JP5881308B2 - Navigation device and intersection guide method - Google Patents

Description

  The present invention relates to a navigation device and an intersection guidance method, and in particular, a navigation device suitable for performing intersection voice guidance according to the route shape of the guidance route in the enlarged intersection map, together with the display of the enlarged intersection map and the lane information. It relates to an intersection guidance method.

  Conventionally, in navigation devices, route guidance that supports driving by accurately presenting the direction in which the vehicle should travel is performed using voice or a screen according to the guidance route to the destination (for example, Patent Documents 1 to 3).

  More specifically, in route guidance, an enlarged view of the intersection is displayed at the point before the intersection where the vehicle on the guidance route is about to enter, and the distance to the intersection and the exit direction at the intersection (turning direction) Voice guidance was performed.

  Conventionally, in navigation devices, lane information indicating the exit direction according to the lane at the intersection where the vehicle is about to enter has been displayed. When displaying the information, the lane information is displayed in a display mode in which the recommended lane that is a lane that can be escaped onto the guidance route after the intersection is emphasized together with the enlarged view of the intersection.

  Here, in most cases, the lane information is stored in a database as information according to the contents of instruction signs and guidance signs installed in the real world.

JP 2008-309529 A International Publication WO2006 / 035755 International Publication WO2008 / 068949

  Displaying lane information at the time of route guidance as described above is meaningful from the viewpoint of promptly changing the lane on the recommended lane and making a right and left turn in the direction of guidance at the intersection smoothly and reliably. .

  However, if the lane information does not properly represent the escape direction in the real world, the display of the lane information may be reversed and the user may be confused.

  FIG. 7 shows an aspect of intersection guidance in such a case. FIG. 7 illustrates an example of an enlarged intersection view 1 that guides a deformed intersection 2 of a six-way road. As shown in FIG. 7, the guide route in the intersection enlarged view 1 is on the road entering the intersection 2 (the road on which the vehicle is traveling) and at the intersection 2 diagonally right (diagonally right) with respect to the current traveling direction. It is taken on the road that folds forward. In addition, the voice guidance at this time is “approx. Therefore, there is no contradiction between the contents of the intersection enlarged view 1 and the guidance voice.

  However, in FIG. 7, the display shape (arrow) of the recommended lane 3a in the lane information 3 superimposed on the intersection enlarged view 1 indicates “straight” (Michinari), and “oblique right” is displayed. There is a contradiction in the content between the enlarged view of the intersection shown in FIG. 1 and the guidance voice. As a result, the user does not know whether to go straight or diagonally right at the intersection, resulting in confusion.

  In addition to this, if the user goes straight ahead at the intersection with priority given to the lane information, and the destination is a road where entry is prohibited, there is a further risk of violation of traffic regulations. Will be defeated.

  Here, in order to avoid such confusion, it may be considered to prohibit display of lane information at an intersection where the display shape of the recommended lane 3a and the route shape of the guide route in the enlarged intersection diagram 1 are inconsistent. It is done. However, in such a case, it is not possible to enjoy any merit by displaying the lane information such as prompting a prompt lane change on the recommended lane.

  Patent Document 1 describes that a route guidance object superimposed and displayed on a live-action image is corrected in consideration of an error between road shape data and an actual road shape. In Patent Document 2, an appropriate display position of navigation information in a live-action video is determined so that the driver can intuitively and accurately recognize the correspondence between the navigation information and the live-action video / real-view landscape. It is described to do. Furthermore, Patent Document 3 describes that the presence of a car pool lane is detected based on map data and added to the lane information. However, in each patent document, no mention is made of problems caused by the contradiction between the escape direction indicated by the recommended lane and the route shape of the guidance route in the enlarged intersection map and the escape direction indicated by the guidance voice, and the specific solution. It is not done.

  Therefore, the present invention has been made in view of the above points, and it is easy to understand that it does not cause confusion for the user even at an intersection where the escape direction indicated by the recommended lane in the lane information does not match the display content of the enlarged intersection view. It is an object of the present invention to provide a navigation device and an intersection guidance method capable of providing easy guidance.

