JP5708325B2 - Movement guidance system, movement guidance apparatus, movement guidance method, and computer program - Google Patents

Description

  The present invention relates to a movement guidance system, a movement guidance device, a movement guidance method, and a computer program that guide the movement of a moving body based on a guidance route.

  2. Description of the Related Art In recent years, a navigation device is often mounted on a vehicle that provides vehicle travel guidance so that a driver can easily arrive at a desired destination. Here, the navigation device detects the current position of the vehicle by a GPS receiver or the like, acquires map data corresponding to the current position through a recording medium such as a DVD-ROM or HDD or a network, and displays it on a liquid crystal monitor. It is a device that can do. Further, such a navigation device has a route search function for searching for an optimum route from the departure place to the destination when a desired destination is input. The guidance route set based on the search result is displayed on the display screen, and when approaching a branch point (hereinafter referred to as a guidance branch point) for guidance such as turning left or right, a voice or display screen is displayed. By performing the guidance used, the user is surely guided to a desired destination. In recent years, some cellular phones, PDAs (Personal Digital Assistants), personal computers, and the like have functions similar to those of the navigation device. Furthermore, it is also possible to perform the above guidance for pedestrians and two-wheeled vehicles as well as vehicles.

  Here, when performing guidance such as turning left or right at the guidance branch point, it is necessary for the user to accurately identify the guidance branch point. In order to allow the user to accurately specify the guidance branch point, it is particularly important to perform the timing for starting the guidance output and the timing for ending the guidance output at appropriate timings according to the content of the guidance. If it is not performed at an appropriate timing, there is a high possibility that the user will erroneously recognize the guidance branch point. For example, when using a traffic light installed at a branch point to guide “the second signal is to the left”, the branch point with a traffic light that is two before the guide branch point The guidance signal is output after the traffic signal has disappeared from the user's field of view, and the guidance signal is output in a state where the traffic signal at the branch point with the traffic signal located on the near side of the guidance branch point remains in the user's field of view. It is desirable to end.

  Therefore, for example, in Japanese Patent Application Laid-Open No. 2002-156242, when guidance of a guidance branch point is performed by voice guidance using the number of traffic lights, a branch point with a traffic light on the near side of the guidance branch point is provided. If the voice guidance output ends before passing through the traffic lights, voice guidance using the number of traffic lights is performed, and before passing through the traffic lights at the branch point with a traffic light that is one before the guidance branch point. Describes a technique for configuring voice guidance so that voice guidance is not performed when the voice guidance is not output.

JP 2002-156242 A (pages 4 to 6, FIG. 3)

  Here, in the technique described in Patent Document 1, voice guidance is hardly performed in an urban area where the interval between branch points is short. However, it is more important to identify guidance branch points accurately by providing guidance in suburban areas where the distance between branch points is shorter than in the suburbs where the distance between branch points is large. Become. Therefore, in the technique described in the above-mentioned Patent Document 1, the user cannot accurately specify the guidance branch point, causing a situation where the timing of the right / left turn operation is delayed or the vehicle travels off the guidance route.

  The present invention has been made to solve the above-described problems in the prior art, and even when the guidance must be output during the passage of the branch point in an urban center where the interval between the branch points is short, the front branch is provided. A movement guidance system, a movement guidance device, and a movement guidance that enable a user to accurately identify a guidance branch point by starting and ending guidance output at an appropriate timing based on the position of a traffic light at a point It is an object to provide a method and a computer program.

In order to achieve the above object, a travel guidance system (1) according to claim 1 of the present application comprises a guide route setting means for setting a guide route for guiding the movement of a moving body and a guidance branch point (61) on the guide route. 13) and signal position acquisition for acquiring the positions of the approach side traffic light (65) and the exit side traffic light (66) at the front branch point (62, 64) existing on the departure side of the guide route from the guide branch point Based on the position of the approach side traffic signal acquired by the means (13) and the traffic signal position acquisition means, a section from a predetermined distance near the departure side of the approach side traffic signal to the vicinity of the approach side traffic signal is defined as a guidance start interval. Based on the position of the approach side traffic signal and the exit side traffic signal acquired by the guidance start section setting means (13) set by the traffic signal position acquisition means, and a predetermined distance on the departure side of the approach side traffic signal And a guidance end section setting means (13) for setting a section from the traffic signal to the vicinity of the exit side traffic signal as a guidance end section, and output of guidance at the guidance branch point to the mobile body located in the guidance start section is started. In this case, guidance determination means (13) for determining whether or not the output of the guidance can be completed while the mobile body is located in the guidance end section, and mobile body position acquisition means for acquiring the position of the mobile body (13), position determination means (13) for determining whether or not the mobile body is located in the guidance start section based on the position of the mobile body and the position of the guidance start section; and the guidance determination means. The branch for starting the guidance output at the guidance branch point when it is determined by the position determination means that the moving body is located in the guidance start section. Guide means (13), characterized in that it has a.
The “moving body” includes a pedestrian and a two-wheeled vehicle in addition to the vehicle.
In addition, the “guidance branch point” corresponds to a branch point that is a target for performing guidance such as a right / left turn instruction when performing guidance of movement of the moving object according to the guidance route.

Further, the movement guidance system (1) according to claim 2 is the movement guidance system according to claim 1, wherein the branch point guide means (13) includes the moving body and the front branch point (62, 64). ) And a second phrase that specifies a positional relationship between the moving body and the guidance branch point (61) after the moving body passes through the front branch point. The guidance branch point is guided by including guidance.
The “first phrase for specifying the positional relationship between the moving body and the front branch point” may be a phrase for specifying the positional relationship between the mobile body and the front branch point itself, and may be provided around the front branch point. The phrase which specifies the positional relationship with the near branch point using a certain feature (for example, a traffic light or a stop line) may be used.
The “second phrase for specifying the positional relationship between the moving body and the guidance branch point” may be a phrase for specifying the positional relationship between the mobile body and the guidance branch point itself, The phrase which specifies the positional relationship with the guidance branch point using a certain feature (for example, a traffic light or a stop line) may be used.

  Further, the travel guidance system (1) according to claim 3 is the travel guidance system according to claim 2, wherein the first phrase moves the front branch point (62, 64) to the mobile object in the future. It is a phrase which shows that it is a branch point which passes.

The movement guidance system (1) according to claim 4 is the movement guidance system according to claim 2 or 3, wherein the second phrase is guided from the front branch point (62, 64). It is a phrase that specifies the number of branch points existing up to the branch point (61).
It should be noted that the phrase “specifying the number of branch points existing from the previous branch point to the guide branch point” does not have to directly guide the number of branch points existing from the previous branch point to the guide branch point. The phrase may be indirectly guided. For example, the phrase may be a phrase that specifies the number of branch points by using the number of features (such as traffic lights) installed at a branch point existing between the front branch point and the guide branch point.

  A travel guidance system (1) according to claim 5 is the travel guidance system according to any one of claims 1 to 4, wherein the mobile body is a vehicle, and vehicle information relating to the vehicle is stored. Based on the vehicle information acquisition means (13) to be acquired and the vehicle information, a first switching point for switching from a state in which the occupant of the vehicle can visually recognize the entry side traffic light (65) to a state in which the vehicle cannot be viewed is specified. Based on the vehicle information, the first switching point specifying means (13) and a second switching point for switching from a state in which the exit side traffic light (66) is visible to a state in which the exit side traffic light (66) is not visible are identified. Switching point specifying means (13), wherein the guidance start section setting means starts the guidance for a section from a predetermined distance on the departure side of the approach side traffic signal to the first switching point. Set between the guidance end section setting means, and sets a section from a predetermined distance before the starting point side of the entrance-side traffic to the second switching point in the guidance end section.

  According to a sixth aspect of the present invention, there is provided a travel guide device (1) comprising a guide route for guiding movement of a moving body, a guide route setting means (13) for setting a guide branch point (61) on the guide route, and the guide Signal position acquisition means (13) for acquiring the positions of the approach side traffic light (65) and the exit side traffic light (66) at the front branch point (62, 64) existing on the departure side of the guide route from the branch point; Based on the position of the approach side traffic signal acquired by the traffic signal position acquisition means, a guidance start section for setting a section from a predetermined distance before the start side of the approach side traffic signal to the vicinity of the approach side traffic signal as a guidance start section Based on the setting means (13) and the positions of the approach side traffic signal and the exit side traffic signal acquired by the traffic signal position acquisition means, the vicinity of the exit side traffic signal from a predetermined distance before the departure side of the approach side traffic signal The guidance end section setting means (13) for setting the section at the guidance end section, and the guidance branch point guidance output to the mobile body located in the guidance start section is started. Guidance determining means (13) for determining whether or not the output of the guidance can be ended while the moving body is located in the end section, moving body position acquiring means (13) for acquiring the position of the moving body, Based on the position of the mobile body and the position of the guidance start section, position determination means (13) for determining whether or not the mobile body is located in the guidance start section, and the guidance determination means ends the output of guidance. A branch point guide means (13) for starting output of guidance for the guidance branch point when it is determined that the movable body is located in the guidance start section by the position determination means. And have And wherein the Rukoto.

The mobile guide method according to claim 7, the guide route setting means, and away step to set the guidance branch point on the guidance route and the guide route (61) for guiding the movement of the moving body, the traffic position acquisition means, and away step to obtain the position of the preceding junction present in the starting point side (62, 64) enters side traffic (65) and the exit-side traffic (66) of the guide path than the guidance branch point The guidance start section setting means guides a section from a predetermined distance on the departure side to the vicinity of the approaching traffic signal based on the position of the approaching traffic signal acquired by the traffic signal position acquiring means. and Luz step be set in the start section, guidance end section setting means, based on the position of the entrance-side traffic and the exit-side traffic obtained by the traffic position obtaining unit, a predetermined departure point side of the entrance-side traffic Distance The section from the front to near the exit-side traffic, and answering step be set in the guidance end section, the guide determining means, the output of the guidance of the guide branch point with respect to the moving body positioned in the guide start section when you start a Luz step to determine whether it terminates the output of the guiding while the movable body to the guidance end section is located, the mobile location acquisition unit, to acquire the position of the movable body and Luz step, position determining means, on the basis of the position of the movable body and the position of the guide start section, and whether the determination to Luz step the movable body is positioned at the guidance start section, the branch point When the guidance means determines that the guidance output can be terminated by the guidance determination means , and the position determination means determines that the mobile body is located in the guidance start section, the guidance branch point Output of guidance It characterized by having a a Luz step to start.

