JPH0414400B2 - - Google Patents

Description

[Detailed Description of the Invention] [Technical Field of the Invention] The present invention relates to a device for guiding a vehicle along a predetermined route, and more particularly to a route guiding device for a vehicle that can provide accurate guidance. .

[Technical background of the invention and its problems] A route guidance device for a vehicle displays a preset scheduled route for a vehicle on a screen of a display device,
There is a device that guides a vehicle to a destination using this display. (For example, Japanese Unexamined Patent Publication No. 58-144710) By the way, this vehicle guidance is achieved by displaying in advance the shape of the intersection the vehicle should pass next and the direction in which it will pass through this intersection on a display device from before the intersection. However, conventionally, the timing at which the display device starts displaying the shape of the intersection to be passed next and the direction of travel there is fixed. In other words, the display of the shape of the next intersection to be passed and the direction of travel thereat is started, for example, when the distance to the intersection reaches a certain distance. For this reason, when the vehicle is traveling at a relatively fast speed, the timing to start displaying the intersection shape etc. is too late compared to when the vehicle is traveling at a relatively slow speed, and the guidance display at the intersection is not displayed calmly. You may find yourself panicking about which direction to take when approaching an intersection. Additionally, if you are driving in the left lane of a road with many lanes, there is no problem if a message telling you to turn left at the next intersection appears at the normal timing; If the display indicates a change in the direction of travel, such as turning right, the vehicle should perform a course change operation such as changing lanes from the left lane in which it is currently traveling to the passing lane or right turn lane closer to the center of the road on the right. You need to go there and then turn right.
However, in this case, moving from the left driving lane to the center passing lane does not necessarily go smoothly and takes some time due to the influence of other vehicles, so the right turn display is not displayed at the normal timing. If this is displayed, the display will be too slow and the vehicle will move from the left driving lane to the center passing lane when approaching the intersection, which may obstruct the passage of other vehicles. In some cases, it may be impossible to turn right at an intersection as instructed. Similarly, even when the road is congested, it takes extra time to turn at an intersection as instructed, so the system starts displaying guidance for changing lanes, etc. for the intersection at a timing earlier than normal timing. This is necessary.

[Object of the Invention] This invention has been made in view of the above, and its first purpose is to provide an appropriate guidance instruction without being affected by various driving conditions, etc. An object of the present invention is to provide a route guidance device for a vehicle.

In addition to the above-mentioned object, a second object of the present invention is to provide a route guidance device for a vehicle that prevents deviation from a planned route.

[Summary of the Invention] In order to achieve the above first object, a device for guiding a vehicle along a scheduled route from a preset starting point to a destination includes a distance detecting means 1, an information storage means 3, and a notification. It consists of a starting distance determining means 5, an information determining means 7, and an informing means 9, the distance detecting means 1 detects the traveling distance of the vehicle, and the information storing means 3 detects the traveling distance of the vehicle. It stores intersection passing information necessary for passing through each existing intersection, and the notification start distance determining means 5 inputs the output of the information storage means 3, and is set before the intersection to determine the distance of the vehicle at the intersection. The notification determining means 7 inputs the outputs of the distance detecting means 1 and the notification starting distance determining means 5, and determines the notification start distance for instructing the route based on the intersection passing information. It is determined that the detection distance of the detection means 1 has reached the notification start distance determined by the notification start distance determining means 5,
The gist is that the notifying means 9 inputs the output of the notifying determining means 7 and issues a notification instructing the course of the vehicle.