In order to achieve the above-described object, the navigation device according to the present invention includes a map information storage unit that stores map information including lane information indicating an exit direction according to a lane at an intersection where the vehicle is about to enter, and a guidance A route guidance unit that performs route guidance according to a route; and a lane information display unit that displays the lane information stored in the map information storage unit, wherein the route guidance unit includes: Based on the map information stored in the map information storage means, an intersection enlarged view showing the intersection that the vehicle is about to enter, and an intersection according to the route shape of the guide route in the enlarged intersection view The lane information display means performs the voice guidance, and the lane information display means corresponds to the road corresponding to the intersection on the guidance route that the host vehicle is about to enter during the route guidance. The display of information, a navigation device that performs in a display mode escaping onto the guidance route after the intersection is highlighted the recommended lane possible, the route guidance unit, a display form indicating the exit direction of the recommended lane Featuring the for intersection with path shape shown escape direction of the guide route in the intersection enlarged view is inconsistent, to perform the special the intersection accompanied by representation of the display shape of the recommended lane and Yes.

In the intersection guidance method according to the present invention, when the route guidance is performed according to the guidance route by the route guidance unit , the route guidance unit uses the lane at the intersection where the vehicle stored in the map information storage unit is about to enter. Based on the map information including the lane information indicating the exit direction according to the vehicle, an enlarged intersection view showing the intersection that the vehicle is going to enter is displayed, and the route shape of the guidance route in the enlarged intersection view is displayed. The lane information display means can escape the lane information corresponding to the intersection on the guidance route that the vehicle is going to enter onto the guidance route after the intersection. a intersection guidance method for displaying at Do recommended lane emphasized display mode, the route guidance unit, the intersection with the display form indicating the retract direction of the recommended lane For intersections that are inconsistent with the route shape indicating the exit direction of the guidance route in the point enlargement map, the intersection voice guidance with the representation of the display shape of the recommended lane is performed. Yes.

According to the present invention, the recommended lane is displayed for an intersection where the display shape indicating the escape direction of the recommended lane and the route shape indicating the escape direction of the guidance route in the enlarged intersection map are inconsistent. by performing the special intersection accompanied by representation of the display configuration, it is possible to prevent user confusion.

In the navigation device of the present invention, the map information includes the display shape of the recommended lane when the exit link corresponding to a set of an entrance link and an exit link for an intersection is a guidance route after the intersection, Corresponding to the pair of the entry link and the exit link for the intersection where the pair corresponding to the pair of the entrance link and the exit link is inconsistent with the route shape in the case of the guide route in the enlarged intersection view In addition, a special flag is attached, and the route guiding means is associated with a set of an entrance link and an exit link corresponding to the guidance route at an intersection where the vehicle is about to enter. When a special flag is given, the special intersection voice guidance may be performed. Similarly, in the intersection guidance method of the present invention, in the operation by the route guidance means and the lane information display means , the set corresponding to the set of the entrance link and the exit link for the intersection is the route of the guidance route in the enlarged intersection map. A first step of calculating the route shape in the case, and the route shape calculated in the first step, the exit link corresponding to the set of the entrance link and the exit link being a guide route after the intersection Compared with the display shape of the recommended lane in the case of the second step, a second step of extracting an intersection that is inconsistent with each other, and the entry link and the escape with respect to the intersection extracted in the second step A third step of assigning a special flag in association with a link and a link to the intersection where the vehicle is about to enter; When the special flag associated with the set of the approach link and the exit link corresponding to a path has been granted, it may include a fourth step of performing the special Intersection.

In such a case, in the map information side, in advance, to set a special flag to the intersection path shape and become misaligned guide route in the display configuration and enlarged intersection of the recommended lane and advance, the route guidance unit side, it is possible to perform a special voice guidance by reading this special flag, the guide route in the display configuration and enlarged intersection of the recommended lane just before the voice guidance Compared with the case where it is determined whether or not the route shape becomes inconsistent, the processing load can be reduced, and efficient intersection guidance can be performed.

Further, in the navigation device of the present invention, the special flag is the display shape and specific flags to the pattern was also associated with a pattern of inconsistent combination of the path shape of the recommended lane, The route guidance means may perform the special intersection voice guidance according to the inconsistent combination pattern associated with the special flag.

In such a case, when the route guidance, upon reading a special flag in the route guidance means side, of the guide route in the display form and the intersection enlarged view of the recommended lane and the path shape not Since it is possible to unambiguously grasp the matching combination pattern and perform special intersection voice guidance according to the grasped pattern, the processing burden is reduced compared to the case where such a pattern is acquired immediately before voice guidance. It can be reduced, and more efficient intersection guidance can be performed.