Further, a computer program according to an eighth aspect of the present invention provides a computer , a guide route setting means for setting a guide route for guiding movement of a moving body, a guide branch point (61) on the guide route, and the guide branch point. Acquired by the traffic signal position acquisition means for acquiring the positions of the approach side traffic signal (65) and the exit side traffic signal (66) of the near branch point (62, 64) existing on the departure side of the guide route, and the traffic signal position acquisition means. Based on the position of the approaching traffic signal, a guidance start section setting means for setting a section from a predetermined distance before the departure side of the approaching traffic signal to the vicinity of the approaching traffic signal as a guidance start section, and the traffic signal position based on the position of the acquired entry side traffic and the exit-side traffic by acquisition means, until the exit-side traffic around a predetermined distance before the starting point side of the entrance-side traffic A section, a guidance end section setting means for setting a guidance end section, when start to output the guidance of the guide branch point with respect to the moving body positioned in the guide start section, the move to the guidance end section Guidance determination means for determining whether or not the output of the guidance can be terminated while the body is positioned, mobile body position acquisition means for acquiring the position of the mobile body, the position of the mobile body and the position of the guidance start section based on the bets, the and determining whether the position determining means moving body positioned in the guide start section, even if it is determined that it end the output of the guidance by the guide determining means, said position determining means When it is determined that the moving body is located in the guidance start section, it is made to function as a branch point guide means for starting output of guidance at the guide branch point.

  According to the movement guidance system according to claim 1 having the above-described configuration, even when the guidance must be output during the passage of the branch point in an urban center where the interval between the branch points is short, By starting and ending the output of guidance at an appropriate timing based on the position of the traffic light, it is possible to perform guidance that allows the user to accurately identify the guidance branch point. In addition, it is possible to prevent a situation in which guidance is not performed in the city center where the interval between the branch points is short, and to allow the user to specify the guide branch point accurately.

  Further, according to the movement guidance system according to claim 2, the first phrase for specifying the positional relationship between the moving body and the front branch point, and the moving body and the guidance branch point after the mobile body passes through the front branch point. The guidance branch point is guided by a guide that includes the second phrase that specifies the positional relationship between and the front branch of the moving object even if the guidance must be output while passing the front branch point. By performing guidance in consideration of the passage of points, the position of the guidance branch point can be easily specified by the user. In addition, it is possible for the user to specify the guidance branch point more accurately than in the case where guidance is performed using the distance to the guidance branch point.

  Moreover, according to the movement guidance system of Claim 3, since guidance of a guidance branch point is performed by the guidance containing the 1st phrase which shows that a mobile body passes the near branch point in the future, It is possible to allow the user to accurately specify the near branch point indicated in the phrase. As a result, it becomes possible for the user to easily specify the position of the guidance branch point based on the near branch point.

  According to the movement guidance system of claim 4, the guidance branch includes guidance including the second phrase that specifies the number of branch points from the mobile body to the guidance branch point after the mobile body has passed the near branch point. Since point guidance is performed, the positional relationship between the moving body and the guidance branch point can be easily specified by the user depending on the number of branch points. As a result, it is possible for the user to specify the guidance branch point accurately.

  Further, according to the movement guidance system of the fifth aspect, the guidance branch point guidance is made before the approach side traffic light at the front branch point becomes invisible, that is, in a state where the user can recognize the front branch point as a branch point to be passed from now. It is possible to end the output of the guidance at the guidance branch point before the exit side traffic light at the front branch point becomes invisible, that is, in a state where the user can recognize that the front branch point is currently passing. Become. As a result, it is possible to start guidance at the guidance branch point at an appropriate timing based on the guidance content. In particular, when performing guidance using a traffic light or a branch point, the effect becomes remarkable.

  Further, according to the movement guide device of the sixth aspect, even when the guidance must be output during the passage of the branch point in an urban center where the interval between the branch points is short, the traffic signal of the front branch point By starting and ending the output of guidance at an appropriate timing based on the position, it is possible to perform guidance that allows the user to accurately identify the guidance branch point. In addition, it is possible to prevent a situation in which guidance is not performed in the city center where the interval between the branch points is short, and to allow the user to specify the guide branch point accurately.

  Further, according to the movement guide method of the seventh aspect, even when the guidance must be output during the passage of the branch point in an urban center where the distance between the branch points is short, the traffic signal of the front branch point By starting and ending the output of guidance at an appropriate timing based on the position, it is possible to perform guidance that allows the user to accurately identify the guidance branch point. In addition, it is possible to prevent a situation in which guidance is not performed in the city center where the interval between the branch points is short, and to allow the user to specify the guide branch point accurately.

  Furthermore, according to the computer program of the eighth aspect, even when the guidance must be output during the passage of the branch point in an urban center where the distance between the branch points is short, the position of the traffic light at the front branch point By starting and ending the output of guidance at an appropriate timing based on the above, it is possible to guide the user to accurately identify the guidance branch point. In addition, it is possible to prevent a situation in which guidance is not performed in the city center where the interval between the branch points is short, and to allow the user to specify the guide branch point accurately.

It is the block diagram which showed the navigation apparatus which concerns on this embodiment. It is the figure which showed an example of the traffic signal arrange | positioned at a branch point. It is the figure which showed an example of the guidance phrase condition table. It is a figure explaining the guidance start area and guidance end area prescribed | regulated by the guidance phrase condition table. It is a flowchart of a branch point guidance processing program according to the present embodiment. It is a flowchart of the sub process program of the guidance setting process which concerns on this embodiment. It is a flowchart of the sub process program of the 1st guidance determination process which concerns on this embodiment. It is a figure explaining the determination method of the sub process program of a 1st guidance determination process. It is a flowchart of the sub process program of the 2nd guidance determination process which concerns on this embodiment. It is a figure explaining the determination method of the sub process program of a 2nd guidance determination process. It is a flowchart of the sub process program of the 3rd guidance determination process which concerns on this embodiment. It is a figure explaining the determination method of the sub process program of a 3rd guidance determination process.

  DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a movement guide system and a movement guide apparatus according to the present invention will be described in detail with reference to the drawings based on an embodiment in which the navigation apparatus is embodied. First, a schematic configuration of the navigation device 1 according to the present embodiment will be described with reference to FIG. FIG. 1 is a block diagram showing a navigation device 1 according to this embodiment.

  As shown in FIG. 1, the navigation device 1 according to the present embodiment includes a current position detection unit 11 that detects a current position of a vehicle on which the navigation device 1 is mounted, a data recording unit 12 that records various data, A navigation ECU 13 that performs various arithmetic processes based on the input information, an operation unit 14 that receives operations from the user, and a liquid crystal display 15 that displays a map around the vehicle and facility information related to the facility to the user. Communicating between a speaker 16 that outputs voice guidance regarding route guidance, a DVD drive 17 that reads a DVD as a storage medium, and an information center such as a probe center or a VICS (registered trademark: Vehicle Information and Communication System) center And a communication module 18 for performing.

Below, each component which comprises the navigation apparatus 1 is demonstrated in order.
The current position detection unit 11 includes a GPS 21, a vehicle speed sensor 22, a steering sensor 23, a gyro sensor 24, and the like, and can detect the current vehicle position, direction, vehicle traveling speed, current time, and the like. . Here, in particular, the vehicle speed sensor 22 is a sensor for detecting a moving distance and a vehicle speed of the vehicle, generates a pulse according to the rotation of the driving wheel of the vehicle, and outputs a pulse signal to the navigation ECU 13. And navigation ECU13 calculates the rotational speed and moving distance of a driving wheel by counting the generated pulse. Note that the navigation device 1 does not have to include all of the above five types of sensors, and the navigation device 1 may include only one or more of these types of sensors.

  Further, the data recording unit 12 reads out a hard disk (not shown) as an external storage device and a recording medium, a map information DB 31 recorded on the hard disk, a guidance phrase condition table 32, a predetermined program, and the like, and stores a predetermined program on the hard disk. And a recording head (not shown) which is a driver for writing data. The data recording unit 12 may be configured by a memory card, an optical disk such as a CD or a DVD, instead of the hard disk.

  Here, the map information DB 31 is, for example, link data 33 regarding roads (links), node data 34 regarding node points, branch point data 35 regarding each branch point, point data regarding points such as facilities, and a map for displaying a map. The storage means stores display data, search data for searching for a route, search data for searching for a point, and the like.

  Here, the link data 33 includes, for example, a link ID for identifying the link, end node information for identifying a node located at the end of the link, the road type of the road constituting the link, the number of lanes, and the like. Remembered. The node data 34 stores a node ID for identifying the node, position coordinates of the node, connection destination node information for specifying a connection destination node to which the node is connected via a link, and the like. Further, as the branch point data 35, relevant node information for specifying a node forming the branch point (intersection), connection link information for specifying a link connected to the branch point (hereinafter referred to as a connection link), a branch point The traffic signal information 36 and the like related to the traffic signals installed in the vicinity of is stored.

  In addition, the traffic signal information 36 is the direction in which the traffic light is installed (that is, the direction in which the traffic light is facing) of the traffic signal installed around each branch point (intersection) in the whole country, and hereinafter referred to as the installation direction. ), The number of lamps (three-lamp type, one-lamp type, etc.), the position coordinates where the traffic lights are installed (hereinafter referred to as installation coordinates), and the like. Furthermore, when a plurality of traffic lights are installed at one branch point, the installation direction, installation coordinates, etc. are stored for each of the traffic lights. For example, as shown in FIG. 2, eight traffic lights 52 to 59 are installed at a branching point 51 where two one-lane roads intersect. Accordingly, as the traffic signal information 36 of the branch point 51, the installation direction, installation coordinates, and the like of the traffic signals 52 to 59 are stored.

The traffic signal information 36 is the traffic signal that is on the most exit side for each exit direction from the branch point (that is, the traffic signal that can be visually recognized at the end of the branch when the vehicle passes through the branch point. It is good also as a structure which memorize | stores only the information regarding a side signal apparatus. For example, at the branch point 51 shown in FIG. 2, information on the traffic signal 53 that is the exit side traffic signal is stored for the exit direction from the bottom to the top of the diagram, and the exit side is displayed for the exit direction from the top to the bottom of the diagram. Stores information on the traffic light 55 that is a traffic light, stores information on the traffic light 57 that is a traffic light on the exit side with respect to the exit direction from the left to the right in the figure, and exits on the exit direction from the right to the left in the figure. Information on the traffic signal 59 that is a traffic signal is stored. That is, it is good also as a structure which memorize | stores only the installation direction and installation coordinate of the traffic lights 53, 55, 57, 59 among the 8 traffic lights 52-59. In addition, for each approach direction from a branch point, as a configuration for storing only information related to a traffic light that is closest to the entry side (that is, the departure side) (that is, a traffic light that can be visually recognized by the vehicle first, hereinafter referred to as an entry side traffic signal). Also good. Furthermore, it is good also as a structure which memorize | stores the information regarding a stop line instead of a traffic light.
And navigation ECU13 is based on each data memorize | stored in map information DB31 as mentioned later, and the branch existing in the departure place side of a guidance route from this guidance branch point ahead of the advancing direction of a vehicle. A point (hereinafter referred to as a front branch point) is specified. Moreover, the traffic signal information 36 of the traffic lights around the guidance branch point and the front branch point is acquired. And based on the information regarding the specified guidance branch point and near branch point, and the acquired traffic signal information 36, the guidance of the guidance branch point ahead of the advancing direction of a vehicle is set out of several candidates. The guidance branch point is a branch point to which guidance such as a right / left turn instruction is given when the navigation device 1 performs traveling guidance according to the guidance route set in the navigation device 1.

