JP5796436B2 - Movement guidance system, movement guidance apparatus, movement guidance method, and computer program - Google Patents

Description

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

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

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

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

  However, in the technique described in the above-mentioned Patent Document 1, a branch point (for example, a large branch point where a plurality of traffic signals are installed and a large interval between them is installed or a special traffic signal is installed) Etc.) is on the front side of the guidance branch point or the guidance branch point, there is a possibility that the user will misrecognize the guidance branch point due to a deviation in the traffic signal count by the user.

  The present invention has been made in order to solve the above-described problems in the prior art, and includes a guide using the number of traffic lights from a moving body to a guidance branch point and a traffic light located between the mobile body and the guidance branch point. A movement guidance system, a movement guidance device, a movement guidance method, and a computer program that enable a user to accurately identify a guidance branch point by using a guidance that specifies a guidance branch point without using numbers. The purpose is to provide.

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 moving body (101) and a guide route for setting a guide branch point (102) on the guide route. Setting means (13), guidance setting means (13) for setting guidance at the guidance branch point, and branch point guidance means for guiding the guidance branch point using the guidance set by the guidance setting means. (13), and the guidance setting means has a predetermined branch point (107) that is a branch point on the departure side of the guide route with respect to the guide branch point or the guide branch point, It further comprises a branch point determination means (13) for determining whether or not it is a misidentified branch point satisfying a condition, and the branch point determination means determines that the guide branch point and the preceding branch point are not the misidentified branch points. If The first guidance for specifying the guidance branch point using the number of traffic lights located between the moving body and the guidance branch point is set as the guidance for the guidance branch point, and the guidance branch is determined by the branch point determination means. When the point or the preceding branch point is determined to be the misidentified branch point, the guide branch point is specified without using the number of traffic lights located between the moving body and the guide branch point. 2 guidance is set for a part or all of the guidance at the guidance branch point , and particularly when it is determined that the preceding branch point is the misidentified branch point, the guidance return set based on the misidentified branch point The second guidance is set for guidance until the moving body passes through a point, and the first guidance is set for guidance after the moving body passes through the guidance return point. .
The “moving body” includes a pedestrian and a two-wheeled vehicle in addition to the vehicle.
In addition, the “guidance branch point” corresponds to a branch point that is a target for performing guidance such as a right / left turn instruction when performing guidance of movement of the moving object according to the guidance route.
Further, the “number of traffic lights located between the moving body and the guidance branch point” may be the number of traffic lights in the branch point unit. That is, when a plurality of traffic lights are provided at the same branch point on a large road or the like, the plurality of traffic lights may be counted as one traffic light. In that case, the “first guidance” according to the present invention uses the number of branch points (that is, signal intersections) where traffic lights located between the moving body and the guide branch point are used to determine the guide branch point. It corresponds also to the structure which performs guidance to specify. However, even when counting is performed in units of branch points, it is desirable to count the number of traffic lights (for example, push button type traffic lights) installed outside the branch point. The same applies to the following claims.

  Further, the movement guidance system (1) according to claim 2 is the movement guidance system according to claim 1, wherein the guidance setting means (13) is configured such that the guidance branch point (102) is the misidentified branch point. If it is determined that there is, the second guidance is set for all guidance at the guidance branch point.

Further, the movement guidance system (1) according to claim 3 is the movement guidance system according to claim 1 or 2 , wherein the guidance return point (13) is a traffic light installed at the misidentified branch point. Passing point of a feature other than a traffic light installed at the misidentified branch point, or a point at which a traffic signal installed at the misidentified branch point is switched from a state where it cannot be viewed from the moving body (101) to a visible state It is either of these.

The movement guidance system (1) according to claim 4 is the movement guidance system according to any one of claims 1 to 3 , wherein the second guidance is transmitted from the moving body (101) to the guidance. The guidance is characterized in that the guidance branch point is specified using the distance to the branch point.

The travel guidance system (1) according to claim 5 is the travel guidance system according to any one of claims 1 to 4 , wherein the misidentified branch point is a type of traffic signal installed at the branch point. The shape of the branch point or the shape of the link connected to the branch point is a branch point that satisfies a predetermined condition.

Further, the movement guide device (1) according to claim 6 includes a guide route for guiding the movement of the moving body (101) and a guide route setting means (13) for setting a guide branch point (102) on the guide route. , Guidance setting means (13) for setting guidance at the guidance branch point, and branch point guidance means (13) for guiding the guidance branch point using the guidance set by the guidance setting means. And the guidance setting means is a branch point that is a branch point on the departure side of the guide route with respect to the guide branch point or the guide branch point. A branch point determining means (13) for determining whether or not a certain misidentified branch point is further provided, and when the branch point determining means determines that the guide branch point and the preceding branch point are not the misidentified branch points, The guidance branch from the moving body The first guidance for specifying the guidance branch point is set to the guidance branch point using the number of traffic lights located between and the guidance branch point or the front branch point is determined by the branch point determination means. When it is determined that it is a misidentified branch point, the second guidance for specifying the guide branch point without using the number of traffic lights located between the moving body and the guide branch point is set to the guide branch point. The mobile body passes through a guidance return point set based on the misidentified branch point, when the guidance is set to a part or all of the guidance, and particularly when the near branch point is determined to be the misidentified branch point. The second guidance is set for the guidance up to and the first guidance is set for the guidance after the moving body passes through the guidance return point .

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 (101) (102), guiding setting means, and away step to set the guide in the guidance branch point, the branch point guidance means, using the guidance set by the guidance setting means, row mortar step guidance of the guide branch point The guidance setting means has a predetermined branch point (107) that is a branch point on the departure side of the guide route with respect to the guide branch point or the guide branch point, satisfying a predetermined condition. It is determined whether it is a misidentified branch point that is a branch point, and if it is determined in the determination that the guide branch point and the previous branch point are not the misidentified branch point, the distance between the moving body and the guide branch point Using the number of traffic lights located in Set the first guide to identify the guide branch points in the guidance of the guide branch point, the when the guidance branch point or the preceding junction in the determination is determined to be the false branch point, the mobile A second guide for specifying the guide branch point without using the number of traffic lights located between the body and the guide branch point is set to a part or all of the guidance of the guide branch point, and in particular the front branch point Is determined as the misidentified branch point, the second guidance is set for guidance until the moving body passes through the guidance return point set based on the misidentified branch point, and The first guidance is set for guidance after the moving body has passed the guidance return point .