Furthermore, in the navigation device of the present invention, with respect to intersection set of the said approach link and escape link to the display shape of the recommended lane and the path shape is inconsistent exists a plurality of sets are each set A plurality of the special flags may be given.

In such a case, one intersection, a plurality of sets of said path shape of the guiding route in the display configuration and enlarged intersection of the recommended lane is the approach link such that mismatching the exit link Even when it is included, it is possible to cope effectively.

Further, in the navigation device of the present invention, the intersection of performing the special intersection voice guidance, the route shape of the guiding route in the intersection enlarged view is non-linear with respect to the display shape of the recommended lane indicate straight It may include an intersection indicating the direction of. Further, in this case, the special Intersection is a direction other than the straight to the path shape shown in the guidance route in the intersection enlarged view after performing straight corresponding to the display shape of the recommended lane It may also include a guide to proceed to.

In such a case, even when the path shape of the guiding route in the intersection enlarged view on the display shape of the recommended lane indicate straight indicates the escape direction other than straight, such contradiction Can be eliminated by guidance that prompts the vehicle to travel in a direction other than straight traveling after straight traveling, so that confusion of the user can be avoided in advance.

  Furthermore, in the intersection guidance method of the present invention, the first step to the third step may be performed when compiling the original data of the map information into the map information.

  In such a case, a special flag can be set efficiently.

  According to the present invention, it is possible to provide easy-to-understand and appropriate guidance without causing confusion for the user even at an intersection where the escape direction indicated by the recommended lane in the lane information does not match the display content of the enlarged intersection map.

The block diagram which shows embodiment of the navigation apparatus which concerns on this invention Block diagram of the navigation device of FIG. The schematic diagram which shows the guidance state of an intersection in embodiment of the navigation apparatus which concerns on this invention The conceptual diagram which shows the provision state of a special flag in embodiment of the navigation apparatus which concerns on this invention Conceptual diagram showing a variation of a special flag The flowchart which shows embodiment of the navigation apparatus which concerns on this invention Explanatory diagram for explaining conventional problems Explanatory drawing for specifying the shape of the entry / exit link

  Hereinafter, an embodiment of a navigation device according to the present invention will be described with reference to FIGS. 1 to 6 and FIG.

  As shown in FIG. 1, the navigation device 5 in this embodiment is roughly divided into a navigation main unit 6, a satellite navigation receiver 7, an autonomous navigation sensor 8, an operation unit 10, respectively connected to the navigation main unit 6. A display 11 and a speaker 12 are included.

  Here, the satellite navigation receiver 7 receives a positioning signal (a signal indicating time and orbit) distributed from a positioning satellite (not shown), and outputs the received positioning signal to the navigation main unit 6 side. . This satellite navigation receiver may be, for example, a GPS receiver.

  The autonomous navigation sensor 8 detects the vehicle speed, acceleration (angular velocity), own vehicle direction, and the like of the host vehicle, and outputs the detection result to the navigation main unit 6 side. The autonomous navigation sensor 8 may be a vehicle speed sensor, a gyro sensor, or the like.

  Further, the operation unit 10 can perform various operations on the navigation device 5 by outputting an operation signal corresponding to the operation content to the navigation main unit 6 side. The operation unit 10 may be a remote controller, a touch panel of the display 11, a linear encoder, a rotary encoder, a voice input microphone, or the like.

  Next, the navigation main unit 6 will be described in detail. As shown in FIG. 1, the navigation main unit 6 includes a navigation CPU 15 connected to the system bus 14, a hard disk drive (HDD) 16 as map information storage means, a flash A memory 17, a RAM 18, a user interface (I / F) 19, an image interface (I / F) 20, and an audio interface (I / F) 21 are provided.

  Here, the navigation CPU 15 executes various functions of the navigation device 5 such as a vehicle position detection function, a map display function, a route search function, a route guidance function, and a search function.

  The hard disk drive 16 stores map data as map information. The map data includes a road data frame, a background data frame, a name data frame, a route guidance data frame, a route calculation data frame, and a point information frame. Are composed of various physical data frames.

  Of these, the road data frame is used for displaying a road map. In this road data frame, a link column data record is stored. This link column data record includes a link column header, link column shape information indicating the shape of the link column, and nodes / links indicating relationships with other link columns. It consists of link connection information, node additional information (link ID, width / lane information, road name, etc.), altitude information, traffic regulation information, and the like.