  In addition, the guidance phrase condition table 32 includes, for a plurality of types of guidance candidates that are guidance candidates for guiding the guidance branch point, together with the contents of the spoken phrases, the time required to output the guidance utterance, A guidance start section which is a section where guidance utterance needs to be started (that is, a section where guidance needs to be started while the vehicle is located in the section), or a section where guidance utterance needs to be ended (ie , A table in which guidance end sections and the like, which are sections in which guidance needs to be ended while the vehicle is positioned in the section, are stored in association with each other. In the navigation device 1 according to the present embodiment, the guidance start section and the guidance end section are the relative positions of the vehicle with respect to the guidance branch point and the front branch point (more specifically, the guidance branch point and the front branch, as will be described later). The relative position of the vehicle with respect to the traffic light arranged at the point).

  Hereinafter, the guidance phrase condition table 32 will be described in more detail with specific examples. FIG. 3 shows an example of the guidance phrase condition table 32. FIG. 4 is a diagram for explaining the guidance start section and the guidance end section defined in the guidance phrase condition table 32 shown in FIG. Note that the guidance candidates shown in FIG. 3 are guidance candidates that are output when performing guidance for turning left and right at a guidance branch point using a branch point where a traffic light is installed, among guidances performed at a guidance branch point. Show about. In the following description of the embodiment, the guide branch point and the front branch point are both branch points where a traffic light is installed, and the branch on the one side before the guide branch point (the departure side along the guide route). The point is referred to as the first front branch point, the branch point on the further one side of the first front branch point (the departure side along the guide route) is referred to as the second front branch point, and further to the second front branch point. A branch point on the front side (the departure side along the guide route) will be referred to as a third front branch point.

  Here, in the navigation apparatus 1 according to the present embodiment, the guidance candidates that are candidates for guidance at the guidance branch point are basically classified into three types according to the content of the phrase that identifies the front branch point. Specifically, the “normal phrase” including the third phrase indicating the positional relationship between the vehicle and the guidance branch point, the first phrase that specifies the positional relationship between the vehicle and the previous branch point, and the front branch point are moving objects. Are classified into “special phrase A” and “special phrase B” each including a second phrase that specifies the positional relationship between the moving object after passing through and the guidance branch point.

In addition, the third phrase included in the “normal phrase” indicates the positional relationship between the vehicle and the guidance branch point, the branch point existing between the vehicle at the time of guidance and the guidance branch point (more specifically, a traffic light is installed). This is a phrase (for example, “second signal”) indicated by the number of branch points.
On the other hand, the first phrase included in “Special Phrase A” indicates the positional relationship between the vehicle and the front branch point, and the vehicle will pass the front branch point that is closest to the vehicle at the point of guidance among the front branch points in the future. This is a phrase (for example, “a signal to be passed”) indicating that it is a branching point. In addition, the second phrase included in the “special phrase A” indicates the positional relationship between the vehicle after passing the front branch point and the guide branch point from the vehicle after passing the front branch point to the guide branch point. This is a phrase (for example, “second signal”) indicated by the number of existing branch points (more specifically, branch points where traffic lights are installed).
Furthermore, the first phrase included in “special phrase B” indicates the positional relationship between the vehicle and the front branch point, and the vehicle is currently passing the front branch point that is closest to the vehicle at the time of guidance. This is a phrase indicating that it is a branch point (for example, “signal in transit”). In addition, the second phrase included in the “special phrase B” indicates the positional relationship between the vehicle after passing the front branch point and the guide branch point from the vehicle after passing the front branch point to the guide branch point. This is a phrase (for example, “next signal”) indicated by the number of existing branch points (more specifically, branch points where traffic lights are installed).

In addition, for example, in the case of performing guidance for “the second signal is in the left (right) direction” in the “normal phrase”, the traffic lights at two branch points are entered by the user before entering the guidance branch point. , It is necessary to start and end the guidance utterance (that is, start the voice guidance output and end the output). Therefore, as shown in FIG. 3, the guidance candidate “the second signal is in the left (right) direction” has the guidance start section “from 5 m before the exit side traffic light at the second branch point before” “ Section from the traffic light on the approaching side of the first branch point to 50m before (that is, after the traffic light located at the branch point two before the traffic signal on the approaching point of the guidance branch point disappears from the user's view, A section in which the user can visually recognize the traffic signal located at the first branch point before the point approaching traffic signal with a margin is associated. In addition, a section similar to the guidance start section is associated as the guidance end section. Specifically, with reference to FIG. 4, the guidance start section and the guidance end section are from a point A 5 m before the exit side traffic light 63 of the second front branch point 62 that is two ahead of the guide branch point 61. This is a section from the approach side traffic light 65 at the first front branch point 64 that is one front side with respect to the guidance branch point 61 to the point B that is 50 meters ahead. As a result, the user who has received the guidance can count the branch points where the two traffic lights, the first front branch point 64 and the guide branch point 61, are installed before entering the guidance branch point 61. It becomes possible to clearly specify that the “second signal” in the sentence is the approach side traffic light 67 installed at the guidance branch point 61.
The starting point of the guidance start section “5 m before the exit signal at the second branch point” is the vicinity of the exit signal at the second branch point, particularly the vehicle occupant (especially the driver). Corresponds to a point where the exit side traffic light at the second front branch point is switched from a state where it can be viewed to a state where it cannot be viewed. Here, the point at which the exit side traffic light at the second front branching point is visible from the vehicle occupant to the state where it is no longer visible is specified by the relative positional relationship with respect to the exit side traffic signal. It is different for each (more specifically, depending on the shape of the car and the shape of the front window). Therefore, although the distance of 5 m mentioned above may be a fixed value, it may be a distance L that changes for each vehicle type. In addition, when changing for every vehicle type, navigation ECU13 is comprised so that a vehicle type or distance L may be acquired from a center or DB as vehicle information.
The number of traffic lights in the guidance phrase is preferably the number of traffic lights in the branch point unit. That is, when a plurality of traffic signals are provided at the same branch point on a large road or the like, it is desirable that the plurality of traffic signals be counted as one traffic signal. In that case, the number of traffic lights in the guidance phrase corresponds to the number of branch points where traffic lights are installed (that is, traffic signal intersections). However, even when counting is performed in units of branch points, it is desirable to count the number of traffic lights (for example, push button type traffic lights) installed outside the branch point. The same applies to the following description.

In addition, for example, in the case of “Special Phrase A” with a guidance that “the next signal of the signal to be passed is in the left (right) direction”, a branch point (guidance that is one before the guidance branch point) While the user can grasp that the traffic signal indicated by the “signal to be passed” in the sentence is now passed, the utterance of the guidance starts and ends (that is, the voice guidance is output). Start and end output). Therefore, as shown in FIG. 3, the guidance candidate “The next signal is the left (right) direction of the signal to be passed from now on” is displayed as a guidance start section “From the traffic light on the entry side at the first branch point” Between “100m before” and “5m before the exit signal at the second branch point”, the section from “the point closest to the guide branch point” to “5m before the traffic signal at the first branch point” (ie , A section in which the traffic light located at the branch point just before the approaching traffic light at the guidance branch point is located closest to the vehicle and the user can visually recognize the traffic signal) is associated with the traffic light. The end section is “100m before the traffic light at the entrance of the first branch point” and “5m before the traffic signal at the exit of the 2nd branch point”, from the point closest to the guidance branch point ” From the traffic signal on the exit side of the junction to “5m before” (I.e., the traffic light located at the branch point immediately before the approach side traffic light at the guidance branch point is located closest to the vehicle, and the user has not completed passing through the branch point (i.e., passing or 4), the guidance start zone is the one of the first front branch point 64 that is one before the guidance branch point 61. This is a section from point C 100 meters before the approach side traffic light 65 to point D 5 meters before the approach side traffic light 65 at the first front branch point 64. Also, the guidance end section is 1 with respect to the guidance branch point 61. This is a section from a point E 100 m before the approach side traffic light 65 at the first front branch point 64 on the near side to a point F 5 m before the exit side signal 66 at the first front branch point 64. As a result, guidance is provided. The user who received the first branch point 4 can be grasped as the branch point where the traffic signal indicated by the “signal to pass” in the guidance sentence is installed, and it is clear that the “next signal” in the guidance sentence is the traffic signal 67 on the entry side of the guidance branch point 61. It becomes possible to specify.
The end point of the guidance start section “5 meters before the traffic light at the second branch point” is the vicinity of the traffic signal at the second branch point, especially the vehicle occupant (especially the driver). It corresponds to the point where it changes from the state where the approach side traffic light at the second front branch point is visible to the state where it is not visible. Here, the point where the occupant of the vehicle switches from the state in which the approach side traffic light at the second front branching point can be visually recognized to the state in which it is not visible is specified by the relative positional relationship with respect to the traffic light on the approach side. It is different for each (more specifically, depending on the shape of the car and the shape of the front window). Therefore, although the distance of 5 m mentioned above may be a fixed value, it may be a distance L that changes for each vehicle type. In addition, when changing for every vehicle type, navigation ECU13 is comprised so that a vehicle type or distance L may be acquired from a center or DB as vehicle information. The same applies to the start point of the guidance start section, the start point and end point of the guidance end section other than the end point of the guidance start section.

