JP6914752B2 - Route guidance device and route guidance method - Google Patents

Description

The present invention relates to a route guidance device and a route guidance method, and is particularly suitable for use in a route guidance device and a route guidance method for guiding a guide intersection.

Conventionally, there is known a route guidance device that guides a vehicle to a guide intersection when it is located in front of the guide intersection (see, for example, Patent Document 1). The route guidance device described in Patent Document 1 is a traffic light at a guidance intersection, such as "about 600 m ahead," fourth signal "to the right" when there is a traffic light at the guidance intersection on the map data. Notify the number of traffic lights including, and guide the driver to the guidance intersection. If there is no traffic light at the guidance intersection on the map data, "about 600m ahead," after passing the third signal "" It is to the right. ”, Notifies the number of traffic lights that pass before reaching the guidance intersection, and guides the driver to the guidance intersection.

Jikkenhei 10-274544

As in Patent Document 1, guidance to the guidance intersection is performed by using the number of traffic lights that pass before reaching the guidance intersection, from the current position of the vehicle to the guidance intersection without using the number of traffic lights. It is assumed that the guidance is easier for the driver to understand than using only the distance of. This is because it is difficult to intuitively grasp the positional relationship between the current position of the vehicle and the intersection only by the distance. Then, the route guidance device according to Patent Document 1 provides guidance using the number of traffic lights even when there are no traffic lights at the guidance intersection. Specifically, the route guidance device according to Patent Document 1 specifies the number of traffic lights that pass before reaching the guidance intersection when there is no traffic light at the guidance intersection, and then indicates the number of traffic lights that pass before reaching the guidance intersection, and then the intersection next to the last traffic light. Guidance to the guidance intersection is provided by notifying that is a guidance intersection.

However, in Patent Document 1, even when there is no traffic light at the guide intersection, guidance is uniformly performed using the number of traffic lights in the above-described manner, so that the last passing traffic light and the guide intersection are largely separated from each other. In some cases, or when there is actually a road that does not exist in the map data between the traffic light that passes last and the guidance intersection, there is a problem that the guidance intersection becomes difficult for the driver to understand. In order to solve this problem, when there is no traffic light at the guidance intersection, it is possible to provide guidance using the distance between the vehicle and the guidance intersection without providing guidance using the number of traffic lights. .. By doing so, if there is no traffic light at the guidance intersection, guidance using the number of traffic lights is not performed, so even if the last passing traffic light and the guidance intersection are far apart, etc. It is possible to prevent the driver from misunderstanding about the position of the traffic light and to realize guidance that is easy for the driver to understand. However, when there is no traffic light at the guidance intersection, if the guidance is not performed using the number of traffic lights uniformly, there arises a problem that appropriate guidance is not performed in the cases shown below, for example. ..

FIG. 11 is a diagram used for explaining a case in which appropriate guidance is not performed when guidance using the number of traffic lights is uniformly prevented when there are no traffic lights at the guidance intersection. FIG. 11 shows the mode of the road corresponding to the case. In FIG. 11, the white arrow drawn over the road indicates the direction in which the vehicle can travel on the road. Further, in FIG. 11, the upward direction is north, the upward direction is east, the downward direction is south, and the left direction is west.

In FIG. 11, the road K1 extending from north to south is a general national highway, and has an intersection X1 and an intersection X2 in order toward the north as intersections. The intersection X1 is provided with a traffic light S1 that regulates the progress / stop of a vehicle traveling north on the road K1, but the intersection X2 is provided with a traffic light S1 that regulates the progress / stop of a vehicle traveling north on the road K1. There is no traffic light to regulate. This traffic light S1 will be described later. In FIG. 11, for convenience of explanation, only the traffic light (traffic light S1) that regulates the progress / stop of the vehicle traveling north on the road K1 is drawn in the figure, and the vehicle traveling south on the road K1 is drawn. The traffic light that regulates the progress / stop of is not drawn.

Further, the road K2 extending from east to west is a main line such as a bypass road or an expressway, and the up line K2a and the down line K2b are separated by a median strip. Road K2 is provided on an overpass, and road K1 and road K2 are grade-separated between intersection X1 and intersection X2.

