Based on the status of the moving body obtained by, when the moving body starts to output the guidance of the guide branch point with respect to the moving body positioned in the guidance start section has reached, the guidance end section It is determined that the guidance output can be terminated by the second guidance determination means for determining whether or not the guidance output can be terminated while the moving body is located, and the first guidance determination means or the second guidance determination means . A computer program for functioning as branch point guidance means for starting output of guidance at the guidance branch point when it is determined that the mobile body is located in the guidance start section. The second guidance determination means determines whether or not the guidance output at the guidance branch point can be terminated when the first guidance determination means determines that the guidance output cannot be terminated. It is characterized in.

  According to the movement guidance system according to claim 1 having the above-described configuration, it is determined whether or not the guidance branch point guidance can be output in an appropriate section in a plurality of stages, so that the state of the moving body greatly changes. Even in such a situation, it is possible to accurately determine whether or not guidance at the guidance branch point can be output in an appropriate section. In addition, when the mobile body reaches the start point of the guidance start section, which is the timing immediately before the output of guidance, in particular, the determination is made based on the state of the mobile body at that time, so the guidance branch point is guided. It is possible to more accurately determine whether or not output can be performed in an appropriate section. Therefore, it is possible to perform guidance that allows the user to accurately identify the guidance branch point.

Further, according to the movement guidance system according to claim 1 , when it is determined that the guidance of the guidance branch point cannot be output in an appropriate section when the mobile body reaches a predetermined distance before the guidance branch point, After that, since the determination is performed again when the mobile body reaches the start point of the guidance start section, it is possible to reduce the processing load of the control unit by reducing the determination target while ensuring the accuracy of the determination. In addition, it is possible to prevent a situation where guidance is not performed even though guidance at a guidance branch point can be output in an appropriate section.

According to the movement guidance system of the second aspect , since the determination performed when the moving body reaches a predetermined distance before the guidance branch point is performed using a fixed movement speed, the guidance start point Even when the moving body is away from the vehicle, it is possible to determine whether or not the guidance at the guidance branch point can be output in an appropriate section based on the same evaluation criteria even at different guidance branch points. It becomes possible.

According to the movement guidance system of the third aspect , the determination performed when the moving body reaches the starting point of the guidance start point is performed using the moving speed of the moving body and the accelerator opening at that time. Therefore, it is possible to determine more accurately whether or not the guidance at the guidance branch point can be output in an appropriate section based on the situation of the mobile body immediately before the output of guidance is started. .

Further, according to the movement guide device according to the fourth aspect of the present invention, it is determined whether or not the guidance branch point guidance can be output in an appropriate section in a plurality of stages. Even so, it is possible to accurately determine whether or not the guidance at the guidance branch point can be output in an appropriate section. In addition, when the mobile body reaches the start point of the guidance start section, which is the timing immediately before the output of guidance, in particular, the determination is made based on the state of the mobile body at that time, so the guidance branch point is guided. It is possible to more accurately determine whether or not output can be performed in an appropriate section. Therefore, it is possible to perform guidance that allows the user to accurately identify the guidance branch point.
In addition, when it is determined that the guidance at the guidance branch point cannot be output in an appropriate section when the mobile body reaches a predetermined distance before the guidance branch point, the mobile body subsequently reaches the start point of the guidance start section. Since the determination is performed again at the time, it is possible to reduce the processing load on the control unit by reducing the determination target while ensuring the accuracy of the determination. In addition, it is possible to prevent a situation where guidance is not performed even though guidance at a guidance branch point can be output in an appropriate section.

Moreover, according to the movement guidance method of Claim 5 , since it determines whether the guidance of a guidance branch point can be output in an appropriate area in multiple steps, the state of a mobile body changes greatly Even so, it is possible to accurately determine whether or not the guidance at the guidance branch point can be output in an appropriate section. In addition, when the mobile body reaches the start point of the guidance start section, which is the timing immediately before the output of the guidance, the determination is made based on the situation of the mobile body at that time, so the guidance of the guidance branch point It is possible to more accurately determine whether or not output can be performed in an appropriate section. Therefore, it is possible to perform guidance that allows the user to accurately identify the guidance branch point.
In addition, when it is determined that the guidance at the guidance branch point cannot be output in an appropriate section when the mobile body reaches a predetermined distance before the guidance branch point, the mobile body subsequently reaches the start point of the guidance start section. Since the determination is performed again at the time, it is possible to reduce the processing load on the control unit by reducing the determination target while ensuring the accuracy of the determination. In addition, it is possible to prevent a situation where guidance is not performed even though guidance at a guidance branch point can be output in an appropriate section.

Furthermore, according to the computer program of the sixth aspect , since it is determined whether or not the guidance for the guidance branch point can be output in an appropriate section in a plurality of stages, in a situation where the state of the moving body changes greatly. Even if it exists, it becomes possible to determine correctly whether the guidance of a guidance branch point can be output in a suitable area. In addition, when the mobile body reaches the start point of the guidance start section, which is the timing immediately before the output of the guidance, it is determined based on the state of the mobile body at that time, so the guidance branch point guidance is provided. It becomes possible to determine more accurately whether or not output can be performed in an appropriate section. Therefore, it is possible to guide the user to specify the guidance branch point accurately.
In addition, when it is determined that the guidance at the guidance branch point cannot be output in an appropriate section when the mobile body reaches a predetermined distance before the guidance branch point, the mobile body subsequently reaches the start point of the guidance start section. Since the determination is performed again at the time, it is possible to reduce the processing load on the control unit by reducing the determination target while ensuring the accuracy of the determination. In addition, it is possible to prevent a situation where guidance is not performed even though guidance at a guidance branch point can be output in an appropriate section.