Also, for example, in the case of “Special Phrase B”, when the guidance is “the next signal is in the left (right) direction”, the traffic light just before the guidance branch point (in the guidance text) The guidance utterance starts and ends (that is, the voice guidance is output) while the user can grasp that the user has passed the traffic signal indicated by the “signal in transit”. Start and end output). Therefore, as shown in FIG. 3, the guidance candidate “the next signal is in the left (right) direction of the passing signal” has a guidance start section ““ From the traffic light on the approaching side at the first branch point ” Between “50m before” and “5m before the exit signal at the second branch point”, the section from “the point closest to the guide branch point” to “5m before the exit signal at the first branch point” (ie , A section in which the traffic light located at the branch point just before the approaching traffic light at the guidance branch point is located closest to the vehicle and the user can visually recognize the traffic signal) is associated with the traffic light. The end section is a section from “5m before the traffic light at the entrance of the first branch point” to “5m before the traffic signal at the entrance of the guide branch” (that is, one before the traffic signal at the entrance of the guide branch) The traffic light located at the branch point is closest to the vehicle. The section where the user can grasp that he / she is currently passing through the branch point is associated with the guidance start section. A section from a point G 50 m before the approach side traffic light 65 at the first front branch point 64, which is a branch point with a traffic light on the front side, to a point H 5 m before the exit side signal 66 at the first front branch point 64. In addition, the guidance end section is a guidance branch from a point I 5 m before the approaching traffic light 65 of the first front branch point 64 that is a branch point with a traffic light one front side with respect to the guidance branch point 61. This is a section from point 61 on the approaching side traffic light 67 to point J, 5 meters before, and as a result, the user who has received the guidance installs the traffic light indicated by “passing signal” in the first front branch point 64 in the guidance sentence. It is possible to grasp that It is possible to clearly identify the "next signal" sentence is entering side traffic 67 on the guidance junction 61.
The end point of the guidance start section “5 m before the exit signal at the second branch point” is the vicinity of the exit signal at the second branch point, particularly the vehicle occupant (especially the driver). Corresponds to a point where the exit side traffic light at the second front branch point is switched from a state where it can be viewed to a state where it cannot be viewed. Here, the point at which the exit side traffic light at the second front branching point is visible from the vehicle occupant to the state where it is no longer visible is specified by the relative positional relationship with respect to the exit side traffic signal. It is different for each (more specifically, depending on the shape of the car and the shape of the front window). Therefore, although the distance of 5 m mentioned above may be a fixed value, it may be a distance L that changes for each vehicle type. In addition, when changing for every vehicle type, navigation ECU13 is comprised so that a vehicle type or distance L may be acquired from a center or DB as vehicle information. The same applies to the start point of the guidance start section, the start point and end point of the guidance end section other than the end point of the guidance start section.

Similarly, other guidance candidates are stored in the guidance phrase condition table 32. In addition to the left (right) direction, there are a right (left) diagonal direction, a right (left) front direction, and the like as the guidance direction of the guidance branch point. Further, the time required for outputting the guidance varies depending on the guidance direction. Each numerical value (5 m, 50 m, 100 m, etc.) specifying the start end or the end of the guidance start section and the guidance end section can be changed as appropriate.
Then, as will be described later, the navigation ECU 13 sets the “normal phrase”, the “special phrase A”, the traffic signal installed on the guidance route, the position information of the branch point, the guidance phrase condition table 32, and the like. The guidance used for guidance of the guidance branch point ahead of the traveling direction of the vehicle is set from among the “special phrases B”. For example, the above-mentioned guidance candidates for “normal phrase”, “special phrase A”, and “special phrase B” are the first phrases that specify the positional relationship between the vehicle and the front branch point and the positional relationship between the vehicle and the guide branch point. Although it is a guidance candidate which guides a guidance branch point using any one or plural of the third phrases, the contents of the phrases are different from each other. Accordingly, the navigation ECU 13 considers the positional relationship between the vehicle and the front branch point and the guidance branch point as described later, and the phrase indicating the positional relationship between the vehicle and the front branch point and the guidance branch point selects an appropriate guidance candidate. It will be set as guidance for the guidance branch point.

  On the other hand, the navigation ECU (Electronic Control Unit) 13 is an electronic control unit that controls the entire navigation device 1. The CPU 41 as an arithmetic device and a control device, and a working memory when the CPU 41 performs various arithmetic processes. As well as a RAM 42 for storing route data when a route is searched for, a control program, and a branch point guidance processing program described later (see FIGS. 5 to 7, 9, and 11). And an internal storage device such as a flash memory 44 for storing a program read from the ROM 43. The navigation ECU 13 constitutes various means as processing algorithms. For example, the guidance route setting means sets a guidance route and a guidance branch point from a departure point (for example, the current position of the vehicle) that guides the movement of the vehicle (moving body) to the destination. The traffic signal position acquisition means acquires the positions of the approach side traffic signal and the exit side traffic signal at the front branch point that is present on the departure point side of the guide route from the guide branch point. The guidance start section setting means guides the section from the predetermined distance on the starting side of the approaching traffic light at the front branching point to the vicinity of the approaching traffic signal at the front branching point based on the position of the approaching traffic signal at the front branching point. Set to the start section. The guidance end section setting means is based on the position of the approach side traffic signal and the exit side traffic signal at the front branch point and from the predetermined distance on the departure side of the front side traffic signal at the front branch point to the vicinity of the exit side traffic signal at the front branch point. The section is set as the guidance end section. The guidance determination means determines whether or not the guidance output can be ended while the vehicle is positioned in the guidance end section when the guidance branch point guidance output is started for the vehicle located in the guidance start section. . The moving body position acquisition means acquires the position of the vehicle, and the position determination means determines whether the vehicle is located in the guidance start section based on the position of the vehicle and the position of the guidance start section. The branch point guidance means outputs guidance guidance at the guidance branch point when it is determined by the guidance determination means that the output of guidance can be terminated, and when the position determination means determines that the vehicle is located in the guidance start section. To start. The vehicle information acquisition means acquires vehicle information related to the vehicle. The first switching point specifying means specifies a first switching point that switches from a state in which an approaching traffic light at a front branch point can be visually recognized to a state in which it is not visible based on vehicle information, and a second switching point is specified. A means specifies the 2nd switching point which switches from the state which can see the exit side traffic signal of a near branch point from the passenger | crew of a vehicle to the state which becomes unrecognizable based on vehicle information.

  The operation unit 14 is operated when inputting a departure point as a travel start point and a destination as a travel end point, and includes a plurality of operation switches (not shown) such as various keys and buttons. Then, the navigation ECU 13 performs control to execute various corresponding operations based on switch signals output by pressing the switches. The operation unit 14 can also be configured by a touch panel provided on the front surface of the liquid crystal display 15. Moreover, it can also be comprised with a microphone and a speech recognition apparatus.

  The liquid crystal display 15 includes a map image including a road, traffic information, operation guidance, operation menu, key guidance, guidance route from the departure point to the destination, guidance information along the guidance route, news, weather forecast, Time, mail, TV program, etc. are displayed. In particular, in the present embodiment, when the guidance branch point approaches within a predetermined distance (for example, 300 m) ahead of the traveling direction of the vehicle, an enlarged view near the guidance branch point and the traveling direction at the guidance branch point of the vehicle are displayed.

  The speaker 16 outputs voice guidance for guiding traveling along the guidance route based on an instruction from the navigation ECU 13 and traffic information guidance. In particular, in the present embodiment, when the guidance branch point is ahead of the traveling direction of the vehicle, a predetermined guidance start timing based on the guidance content (for example, “the next signal of the signal to be passed is in the left direction” When the voice guidance is output, the voice guidance at the guidance branch point is output at the timing when the vehicle reaches 100 meters before (see FIG. 3) from the approach side traffic signal at the second branch point.

  The DVD drive 17 is a drive that can read data recorded on a recording medium such as a DVD or a CD. Based on the read data, music and video are reproduced, the map information DB 31 is updated, and the like.

  The communication module 18 is a communication device for receiving traffic information composed of information such as traffic jam information, regulation information, and traffic accident information transmitted from a traffic information center, for example, a VICS center or a probe center. For example, a mobile phone or DCM is applicable.

  Next, a branch point guidance processing program executed by the navigation ECU 13 in the navigation device 1 having the above configuration will be described with reference to FIG. FIG. 5 is a flowchart of the branch point guidance processing program according to this embodiment. Here, the branch point guidance processing program is a program that is repeatedly executed at a predetermined interval (for example, every detection cycle of the current position of the vehicle) after the vehicle ACC is turned on, and guides the guidance branch point on the guidance route. . The following programs shown in the flowcharts of FIGS. 5 to 7, 9, and 11 are stored in the RAM 42 and the ROM 43 provided in the navigation device 1 and executed by the CPU 41.

  First, in step (hereinafter abbreviated as S) 1 in the branch point guidance processing program, the CPU 41 determines whether route guidance based on the guidance route set in the navigation device 1 is being performed. Here, the guidance route is a recommended route from the departure point (for example, the current position of the host vehicle) to the destination selected by the user, and is set based on the result of the route search process. Further, the route search process is performed by a known Dijkstra method or the like using link data 33, node data 34, traffic information acquired from the VICS center, etc. stored in the map information DB 31.

  And when it determines with the route guidance based on the guidance route set in the navigation apparatus 1 being performed (S1: YES), it transfers to S2. On the other hand, when it is determined that route guidance based on the guidance route set in the navigation device 1 is not performed (S1: NO), the branch point guidance processing program is terminated.

  In S <b> 2, the CPU 41 acquires the current position of the vehicle based on the detection result of the current position detection unit 11. A map matching process for specifying the current position of the vehicle on the map data is also performed. Furthermore, it is desirable to specify the current position of the vehicle in detail using high-precision location technology. Here, the high-accuracy location technology detects the white line and road surface paint information captured from the camera behind the vehicle by image recognition, and further compares the white line and road surface paint information with a previously stored map information DB, thereby driving the vehicle. This is a technology that makes it possible to detect lanes and highly accurate vehicle positions. The details of the high-accuracy location technology are already known and will be omitted.

  Next, in S <b> 3, the CPU 41 obtains a guidance route (including a guidance branch point in the guidance route) set in the navigation device 1.

  Subsequently, in S4, the CPU 41 determines a guidance branch point within a predetermined distance (for example, within 1.47 km) ahead of the traveling direction of the vehicle based on the current position of the vehicle acquired in S2 and the guidance route acquired in S3. It is determined whether or not there is. Note that the guidance branch point is a branch point to which guidance such as a right / left turn instruction is given when the navigation device 1 guides traveling according to the guidance route set in the navigation device 1 as described above.

  If it is determined that there is a guidance branch point within a predetermined distance ahead of the traveling direction of the vehicle (S4: YES), the process proceeds to S5. On the other hand, when it is determined that there is no guidance branch point within a predetermined distance ahead of the traveling direction of the vehicle (S4: NO), the branch point guidance processing program is terminated.

  In S5, the CPU 41 determines whether or not guidance for a guidance branch point in front of the vehicle traveling direction has already been performed. In S5, it is determined whether or not voice guidance for instructing a right or left turn or the like at the guidance branch point is provided among the guidance for the guidance branch point.

  And when it determines with guidance with respect to the guidance branch point ahead of the advancing direction of a vehicle having already been performed (S5: YES), the said branch point guidance process program is complete | finished. On the other hand, when it is determined that the guidance for the guidance branch point ahead of the traveling direction of the vehicle is not performed (S5: NO), the process proceeds to S6.

  In S6, the CPU 41 determines whether or not the guidance for the guidance branch point ahead in the traveling direction of the vehicle has already been set in the guidance setting process (S7) described later. In S6, it is determined whether or not voice guidance for setting a left / right turn at the guidance branch point is set in the guidance for the guidance branch point.