Furthermore, a computer program according to an eighth aspect of the present invention provides a computer , a guidance route setting means for setting a guidance route for guiding the movement of the mobile body (101), a guidance branch point on the guidance route, and guidance at the guidance branch point. A computer program for functioning as a guidance point setting means for setting the guidance branch point guidance means for guiding the guidance branch point using the guidance set by the guidance setting means . The setting means determines whether or not the guidance branch point or the previous branch point on the departure side of the guide route with respect to the guidance branch point is a misidentified branch point satisfying a predetermined condition. and, wherein when the guide branch point and the preceding junctions in the determination is not determined to be the false branch point, a signal which is located between the said mobile body to the guidance branch point If the first guide to identify the guide branch point with number set to guide the guide branch point, the guidance branch point or the preceding junction in the determination is determined to be the false branch point The second guidance that specifies the guidance branch point without using the number of traffic lights located between the moving body and the guidance branch point is set to a part or all of the guidance of the guidance branch point , In particular, when it is determined that the preceding branch point is the misidentified branch point, the second guidance is used for guidance until the moving body passes through the guidance return point set based on the misidentified branch point. The first guidance is set for guidance after the moving body has passed through the guidance return point .

According to the movement guidance system according to claim 1 having the above-described configuration, the guidance branch point is determined by the first guidance that identifies the guidance branch point using the number of traffic lights located between the moving body and the guidance branch point. Can be specified accurately for the user, and the predetermined branch point is determined without using the number of traffic lights located between the moving body and the guide branch point in a predetermined situation. By using the guidance instead, it is possible to prevent the user from causing a deviation in the traffic signal count and to prevent the misidentification of the guidance branch point.
Also, if the near branch point is a branch point satisfying a predetermined condition, the number of traffic lights located between the moving body and the guide branch point is not used until the mobile body passes the guidance return point. The guidance branch point is guided by the second guidance for specifying the guidance branch point, and after the moving body passes the guidance return point, the guidance branch point is used using a traffic light located between the moving body and the guidance branch point. Therefore, it is possible to prevent the user from misidentifying the other branch point as the guide branch point by erroneously counting the traffic light at the front branch point. In addition, since there is no possibility that the user will miscount traffic lights, guidance can be provided by the first guidance, so that the guidance branch point can be accurately specified by the user by guidance using the number of traffic lights. become.

  According to the movement guidance system of claim 2, when the guidance branch point is a branch point satisfying a predetermined condition, the number of traffic lights located between the moving body and the guidance branch point is not used. Since the guidance of the guidance branch point is performed only by the second guidance that specifies the guidance branch point, it is possible to prevent the user from mistakenly counting the traffic lights at the guidance branch point and misidentifying other branch points as the guidance branch point. Is possible.

According to the movement guidance system of the third aspect , the guidance return point for switching the guidance from the second guidance to the first guidance is installed at the passing point of the traffic light installed at the misidentified branch point and the misidentified branch point. The point where the traffic signal other than the traffic signal passes or the point where the traffic signal installed at the misidentified branch point is switched from a state where it cannot be seen from the moving body to a state where it can be seen, may cause the user to miscount the traffic light. It is possible to appropriately specify the point where the state is switched to the non-state as the guidance return point.

According to the movement guidance system of the fourth aspect , the second guidance for specifying the guidance branch point using the distance from the moving body to the guidance branch point under a predetermined situation is used instead of the first guidance. Thus, for example, even in a situation where the user is likely to be misaligned in the traffic signal count, the user can specify the position of the guidance branch point based on the distance to the guidance branch point.

Further, according to the movement guide system of claim 5 , the misidentified branch point, the type of traffic signal installed at the branch point, the shape of the branch point, or the shape of the link connected to the branch point satisfies a predetermined condition. Since it is set as a branch point, it becomes possible to correctly specify, for example, a branch point that is easily miscounted as a false branch point from the map data.

According to the movement guide device of the sixth aspect , the guide branch point is set to the user by the first guidance for specifying the guide branch point using the number of traffic lights located between the moving body and the guide branch point. The second guidance for identifying the guidance branch point without using the number of traffic lights located between the moving body and the guidance branch point under a predetermined condition. By using it instead, it is possible to prevent the user from causing a deviation in the traffic signal count and to prevent the misidentification of the guidance branch point.
Also, if the near branch point is a branch point satisfying a predetermined condition, the number of traffic lights located between the moving body and the guide branch point is not used until the mobile body passes the guidance return point. The guidance branch point is guided by the second guidance for specifying the guidance branch point, and after the moving body passes the guidance return point, the guidance branch point is used using a traffic light located between the moving body and the guidance branch point. Therefore, it is possible to prevent the user from misidentifying the other branch point as the guide branch point by erroneously counting the traffic light at the front branch point. In addition, since there is no possibility that the user will miscount traffic lights, guidance can be provided by the first guidance, so that the guidance branch point can be accurately specified by the user by guidance using the number of traffic lights. become.

According to the movement guide method of claim 7 , the guide branch point is set to the user by the first guidance for specifying the guide branch point using the number of traffic lights located between the moving body and the guide branch point. The second guidance for identifying the guidance branch point without using the number of traffic lights located between the moving body and the guidance branch point under a predetermined condition. By using it instead, it is possible to prevent the user from causing a deviation in the traffic signal count and to prevent the misidentification of the guidance branch point.
Also, if the near branch point is a branch point satisfying a predetermined condition, the number of traffic lights located between the moving body and the guide branch point is not used until the mobile body passes the guidance return point. The guidance branch point is guided by the second guidance for specifying the guidance branch point, and after the moving body passes the guidance return point, the guidance branch point is used using a traffic light located between the moving body and the guidance branch point. Therefore, it is possible to prevent the user from misidentifying the other branch point as the guide branch point by erroneously counting the traffic light at the front branch point. In addition, since there is no possibility that the user will miscount traffic lights, guidance can be provided by the first guidance, so that the guidance branch point can be accurately specified by the user by guidance using the number of traffic lights. become.

