WO2020194900A1

WO2020194900A1 - Navigation control device, navigation device, navigation method, and navigation program

Info

Publication number: WO2020194900A1
Application number: PCT/JP2019/048259
Authority: WO
Inventors: 寛二間下
Original assignee: 株式会社Ｊｖｃケンウッド
Priority date: 2019-03-22
Filing date: 2019-12-10
Publication date: 2020-10-01

Abstract

The present invention improves the precision of driver recognition of right-turn intersections. A navigation control device according to the present invention comprises: a map information acquisition unit (23) for acquiring map information; a guidance point information acquisition unit (24) for acquiring guidance point information indicating the position of a guidance point constituting a node between the currently traveled road and an exit-side road at the nearest intersection in the direction of travel; a vehicle information acquisition unit (22) for acquiring vehicle information indicating the position of the vehicle; an in-intersection link assessment unit (25) for assessing whether, between a guidance point and the vehicle, an in-intersection link is present in the same intersection as an intersection containing a guidance point connecting adjacent nodes; an in-intersection link information acquisition unit (26) for acquiring in-intersection link information indicating the length of an in-intersection link; a remaining distance calculation unit (31) for calculating, on the basis of guidance point information and vehicle information, a remaining distance constituted by the distance between a guidance point and the vehicle, when turning across an oncoming traffic lane at an intersection; and a remaining distance recalculation unit (32) for recalculating the remaining distance on the basis of in-intersection link information.

Description

Navigation control device, navigation device, navigation method and navigation program

The present invention relates to a navigation control device, a navigation device, a navigation method, and a navigation program.

There is a known navigation device that presents the remaining distance from the vehicle to the intersection when approaching the intersection where the vehicle should turn left or right. Patent Document 1 discloses a technique for specifying a start position of voice guidance in consideration of the width of a road intersecting in the traveling direction of an intersection.

Japanese Unexamined Patent Publication No. 2017-181150

By the way, on a road where the upper and lower lines are separated, the guidance point that is the starting point of the remaining distance when turning right is set to the back side of the intersection where the exit side road intersects. However, when the driver actually turns the steering wheel or operates the turn signal when turning right, the timing is before the guide point is reached, so that the driver may misidentify the intersection where the driver should turn right.

The present embodiment has been made in view of the above problems, and an object of the present invention is to provide a navigation control device, a navigation device, a navigation method, and a navigation program capable of improving the recognition accuracy of a right turn intersection by a driver. To do.

In order to achieve the above object, the navigation control device of one aspect of the present embodiment is based on a map information acquisition unit that acquires map information including information on a node that is a connection point between roads, and the map information. Acquire guidance point information that indicates the position of the guidance point that is the node between the running road and the exit side road at the intersection closest to the direction of travel. Acquire the guidance point information acquisition unit and the own vehicle information that indicates the position of the own vehicle. In an intersection that determines whether or not an in-intersection link exists in the same intersection as the intersection including the guide point that connects adjacent nodes between the own vehicle information acquisition unit and the guide point and the own vehicle. When the link determination unit and the in-intersection link exist, the in-intersection link information acquisition unit for acquiring the in-intersection link information indicating the length of the in-intersection link, and the in-intersection link information acquisition unit and the in-intersection when turning across the oncoming lane, the above. The remaining distance calculation unit that calculates the remaining distance, which is the distance between the guide point and the own vehicle, based on the guide point information and the own vehicle information, and the remaining distance is re-established based on the link information in the intersection. It is provided with a remaining distance recalculation unit for calculation.

The navigation device of one aspect of the present embodiment includes the navigation control device and a notification unit that notifies the driver of the recalculated remaining distance.

In one aspect of the navigation method of the present embodiment, a map information acquisition step for acquiring map information and a node between a traveling road and an exit side road at an intersection that turns across an oncoming lane closest to the traveling direction based on the map information. The guide point information acquisition step for acquiring the guide point information indicating the position of the guide point, which is a point, the own vehicle information acquisition step for acquiring the own vehicle information indicating the position of the own vehicle, the guide point information, and the own vehicle information. The remaining distance calculation step that calculates the remaining distance, which is the distance between the guide point and the own vehicle, and the guide point that connects the adjacent nodal points between the guide point and the own vehicle. In-intersection link determination step for determining whether an in-intersection link exists in the same intersection as the intersection including, and if the in-intersection link exists, acquire in-intersection link information indicating the length of the in-intersection link. It has an in-intersection link information acquisition step and a remaining distance recalculation step in which the remaining distance is recalculated based on the in-intersection link information.

In one aspect of the navigation program of the present embodiment, a map information acquisition step for acquiring map information and a node between a traveling road and an exit side road at an intersection that turns across an oncoming lane closest to the traveling direction based on the map information. The guide point information acquisition step for acquiring the guide point information indicating the position of the guide point, which is a point, the own vehicle information acquisition step for acquiring the own vehicle information indicating the position of the own vehicle, the guide point information, and the own vehicle information. The remaining distance calculation step that calculates the remaining distance, which is the distance between the guide point and the own vehicle, and the guide point that connects the adjacent nodal points between the guide point and the own vehicle. In-intersection link determination step for determining whether an in-intersection link exists in the same intersection as the intersection including, and if the in-intersection link exists, acquire in-intersection link information indicating the length of the in-intersection link. The computer is made to execute the step of acquiring the link information in the intersection and the step of recalculating the remaining distance to recalculate the remaining distance based on the link information in the intersection.

According to this embodiment, it is possible to improve the recognition accuracy of the right turn intersection by the driver.

FIG. 1 is a block diagram showing a configuration example of a navigation device according to the first embodiment. FIG. 2 is a schematic view showing an example of an intersection to which the first embodiment is applied. FIG. 3 is a schematic view showing another example of the intersection to which the first embodiment is applied. FIG. 4 is a flowchart showing an example of processing in the navigation control device according to the first embodiment. FIG. 5 is a block diagram showing a configuration example of the navigation device according to the second embodiment. FIG. 6 is a schematic view showing an example of an intersection to which the second embodiment is applied. FIG. 7 is a flowchart showing an example of processing in the navigation control device according to the second embodiment. FIG. 8 is a block diagram showing a configuration example of the navigation device according to the third embodiment. FIG. 9 is a schematic view showing an example of an intersection to which the third embodiment is applied. FIG. 10 is a flowchart showing an example of processing in the navigation control device according to the third embodiment.

The navigation control device and the navigation device according to the embodiment will be described in detail below based on the drawings. The present invention is not limited to the description of the following embodiments. In addition, the components in the following embodiments include those that can be replaced and easily replaced by those skilled in the art, or those that are substantially the same. Further, the components in the embodiments described below can be variously omitted, replaced or changed without departing from the gist of the present invention. In the following embodiments, the components necessary for exemplifying the navigation control device and the embodiments of the navigation device will be described, and other components will be omitted.

In the embodiment, the navigation device controlled by the navigation control device searches for the optimum route between the current location and the destination set by the driver, displays this route on a map, and provides route guidance to the destination. Do. The navigation device is a vehicle navigation device mounted on a vehicle or carried into a vehicle in a portable manner. The navigation device may consist of a portable terminal, a device installed in a vehicle, or a combination of several devices.

(First Embodiment)
[Device configuration]
First, an example of the configuration of the navigation device 1 according to the embodiment will be described. FIG. 1 is a block diagram showing a configuration example of a navigation device according to an embodiment. The navigation device 1 includes an operation unit 11, a GPS (Global Positioning System) receiving unit 12, a map information storage unit 13, a communication unit 14, a display unit 15, a notification unit 16, and a navigation control device 20. Be prepared.

The operation unit 11 can receive various operations on the navigation control device 20. The operation unit 11 is composed of, for example, a physical operation means for the navigation control device 20, a touch panel arranged on the display unit 15, or the like. The operation unit 11 can accept, for example, an operation for inputting a destination. The operation unit 11 can accept, for example, an operation of switching the display information of the route guidance map displayed on the display unit 15. The operation unit 11 outputs the operation information to the operation reception control unit 21 of the navigation control device 20.

The GPS receiving unit 12 receives radio waves from GPS satellites (not shown). The GPS receiving unit 12 outputs the signal of the received radio wave to the own vehicle information acquisition unit 22 of the navigation control device 20.