  And when it determines with the guidance with respect to the guidance branch point ahead of the advancing direction of a vehicle having been already set (S6: YES), it transfers to S8. On the other hand, when it is determined that the guidance for the guidance branch point ahead of the traveling direction of the vehicle has not been set (S6: NO), the process proceeds to S7.

  In S7, the CPU 41 executes a guidance setting process (FIG. 6) described later. The guidance setting process includes a plurality of guidance candidates (in this embodiment, “normal phrase”, “special phrase A”, and “special phrase C”) defined in the guidance phrase condition table 32 as described later. Based on the relative positional relationship between the front branch points, an optimal guide candidate for guiding the guide branch point located in the forward direction of the vehicle is selected and set as the guide for the guide branch point. It is processing.

  Next, in S8, the CPU 41 determines whether or not it is time to start outputting guidance based on the guidance candidates set in S7. Specifically, when it is determined whether or not the vehicle is located in the guidance start section (see FIG. 3) associated with the guidance candidate set for guidance in S7, and the vehicle is located in the guidance start section. It is determined that it is time to start outputting guidance. Normally, the time when the vehicle arrives at the start point of the guidance start zone, particularly the guidance start zone, is set as the timing for starting the guidance output. For example, in the case where the guidance based on the “normal phrase” is set as guidance for the guidance branch point in S7, the vehicle is “5m before the exit signal at the third branch point” or “the second branch point”. It is determined that the timing for starting the output of the guidance has arrived at the point in time when it has reached “5 m before the exit signal” or “5 m before the exit signal at the first branch point”. However, if the guidance output ends while the vehicle is located in the guidance end section, the guidance output is based on the time when the vehicle reaches a point other than the start point (for example, the end point or the intermediate point) in the guidance start section. It is also possible to start the process. For example, taking into account the detection error of the current position of the vehicle, the time when the vehicle reaches the point moved from the start point of the guidance start section to the end point by the distance of the maximum possible detection error (for example, 30 m) It is also possible to start the process. Also, if the previous guidance is not finished when the vehicle arrives at the start point of the guidance start section, such as when the distance between the front branch points is short or when the guidance branch points are continuous, the previous guidance ends. The time after this is set as the timing for starting the output of guidance.

  If it is determined that it is time to start outputting guidance based on the guidance candidate set for guidance in S7 (S8: YES), the process proceeds to S9. On the other hand, if it is determined that it is not time to start outputting guidance based on the guidance candidate set for guidance in S7 (S8: NO), the branch point guidance processing program is terminated.

In S9, the CPU 41 performs guidance regarding the guidance branch point based on the guidance candidates set for guidance in S7. Specifically, guidance for identifying the guidance branch point and guidance for identifying the exit direction of the vehicle at the guidance branch point (that is, guidance for identifying the exit road from which the vehicle exits the guidance branch point) are performed. For example, in the case where the guidance by “special phrase A” is set to guidance at the guidance branch point in S7, the number of branch points existing from the near branch point where the vehicle will pass through to the guidance branch point is When there are two points including the guidance branch point excluding the front branch point, the timing of when the vehicle is positioned in the guidance start section is “Left (right) direction of the second signal of the signal to be passed” Are output from the speaker 16. In addition, when the number of branch points existing from the front branch point where the vehicle will pass through to the guide branch point is one including the guide branch point except for the front branch point, , The next signal is in the left (right) direction ". The number of branch points existing from the front branch point to the guide branch point is acquired based on the current position of the vehicle acquired in S2 and the map information DB 31. Further, when the guidance branch point approaches within a predetermined distance (for example, 300 m) of the vehicle, an enlarged view near the guidance branch point and the traveling direction at the guidance branch point of the vehicle are displayed on the liquid crystal display 15.
As a result, it becomes possible for the user to accurately specify the guidance branch point and the road from which the vehicle exits from the guidance branch point.

  Next, sub-processing of the guidance setting process executed in S7 will be described with reference to FIG. FIG. 6 is a flowchart of a sub-processing program for guidance setting processing.

  First, in S11, the CPU 41 executes a first guidance determination process (FIG. 7) described later. In the first guidance determination process, among the plurality of guidance candidates defined in the guidance phrase condition table 32 (FIG. 3) as described later, the guidance based on the “normal phrase” is located ahead in the vehicle traveling direction. This is a process for determining whether or not it is suitable as guidance for guiding a guidance branch point. In addition, guidance by “normal phrase” is based on the positional relationship between the vehicle and the guidance branch point of the branch point (more specifically, the branch point where the traffic signal is installed) existing from the vehicle at the time of guidance to the guidance branch point. The guidance includes a third phrase (for example, “second signal”) indicated by a number.

  Next, in S12, as a result of the determination in the first guidance determination process in S11, the CPU 41 is suitable as guidance for guiding the guidance branch point located in front of the traveling direction of the vehicle. It is determined whether or not it has been certified.

  If it is determined that the guidance based on the “normal phrase” is suitable as guidance for guiding a guidance branch point located ahead in the traveling direction of the vehicle (S12: YES), the process proceeds to S13. On the other hand, when it is determined that the guidance based on the “normal phrase” is not suitable as guidance for guiding the guidance branch point located in front of the traveling direction of the vehicle (S12: NO), the process proceeds to S14. To do.

  In S <b> 13, the CPU 41 sets the guidance based on the “normal phrase” as guidance for guiding a guidance branch point located forward in the traveling direction of the vehicle. In addition, the timing at which the vehicle is located in the guidance start section associated with the guidance based on the “normal phrase” is set as the guidance start timing for the guidance branch point located in the forward direction of the vehicle. Thereafter, the process proceeds to S8.

  In S14, the CPU 41 executes a second guidance determination process (FIG. 9) described later. Note that the second guidance determination process is a guidance branch point in which guidance based on the “special phrase A” among the plurality of guidance candidates defined in the guidance phrase condition table 32 is positioned forward in the traveling direction of the vehicle, as will be described later. Is a process for determining whether or not it is suitable as a guide for guiding. The guidance by “Special Phrase A” indicates the positional relationship between the vehicle and the front branch point at the branch point where the vehicle will pass the front branch point closest to the vehicle at the time of guidance among the front branch points. A first branch (for example, a “signal to pass from now on”) and the positional relationship between the vehicle after passing the front branch point and the guide branch point are guided and branched from the vehicle after passing the front branch point. This guide includes a second phrase (for example, “second signal”) indicated by the number of branch points (more specifically, a branch point where a traffic light is installed) existing up to a point.

  Next, in S15, as a result of the determination in the second guidance determination process in S14, the CPU 41 is suitable as a guide for guiding the guidance branch point located ahead in the traveling direction of the vehicle. It is determined whether or not it has been certified.

  If it is determined that the guidance by the “special phrase A” is suitable as guidance for guiding a guidance branch point located ahead in the traveling direction of the vehicle (S15: YES), the process proceeds to S13. . On the other hand, when it is determined that the guidance by “special phrase A” is not suitable as guidance for guiding the guidance branch point located ahead in the traveling direction of the vehicle (S15: NO), the process proceeds to S16. Transition.

  In S <b> 13, the CPU 41 sets the guidance based on “special phrase A” as guidance for guiding a guidance branch point located forward in the traveling direction of the vehicle. In addition, the timing at which the vehicle is located in the guidance start section associated with the guidance by “special phrase A” is set as the guidance start timing for the guidance branch point located forward in the traveling direction of the vehicle. Thereafter, the process proceeds to S8.

  In S16, the CPU 41 executes a third guidance determination process (FIG. 11) described later. Note that the third guidance determination process is a guidance branch point in which the guidance based on the “special phrase B” among the plurality of guidance candidates defined in the guidance phrase condition table 32 is positioned forward in the traveling direction of the vehicle, as will be described later. Is a process for determining whether or not it is suitable as a guide for guiding. In addition, guidance by “special phrase B” is the branching point where the vehicle is currently passing the front branching point that is closest to the vehicle at the time of guidance among the front branching points in the positional relationship between the vehicle and the front branching point. And the positional relationship between the vehicle and the guidance branch point after the vehicle has passed the front branch point, and the guidance branch point from the vehicle after passing the front branch point. This is a guide that includes a second phrase (for example, “second signal”) indicated by the number of branch points (more specifically, branch points where traffic lights are installed).

  Next, in S17, as a result of the determination in the third guidance determination process in S16, the CPU 41 is suitable as a guide for guiding the guidance branch point located ahead in the traveling direction of the vehicle. It is determined whether or not it has been certified.

  If it is determined that the guidance by the “special phrase B” is suitable as guidance for guiding a guidance branch point located forward in the traveling direction of the vehicle (S17: YES), the process proceeds to S13. . On the other hand, when it is determined that the guidance by the “special phrase B” is not suitable as guidance for guiding the guidance branch point located in the forward direction of the vehicle (S17: NO), the process proceeds to S18. Transition.

  In S <b> 13, the CPU 41 sets the guidance by “special phrase B” as guidance for guiding a guidance branch point located forward in the traveling direction of the vehicle. Further, the timing at which the vehicle is located in the guidance start section associated with the guidance by “special phrase B” is set as the guidance start timing of the guidance branch point located in the forward direction of the vehicle. Thereafter, the process proceeds to S8.

  On the other hand, in S18, the CPU 41 sets guidance without using a traffic light as guidance for guiding a guidance branch point located in front of the traveling direction of the vehicle. As guidance without using traffic lights, for example, guidance that speaks the phrase “coming right (left)” soon, guidance that speaks the phrase “300 m ahead (700 m ahead) is right (left)”, etc. There is. In addition, the timing at which the vehicle is located in the guidance start section associated with the set guidance (for example, “when 300 m ahead is in the right (left) direction” timing when the vehicle reaches 350 m before the guidance branch point) Is set as the guidance start timing of the guidance branch point located in front of the travel direction. Thereafter, the process proceeds to S8.

  Further, the guidance according to “normal phrase” to be judged in S11, the guidance by “special phrase A” to be judged in S14, and the guidance by “special phrase B” to be judged in S16, respectively. When the guidance start sections are compared, the guidance start section associated with the guidance by the “normal phrase” to be determined in S11 is closest to the departure point side of the guide route, and the “special phrase B” to be determined in S16. The guidance start section associated with the guidance is closest to the guidance branch point. That is, when there are a plurality of guidance candidates determined to be suitable as guidance for guiding a guidance branch point located in front of the traveling direction of the vehicle, the guidance start section is on the departure side (that is, guidance guidance Guidance candidates that are started early) are preferentially set as guidance for the guidance branch point.

  Next, the sub-process of the first guidance determination process executed in S11 will be described with reference to FIG. FIG. 7 is a flowchart of a sub-processing program of the first guidance determination process.

  First, in S31, the CPU 41 sets a guidance start section and a guidance end section for guidance based on a “normal phrase” to be determined. The guidance start section and guidance end section that are set are stored in advance in the guidance phrase condition table 32 (FIG. 3).