In addition, in order to achieve the second object, a device for guiding a vehicle along a predetermined route from a preset starting point to a destination includes a distance detection means 11, an information storage means 13, and a notification start distance. It consists of a determination means 15, a first notification judgment means 17a, a second notification judgment means 17b, and a notification means 19, the distance detection means 11 detects the distance traveled by the vehicle, and the information storage means 13 detects the distance traveled by the vehicle. It stores intersection passing information necessary for passing through each intersection existing on a preset planned route, and the notification start distance determining means 15 inputs the output of the information storage means 13 and determines the distance before the intersection. The first notification determining means 17a is configured to determine the first notification start distance for instructing the vehicle to change lanes based on the intersection passing information, and the first notification determining means 17a is connected to the distance detecting means 11 and the first notification start distance to instruct the vehicle to change lanes. The output of the distance determining means 15 is input, and it is determined that the detected distance of the distance detecting means 11 has reached the first notification start distance determined by the notification start distance determining means 15, and the second The notification determining means 17b inputs the output of the distance detecting means 11, and the second notification determining means 17b receives the output of the distance detecting means 11, and the detection distance of the distance detecting means 11 is set immediately before the intersection and indicates the direction of movement of the vehicle at the intersection.
The notification means 19 inputs the outputs of the first notification judgment means 17a and the second notification judgment means 17b and instructs the vehicle to change lanes. The gist of the system is that it provides notifications and notifications that indicate the direction of travel of vehicles at intersections.

[Embodiments of the Invention] Examples of the invention will be described below with reference to the drawings.

FIG. 2 shows an embodiment of the present invention.

In the figure, reference numeral 21 is a direction sensor that detects the traveling direction of the vehicle from the earth's magnetic field, 23 is a sensor amplifier that amplifies and shapes the output signal of the direction sensor 21, and 25 is a sensor for calculating the travel distance according to, for example, the rotation of the tires. Mileage sensor that generates pulses,
27 is a display device that displays various displays; 29 is an operation unit that performs operations to set a planned route to the destination;
31 is the display device 2 when setting the route to the destination.
In addition to controlling the display output in 7, the operation unit 2
The route is set by inputting a signal from 9, and when driving, the detection signal from the azimuth sensor 21 and mileage sensor 25 is input and compared with the set route, and the traveling direction etc. is displayed on the display device 27. It is a microcomputer.

That is, the distance detection means 1 and 11 are constituted by the mileage sensor 25 shown in FIG. 2, and the information storage means 3 and 13 are constituted by the storage device 51 shown in FIG. The notification start distance determining means 5 and 15 are the central control unit 43 shown in FIG. 2, specifically the steps 300 to 570 shown in FIG.
is the central control unit 43 shown in FIG. 2, specifically the step 640 shown in FIG. 4, which will be described later.
The second notification determining means 17a is the central control unit 43 shown in FIG. 2, and specifically, the step 640 shown in FIG. 4, which will be described later. Specifically, these are steps 650 and 660 shown in FIG. 4, which will be described later, and the notification means 9 and 19 are the display device 27 shown in FIG. 2.

The display device 27 includes a buffer memory 33, a display control section 35, and a CRT display section 37. The buffer memory 33 is connected to the microcomputer 31
It temporarily stores image pattern signals and the like to be displayed on the CRT display unit 37 in response to signals from the CRT display section 37.
The display control unit 35 sequentially reads out the image pattern signals stored in the buffer memory and displays them on the CRT.
The image pattern is output in synchronization with the scanning line of the display section 37, and the image pattern is displayed on the CRT display section 37.

The operation section 29 includes a transparent operation panel 39 provided on the display screen of the CRT display section 37 or arranged at intervals, and a key switch 41 provided near the CRT display section 37. The transparent operation panel 39 is configured to have 25 switch sections formed by dividing the screen of the CRT display section 37 into, for example, 5 blocks vertically and horizontally. The user operates the switch part corresponding to the screen while looking at the road map displayed on the screen. key switch 4
1 consists of independent push switches and has four keys: "ON", "OFF", "START", and "CLEAR".

The microcomputer 41 includes a central control unit 43 consisting of a CPU, ROM, and RAM, a sensor interface 45 into which detection signals from the direction sensor 21 and mileage sensor 25 are input, and signals from the transparent operation panel 39 and key switch 41. and an input port 47 for inputting signals related to display processed by the central control unit 43 to the display device 2.
7, and a storage device 51 that stores data regarding intersections, planned routes, and road information such as the number of lanes on the road and past congestion levels.

