JPH04259814A - Destination guiding device used for vehicle navigation - Google Patents

Abstract

PURPOSE:To sharply reduce the amount of stored data of the title device, simplify the device, and give a guidance at appropriate timing by outputting the guidance about a point at which a vehicle must make a turn for reaching its destination at a fixed distance this side of the turning point without showing any intersection nor route. CONSTITUTION:The projection L = Dcostheta of the distance D from the current position of a vehicle to the destination of the vehicle set by means of a destination setting means in the advancing direction is calculated from the distance D and the difference theta in azimuth between the azimuth of the current advancing direction and that from the current position to the destination and, when the projection L becomes smaller than a fixed reference value L0, whether or not the destination is on the right side or left side of the advancing direction is informed to the driver of the vehicle by discriminating the sign of the angle theta7 between the advancing direction and the line connecting the current position to the destination.

Description

[Detailed description of the invention]

0001

[Industrial Application Field] The present invention is used in a vehicle navigation device equipped with a position detection function that detects the current position of a vehicle using a distance sensor and a direction sensor, and provides accurate destination guidance to the driver. This invention relates to a destination guidance device that can provide

0002

[Prior Art] Conventionally, as a method for detecting the position of a vehicle traveling at any point on a road transportation network, a mileage sensor and a direction sensor (either a geomagnetic sensor or a turning angular velocity sensor) have been used. and a processing device that performs the necessary processing on the output signals from both sensors, and is equipped with a processing device that performs the necessary processing on the output signals from both sensors, and is equipped with a processing device that performs the necessary processing on the output signals from both sensors. dead reckoning has been proposed to obtain estimated position data of a vehicle. In this method, based on Δd and θ, for example, the east-west component Δx of Δd (=Δd× cos
θ) and the north-south direction component Δy (=Δd×sinθ), and add each of the above components Δx, Δy to the previous position output data (Px', Py') to obtain the current position output data ( Px, Py).

[0003] Furthermore, due to the errors that the mileage sensor and direction sensor inevitably have, there is a drawback that the errors included in the obtained estimated position data are accumulated. The estimated position data obtained by the dead reckoning navigation described above is compared with the road map data stored in memory in advance, and the amount of deviation of the estimated position data from the road is calculated as the cumulative error. , a map matching method has been put into practice in which the estimated position data is corrected for the cumulative error to match the estimated position data with the road data (Japanese Patent Laid-Open No. 1481-1983).
No. 15, JP-A No. 64-53112).

Furthermore, regardless of whether the dead reckoning method or the map matching method described above is adopted, in order to improve the accuracy of distance data and direction data, a roadside antenna is placed on the side of the road, and position data and road data are transmitted from this roadside antenna. A roadside beacon method has also been proposed in which a signal containing direction data is radiated only in a relatively narrow range, and the signal is received by an on-vehicle antenna attached to the vehicle to calibrate the position and direction of the vehicle.

[0005] Furthermore, GPS (Global Position
The absolute position of a vehicle is also determined by measuring the propagation delay time of radio waves emitted from three to four orbiting satellites using a satellite navigation system such as a satellite navigation system. As mentioned above, no matter which method is adopted, in order to know the position and direction of the vehicle, a device (hereinafter referred to as a navigation device) that realizes the above position detection method is required.
must be installed on the vehicle.

[0006] If the above-mentioned navigation device is installed in a vehicle, the driver will be able to grasp the current location of the vehicle, so that even when driving on an unfamiliar road, the driver can drive without getting lost. Can be done. In the above-mentioned navigation device, even if the driver is able to grasp the current position of the vehicle, he or she must determine the route to take to reach the destination by himself or herself while looking at a map or the like.

In order to save the trouble of determining a route by looking at a map or the like, a system has been developed in which once a destination is set, a computer automatically calculates the route to the destination and shows it to the driver. To explain this method, according to the settings of the destination point etc. by the driver, road map data of the range including the starting point and destination point is read out from the road map memory, and based on this road map data, the route is made from the starting point to the destination point. The most economical route (optimal route) can be determined. The so-called Dijkstra method is used to calculate the route from the departure point to the destination ("Development research report on emergency vehicle travel guidance system" Japan Traffic Management Technology Association)
March 1986, DirckVon Vliet,
”Improved Shortest Path
Algorithm for Transport
ion Network",Trans-portat
ion Research, Vol. 12, 1
978). This method divides a number of routes to be calculated, sets the node or link closest to the starting point as the starting point, sets the node or link closest to the destination as the ending point, and creates a tree of links from the starting point to the ending point. This method calculates the link sequence with the least cost to reach the destination by sequentially adding up the link costs of all the routes that make up the tree. Here, the items to be evaluated when calculating the link cost include travel distance, travel time, use of expressways, number of right and left turns, probability of driving on main roads, avoidance of accident-prone areas,
There are other items that are set according to the driver's preferences.