  The background data frame is used for displaying a background map. In this background data frame, a graphic data list column organized for each display class is stored, and each graphic data list further includes element point coordinate information for expressing the shape of a graphic (line or surface). (Start point coordinates, offset coordinates, etc.) are stored.

  Further, the name data frame is used for displaying a character string on a map. In this name data frame, a name data list collected for each display class is stored, and this name data list is composed of a name data record string. Each name data record corresponds to character data for displaying characters on a map. The character string displayed using this name data frame is the name of the display target feature for each display class, such as a building name, park name, administrative division name, and river name.

  Furthermore, the route guidance data frame is used for route guidance, and the route guidance data frame stores a guidance data frame, a character string data frame, a shape data frame, a pattern data frame, and the like. . Here, an intersection name, a road name, a direction name, and the like are stored in the guidance data frame. The character string data frame stores actual display characters, pronunciation characters, accent information, and the like related to the guidance data frame. Further, the shape data frame stores a shape for drawing an entity related to the guidance data frame. Furthermore, the pattern data frame stores actual data for drawing an image corresponding to the approach direction of the intersection for guidance.

  The route calculation data frame is used for calculating the optimum route to the destination. The route calculation data frame includes a node data frame, a link data frame, a link cost data frame, a higher level node, A link corresponding data frame, a node coordinate data frame, and the like are stored. Here, in the node data frame, for example, node data is stored in units of rank in which a plurality of road types are collected. The link data frame stores a link record, a regulation record, an inter-link cost record, and the like. Further, the link cost data frame stores the link ID, the cost of the link itself, and the like. Furthermore, in the data frame corresponding to the upper level node / link, information for specifying an upper node and a link based on the level is stored. The node coordinate data frame stores the coordinates of the node.

  Further, point information is stored in the point information frame. This point information is used for searching for a candidate for a destination or waypoint, displaying a POI (Points Of Interests) icon (in other words, a landmark) on a map, and the like. . Specifically, the point information includes a point name, a position (longitude and latitude), an address, a postal code, a telephone number, a type, a POI icon, and the like.

  Furthermore, the map data includes lane information indicating the escape direction according to the lane (the lane included in the road on which the vehicle is traveling) at the intersection (the nearest intersection ahead of the traveling direction) where the vehicle is about to enter. include. This lane information is stored in the map database in a state in which it is in accordance with the contents of the indication signs and guidance signs in the real world. This lane information may be stored for each lane in association with a set of an entrance link and an exit link for an intersection.

  The hard disk drive 16 stores an execution program (application) for the navigation CPU 15.

  The flash memory 17 stores an execution program of the navigation CPU 15 that is read from the hard disk drive 16 by the navigation CPU 15 when the navigation device 5 is activated. The stored execution program is stored by the navigation CPU 15. By being appropriately executed, various functions of the navigation device 5 are appropriately executed.

  Furthermore, the RAM 18 is used for temporarily storing various data such as processing results by the navigation CPU 15.

  In addition, an operation unit 10, a display 11, and a speaker 12 are connected to the user interface 19, the image interface 20, and the audio interface 21, respectively.

  Next, the navigation CPU 15 will be described in more detail. As shown in FIG. 2, the navigation CPU 15 has a vehicle position calculation unit 23 as one of its functional blocks. The positioning signal output from the satellite navigation receiver 7 and the detection result output from the autonomous navigation sensor 8 are input. And the own vehicle position calculation part 23 performs the satellite navigation which calculates (detects) an own vehicle position as an absolute coordinate based on the positioning signal input from the satellite navigation receiver 7 side. In addition, the vehicle position calculation unit 23 performs autonomous navigation that calculates the vehicle position as a relative change from the previous positioning position based on the detection result input from the autonomous navigation sensor 8 side. ing. Further, the vehicle position calculation unit 23 uses the map data stored in the hard disk drive 16 to calculate the vehicle position calculated by satellite navigation and autonomous navigation (hybrid navigation) on the corresponding road in the map data. A map matching process for correcting the position is performed. When the map matching process is properly performed, the own vehicle position calculation unit 23 uses the own vehicle position after the map matching process as a final calculation result.