Next, the structure of intersection data including intersection passing information stored in the storage device 51 will be explained. A road map is made up of a group of pages divided into several areas and made into pages, and the area represented by each page is further divided into several blocks to be represented as a map. All intersections existing on the map represented by each finely divided block are stored as an intersection group in the form of a table as shown in FIG. 3a. FIG. 3a shows that, for example, there are six intersections from "01" to "06" on the map divided into the seventh block. Also, for each of the intersections "01" to "06" shown in FIG. 3a,
As shown in the figure, information regarding each intersection is stored in table format. The table in Figure 3b stores, for example, information regarding intersection "03" in the group of intersections shown in Figure 3a, and this information includes congestion forecast information regarding this intersection, intersection name, etc. , the starting point of the vehicle is X-
Data regarding the X and Y coordinates of this intersection "03" when the origin of the Y coordinate is 0 (0, 0) is stored in common, and all roads extending from this intersection "03" are It is shown in That is, in this case, it is shown that four roads extend from this intersection "03". Then, for each road extending from this intersection "03", for example, as shown in the road, the road number, road type, the next intersection number adjacent to this intersection, and the direction in which this road extends. Data regarding the indicated direction, the distance to the next intersection, the number of lanes on this road, etc. are stored in a table format as shown in FIG. 3b.

That is, the intersection passage information includes road number, road type, intersection number of the next intersection, direction data, distance data, lane data, congestion data, intersection name, coordinates of the starting point of the own vehicle, etc.

Next, the operation of this embodiment will be explained using the flowcharts of FIGS. 4 and 5.

The processing flow shown in FIGS. 4 and 5 includes a processing flow for setting a route to the destination (steps 100 to 160) and a processing flow for guiding and controlling the vehicle according to the set route (steps 200 to 820). ).

First, the processing flow for setting a route to a destination will be explained below using steps 100 to 160 in FIG.

First, when initial settings are made by operating the "ON" switch of the key switch 41, index images of each road map are displayed (steps 100 and 110). The index image of the road map displayed on this screen is, for example, the name of the area in which the road map is divided into pages and blocks, as described above, listed on the screen. From among the regions listed on this screen, by operating the transparent operation panel 39 of the part where the name of the departure region is displayed and entering a key, that departure region is selected and displayed on the screen. (Step 120).
The departure intersection is registered by pressing the button on the transparent operation panel to select the intersection displayed on the map of the departure area displayed in this way, and the shape of the departure intersection and this departure intersection are registered. Adjacent intersections centered around the intersection are displayed (step 130).

Next, by specifying the intersection you plan to pass among the displayed adjacent intersections,
The adjacent intersection where this has been detected is registered as the next intersection to pass through (steps 140, 150).

The "START" key is pressed when the route setting work is completed.
Since this operation is to start displaying guidance for the vehicle based on this set route, in the next step 160, it is determined whether or not this "START" key has been pressed. In this case, the route setting work has just started and the "START" key has not been pressed yet, so the process returns to step 130 to newly display the next adjacent intersection and register it. Thereafter, the same operations are repeated as shown in steps 130 to 160 until the destination is reached. In this way, the route setting to the destination is completed,
When the "START" step key is operated, the vehicle guidance control shown in steps 200 onwards is performed.

Next, a description will be given of the vehicle guidance process performed based on the scheduled passage route set as described above.

First, when the vehicle approaches the departure intersection where the guidance is to be started, which was set in the route setting process, the "START" key is operated to start the guidance.
The coordinates (Xs, Ys) of this starting intersection are plotted in the buffer memory in the microcomputer 31, and the coordinates of the starting intersection are set in the arithmetic circuit as initial value coordinates (X ₀ , Y ₀ ). Next, the intersection numbers of the two destinations on the set route are read based on the starting intersection that the user is currently passing through, and the distance from the intersection that is currently passing through to the next intersection that is to be passed is read (step 200). 210,
220).