It is the block diagram which showed the navigation apparatus which concerns on this embodiment. It is the figure which showed an example of the traffic signal arrange | positioned at a branch point. It is the figure which showed an example of the guidance phrase condition table. It is a figure explaining the guidance start area and guidance end area prescribed | regulated by the guidance phrase condition table. It is a flowchart of a branch point guidance processing program according to the present embodiment. It is the figure which showed an example of the determination result by the 1st guidance execution determination process and the 2nd guidance execution determination process. It is a flowchart of the sub process program of the 1st guidance implementation determination process which concerns on this embodiment. It is the figure explaining the determination method of the sub process program of the 1st guidance execution determination process. It is a flowchart of the sub process program of the 2nd guidance implementation determination process which concerns on this embodiment.

  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.

  Further, the data recording unit 12 reads out a hard disk (not shown) as an external storage device and a recording medium, a map information DB 31 recorded on the hard disk, a guidance phrase condition table 32, a predetermined program, and the like, and stores a predetermined program on the hard disk. 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. 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.

  In addition, the traffic signal information 36 is the direction in which the traffic light is installed (that is, the direction in which the traffic light is facing) of the traffic signal installed around each branch point (intersection) in the whole country, and hereinafter referred to as the installation direction. ), The number of lamps (three-lamp type, one-lamp type, etc.), the position coordinates where the traffic light is installed (hereinafter referred to as installation coordinates), and the like are stored. Furthermore, when a plurality of traffic lights are installed at one branch point, the installation direction, installation coordinates, etc. are stored for each of the traffic lights. For example, as shown in FIG. 2, eight traffic lights 52 to 59 are installed at a branching point 51 where two one-lane roads intersect. Accordingly, as the traffic signal information 36 of the branch point 51, the installation direction, installation coordinates, and the like of the traffic signals 52 to 59 are stored.

The traffic signal information 36 is the traffic signal that is on the most exit side for each exit direction from the branch point (that is, the traffic signal that can be visually recognized at the end of the branch when the vehicle passes through the branch point. It is good also as a structure which memorize | stores only the information regarding a side signal apparatus. For example, at the branch point 51 shown in FIG. 2, information on the traffic signal 53 that is the exit side traffic signal is stored for the exit direction from the bottom to the top of the diagram, and the exit side is displayed for the exit direction from the top to the bottom of the diagram. Stores information on the traffic light 55 that is a traffic light, stores information on the traffic light 57 that is a traffic light on the exit side with respect to the exit direction from the left to the right in the figure, and exits on the exit direction from the right to the left in the figure. Information on the traffic signal 59 that is a traffic signal is stored. That is, it is good also as a structure which memorize | stores only the installation direction and installation coordinate of the traffic lights 53, 55, 57, 59 among the 8 traffic lights 52-59. In addition, for each approach direction from a branch point, as a configuration for storing only information related to a traffic light that is closest to the entry side (that is, the departure side) (that is, a traffic light that can be visually recognized by the vehicle first, hereinafter referred to as an entry side traffic signal) Also good. Furthermore, it is good also as a structure which memorize | stores the information regarding a stop line instead of a traffic light.
And navigation ECU13 is based on each data memorize | stored in map information DB31 as mentioned later, and the branch existing in the departure place side of a guidance route from this guidance branch point ahead of the advancing direction of a vehicle. A point (hereinafter referred to as a front branch point) is specified. Moreover, the traffic signal information 36 of the traffic lights around the guidance branch point and the front branch point is acquired. Then, it is determined whether or not the guidance at the guidance branch point can be output in an appropriate section based on the information regarding the identified guidance branch point and the preceding branch point and the acquired traffic signal information 36. 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.

  The guidance phrase condition table 32 needs to start guidance utterance and the time required to output the guidance utterance together with the content of the spoken phrase for guidance for guiding the guidance branch point. A guidance start section that is a section (that is, a section where guidance needs to be started while the vehicle is located in that section), or a section that needs to end guidance utterance (that is, while the vehicle is positioned in that section) And a guidance end section that is a section in which guidance needs to be terminated) are stored in association with each other. In the navigation device 1 according to the present embodiment, the guidance start section and the guidance end section are the relative positions of the vehicle with respect to the guidance branch point and the front branch point (more specifically, the guidance branch point and the front branch, as will be described later). The relative position of the vehicle with respect to the traffic light arranged at the point).

  Hereinafter, the guidance phrase condition table 32 will be described in more detail with specific examples. FIG. 3 shows an example of the guidance phrase condition table 32. FIG. 4 is a diagram for explaining the guidance start section and the guidance end section defined in the guidance phrase condition table 32 shown in FIG. Note that the guidance shown in FIG. 3 shows guidance that is output when guidance for turning left and right at a guidance branch point is performed using a branch point where a traffic light is installed, among guidances performed at a guidance branch point. In the following description of the embodiment, the guide branch point and the front branch point are both branch points where a traffic light is installed, and the branch on the one side before the guide branch point (the departure side along the guide route). The point is referred to as the first front branch point, the branch point on the further one side of the first front branch point (the departure side along the guide route) is referred to as the second front branch point, and further to the second front branch point. A branch point on the front side (the departure side along the guide route) will be referred to as a third front branch point.