From the intersection X1, a connecting road R1a extends westward. The connecting road R1a is a lamp that connects the road K1 and the up line K2a. When a vehicle traveling north on the road K1 enters the up line K2a, it turns left at the intersection X1 and enters the up line K2a via the connecting road R1a. Further, from the intersection X1, a connecting road R1b extends eastward. The connecting road R1b is a lamp that connects the road K1 and the up line K2a. When a vehicle traveling west on the up line K2a enters the road K1, it enters the connecting road R1b separated from the up line K2a, reaches the intersection X1 via the connecting road R1b, and reaches the intersection X1 via the intersection X1. Enter into. The connecting road R1b is a dedicated road for entering the road K1 from the up line K2a, and a vehicle traveling north on the road K1 is prohibited from turning right at the intersection X1.

From the intersection X2, the connecting road R2a extends eastward. The connecting road R2a is a lamp that connects the road K1 and the down line K2b. When a vehicle traveling north on the road K1 enters the down line K2b, turn right at the intersection X2 and enter the down line K2b via the connecting road R2a. Further, from the intersection X2, a connecting road R2b extends westward. The connecting road R2b is a lamp that connects the road K1 and the down line K2b. When a vehicle traveling east on the down line K2b enters the road K1, it enters the connecting road R2b separated from the down line K2b, reaches the intersection X2 via the connecting road R2b, and reaches the intersection X2 via the intersection X2. Enter into. The connecting road R2b is a dedicated road for entering the road K1 from the down line K2b, and a vehicle traveling north on the road K1 is prohibited from turning left at the intersection X2.

The traffic light S1 is a traffic light that regulates the progress / stop at the intersection X1 and the intersection X2 for a vehicle traveling north on the road K1. More specifically, the intersection X1 is provided with a stop line T1 for a vehicle traveling north on the road K1 corresponding to the traffic light S1, while the intersection X2 is provided with a stop line T1 for a vehicle traveling north on the road K1. There is no stop line. Then, as described above, the vehicle can go straight or turn right at the intersection X2, but the vehicle traveling north on the road K1 is restricted from going straight or turning right at the intersection X2 by the traffic light S1.

In FIG. 11, the node N1 is a node corresponding to the intersection X1, and the node N2 is a node corresponding to the intersection X2. A node is a point defined for each node in an intersection or other road network. Usually, the map data stored in the route guidance device such as the navigation device has the node information for each node, and the node information has the traffic light presence / absence information indicating the presence / absence of the traffic light at the intersection corresponding to the node. Therefore, in the map data, the node information corresponding to the node N1 has the traffic light information indicating that there is a traffic light, while the node information corresponding to the node N2 has the traffic light information indicating that there is no traffic light. There is.

In this way, the intersection X1 and the intersection X2 are managed as separate nodes on the map data. However, in the real world, the intersection X1 and the intersection X2 have a connecting road R1a as a road that can turn left and a connecting road R2a as a road that can turn right, and as one intersection whose progress / stop is controlled by the traffic light S1. Function. Also, the driver usually recognizes the intersection X1 and the intersection X2 as one intersection. There are not a few places where the mode of the road is the mode shown in FIG.

Under the above circumstances, a vehicle traveling north on the road K1 is located at the position P1 on the south side of the intersection X1, and the guidance route is from the position P1 to the intersection as shown by the thick line in FIG. It is assumed that the route KR1 goes straight on X1, turns right at the intersection X2, enters the connecting road R2a, and enters the down line K2b via the connecting road R2a. In this case, the intersection X2 is a guide intersection because the vehicle is the next intersection to turn right.

