JP6532394B2 - Navigation device and continuous intersection guidance method - Google Patents

Description

  The present invention relates to a navigation device and a continuous intersection guidance method, and in particular, to a navigation device having a function of displaying a guidance arrow of a traveling direction instead of an enlarged intersection view at a guidance intersection when a vehicle approaches a guidance intersection on a guidance route. It is suitable to use.

  Generally, in an on-vehicle navigation apparatus, a current position of a vehicle is detected using a self-contained navigation sensor, a GPS (Global Positioning System) receiver or the like, and map data in the vicinity is read from a recording medium and displayed on a screen. Then, by superimposing and displaying a vehicle position mark indicating the position of the vehicle at a predetermined position on the screen, it is possible to know at a glance where the vehicle is currently traveling.

  In addition, the navigation device is equipped with a route guidance function. In this route guidance function, the route with the lowest cost connecting the current location to the destination is searched using the map data, and the searched route is used as a guidance route, and the color is changed with other roads on the map screen Do. Further, when the vehicle approaches a guidance intersection on the guidance route within a predetermined distance, an enlarged map of the intersection is displayed to guide the driver to the destination by performing intersection guidance.

  In recent years, it has been considered to provide a function (hereinafter, referred to as an arrow display function) for displaying a guidance arrow in a traveling direction in a large size instead of an enlarged intersection view at a guidance intersection. With the arrow display function, the appearance of the arrow is simple and large, so that the visibility can be improved. A technique has also been proposed in which the distance from the vehicle position to the guidance intersection is expressed by the size of the arrow display indicating the direction to be guided (for example, see Patent Document 1).

Unexamined-Japanese-Patent No. 2002-213987

  However, with the arrow display function, sufficient guidance can not be provided for the second guidance intersection 602 when a plurality of guidance intersections 601 and 602 exist continuously over a short distance as shown in FIG. There was a problem that.

  That is, in the example of FIG. 6, it is necessary to turn right at the next guidance intersection 602 immediately after turning left at the first guidance intersection 601. In this case, since the guidance arrows are sequentially switched and displayed for each guidance intersection, the time for which the driver can confirm it is shortened even if the guidance arrow for right turn is displayed at the second guidance intersection 602 . In addition, after turning left at the first guidance intersection 601, if you are not traveling on the right lane that should be present, the distance from the first guidance intersection 601 to the second guidance intersection 602 is short. It may be difficult to change lanes after seeing the guidance arrow for the second guidance intersection 602.

  The present invention has been made to solve such a problem, and in the case of displaying guidance arrows in the traveling direction instead of enlarged views of intersections at guidance intersections, in a plurality of guidance intersections which are continuous within a predetermined distance. An object of the present invention is to make it possible to perform guidance so that the driver can smoothly travel without getting lost.

  In order to solve the problems described above, in the present invention, when it is determined that a plurality of guidance intersections continue within a predetermined distance when the vehicle approaches a guidance intersection on the guidance route, the first guidance intersection is used. In the guidance arrow displayed before passing, the guidance display of the lane to be traveled after passing the first guidance intersection is included.

  According to the present invention configured as described above, the lane to be traveled to follow the guidance at the second guidance intersection is displayed in advance in the guidance arrow before passing the first guidance intersection. . Therefore, the driver can grasp the lane to be driven after passing the first guidance intersection in advance with a margin. Thereby, it is possible to perform guidance such that the driver can smoothly travel at a plurality of consecutive guidance intersections within a predetermined distance without getting lost.

It is a block diagram showing an example of functional composition of a navigation device by this embodiment. It is a figure which shows the example of a display of the color classification guidance arrow by this embodiment. It is a figure which shows another display example of the color | collar classification guidance arrow by this embodiment. It is a figure which shows another example of a display of the color-coded guide arrow by this embodiment. It is a flowchart which shows the operation example of the navigation apparatus by this embodiment. It is a figure which shows an example of the road in which several guidance intersections exist in short distance continuously.