The map information storage unit 13 stores map information. The map information includes information on the intersection Cr (see FIG. 2 etc.), the node P (see FIG. 2 etc.) which is a connection point between roads, and the link CL in the intersection (see FIG. 2 etc.) connecting the node P. It is a road map including. The map information storage unit 13 outputs the stored map information to the map information acquisition unit 23 of the navigation control device 20. The map information storage unit 13 may be a storage device such as an external server. When the map information storage unit 13 is a storage device such as an external server, the map information storage unit 13 acquires map information via a communication function of the communication control unit 40 and the communication unit 14 of the navigation control device 20. Output to 23.

The communication unit 14 is a communication unit. The communication unit 14 may perform communication by any method such as the Internet or a mobile phone line. The communication unit 14 executes various communications based on the control signal output from the communication control unit 40 of the navigation control device 20.

The display unit 15 is, for example, a display device unique to the navigation device 1, a display device shared with other systems including car audio, and the like. The display unit 15 is a display including, for example, a liquid crystal display (LCD: Liquid Crystal Display) or an organic EL (Organic Electro-Luminence) display. In the embodiment, the display unit 15 is a touch panel type display. The display unit 15 functions as an operation unit 11 and can input various operations. When the navigation device 1 is installed in the vehicle, the display unit 15 is arranged on the dashboard, instrument panel, center console, or the like in front of the driver of the vehicle. Based on the video signal output from the display control unit 50 of the navigation control device 20, the display unit 15 provides route guidance such as a map from the current location to the destination, symbols indicating the current location and the destination, and line segments indicating the guidance route. Display the image of.

The notification unit 16 is composed of, for example, a display arranged on the display unit 15, a speaker for notifying predetermined notification information by voice, and the like. The notification unit 16 notifies notification information based on a video signal, an audio signal, or the like output from the notification control unit 60 of the navigation control device 20.

The navigation control device 20 includes a storage device that stores various control programs and data used for various control processes, and an arithmetic processing device that executes a predetermined control program. The storage device includes, for example, non-volatile or volatile semiconductor memory such as ROM (Read Only Memory), RAM (Random Access Memory), HDD (Hard Disk Drive), flash memory, magnetic disk, flexible disk, optical disk, compact disk. , Mini disc, DVD, etc. The arithmetic processing unit is, for example, a CPU (Central Processing Unit), an MCU (Micro Control Unit), a microprocessor, a microcomputer, a DSP (Digital Signal Processor), a system LSI (Large Scale Integration), or the like. The navigation control device 20 is implemented from one storage device or a plurality of storage devices and one arithmetic processing unit or a plurality of arithmetic processing units.

The navigation control device 20 searches for the optimum route between the current location and the destination set by the driver, displays this route on the map of the display unit 15, and guides the route to the destination. The navigation control device 20 presents to the driver the remaining distance to the nearest intersection Cr to turn left or right. The navigation control device 20 includes an operation reception control unit 21, a vehicle information acquisition unit 22, a map information acquisition unit 23, a guidance point information acquisition unit 24, and an intersection link determination unit 25, which are connected to the bus BS. , The remaining distance calculation unit 31, the remaining distance recalculation unit 32, the communication control unit 40, the display control unit 50, and the notification control unit 60. Operation reception control unit 21, own vehicle information acquisition unit 22, map information acquisition unit 23, guidance point information acquisition unit 24, intersection link determination unit 25, remaining distance calculation unit 31, and remaining distance recalculation unit. The 32, the communication control unit 40, the display control unit 50, and the notification control unit 60 may be provided with a common arithmetic processing unit or storage device, or may be arranged at a plurality of locations apart from each other. May be good.

The operation reception control unit 21 acquires the operation information of the operation received by the operation unit 11. The operation reception control unit 21 acquires, for example, destination input operation information indicating a destination input operation and outputs a control signal.

The own vehicle information acquisition unit 22 acquires the own vehicle information indicating the position of the current location of the own vehicle D (see FIG. 2 and the like). In the embodiment, the own vehicle information acquisition unit 22 acquires the own vehicle information of the own vehicle D based on the signal of the radio wave acquired by the GPS receiving unit 12. The own vehicle information acquisition unit 22 outputs the acquired own vehicle information to the map information acquisition unit 23, the intersection link determination unit 25, the remaining distance calculation unit 31, and the display control unit 50. In the first embodiment, the navigation device 1 acquires the own vehicle information by using GPS satellites, but may acquire the own vehicle information by using, for example, a gyro sensor or a sound velocity sensor.

The map information acquisition unit 23 acquires map information from the map information storage unit 13. The map information acquisition unit 23 maps the vehicle D from the current location to the destination based on the vehicle information acquired by the vehicle information acquisition unit 22 and the location information of the destination acquired by the operation reception control unit 21. Information is acquired from the map information storage unit 13. The map information acquisition unit 23 outputs the acquired map information to the guide point information acquisition unit 24, the intersection link determination unit 25, the intersection link information acquisition unit 26, and the display control unit 50.

The guidance point information acquisition unit 24 acquires guidance point information indicating the position of the guidance point Pg (see FIG. 2 and the like). The guide point information acquisition unit 24 acquires the guide point information based on the map information acquired by the map information acquisition unit 23. The guide point Pg is a node P indicating the intersection of the traveling road Rd (see FIG. 2 etc.) on which the own vehicle D is traveling at the nearest intersection Cr and the exit side road Re (see FIG. 2 etc.) at the right / left turn destination. Is. The guide point information acquisition unit 24 outputs the acquired guide point information to the link determination unit 25 in the intersection, the remaining distance calculation unit 31, and the display control unit 50.

The in-intersection link determination unit 25 determines whether or not there is an in-intersection link CL connecting the adjacent node P between the guide point Pg and the own vehicle D. The in-intersection link determination unit 25 determines whether or not the in-intersection link CLd (see FIG. 2, etc.) exists on the traveling road Rd. The link determination unit 25 in the intersection is based on the vehicle information acquired by the vehicle information acquisition unit 22, the map information acquired by the map information acquisition unit 23, and the guidance point information acquired by the guidance point information acquisition unit 24. , It is determined whether or not the link CLd in the intersection exists between the guide point Pg and the own vehicle D. The in-intersection link determination unit 25 outputs the determination result to the in-intersection link information acquisition unit 26.

When the in-intersection link information acquisition unit 26 determines that the in-intersection link CLd exists between the guide point Pg and the own vehicle D, the in-intersection link determination unit 25 has a length Lcl of the in-intersection link CLd (FIG. 2, etc.). Obtain the link information in the intersection indicating (see). The in-intersection link information acquisition unit 26 acquires in-intersection link information based on the map information acquired by the map information acquisition unit 23 and the determination result of the in-intersection link determination unit 25. The in-intersection link information acquisition unit 26 outputs the acquired in-intersection link information to the remaining distance recalculation unit 32.

The remaining distance calculation unit 31 calculates the remaining distance Lg (see FIG. 2 and the like), which is the distance between the guide point Pg and the own vehicle D. The remaining distance calculation unit 31 is the distance between the guidance point Pg and the own vehicle D based on the guidance point information acquired by the guidance point information acquisition unit 24 and the own vehicle information acquired by the own vehicle information acquisition unit 22. The remaining distance Lg is calculated. The remaining distance calculation unit 31 outputs the calculated remaining distance Lg to the remaining distance recalculation unit 32 and the display control unit 50.

The remaining distance recalculation unit 32 recalculates the remaining distance Lg based on a predetermined condition. The remaining distance recalculation unit 32 recalculates the remaining distance Lg based on the remaining distance Lg calculated by the remaining distance calculation unit 31 and the link information in the intersection acquired by the link information acquisition unit 26 in the intersection. The remaining distance recalculation unit 32 recalculates the remaining distance Lg based on the length Lcl of the link CLd in the intersection. In the first embodiment, when the navigation device 1 guides the navigation device 1 to turn right at the intersection Cr, the remaining distance recalculation unit 32 subtracts the length Lcl of the link CLd in the intersection from the remaining distance Lg, and the remaining distance Lz (FIG. 2). Etc.). The remaining distance Lz becomes zero when the intersection Cr that turns right is reached. Therefore, it is easy for the driver to intuitively understand the intersection Cr where the driver should turn right. The remaining distance recalculation unit 32 outputs the recalculated remaining distance Lz to the display control unit 50 and the notification control unit 60.