  As shown in FIG. 2, the navigation CPU 15 has a map drawing unit 24 as one of its functional blocks. The map drawing unit 24 displays a map indicating a predetermined area on the display 11 by using map data stored in the hard disk drive 16. The map displayed by the map drawing unit 24 includes a map around the vehicle position calculated by the vehicle position calculation unit 23 and a map of an area designated by a scroll operation using the operation unit 10. .

  Furthermore, as shown in FIG. 2, the navigation CPU 15 has a destination setting unit 25 as one of its functional blocks. The destination setting unit 25 displays various operation screens for setting a destination on the display 11 and then sets a destination according to the operation of the operation unit 10 with respect to the displayed operation screen. ing.

  Furthermore, as shown in FIG. 2, the navigation CPU 15 has a route search unit 26 as one of its functional blocks. The route search unit 26 sets in advance from the vehicle position calculated by the vehicle position calculation unit 23 to the destination set by the destination setting unit 25 based on the map data stored in the hard disk drive 16. The optimum route according to the route search condition is searched using a route calculation method such as Dijkstra method. The route search condition may be set by default or may be set by an input operation using the operation unit 10 by the user. At this time, when the waypoint is set by the destination setting unit 25, the route search unit 26 searches for the optimum route to the destination that passes through the set waypoint. . The route search unit 26 presents the searched optimum route to the user as a guide route candidate by display on the display 11.

  As shown in FIG. 2, the navigation CPU 15 has a route guidance unit 27 as route guidance means as one of its functional blocks. When an input operation using the operation unit 10 for setting the optimum route presented by the route search unit 26 as the guidance route is performed, the route guidance unit 27 sets the optimum route as the guidance route. ing. The setting of the guide route may be performed by storing information on the guide route, such as a link and a destination, in the RAM 18 or the like.

  The route guiding unit 27 starts route guidance according to the set guidance route after setting the guidance route.

  In route guidance, the hard disk drive 16 is triggered by the fact that the vehicle position calculated by the vehicle position calculation unit 23 has reached a point a predetermined distance away from the intersection to be guided that the vehicle is about to enter. Based on the map information, an enlarged view of the intersection showing the intersection is displayed on the display 11 and the voice guidance of the intersection through the speaker 12 is performed. Here, in the intersection voice guidance, for example, the route shape of the guidance route in the enlarged intersection map is calculated, and a guidance code (right turn, left turn, etc.) corresponding to the calculated route shape is set. However, the present invention is not limited to the case where the guide code is set on the route guiding unit 27 (application) side, and for example, a guide code corresponding to a set of an entrance link and an exit link for an intersection is preset on the map data side. May be. The voice data corresponding to the guidance code set in this way is extracted from the map data, and the extracted voice data is output. However, the audio data at this time may be added with audio data of the distance from the vehicle position to the intersection (such as “Xm ahead”). The route shape of the guide route in the enlarged intersection map can be calculated by calculating the angle (escape angle) between the approach link and the exit link on the guide route with respect to the intersection. In calculating the angle, the coordinates of the link ends (nodes) of the entrance link and the exit link may be used.

  Furthermore, as shown in FIG. 2, the navigation CPU 15 has a lane information drawing unit 28 as lane information display means as one of its functional blocks. The lane information drawing unit 28 displays the lane information stored in the hard disk drive 16 on the display 11. In addition, the lane information drawing unit 28 determines the lane information corresponding to the intersection on the guidance route that the vehicle is about to enter based on the guidance route information acquired from the route guidance unit 27 at the time of route guidance. The recommended lane, which is a lane that is recommended to travel on the guidance route after the intersection, is displayed in a highlighted manner. At this time, as described above, if the lane information is stored in association with the pair of the entrance link and the exit link for each lane, it corresponds to the pair of the entrance link and the exit link corresponding to the guide route. Lanes can be extracted quickly as recommended lanes.

  Then, after having such a configuration, the route guidance unit 27 changes the shape of the recommended lane to an intersection where the display shape of the recommended lane does not match the route shape of the guidance route in the enlarged intersection view. A special guidance code different from the corresponding normal guidance code is set, and the special intersection voice guidance with the representation of the display shape of the recommended lane is performed.

  As an intersection for performing such special intersection voice guidance, for example, as shown in FIG. 3, the display shape of the recommended lane 3 a indicates straight travel, whereas the route shape of the guide route in the enlarged intersection diagram 1 is diagonal. An intersection 2 indicating the right (an example of a direction other than straight traveling) can be given. As a special intersection voice guidance in this case, after proceeding straight ahead corresponding to the display shape of the recommended lane, guidance to the effect of traveling to the diagonal right indicated by the route shape of the guidance route in the enlarged view of the intersection (for example, “Please drive straight ahead on XXm and turn diagonally to the right.”).