When there is no traffic light at the guidance intersection (in this example, the intersection X2), the intersection X2, which is the guidance intersection, is a traffic light when the guidance to the guidance intersection is not performed using the number of traffic lights. Because it does not have, guidance using the number of traffic lights is not performed. However, as described above, since the driver recognizes the intersection X1 and the intersection X2 as one intersection, in this case, despite the existence of the traffic light S1 that regulates the progress / stop of the intersection X2, the driver recognizes the intersection X1 and the intersection X2 as one intersection. Guidance using the number of traffic lights is not performed, and appropriate guidance is not provided as guidance to the guidance intersection. In the case described above, if the intersection X2 is guided using the technique described in Patent Document 1, it will be "about 600 m ahead," after passing the third traffic light "to the right." In addition, it gives the driver the impression that the next intersection after passing "Intersection X1 and Intersection X2", which the driver regards as one intersection, is an intersection that should turn right, and this guidance is also appropriate. I can not say.

The present invention has been made to solve such a problem, and when guiding a guide intersection, after providing appropriate guidance according to whether or not there is a traffic light at the guide intersection, the guide intersection is provided. Even if there is no traffic light in, in the case where the guidance intersection and the other intersection function as one intersection, the purpose is to enable appropriate guidance corresponding to that case.

In order to solve the above-mentioned problems, in the route guidance device of the present invention, after searching for a guidance route, the guidance intersection on the guidance route is an intersection of the first pattern having a signal, or another intersection without a signal. The progress / stop is regulated by the traffic lights at the intersection, and it is determined whether the intersection is a second pattern intersection that functions as one intersection together with the other intersections, or a third pattern intersection other than the first pattern and the second pattern, and guide intersections. Is the first pattern of intersection, guidance is performed to the guidance intersection using the number of traffic lights of the guidance intersection and the number of traffic lights that the vehicle passes to reach the guidance intersection, and if the guidance intersection is the second pattern of intersection, the relevant Guidance to the guidance intersection is performed using the number of traffic lights at other intersections and the number of traffic lights that the vehicle passes through to reach the other intersection. When the guidance intersection is an intersection of the third pattern, the number of traffic lights is not used. Guidance to the guidance intersection is provided using the distance from the vehicle to the guidance intersection. When determining the pattern of an intersection, it is determined whether or not the guide intersection has a traffic light based on the information on the presence or absence of a traffic light of the node, and if so, it is determined that the guide intersection is an intersection of the first pattern. do. In addition, information on the presence or absence of traffic lights, connection link information indicating the link connecting to the node, and link type information indicating the type of road corresponding to the link (however, the type of road includes at least main lines, connecting roads, and side roads) Based on this, the guidance intersection does not have a traffic light, another intersection located just before the guidance intersection on the guidance route has a traffic light, and both the guidance intersection and the other intersection are via a side road or a connecting road. It is determined whether or not the condition of connecting to the common main line is satisfied, and if it is satisfied, it is determined that the guide intersection is the intersection of the second pattern, and the guide intersection is not the first pattern and the second pattern. If not, it is determined that the guide intersection is the intersection of the third pattern.

According to the present invention configured as described above, when the guide intersection has a traffic light, guidance is performed using the number of traffic lights including the traffic light at the guide intersection. Therefore, the fact that the guide intersection has a traffic light is utilized. , Easy-to-understand guidance using the number of traffic lights. Further, according to the present invention configured as described above, even when the guide intersection does not have a traffic light, in the case where the guide intersection and the other intersection function as one intersection, the other intersection Since guidance is performed using the number of traffic lights including the traffic light of, the guidance intersection and the other intersection function as one intersection, and the traffic lights at the other intersection regulate the progress / stop at the guidance intersection. Based on the above, easy-to-understand guidance can be provided using the number of traffic lights including the traffic lights at the other intersection. Further, according to the present invention configured as described above, in cases other than the above, guidance to the guide intersection is performed using the distance to the guide intersection without using the number of traffic lights, so that the guide intersection uses the traffic light. Prevented the driver from misunderstanding the position of the guidance intersection due to the guidance to the guidance intersection being performed using the number of traffic lights in cases where there is no such case and the above case is not the case. Appropriate guidance can be provided. That is, according to the present invention configured as described above, when guiding the guidance intersection, after providing appropriate guidance according to whether or not there is a traffic light at the guidance intersection, there is no traffic light at the guidance intersection. In addition, in the case where the guidance intersection and the other intersection function as one intersection, appropriate guidance corresponding to the case can be performed.