  Next, in S32, the CPU 41 starts the guidance start section set for the guidance by the “normal phrase” in S31 based on the link data 33, node data 34, branch point data 35, etc. stored in the map information DB 31. To the end point of the guidance end section is calculated. In addition, as shown in FIG. 3, as guidance by “normal phrase”, there are three types of guidance phrases (“the third signal on the left (right) ) ”,“ The second signal is in the left (right) direction ”,“ the next signal is in the left (right) direction ”). In S32, the distance X is calculated for each guidance phrase.

In the following, a method for calculating the distance X will be described with reference to FIG. 8, taking as an example a guidance phrase “the second signal is in the left (right) direction” in the guidance based on the “normal phrase”.
As shown in FIG. 8, first, the CPU 41 has two traffic lights on the front side with respect to the guidance branch point 61 based on the link data 33, node data 34, branch point data 35 and the like stored in the map information DB 31. The distance a from the exit side traffic light 63 of the second previous branch point 62 that is a branch point to the guide branch point 61 is acquired. Subsequently, the distance b from the approach side traffic light 65 to the guidance branch point 61 at the first front branch point 64 that is a branch point with a traffic light one front side with respect to the guide branch point 61 is acquired. Thereafter, a difference between the distance obtained by adding 5 m to the distance a and the distance obtained by adding 50 m to the distance b is calculated as the distance X.

  Next, in S <b> 33, the CPU 41 calculates the distance Y necessary for outputting the guidance using the “normal phrase” based on the current vehicle speed of the vehicle and the guidance phrase condition table 32. Specifically, the distance Y is a distance obtained by multiplying the time (for example, 4 seconds) required to output the guidance (voice guidance) stored in the guidance phrase condition table 32 by the current vehicle speed detected by the vehicle speed sensor 22. It becomes. A predetermined vehicle speed (for example, 60 km / h) may be multiplied instead of the current vehicle speed. Further, the predetermined vehicle speed may be changed according to the road type of the road on which the vehicle is traveling (for example, 60 km / h for national roads and prefectural roads and 40 km / h for other general roads). In addition, as shown in FIG. 3, the guidance by “normal phrase” includes three types of guidance phrases (“the third signal is in the left (right) direction”) and “the second signal is Left (right) direction "," Next signal is left (right) direction "). In S33, the distance Y is calculated for each guidance phrase.

  Subsequently, in S34, the CPU 41 determines whether or not the distance X from the start point of the guidance start section calculated in S32 to the end point of the guidance start section is longer than the distance Y required to output the guidance calculated in S33. In other words, when the output of guidance is started in the guidance start section set for guidance by “normal phrase” in S31, it is determined whether or not the guidance output can be terminated within the same guidance end section. . In addition, as shown in FIG. 3, the guidance by “normal phrase” includes three types of guidance phrases (“the third signal is in the left (right) direction”) and “the second signal is Left (right) direction "," Next signal is left (right) direction "). In S34, the distance X and the distance Y are compared for each guidance phrase. In S34, it is desirable to determine whether or not the distance X is longer than the distance Y for all the guidance phrases.

  When it is determined that the distance X from the start point of the guidance start section to the end point of the guidance start section is longer than the distance Y necessary for outputting the guidance (S34: YES), that is, in S31, “normal phrase” When the guidance output is started in the guidance start section set for guidance by "", and it is determined that the guidance output can be completed within the same guidance end section, guidance by "normal phrase" is issued. Then, it is recognized that it is suitable as a guide for guiding a guidance branch point located in front of the traveling direction of the vehicle (S35). As a result, as described above, in S13, the CPU 41 sets the guidance based on the “normal phrase” as guidance for guiding the guidance branch point located forward in the traveling direction of the vehicle.

  On the other hand, when it is determined that the distance X from the start point of the guidance start section to the end point of the guidance start section is the same as or shorter than the distance Y necessary for outputting the guidance (S34: NO), that is, in S31, When the guidance output is started in the guidance start section set for guidance by “Normal Phrase”, and it is determined that the guidance output cannot be completed within the same guidance end section, the “Normal Phrase” is used. It is determined that the guidance is unsuitable as guidance for guiding a guidance branch point located in the forward direction of the vehicle (S36). Thereafter, the process proceeds to S12.

  Next, the sub-process of the second guidance determination process executed in S14 will be described with reference to FIG. FIG. 9 is a flowchart of a sub-processing program for the second guidance determination process.

  First, in S <b> 41, the CPU 41 sets a guidance start section and a guidance end section for guidance based on “special phrase A” to be determined. The guidance start section and guidance end section that are set are stored in advance in the guidance phrase condition table 32 (FIG. 3).

  Next, in S42, the CPU 41, based on the link data 33, node data 34, branch point data 35 and the like stored in the map information DB 31, etc., of the guidance start section set for guidance by “special phrase A” in S41. A distance X ′ from the start point to the end point of the guidance end section is calculated. As shown in FIG. 3, the guidance by “special phrase A” includes two types of guidance phrases (“two of the signals to be passed from now on”) that differ in the number of branch points up to the guidance branch point indicated by the second phrase. The eye signal is in the left (right) direction ”and“ the next signal to be passed is the next signal in the left (right) direction ”). In S42, the distance X ′ is calculated for each guidance phrase.

In the following, the guidance for “special phrase A” will be described with reference to an example of a guidance phrase “the next signal is the left (right) direction of the signal that will be passed”. FIG. Will be described.
As shown in FIG. 10, first, the CPU 41 is provided with a traffic light with two traffic lights on the front side with respect to the guidance branch point 61 based on the link data 33, node data 34, branch point data 35 and the like stored in the map information DB 31. The distance a from the exit side traffic light 63 of the second previous branch point 62 that is a branch point to the guide branch point 61 is acquired. Subsequently, the distance b from the approach side traffic light 65 to the guidance branch point 61 at the first front branch point 64 that is a branch point with a traffic light one front side with respect to the guide branch point 61 is acquired. Further, the distance c from the exit side traffic light 66 of the first front branch point 64, which is a branch point with a traffic light on the front side of the guide branch point 61, to the guide branch point 61 is acquired. Thereafter, the CPU 41 determines whether or not the distance obtained by adding 100 m to the distance b is longer than the distance obtained by adding 5 m to the distance a. In the example shown in FIG. 10, since the distance obtained by adding 5 m to the distance a is longer than the distance obtained by adding 100 m to the distance b, the entry point of the first front branch point 64 is used as the starting point of the guidance start section. Select "100m before" from the side traffic light 65. Further, the CPU 41 sets the distance d from the start point of the guidance start section to the guidance branch point to a distance obtained by adding 100 m to the distance b. Thereafter, the CPU 41 calculates a difference between the distance d and a distance obtained by adding 5 m to the distance c as the distance X ′.

  Next, in S <b> 43, the CPU 41 calculates a distance Y ′ necessary for outputting the guidance using “special phrase A” based on the current vehicle speed of the vehicle and the guidance phrase condition table 32. Specifically, the distance Y ′ is obtained by multiplying the time (for example, 6 seconds) required to output the guidance (voice guidance) stored in the guidance phrase condition table 32 by the current vehicle speed detected by the vehicle speed sensor 22. Distance. A predetermined vehicle speed (for example, 60 km / h) may be multiplied instead of the current vehicle speed. Further, the predetermined vehicle speed may be changed according to the road type of the road on which the vehicle is traveling (for example, 60 km / h for national roads and prefectural roads and 40 km / h for other general roads). In addition, as shown in FIG. 3, as guidance by “special phrase A”, there are two types of guidance phrases with different guidance timings (“the second signal of the signal to be passed is in the left (right) direction”, “The next signal to be passed is the left (right) direction of the next signal”). In S43, the distance Y ′ is calculated for each guidance phrase.

  Subsequently, in S44, the CPU 41 determines that the distance X ′ from the start point of the guidance start section calculated in S42 to the end point of the guidance start section is longer than the distance Y ′ necessary for outputting the guidance calculated in S43. In other words, if the output of guidance is started in the guidance start section set for guidance by “special phrase A” in S41, the output of guidance can be terminated in the same guidance end section. To determine. In addition, as shown in FIG. 3, as guidance by “special phrase A”, there are two types of guidance phrases with different guidance timings (“the second signal of the signal to be passed is in the left (right) direction”, “The next signal to be passed is the left (right) direction of the next signal”). In S44, the distance X ′ is compared with the distance Y ′ for each guidance phrase. In S44, it is desirable to determine whether or not the distance X ′ is longer than the distance Y ′ for all the guidance phrases.

  If it is determined that the distance X ′ from the start point of the guidance start section to the end point of the guidance start section is longer than the distance Y ′ necessary to output the guidance (S44: YES), that is, “ When it is determined that the guidance output can be completed within the guidance end section set in the same guidance end section when the guidance output is started in the guidance start section set for the guidance by “special phrase A”, the “special phrase A” Is recognized as being suitable as a guide for guiding a guidance branch point located in front of the traveling direction of the vehicle (S45). As a result, as described above, in S13, the CPU 41 sets the guidance based on the “special phrase A” as guidance for guiding the guidance branch point located forward in the traveling direction of the vehicle. In the guidance using “Special Phrase A”, the guidance start section is set to the section before the passage of the target front branch point and the guidance end section is set not to exceed the target front branch point. Therefore, at least a part of the guidance is output before the passage of the front branch point is started, and the guidance output is finished before the passage of the front branch point is completed. It is possible to accurately grasp the branch point where the traffic signal indicated by the “signal to be passed” is installed.

  On the other hand, when it is determined that the distance X ′ from the start point of the guidance start section to the end point of the guidance start section is the same as or shorter than the distance Y ′ necessary to perform the guidance utterance (S44: NO), that is, the above S41 If it is determined that the guidance output cannot be completed within the same guidance end section when the guidance output is started in the guidance start section set for guidance with “Special Phrase A”, It is determined that the guidance based on the phrase “A” is inappropriate as guidance for guiding a guidance branch point located in front of the vehicle in the traveling direction (S46). Thereafter, the process proceeds to S15.

  Next, the sub-process of the third guidance determination process executed in S16 will be described with reference to FIG. FIG. 11 is a flowchart of a sub-processing program of the third guidance determination process.

  First, in S51, the CPU 41 sets a guidance start section and a guidance end section for guidance based on the “special phrase B” to be determined. The guidance start section and guidance end section that are set are stored in advance in the guidance phrase condition table 32 (FIG. 3).

  Next, in S52, the CPU 41, based on the link data 33, node data 34, branch point data 35 and the like stored in the map information DB 31, etc., of the guidance start section set for guidance by “special phrase B” in S51. A distance X ″ from the start point to the end point of the guidance end section is calculated. As shown in FIG. 3, the guidance by “special phrase B” includes two types of guidance phrases (“two signals of passing signals”) with different numbers of branch points up to the guidance branch point indicated by the second phrase. The eye signal is in the left (right) direction ”and“ the next signal that is passing is in the left (right) direction ”. In S52, the distance X ″ is calculated for each guidance phrase.