For example, when guiding “the third signal is in the left (right) direction”, the user can count traffic lights at three branch points before entering the guidance branch point. , It is necessary to start and end the guidance utterance (that is, start the voice guidance output and end the output). Therefore, as shown in FIG. 3, for the guidance that “the third signal is in the left (right) direction”, the guidance start section is “5 m before the exit signal at the third branch point before” “No. Section from the traffic light on the entry side at the 2nd branch point to "50m before" (that is, the traffic light located at the 3rd branch point before the traffic signal on the entry side at the guidance branch point disappears from the user's field of view) The section until the user can visually recognize the traffic signal located at the second branch point before the entry side traffic signal with a margin is associated. In addition, a section similar to the guidance start section is associated as the guidance end section. Specifically, referring to FIG. 4, the guidance start section and the guidance end section are from a point A 5 m before the exit side traffic signal 63 at the third front branch point 62 that is three front from the guide branch point 61. This is a section from the approach side traffic light 65 at the second front branch point 64 that is two near the guide branch point 61 to the point B that is 50 meters ahead. As a result, the user who has received the guidance counts the branch points where the three traffic lights, the second front branch point 64, the first front branch point 67, and the guide branch point 61, are installed before entering the guidance branch point 61. It becomes possible to clearly specify that the “third signal” in the guidance sentence is the approach side traffic signal 70 installed at the guidance branch point 61.
The starting point of the guidance start section “5m before the exit signal at the third branch point” is the vicinity of the exit signal at the third branch point, particularly for the vehicle occupant (especially the driver). Corresponds to a point where the exit side traffic light at the third front branch point is switched from a state where it can be visually recognized to a state where it cannot be viewed. Here, the point at which the exit-side traffic light at the third front branch point is visible from the vehicle occupant is identified by the relative positional relationship with respect to the exit-side traffic signal. It is different for each (more specifically, depending on the shape of the car and the shape of the front window). Therefore, although the distance of 5 m mentioned above may be a fixed value, it may be a distance L that changes for each vehicle type. In addition, when changing for every vehicle type, navigation ECU13 is comprised so that a vehicle type or distance L may be acquired from a center or DB as vehicle information. The same applies to the following information.
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.

  In addition, when performing the guidance that “the second signal is in the left (right) direction”, the user can count traffic lights at two branch points before entering the guidance branch point. , It is necessary to start and end the guidance utterance (that is, start the voice guidance output and end the output). Therefore, as shown in FIG. 3, for the guidance that “the second signal is in the left (right) direction”, the guidance start section starts from “5 m before the exit side traffic light at the second front branch point” from “ Section from the traffic light on the entry side at the front branch point to 50 meters ahead (that is, the traffic light located at the branch point two before the traffic signal on the entry side at the guidance branch point disappears from the user's field of view, The section until the user can visually recognize the traffic signal located at the branch point immediately before the incoming traffic signal is sufficiently associated. In addition, a section similar to the guidance start section is associated as the guidance end section. Specifically, with reference to FIG. 4, the guidance start section and the guidance end section are from a point C 5 m before the exit side traffic light 66 of the second front branch point 64 that is two ahead of the guide branch point 61. This is a section from the approach side traffic light 68 at the first front branch point 67 that is one front side with respect to the guidance branch point 61 to the point D that is 50 meters ahead. As a result, the user who has received the guidance can count the branch points where the two traffic lights, the first front branch point 67 and the guide branch point 61, are installed before entering the guidance branch point 61. It becomes possible to clearly specify that the “second signal” in the sentence is the approach side traffic signal 70 installed at the guidance branch point 61.

  In addition, when performing the guidance that “the next signal is in the left (right) direction”, the guidance is made while the user can count the traffic lights at one branch point before entering the guidance branch point. Needs to be started and ended (ie, voice guidance output is started and output is ended). Therefore, as shown in FIG. 3, for guidance that “the next signal is in the left (right) direction”, “Guide branch point from“ 5 m before the exit signal at the first branch point ”as the guidance start section. Section 50 meters before the approaching side traffic light (that is, the traffic light located at the first branch point before the approaching traffic light at the guidance branch point disappears from the user's field of view, and then the traffic signal at the guidance branch point is Are associated with each other until it can be visually recognized with a margin. In addition, a section similar to the guidance start section is associated as the guidance end section. Specifically, referring to FIG. 4, the guidance start section and the guidance end section are from a point E 5 m before the exit side traffic light 69 of the first front branch point 67 that is one front side with respect to the guidance branch point 61. This is a section from the approach side traffic light 70 at the guidance branch point 61 to the point F 50 m ahead. As a result, the user who has received the guidance can count only the guidance branch point 61 where the traffic light is installed before entering the guidance branch point 61, and the “next signal” in the guidance sentence is the guidance branch point 61. It is possible to clearly identify the approach side traffic signal 70 installed in the.

The guidance phrase condition table 32 stores other guidance in the same manner. 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. Further, the time required for outputting the guidance varies depending on the guidance direction. Each numerical value (5 m, 50 m, 100 m, etc.) specifying the start end or the end of the guidance start section and the guidance end section can be changed as appropriate. Moreover, you may prescribe | regulate a guidance start area and a guidance end area using a stop line instead of an approach side traffic signal.
Then, as will be described later, the navigation ECU 13 determines whether the vehicle is located in the guidance start section based on the shape of the guidance route, the traffic light installed on the guidance route, the position information of the branch point, the guidance phrase condition table 32, or the like. When the guidance output at the guidance branch point is started, it is determined whether or not the guidance output can be terminated while the vehicle is positioned in the guidance end section. Further, when a plurality of guidance start sections and guidance end sections are set for each guidance, determination is made for each section (three sections A to B, C to D, and E to F in the example shown in FIG. 4). The guidance is output only in the section determined to be able to end. Further, the determination is performed in a plurality of stages (more specifically, when the vehicle reaches a predetermined distance (for example, 1 km) before the guidance branch point and when the vehicle reaches the start point of the guidance start section).