However, in order to calculate the route as described above, a large-capacity road map memory that stores a wide range of road map data and a computer that performs complex calculations are required, resulting in a significant increase in cost. There is. Also, the contents of the road map memory will change when a new road opens.
It must be updated accordingly. To improve this problem, narrow down the types of roads included in the road map data to main roads (e.g. national highways, express roads, general national roads, major local roads) to reduce memory capacity and reduce calculation time. However, in this case, even if the route along the main road can be calculated, the route cannot be calculated to reach the general road, so even if the driver knows the approximate distance to the destination, he or she cannot know the detailed route to reach the destination. There are drawbacks such as not knowing.

On the other hand, for the driver, especially when driving on a general road near the destination, it is better to have accurate information at important points (for example, intersections) while driving on the road than to have a detailed route to the destination shown. Once you get guidance, you can often reach your destination safely using your own memory and intuition. This kind of route guidance does not display the entire route to be taken, so
We will call this "simple route guidance."

[0010] As an example of a simple route guidance system, it is conceivable to give instructions to the driver to turn right or turn left at the intersection when the distance to the next intersection is less than a predetermined value (Japanese Patent Application Laid-Open No. 64 (Refer to Publication No.-16915).

[0011]

[Problems to be Solved by the Invention] However, even in this case, the navigation device must at least memorize all the intersections along the route, and must remember in advance which intersection to give which instructions. For this reason, it is necessary to enter the route in order to memorize the intersections and instructions, but it is time-consuming for the driver to enter the route manually before driving, and it is difficult to calculate the route on a computer as described above. It becomes a great device.

[0012] Moreover, if traffic regulations are in place and the traffic regulation information is not stored in the memory, incorrect instructions may be issued, and the driver will not be able to drive solely by relying on the navigation device. The present invention was created in view of the above problem, and as long as the destination and current vehicle position are known, the route can be effectively used without inputting or calculating the route, relying to some extent on the driver's judgment. An object of the present invention is to provide a destination guidance device capable of providing guidance.

[0013]

[Means for Solving the Problems] A destination guide device according to claim 1 of the present invention for achieving the above object includes a position detecting means for detecting the current position of a vehicle using a distance sensor and a direction sensor; A destination setting means for setting the destination of travel, a distance D from the current position of the vehicle to the destination point set by the destination setting means, a traveling direction of the vehicle, and a direction from the current position of the vehicle to the destination point. The relative angle θ which is the difference between
and the projection of the traveling direction of the distance D to the destination L=Dcosθ
and when the projection L of the distance D calculated by the calculation means in the traveling direction is less than the reference value L0,
The apparatus includes a destination guide means for determining the sign of the relative angle θ and informing the driver that the destination is on the right or left side of the vehicle traveling direction.

[0014] Furthermore, the invention of claim 2 provides that the reference value L0
is a function of vehicle speed. According to the invention of claim 3, when it is detected that the absolute value of the relative angle θ exceeds a certain angle θ3 larger than 90° or that the forward direction projection L has become more negative than the negative constant value L3, the driving The vehicle further includes a notification means for informing the person that the destination is behind.

The invention according to claim 4 provides a detection means for detecting that the vehicle has completed a right turn, a left turn, or a turn, and the destination guidance means or notification means provides a predetermined guidance to the driver, and then the detection means The present invention further includes a guidance stop means that stops guidance to the driver when it is detected that the vehicle has completed a right turn, left turn, or turn.

According to the fifth aspect of the invention, when the distance D from the current position of the vehicle to the destination point set by the destination setting means is less than a reference value D1 at which the vehicle can be considered to have arrived at the destination, The present invention further includes a guide function stop means for stopping the function of the location guide means or the notification means.