It is a block diagram which shows the functional structure example of the route guidance apparatus which concerns on one Embodiment of this invention. It is a figure which shows an example of the content of the map data. It is a figure which shows an example of the content of the guidance route information. It is a figure which shows an example of the guide intersection of the 1st pattern. It is a figure which shows an example of the guide intersection of the 2nd pattern. It is a figure which shows an example of the guide intersection of the 3rd pattern. It is a figure which shows an example of the intersection enlarged view which concerns on the 2nd pattern. It is a flowchart which shows the operation example of the intersection pattern determination part which concerns on one Embodiment of this invention. It is a flowchart which shows the operation example of the route guidance part which concerns on one Embodiment of this invention. It is a figure which shows an example of the mode of the road of the case where a guide intersection functions as one intersection together with other intersections. It is a figure which shows an example of the mode of the road of the case where a guide intersection functions as one intersection together with other intersections.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a functional configuration example of the route guidance device 100 according to the present embodiment. The route guidance device 100 is a so-called navigation device provided in the vehicle, and includes a function of detecting the position of the vehicle, a function of searching for a route to a destination set by the user, and the like. In the present embodiment, the route guidance device 100 will be described as a navigation device provided in the vehicle, but the route guidance device 100 does not have to be a device attached to the vehicle, for example, a mobile terminal (smartphone or a smartphone). , Tablet type PC, notebook type PC). That is, the present invention described below is widely applicable to a device capable of guiding a guidance route, particularly a guidance intersection on the guidance route.

As shown in FIG. 1, a touch panel 200 and a speaker 300 are connected to the route guidance device 100 according to the present embodiment. The touch panel 200 includes a display panel having a function of displaying an image such as a liquid crystal display panel or an organic EL panel, and a touch sensor which is arranged so as to be superimposed on the display panel and detects a user's operation on the touch panel 200. The speaker 300 is a speaker device provided inside the vehicle. Further, the route guidance device 100 includes a vehicle position detection unit 10, a route search unit 11, an intersection pattern determination unit 12, a voice processing unit 13, and a route guidance unit 14 as functional configurations thereof. Further, the route guidance device 100 includes a map data storage unit 20 and a guidance route storage unit 21.

Each of the above functional blocks 10 to 14 can be configured by any of hardware, DSP (Digital Signal Processor), and software. For example, when configured by software, each of the functional blocks 10 to 14 is actually configured to include a computer CPU, RAM, ROM, etc., and is a program stored in a recording medium such as RAM, ROM, hard disk, or semiconductor memory. Is realized by the operation of.

The map data storage unit 20 stores the map data 20a. The map data 20a includes image data used when drawing a map on the touch panel 200. The image data is composed of image data used for drawing a background such as terrain, image data used for drawing a road, image data used for drawing a character string indicating a road name and an intersection name, and the like. NS. Further, the map data 20a includes facility information regarding the facilities existing on the map. Further, the map data 20a includes road network information. The road network information includes a link database for links and a node database for nodes. A node is a point defined for each node in an intersection or other road network, and a link is a line defined for each road section between nodes.

FIG. 2A is a diagram showing an example of information contained in one record of the link database. The link database has a record for each link. Each record in the link database includes a link ID, link type information, route number information, and link length information.

The link ID is identification information that identifies the link. The link type information is information indicating the type of the road corresponding to the link. In the present embodiment, there are a main line, a connecting road, and a frontage road as types of roads. A ramp connecting roads having different heights (for example, an expressway and a general national highway having a height different from that of an expressway) is included in the connecting road. The route number information is information indicating the route number of the road corresponding to the link. Route numbers are numbers assigned to national roads, prefectural roads, and other roads. The link length information is information indicating the distance of the road corresponding to the link. The information exemplified as the information included in the record of the link database is a part of the information, and the record includes information indicating the link cost, the number of lanes of the road corresponding to the link, and the information indicating the direction of the link. It contains other information about the link, such as information about the nodes at both ends of the link.