Further, according to the computer program of the eighth aspect , the guide branch point can be set to the user by the first guidance that specifies the guide branch point using the number of traffic lights located between the moving body and the guide branch point. On the other hand, in the predetermined situation, the second guidance that specifies the guidance branch point without using the number of traffic lights located between the moving body and the guidance branch point can be used instead. By using it, it is possible to prevent the user from shifting the counting of the traffic light and to prevent the guide branch point from being misidentified.
Also, if the near branch point is a branch point satisfying a predetermined condition, the number of traffic lights located between the moving body and the guide branch point is not used until the mobile body passes the guidance return point. The guidance branch point is guided by the second guidance for specifying the guidance branch point, and after the moving body passes the guidance return point, the guidance branch point is used using a traffic light located between the moving body and the guidance branch point. Therefore, it is possible to prevent the user from misidentifying the other branch point as the guide branch point by erroneously counting the traffic light at the front branch point. In addition, since there is no possibility that the user will miscount traffic lights, guidance can be provided by the first guidance, so that the guidance branch point can be accurately specified by the user by guidance using the number of traffic lights. become.

It is the block diagram which showed the navigation apparatus which concerns on this embodiment. It is the figure which showed an example of the traffic signal and stop line which are arrange | positioned at a branch point. It is the figure which showed an example of the guidance phrase condition table. It is a flowchart of a branch point guidance processing program according to the present embodiment. It is a flowchart of the sub process program of the guidance setting process which concerns on this embodiment. It is a figure explaining the example of the branch point which satisfy | fills the conditions which are easy to make the count of a traffic signal easy to be erroneous. It is a figure explaining the example of the branch point which satisfy | fills the conditions which are easy to make the count of a traffic signal easy to be erroneous. It is a figure explaining the example of the branch point which satisfy | fills the conditions which are easy to make the count of a traffic signal easy to be erroneous. It is a figure explaining the example of the branch point which satisfy | fills the conditions which are easy to make the count of a traffic signal easy to be erroneous. It is a figure explaining the example of the branch point which satisfy | fills the conditions which are easy to make the count of a traffic signal easy to be erroneous. It is a figure explaining the example of the branch point which satisfy | fills the conditions which are easy to make the count of a traffic signal easy to be erroneous. It is a figure explaining the example of guidance of the guidance branch point performed when a guidance branch point is a misidentified branch point. It is a figure explaining the example of guidance of the guidance branch point performed when neither a guidance branch point nor a front branch point is a misidentification branch point. It is the figure explaining the example of guidance of the guidance branch point performed when a near branch point is a misidentification 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.

  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 relating to traffic lights installed in the vicinity of the stop line, the stop line information 37 relating to stop lines installed around the branch point, and the like are 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 (3-lamp type, 2-lamp type, 1-lamp type, etc.), the position coordinates where the traffic light is installed (hereinafter referred to as installation coordinates), and the like. 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.

  On the other hand, the stop line information 37 stores information related to the road marking of the stop line, among the features formed on the road surface. Specifically, the identification ID, the coordinate data for specifying the position of the stop line on the map, and the branch point ID for identifying the branch point where the stop line is installed are stored. Note that the coordinate data may be specified not by the absolute position but by the relative position of the branch point where the stop line is installed with respect to the node point. For example, as shown in FIG. 2, stop lines 60 to 63 are installed at four points at a branch point 51 where roads of two lanes on one side intersect. Therefore, as the stop line information 37, various information regarding the stop lines 60 to 63 is stored.

  And navigation ECU13 is based on each data memorize | stored in map information DB31 as mentioned later, and the branch existing in the departure place side of a guidance route from this guidance branch point ahead of the advancing direction of a vehicle. A point (hereinafter referred to as a front branch point) is specified. Further, the branch point data 35 of the guide branch point and the front branch point and the link data 33 of the link connected to each branch point are acquired. Then, the navigation ECU 13 determines whether or not the guidance branch point or the front branch point is a branch point that satisfies the condition that the traffic signal is likely to be mistaken (hereinafter referred to as a misidentified branch point) based on each acquired data. 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.

Moreover, navigation ECU13 sets the guidance in a guidance branch point based on the determination result which determined whether the guidance branch point or a front branch point is a misidentified branch point. As guidance candidates to be set, for example, there are the following guidance.
(1) Guidance using the number of traffic signals located between the current position of the vehicle and the guidance branch point (corresponding to the first guidance of the present invention, hereinafter referred to as “traffic signal guidance”).
(2) Guidance using the distance from the current position of the vehicle to the guidance branch point (corresponding to the second guidance of the present invention, hereinafter referred to as “distance guidance”).
Here, “the number of traffic lights located between the current position of the vehicle and the guidance branch point” is preferably the number of traffic lights per branch point. That is, when a plurality of traffic signals are provided at the same branch point on a large road or the like, it is desirable that the plurality of traffic signals be counted as one traffic signal. In that case, “traffic signal guidance” corresponds to guidance for specifying a guidance branch point using the number of branch points (that is, traffic signal intersections) where traffic lights located between the vehicle and the guidance branch point are installed. . However, even when counting is performed in units of branch points, it is desirable to count the number of traffic lights (for example, push button type traffic lights) installed outside the branch point. The same applies to the following description.

The guidance phrase condition table 32 includes conditions for starting the utterance of guidance along with the contents of phrases (phrases) to be spoken for the above-mentioned plurality of types of guidance candidates that are guidance candidates for guiding the guidance branch point. It is a table stored in association with each other.
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.

  For example, for "Signal Guide", "The third signal is left (right) direction", "The second signal is left (right) direction" and "Next signal is left (right) direction" ”Is associated. Furthermore, a guidance start condition, which is a condition for starting a guidance utterance, is associated with each guidance phrase. For example, in the case of guiding “the second signal is in the left (right) direction”, the guidance utterance is made while the user can count two traffic lights before entering the guidance branch point. Need to start. Therefore, as shown in FIG. 3, the guidance phrase “the second signal is in the left (right) direction” has a traffic signal two before the guidance branch point (note that a plurality of traffic lights are installed at the branch point). The exit side traffic light installed on the most exit side with respect to the traveling direction of the vehicle) is not visible to the passengers (for example, 5 meters before the traffic light two before the guidance branch point). Reaching is associated as a guidance start condition.

  In addition, “distance guidance” is associated with the guidance phrases “700m ahead is left (right)”, “300m ahead is left (right)” and “soon left (right)”. Yes. Furthermore, a guidance start condition, which is a condition for starting a guidance utterance, is associated with each guidance phrase. For example, in the case of performing a guidance saying “700 m ahead is in the left (right) direction”, the guidance utterance needs to be performed in a state where the travel distance to enter the guidance branch point is 700 m. Therefore, as shown in FIG. 3, the guidance phrase “700 m ahead is in the left (right) direction” is associated with the guidance start condition that the vehicle has reached 750 m before the guidance branch point.