Below is an example of how to calculate the distance X ″ by taking the guidance phrase “The next signal is in the left (right) direction of the passing signal” in the guidance by “Special Phrase B”. 12 will be described.
As shown in FIG. 12, first, the CPU 41 is provided with a traffic light with two traffic lights on the front side with respect to the guidance branch point 61 based on the link data 33, node data 34, branch point data 35 and the like stored in the map information DB 31. The distance a from the exit side traffic light 63 of the second previous branch point 62 that is a branch point to the guide branch point 61 is acquired. Subsequently, the distance b from the approach side traffic light 65 to the guidance branch point 61 at the first front branch point 64 that is a branch point with a traffic light one front side with respect to the guide branch point 61 is acquired. Further, the distance c from the exit side traffic light 66 of the first front branch point 64, which is a branch point with a traffic light on the front side of the guide branch point 61, to the guide branch point 61 is acquired. Thereafter, the CPU 41 determines whether or not the distance obtained by adding 50 m to the distance b is longer than the distance obtained by adding 5 m to the distance a. In the example shown in FIG. 12, since the distance obtained by adding 5 m to the distance a is longer than the distance obtained by adding 50 m to the distance b, the “start of the first branch point 64” is used as the starting point of the guidance start section. Select "50m before" from the side traffic light 65. Further, the CPU 41 further sets the distance e from the start point of the guidance start section to the guidance branch point to a distance obtained by adding 50 m to the distance b. On the other hand, the distance f from the approach side traffic light 67 of the guidance branch point 61 to the guidance branch point 61 is acquired. Thereafter, the CPU 41 calculates a difference between the distance e and a distance obtained by adding 5 m to the distance f as a distance X ″.

  Next, in S <b> 53, the CPU 41 calculates a distance Y ″ necessary for outputting the guidance using “special phrase B” based on the current vehicle speed of the vehicle and the guidance phrase condition table 32. Specifically, the distance Y ″ is obtained by multiplying the time required for outputting the guidance (voice guidance) stored in the guidance phrase condition table 32 (for example, 5 seconds) by the current vehicle speed detected by the vehicle speed sensor 22. Distance. A predetermined vehicle speed (for example, 60 km / h) may be multiplied instead of the current vehicle speed. Further, the predetermined vehicle speed may be changed according to the road type of the road on which the vehicle is traveling (for example, 60 km / h for national roads and prefectural roads and 40 km / h for other general roads). In addition, as shown in FIG. 3, the guidance by “special phrase B” includes two types of guidance phrases (“the second signal of the passing signal is in the left (right) direction”, "The next signal of the passing signal is in the left (right) direction"). In S53, the distance Y ″ is calculated for each guidance phrase.

  Subsequently, in S54, the CPU 41 determines that the distance X ″ from the start point of the guidance start section calculated in S52 to the end point of the guidance start section is the distance Y ″ necessary for outputting the guidance calculated in S53. If the guidance output is started in the guidance start section set for guidance by “special phrase B” in S51, the guidance output can be terminated in the same guidance end section. It is determined whether or not. In addition, as shown in FIG. 3, the guidance by “special phrase B” includes two types of guidance phrases (“the second signal of the passing signal is in the left (right) direction”, "The next signal of the passing signal is in the left (right) direction"). In S54, the distance X ″ and the distance Y ″ are compared for each guidance phrase. In S54, it is desirable to determine whether or not the distance X ″ is longer than the distance Y ″ for all the guidance phrases.

  When it is determined that the distance X ″ from the start point of the guidance start section to the end point of the guidance start section is longer than the distance Y ″ necessary for outputting the guidance (S54: YES), that is, the above-described S51. If it is determined that the output of guidance can be terminated within the guidance end section set in the same way, when the guidance output is started in the guidance start section set for guidance by “special phrase B”, It is recognized that the guidance by “phrase B” is suitable as guidance for guiding the guidance branch point located in the forward direction of the vehicle (S55). As a result, as described above, in S13, the CPU 41 sets the guidance by the “special phrase B” as guidance for guiding the guidance branch point located in the forward direction of the vehicle. In the guidance by “special phrase B”, at least a part of the guidance is output during traveling in the front branch point where the guidance start section and the guidance end section overlap. It is possible to accurately grasp the branch point where the traffic signal indicated by “signal in transit” is installed.

  On the other hand, when it is determined that the distance X ″ from the start point of the guidance start section to the end point of the guidance start section is the same as or shorter than the distance Y ″ necessary to perform the guidance utterance (S54: NO), that is, If it is determined in S51 that the guidance output is started in the guidance start section set for the guidance by “special phrase B”, and it is determined that the guidance output cannot be finished in the same guidance end section, It is recognized that the guidance by the “special phrase B” is unsuitable as guidance for guiding a guidance branch point located in front of the traveling direction of the vehicle (S56). Thereafter, the process proceeds to S17. As a result, the optimum guidance for guiding the guidance branch point located ahead in the traveling direction of the vehicle is selected from among a plurality of guidance candidates defined in the guidance phrase condition table 32, and the guidance for the guidance branch point is selected. Is set. In particular, in the above-described embodiment, it is possible to set a guidance candidate with an appropriate phrase indicating the front branch point as the guidance branch point guidance.

  As described above, in the above-described branch point guidance processing program (FIGS. 5 to 7, 9, and 11), the “normal phrase” is basically set as the guidance for the guidance branch point. When the interval is narrow and the “normal phrase” is used, the guidance branch point may be erroneously recognized (specifically, the vehicle reaches a predetermined distance before the front branch point (for example, 50 m before the traffic light on the approach side). In the case where guidance does not end before, “special phrase A” and “special phrase B” are set as guidance for the guidance branch point. Which of “special phrase A” and “special phrase B” is set as the guidance for the guidance branch point is determined in consideration of the relative positional relationship between the preceding branch points. In particular, when the guidance for the guidance branch point is started, the vehicle has not started passing through the front branch point, and the vehicle does not pass through the front branch point while guidance is being performed (that is, the vehicle at the front branch point is not completed). In the case of (before or during passage), “special phrase A” is set as guidance for the guidance branch point. In addition, when the guidance for the guidance branch point is started, the vehicle has not started passing the front branch point or is passing, and the vehicle starts passing to the front branch point while guidance is being performed. If it does or completes the passage, “special phrase B” is set as the guidance for the guidance branch point. Also, “Special Phrase A” is preferentially set for “Special Phrase A” and “Special Phrase B”. Accordingly, if the vehicle does not complete passing through the front branch point while guidance is being performed as a result, “special phrase A” is set as guidance for the guidance branch point. And especially when the distance between the branch points is narrow and the guidance of the guidance branch point is started after the vehicle starts to pass through the front branch point, or the vehicle completes passing through the front branch point while guidance is being performed. Only “special phrase B” is set as guidance for the guidance branch point.

As described above in detail, according to the navigation device 1 according to the present embodiment, the movement guide method using the navigation device 1 and the computer program executed by the navigation device 1, a plurality of types of guidance candidates having different phrase contents are included. Has a guidance phrase condition table 32 stored in association with a guidance start section which is a section where the guidance utterance needs to be started and a guidance end section which is a section where the guidance utterance needs to be terminated. From among the plurality of types of guidance candidates, an appropriate guidance candidate for guiding a guidance branch point ahead in the traveling direction of the vehicle is selected, and the selected guidance candidate is set as guidance for the guidance branch point ( S12, S13). In particular, among the multiple types of guidance candidates, “Special Phrase A” is the guidance start zone for the section from the predetermined distance on the approach side traffic light at the front branching point to the vicinity of the traffic signal on the front branching point. The section from the predetermined distance on the departure side of the approach side traffic light at the near branch point to the vicinity of the exit signal at the near branch point is set as the guidance end section. When it is determined that the output of the guidance can be ended while the vehicle is positioned in the guidance end section when the guidance output at the guidance branch point is started for the vehicle located in the set guidance start section. When it is determined that the vehicle is located in the guidance start section, guidance of the guidance branch point is performed by the set guidance (S9), so that the branch point is passing in the city center where the distance between the branch points is short. Even if it is necessary to output guidance, the guidance that allows the user to accurately identify the guidance branch point by starting and ending the guidance output at an appropriate timing based on the position of the traffic light at the previous branch point Can be done. In addition, it is possible to prevent a situation in which guidance is not performed in the city center where the interval between the branch points is short, and to allow the user to specify the guide branch point accurately.
"Special phrase A" and "special phrase B" are the first phrase that specifies the positional relationship between the vehicle and the front branch point, and the position of the vehicle and the guidance branch point after the vehicle passes the front branch point. Guidance of the guidance branch point is provided by guidance including the second phrase that specifies the relationship, so even if the guidance must be output during the passage of the front branch point, the vehicle will pass the front branch point. By performing the guidance in consideration, the position of the guidance branch point can be easily specified by the user. In addition, it is possible for the user to specify the guidance branch point more accurately than in the case where guidance is performed using the distance to the guidance branch point.
Further, in the guidance by “special phrase A”, the guidance branch point is guided by the guidance including the first phrase indicating that the vehicle will pass through the near branch point in the future, so that it is indicated in the phrase. It is possible to allow the user to accurately specify the front branch point. As a result, it becomes possible for the user to easily specify the position of the guidance branch point based on the near branch point.
In the guidance by “special phrase A”, the guidance branch point is guided by the guidance including the second phrase that specifies the number of branch points from the moving body after the mobile body passes the front branch point to the guidance branch point. Therefore, the user can easily specify the positional relationship between the vehicle and the guidance branch point depending on the number of branch points. As a result, it is possible for the user to specify the guidance branch point accurately.
In addition, the guidance by “special phrase A” is a guidance start section from a predetermined distance on the front side of the approach side traffic light at the front side branch point to a point where the front side traffic signal at the front side branch point becomes invisible to the user. Because the section from the predetermined distance near the departure side of the approaching traffic light at the front branching point to the point where the leaving traffic signal at the front branching point becomes invisible to the vehicle occupant is set as the guidance end section. , Before the entry side traffic light at the front branch point becomes invisible, i.e., when the user can recognize the front branch point as a branch point from now on, the guidance side branch point output starts, and the exit side traffic signal at the front branch point It becomes possible to finish outputting guidance at the guidance branch point before it becomes invisible, that is, in a state where it can be recognized that the vehicle occupant is currently passing through the front branch point. As a result, it is possible to start guidance at the guidance branch point at an appropriate timing based on the guidance content. In particular, when performing guidance using a traffic light or a branch point, the effect becomes remarkable.