  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. 5, 7, and 9) described later, etc. 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 guidance section setting means sets a guidance start section and a guidance end section. The moving body position acquisition means acquires the position of the vehicle. The first guidance determination means is configured such that when the vehicle reaches a predetermined distance before the guidance branch point and starts outputting guidance at the guidance branch point to the vehicle located in the guidance start zone, It is determined whether or not the output of the guidance can be terminated while the is located. The situation acquisition means acquires the situation of the vehicle after the determination by the first guidance determination means and when the vehicle reaches the start point of the guidance start section. The second guidance determination means determines whether the vehicle is positioned in the guidance end section when the guidance branch point guidance output is started for the vehicle located in the guidance start section where the vehicle has reached based on the acquired vehicle situation. In the meantime, it is determined whether or not the output of the guidance can be finished. The branch point guidance means is a guidance branch point when it is determined by the first guidance determination means or the second guidance determination means that the output of guidance can be ended and when it is determined that the vehicle is located in the guidance start section. Begins outputting the guidance. The first movement distance estimation means is a first movement which is a movement distance necessary to output guidance at the guidance branch point, assuming that guidance at the guidance branch point is output in a state where the vehicle has moved at a predetermined speed. Estimate distance. The second movement distance estimation means estimates a second movement distance that is a movement distance necessary for outputting guidance at the guidance branch point based on the moving speed of the vehicle and the accelerator opening.

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

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

  The speaker 16 outputs voice guidance for guiding traveling along the guidance route based on an instruction from the navigation ECU 13 and traffic information guidance. In particular, in the present embodiment, when the guidance branch point is ahead of the traveling direction of the vehicle, a voice guidance indicating that the predetermined guidance start timing based on the guidance content (for example, “the second signal is to the left”) When outputting, the voice guidance of the guidance branch point is output at the timing when the vehicle reaches 5 m before (see FIG. 3) from the exit side traffic light of the second front branch point.

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

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

  The navigation device 1 is connected to various control ECUs (for example, a brake control ECU, an accelerator control ECU, an engine control ECU, etc.) that control the vehicle through communication means such as CAN so as to be able to communicate with each other. Further, the navigation ECU 13 is configured to be able to acquire parameters such as the accelerator opening from various control ECUs via the CAN.

  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. . The programs shown in the flowcharts of FIGS. 5, 7, and 9 below are stored in the RAM 42 and the ROM 43 provided in the navigation device 1 and executed by the CPU 41.

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

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

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

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

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

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

  In S5, the CPU 41 determines whether or not guidance for a guidance branch point in front of the vehicle traveling direction has already been performed. In S5, it is determined whether or not voice guidance for instructing a right or left turn or the like at the guidance branch point 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 determined for guidance in the first guidance execution determination process (S7) described later.

  When it is determined that the guidance execution determination of the first guidance execution determination process (S7) for the guidance branch point ahead of the traveling direction of the vehicle has already been performed (S6: YES), the process proceeds to S8. On the other hand, if it is determined that the guidance execution determination in the first guidance execution determination process (S7) for the guidance branch point ahead in the traveling direction of the vehicle has not been performed (S6: NO), the process proceeds to S7. And migrate.

  In S7, the CPU 41 executes a first guidance execution determination process (FIG. 7) described later. The first guidance execution determination process is performed while the vehicle is positioned in the guidance end section when the guidance branch point guidance output is started for the vehicle located in the guidance start section as described later. This is a process for determining whether or not the output can be terminated. When a plurality of guidance start sections and guidance end sections are set for each guide, the determination is made for each section (three sections A to B, C to D, and E to F in the example shown in FIG. 4). The first guidance execution determination process in S7 is performed when it is determined in S4 that there is a guidance branch point within a predetermined distance (for example, within 1.47 km) ahead of the traveling direction of the vehicle, that is, a guidance branch point. This is performed when the vehicle reaches a predetermined distance before (for example, 1.47 km).

  Next, in S8, the CPU 41 determines whether or not the vehicle has reached the start point of the guidance start section set for guidance at the guidance branch point. When a plurality of guidance start sections are set, each guidance start section is determined as a target. For example, as shown in FIG. 4, when three sections A to B, C to D, and E to F are set as guidance start sections, the vehicle reaches one of the points A, C, and E. It will be determined whether or not.

  And when it determines with the vehicle having reached the start point of the guidance start area set to guidance of a guidance branch point (S8: YES), it transfers to S9. On the other hand, when it is determined that the vehicle has not reached the start point of the guidance start section set for guidance at the guidance branch point (S8: NO), the branch point guidance processing program is terminated.

  In S9, the CPU 41 can perform the guidance performed in the guidance start section where the vehicle has arrived in the first guidance execution determination process in S7 (that is, the guidance branch point guidance output to the vehicle located in the guidance start section). It is determined whether or not it has been determined that the output of the guidance can be terminated while the vehicle is positioned in the guidance end section.

  When it is determined that the guidance performed in the guidance start section where the vehicle has reached can be implemented in the first guidance execution determination process of S7 (S9: YES), the process proceeds to S10. On the other hand, it is impossible to implement (that is, when the output of the guidance at the guidance branch point is started for the vehicle located in the guidance start section, the output of the guidance cannot be completed while the vehicle is located in the guidance end section. ) (S9: NO), the process proceeds to S11.