  Similarly, other guidance phrases are stored in the guidance phrase condition table 32. In addition to the left (right) direction, there are a right (left) diagonal direction, a right (left) front direction, and the like as the guidance direction of the guidance branch point. Each numerical value (5 m or the like) for specifying the guidance start condition can be changed as appropriate.

  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 a RAM 42 for storing route data when a route is searched, a control program, a ROM 43 in which a branch point guidance processing program (see FIGS. 4 and 5) described later is recorded An internal storage device such as a flash memory 44 for storing a program read from the ROM 43 is provided. The navigation ECU 13 constitutes various means as processing algorithms. For example, the guidance route setting means sets a guidance route and a guidance branch point from a departure point (for example, the current position of the vehicle) that guides the movement of the vehicle (moving body) to the destination. The guidance setting means sets guidance at a guidance branch point. The branch point guidance means guides the guidance branch point using the guidance set by the guidance setting means. The branch point determination means determines whether or not the guide branch point or the previous branch point on the departure side of the guide route with respect to the guide branch point is a misidentified branch point that satisfies a predetermined condition.

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

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

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

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

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

  Next, a branch point guidance processing program executed by the navigation ECU 13 in the navigation device 1 having the above configuration will be described with reference to FIG. FIG. 4 is a flowchart of the branch point guidance processing program according to this embodiment. Here, the branch point guidance processing program is a program that is repeatedly executed at predetermined intervals after the ACC of the vehicle is turned on, and guides the guidance branch point on the guidance route. The programs shown in the flowcharts of FIGS. 4 and 5 below are stored in the RAM 42 and the ROM 43 provided in the navigation device 1 and are executed by the CPU 41.

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

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

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

  Next, in S <b> 3, the CPU 41 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 S1 and the guidance route acquired in S2. 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 the guidance content of the voice guidance instructing the right or left turn at the guidance branch point among the guidance to the guidance branch point is set. In the present embodiment, in particular, one of the “signal guidance” and “distance guidance” shown in FIG. 3 is set.

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

  In S7, the CPU 41 executes a guidance setting process (FIG. 5) described later. The guidance setting process sets guidance for a guidance branch point ahead in the traveling direction of the vehicle based on each data (link data 33, branch point data 35, etc.) stored in the map information DB 31 as will be described later. It is processing.

  Next, in S8, the CPU 41 determines whether or not it is time to perform the guidance set in S7. Specifically, it is determined whether or not a guidance start condition (see FIG. 3) associated with the guidance set in S7 is satisfied. For example, when “traffic signal guidance” is set to guidance in S7, when the vehicle reaches further 5 meters before the traffic signal three before the guidance branch point, the “third signal is left (right) When it is determined that it is time to give the guidance “Is direction,” and when the vehicle reaches further 5 meters before the traffic light that is two stops before the guidance branch point, the guidance is “the second signal is in the left (right) direction” It is determined that it is time to perform guidance, and when the vehicle reaches 5 meters before the traffic light one point before the guidance branch point, it is determined that it is time to perform guidance for "next signal is in the left (right) direction" To do.

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

In S9, the CPU 41 provides guidance regarding the guidance branch point based on the guidance set in S7. Specifically, guidance for specifying the guidance branch point and the exit direction of the vehicle guidance branch point (that is, guidance for identifying the exit road from which the vehicle exits the guidance branch point) is performed. For example, in S7, “Signal guidance” is set to guidance, and if the vehicle reaches 5m before the traffic signal two before the guidance branch point, “the second signal is in the left (right) direction. Is output from the speaker 16. Further, when the guidance branch point approaches within a predetermined distance (for example, 300 m) of the vehicle, an enlarged view near the guidance branch point and the traveling direction at the guidance branch point of the vehicle are displayed on the liquid crystal display 15.
As a result, it becomes possible for the user to accurately specify the guidance branch point and the road from which the vehicle exits from the guidance branch point.

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

  First, in S11, the CPU 41 reads the link data 33 and the branch point data 35 from the map information DB 31, and determines whether or not the guide branch point in front of the traveling direction of the vehicle is a misidentified branch point that satisfies the condition that the count of the traffic signal is likely to be erroneous. .

Here, the misidentified branch point that satisfies the condition that the signal count is likely to be erroneous is a branch point that satisfies at least one of the following conditions (A) to (F).
(A) A 1-lamp or 2-lamp signal is installed at the branch point.
(B) The installation interval of the entrance side traffic signal and the exit side traffic signal installed at the branch point is a predetermined interval or more (for example, 50 m or more).
(C) Features that may give false positives when branch points such as overpasses, pedestrian bridges, and separation zones are divided within the branch points.
(D) The distance between other adjacent branch points is less than a predetermined distance (for example, less than 30 m).
(E) The traffic light installed at the branch point cannot be visually recognized from a vehicle located a predetermined distance before the branch point (for example, 100 m before).
(F) A plurality of links are connected in the same direction with respect to the branch point.

Below, each condition of (A)-(F) is demonstrated in detail using FIGS. 6-11.
For example, as shown in FIG. 6, a branch point 72 where a one-lamp type traffic signal 71 is installed is a branch point corresponding to the condition (A). In such a one-lamp type traffic signal 71, when guidance by “traffic signal guidance” is performed, it is difficult for the user to determine whether or not the installed traffic signal should be included in the count target. It becomes a branch point.

  Further, as shown in FIG. 7, the branch point 75 where the number of lanes on the crossing road is large and the installation interval L between the entrance side traffic signal 73 and the exit side traffic signal 74 is not less than a predetermined interval (for example, 50 m or more) It becomes a branch point corresponding to the condition. In such a branch point where the installation distance between the entrance side signal 73 and the exit side signal 74 is particularly wide, guidance is performed according to the number of traffic lights in the unit of the branch point when guidance is performed by “traffic signal guidance”. Regardless, there is a possibility that the user may include both the traffic lights 73 and the traffic lights 74 in the count target, and this is a branching point where the signal count is likely to be erroneous.