[0017]

[Operation] According to the structure of claim 1, as shown in FIG. 1, by simply detecting the current position of the vehicle and setting the destination, the distance D and relative angle from the current position of the vehicle to the destination point can be set. θ is automatically calculated, and when the projection L of the distance D to the destination in the direction of travel is less than the reference value L0, the presence or absence of an intersection, etc.
To guide a driver to a destination regardless of surrounding road conditions.

According to the structure of claim 2, the reference value L0
Since it is made a function of the speed of the vehicle, the timing at which guidance to the destination should be adjusted can be adjusted according to the speed of the vehicle. According to the structure of claim 3, the absolute value of the relative angle θ is the angle θ
3 or that the direction of travel projection L has become more negative than the value L3, the driver will pass the destination and drive for a while and then look behind, so the driver will be informed of this. I can let you know.

According to the fourth aspect of the present invention, since the guidance is stopped when the vehicle completes a right turn, left turn, or turn, no more guidance than necessary is provided to the driver. According to the configuration of claim 5, when the distance D to the destination point becomes a distance D1 at which the vehicle can be considered to have arrived at the destination, destination guidance is not provided. This is because even in such a case, there is no need to issue guidance to guide the driver.

[0020]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Examples will be explained in detail below with reference to the accompanying drawings showing examples. FIG. 2 is a block diagram showing the electrical configuration for implementing the destination guidance device of the present invention. This destination guide device is included in a so-called vehicle navigation device mounted on a vehicle.

[0021] The navigation device of this embodiment employs a method of detecting the vehicle's position using so-called dead reckoning and displaying the position superimposed on the map. The position detection accuracy may be increased by employing a matching method, a beacon method, or GPS. As shown in FIG. 2, the navigation device includes a console 1, a display 2, a direction sensor 3, a distance sensor 4, a road map memory 5 storing road map data, and a road map memory 5 that stores road map data. The memory drive 6 for reading data integrates the travel distance detected by the distance sensor 4 and the amount of change in travel direction detected by the orientation sensor 3, and detects the vehicle position based on this cumulative data. a position detection device 8 that outputs a guidance signal for guiding the destination according to the procedure; reading a road map of a predetermined range; editing destination guidance data for guiding the vehicle; controlling the audio output device 10; Display 2
, and a navigation controller 9 that performs various controls such as controlling the position detecting device 8 and controlling the position detecting device 8 .

To explain in more detail, the console 1 is as follows:
It has a key input board (not shown) for starting and stopping the device, moving a cursor on the screen, scrolling the road map displayed on the screen, etc. The driver can input the coordinates of the destination using this keyboard. The display 2 has a transparent touch panel attached to a screen such as a CRT or liquid crystal panel. The display 2 is
The position of the vehicle detected by the position detection device 8 is displayed on the screen together with the surrounding road map. The driver can also use this touch panel to input the location of the vehicle on the map and the location of the destination.

The orientation sensor 3 detects changes in orientation as the vehicle travels, and can use a geomagnetic sensor, a gyro, or the like. In addition, the direction sensor 3
The output is also used to detect left/right turns and turns, which will be explained later. The distance sensor 4 detects the distance traveled based on the speed of the vehicle or the number of rotations of the wheels.
Wheel speed sensors, vehicle speed sensors, etc. can be used.

The road map memory 5 is composed of a large capacity storage medium such as a CD-ROM, an IC memory card, or a magnetic tape. The road map memory 5 is
Road maps (highway national highways, motorways, general national roads, major local roads, general prefectural roads, general city roads of designated cities,
Including other community roads. ) is divided into meshes, and road map data consisting of a combination of nodes and links for each mesh is divided into upper-level road map data that includes data on arterial roads (including national expressways, expressways, expressways, general national roads, and major local roads). Hierarchical maps, general prefectural roads as well as main roads,
It is stored separately from lower hierarchical maps that also include data on non-arterial roads (hereinafter referred to as "general roads") such as general city roads in designated cities and other community roads.

[0025] Here, a node generally refers to a coordinate position for specifying an intersection or a turning point on a road, and a node representing an intersection is called an intersection node, and a turning point on a road (excluding intersections) is called an intersection node. The representing node is sometimes called an interpolation point node. The node data includes a node number, an address of an adjacent mesh node corresponding to the node, an address of a link connected to the node, and the like.