In S10, the CPU 41 provides guidance for the guidance branch point corresponding to the guidance start section reached by the vehicle. Specifically, guidance for identifying the guidance branch point and guidance for identifying the exit direction of the vehicle at the guidance branch point (that is, guidance for identifying the exit road from which the vehicle exits the guidance branch point) are performed. For example, when it reaches 5 m before the exit signal at the second branch point, the phrase “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.

  Normally, the time when the vehicle arrives at the start point of the guidance start zone, particularly the guidance start zone, is set as the timing for starting the guidance output. Specifically, the vehicle is “5m before the exit signal at the third branch point” or “5m before the exit signal at the second branch point” or “from the exit signal at the first branch point”. Further, it is determined that it is time to start outputting the guidance when reaching “5 m before”. However, if the guidance output ends while the vehicle is located in the guidance end section, the guidance output is based on the time when the vehicle reaches a point other than the start point (for example, the end point or the intermediate point) in the guidance start section. It is also possible to start the process. For example, taking into account the detection error of the current position of the vehicle, the time when the vehicle reaches the point moved from the start point of the guidance start section to the end point by the distance of the maximum possible detection error (for example, 30 m) It is also possible to start the process. Also, if the previous guidance is not finished when the vehicle arrives at the start point of the guidance start section, such as when the distance between the front branch points is short or when the guidance branch points are continuous, the previous guidance ends. The time after this is set as the timing for starting the output of guidance.

  On the other hand, in S <b> 11, the CPU 41 executes second guidance execution determination processing (FIG. 9) described later for the guidance performed in the guidance start section where the vehicle has reached. Note that the second guidance execution determination process is similar to the first guidance execution determination process. When the output of the guidance at the guidance branch point is started for the vehicle located in the guidance start section, the vehicle is positioned in the guidance end section. In this process, it is determined whether or not the output of the guidance can be terminated. However, as described later, information used for determination is different from the first guidance execution determination process. Note that the process of S11 cannot be performed in the first guidance execution determination process (S7) (that is, when guidance output at a guidance branch point is started for a vehicle located in the guidance start section, the guidance end section is not processed. The guidance is determined to be determined that the guidance output cannot be terminated while the vehicle is positioned.

  Next, in S12, the CPU 41 can perform the guidance performed in the guidance start section where the vehicle has reached in the second guidance execution determination process in S11 (that is, the guidance branch point for the vehicle located in the guidance start section). When the output of the guidance is started, it is determined whether or not it is determined that the output of the guidance can be completed while the vehicle is positioned in the guidance end section.

  When it is determined that the guidance performed in the guidance start section where the vehicle has reached can be implemented in the second guidance execution determination process of S11 (S12: YES), the process proceeds to S10. And guidance of the guidance branch point corresponding to the guidance start area which the vehicle reached | attained is performed (S10).

  On the other hand, the second guidance execution determination process cannot be performed (that is, when the guidance output of the guidance branch point is started for the vehicle located in the guidance start section, while the vehicle is located in the guidance end section. If it is determined that the guidance output cannot be terminated (S12: NO), the branch point guidance processing program is terminated without outputting the guidance for the guidance branch point corresponding to the guidance start section reached by the vehicle. To do.

  Therefore, for example, as shown in FIG. 6, when three guidance start sections A, B, and C (the guidance end section is also the same section) are set for the guidance branch point, the guidance start section A and the guidance start section C Is determined to be executable in the first guidance execution determination process in S7, and the guidance corresponding to the guidance start section B is determined to be impossible in the first guidance execution determination process in S7, Only for the guidance corresponding to the guidance start section B, the second guidance execution determination process of S11 is performed. And if it determines with implementation in the 2nd guidance implementation determination process, guidance corresponding to guidance start section B will also be implemented. On the other hand, if it is determined that the second guidance execution determination process is impossible, the guidance corresponding to the guidance start section B is not performed, and only the guidance corresponding to the guidance start section A and the guidance start section C is performed. .

  Next, the sub-process of the first guidance execution determination process executed in S7 will be described with reference to FIG. FIG. 7 is a flowchart of a sub-processing program of the first guidance execution determination process.

  First, in S21, the CPU 41 sets a guidance start section and a guidance end section for a guidance branch point ahead in the vehicle traveling direction based on each data such as the branch point data 35 stored in the map information DB 31. . The guidance start section and guidance end section that are set are stored in advance in the guidance phrase condition table 32 (FIG. 3).

  Next, in S22, the CPU 41 proceeds from the start point of the guidance start section set in S21 to the end point of the guidance end section based on the link data 33, node data 34, branch point data 35 and the like stored in the map information DB 31. The distance X is calculated. In addition, as shown in FIG. 3, there are three types of guidance (“the third signal is in the left (right) direction”), “second signal” Left (right) ”,“ Next signal is left (right) ”). In S22, the distance X is calculated for each guidance.

In the following, a method for calculating the distance X will be described with reference to FIG. 8, taking as an example a guidance phrase “the second signal is in the left (right) direction” in the guidance at the guidance branch point.
As shown in FIG. 8, first, the CPU 41 has two traffic lights on the front side with respect to the guidance branch point 61 based on the link data 33, node data 34, branch point data 35 and the like stored in the map information DB 31. A distance a from the exit side traffic light 66 of the second front branch point 64 that is a branch point to the guide branch point 61 is acquired. Subsequently, the distance b from the approach side traffic light 68 to the guidance branch point 61 at the first front branch point 67 which is a branch point with a traffic light one front side with respect to the guide branch point 61 is acquired. Thereafter, a difference between the distance obtained by adding 5 m to the distance a and the distance obtained by adding 50 m to the distance b is calculated as the distance X.