  Here, in order to perform such special intersection voice guidance, the intersection on the guidance route on which the host vehicle is about to enter on the route guidance unit 27 side (application side), the display shape of the recommended lane and the intersection expansion It is necessary to be able to determine whether or not the intersection is inconsistent with the route shape of the guide route in the figure.

  As specific means for that, for example, the following means can be used.

  That is, as map data, the display shape of the recommended lane when the exit link corresponding to the set of the entrance link and the exit link for the intersection is a guide route after the intersection, and the group corresponding to the set is in the enlarged intersection view In the case of this guide route, for the intersection where the route shape of the guide route in the enlarged view of the intersection is inconsistent, the one provided with a special flag in association with the set is used.

  For example, five links (links A to E) intersect at the intersection (node 1) shown in FIG. However, the nodes and links shown in FIG. 4 are different from the intersection 2 and the road shown in FIG. In FIG. 4, when node 1 is an intersection on the guidance route, and the approach link on the guidance route to node 1 is link A and the exit link is link D, the recommended lane is “No. The lane information display shape is “left turn”. In the same figure, when the entry link on the guidance route to the node 1 on the guidance route is the link A and the exit link is the link B, the recommended lane is “second lane”, and the lane information display shape is “Straight”. Furthermore, in the same figure, when the approach link on the guide route for node 1 on the guide route is link A and the exit link is link E, the recommended lane is “third lane”, and the lane information display shape is “Straight”. Furthermore, when the approach link on the guide route to the node 1 on the guide route is the link A and the exit link is the link C, the recommended lane is “fourth lane”, and the lane information display shape is “right turn”. It becomes.

  On the other hand, the route shape calculated when the group of link A (entrance) → D (exit) becomes the guidance route in the enlarged intersection map is “turn left”, which is the lane information of the recommended lane (first lane). Match the display shape. In addition, the route shape calculated when the link A → B group is the guidance route in the enlarged intersection view is “straight forward”, which matches the lane information display shape of the recommended lane (second lane). Further, the route shape calculated when the link A → C group is the guidance route in the enlarged intersection map is “right turn”, which matches the lane information display shape of the recommended lane (fourth lane). On the other hand, the route shape calculated when the link A → E group is the guidance route in the enlarged intersection view is “diagonal right”, which is the lane information display shape of the recommended lane (third lane). Not consistent with. Therefore, a special flag is assigned to the node 1 in association with the pair of the link A and the link E. Note that this special flag may be set as a shape matching presence / absence flag of the set value “1”. In this case, the set value of the shape matching presence / absence flag may be set to “0” for a link set (A → B, A → C, A → D) to which no special flag is assigned.

  And the route guidance part 27 is when the special flag matched with the pair of the approach link and exit link applicable to a guidance route is provided to the intersection on the guidance route which the own vehicle is going to approach. Then, a special guidance code (for example, approximately OOm ahead, drive straight ahead on the lane, and diagonally right) is set, and a special intersection voice guidance is performed according to this.

  FIG. 8 shows an example of determining the path shape of the aforementioned entrance link and exit link. That is, the direction θ of the exit link is specified based on the entry link, the guidance target node, and the exit link, and the route shape is specified in the table of FIG.

  According to such a configuration, for intersections where the display shape of the recommended lane and the route shape of the guidance route in the enlarged intersection map are inconsistent, a special intersection voice with a representation of the display shape of the recommended lane is provided. Since guidance can be performed, it is possible to provide appropriate guidance that is easy to understand without causing confusion for the user even at an intersection where the escape direction indicated by the recommended lane does not match the route shape. In addition, on the map information side, a special flag is set in advance for the intersection where the display shape of the recommended lane corresponding to the set of the entrance link and the exit link and the route shape of the guide route in the enlarged intersection map are inconsistent. Since it is possible to execute special voice guidance by reading this special flag on the route guidance unit 27 side, the recommended lane display shape and the guidance route in the enlarged intersection map immediately before the voice guidance are set. The processing load on the navigation CPU 15 can be reduced compared with the case where it is determined whether or not the route shape becomes inconsistent, and efficient intersection guidance can be performed. However, the latter method may be adopted depending on the processing speed of the navigation CPU 15.