The communication control unit 40 controls the communication in the communication unit 14. The communication control unit 40 outputs the acquired communication information to the communication unit 14.

The display control unit 50 controls to display on the display unit 15 based on predetermined conditions and acquired display information. The display control unit 50 controls the display unit 15 so as to display, for example, a map showing an area including the current location to the destination of the own vehicle D, a line indicating a guide route, a symbol indicating the position of the own vehicle D, and the like. .. The display control unit 50 controls the display unit 15 so as to display the remaining distance Lg calculated by the remaining distance calculation unit 31 or the remaining distance Lz recalculated by the remaining distance recalculation unit 32.

The notification control unit 60 controls the notification unit 16 to notify the notification unit 16 based on predetermined conditions and acquired notification information. The notification control unit 60 controls the notification unit 16 so as to notify the driver of the remaining distance Lg calculated by the remaining distance calculation unit 31, for example. When the remaining distance recalculation unit 32 recalculates the remaining distance Lg, the notification control unit 60 controls the notification unit 16 so as to notify the driver of the recalculated remaining distance Lz.

[Recalculation method of remaining distance]
The method of recalculating the remaining distance Lz from the own vehicle D to the intersection Cr1 where the vehicle should turn right will be described in more detail with reference to FIG. FIG. 2 is a schematic view showing an example of an intersection to which the first embodiment is applied. FIG. 2 is a top view of the intersection Cr1. In FIG. 2, the traveling direction of the own vehicle D entering the intersection Cr1 is shown as going from the bottom to the top. Further, in FIG. 2, the direction in which each road can travel is indicated by the broken line arrow.

The intersection Cr1 includes a traveling road Rd on which the own vehicle D travels and an exit side road Re intersecting the traveling road Rd. In FIG. 2, the traveling road Rd is a one-way road. The exit side road Re is a road where the upper and lower lines are separated across the median strip. The intersection Cr1 includes a node P and an intra-intersection link CL. The node P is a connection point between roads. The intersection Cr1 shown in FIG. 2 has a node P at each position where the traveling road Rd and the exit side road Re of the upper and lower lines intersect. The link CL in the intersection connects the adjacent node P and the node P. The length Lcl of the link CL in the intersection is the distance of the exit side road Re of the vertical line. The intersection Cr1 shown in FIG. 2 has an in-intersection link CL extending to the traveling road Rd. The link information in the intersection indicating the position and length Lcl of the link CL in the intersection is included in the map information stored in the map information storage unit 13.

When the navigation device 1 guides the driver to turn left or right at the intersection Cr1, a guide point Pg is set at the intersection Cr1. When the navigation device 1 guides the user to turn left at the intersection Cr1, the guidance point Pg is set at the same position as the node P of the traveling road Rd and the exit side road Re on the left turn side. When the navigation device 1 guides the user to turn right at the intersection Cr1, the guidance point Pg is set at the same position as the node P of the traveling road Rd and the exit side road Re on the right turn side. The guide point information indicating the position of the guide point Pg is included in the map information stored in the map information storage unit 13.

In the route guidance, the timing when the driver turns the steering wheel in the right turn direction or the timing when the direction indicator is operated at the intersection Cr1 coincides with or is close to the remaining distance Lz until the right turn and the guided remaining distance zero point Pz. It is preferable to do so. In the first embodiment, the remaining distance zero point Pz is set at the same position as the node P of the traveling road Rd and the exit side road Re on the left turn side. When the navigation device 1 guides the driver to turn left at the intersection Cr, the remaining distance zero point Pz is set at the same position as the guide point Pg in the first embodiment.

As shown in FIG. 2, the remaining distance Lz, which is the distance between the remaining distance zero point Pz and the own vehicle D, is the link within the intersection from the remaining distance Lg, which is the distance between the guide point Pg and the own vehicle D. It can be calculated by subtracting the length Lcl of CL. The remaining distance Lg is calculated by the remaining distance recalculation unit 32. The remaining distance Lg, which is the distance between the guide point Pg and the own vehicle D, is based on the guide point information acquired by the guide point information acquisition unit 24 and the own vehicle information acquired by the own vehicle information acquisition unit 22. It is calculated by the remaining distance calculation unit 31. When the navigation device 1 guides the user to turn left at the intersection Cr1, the remaining distance calculation unit 31 does not recalculate the remaining distance Lg in the first embodiment. That is, when turning left, the remaining distance Lz corresponds to the remaining distance Lg.

Next, a method of recalculating the remaining distance Lz at the intersection Cr2 different from the intersection Cr1 shown in FIG. 2 will be described in detail with reference to FIG. FIG. 3 is a schematic view showing another example of the intersection to which the first embodiment is applied. FIG. 3 is a top view of the intersection Cr2. In FIG. 3, the traveling direction of the own vehicle D entering the intersection Cr2 is illustrated as going from the bottom to the top. Further, in FIG. 3, the travelable direction of each road is indicated by the broken line arrow. In the following description, when it is not necessary to distinguish between the intersection Cr1 and the intersection Cr2, it is described as the intersection Cr.

The intersection Cr2 includes a traveling road Rd on which the own vehicle D travels and an exit side road Re intersecting the traveling road Rd. In FIG. 3, the traveling road Rd is a road whose upper and lower lines are separated with a median strip in between. The exit side road Re is a road where the upper and lower lines are separated across the median strip. The intersection Cr2 includes a node P and an intra-intersection link CL. The intersection Cr2 shown in FIG. 3 has a node P at each position where the traveling road Rd on the upper and lower lines and the exit side road Re on the upper and lower lines intersect. The in-intersection link CL includes an in-intersection link CLd extending to the traveling road Rd and an in-intersection link CLe extending to the exit side road Re. In the first embodiment, the length Lcl of the intersection link CL used when calculating the remaining distance Lz is the length Lcl of the intersection link CLd extending to the traveling road Rd. The length Lcl of the link CLd in the intersection is the distance of the exit side road Re of the vertical line. The link information in the intersection indicating the position and length Lcl of the link CLd in the intersection is included in the map information stored in the map information storage unit 13.

When the navigation device 1 guides the driver to turn left or right at the intersection Cr2, the guide point Pg is set at the intersection Cr2. When the navigation device 1 guides the driver to turn left at the intersection Cr2, the guide point Pg is set at the same position as the node P of the traveling road Rd and the exit side road Re on the left turn side. When the navigation device 1 guides the user to turn right at the intersection Cr, the guidance point Pg is set at the same position as the node P of the traveling road Rd and the exit side road Re on the right turn side. The guide point information indicating the position of the guide point Pg is included in the map information stored in the map information storage unit 13.

In the route guidance, the timing when the driver turns the steering wheel in the right turn direction or the timing when the direction indicator is operated at the intersection Cr2 coincides with or is close to the remaining distance Lz until the right turn and the guided remaining distance zero point Pz. It is preferable to do so. In the first embodiment, the remaining distance zero point Pz is set at the same position as the node P of the traveling road Rd and the exit side road Re on the left turn side. When the navigation device 1 guides the driver to turn left at the intersection Cr2, the remaining distance zero point Pz is set at the same position as the guide point Pg in the first embodiment.

As shown in FIG. 3, the remaining distance Lg, which is the distance between the remaining distance zero point Pz and the own vehicle D, is the link within the intersection from the remaining distance Lg, which is the distance between the guide point Pg and the own vehicle D. It can be calculated by subtracting the length Lcl of CLd. The remaining distance Lg is calculated by the remaining distance recalculation unit 32. The remaining distance Lg, which is the distance between the guide point Pg and the own vehicle D, is based on the guide point information acquired by the guide point information acquisition unit 24 and the own vehicle information acquired by the own vehicle information acquisition unit 22. It is calculated by the remaining distance calculation unit 31. When the navigation device 1 guides the user to turn left at the intersection Cr2, the remaining distance calculation unit 31 does not recalculate the remaining distance Lg in the first embodiment. That is, when turning left, the remaining distance Lz corresponds to the remaining distance Lg.

[Processing by device]
Next, an example of processing of the navigation device 1 for calculating the remaining distance Lz from the own vehicle D to the remaining distance zero point Pz when turning left or right at the intersection Cr will be described with reference to FIG. FIG. 4 is a flowchart showing an example of processing in the navigation control device according to the first embodiment. The process shown in FIG. 4 is executed by the navigation control device 20 based on a predetermined control program and data. The navigation control device 20 shifts to step S101 shown in FIG. 4 and starts processing when, for example, the own vehicle D approaches the intersection Cr to turn left or right to a predetermined distance.