  Next, in S <b> 23, the CPU 41 calculates a travel distance Y (first travel distance) necessary for outputting guidance at the guidance branch point based on the current vehicle speed of the vehicle and the guidance phrase condition table 32. Specifically, the CPU 41 assumes that the guidance is output in a state where the vehicle travels at a predetermined vehicle speed, and the travel distance Y is necessary for outputting the guidance (voice guidance) stored in the guidance phrase condition table 32. It is a distance obtained by multiplying time (for example, 4 seconds) by a fixed vehicle speed (for example, 60 km / h). The fixed vehicle speed may be changed according to the road type of the road on which the vehicle travels (for example, 60 km / h for national roads and prefectural roads and 40 km / h for other general roads). In addition, instead of a fixed vehicle speed, the actual vehicle speed when the vehicle reaches a predetermined distance before the guidance branch point and the vehicle speed obtained by performing a predetermined correction on the actual vehicle speed (for example, depending on the degree of congestion and road conditions ahead) The vehicle speed obtained by increasing or decreasing the actual vehicle speed, the accelerator opening, the amount of change in the accelerator opening, whether or not the brake is used, the vehicle speed obtained by increasing or decreasing the actual vehicle speed using the magnitude of the brake amount, or the like may be used. In this case, even if the vehicle is at a position away from the guidance start point, whether the guidance at the guidance branch point can be output in an appropriate section is the same evaluation criterion according to the traveling state of the vehicle. It is possible to make a determination with As shown in FIG. 3, the guidance branch point guidance includes three types of guidance (“the third signal is in the left (right) direction”, “2” The first signal is in the left (right) direction ”and“ the next signal is in the left (right) direction ”). In S23, the distance Y is calculated for each guidance.

  Subsequently, in S24, the CPU 41 determines that the distance X from the start point of the guidance start section calculated in S22 to the end point of the guidance start section is set to the travel distance Y necessary for outputting the guidance calculated in S23. It is determined whether or not the distance is equal to or more than a distance obtained by adding a grace distance α (for example, 100 m), that is, whether or not the guidance output can be ended in the guidance end section when the guidance output is started in the guidance start section. In addition, as shown in FIG. 3, there are three types of guidance (“the third signal is in the left (right) direction”), “second signal” Left (right) ”,“ Next signal is left (right) ”). In S24, the distance X is compared with the travel distance Y + α for each guide. The grace distance α may be 0 m.

  Then, when it is determined that the distance X from the start point of the guidance start section to the end point of the guidance start section is equal to or more than the distance obtained by adding the predetermined grace distance α to the travel distance Y necessary for outputting the guidance ( S24: YES), that is, when it is determined that the output of guidance can be ended within the guidance end section when the output of guidance is started in the guidance start section, the guidance subject to determination is determined in an appropriate section. It is determined that output is possible (S25).

  On the other hand, when it is determined that the distance X from the start point of the guidance start section to the end point of the guidance start section is less than the distance obtained by adding the predetermined grace distance α to the travel distance Y necessary for outputting the guidance ( S24: NO), that is, when it is determined that the output of the guidance cannot be completed within the guidance end section when the guidance output is started in the guidance start section, the guidance subject to the determination is displayed in the appropriate section. It is determined that output is not possible (S26). Thereafter, the process proceeds to S27.

  In S27, the CPU 41 determines whether or not the determination processes in S24 to S26 have been executed for all the guidance for the guidance branch point. In this embodiment, three types of guidance (“the third signal is in the left (right) direction”, “the second signal is in the left (right) direction”, “ The next signal is in the left (right) direction ").

  And when it determines with having performed the determination process of said S24-S26 with respect to all the guidance with respect to a guidance branch point (S27: YES), it transfers to S28. On the other hand, if it is determined that the determination processing of S24 to S26 is not executed for all the guidance for the guidance branch point (S27: NO), the process returns to S22, and the guidance is not subject to determination. The processes from S22 onward are executed.

  In S28, the CPU 41 classifies the determination processes in S24 to S26 for each guide and stores them in the RAM or the like. Thereafter, the process proceeds to S8.

  Next, the sub-process of the second guidance execution determination process executed in S11 will be described with reference to FIG. FIG. 9 is a flowchart of a sub-processing program of the second guidance execution determination process.

  First, in S31, the CPU 41 obtains the vehicle speed and the accelerator opening degree of the current vehicle (that is, when the vehicle reaches the start point of the guidance start section). The vehicle speed is acquired based on the detection result of the vehicle speed sensor 22. The accelerator opening is acquired from various control ECUs that control the vehicle via communication means such as CAN.

  Next, in S32, the CPU 41 uses the current vehicle speed and accelerator opening of the vehicle acquired in S31, and the travel distance Y ′ () necessary to output guidance corresponding to the guidance start section reached by the vehicle. (Second movement distance) is newly calculated. The calculation may be performed using only one of the vehicle speed and the accelerator opening. Further, in addition to the vehicle speed and the accelerator opening, other parameters (for example, acceleration, steering angle, etc.) may be used for calculation.

  Subsequently, in S33, the CPU 41 is required for the guidance X newly calculated in S32 to be calculated based on the distance X (calculated in S22) from the start point of the guidance start zone where the vehicle has reached to the end point of the guidance start zone. Whether or not the travel distance Y ′ is equal to or greater than a distance obtained by adding a predetermined grace distance α (for example, 100 m), that is, when the guidance output is started in the guidance start section, the guidance output is terminated in the guidance end section. Determine if you can. The grace distance α may be 0 m.