  Further, as shown in FIG. 8, a branch point 77 under the elevated 76 is a branch point corresponding to the condition (C). There is a possibility that the branch point 77 under the elevated 76 is misunderstood that the branch point 77 is divided back and forth by the elevated 76. Therefore, when guidance by “traffic signal guidance” is performed, the user misunderstands that the vehicle passes through two branch points even though it passes through one branch point, and counts two traffic signals (that is, traffic signals). Although it is necessary to count only 78, the traffic lights 78 and 79 may be counted).

  Moreover, as shown in FIG. 9, the branch points 80 and 81 whose interval M with other adjacent branch points is less than a predetermined interval (for example, less than 30 m) are branch points corresponding to the condition (D). The installation interval may be a distance between nodes at a branch point, a distance between stop lines installed at a branch point, or a distance between road ends (a distance between nodes from an intersection road of each branch point). Or a distance obtained by subtracting 1/2 of the road width). In such branch points 80 and 81 having a narrow installation interval, although there are two branch points, there is a possibility that the user may be mistaken for one branch point. Therefore, when guidance by “traffic signal guidance” is performed, the user misunderstands that only one branch point is passed despite passing through two branch points 80 and 81, and only one traffic signal is counted. (In other words, although there is a need to count the traffic light 82 and the traffic light 83, only the traffic light 82 is counted), it becomes a branch point where the traffic signal count is likely to be erroneous.

  In addition, as shown in FIG. 10, the approach road 85 entering the branch point 84 is curved, and the traffic light 86 installed at the branch point 84 is moved from a vehicle located a predetermined distance before the branch point (for example, 100 meters before). When it cannot be visually recognized, it becomes a branch point corresponding to the condition (E). More specifically, the above condition (E) is satisfied when the azimuth difference α between the connection point of the road 85 to the branch point 84 and a point before a predetermined distance (for example, 100 m before) is equal to or greater than a predetermined angle. It becomes a branch point. At the branch point 84 having such a curved approach road 85, it is difficult for the user to see the traffic signal and it is difficult to count the traffic signal, so that the traffic signal is likely to be erroneously counted. Note that the condition (E) may be that a large other vehicle is positioned in front of the vehicle.

  Further, as shown in FIG. 11, a branch point 89 having a complicated shape in which a plurality of roads 87 and 88 are connected in the same direction, which is a branch point of five or more roads, satisfies the above condition (F). It becomes a branching point. Such a branch point 89 where a plurality of roads 87 and 88 are connected in the same direction may be misidentified as being composed of a plurality of branch points between the road 87 and the road 88 as a boundary. Therefore, when guidance by “traffic signal guidance” is performed, the user misunderstands that the vehicle passes through two branch points even though it passes through one branch point, and counts two traffic signals (that is, traffic signals). Even though it is necessary to count only 90, the traffic signal 90 and the traffic signal 91 may be counted), so that it becomes a branch point where the traffic signal count is likely to be erroneous.

  And when it determines with the guidance branch point ahead of the advancing direction of a vehicle being the misidentification branch point which satisfy | fills the conditions which are easy to make the count of a traffic light easy to error (S11: YES), it transfers to S12. On the other hand, when it is determined that the guidance branch point ahead in the traveling direction of the vehicle is not a misidentified branch point that satisfies the condition that the counting of the traffic light is likely to be erroneous (S11: NO), the process proceeds to S13.

  If the guidance branch point is an erroneously recognized branch point, guidance of the guidance branch point using “traffic signal guidance” may cause the user to miscount traffic lights at the guidance branch point. Therefore, in S12, the CPU 41 sets “distance guidance” for all the guidance at the guidance branch point ahead of the traveling direction of the vehicle. The “distance guidance” is guidance using the distance from the current position of the vehicle to the guidance branch point (see FIG. 3). As a result, as shown in FIG. 12, guidance for specifying the guidance branch point 102 is always performed based on the distance from the vehicle 101 to the guidance branch point 102 instead of the number of traffic lights (S9). Specifically, with the distance from the vehicle 101 to the guidance branch point 102 being 750 m, the guidance “700 m ahead is to the left” is performed, and then the distance from the vehicle 101 to the guidance branch point is 350 m. In this state, the guidance “Left 300m ahead” is performed, and finally the guidance “Soon to the left” is performed in the state where the distance from the vehicle 101 to the guidance branch point is 50m. . In this case, since the number of traffic lights is not used, the effect of specifying the branch point is slightly reduced, but it is possible to prevent the user from mistaking the traffic signal count to misidentify other branch points as guide branch points. Become. In S12, the CPU 41 stores, in the RAM 42, the guidance start position where the set guidance phrase is uttered together with the guidance phrase set for guidance. Thereafter, the process proceeds to S8.

  On the other hand, in S13, the CPU 41 reads the link data 33 and the branch point data 35 from the map information DB 31, and the front branch point with respect to the guide branch point ahead in the traveling direction of the vehicle satisfies the condition that the traffic signal count is likely to be erroneous. It is determined whether or not. Note that the front branch point to be determined in S13 is a front branch point related to guidance when performing “traffic signal guidance”, and is, for example, a front branch point from the guide branch point to the front three points. Further, whether or not the preceding branch point is a misidentified branch point is determined by whether or not at least one of the above-described conditions (A) to (F) is satisfied as in S11.

  And when it determines with the near branch point ahead of the advancing direction of a vehicle being a misidentified branch point which satisfy | fills the conditions which are easy to miscount a traffic light (S13: YES), it transfers to S15. On the other hand, when it is determined that the near branch point ahead in the traveling direction of the vehicle is not a misidentified branch point that satisfies the condition that the signal count is likely to be erroneous (S13: NO), the process proceeds to S14.

  If neither the guidance branch point nor the preceding branch point is a misidentified branch point, even if the guidance branch point is guided using “traffic signal guidance”, there is no possibility that the user will miscount the traffic signal. Accordingly, in S <b> 14, the CPU 41 sets “traffic signal guidance” for all the guidance at the guidance branch point ahead of the traveling direction of the vehicle. Note that “traffic signal guidance” is guidance using the number of traffic signals from the current position of the vehicle to the guidance branch point (see FIG. 3). As a result, as shown in FIG. 13, guidance for specifying the guidance branch point 102 is performed according to the number of traffic lights located between the vehicle 101 and the guidance branch point 102 (S9). Specifically, at the timing when the traffic signal 103 at the front branch point with the traffic signal on the front side of the guide branch point 102 disappears from the user's view, “the third signal is to the left” At the timing when the guidance is performed and the traffic signal 104 at the front branch point with the traffic light on the second front side with respect to the guidance branch point 102 disappears from the user's view, “the second signal is to the left” At the timing when the traffic signal 105 at the front branch point with a traffic light on the front side of the guide branch point 102 disappears from the user's field of view, “the next signal is to the left” Guidance is given. In this case, the user is not erroneously counting the traffic light, and the “third signal”, “second signal”, and “next signal” being guided indicate the traffic signal 106 at the guidance branch point 102. Can be clearly identified. In S <b> 14, the CPU 41 stores, in the RAM 42, the guidance start position where the set guidance phrase is uttered together with the guidance phrase set for guidance. Thereafter, the process proceeds to S8.