The navigation control device 20 acquires the own vehicle information indicating the current location of the own vehicle D (step S101). More specifically, the own vehicle information acquisition unit 22 acquires the own vehicle information based on the radio wave signal acquired by the GPS receiving unit 12. The navigation control device 20 proceeds to step S102.

The navigation control device 20 acquires map information from the current location of the own vehicle D to the intersection Cr where the vehicle should turn left or right (step S102). More specifically, the map information acquisition unit 23 acquires map information from the current location of the vehicle D to the intersection Cr from the map information storage unit 13 based on the vehicle information acquired by the vehicle information acquisition unit 22. .. The map information includes information on the guide point Pg and the link CL in the intersection. The navigation control device 20 proceeds to step S103.

The navigation control device 20 acquires the guidance point information indicating the position of the latest guidance point Pg (step S103). More specifically, the guide point information acquisition unit 24 acquires the guide point information based on the map information acquired by the map information acquisition unit 23. The navigation control device 20 proceeds to step S104.

The navigation control device 20 calculates the remaining distance Lg, which is the distance between the guidance point Pg and the own vehicle D (step S104). More specifically, the remaining distance calculation unit 31 sets the guide point Pg and the own vehicle based on the guide point information acquired by the guide point information acquisition unit 24 and the own vehicle information acquired by the own vehicle information acquisition unit 22. The remaining distance Lg, which is the distance from D, is calculated. The navigation control device 20 shifts to step S105.

The navigation control device 20 determines whether to turn right or left at the intersection Cr (step S105). More specifically, the navigation control device 20 determines whether the set guidance route is guiding a right turn or a left turn at the intersection Cr. The navigation control device 20 shifts to step S110 when the guidance route is guiding a left turn at the intersection Cr (step S105; No). When the guidance route is guiding a right turn at the intersection Cr (step S105; Yes), the navigation control device 20 shifts to step S106.

When the vehicle is guided to turn right at the intersection Cr (step S105; Yes), the navigation control device 20 determines whether or not the link CL in the intersection exists between the guidance point Pg and the own vehicle D (step S106). .. More specifically, the link determination unit 25 in the intersection includes the vehicle information acquired by the vehicle information acquisition unit 22, the map information acquired by the map information acquisition unit 23, and the guidance acquired by the guidance point information acquisition unit 24. Based on the point information, it is determined whether or not the link CL in the intersection exists between the guide point Pg and the own vehicle D. When the navigation control device 20 determines that the link CL in the intersection does not exist between the guide point Pg and the own vehicle D (step S106; No), the navigation control device 20 proceeds to step S110. When the navigation control device 20 determines that the link CL in the intersection exists between the guide point Pg and the own vehicle D (step S106; Yes), the navigation control device 20 proceeds to step S107.

When the link CL in the intersection exists between the guide point Pg and the own vehicle D (step S106; Yes), the navigation control device 20 determines whether or not the link CLd in the intersection exists in the traveling road Rd. (Step S107). More specifically, the link determination unit 25 in the intersection includes the vehicle information acquired by the vehicle information acquisition unit 22, the map information acquired by the map information acquisition unit 23, and the guidance acquired by the guidance point information acquisition unit 24. Based on the point information, it is determined whether or not the link CLd in the intersection exists in the traveling road Rd. When the navigation control device 20 determines that the intersection link CLd does not exist in the traveling road Rd (step S107; No), the navigation control device 20 proceeds to step S110. When the navigation control device 20 determines that the intersection link CLd exists in the traveling road Rd (step S107; Yes), the navigation control device 20 proceeds to step S108.

When the intersection link CLd exists in the traveling road Rd (step S107; Yes), the navigation control device 20 acquires the intersection link information indicating the length Lcl of the intersection link CL (step S108). More specifically, the in-intersection link information acquisition unit 26 acquires the in-intersection link information based on the map information acquired by the map information acquisition unit 23 and the determination result of the in-intersection link determination unit 25. The navigation control device 20 proceeds to step S109.

The navigation control device 20 recalculates the remaining distance Lg (step S109). More specifically, the remaining distance recalculation unit 32 subtracts the length Lcl of the link CLd in the intersection from the remaining distance Lg calculated by the remaining distance calculation unit 31 to obtain the recalculated remaining distance Lz. The navigation control device 20 proceeds to step S110.

The navigation control device 20 notifies the remaining distance Lg or the recalculated remaining distance Lz (step S110). More specifically, when the vehicle is guided to turn right at the intersection Cr and the link CLd in the intersection exists in the traveling road Rd between the guidance point Pg and the own vehicle D, the notification control unit 60 re-uses. The notification unit 16 is notified of the calculated remaining distance Lz. When the vehicle is guided to turn left at the intersection Cr, or when the link CLd in the intersection does not exist in the traveling road Rd between the guidance point Pg and the own vehicle D, the notification control unit 60 notifies the remaining distance Lg to the notification unit 16. To notify. The navigation control device 20 ends the processing of the flowchart shown in FIG.

As described above, in the route guidance of the intersection to be turned right, the navigation device 1 sets the remaining distance zero point Pz, which is the starting point of the remaining distance Lz to the intersection Cr, from the guidance point Pg on the exit side road Re on the right turn side. Is also set to the front. More specifically, the navigation device 1 sets the remaining distance zero point Pz on the exit side road Re on the left turn side. As a result, the driver presents a guide to set "remaining distance to zero" at the same position as or close to the timing when the driver turns the steering wheel in the right turn direction or the timing when the direction indicator is operated at the intersection Cr, so that the driver recognizes the right turn intersection. The accuracy can be improved.

In the first embodiment, the navigation control device 20 does not acquire the link information in the intersection when turning left, but may always acquire the link information in the intersection. Further, in the first embodiment, the navigation control device 20 calculates the remaining distance Lg and then determines whether or not the remaining distance Lg needs to be recalculated. However, whether or not the remaining distance Lg needs to be recalculated. The remaining distance Lg may be calculated after determining. For example, in the flowchart shown in FIG. 4, the navigation control device 20 may execute step S104 between steps S108 and S109 when turning right, and may execute step S104 after step S105 when turning left. That is, when turning left, the navigation control device 20 calculates the remaining distance Lg, which is the distance between the guide point Pg and the own vehicle D, as the remaining distance Lz up to the remaining distance zero point Pz. When turning right, the navigation control device 20 subtracts the length Lcl of the link CLd in the intersection from the remaining distance Lg, which is the distance between the guide point Pg and the own vehicle D, to the remaining distance zero point Pz. Calculated as the remaining distance Lz.

The processing executed by the remaining distance calculation unit 31 and the remaining distance recalculation unit 32 may be performed by one remaining distance calculation unit. In that case, for example, in the flowchart of FIG. 4, the navigation control device 20 proceeds to step S110 after executing step S104. Then, in step S104, when the vehicle turns right and the link CLd in the intersection exists, the remaining distance Lz obtained by subtracting the length Lcl of the link CLd in the intersection is calculated, and in other cases, the normal remaining distance Lg is calculated. You may do so.

(Second Embodiment)
[Device configuration]
Next, an example of the configuration of the navigation device 1A according to the second embodiment will be described. FIG. 5 is a block diagram showing a configuration example of the navigation device according to the second embodiment. In the navigation device 1A of the second embodiment, the same configurations as those of the navigation device 1 of the first embodiment are designated by the same reference numerals, the description thereof will be omitted, and different configurations will be described. The navigation device 1A of the second embodiment is the same as the navigation device 1 of the first embodiment in the basic configuration. The navigation device 1A is different from the navigation device 1 in that the navigation control device 20A is provided instead of the navigation control device 20.

The navigation control device 20A of the second embodiment is the same as the navigation control device 20 of the first embodiment in the basic configuration. Compared with the navigation device 1, the navigation control device 20A has an intersection link determination unit 25, an intersection link information acquisition unit 26, and an intersection link determination unit 25A and an intersection link information acquisition instead of the remaining distance recalculation unit 32. The difference is that the unit 26A and the remaining distance recalculation unit 32A are provided.