  Hereinafter, an embodiment of the present invention will be described based on the drawings. FIG. 1 is a block diagram showing an example of a functional configuration of the navigation device 10 according to the present embodiment. As shown in FIG. 1, the navigation device 10 of this embodiment has, as its functional configuration, a map data acquisition unit 11, a current position acquisition unit 12, a route search unit 13, a guidance route storage unit 14, an intersection determination unit 15 and travel A guiding unit 16 is provided. The travel guide unit 16 includes a display control unit 16 a.

  Each of the functional blocks 11 to 16 can be configured by any of hardware, DSP (Digital Signal Processor), and software. For example, when configured by software, each of the functional blocks 11 to 16 actually comprises a CPU, a RAM, a ROM and the like of a computer, and a program stored in a recording medium such as a RAM, a ROM, a hard disk or a semiconductor memory Is realized by operating.

  The map data acquisition unit 11 acquires map data from the map data storage unit 20. Map data stored in the map data storage unit 20 is data necessary for various processes such as route search and route guidance. In this map data, a node table storing detailed data of nodes corresponding to intersections of multiple roads such as intersections and bifurcations, and connection between a node on the road and other nodes adjacent thereto. And a link table storing detailed data of links corresponding to roads, lanes, and the like.

  The node table contains node attribute flags and various other information for each of the existing nodes. The attribute flag of a node includes an intersection node flag indicating whether the node is an intersection node. Also, the link table includes, for each existing link, the distance of the link and various other information. The distance of the link indicates the actual distance of the actual road corresponding to the link.

  The current position acquisition unit 12 acquires current position information of the vehicle. The present position acquisition unit 12 is configured to include a self-contained navigation sensor, a GPS receiver, a CPU for position calculation, and the like. The self-contained navigation sensor outputs a single pulse for each predetermined travel distance to detect a moving distance of the vehicle (a distance sensor), and an angular velocity sensor such as a vibration gyro that detects a rotational angle (moving direction) of the vehicle. And (relative orientation sensor). The self-contained navigation sensor detects the relative position and orientation of the vehicle by these vehicle speed sensors and angular velocity sensors.

  The position calculation CPU calculates an absolute vehicle position (estimated vehicle position) and a vehicle orientation based on the data of the relative position and orientation of the vehicle output from the self-contained navigation sensor. Also, the GPS receiver receives radio waves sent from a plurality of GPS satellites by the GPS antenna, performs three-dimensional positioning processing or two-dimensional positioning processing, and calculates the absolute position and orientation of the vehicle (vehicle orientation Calculated based on the current vehicle position and the vehicle position one sampling time ΔT ago).

  The route search unit 13 uses the map data acquired by the map data acquisition unit 11 to select the guidance route with the smallest cost connecting the current location acquired by the current position acquisition unit 12 to the destination set by the user. Perform processing to search. Then, the data of the guidance route obtained as a result of the route search is stored in the guidance route storage unit 14. The data of the guidance route stores the position of each node and the intersection identification flag indicating whether each node is an intersection, corresponding to each node from the current location to the destination.

  The travel guide unit 16 is a vehicle based on the map data acquired by the map data acquisition unit 11, the current position information acquired by the current position acquisition unit 12, and the data of the guidance route stored in the guidance route storage unit 14. Give a driving guide. Specifically, while the vehicle is traveling, the travel guide unit 16 changes the color of the guide route with that of the other roads and draws them thicker on the map screen of the display 30. In addition, when the vehicle approaches a guidance intersection on the guidance route within a predetermined distance, intersection guidance such as guidance of the traveling direction by voice or displaying of a guidance arrow indicating the traveling direction on the display 30 is performed. Guides the driver to the destination.

  The display control unit 16a performs various guidance displays as described above. In particular, in the present embodiment, when the vehicle approaches a guidance intersection on the guidance route, the display control unit 16a guides and displays the traveling direction at the guidance intersection with an arrow, not the entire road shape of the intersection. That is, the display control unit 16a does not display an enlarged view of the intersection including the entire road shape of the intersection at the guidance intersection, and performs travel guidance by using the arrow display function to display the guidance arrow in the traveling direction.