  Then, the distance X from the start point of the guidance start section where the vehicle has reached to the end point of the guidance start section is set to a predetermined grace distance α to the travel distance Y ′ required for outputting the guidance newly calculated in S32. When it is determined that the distance is equal to or greater than the added distance (S33: YES), that is, when it is determined that the guidance output can be ended within the guidance end section when the guidance output is started in the guidance start section. The determination result is corrected that the guidance subject to determination can be output in an appropriate section (S34).

  On the other hand, the distance X from the start point of the guidance start section reached by the vehicle to the end point of the guidance start section is set to a predetermined grace distance α to the travel distance Y ′ necessary for outputting the guidance newly calculated in S32. When it is determined that the distance is less than the added distance (S33: NO), that is, when it is determined that the output of guidance cannot be completed within the guidance end section when the guidance output is started in the guidance start section. It is determined again that the guidance subject to determination cannot be output in an appropriate section (S35). Thereafter, the process proceeds to S36.

  In S36, the CPU 41 stores the determination processes in S33 to S35 in a RAM or the like. Thereafter, the process proceeds to S12.

  As described above, since the second guidance execution determination process makes a determination based on the latest vehicle state immediately before the output of the guidance, the guidance is output more accurately in an appropriate section than the first guidance execution determination process. It is possible to determine whether or not it can be performed. Furthermore, since only the guidance for which a negative determination is made in the first guidance execution determination process is performed, the control burden on the control unit can be reduced.

As described above in detail, according to the navigation device 1 according to the present embodiment, the movement guide method using the navigation device 1 and the computer program executed by the navigation device 1, the guidance at the guidance branch point utters the guidance utterance. A guidance phrase condition table 32 stored in association with a guidance start section that is a section that needs to be started and a guidance end section that is a section that needs to end guidance speech, and the vehicle is a guidance branch point When the vehicle is located in the guidance end section, the guidance output can be terminated while the vehicle is located in the guidance end section. (S7), and when the vehicle reaches the starting point of the guidance start section, the same determination is made again based on the vehicle situation at that time (S11). If it is determined that the output of guidance can be terminated by any one of the determination processes, and if it is determined that the vehicle is located in the guidance start section, the guidance output at the guidance branch point is started (S10). By determining whether or not the guidance branch point guidance can be output in an appropriate section in a plurality of stages, the guidance branch point guidance can be provided in an appropriate section even in a situation where the vehicle state changes greatly. It is possible to accurately determine whether or not it can be output.
In addition, when the vehicle arrives at the start point of the guidance start section, which is the timing immediately before the output of guidance, the judgment is made based on the situation of the vehicle at that time. It becomes possible to determine more accurately whether or not it can be output in a section. Therefore, it is possible to perform guidance that allows the user to accurately identify the guidance branch point.
Further, when it is determined that the guidance at the guidance branch point cannot be output in an appropriate section when the vehicle reaches a predetermined distance before the guidance branch point (S9: NO), the vehicle is subsequently set as the start point of the guidance start section. Therefore, it is possible to reduce the processing load of the control unit by reducing the number of determination targets while ensuring the accuracy of the determination. In addition, it is possible to prevent a situation where guidance is not performed even though guidance at a guidance branch point can be output in an appropriate section.
In the first guidance execution determination process performed when the vehicle reaches a predetermined distance before the guidance branch point, the determination is made using a fixed vehicle speed (for example, 60 km / h). Even if it is in a different position, it is possible to determine whether or not the guidance at the guidance branch point can be output in an appropriate section even at different guidance branch points based on the same evaluation criteria.
Further, in the second guidance execution determination process performed when the vehicle reaches the start point of the guidance start point, the determination is made using the vehicle speed and the accelerator opening at that time. Based on the situation of the vehicle, it is possible to more accurately determine whether or not guidance at the guidance branch point can be output in an appropriate section.

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.

  In the present embodiment, the second guidance execution determination process (S11) is performed on the guidance (guidance start section) determined to be unable to be output in an appropriate section in the first guidance execution determination process (S7). Although it is configured to perform the determination, the second guidance execution determination process (S11) may be executed for all the guidance (guidance start section) regardless of the determination result of the first guidance execution determination process (S7). .

  In the present embodiment, the second guidance execution determination process is performed when the vehicle reaches the start point of the guidance start section. However, the vehicle has reached another point (for example, the end point) included in the guidance start section. It is good also as a structure implemented at a timing. The guidance start section may be defined as a guidance start point. In this case, the second guidance execution determination process is performed when the vehicle reaches the guidance start point.

  In the present embodiment, the guidance start section and the guidance end section are specified based on the positions of the entrance side traffic signal and the exit side traffic signal installed around the branch point, but the branch point (guide branch point, It is good also as a structure specified based on the position of a 1st front branch point, a 2nd front branch point), and a stop line. Furthermore, if it is the said structure using a branch point and a stop line, the traffic signal information 36 will become unnecessary.

  In the present embodiment, guidance using the number of traffic lights (or intersections with traffic lights) from the current position of the vehicle to the guidance branch point is provided as guidance for the guidance branch point. Also good. For example, instead of a traffic light, guidance using a landmark, a branch point, a distance to a guidance branch point, or the like may be used.

  Moreover, in this embodiment, although the guidance start area and the guidance end area are the same area, it is good also as an area which prescribes | regulates a different range.