[0026] A connection between each intersection node is a link. Link data includes link numbers, addresses of the start and end nodes of the link, distance of the link, direction of the link, time required in that direction, data on the number of standard curves of the link, road type, road width, one-way streets and toll roads, etc. It consists of traffic regulation data. The position detection device 8 is
Based on the initial position and initial orientation of the vehicle set at the time of vehicle departure, distance data detected by the distance sensor 4 and orientation change data detected by the orientation sensor 3 are respectively integrated to calculate travel trajectory data; The current position and direction of the vehicle are detected, and a destination guidance signal is output to the navigation controller 9 according to a procedure to be described later.

The navigation controller 9 obtains the vehicle position from the position detection device 8 and displays the current position and destination superimposed on the map, and also obtains a destination guidance signal and displays its contents on the display 2. or audio output device 1
Make announcements from 0. Specifically, it consists of a microcomputer, graphics processor, image processing memory, etc., and is responsible for screen display, map search, scale switching, scrolling, displaying the vehicle's current position and direction, and displaying destinations and landmarks. , displays directions to the destination, etc.

Next, the procedure for providing destination guidance using the above device will be explained using a series of flowcharts (FIGS. 3 and 4). Note that this procedure is executed by interrupting the main program for detecting the position of the vehicle at predetermined time intervals. First, step (1)
The current position of the vehicle and the traveling direction α of the vehicle detected at
, obtain the direction β from the vehicle's current position to the destination. In step (2), it is determined whether the vehicle is traveling around a curve based on the angular acceleration detected by the orientation sensor 3.

If the vehicle is traveling around a curve, the interruption is terminated without entering the destination guidance procedure. If the vehicle is not traveling on a curve, the process proceeds to step (3) and calculates the relative angle θ=β−α, which is the difference between the traveling direction α of the vehicle and the direction β from the current position of the vehicle to the destination point. In addition, the traveling direction α of the vehicle
Instead, if the road direction is known by a map matching method or the like, the link direction α' of the road may be used. In step (4), the distance D from the current position of the vehicle to the destination point is calculated. And step (5)
In this step, the traveling direction component L=D cos θ of the distance D is calculated.

In step (6), it is determined whether the traveling direction component L is larger than a value Lo=f(v) determined by the current speed v of the vehicle. Here, as illustrated in FIG. 5, the function f(v) takes a larger value when the vehicle speed v is larger, and takes a smaller value when the vehicle speed v is smaller. This is based on the experience that when a vehicle is traveling at high speed, it is necessary to issue guidance early. According to Fig. 5, if the vehicle speed v is less than 20 km/h, the function f(v) takes a constant value of 30 m, but this can be done at least 30 m before signaling a right or left turn. This is because I did so. Vehicle speed v is 60km/
If it is larger than h, the function f(v) takes a constant value of 100 m because if the guidance is issued too early, the driver will turn at an intersection before the target intersection. Note that the function f(v) is not limited to the form shown in FIG. For example, it may take a constant value over the entire range of vehicle speeds v.

If the traveling direction component L is larger than the value f(v), the process proceeds to step (7) and all guide counters are cleared to zero. Here, the guidance counters refer to an arrival guidance counter, a turning guidance counter, a right turn guidance counter, and a left turn guidance counter, each of which is incremented by 1, and when the added value exceeds a threshold value, guidance is displayed on the display 2. The audio output device 10 makes an announcement.

If the traveling direction component L is smaller than the value f(v), the process proceeds to step (8), and the distance D is set to a constant value D1.
Determine whether the following is true. The constant value D1 is the distance at which the vehicle can be considered to have reached the destination,
For example, the minimum interval between parallel roads is set to 10 m. When the distance D1 approaches, there is no need to provide driving guidance, and even detailed guidance may not be of much use.

[0033] Even if the distance D is larger than this distance D1, if the relative angle θ is small, if it seems possible to provide the arrival guidance at an earlier time, step (8) is performed.
The conditions may be changed as shown in FIG. That is, it is determined whether the absolute value of the relative angle θ is less than or equal to the threshold value θ1 (for example, 10°) (step (81)), and if it is less than that, the distance D is determined to be longer than the distance D1 in step (82). distance D
Determine whether it is less than or equal to 2. Step (8
If the determination in 1) is NO, it is determined in step (83) whether the distance D is less than or equal to D1. If the determination is YES in step (82) or step (83), proceed to step (9) and NO.
If it is determined, the process proceeds to step (10).