  On the other hand, in S15, the CPU 41 sets a guidance return point. Here, the guidance return point is a point where the state in which the signal counting at the misidentified branch point is likely to be erroneous is eliminated, and is set based on the misidentified branch point. Further, the position where the guidance return point is set differs depending on the conditions (A) to (F) satisfied by the misidentified branch point.

Below, the setting method of the guidance return point with respect to the misidentified branch point which satisfy | fills each condition of (A)-(F) is demonstrated using FIGS. 6-11.
For example, when there is a misidentified branch point at the previous branch point that meets the condition (A), which is “a one-lamp or two-lamp traffic signal is installed at the branch point”, the one-lamp type Or the point which passed the 2 lamp type traffic signal is set as a guidance return point. For example, in the example shown in FIG. 6, if a single-light type traffic signal 71 is passed, the state in which the signal count is likely to be erroneous is eliminated. Therefore, the point A that has passed the one-lamp type traffic signal 71 is set as the guidance return point.

  In addition, a misidentified branch point corresponding to the condition (B) where “the installation interval between the entrance side signal and the exit side signal installed at the branch point is a predetermined interval or more (for example, 50 m or more)” If it is at a point, the point that has passed the exit signal is set as the guidance return point. For example, in the example shown in FIG. 7, if the exit side traffic signal 74 is passed, the state where the signal count is likely to be erroneous is eliminated. Therefore, the point B that has passed the exit side traffic signal 74 is set as the guidance return point.

  In addition, the condition of (C) is met, provided that “features that may give false positives when branch points such as overpasses, pedestrian bridges, and separation zones are divided within the branch point” are installed. If there is a misidentified branch point at the near branch point, the point that passed the feature is set as the guidance return point. For example, in the example shown in FIG. 8, if the vehicle passes through the elevated 76, the state in which the signal count is likely to be erroneous is eliminated. Therefore, the point C that has passed the elevated 76 is set as the guidance return point.

  In addition, when a misidentified branch point corresponding to the condition (D) on the condition that “the interval between adjacent branch points is less than a predetermined interval (for example, less than 30 m)” is at the preceding branch point, A point that passes the stop line at the branch point on the far side is set as the guidance return point. For example, in the example shown in FIG. 9, if a stop line at the branch point 81 on the far side is passed, the state in which the signal count is likely to be erroneous is eliminated. Therefore, the point D that has passed the stop line at the branch point 81 is set as the guidance return point.

  In addition, a false branch point corresponding to the condition of (E), where “the traffic signal installed at the branch point cannot be visually recognized from a vehicle positioned a predetermined distance before the branch point (for example, 100 m before)” In the case of the point, a point where the traffic light installed at the misidentified branch point switches from a state where it cannot be viewed from the vehicle to a state where it can be viewed is set as the guidance return point. For example, in the example shown in FIG. 10, if the heading difference α with the connection point to the branch point 84 of the road 85 becomes a predetermined angle (for example, 30 °), the traffic light 86 installed at the branch point 84 can be visually recognized from the vehicle. The state in which the signal count is likely to be erroneous is eliminated. Therefore, the point E where the azimuth difference α with the connection point to the branch point 84 of the road 85 is a predetermined angle (for example, 30 °) is set as the guidance return point. When the condition (E) is that a large other vehicle is located in front of the vehicle, a point approaching the traffic signal 86 at the branch point 84 within a predetermined distance is set as the guidance return point. Set.

  In addition, if there is a misidentified branch point at the preceding branch point that meets the condition of (F), which is conditional on “a plurality of links being connected in the same direction with respect to the branch point”, the exit side traffic light The passing point is set as the guidance return point. For example, in the example shown in FIG. 11, if the exit side traffic signal 90 is passed, the state in which the signal count is likely to be erroneous is eliminated. Therefore, the point F that has passed the exit side traffic signal 90 is set as the guidance return point.

  In addition, when the near branch point determined to be a misidentified branch point is a misidentified branch point that satisfies a plurality of conditions among the above conditions (A) to (F), for each condition that the misidentified branch point satisfies Among the plurality of guidance return points to be set, the guidance return point closest to the guidance branch point is set.

  If the front branch point is a misidentified branch point, and if the guidance branch point is guided using `` traffic signal guidance '' before the vehicle passes the guidance return point, the front branch point recognized as the misidentified branch point There is a risk that the user will miscount the traffic light. Accordingly, in S16, the CPU 41 sets “distance guidance” for guidance until the vehicle passes through the guidance return point, and sets “signal guidance” for guidance after the vehicle passes through the guidance return point. As a result, as shown in FIG. 14, when the front branch point 107 is a misidentified branch point, the number of traffic lights is not the number of traffic lights until the vehicle 101 passes the guidance return point 108, but from the vehicle 101 to the guide branch point 102. Guidance for specifying the guidance branch point 102 is performed based on the distance, and after the vehicle 101 passes the guidance return point 108, the guidance branch point 102 is identified based on the number of traffic lights located between the vehicle 101 and the guidance branch point 102. Guidance will be given (S9). Specifically, in the state where the distance from the vehicle 101 to the guidance branch point 102 is 750 m, guidance “700 m ahead is left” is performed, and then the guidance return point 108 is passed, At the timing when the traffic signal 104 at the front branch point with the traffic signal on the front side of 102 disappears from the user's field of view, the second signal is on the left, and the guidance is given at the end. At the timing when the traffic signal 105 at the front branch point with the traffic signal on the near side with respect to the branch point 102 disappears from the user's field of view, guidance is made that “the next signal is in the left direction”. In this case, while using “traffic signal guidance”, in the situation where the user may miscount traffic signals, using “distance guidance” allows the user to misguide traffic lights and guide other branch points. It is possible to prevent misidentification as a point. In S <b> 16, the CPU 41 stores, in the RAM 42 and the like, the guidance start position where the set guidance phrase is uttered together with the guidance phrase set for guidance. Thereafter, the process proceeds to S8.