  Further, the special flag may be a flag unique to the pattern that is also associated with a pattern of an inconsistent combination of the display shape of the recommended lane and the route shape of the guidance route in the enlarged intersection view. Specifically, for example, as shown in FIG. 5, when the recommended lane display shape is straight, whereas the route shape of the guidance route in the enlarged intersection view is diagonally right, such an inconvenience is caused. The special flag corresponding to the combination pattern of the matched shape is “flag # 1”, and the recommended lane display shape is straight, whereas the route shape of the guide route in the enlarged intersection map is diagonal. In the case of the left, a special flag corresponding to such a combination pattern may be set as “flag # 2”. In this case, the route guidance unit 27 may perform special intersection voice guidance according to the inconsistent combination pattern associated with the special flag.

  According to such a configuration, when a special flag is read on the route guidance unit 27 side during route guidance, the display shape of the recommended lane and the route shape of the guidance route in the enlarged intersection view are inconsistent. Since the combination pattern can be uniquely understood and special intersection voice guidance corresponding to the grasped pattern can be performed, the processing load on the navigation CPU 15 is greater than when such a pattern is acquired immediately before voice guidance. Can be reduced, and more efficient intersection guidance can be performed. However, the latter method may be adopted depending on the processing speed of the navigation CPU 15.

  Furthermore, for intersections where there are multiple pairs of entry links and exit links where the display shape of the recommended lane and the route shape of the guide route in the enlarged intersection map are inconsistent, multiple special links for each group May be given a flag. In the example of the node 1 described above, a special flag is assigned in association with the link A → E group in which the link A is the incoming link, and the link C is the incoming link. This corresponds to a case where another special flag is assigned in association with the group C → A.

  According to such a configuration, it is possible to effectively cope with a case where a single intersection includes a plurality of pairs of entry links and exit links that are inconsistent.

  Next, an embodiment of the intersection guidance method according to the present invention will be described with reference to FIG.

  In this embodiment, first, in step 1 (ST1) of FIG. 6, for each intersection on the data, the intersection enlarged view in the case where the pair of the entrance link and the exit link for the intersection is a guide route in the intersection enlarged view. The route shape of the inside guide route is calculated.

  Next, in step 2 (ST2), for each intersection on the data, the route shape calculated in step 1 (ST1) is the same as the exit link corresponding to the same set of entry link and exit link after the intersection. Compared with the display shape of the recommended lane in the case of the guide route, an intersection where both are inconsistent is extracted.

  Next, in step 3 (ST3), a special flag is assigned to the intersection extracted in step 2 (ST2) in association with a set of an entrance link and an exit link.

  Next, in step 4 (ST4), route guidance by the route guidance unit 27 is started.

  Next, in step 5 (ST5), the route guidance unit 27 determines whether or not the vehicle has reached a point a predetermined distance before the intersection on the guidance route based on the calculation result of the vehicle position calculation unit 23. To do. If a positive determination result is obtained in step 5 (ST5), the process proceeds to step 6 (ST6). If a negative determination result is obtained, step 5 (ST5) is repeated.

  Next, in step 6 (ST6), the route guidance unit 27 determines whether or not a special flag is given to the intersection on the guidance route that the vehicle is about to enter. If a positive determination result is obtained in step 6 (ST6), the process proceeds to step 7 (ST7). If a negative determination result is obtained, the process proceeds to step 8 (ST8).

  When the process proceeds to step 7 (ST7), the route guidance unit 27 displays an enlarged view of the intersection and special intersection voice guidance, and the lane information drawing unit 28 causes the guidance lane to be highlighted. The lane information is displayed and the process returns to step 5 (ST5).

  On the other hand, when the process proceeds to step 8 (ST8), the route guidance unit 27 displays an enlarged intersection view and normal intersection voice guidance, and the lane information drawing unit 28 displays the guidance lane with a highlighted display. Information is displayed and the process returns to step 5 (ST5).

  In addition, what is necessary is just to repeat the process of step 5 (ST5) thru | or step 8 (ST8) until the own vehicle arrives at the destination. Further, it is efficient to perform Step 1 (ST1) to Step 3 (ST3) by the function of the compiler when compiling the original data of the map data into the map data.

  In addition, this invention is not limited to embodiment mentioned above, A various change can be made in the limit which does not impair the characteristic of this invention.