In step (9), the arrival information counter is incremented by 1. In step (10), it is checked whether the absolute value |θ| of the relative angle θ is larger than θ3 (for example, θ3=150°). As shown in Fig. 7, when the vehicle passes the intersection where it should turn to its destination and travels for a while, |θ| changes to θ3.
It exceeds. In this case, the process proceeds to step (11) and the turning guide counter is incremented by 1. This step (10)
Instead of the judgment of , L is a constant negative value L3 (for example, L3=
-100m).

In step (12), it is determined whether the relative angle θ is positive. If it is positive, it means that the user is looking at the destination to the right, and the right turn guidance counter is incremented by 1 in step (13). If the relative angle θ is negative, it means that the destination is viewed to the left, and the left turn guidance counter is incremented by 1 in step (15). In step (16), each guidance counter is referred to and it is determined whether the threshold value (for example, 5) is exceeded. The reason for making this decision is that if the guidance counter is incremented just once, there may be a malfunction, and it is uncertain whether the conditions for issuing the guidance are met, so the conditions for issuing the guidance are made stricter. by.

In step (17), if there is a counter that exceeds the threshold value, in step (18) the guidance content is displayed on the display 2 or the audio output device 10
make an announcement from Both may be used together. In this way, the distance D to the destination is used as the timing for issuing guidance.
Since this is assumed to be when the traveling direction component L of is less than the reference value L0, the guidance will be issued approximately a distance L0 before the point where the vehicle must perform some operation such as turning left or right. Therefore, since the vehicle only needs to prepare to turn right or left before it travels straight ahead for the distance L0, even if the guidance is issued in this manner, there is no burden on the vehicle.

Note that even if guidance is issued, the vehicle may not be able to travel as directed. For example, as shown in FIG. 8, there is no right-turning road at the destination. Even in this case, predetermined guidance is provided. This allows the driver to know that the destination is on the right side of the vehicle, as shown in FIG. Of course, the driver can determine for himself/herself that it is not possible to drive according to the guidance right away, and even if such guidance is provided, the driver will not make a wrong operation. On the contrary, the present invention can provide very useful guidance to the driver, since the driver can make a decision to turn right at the next intersection as shown by arrow e.

Next, returning to FIG. 4, it is determined whether the driver operated the vehicle as instructed (step (19)).
. In the case of turn guidance, right turn guidance, or left turn guidance, this determination is made by determining, for example, whether the vehicle has traveled on a curve and then changed to traveling straight, based on the gyro output if the direction sensor 3 is a gyro; This is done by determining the output, if any, from a signal obtained by differentiating it. In the case of arrival guidance, it is performed by detecting that the vehicle has stopped, etc. from the output of the distance sensor 4.

[0039] When it is determined that the vehicle operation has been completed,
In step (20), all guide counters are cleared to 0 and the process returns to the beginning. An example in which the above procedure is applied to an actual road will be explained. FIG. 9 shows a case where the destination is located on a narrow street. When a vehicle is traveling on a main road and comes to a point A in front of an intersection a, it receives right turn guidance from a destination guidance device. The driver passes through intersection a knowing that he cannot turn right due to construction. In this regard, if you use a conventional route guidance device, if information on construction is not entered, it will indicate intersection a as the right turn point.
Drivers who cannot turn right at intersection a will be confused,
As in this invention, the driver is simply informed that the destination is on the right side and that he/she should turn right if possible, so the driver can take the appropriate action with plenty of time. Even if the driver passes intersection a, knowing that he cannot turn right due to construction, he continues to be guided to turn right, so he ends up turning right at the next intersection b. After turning right at intersection b, the guidance ends, and if you continue, you will receive right turn guidance at point C, just before intersection c. If you follow the guidance and turn right at intersection c, the guidance will end.
You can see your destination at the corner of intersection d. Since the destination is near, the destination guidance device no longer provides any guidance. The driver pulls the vehicle to the destination according to his/her own judgment.

As described above, the destination guidance of the present invention guides the driver to the destination but does not give specific instructions on what to do at which intersection, and the driver By combining this with your judgment, you can reach your destination efficiently. It should be noted that the present invention is not limited to the above-mentioned embodiments, and if the number of cases in which the driver does not follow the guidance exceeds the standard, a warning is provided or the destination guidance function is automatically stopped. It's okay.