The in-intersection link determination unit 25A determines whether there is an in-intersection link CL connecting the adjacent node P between the guide point Pg and the own vehicle D. The in-intersection link determination unit 25A determines whether or not the in-intersection link CLd exists on the traveling road Rd. The link determination unit 25A in the intersection is based on the vehicle information acquired by the vehicle information acquisition unit 22, the map information acquired by the map information acquisition unit 23, and the guidance point information acquired by the guidance point information acquisition unit 24. , It is determined whether or not the link CLd in the intersection exists between the guide point Pg and the own vehicle D. The intersection link determination unit 25A further determines whether or not there is one intersection link CLd based on the guidance point information acquired by the guidance point information acquisition unit 24. The in-intersection link determination unit 25A outputs the determination result to the in-intersection link information acquisition unit 26A.

The intersection link information acquisition unit 26A determines that the intersection link determination unit 25A determines that the intersection link CLd exists between the guide point Pg and the own vehicle D, and that the intersection link CLd is not one. In this case, the link information in the intersection indicating the length Lcl of the link CLb in the intersection (see FIG. 6) directly connected to the guide point Pg is acquired. The in-intersection link information acquisition unit 26A acquires the in-intersection link information based on the map information acquired by the map information acquisition unit 23 and the determination result of the in-intersection link determination unit 25A. The in-intersection link information acquisition unit 26A outputs the acquired in-intersection link information to the remaining distance recalculation unit 32A.

The remaining distance recalculation unit 32A recalculates the remaining distance Lg based on a predetermined condition. The remaining distance recalculation unit 32A recalculates the remaining distance Lg based on the remaining distance Lg calculated by the remaining distance calculation unit 31 and the link information in the intersection acquired by the link information acquisition unit 26A in the intersection. The remaining distance recalculation unit 32A recalculates the remaining distance Lg based on the length Lcl of the link CLb in the intersection. In the second embodiment, when the navigation device 1A guides the navigation device 1A to make a right turn at the intersection Cr3 (see FIG. 6), the remaining distance recalculation unit 32 subtracts the length Lcl of the link CLb in the intersection from the remaining distance Lg and remains. Obtain the distance Lz (see FIG. 6). The remaining distance Lz becomes zero when the exit side road Ref (see FIG. 6) on the front side is reached at the intersection Cr3 that turns right on the exit side road Ref (see FIG. 6) on the back side. Therefore, it is easy for the driver to intuitively understand the intersection Cr3 where the driver should turn right. The remaining distance recalculation unit 32A outputs the recalculated remaining distance Lz to the display control unit 50 and the notification control unit 60.

[Recalculation method of remaining distance]
A method of calculating the remaining distance Lz from the own vehicle D to the intersection Cr3 where the vehicle should turn right will be described in more detail with reference to FIG. FIG. 6 is a schematic view showing an example of an intersection to which the second embodiment is applied. FIG. 6 is a top view of the intersection Cr3. In FIG. 6, the traveling direction of the own vehicle D entering the intersection Cr3 is shown as going from the bottom to the top. Further, in FIG. 6, the travelable direction of each road is indicated by the broken line arrow. In the following description, when it is not necessary to distinguish between the above-mentioned intersection Cr1 and Cr2 and the intersection Cr3, it is described as the intersection Cr.

The intersection Cr3 includes a traveling road Rd on which the own vehicle D travels and an exit side road Re that intersects the traveling road Rd. In FIG. 6, the traveling road Rd is a one-way road. The exit side road Re is a road where the upper and lower lines are separated across the median strip. The exit side road Re on the right turn side includes the exit side road Ref on the front side and the exit side road Reb on the back side. The destinations of the two exit roads Re are different from each other. As the intersection Cr having two exit side roads Re, for example, an intersection Cr where the exit side road Ref on the front side is connected to the underground parking lot and the exit side road Reb on the back side is directly connected to the road on the ground is assumed. The intersection Cr3 includes a node P and an intra-intersection link CL. The intersection Cr3 shown in FIG. 6 has a node P at each position where the traveling road Rd and the exit side road Re of the upper and lower lines intersect.

The intra-intersection link CL includes an intra-intersection link CLf and an intra-intersection link CLb. The link CLf in the intersection connects the node P of the exit side road Re on the left turn side and the node P of the exit side road Ref on the right turn side and the front side. The link CLb in the intersection connects the node P of the exit side road Ref on the right turn side and the front side and the node P of the exit side road Reb on the right turn side and the back side. In the second embodiment, the length Lcl of the link CL in the intersection used when calculating the remaining distance Lz is the length Lcl of the link CLb in the intersection. The length Lcl of the link CLb in the intersection is the distance between the two exit roads Re. The link information in the intersection indicating the position and length Lcl of the link CLb in the intersection is included in the map information stored in the map information storage unit 13.

When the navigation device 1A guides the driver to turn left or right at the intersection Cr3, the guide point Pg is set at the intersection Cr3. When the navigation device 1A guides the driver to turn left at the intersection Cr3, the guide point Pg is set at the same position as the node P of the traveling road Rd and the exit side road Re on the left turn side. When the navigation device 1A guides the user to turn right at the intersection Cr3, the guidance point Pg is set at the same position as the node P of the traveling road Rd and the exit side road Reb on the right turn side and the back side. The guide point information indicating the position of the guide point Pg is included in the map information stored in the map information storage unit 13.

In the route guidance, the timing when the driver turns the steering wheel in the right turn direction or the timing when the direction indicator is operated at the intersection Cr3 coincides with or is close to the remaining distance Lz until the right turn and the guided remaining distance zero point Pz. It is preferable to do so. In the second embodiment, the remaining distance zero point Pz is set at the same position as the node P of the traveling road Rd and the exit side road Ref on the right turn side and the front side. When the navigation device 1A guides the driver to turn left at the intersection Cr3, the remaining distance zero point Pz is set at the same position as the guide point Pg in the second embodiment.

As shown in FIG. 6, the remaining distance Lz, which is the distance between the remaining distance zero point Pz and the own vehicle D, is the link within the intersection from the remaining distance Lg, which is the distance between the guide point Pg and the own vehicle D. It can be calculated by subtracting the length Lcl of CLb. The remaining distance Lg is calculated by the remaining distance recalculation unit 32. The remaining distance Lg, which is the distance between the guide point Pg and the own vehicle D, is based on the guide point information acquired by the guide point information acquisition unit 24 and the own vehicle information acquired by the own vehicle information acquisition unit 22. It is calculated by the remaining distance calculation unit 31. When the navigation device 1A guides the user to turn left at the intersection Cr3, the remaining distance calculation unit 31 does not recalculate the remaining distance Lg in the second embodiment. That is, when turning left, the remaining distance Lz corresponds to the remaining distance Lg.

[Processing by device]
Next, using FIG. 7, a navigation device that calculates the remaining distance Lz from the own vehicle D to the remaining distance zero point Pz when turning left or right at the intersection Cr and when there are two exit side roads Re. An example of the processing of 1A will be described. FIG. 7 is a flowchart showing an example of processing in the navigation control device according to the second embodiment. The process shown in FIG. 7 is executed by the navigation control device 20A based on a predetermined control program and data. The navigation control device 20A shifts to step S201 shown in FIG. 7 and starts processing when, for example, the own vehicle D approaches the intersection Cr to turn left or right to a predetermined distance.

The navigation control device 20 acquires the own vehicle information indicating the current location of the own vehicle D (step S201). More specifically, the own vehicle information acquisition unit 22 acquires the own vehicle information based on the radio wave signal acquired by the GPS receiving unit 12. The navigation control device 20 proceeds to step S202.

The navigation control device 20 acquires map information from the current location of the own vehicle D to the intersection Cr where the vehicle should turn left or right (step S202). More specifically, the map information acquisition unit 23 acquires map information from the current location of the vehicle D to the intersection Cr from the map information storage unit 13 based on the vehicle information acquired by the vehicle information acquisition unit 22. .. The map information includes information on the guide point Pg and the link CL in the intersection. The navigation control device 20 shifts to step S203.

The navigation control device 20 acquires the guidance point information indicating the position of the latest guidance point Pg (step S203). More specifically, the guide point information acquisition unit 24 acquires the guide point information based on the map information acquired by the map information acquisition unit 23. The navigation control device 20 proceeds to step S204.