Next, each time the vehicle travels a unit distance ΔD based on the distance data from the mileage sensor 25, the orientation data of the vehicle is read from the orientation sensor, and the coordinates
At the same time as Y is plotted in the buffer memory, the distance to the next intersection at the position where the vehicle has traveled is calculated from time to time based on the distance to the next intersection read in step 220 and the distance traveled that has been plotted. Yes (step 230).

From step 230, step 300 shown in FIG.
Proceed to 470. In this process, the timing to start displaying passing information from the next intersection to be passed is decided based on the number of lanes, degree of congestion, vehicle speed, etc. of the road the vehicle is traveling on. . At this time, the number of lanes and the degree of congestion are stored in the storage device 51 as intersection data, and the vehicle speed is stored in the sensor interface 4.
The distance traveled per unit time is calculated by the microcomputer 41 based on the detection signal input from the travel distance sensor 25 via the microcomputer 41. Further, the vehicle speed may be based on data from a vehicle speedometer (not shown). First, step
At 300, the number of lanes on the road is identified. Step 310 if the number of lanes is 3 or more in each direction
If there are two lanes, the process proceeds to step 410 or later, and if there is one lane or less, the process proceeds to step 510 or later.

To explain the case where the number of lanes is three or more, first, the congestion degree of the next intersection to be passed, that is, the congestion degree determined from the number of past traffic jams, etc., and stored in the storage device 51 as shown in FIG. Make identification regarding. The degree of congestion is classified into three levels: extremely congested roads, moderately congested roads, and not-so-congested general roads. If the road is extremely congested, the process proceeds to step 320, where it is determined whether the distance to the next intersection is 1.5 km or less. In other words, in the case of a road with a relatively large number of lanes (3 or more) and a very congested road, the shape and progress of the next intersection can be displayed in advance in advance. This is displayed when the distance reaches a relatively long distance of 1.5 km, allowing you to pass through the next intersection with plenty of time. In other words, the arrow display alerts the driver to change lanes in advance to the overtaking lane or right turn lane in the case of a right turn, or to the left lane in the case of a left turn, so that the lane can be changed in advance to make the right or left turn at the intersection smoother. This is to encourage changes in the Note that the criteria for judging the degree of congestion here, ``very congested'' and ``relatively congested,'' assumes a situation in which a certain amount of traffic is flowing even if it is congested. In such situations, the judgment distance in steps 320 and 330 can be adjusted.

If the distance to the next intersection is not less than 1.5 km, that is, if there is still more than 1.5 km to the next intersection, the process proceeds to step 600 in FIG. In addition to displaying a map of Returning to 230,
This circular route is repeated until the distance to the next intersection is less than 1.5 km. If the distance to the next intersection is less than 1.5 km, the process proceeds to step 620 shown in Figure 4, where the shape of the next intersection is displayed as shown in Figure 6a, and the next intersection is displayed. After confirming that the intersection is not the final target intersection, an arrow indicating the direction of travel is displayed in the intersection shape display (steps 630 and 640). In the case of extremely congested roads with three or more lanes, the shape of the intersection and the arrow indicating the direction of travel are displayed starting 1.5km before the next intersection. Then, the distance to the next intersection is further calculated, and if this distance is 100 m or more, the approach display segments (S ₁ to S ₁₀ ) for the next intersection shown in Figure 6a are displayed in distances of 100 m. It is controlled and displays the distance to the next intersection every 100 meters.