  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, 7, and 9) 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
32 Guidance phrase condition table 41 CPU
42 RAM
43 ROM
61 Guide branch

Claims (6)

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 section setting means for setting a guidance start section and a guidance end section respectively;
Moving body position acquisition means for acquiring the position of the moving body;
When the mobile body reaches a predetermined distance before the guidance branch point and starts outputting guidance for the guidance branch point to the mobile body located in the guidance start section, the guidance end section is entered. First guidance determination means for determining whether or not the output of the guidance can be terminated while the moving body is located;
After the determination by the first guidance determination means and when the mobile body reaches the start point of the guidance start section, the situation acquisition means for acquiring the status of the mobile body;
Based on the situation of the moving body acquired by the situation acquisition means, when the output of the guidance of the guidance branch point is started for the moving body located in the guidance start section reached by the moving body, Second guidance determination means for determining whether or not the output of the guidance can be terminated while the moving body is positioned in the guidance end section;
When it is determined by the first guidance determination means or the second guidance determination means that the output of guidance can be terminated, and when it is determined that the moving body is located in the guidance start section, the guidance branch point , and the branch point guide means for initiating the output of the guide of have a,
The second guidance determination unit determines whether or not the guidance output at the guidance branch point can be terminated when the first guidance determination unit determines that the guidance output cannot be terminated. Guidance system. Assuming that the guidance at the guidance branch point is output with the moving body moving at a predetermined speed, a first movement distance that is a movement distance necessary for outputting the guidance at the guidance branch point is estimated. A first moving distance estimating means;
The first guidance determination means determines whether or not the guidance branch point guidance output can be terminated based on the distance from the start point of the guidance start section to the end point of the guidance end section and the first movement distance. The movement guidance system according to claim 1, wherein the determination is made. The situation acquisition means acquires the moving speed and the accelerator opening of the moving body when the moving body reaches the start point of the guidance start section,
A second movement distance that is a movement distance necessary to output the guidance at the guidance branch point is estimated based on the movement speed and the accelerator opening of the moving body acquired by the situation acquisition means. A moving distance estimating means;
The second guidance determination means determines whether or not the guidance output at the guidance branch point can be terminated based on the distance from the start point of the guidance start section to the end point of the guidance end section and the second movement distance. The movement guidance system according to claim 1 or 2, wherein a determination is made. 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 section setting means for setting a guidance start section and a guidance end section respectively;
Moving body position acquisition means for acquiring the position of the moving body;
When the mobile body reaches a predetermined distance before the guidance branch point and starts outputting guidance for the guidance branch point to the mobile body located in the guidance start section, the guidance end section is entered. First guidance determination means for determining whether or not the output of the guidance can be terminated while the moving body is located;
After the determination by the first guidance determination means and when the mobile body reaches the start point of the guidance start section, the situation acquisition means for acquiring the status of the mobile body;
Based on the situation of the moving body acquired by the situation acquisition means, when the output of the guidance of the guidance branch point is started for the moving body located in the guidance start section reached by the moving body, Second guidance determination means for determining whether or not the output of the guidance can be terminated while the moving body is positioned in the guidance end section;
When it is determined by the first guidance determination means or the second guidance determination means that the output of guidance can be terminated, and when it is determined that the moving body is located in the guidance start section, the guidance branch point , and the branch point guide means for initiating the output of the guide of have a,
The second guidance determination unit determines whether or not the guidance output at the guidance branch point can be terminated when the first guidance determination unit determines that the guidance output cannot be terminated. Guide device. Executed by the travel guidance system,
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 section setting means, and away step to set the guidance start section and guidance end sections respectively,
Mobile location acquisition means includes Luz step to obtain the position of the movable body,
When the first guidance determination means starts outputting the guidance at the guidance branch point to the movable body located in the guidance start section when the movable body reaches a predetermined distance before the guidance branch point. in the absence step to determine whether it terminates the output of the guiding during the said moving body is located at the guidance end section,
When the status acquisition means, the moving body to the start of the guidance start section even after the determination by the first guiding determination means has been performed has reached a Luz step to obtain the status of the moving object,
Based on the status of the moving body acquired by the status acquisition means , the second guidance determination means outputs the guidance at the guidance branch point to the moving body located in the guidance start section reached by the moving body. when you start, and answering step to determine whether it terminates the output of the guiding while the movable body to the guidance end section is located,
When the branch point guidance means determines that the output of guidance can be terminated by the first guidance determination means or the second guidance determination means , and when it is determined that the moving body is located in the guidance start section to, have a, and answering step to start an output of the guidance of the guide branch point,
The second guidance determination unit determines whether or not the guidance output at the guidance branch point can be terminated when the first guidance determination unit determines that the guidance output cannot be terminated. Guidance method. The computer,
A guide route for guiding the movement of the moving body, a guide route setting means for setting a guide branch point on the guide route,
Guidance section setting means for setting a guidance start section and a guidance end section respectively;
Moving body position acquisition means for acquiring the position of the moving body;
When the mobile body reaches a predetermined distance before the guidance branch point and starts outputting guidance for the guidance branch point to the mobile body located in the guidance start section, the guidance end section is entered. First guidance determination means for determining whether or not the output of the guidance can be terminated while the moving body is located;
After the determination by the first guidance determination means and when the mobile body reaches the start point of the guidance start section, the situation acquisition means for acquiring the status of the mobile body;
Based on the situation of the moving body acquired by the situation acquisition means , when the output of the guidance of the guidance branch point is started for the moving body located in the guidance start section reached by the moving body, Second guidance determination means for determining whether or not the output of the guidance can be terminated while the moving body is positioned in the guidance end section;
When it is determined by the first guidance determination means or the second guidance determination means that the output of guidance can be terminated, and when it is determined that the moving body is located in the guidance start section, the guidance branch point Branch point guidance means for starting the output of the guidance of
A computer program to make it function,
The second guidance determination unit determines whether or not the guidance output at the guidance branch point can be terminated when the first guidance determination unit determines that the guidance output cannot be terminated. program.

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