The navigation control device 20 calculates the remaining distance Lg, which is the distance between the guidance point Pg and the own vehicle D (step S204). More specifically, the remaining distance calculation unit 31 sets the guide point Pg and the own vehicle based on the guide point information acquired by the guide point information acquisition unit 24 and the own vehicle information acquired by the own vehicle information acquisition unit 22. The remaining distance Lg, which is the distance from D, is calculated. The navigation control device 20 proceeds to step S205.

The navigation control device 20 determines whether to turn right or left at the intersection Cr (step S205). More specifically, the navigation control device 20 determines whether the set guidance route is guiding a right turn or a left turn at the intersection Cr. When the guidance route is guiding a left turn at the intersection Cr (step S205; No), the navigation control device 20 shifts to step S212. When the guidance route is guiding a right turn at the intersection Cr (step S205; Yes), the navigation control device 20 shifts to step S206.

When the vehicle is guided to turn right at the intersection Cr (step S205; Yes), the navigation control device 20 determines whether or not the link CL in the intersection exists between the guidance point Pg and the own vehicle D (step S206). .. More specifically, the link determination unit 25A in the intersection includes the vehicle information acquired by the vehicle information acquisition unit 22, the map information acquired by the map information acquisition unit 23, and the guidance acquired by the guidance point information acquisition unit 24. Based on the point information, it is determined whether or not the link CL in the intersection exists between the guide point Pg and the own vehicle D. When the navigation control device 20 determines that the link CL in the intersection does not exist between the guide point Pg and the own vehicle D (step S206; No), the navigation control device 20 proceeds to step S212. When the navigation control device 20 determines that the link CL in the intersection exists between the guide point Pg and the own vehicle D (step S206; Yes), the navigation control device 20 proceeds to step S207.

When the in-intersection link CL exists between the guide point Pg and the own vehicle D (step S206; Yes), the navigation control device 20 determines whether or not the in-intersection link CLd exists in the traveling road Rd. (Step S207). More specifically, the in-intersection link determination unit 25A, more specifically, the in-intersection link determination unit 25A has acquired the own vehicle information acquired by the own vehicle information acquisition unit 22 and the map information acquisition unit 23. Based on the map information and the guide point information acquired by the guide point information acquisition unit 24, it is determined whether or not the link CLd in the intersection exists in the traveling road Rd. When the navigation control device 20 determines that the intersection link CLd does not exist in the traveling road Rd (step S207; No), the navigation control device 20 proceeds to step S212. When the navigation control device 20 determines that the intersection link CLd exists in the traveling road Rd (step S207; Yes), the navigation control device 20 proceeds to step S208.

When the intersection link CLd exists in the traveling road Rd, the navigation control device 20 determines whether or not there is one intersection link CLd (step S208). More specifically, the in-intersection link determination unit 25A, more specifically, the in-intersection link determination unit 25A has a link CLd in the intersection of 1 based on the guidance point information acquired by the guidance point information acquisition unit 24. Determine if it is one. When the navigation control device 20 determines that the intersection link determination unit 25A has one intersection link CLd (step S208; Yes), the navigation control device 20 proceeds to step S209. When the navigation control device 20 determines that the intra-intersection link determination unit 25A does not have one intra-intersection link CLd (step S208; No), the navigation control device 20 proceeds to step S210.

When there is only one link CLd in the intersection (step S208; Yes), the navigation control device 20 acquires the link information in the intersection indicating the length Lcl of the link CL in the intersection (step S209). More specifically, the in-intersection link information acquisition unit 26A acquires the in-intersection link information based on the map information acquired by the map information acquisition unit 23 and the determination result of the in-intersection link determination unit 25A. The navigation control device 20 shifts to step S211.

When there is not one in-intersection link CLd (step S208; No), the navigation control device 20 acquires the in-intersection link information indicating the length Lcl of the in-intersection link CLb directly connected to the guide point Pg (step S210). ). More specifically, the in-intersection link information acquisition unit 26A acquires the in-intersection link information based on the map information acquired by the map information acquisition unit 23 and the determination result of the in-intersection link determination unit 25A. The navigation control device 20 shifts to step S211.

The navigation control device 20 recalculates the remaining distance Lg (step S211). More specifically, the remaining distance recalculation unit 32A subtracts the length Lcl of the link CLb in the intersection from the remaining distance Lg calculated by the remaining distance calculation unit 31 to obtain the recalculated remaining distance Lz. The navigation control device 20 proceeds to step S212.

The navigation control device 20 notifies the remaining distance Lg or the recalculated remaining distance Lz (step S212). More specifically, when the vehicle is guided to turn right at the intersection Cr and the link CLb in the intersection exists in the traveling road Rd between the guidance point Pg and the own vehicle D, the notification control unit 60 re-uses. The notification unit 16 is notified of the calculated remaining distance Lz. When the vehicle is guided to turn left at the intersection Cr, or when the link CLd in the intersection does not exist in the traveling road Rd between the guidance point Pg and the own vehicle D, the notification control unit 60 notifies the remaining distance Lg to the notification unit 16. To notify. The navigation control device 20 ends the processing of the flowchart shown in FIG. 7.

As described above, the navigation device 1A guides the remaining distance zero point Pz, which is the starting point of the remaining distance Lz to the intersection Cr, on the exit side road Reb on the right turn side and the back side in the route guidance of the intersection to be turned right. It is set in front of the point Pg. More specifically, the navigation device 1 sets the remaining distance zero point Pz on the exit side road Ref on the right turn side and the front side. As a result, the driver presents guidance to set "remaining distance to zero" at the same position as or close to the timing when the driver turns the steering wheel in the right turn direction or the timing when the direction indicator is operated at the intersection Cr. The accuracy can be improved.

(Third Embodiment)
[Device configuration]
Next, an example of the configuration of the navigation device 1B according to the third embodiment will be described. FIG. 8 is a block diagram showing a configuration example of the navigation device according to the third embodiment. In the navigation device 1B of the third embodiment, the same configuration as that of the navigation device 1 of the first embodiment is designated by the same reference numerals, the description thereof will be omitted, and different configurations will be described. The navigation device 1B of the third embodiment is the same as the navigation device 1 of the first embodiment in the basic configuration. The navigation device 1B is different from the navigation device 1 in that the navigation control device 20B is provided instead of the navigation control device 20.

The navigation control device 20B of the third embodiment is the same as the navigation control device 20 of the first embodiment in the basic configuration. Compared with the navigation device 1, the navigation control device 20B replaces the in-intersection link determination unit 25, the in-intersection link information acquisition unit 26, and the remaining distance recalculation unit 32 with the in-intersection link determination unit 25B and the in-intersection link information acquisition. The difference is that the unit 26B and the remaining distance recalculation unit 32B are provided.

The in-intersection link determination unit 25B determines whether there is an in-intersection link CL connecting the adjacent node P between the guide point Pg and the own vehicle D. The intersection link determination unit 25B determines whether or not the intersection link CLd exists on the traveling road Rd. The link determination unit 25B in the intersection is based on the vehicle information acquired by the vehicle information acquisition unit 22, the map information acquired by the map information acquisition unit 23, and the guidance point information acquired by the guidance point information acquisition unit 24. , It is determined whether or not the link CLd in the intersection exists between the guide point Pg and the own vehicle D. The intersection link determination unit 25B further determines whether or not there is one intersection link CLd based on the guidance point information acquired by the guidance point information acquisition unit 24. The in-intersection link determination unit 25B outputs the determination result to the in-intersection link information acquisition unit 26B.

The in-intersection link information acquisition unit 26B determines that the in-intersection link CLd exists between the guide point Pg and the own vehicle D by the in-intersection link determination unit 25B, and determines that there is not one in-intersection link CLd. In this case, the link information in the intersection indicating the length Lcl of the link CLb in the intersection (see FIG. 9) directly connected to the guide point Pg is acquired. The in-intersection link information acquisition unit 26B acquires the in-intersection link information based on the map information acquired by the map information acquisition unit 23 and the determination result of the in-intersection link determination unit 25B. The in-intersection link information acquisition unit 26B outputs the acquired in-intersection link information to the remaining distance recalculation unit 32B.