  The intersection determination unit 15 is a vehicle based on the map data acquired by the map data acquisition unit 11, the current position information acquired by the current position acquisition unit 12, and the data of the guidance route stored in the guidance route storage unit 14. When it is detected that the vehicle has approached the guidance intersection on the guidance route, it is determined whether or not the plurality of guidance intersections continue within a predetermined distance (for example, 200 m). That is, the intersection determination unit 15 determines whether or not a plurality of guidance intersections indicated by the data of the guidance route stored in the guidance route storage unit 14 continue within a predetermined distance. Whether the distance between the guidance intersections is within a predetermined value can be determined by the distance information of the links included in the map data. Below, a plurality of guidance intersections which continue within predetermined distance are called continuation intersections.

  The display control unit 16a passes the first guidance intersection in the guidance arrow displayed before passing the first guidance intersection when the intersection determination unit 15 determines that a plurality of guidance intersections are continuous. Control to include a guidance display of the lane to be traveled after driving. For example, the display control unit 16a divides the arrow portion indicating the traveling direction after passing the first guidance intersection by the number of lanes of the road after passing the first guidance intersection, and The lane to be traveled after passing the guidance intersection is displayed in a manner that can be distinguished from other lanes. Specifically, by color coding, the lane to be traveled is displayed so as to be distinguishable from other lanes. Below, the guidance arrow which colored and expressed the lane is called "a color-coded guidance arrow."

  The display control unit 16a displays a color-coded guidance arrow indicating the traveling direction of the first guidance intersection before passing the first guidance intersection in the consecutive intersections. In addition, after passing the first guidance intersection, the display control unit 16a turns a normal guidance arrow that is not color-coded in the lane into a color-coded guidance arrow as a guidance arrow that indicates the traveling direction of the second guidance intersection. Display instead.

  FIG. 2 is a view showing a display example of color-coded guide arrows according to the present embodiment. FIG. 2A shows a road in which two guidance intersections 201 and 202 are continuous. 2B shows an example of a color-coded guide arrow displayed by the display control unit 16a when the vehicle 100 approaches the first guidance intersection 201 within a predetermined distance on the road shown in FIG. 2A. FIG.

  In FIG. 2A, there are two guidance intersections 201 and 202 continuous within a predetermined distance on the guidance route 200, and the situation when the vehicle 100 approaches the first guidance intersection 201 within a predetermined distance It shows. In the example of FIG. 2A, immediately after turning left at the first eye guidance intersection 201, a guidance route 100 is set such that the second eye guidance intersection 202 is turned left. The road connecting the first eye guidance intersection 201 to the second eye guidance intersection 202, that is, the road that travels after turning left at the first eye guidance intersection 201 is a road with two lanes on one side.

  In this case, when the vehicle 100 approaches the first guidance intersection 201 within a predetermined distance, the display control unit 16a displays a color-coded guidance arrow indicating a left turn as shown in FIG. 2 (b). The color-coded guidance arrows are an arrow portion 21 (hereinafter referred to as an arrow portion 21 before passing) indicating the traveling direction before passing the first guidance intersection 201 and the arrow portion 21 after passing the first guidance intersection 201 It is comprised from the arrow part 22 (it is hereafter described as the arrow part 22 after passing) which shows the advancing direction.

  Among them, the display control unit 16a causes the two lanes of the road to be traveled after passing the first guidance intersection 201 to be displayed in color with respect to the arrow portion 22 after the passage, and the first guidance intersection 201 is passed. The left lane 22a to be traveled later is displayed in a color distinguishable from other lanes. The indication of turning left at the first guidance intersection 201 by the display of the color-coded guidance arrows should be indicated by the guidance arrow itself, and at the same time, after turning left at the first guidance intersection 201, the left lane 22a should be traveled. It is shown that.

  FIG. 3 is a view showing another display example of the color-coding guide arrow according to the present embodiment. FIG. 3A shows a road on which two guidance intersections 301 and 302 are continuous. FIG. 3 (b) shows an example of a color-coded guiding arrow displayed by the display control unit 16a when the vehicle approaches the first guidance intersection 301 within a predetermined distance on the road shown in FIG. 3 (a). FIG.