[0041] Furthermore, the navigation device may have the above-mentioned route calculation function. If there is a route calculation function, the present invention may seem unnecessary, but as mentioned above, when the information on which route calculation is based changes daily, route guidance and the simple route guidance provided by the present invention are useful. If used in combination, more reliable guidance can be achieved. Further, when the target of route calculation is only the main road, it is not possible to guide the vehicle on the closest street, so the combined use of the present invention is particularly effective.

[0042]

As described above, according to the invention set forth in claim 1, guidance is issued a certain distance before the point at which the driver should turn to reach the destination, without clearly indicating the intersection or route. The rest can be left to the driver's discretion. Therefore, the amount of data to be stored is significantly reduced and only simple processing is required, so that the device can be simplified. Further, by appropriately setting the reference value L0, guidance can be provided at the most appropriate timing.

According to the second aspect of the invention, the guidance can be issued some time before the time when the driver reaches the point to be guided, depending on the vehicle speed. Preparation time for operating the vehicle can be guaranteed. According to the third aspect of the invention, it is possible to notify the driver when the vehicle has passed the point to be guided by a considerable distance to inform the driver that he or she should make a right or left turn or a turn.

According to the fourth aspect of the invention, since the guidance is stopped when the vehicle completes a right or left turn, the driver is not made to make a wrong decision after the right or left turn is completed. Claim 5
According to this configuration, when the distance D to the destination point reaches a distance D1 at which the vehicle can be considered to have arrived at the destination, it becomes unnecessary to issue unnecessary destination guidance.

[Brief explanation of the drawing]

FIG. 1 is a diagram showing the relationship between a vehicle and a destination for explaining the content of the present invention.

FIG. 2 is a block diagram of a vehicle navigation device incorporating a destination guidance device.

FIG. 3 is a flowchart showing the procedure of the destination guidance device.

FIG. 4 is a flowchart showing the procedure of the destination guidance device.

FIG. 5 is a graph showing the reference value L0 as a function f(v) of the vehicle speed.

FIG. 6 is a partially modified diagram of a flowchart showing the procedure of the destination guidance device.

FIG. 7 is a diagram showing the relationship between a vehicle and a destination when passing an intersection.

FIG. 8 is a diagram showing the relationship between vehicles and destinations when there are no intersections.

FIG. 9 is a diagram showing a vehicle travel route when the destination is located on a narrow street.

[Explanation of symbols]

2 Display unit 3 Direction sensor 4 Distance sensor 5 Road map memory 8 Position detection device 9 Navigation controller 10 Audio output device

Claims (5)

[Claims] Claims 1: Position detecting means for detecting the current position of the vehicle using a distance sensor and a direction sensor; Destination setting means for setting the destination of travel; The distance D to the destination point, the relative angle θ which is the difference between the vehicle's traveling direction and the direction from the vehicle's current position to the destination point, and the traveling direction projection L = Dcos θ of the distance D to the destination. When the projection L of the distance D calculated by the calculation means in the direction of travel is less than the reference value L0, the sign of the relative angle θ is determined and the driver is informed that the destination is on the right or left side of the vehicle travel direction. 1. A destination guidance device for use in vehicle navigation, characterized in that the device includes a destination guidance means for guiding the destination. 2. The destination guide device used for vehicle navigation according to claim 1, wherein the reference value L0 is determined according to the current speed of the vehicle. 3. When it is detected that the absolute value of the relative angle θ exceeds a certain angle θ3 larger than 90°, or that the forward direction projection L has become more negative than the negative constant value L3,
2. The destination guide device for use in vehicle navigation according to claim 1, further comprising notification means for informing the driver that the destination is behind the driver. 4. A detection means for detecting that the vehicle has completed a right turn, a left turn, or a turn, and the destination guidance means or notification means provides a predetermined guidance to the driver, and then the detection means causes the vehicle to turn right or left. The destination guidance device for use in vehicle navigation according to claim 1, 2 or 3, further comprising guidance stopping means for stopping guidance to the driver when it is detected that the turn has been completed. . [Claim 5] When the distance D from the current position of the vehicle to the destination point set by the destination setting means is less than a reference value D1 at which the vehicle can be considered to have arrived at the destination, the destination guidance means or notification 3. The destination guidance device used for vehicle navigation according to claim 1, further comprising guidance function stopping means for stopping the function of the means.