As described above in detail, according to the navigation device 1 according to the present embodiment, the movement guidance method using the navigation device 1 and the computer program executed by the navigation device 1, there is a guidance branch point ahead of the traveling direction of the vehicle. In this case, it is determined whether or not the guide branch point or the preceding branch point is a misidentified branch point that satisfies the condition that the counting of the traffic signal is likely to be erroneous (S11, S13), and the guide branch point and the previous branch point are not misidentified branch points. If it is determined, the “traffic signal guidance” for specifying the guidance branch point using the number of traffic lights located between the vehicle and the guidance branch point is set as guidance for the guidance branch point (S14). When it is determined that the branch point or the preceding branch point is a misidentified branch point, the guide branch point is specified without using the number of traffic lights located between the vehicle and the guide branch point. Since “distance guidance” is set to part or all of the guidance at the guidance branch point (S12, S16), it becomes possible to accurately identify the guidance branch point to the user by “traffic signal guidance” By using “distance guidance” instead under certain conditions, it is possible to prevent the user from causing a deviation in the traffic light count and to prevent the guidance branch point from being misidentified. Further, even in a situation where the user is likely to have a deviation in the traffic signal count, the user can specify the position of the guidance branch point based on the distance to the guidance branch point. As a result, even in the case of a misidentified branch point where the traffic signal count is likely to be erroneous, by appropriately selecting and setting the guidance of the guidance branch point, it is possible to prevent the user from causing a deviation in the traffic signal count, and to guide branch It is possible to prevent the point from being misidentified.
In addition, when the guidance branch point is a misidentified branch point, the guidance branch point is determined only by “distance guidance” for identifying the guidance branch point without using the number of traffic lights located between the vehicle and the guidance branch point. Since the guidance is performed, it is possible to prevent the user from mistaking the count of the traffic light at the guidance branch point and misidentifying another branch point as the guidance branch point.
Also, if the preceding branch point is a misidentified branch point, the guide branch point is identified without using the number of traffic lights located between the vehicle and the guide branch point before the vehicle passes the guidance return point. “Distance guidance” is used to guide the guidance branch point, and after the vehicle passes the guidance return point, the traffic signal located between the vehicle and the guidance branch point is used to identify the guidance branch point. Therefore, it is possible to prevent the user from misidentifying the other branch point as the guide branch point by erroneously counting the traffic light at the front branch point. In addition, since there is no possibility that the user erroneously counts the traffic light, guidance can be performed by “traffic light guidance”, so that the guidance branch point can be accurately specified to the user by guidance using the number of traffic lights. It becomes possible.
In addition, when the front branch point is a misidentified branch point, a guidance return point that switches guidance from “distance guidance” to “traffic signal guide” is installed at the traffic signal passing point at the misidentified branch point and the misidentified branch point. Any of the passing points of features other than the traffic lights, or the traffic lights installed at the misidentification branch points are switched from a state where they cannot be seen from the vehicle to a state where they can be seen, so that the user may miscount the traffic lights. It is possible to appropriately specify the point where the state is switched to the non-state as the guidance return point.
In addition, the misidentified branch point is a branch point where the type of traffic signal installed at the branch point, the shape of the branch point, or the shape of the link connected to the branch point satisfies a predetermined condition. A point can be accurately identified as a misidentified branch point.
For example, a branch point where a one-lamp type or two-lamp type traffic signal is installed is identified as a misidentified branch point, so a branch point that is difficult for the user to determine whether the installed signal should be included in the count is misidentified It becomes possible to specify appropriately as a branch point.
In addition, since the branching point where the installation interval between the installed approaching traffic signal and the leaving traffic signal is equal to or greater than the predetermined interval is identified as a misidentified branching point, there is a possibility that both the traffic signal signals of the entering traffic signal and the leaving traffic signal are included in the count target. A branch point can be appropriately identified as a misidentified branch point.
In addition, since the branch point where the predetermined feature is installed in the branch point is specified as the misidentified branch point, the user misidentifies that the two branch points are passed despite passing through one branch point, It is possible to appropriately specify a branch point that may count two traffic lights as a misidentified branch point.
In addition, since a branch point whose distance from another adjacent branch point is less than a predetermined interval is specified as a misidentified branch point, the user can pass only one branch point despite passing through two branch points. It becomes possible to appropriately identify a branch point that may be erroneously recognized and that may count only one traffic signal as a false branch point.
In addition, because the installed traffic signal is identified as a misidentified bifurcation point, a bifurcation point that cannot be seen from the vehicle located a predetermined distance before the bifurcation point is detected, so that it is difficult for the user to see the traffic signal and it is difficult to count the traffic signal. It becomes possible to specify appropriately as a point.
In addition, since a branch point where a plurality of links are connected in the same direction is specified as a misidentified branch point, the user misidentifies that the two branch points are passed despite passing through one branch point, It is possible to appropriately specify a branch point that may be counted for two places as a misidentified 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 this embodiment, when the guidance branch point is located within a predetermined distance ahead of the traveling direction of the vehicle, the guidance branch point guidance located in front of the guidance branch point is set (S7). The timing for setting the guidance may be another timing. For example, guidance may be set for each guidance branch point included in the guidance route when the navigation device 1 sets the guidance route. Moreover, it is good also as a structure which sets a guidance previously with respect to each branch point before setting a guidance route.

  Further, in this embodiment, when it is determined that the guidance branch point or the front branch point is a misidentified branch point, a part or all of the guidance is performed by “distance guidance” instead of “traffic signal guidance”. However, other guidance may be used as long as the guidance branch point is specified without using the number of traffic lights. For example, guidance for specifying a guidance branch point may be performed using the number of branch points from the current position of the vehicle to the guidance branch point.

  In this embodiment, when it is determined that the preceding branch point is a misidentified branch point, the guidance branch point is guided based on the “distance guidance” until the vehicle passes the guidance return point, and the vehicle After passing the guidance return point, guidance of the guidance branch point is performed based on “traffic signal guidance”, but the guidance may not be performed until the vehicle passes the guidance return point.