  In FIG. 3A, there are two guidance intersections 301 and 302 that are continuous within a predetermined distance on the guidance route 300, and the situation when the vehicle 100 approaches the first guidance intersection 301 within a predetermined distance It shows. In the example of FIG. 3A, immediately after turning left at the first eye guidance intersection 301, a guidance route 300 is set such that the second eye guidance intersection 302 is turned right. The road connecting the first eye guidance intersection 301 to the second eye guidance intersection 302, that is, the road that travels after turning left at the first eye guidance intersection 301 is a road with three lanes on one side.

  In this case, when the vehicle 100 approaches the first guidance intersection 301 within a predetermined distance, the display control unit 16a displays a color-coded guidance arrow indicating a left turn as shown in FIG. 3 (b). The color-coded guidance arrows are a pre-passing arrow portion 31 indicating the traveling direction before passing the first guidance intersection 301 and an after-passing arrow portion 32 indicating the traveling direction after passing the first guidance intersection 301. And consists of

  Among them, the display control unit 16a causes the three lanes of the road to be traveled after passing the first guidance intersection 301 to be color-coded and displayed for the arrow portion 32 after the passage, and the first guidance intersection 301 is passed. The rightmost lane 32a to be traveled later is displayed in a color distinguishable from other lanes. The indication of turning left at the first guidance intersection 301 is indicated by the guidance arrow itself by the display of this color-coded guidance arrow, and at the same time, after turning left at the first guidance intersection 301, the right lane 32a should be traveled. It shows that it is.

  FIG. 4 is a view showing still another display example of the color-coding guide arrow according to the present embodiment. FIG. 4 (a) displays lanes that should not travel after passing the first guidance intersection in a distinguishable manner, in addition to the lanes to travel after passing the first guidance intersection Here is an example.

  The example of FIG. 4A is an example of a color-coded guidance arrow displayed when a guidance route that goes straight ahead at a second guidance intersection is set immediately after turning left at the first intersection guidance is there. The color-coded guide arrow shown in FIG. 4A is a display example in the case where the road which travels after turning left at the guidance intersection of one eye is a road with three lanes on one side. And 42.

  Among them, the display control unit 16a displays the three lanes of the road which travels after passing the first guidance intersection, with respect to the arrow portion 42 after passing. Here, the middle lane 42a to be traveled after passing the first guidance intersection is displayed in a predetermined color (the same color as the lane 22a shown in FIG. 2 (b) and the lane 32a shown in FIG. 3 (b)) The lane 42b which should not travel after passing the first guidance intersection is displayed in another color. The display color of the lane 42b which should not travel is different from the display color of the arrow portion 41 before passing. This makes it possible to clearly indicate that the lane should not be traveled.

  In the example of FIG. 4A, the rightmost lane and the leftmost lane among the three lanes are the lanes that should not be traveled (for example, the right turn lane and the left turn lane). The two lanes are displayed in the same color. On the other hand, if the leftmost lane is also a straight lane, the leftmost lane is displayed in the same color as the middle lane 42a.

  FIG. 4B shows an example in which, in addition to color-coding the lanes for the arrow portion 52 after passing, the lanes are also color-displayed for the arrow portion 51 before passing. That is, the pre-pass arrow portion 51 is divided by the number of lanes of the road traveling before passing the first guidance intersection, and the other lane 51a to be traveled before passing the first guidance intersection It is displayed in a manner that can be distinguished from the lane.

  The example of FIG. 4 (b) is an example of a color-coded guide arrow displayed in the case where a guidance route that turns right at the second guidance intersection is set immediately after turning left at the first guidance intersection. is there. The color-coded guide arrows shown in FIG. 4 (b) indicate that the road traveling before passing the one-eye guidance intersection has two lanes on one side, and the road traveling after turning left at the one-eye guidance intersection also has two lanes on one side. It is an example of a display when it is a road.

  The display control unit 16a displays, for the pre-pass arrow portion 51, a predetermined color different from the other lanes (the lane 22a and the lane 22a shown in FIG. 2B). (B) in the same color as the lane 32a), and for the arrow portion 52 after passing, the lane 52a to be traveled after passing the first guidance intersection is displayed in the same color as the predetermined color Let Thereby, it is possible to clearly indicate the lane to be traveled before and after the passing of the first guidance intersection by color coding. The lane 51a and the lane 52a may be displayed in different colors.