Then, in step 650, if the distance to the next intersection is less than 100m, the step
Proceeding to 670, it is determined whether the vehicle is traveling straight. This is not a particular problem when the vehicle is driving straight, but when the vehicle is turning right or left, the point at which the vehicle has turned at the intersection is identified using the orientation data from the orientation sensor. We are trying to determine the point at which the vehicle passes through an intersection. First, let us explain the case where the vehicle is going straight. In this case, it is checked whether the distance to the intersection is 0 m or not (step 680), and if it is not 0 m, the process returns to step 230 via step 610 and the above-mentioned process is performed. The operation is repeated, but when the distance to the intersection becomes 0m, that is, when the intersection is reached,
The process proceeds to step 770, replaces the next intersection as the through intersection, advances one guiding intersection, and returns to step 210. Also step 670
If the vehicle is not traveling straight, the vehicle reads direction data from the direction sensor (step 690), and determines whether the read direction of the vehicle is a predetermined reset direction, that is, the direction in which the vehicle is determined to have passed the intersection. If it is the reset direction, it means that the intersection has been passed at that time, so the coordinates of the intersection are plotted in the buffer memory, and the initial value coordinates (X ₀ , Y ₀ ) are reset in the arithmetic circuit.
Additionally, the distance accumulation up to the next intersection is reset (steps 750, 760). Then, set the guidance intersection to the intersection one ahead (step
770), the process returns to step 210 and repeats the same operation. In addition, in step 700, if the direction is different from the reset direction, it is determined whether the distance to the intersection is within -100m, that is, within 100m after passing through the intersection, and -100m is determined.
If it is not within m, the process returns to step 230 via step 610 and repeats the above operation. On the other hand, if the distance is within -100m, it is checked whether the exiting direction from the intersection at this point matches the exiting direction stored as intersection data, and if so, step 770 is performed. The process proceeds to step 210 to set the guiding intersection to the next intersection ahead, and returns to step 210 to repeat the same operation for the next intersection. However, if the directions do not match in step 720, it is considered that the vehicle has traveled in the wrong direction, so an alarm signal is output and an indication of the wrong direction is displayed on the CRT display. Then, a comment instructing re-registration of the route is displayed (steps 730 and 740).

Furthermore, as a result of the check in step 630,
If the next intersection is the final destination intersection,
The intersection name will flash on the CRT display, and the distance will be displayed in the segments (S ₁ to S ₁₀ ) until the distance to the final target intersection reaches 0 m. When the distance reaches 0 m and the final target intersection is reached, the guidance will end. Perform display (steps 800, 810, 820).

The above processing flow will be explained as follows: As a result of the judgment based on the processing flow shown in FIG. This explains the processing flow when reaching Km.
Next, the operation in case of other judgment conditions shown in FIG. 5 will be explained. However, even in this case, the processing flow shown in FIG. 4 other than the determination shown in FIG. 5 is the same as described above.

In Figure 5, if the number of lanes is 3 or more,
If the degree of congestion is relatively medium, the distance to the intersection is 1 km as shown in step 330.
The following is checked. That is, in this case, as explained in step 320, the distance to the intersection is reduced from 1.5 km when the congestion level is extremely congested, and when the distance to the intersection reaches 1 km, the process shown in FIG. This is becoming more and more common. That is, in this case, when the vehicle reaches 1 km before the intersection, the shape of the next intersection is displayed at step 620 shown in FIG.
At 640, an arrow indicating the direction of travel is displayed.

In addition, if the number of lanes is three or more and the degree of congestion is normal, the vehicle speed at that time is read as shown in step 340, and whether this vehicle speed is fast, medium, or slow, that is, high or medium speed. Control is divided as shown in steps 350, 360, and 370 depending on whether the speed is high or low. That is, if the speed is high, it is determined whether the distance to the intersection is 2 km or less, as shown in step 350, and if the speed is medium, it is determined whether the distance to the intersection is 1.5 km or less, as shown in step 360. It is checked whether the distance to the intersection is less than 1 km, and if the speed is low, as shown in step 370, it is checked whether the distance to the intersection is less than 1 km. This means that when traveling at high speeds, it is necessary to determine the shape of the next intersection and provide guidance from a position where the distance to the intersection is longer than when traveling at low speeds in order to provide safe and reliable guidance at the intersection. This shows that. In this case, the distance to the intersection is 2km, 1.5km and 1km corresponding to high speed, medium speed and low speed respectively.
When the intersection point is reached, the shape of the intersection is displayed in step 620 shown in FIG.
At the intersection, an arrow indicating the direction of travel is displayed to guide the vehicle to the next intersection.