FIG. 2B is a diagram showing an example of information contained in one record in the node database. The node database has a record for each node. Each record in the node database includes a node ID, traffic light presence / absence information, node position information, connection link information, regulation information, and lane information. The node ID is identification information that identifies the node. The traffic light presence / absence information is information indicating the presence / absence of a traffic light at an intersection corresponding to a node. The node position information is information indicating the position of the node on the map.

The connection link information is information indicating the link ID of the link connecting to the node (each of the plurality of links when a plurality of links are connected). Regulatory information is information that indicates that a vehicle that has entered a node from one link is prohibited from exiting to another specific link. When a plurality of roads are connected to an intersection, vehicles entering the intersection from one road may be prohibited from leaving to another specific road. For example, in FIG. 11, as described above, it is prohibited to turn right at the intersection X1 and exit to the connecting road R1b. In this case, the regulation information of the node N1 corresponding to the intersection X1 prohibits the vehicle entering the node N1 from the link connecting to the south side of the node N1 from exiting to the link corresponding to the connecting road R1b. Information indicating that is included. The lane information is information about a lane provided on a road entering an intersection when the node is an intersection.

The information exemplified as the information included in the record of the node database is a part of the information, and the record includes other information about the node.

The own vehicle position detection unit 10 is based on information contained in the map data 20a and inputs from GPS, a gyro sensor, an acceleration sensor, and a vehicle speed sensor (not shown), and the current position of the vehicle (hereinafter referred to as "own vehicle position"). Is detected. Any method may be used to detect the position of the own vehicle.

The route search unit 11 is operated by the user from the vehicle position based on the information contained in the vehicle position and the map data 20a detected by the vehicle position detection unit 10 in response to the user's instruction using the touch panel 200. Search for a route to the set destination (hereinafter referred to as "guidance route"). Any method may be used to search for a route. The route search unit 11 stores the guidance route information indicating the searched guidance route in the guidance route storage unit 21.

FIG. 3 is a simplified diagram showing an example of guidance route information. As shown in FIG. 3, the guidance route information includes guidance route correspondence information in which links and nodes corresponding to the guidance route from the current position of the vehicle to the destination are represented by a combination of the link ID and the node ID. .. Further, in the guidance route information, a guidance intersection flag is associated with each of the node IDs. The guide intersection flag is a flag indicating whether or not the node of the corresponding node ID is an intersection where a right or left turn is made when the vehicle travels along the guidance route. Hereinafter, an intersection existing on a guidance route and in which a right or left turn is made is referred to as a "guidance intersection".

Further, as shown in FIG. 3, the guidance route information has pattern identification information for each guidance intersection (= for each intersection where the guidance intersection flag is on). The pattern identification information is information for specifying a pattern (described later) of a guide intersection. As will be described later, the intersection pattern determination unit 12 determines the pattern of the guide intersection and stores the pattern identification information indicating the pattern in association with the node ID of the guide intersection.

The intersection pattern determination unit 12 determines which of the first pattern, the second pattern, and the third pattern is the intersection of the guide intersections included in the guidance route searched by the route search unit 11. To judge. Hereinafter, the mode of the guide intersection and the processing of the intersection pattern determination unit 12 will be described for each pattern.

First, the first pattern will be described. FIG. 4 is a diagram schematically showing an example of an intersection X3, which is a guide intersection of the first pattern. As shown in FIG. 4, the guide intersection of the first pattern is an intersection where a traffic light exists. The intersection pattern determination unit 12 acquires information on the presence or absence of a traffic light at a guide intersection to be determined by referring to the map data 20a, and the value of the acquired information on the presence or absence of a traffic light is a value indicating the existence of a traffic light. In this case, it is determined that the pattern of the guide intersection is the first pattern. In the first pattern of the guide intersection, in the real world, a traffic light exists at the guide intersection, and the traffic light regulates the progress / stop at the guide intersection. When the intersection pattern determination unit 12 determines that one guidance intersection is the first pattern, the intersection pattern determination unit 12 accesses the guidance route storage unit 21 and associates it with the node ID of the one guidance intersection to obtain the first pattern. The pattern specific information indicating that is stored.