  In the present embodiment, as the traffic light guidance, “the third signal is in the left (right) direction”, “the second signal is in the left (right) direction” and “the next signal is in the left (right) direction”. Although the guidance using the guidance phrase “is” is performed, guidance using other phrases may be performed. For example, the guidance phrase “The next signal of the signal that will be passed is in the left (right) direction” or the guidance phrase “The next signal of the signal that is passing is in the left (right) direction” is used. You may give guidance. Furthermore, guidance without a part of the guidance phrase may be performed.

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

  In the present embodiment, the misidentified branch point that satisfies the condition that the signal count is likely to be erroneous is set as a branch point that satisfies at least one of the conditions (A) to (F). Other conditions other than F) may be set.

  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. 4 and 5) may be configured to be implemented by either a server or a mobile 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 36 Traffic signal information 41 CPU
42 RAM
43 ROM
101 Vehicle 102 Guide branch point 107 Front branch point 108 Guide return point

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,
Guidance setting means for setting guidance at the guidance branch point;
Branch point guidance means for guiding the guidance branch point using the guidance set by the guidance setting means,
The guidance setting means includes:
Branch point determination for determining whether the preceding branch point, which is the branch point on the departure side of the guide route with respect to the guide branch point or the guide branch point, is a misidentified branch point satisfying a predetermined condition Further comprising means,
When it is determined by the branch point determination means that the guide branch point and the previous branch point are not the misidentified branch points, the number of traffic lights located between the moving body and the guide branch point is used to The first guidance for specifying the guidance branch point is set to the guidance for the guidance branch point,
When it is determined by the branch point determination means that the guide branch point or the preceding branch point is the misidentified branch point, the number of traffic lights located between the moving body and the guide branch point is not used. Setting the second guidance that identifies the guidance branch point to a part or all of the guidance at the guidance branch point ,
In particular, when it is determined that the preceding branch point is the misidentified branch point, the second guidance is used for guidance until the moving body passes through the guidance return point set based on the misidentified branch point. A travel guidance system, wherein the first guidance is set for guidance after the mobile body has passed through the guidance return point .   The said guidance setting means sets the said 2nd guidance with respect to all the guidance of the said guidance branch point, when it determines with the said guidance branch point being the said misidentification branch point. The movement guide system according to 1. The guidance return point is a passing point of a traffic signal installed at the misidentified branch point, a passing point of a feature other than a traffic signal installed at the misidentified branch point, or a traffic signal installed at the misidentified branch point. The movement guidance system according to claim 1 or 2 , wherein the movement guidance system is any one of the points where the state is switched from a state where it cannot be visually recognized to a state where it can be visually recognized. The movement guidance according to any one of claims 1 to 3 , wherein the second guidance is guidance for specifying the guidance branch point using a distance from the moving body to the guidance branch point. system. The misidentified branch point is a branch point that satisfies a predetermined condition in the type of traffic signal installed at the branch point, the shape of the branch point, or the shape of the link connected to the branch point. Item 5. The travel guidance system according to any one of Items 4 to 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 setting means for setting guidance at the guidance branch point;
Branch point guidance means for guiding the guidance branch point using the guidance set by the guidance setting means,
The guidance setting means includes:
Branch point determination for determining whether the preceding branch point, which is the branch point on the departure side of the guide route with respect to the guide branch point or the guide branch point, is a misidentified branch point satisfying a predetermined condition Further comprising means,
When it is determined by the branch point determination means that the guide branch point and the previous branch point are not the misidentified branch points, the number of traffic lights located between the moving body and the guide branch point is used to The first guidance for specifying the guidance branch point is set to the guidance for the guidance branch point,
When it is determined by the branch point determination means that the guide branch point or the preceding branch point is the misidentified branch point, the number of traffic lights located between the moving body and the guide branch point is not used. Setting the second guidance that identifies the guidance branch point to a part or all of the guidance at the guidance branch point ,
In particular, when it is determined that the preceding branch point is the misidentified branch point, the second guidance is used for guidance until the moving body passes through the guidance return point set based on the misidentified branch point. The movement guide device is characterized in that the first guidance is set for guidance after the moving body has passed through the guidance return point . Guidance route setting means, and away step to set the guidance branch point on the guidance route and the guide path for guiding the movement of the moving body,
Guiding setting means, and away step to set the guide in the guidance branch point,
Junction guiding means, by using the guidance set by the guidance setting means, anda line mortar step guidance of the guide branch point,
The guidance setting means includes:
Determining whether the preceding branch point which is the branch point on the departure side of the guide route with respect to the guide branch point or the guide branch point is a misidentified branch point which is a branch point satisfying a predetermined condition ;
When it is determined in the determination that the guide branch point and the preceding branch point are not the misidentified branch point, the guide branch point is determined using the number of traffic lights located between the moving body and the guide branch point. Set the first guidance to identify the guidance branch point guidance,
If it is determined in the determination that the guidance branch point or the preceding branch point is the misidentified branch point, the guidance branch point is not used without using the number of traffic lights located between the moving body and the guide branch point. The second guidance for specifying the branch point is set for a part or all of the guidance at the guide branch point ,
In particular, when it is determined that the preceding branch point is the misidentified branch point, the second guidance is used for guidance until the moving body passes through the guidance return point set based on the misidentified branch point. A moving guidance method characterized in that the first guidance is set for guidance after the moving body has passed through the guidance return point . The computer,
A guide route for guiding the movement of the moving body, a guide route setting means for setting a guide branch point on the guide route,
Guidance setting means for setting guidance at the guidance branch point;
A computer program for functioning as a branch point guide means for guiding the guide branch point using the guidance set by the guide setting means ,
The guidance setting means includes:
Determining whether the preceding branch point which is the branch point on the departure side of the guide route with respect to the guide branch point or the guide branch point is a misidentified branch point which is a branch point satisfying a predetermined condition ;
When it is determined in the determination that the guide branch point and the preceding branch point are not the misidentified branch point, the guide branch point is determined using the number of traffic lights located between the moving body and the guide branch point. Set the first guidance to identify the guidance branch point guidance,
If it is determined in the determination that the guidance branch point or the preceding branch point is the misidentified branch point, the guidance branch point is not used without using the number of traffic lights located between the moving body and the guide branch point. The second guidance for specifying the branch point is set for a part or all of the guidance at the guide branch point ,
In particular, when it is determined that the preceding branch point is the misidentified branch point, the second guidance is used for guidance until the moving body passes through the guidance return point set based on the misidentified branch point. A computer program that sets and sets the first guidance for guidance after the moving body has passed the guidance return point .

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