The remaining distance recalculation unit 32B recalculates the remaining distance Lg based on a predetermined condition. The remaining distance recalculation unit 32B recalculates the remaining distance Lg based on the remaining distance Lg calculated by the remaining distance calculation unit 31 and the link information in the intersection acquired by the link information acquisition unit 26B in the intersection. The remaining distance recalculation unit 32B recalculates the remaining distance Lg based on the length Lcl of the link CLb in the intersection. In the second embodiment, when the navigation device 1B guides the navigation device 1B to turn right at the intersection Cr4 (see FIG. 9), the remaining distance recalculation unit 32B subtracts a constant multiple of the length of the link CLb in the intersection from the remaining distance Lg. , Remaining distance Lz (see FIG. 9) is obtained. The constant is 0.5 in the third embodiment. The remaining distance Lz reaches an intermediate position between the exit side road Ref on the back side and the exit side road Ref on the front side (see FIG. 9) at the intersection Cr4 that turns right on the exit side road Ref (see FIG. 9) on the back side. Then it becomes zero. Therefore, it is easy for the driver to intuitively understand the intersection Cr4 where the driver should turn right. The remaining distance recalculation unit 32B outputs the recalculated remaining distance Lz to the display control unit 50 and the notification control unit 60.

[Recalculation method of remaining distance]
The calculation method of the remaining distance Lz from the own vehicle D to the intersection Cr4 where the right turn should be made will be described in more detail with reference to FIG. FIG. 9 is a schematic view showing an example of an intersection to which the third embodiment is applied. In the intersection Cr4 shown in FIG. 9, the same configuration as that of the intersection Cr3 shown in FIG. 6 is designated by the same reference numerals, the description thereof will be omitted, and different configurations will be described. Further, in FIG. 9, the travelable direction of each road is indicated by the broken line arrow. In the following description, when it is not necessary to distinguish between the above-mentioned intersection Cr1, intersection Cr2 and intersection Cr3, and intersection Cr4, it is described as intersection Cr.

At the intersection Cr4, the distance between the exit side road Ref on the right turn side and the front side and the exit side road Rev on the right turn side and the back side is larger than that at the intersection Cr3. In the third embodiment, the length Lcl of the link CL in the intersection used when calculating the remaining distance Lz is the exit side road Ref on the right turn side and the front side and the right turn side and the back as in the second embodiment. The length Lcl of the link CLb in the intersection connecting the exit side road Reb on the side. At the intersection Cr4, the length Lcl of the intersection link CLb is larger than the length of the intersection link CLf.

In the route guidance, the timing when the driver turns the steering wheel in the right turn direction or the timing when the direction indicator is operated at the intersection Cr4 coincides with or is close to the remaining distance Lz until the right turn and the guided remaining distance zero point Pz. It is preferable to do so. The guide point Pg is set at the same position as that of the second embodiment in the third embodiment. In the third embodiment, the remaining distance zero point Pz is a node P of the exit side road Ref on the right turn side and the front side of the traveling road Rd, and a node P of the exit side road Ref on the right turn side and the back side. It is set in the middle position of. When the navigation device 1B guides the driver to turn left at the intersection Cr, the remaining distance zero point Pz is set at the same position as the guide point Pg in the third embodiment.

As shown in FIG. 9, the remaining distance Lg, which is the distance between the remaining distance zero point Pz and the own vehicle D, is the link within the intersection from the remaining distance Lg, which is the distance between the guide point Pg and the own vehicle D. It can be calculated by subtracting 0.5 times the length of CLb Lcl. The remaining distance Lg is calculated by the remaining distance recalculation unit 32. The remaining distance Lg, which is the distance between the guide point Pg and the own vehicle D, is based on the guide point information acquired by the guide point information acquisition unit 24 and the own vehicle information acquired by the own vehicle information acquisition unit 22. It is calculated by the remaining distance calculation unit 31. When the navigation device 1B guides the user to turn left at the intersection Cr4, the remaining distance calculation unit 31 does not recalculate the remaining distance Lg in the third embodiment. That is, when turning left, the remaining distance Lz corresponds to the remaining distance Lg.

[Processing by device]
Next, using FIG. 10, a navigation device that calculates the remaining distance Lz from the own vehicle D to the remaining distance zero point Pz when turning left or right at the intersection Cr and when there are two exit side roads Re. Another example of the process of 1B will be described. FIG. 10 is a flowchart showing an example of processing in the navigation control device according to the third embodiment. The process shown in FIG. 10 is executed by the navigation control device 20B based on a predetermined control program and data. The navigation control device 20B shifts to step S301 shown in FIG. 10 and starts processing when, for example, the own vehicle D approaches the intersection Cr to turn left or right to a predetermined distance.

The navigation control device 20 acquires the own vehicle information indicating the current location of the own vehicle D (step S301). More specifically, the own vehicle information acquisition unit 22 acquires the own vehicle information based on the radio wave signal acquired by the GPS receiving unit 12. The navigation control device 20 proceeds to step S302.

The navigation control device 20 acquires map information from the current location of the own vehicle D to the intersection Cr where the vehicle should turn left or right (step S302). More specifically, the map information acquisition unit 23 acquires map information from the current location of the vehicle D to the intersection Cr from the map information storage unit 13 based on the vehicle information acquired by the vehicle information acquisition unit 22. .. The map information includes information on the guide point Pg and the link CL in the intersection. The navigation control device 20 proceeds to step S303.

The navigation control device 20 acquires the guidance point information indicating the position of the latest guidance point Pg (step S303). More specifically, the guide point information acquisition unit 24 acquires the guide point information based on the map information acquired by the map information acquisition unit 23. The navigation control device 20 proceeds to step S304.

The navigation control device 20 calculates the remaining distance Lg, which is the distance between the guidance point Pg and the own vehicle D (step S304). More specifically, the remaining distance calculation unit 31 sets the guide point Pg and the own vehicle based on the guide point information acquired by the guide point information acquisition unit 24 and the own vehicle information acquired by the own vehicle information acquisition unit 22. The remaining distance Lg, which is the distance from D, is calculated. The navigation control device 20 proceeds to step S305.

The navigation control device 20 determines whether to turn right or left at the intersection Cr (step S305). More specifically, the navigation control device 20 determines whether the set guidance route is guiding a right turn or a left turn at the intersection Cr. When the guidance route is guiding a left turn at the intersection Cr (step S305; No), the navigation control device 20 shifts to step S312. When the guidance route is guiding a right turn at the intersection Cr (step S305; Yes), the navigation control device 20 shifts to step S306.

When the vehicle is guided to turn right at the intersection Cr (step S305; Yes), the navigation control device 20 determines whether or not the link CL in the intersection exists between the guidance point Pg and the own vehicle D (step S306). .. More specifically, the link determination unit 25B in the intersection includes the vehicle information acquired by the vehicle information acquisition unit 22, the map information acquired by the map information acquisition unit 23, and the guidance acquired by the guidance point information acquisition unit 24. Based on the point information, it is determined whether or not the link CL in the intersection exists between the guide point Pg and the own vehicle D. When the navigation control device 20 determines that the link CL in the intersection does not exist between the guide point Pg and the own vehicle D (step S306; No), the navigation control device 20 proceeds to step S312. When the navigation control device 20 determines that the link CL in the intersection exists between the guide point Pg and the own vehicle D (step S306; Yes), the navigation control device 20 proceeds to step S307.

When the link CL in the intersection exists between the guidance point Pg and the own vehicle D (step S306; Yes), the navigation control device 20 determines whether or not the link CLd in the intersection exists in the traveling road Rd. (Step S307). More specifically, the in-intersection link determination unit 25B, more specifically, the in-intersection link determination unit 25B has acquired the own vehicle information acquired by the own vehicle information acquisition unit 22 and the map information acquisition unit 23. Based on the map information and the guide point information acquired by the guide point information acquisition unit 24, it is determined whether or not the link CLd in the intersection exists in the traveling road Rd. When the navigation control device 20 determines that the intersection link CLd does not exist in the traveling road Rd (step S307; No), the navigation control device 20 proceeds to step S312. When the navigation control device 20 determines that the intersection link CLd exists in the traveling road Rd (step S307; Yes), the navigation control device 20 proceeds to step S308.

When the intersection link CLd exists in the traveling road Rd, the navigation control device 20 determines whether or not there is one intersection link CLd (step S308). More specifically, the in-intersection link determination unit 25B, more specifically, the in-intersection link determination unit 25B has a link CLd in the intersection of 1 based on the guidance point information acquired by the guidance point information acquisition unit 24. Determine if it is one. When the navigation control device 20 determines that the intersection link determination unit 25B has one intersection link CLd (step S308; Yes), the navigation control device 20 proceeds to step S309. When the navigation control device 20 determines that the intersection link determination unit 25B does not have one intersection link CLd (step S308; No), the navigation control device 20 proceeds to step S310.