16 Hard disk drive 27 Route guidance unit 28 Lane information drawing unit

Claims (9)

Map information storage means storing map information including lane information indicating an exit direction according to the lane at the intersection where the vehicle is about to enter;
Route guidance means for performing route guidance according to the guidance route;
Lane information display means for displaying the lane information stored in the map information storage means,
The route guidance means displays, on the basis of the map information stored in the map information storage means at the time of the route guidance, an enlarged view of an intersection showing the intersection that the vehicle is about to enter, and this intersection enlargement Perform voice guidance at the intersection according to the route shape of the guidance route in the figure,
The lane information display means can, when the route is guided, display the lane information corresponding to an intersection on the guidance route on which the host vehicle is about to enter the guidance route after the intersection. A navigation device that performs display in a manner that emphasizes a recommended lane,
The route guidance means, for an intersection where the display shape indicating the exit direction of the recommended lane and the route shape indicating the exit direction of the guide route in the enlarged intersection view are inconsistent, the display shape of the recommended lane A navigation apparatus characterized in that it performs special intersection voice guidance with an expression. The map information includes a set of the display shape of the recommended lane and a set of the entry link and the exit link when the exit link corresponding to the set of the entrance link and the exit link for the intersection is a guide route after the intersection. A special flag is given to the intersection where the corresponding pair is inconsistent with the route shape in the case of the guide route in the enlarged intersection map in association with the pair of the entry link and the exit link. Is,
The route guidance means, when the special flag associated with a set of an entrance link and an exit link corresponding to the guidance route is given to an intersection where the host vehicle is about to enter, The navigation apparatus according to claim 1, wherein a simple intersection voice guidance is performed. The special flag is a flag specific to the pattern that is also associated with a pattern of an inconsistent combination of the display shape of the recommended lane and the route shape,
The navigation apparatus according to claim 2, wherein the route guidance unit performs the special intersection voice guidance according to the inconsistent combination pattern associated with the special flag. A plurality of special flags for each set are assigned to an intersection where there are a plurality of sets of the entrance link and the exit link where the display shape of the recommended lane and the route shape are inconsistent. The navigation device according to claim 2 or claim 3, wherein The intersection performing the special intersection voice guidance includes an intersection in which the display shape of the recommended lane indicates straight travel, whereas the route shape of the guide route in the enlarged enlarged view indicates a direction other than straight travel. The navigation device according to any one of claims 1 to 4. The special intersection voice guidance is to travel in a direction other than the straight direction indicated by the route shape of the guidance route in the enlarged enlarged view of the guidance lane in a straight line corresponding to the display shape of the recommended lane. The navigation device according to claim 5, further comprising a guide. During route guidance in accordance with the guidance route by the route guidance means, said route guidance means comprises a lane information that indicates the escape direction corresponding to a lane at the intersection where the vehicle stored in the map information storage means is about to enter based on the map information, the display of the intersection enlarged view showing an intersection which the vehicle is about to enter, also performs intersection corresponding to the path shape of the guiding route in the intersection enlarged view, further, the lane The information display means displays the lane information corresponding to the intersection on the guidance route on which the vehicle is going to enter in a display mode in which recommended lanes that can escape to the guidance route after the intersection are highlighted. An intersection guidance method for
The route guidance means displays the display of the recommended lane for an intersection where the display shape indicating the exit direction of the recommended lane and the route shape indicating the exit direction of the guide route in the enlarged intersection view are inconsistent. An intersection guidance method characterized by performing the special intersection voice guidance accompanied by a shape expression. In the operation by the route guidance means and the lane information display means,
A first step of calculating the route shape when the set corresponding to a set of an entrance link and an exit link for an intersection is a guide route in the enlarged view of the intersection;
The route shape calculated in the first step is compared with the display shape of the recommended lane when the exit link corresponding to the set of the entrance link and the exit link is a guide route after the intersection, A second step of extracting an intersection where both are inconsistent;
A third step of assigning a special flag to the intersection extracted in the second step in association with the set of the entrance link and the exit link;
The special intersection voice guidance is performed when the special flag associated with the set of the approach link and the exit link corresponding to the guide route is given to the intersection where the own vehicle is about to enter. The intersection guide method according to claim 7, further comprising: a fourth step. The intersection guide method according to claim 8, wherein the first step to the third step are performed when compiling the original data of the map information into the map information.