  FIG. 4C is an example in which not only color-coded lanes are displayed, but also color-coded guidance arrows are displayed by representation imitating actual lanes. The example of FIG. 4C is an example of a color-coded guide arrow displayed when a guidance route that turns right at the second guidance intersection is set immediately after turning left at the first guidance intersection. There is an arrow portion 61 before passing and an arrow portion 62 after passing.

  The color-coded guide arrows shown in FIG. 4 (c) indicate that the road traveling before passing the one-eye guidance intersection is one lane on one side, and the road traveling after the one-eye guidance intersection is two lanes on one side It is an example of a display when it is a road. In this example, while drawing the lanes and stop lines on the road, the arrow portion 62 after passing the first guidance intersection on the right lane to be traveled has a different color from the other lanes The indicated arrow 62a is displayed. This makes it possible to guide the lane to be traveled in an easy-to-understand expression according to the actual road image.

  FIG. 5 is a flowchart showing an operation example of the navigation device 10 according to the present embodiment configured as described above. The flowchart shown in FIG. 5 starts when the vehicle starts traveling along the guidance route after the guidance route is set by the route search unit 13.

  First, the intersection determination unit 15 is based on the map data acquired by the map data acquisition unit 11, the current position information acquired by the current position acquisition unit 12, and the data of the guidance route stored in the guidance route storage unit 14. Then, it is determined whether the vehicle has approached within a predetermined distance with respect to the guidance intersection on the guidance route (step S1). If the vehicle is not yet approaching the guidance intersection, the process transitions to step S8.

  On the other hand, when the vehicle approaches the guidance intersection, the intersection determination unit 15 determines whether or not a plurality of guidance intersections continue within a predetermined distance (step S2). That is, the intersection determination unit 15 determines whether there is another guidance intersection at a point within a predetermined distance from the guidance intersection after having passed the guidance intersection that has approached within the predetermined distance.

  Here, when it is determined by the intersection determination unit 15 that a plurality of guidance intersections are continued within a predetermined distance, the display control unit 16a of the travel guidance unit 16 is 1 according to any of the modes illustrated in FIGS. As the guidance arrows indicating the traveling direction at the second guidance intersection, color-coded guidance arrows are displayed that represent the lane to be traveled after passing the first guidance intersection in a distinguishable manner (step S3).

  Then, based on the map data acquired by the map data acquisition unit 11 and the current position information acquired by the current position acquisition unit 12, the traveling guide unit 16 determines whether or not the first guidance intersection has passed. (Step S4). Here, when the first guidance intersection has not passed yet, the color-coded guidance arrow is continuously displayed, and the determination processing of step S4 is repeated.

  After that, when passing the first guidance intersection, the display control unit 16a substitutes the color-coded guidance arrow for the first guidance intersection, and uses the guidance arrow indicating the traveling direction at the second guidance intersection as the guidance arrow. A normal guidance arrow not colored is displayed (step S5). Then, the travel guide unit 16 determines whether or not the second guidance intersection has been passed (step S6). Here, when the second guidance intersection has not passed yet, the normal guidance arrow is continuously displayed, and the determination processing of step S6 is repeated.

  Thereafter, when the second guidance intersection is also passed, the display control unit 16a erases the display of the normal guidance arrow (step S7). Then, based on the map data acquired by the map data acquisition unit 11, the current position information acquired by the current position acquisition unit 12, and the data of the guidance route stored in the guidance route storage unit 14, the traveling guide unit 16 It is determined whether the vehicle has reached the destination (step S8). Here, if the vehicle has not yet reached the destination, the process returns to step S1.

  When it is determined by the intersection determination unit 15 that the plurality of guidance intersections are not continuous within the predetermined distance in step S2, the display control unit 16a of the traveling guidance unit 16 is a guidance arrow indicating the traveling direction in the approaching guidance intersection As a result, a normal guidance arrow in which the lane is not color-coded is displayed (step S9). Then, the travel guide unit 16 determines whether or not the guidance intersection has been passed (step S10).