When there is only one link CLd in the intersection (step S308; Yes), the navigation control device 20 acquires the link information in the intersection indicating the length Lcl of the link CL in the intersection (step S309). More specifically, the in-intersection link information acquisition unit 26B acquires the in-intersection link information based on the map information acquired by the map information acquisition unit 23 and the determination result of the in-intersection link determination unit 25B. The navigation control device 20 proceeds to step S311.

When there is not one in-intersection link CLd (step S308; No), the navigation control device 20 acquires the in-intersection link information indicating the length Lcl of the in-intersection link CLb directly connected to the guide point Pg (step S310). ). More specifically, the in-intersection link information acquisition unit 26B acquires the in-intersection link information based on the map information acquired by the map information acquisition unit 23 and the determination result of the in-intersection link determination unit 25B. The navigation control device 20 proceeds to step S311.

The navigation control device 20 recalculates the remaining distance Lg (step S311). More specifically, the remaining distance recalculation unit 32B subtracts a constant multiple of the length Lcl of the link CLb in the intersection from the remaining distance Lg calculated by the remaining distance calculation unit 31 to obtain the recalculated remaining distance Lz. obtain. The constant is 0.5 in the third embodiment. The navigation control device 20 proceeds to step S312.

The navigation control device 20 notifies the remaining distance Lg or the recalculated remaining distance Lz (step S312). More specifically, when the vehicle is guided to turn right at the intersection Cr and the link CLb in the intersection exists in the traveling road Rd between the guidance point Pg and the own vehicle D, the notification control unit 60 re-uses. The notification unit 16 is notified of the calculated remaining distance Lz. When the vehicle is guided to turn left at the intersection Cr, or when the link CLd in the intersection does not exist in the traveling road Rd between the guidance point Pg and the own vehicle D, the notification control unit 60 notifies the remaining distance Lg to the notification unit 16. To notify. The navigation control device 20 ends the processing of the flowchart shown in FIG. 7.

As described above, the navigation device 1B guides the remaining distance zero point Pz, which is the starting point of the remaining distance Lz to the intersection Cr, on the exit side road Reb on the right turn side and the back side in the route guidance of the intersection to be turned right. It is set in front of the point Pg. More specifically, the navigation device 1 sets the remaining distance zero point Pz between the exit side road Ref on the right turn side and the front side and the exit side road Reb on the right turn side and the back side. It is set. As a result, the driver presents a guide to set "remaining distance to zero" at the same position as or close to the timing when the driver turns the steering wheel in the right turn direction or the timing when the direction indicator is operated at the intersection Cr, so that the driver recognizes the right turn intersection. The accuracy can be improved.

In the third embodiment, the remaining distance zero point Pz is set at an intermediate position between the nodal points P of the two exit side roads Re. That is, 0.5 times the length of the link CLb in the intersection is subtracted from the remaining distance Lg, but the constant to be multiplied by the length Lcl is changed based on the length Lcl of the link CLb in the intersection. Good.

Each component of the illustrated

navigation devices

1, 1A, and 1B is a functional concept and does not necessarily have to be physically configured as shown in the figure. That is, the specific form of each device is not limited to the one shown in the figure, and all or part of each device is functionally or physically dispersed or integrated in an arbitrary unit according to the processing load and usage status of each device. You may.

The configurations of the

navigation devices

1, 1A and 1B are realized by, for example, a program loaded in the memory as software. In the above embodiment, it has been described as a functional block realized by cooperation of these hardwares or software. That is, these functional blocks can be realized in various forms by hardware only, software only, or a combination thereof.

The description of this specification is based on the premise that the vehicle is traveling on the left side, but in a country or region where the vehicle is traveling on the right side, the embodiment is applied by reading the left and right sides of the description of this specification. can do.

The navigation control device, navigation device, navigation method, and navigation program of the embodiment can be used for, for example, a vehicle navigation device.

1 Navigation device 11 Operation unit 12 GPS receiver 13 Map information storage unit 14 Communication unit 15 Display unit 16 Notification unit 20 Navigation control device 21 Operation reception control unit 22 Own vehicle information acquisition unit 23 Map information acquisition unit 24 Guidance point information acquisition unit 25 Intersection link judgment unit 26 Intersection link information acquisition unit 31 Remaining distance calculation unit 32 Remaining distance recalculation unit 40 Communication control unit 50 Display control unit 60 Notification control unit Cr Intersection Rd Driving road Re Exit side road P Nodal point Pg Guidance point Pz Remaining distance zero point CL Intersection link D Own vehicle Lg, Lz Remaining distance Lcl Length

Claims

A map information acquisition unit that acquires map information including information on nodes that are connections between roads,
A guide point information acquisition unit that acquires guide point information indicating the position of a guide point that is a node between a traveling road and an exiting road at an intersection closest to the direction of travel based on the map information.
The vehicle information acquisition unit that acquires vehicle information indicating the position of the vehicle, and
An intersection link determination unit that determines whether an intersection link exists in the same intersection as the intersection including the guide point that connects adjacent nodes between the guide point and the vehicle.
When the in-intersection link exists, the in-intersection link information acquisition unit that acquires the in-intersection link information indicating the length of the in-intersection link, and the in-intersection link information acquisition unit.
When turning across an oncoming lane at the intersection, a remaining distance calculation unit that calculates the remaining distance, which is the distance between the guide point and the own vehicle, based on the guide point information and the own vehicle information.
The remaining distance recalculation unit that recalculates the remaining distance based on the link information in the intersection,
Navigation control device.
The navigation control device according to claim 1, wherein the in-intersection link determination unit determines whether or not there is an in-intersection link connecting adjacent nodes on a traveling road.
The navigation control device according to claim 1 or 2, wherein the remaining distance recalculation unit subtracts the length of the link in the intersection from the remaining distance.
The navigation control device according to claim 2, wherein the remaining distance recalculation unit subtracts the length of the link in the intersection directly connected to the guide point from the remaining distance when a plurality of links in the intersection exist.
The navigation control device according to claim 1 or 2, wherein the remaining distance recalculation unit subtracts a value obtained by multiplying the length of the link in the intersection by a predetermined constant from the remaining distance.
The navigation control device according to any one of claims 1 to 5, further comprising a notification control unit that controls the driver to notify the recalculated remaining distance.
The navigation control device according to any one of claims 1 to 6.
A notification unit that notifies the driver of the recalculated remaining distance, and
Navigation device with.
Map information acquisition step to acquire map information and
Based on the map information, a guide point information acquisition step for acquiring guide point information indicating the position of a guide point which is a node between a traveling road and an exiting road at an intersection that turns across the oncoming lane closest to the direction of travel, and
Vehicle information acquisition step to acquire vehicle information indicating the position of the vehicle, and
A remaining distance calculation step for calculating the remaining distance, which is the distance between the guide point and the own vehicle, based on the guide point information and the own vehicle information.
An intra-intersection link determination step for determining whether an intra-intersection link exists in the same intersection as an intersection including the guide point that connects adjacent nodes between the guide point and the own vehicle.
When the in-intersection link exists, the in-intersection link information acquisition step for acquiring the in-intersection link information indicating the length of the in-intersection link, and the in-intersection link information acquisition step.
The remaining distance recalculation step of recalculating the remaining distance based on the link information in the intersection, and
Navigation method with.
Map information acquisition step to acquire map information and
Based on the map information, a guide point information acquisition step for acquiring guide point information indicating the position of a guide point which is a node between a traveling road and an exiting road at an intersection that turns across the oncoming lane closest to the direction of travel, and
Vehicle information acquisition step to acquire vehicle information indicating the position of the vehicle, and
A remaining distance calculation step for calculating the remaining distance, which is the distance between the guide point and the own vehicle, based on the guide point information and the own vehicle information.
An intra-intersection link determination step for determining whether an intra-intersection link exists in the same intersection as an intersection including the guide point that connects adjacent nodes between the guide point and the own vehicle.
When the in-intersection link exists, the in-intersection link information acquisition step for acquiring the in-intersection link information indicating the length of the in-intersection link, and the in-intersection link information acquisition step.
The remaining distance recalculation step of recalculating the remaining distance based on the link information in the intersection, and
A navigation program that lets your computer run.