Next, as a result of determining the number of lanes in step 300,
If the number of lanes is two, the process advances to step 410, and the timing for displaying the shape and arrow of the next intersection, that is, until the next intersection, is determined according to the degree of road congestion and vehicle speed, as explained in steps 310 to 370 above. The distance between the two is variable. That is, if the congestion degree is extremely crowded, the process proceeds to step 420;
When the distance to the intersection reaches 1 km, the shape and arrow of the next intersection will be displayed, and if the congestion level is medium congestion, the process will proceed to step 430 and the distance to the next intersection will reach 800 m. When this happens, the shape of the next intersection and the direction of travel are displayed with an arrow. Note that the judgment distance in steps 420 and 430 can be adjusted in the same manner as in steps 320 and 330 described above. Furthermore, when the degree of congestion is normal, it is controlled according to the vehicle speed, and when the congestion level is high, it is controlled from step 440.
If you proceed to step 450 and the distance to the intersection reaches 1.5 km, the shape of the next intersection and the direction of travel there will be displayed. If the speed is medium, proceed to step 460 and if the distance to the intersection reaches 1 km. The shape and arrow of the next intersection are then displayed, and when the speed is low, the process proceeds to step 470, and when the distance to the intersection reaches 800 meters, the shape and arrow of the next intersection are displayed.

Further, as a result of determining the number of lanes in step 300, if the number of lanes is one or less, the process proceeds to step 510, where the number of lanes is determined without considering the degree of congestion.
The determination is made based only on the vehicle speed. That is, as a result of the vehicle speed determination in step 510, if the vehicle speed is high, the process proceeds to step 520, and if the distance to the intersection reaches 1 km, the shape of the next intersection and the traveling direction arrow are displayed, and if the vehicle speed is medium speed, the process proceeds to step 520. If the distance to the intersection reaches 500m, the process proceeds to step 530, and displays the shape of the next intersection and the direction of travel arrow; if the speed is still low, the process proceeds to step 540, and the distance to the next intersection is 300m. When the intersection is reached, the shape of the next intersection and an arrow indicating the direction of travel are displayed.

In this way, the shape of the next intersection and the arrow indicating the direction of travel at that intersection are displayed depending on the number of lanes, the degree of congestion, and the vehicle speed. This allows safe driving to be achieved. Also, if it is a right turn, for example 1
It is also possible to output a display before Km.

FIG. 7 differs from the flowchart shown in FIG. 4 only in that a step 665 is provided next to step 650 to blink an arrow indicating the direction of travel. It is the same as the thing. That is, in FIG. 7, when the distance to the next intersection reaches a predetermined distance determined by the number of lanes, degree of congestion, and vehicle speed shown in FIG. In addition to displaying the intersection shape and direction of travel with arrows (display to notify lane changes, etc.), at step 650, the distance to the intersection is 100
In this newly added step 665, an arrow indicating the direction of travel flashes when the distance becomes less than m.
The system uses an arrow display to clearly prompt the driver to change lanes, and a flashing display to clearly urge the driver to change course by turning around at an intersection.

[Effects of the Invention] As explained above, according to the present invention, the distance to the next intersection is variably determined according to intersection passing information such as the degree of road congestion, the number of lanes on the road, and vehicle speed. When a predetermined distance has been reached, the system starts reporting the direction of travel at the next intersection, so the intersection is not affected by various driving conditions such as road congestion, number of lanes, and vehicle speed. Vehicle guidance at intersections can be reliably performed at appropriate timing, and driving at intersections can be carried out safely with plenty of time to spare.