Note that the present invention is not limited to the above-described embodiment, and various improvements and modifications can be made without departing from the scope of the present invention.
For example, in the present embodiment, the guidance branch point guidance by the navigation device 1 is output by voice guidance from the speaker 16, but the guidance may be performed by displaying text on the liquid crystal display 15.

  In the present embodiment, the guidance start section and the guidance end section are specified based on the positions of the entrance side traffic signal and the exit side traffic signal installed around the branch point, but the branch point (guide branch point, It is good also as a structure specified based on the position of a 1st near branch point and a 2nd near branch point. In that case, guidance at the guidance branch point is guidance using a branch point instead of a traffic light (for example, “the second branch point is in the left (right) direction”), “the next branch point after this branch point” To the left (right) direction "," the next branch point being passed is to the left (right) direction, etc. ". Furthermore, if it is the said structure using a branch point, the traffic signal information 36 will become unnecessary.

  Further, in the present embodiment, when the guidance branch point is located within a predetermined distance ahead of the traveling direction of the vehicle, the guidance branch point guidance located in front of the guidance branch point is set. The timing for setting the guidance may be another timing. For example, guidance may be set for each guidance branch point included in the guidance route when the guidance route is set. Moreover, it is good also as a structure which sets guidance with respect to each branch point before setting a guidance route.

  In addition, numerical values (5 m, 50 m, 100 m, etc.) used in each process of the first guidance determination process (FIG. 7), the second guidance determination process (FIG. 9), and the third guidance determination process (FIG. 11) are appropriately changed. Is possible. For example, it can be changed depending on the vehicle type.

  Further, in this embodiment, the start point and end point of the guidance start section and the guidance end section are in the vicinity of the approach side traffic signal and the exit side traffic signal, and the entrance side traffic signal and the exit side traffic signal at the front branch point are visually recognized from the vehicle occupant Although it is set as the switching point which switches from the state which can be seen to the state which becomes invisible, it is good also as another point, if it is a point from which the entrance side traffic signal and exit side traffic signal of a front branching point cannot be visually recognized from the vehicle passenger. For example, it may be a point on the guidance branch point side by a predetermined distance (for example, 3 m) from the switching point. Moreover, it is good also as a position in which the approach side signal apparatus and exit side signal apparatus of the near branching point were installed.

  In the present embodiment, the signal information 36 is configured to store information related to all the traffic lights arranged around the branch point, but only information related to the signal on the most exit side is stored for each exit direction from the branch point. It is good also as composition to do. In that case, it is possible to implement the present invention by replacing the entrance side traffic signal in the present embodiment with the exit side traffic signal. Furthermore, it is good also as a structure which memorize | stores only the information regarding the traffic signal which is the most approach side for every approach direction to a branch point. Moreover, it is good also as a structure which memorize | stores the information regarding a stop line instead of a traffic light. In that case, it is possible to implement the present invention by replacing the entrance side signal and the exit side signal in the present embodiment with stop lines. Even when a stop line is used instead of a traffic light, it is desirable that guidance is performed using a traffic light or a branch point.

  In this embodiment, three types of “normal phrase”, “special phrase A”, and “special phrase B” are described as examples of guidance candidates set for guidance at the guidance branch point. Guidance candidates other than types may be used. In addition, the three types of guidance candidates “Normal Phrase”, “Special Phrase A”, and “Special Phrase B” are “Normal Phrase”, “Special Phrase A”, and “Special Phrase B” whose guidance is started earlier. The priority order may be set based on other criteria.

  In addition to the navigation device, the present invention can be applied to a device having a function of performing route guidance based on a guidance route. For example, the present invention can be applied to a portable terminal such as a cellular phone or a PDA, a personal computer, a portable music player, etc. (hereinafter referred to as a portable terminal or the like). Further, the present invention can be applied to a system including a server and a mobile terminal. In that case, each step of the above-described branch point guidance processing program (FIGS. 5 to 7, 9, and 11) may be configured to be performed by either the server or the portable terminal. In addition, when the present invention is applied to a mobile terminal or the like, travel guidance may be given to a moving body other than a vehicle, for example, a user such as a mobile terminal or a two-wheeled vehicle.

1 Navigation device 13 Navigation ECU
31 Map information DB
32 Guidance phrase condition table 41 CPU
42 RAM
43 ROM
61 Guide branch point 62, 64 Front branch point 63, 65-67 Traffic light

Claims (8)

A guide route for guiding the movement of the moving body, a guide route setting means for setting a guide branch point on the guide route,
Traffic signal position acquisition means for acquiring the position of the approach side traffic signal and the exit side traffic signal of the near branch point existing on the departure side of the guide route from the guide branch point;
Based on the position of the approach side traffic signal acquired by the traffic signal position acquisition means, a guidance start section for setting a section from a predetermined distance before the start side of the approach side traffic signal to the vicinity of the approach side traffic signal as a guidance start section Setting means;
Based on the position of the approach side traffic signal and the exit side traffic signal acquired by the traffic signal position acquisition means, a section from a predetermined distance before the departure side traffic signal to the vicinity of the exit side traffic signal is defined as a guidance end section. A guidance end section setting means to be set;
Whether or not the output of the guidance can be terminated while the mobile body is located in the guidance end section when the guidance of the guidance branch point is output to the mobile body located in the guidance start section. Guidance determination means for determining;
Moving body position acquisition means for acquiring the position of the moving body;
Position determining means for determining whether or not the mobile body is located in the guidance start section based on the position of the mobile body and the position of the guidance start section;
When it is determined that the guidance output can be terminated by the guidance determination unit, and the position determination unit determines that the moving body is located in the guidance start section, the guidance branch point guidance output And a branch point guide means for starting the movement.   The branch point guide means includes a first phrase that specifies a positional relationship between the mobile body and the front branch point, and the mobile body and the guide branch point after the mobile body passes the front branch point. The movement guidance system according to claim 1, wherein the guidance branch point is guided by guidance including a second phrase that specifies a positional relationship.   The said 1st phrase is a phrase which shows that it is a branch point which the said mobile body passes the said near branch point in the future, The movement guidance system of Claim 2 characterized by the above-mentioned.   4. The movement guidance system according to claim 2, wherein the second phrase is a phrase that specifies the number of branch points existing from the front branch point to the guide branch point. 5. The moving body is a vehicle,
Vehicle information acquisition means for acquiring vehicle information relating to the vehicle;
Based on the vehicle information, a first switching point specifying means for specifying a first switching point to be switched from a state in which the entry side traffic light can be visually recognized from an occupant of the vehicle,
Based on the vehicle information, a second switching point specifying means for specifying a second switching point that switches from a state in which the exit-side traffic light can be visually recognized from an occupant of the vehicle,
The guidance start section setting means sets a section from a predetermined distance before the departure side of the approach side traffic signal to the first switching point as the guidance start section,
5. The guidance end section setting means sets a section from a predetermined distance on the departure side of the approach side traffic signal to the second switching point as the guidance end section. The travel guidance system according to any one of the above. A guide route for guiding the movement of the moving body, a guide route setting means for setting a guide branch point on the guide route,
Traffic signal position acquisition means for acquiring the position of the approach side traffic signal and the exit side traffic signal of the near branch point existing on the departure side of the guide route from the guide branch point;
Based on the position of the approach side traffic signal acquired by the traffic signal position acquisition means, a guidance start section for setting a section from a predetermined distance before the start side of the approach side traffic signal to the vicinity of the approach side traffic signal as a guidance start section Setting means;
Based on the position of the approach side traffic signal and the exit side traffic signal acquired by the traffic signal position acquisition means, a section from a predetermined distance before the departure side traffic signal to the vicinity of the exit side traffic signal is defined as a guidance end section. A guidance end section setting means to be set;
Whether or not the output of the guidance can be terminated while the mobile body is located in the guidance end section when the guidance of the guidance branch point is output to the mobile body located in the guidance start section. Guidance determination means for determining;
Moving body position acquisition means for acquiring the position of the moving body;
Position determining means for determining whether or not the mobile body is located in the guidance start section based on the position of the mobile body and the position of the guidance start section;
When it is determined that the guidance output can be terminated by the guidance determination unit, and the position determination unit determines that the moving body is located in the guidance start section, the guidance branch point guidance output And a branching point guide means for starting the movement. Guidance route setting means, and away step to set the guidance branch point on the guidance route and the guide path for guiding the movement of the moving body,
Traffic signal position acquisition unit, and Luz step to obtain the position of the entrance-side traffic of prior branch point guidance than the branch points present in the starting point side of the guide path and the exit-side traffic,
Based on the position of the approach side traffic signal acquired by the traffic signal position acquisition means , the guidance start section setting means starts guiding a section from a predetermined distance before the start side of the approach side traffic signal to the vicinity of the approach side traffic signal. and Luz steps to set the interval,
Based on the position of the approach side traffic signal and the exit side traffic signal acquired by the traffic signal position acquisition means , the guidance end section setting means is from a predetermined distance on the departure side to the vicinity of the exit side traffic signal. the section, and Luz step be set in the guidance end section,
When the guidance determination means starts outputting the guidance at the guidance branch point to the mobile body located in the guidance start section, the guidance output is output while the mobile body is located in the guidance end section. and Luz step to determine whether or not it is possible to end,
Mobile location acquisition means includes Luz step to obtain the position of the movable body,
Position determining means, on the basis of the position of the movable body and the position of the guide start section, and away step to determine whether the moving object is positioned in the guide start section,
When the branch point guidance means determines that the guidance output can be terminated by the guidance determination means , and the position determination means determines that the moving body is located in the guidance start section, the guidance movement guidance method characterized in that it comprises a Luz step to start an output of the guidance branch point, a. The computer,
A guide route for guiding the movement of the moving body, a guide route setting means for setting a guide branch point on the guide route,
Traffic signal position acquisition means for acquiring the position of the approach side traffic signal and the exit side traffic signal of the near branch point existing on the departure side of the guide route from the guide branch point;
Based on the position of the approach side traffic signal acquired by the traffic signal position acquisition means , a guidance start section for setting a section from a predetermined distance before the start side of the approach side traffic signal to the vicinity of the approach side traffic signal as a guidance start section Setting means ;
Based on the position of the approach side traffic signal and the exit side traffic signal acquired by the traffic signal position acquisition means, a section from a predetermined distance before the departure side traffic signal to the vicinity of the exit side traffic signal is defined as a guidance end section. A guidance end section setting means to be set;
Whether or not the output of the guidance can be terminated while the mobile body is located in the guidance end section when the guidance of the guidance branch point is output to the mobile body located in the guidance start section. Guidance determination means for determining;
Moving body position acquisition means for acquiring the position of the moving body;
Position determining means for determining whether or not the mobile body is located in the guidance start section based on the position of the mobile body and the position of the guidance start section;
When it is determined that the guidance output can be terminated by the guidance determination unit , and the position determination unit determines that the moving body is located in the guidance start section, the guidance branch point guidance output Branch point guide means for starting
Computer program to function as

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