  Here, when the guidance intersection is not yet passed, the guidance arrow is continuously displayed, and the determination processing of step S10 is repeated. Thereafter, when passing through the guidance intersection, the display control unit 16a erases the display of the normal guidance arrow (step S7). Then, the travel guide unit 16 determines whether the vehicle has reached the destination (step S8). Here, if the vehicle has not yet reached the destination, the process returns to step S1. On the other hand, when the vehicle has reached the destination, the processing of the flowchart shown in FIG. 5 ends.

  As described above in detail, in the present embodiment, when the vehicle approaches the guidance intersection on the guidance route, when it is determined that the guidance intersection is the first intersection, the first guidance A color-coded guide arrow is displayed which makes it possible to identify the lane to be traveled after passing the intersection. With this color-coded guidance arrow, the lane to be traveled after passing the first guidance intersection is displayed in advance by the color-coded guidance arrow before passing the first guidance intersection. Therefore, the driver can grasp the lane to be driven after passing the first guidance intersection in advance with a margin, and can smoothly drive the traveling at the consecutive intersections.

  In the above embodiment, the example in which the lane to be traveled is displayed in a distinguishable manner by color coding has been described, but the present invention is not limited to this. For example, the lane to be traveled may be displayed in an identifiable manner by flickering. Alternatively, the lanes to be traveled may be displayed in a distinguishable manner by graying out and displaying the lanes to be traveled.

  Although the above embodiment has described an example in which the guidance arrow is displayed on the display 30 of the navigation device 10, the present invention is also applied to the case where the guidance arrow is displayed on the display of the instrument panel or the head-up display. Is possible.

  In addition, any of the above-described embodiments is merely an example of embodying the present invention, and the technical scope of the present invention should not be interpreted in a limited manner. That is, the present invention can be implemented in various forms without departing from the scope or main features of the present invention.

15 intersection determination unit 16 travel guide unit 16a display control unit

Claims (6)

A navigation device having a function of guiding and displaying the traveling direction at a guidance intersection by an arrow without an overall road shape of the intersection when the vehicle approaches a guidance intersection on a guidance route,
An intersection determination unit that determines whether a plurality of guidance intersections continue within a predetermined distance when the vehicle approaches a guidance intersection on a guidance route;
When it is determined by the intersection determination unit that a plurality of guidance intersections are continuous, a lane to be traveled after passing the first guidance intersection in a guidance arrow displayed before passing the first guidance intersection And a display control unit configured to control to include the guidance display of the above.   The display control unit divides the arrow portion indicating the traveling direction after passing the first guidance intersection by the number of lanes of the road after passing the first guidance intersection, and The navigation apparatus according to claim 1, characterized in that the lane to be traveled after passing through the guidance intersection is displayed in a manner distinguishable from other lanes.   The display control unit displays, in addition to the lane to be traveled after passing the first guidance intersection, the lane that should not travel after passing the first guidance intersection, in a distinguishable manner The navigation device according to claim 2, characterized in that:   The display control unit divides the arrow portion indicating the traveling direction before passing the first guidance intersection by the number of lanes of the road before passing the first guidance intersection, and 3. The navigation apparatus according to claim 2, further comprising a display in which the lane to be traveled before passing through the guidance intersection is distinguishable from other lanes.   The display control unit causes the lanes of the road after passing the first guidance intersection to be color-coded and displayed for the arrow part indicating the traveling direction after passing the first guidance intersection, and The navigation apparatus according to claim 1, wherein a lane to be traveled after passing the first guidance intersection is displayed in a color distinguishable from other lanes. In a navigation device provided with a function of guiding and displaying the traveling direction at a guidance intersection when the vehicle approaches the guidance intersection on the guidance route without the overall road shape of the intersection, a plurality of guidance intersections are within a predetermined distance A continuous intersection guidance method for providing arrow guidance at successive intersections in
A first step of determining whether the plurality of guidance intersections continue within a predetermined distance when the vehicle approaches the guidance intersection on the guidance route, the intersection determination unit of the navigation device;
When the display control unit of the navigation device determines that the plurality of guidance intersections are continuous by the intersection determination unit, the first guidance is displayed in the guidance arrow displayed before passing the first guidance intersection. And a second step of controlling to include a guidance display of a lane to be traveled after passing an intersection.