Further, according to the present invention, in addition to appropriately changing the start of notification of the direction of travel from the intersection that the person is approaching to pass through as described above, the system also allows the user to change the course when approaching the intersection to a relatively close predetermined distance. Since we start a separate notification to encourage
It is possible to reliably confirm the intersection at which the course should be changed, and it is possible to prevent the situation where the course is changed at an intersection that is not the place where the course should be changed after the start of the former notification, thereby making it possible to prevent deviation from the planned route and provide reliable guidance. .

[Brief explanation of drawings]

Figure 1 a and b are claims correspondence diagrams of this invention;
FIG. 2 is a block diagram of a vehicle route guidance device showing an embodiment of the present invention, FIG. 3 is a diagram showing a storage table of intersection data in a storage device, and FIGS. 4 and 5 are the same as those shown in FIG. FIG. 6 is a flowchart showing the operation of the vehicle route guidance system, FIG. 6 is a diagram showing the shape of an intersection and a traveling direction arrow, and FIG. 7 is a flowchart showing the operation of another embodiment of the present invention. 1, 11... Distance detection means, 3, 13... Information storage means, 5, 15... Notification start distance determining means,
7...Notification determining means, 17a...First notification determining means, 17b...Second notification determining means, 21...
Orientation sensor, 23...Sensor amplifier, 25...Distance sensor, 27...Display device, 29...Operation unit, 31...Microcomputer, 33...Batsha amplifier, 35...Display control unit, 37...
CRT display section, 39...transparent operation panel, 41...
...Key switch, 43...Central control section, 45...
Sensor interface, 47...input port, 49...output port, 51...storage device.

Claims (1)

[Scope of Claims] 1. A device for guiding a vehicle along a scheduled route from a preset starting point to a destination, comprising a distance detection means 1, an information storage means 3, a notification start distance determining means 5, and a notification determination unit. The distance detection means 1 is for detecting the travel distance of the vehicle, and the information storage means 3 is for detecting the distance traveled by the vehicle, and the information storage means 3 is for detecting the distance traveled by the vehicle. The notification start distance determining means 5 inputs the output of the information storage means 3 and determines the notification start distance which is set before the intersection and instructs the course of the vehicle at the intersection. The notification determination means 7 inputs the outputs of the distance detection means 1 and the notification start distance determination means 5, and the detection distance of the distance detection means 1 is determined based on the intersection passing information. The notification means 9 determines whether the notification start distance determined by the notification start distance determining means 5 has been reached, and the notification means 9 inputs the output of the notification determination means 7 and issues a notification indicating the course of the vehicle. A vehicle route guidance device characterized by: 2. A device for guiding a vehicle along a predetermined route from a preset starting point to a destination, which includes a distance detecting means 11, an information storage means 13, a notification start distance determining means 15, and a first notification determining means 17a.
, a second notification judgment means 17b, and a notification means 19, the distance detection means 11 is for detecting the distance traveled by the vehicle, and the information storage means 13 is for detecting each of the distances existing on the preset expected passage route. It stores intersection passing information necessary for passing through an intersection, and the notification start distance determining means 15 inputs the output of the information storage means 13 and determines a distance set before the intersection to instruct the vehicle to change lanes. The first notification determining means 17a inputs the outputs of the distance detecting means 11 and the notification starting distance determining means 15, and determines the first notification start distance based on the intersection passing information. It is determined that the detection distance of the distance detection means 11 has reached the first notification start distance determined by the notification start distance determination means 15, and the second notification determination means 17b is the detection distance of the distance detection means 11. inputting the output of the distance detecting means 11
It is determined that the detection distance has reached a second notification start distance that is set immediately before the intersection and indicates the direction of travel of the vehicle at the intersection, and the notification means 19 is the first notification determination means 1.
7a and the output of the second notification determining means 17b, the vehicle route guidance device is characterized in that it inputs the outputs of the second notification determining means 17b and provides a notification instructing the vehicle to change lanes and a notification instructing the traveling direction of the vehicle at an intersection. .