Next, the second pattern will be described. FIG. 5 is a diagram showing an intersection X2, which is a guide intersection of the second pattern. Each road and each intersection in FIG. 5 corresponds to each road and each intersection in FIG. 11, and in FIG. 5, each road and each intersection has the same code as each corresponding road and each intersection in FIG. It is attached.

The guide intersection of the second pattern is an intersection corresponding to the intersection X2 shown in FIG. 5 (however, the guidance route is assumed to be the route KR1). As described above, at the intersection X2, there is no traffic light on the map data 20a. Further, the intersection X1 and the intersection X2 function as one intersection whose progress / stop is regulated by the traffic light S1 of the intersection X1, and these intersections are usually recognized as one intersection by the driver.

The intersection pattern determination unit 12 refers to the map data 20a to acquire information on the presence or absence of a traffic light at the guide intersection for which the pattern is to be determined, and the value of the acquired information on the presence or absence of a traffic light is a value indicating that no traffic light exists. In that case, it is further determined whether or not the corresponding condition (described later) is satisfied for the guide intersection. When the corresponding condition is satisfied, the intersection pattern determination unit 12 determines that the pattern of the guide intersection is the second pattern. The correspondence condition is a condition for determining whether or not the guide intersection is an intersection corresponding to the intersection X2 in FIG. 5, and if the correspondence condition is satisfied, it is an intersection corresponding to the intersection X2 in FIG. If it can be regarded and the corresponding condition is not satisfied, it is set as a condition that it can be regarded as not an intersection corresponding to the intersection X2 in FIG. The corresponding conditions will be described in detail below.

If all of the following conditions are met, the guide intersection can be considered to correspond to the intersection X2 in FIG. Condition J1: Guidance at the guidance intersection The guidance is a right turn. Condition J2: The type of road to be entered when turning right at the guidance intersection is "connecting road" or "side road on the same route as the main line". Condition J3: Another intersection located immediately before the guide intersection on the guidance route has a traffic light and is a corresponding intersection where a right turn is prohibited. Condition J4: The type of road to be entered when turning left at the corresponding intersection is "connecting road" or "side road on the same route as the main line". Condition J5: The route number of the road to enter when turning right at the guidance intersection and the route number of the road to enter when turning left at the corresponding intersection have the same identity.

If the conditions J1 to J5 correspond to the corresponding conditions and all of the conditions J1 to J5 are satisfied, the corresponding conditions are satisfied, and if any of the conditions J1 to J5 is not satisfied, the corresponding conditions are not satisfied. .. As described above, the link database and the node database include information necessary for determining whether or not the correspondence condition is satisfied, and the intersection pattern determination unit 12 responds by using the information of these databases. Determine if the condition is met. In particular, regarding the determination of whether or not the target road type of the condition J2 and the condition J4 is "a side road on the same route as the main road", the intersection pattern determination unit 12 determines the link type (road) of the target road. Type) is "frontage road", and the target road is the target road when the value of the route number of the target road (frontage road) and the value of the route number of the main line corresponding to the target road match. Judged as "a side road on the same line as the main line".

Hereinafter, in FIG. 5, it is verified that the corresponding condition is satisfied for the intersection X2 when the intersection X2 is the guide intersection and the guidance route is the route KR1. Regarding condition 1, the guidance at the intersection X2 is a right turn. Therefore, the condition J1 is satisfied. Regarding condition J2, the road to be entered after turning right at the intersection X2 is the connecting road R2a. The connecting road R2a is a ramp that connects roads having different heights, and the type of the road is "connecting road". Therefore, the condition J2 is satisfied. Regarding condition J3, the intersection X1 corresponds to another intersection located immediately before the intersection X2 on the guidance route, and the intersection X1 has a traffic light and is prohibited from turning right. That is, the intersection X1 is a corresponding intersection. Therefore, the condition J3 is satisfied. Regarding condition J4, the road to be entered after turning left at the corresponding intersection X1 is the connecting road R1a. The connecting road R1a is a ramp that connects roads having different heights, and the type of the road is "connecting road". Therefore, the condition J4 is satisfied. Regarding condition J5, the route number of the connecting road R2a that enters after turning right at the intersection X2, which is the guide intersection, and the route number of the connecting road R1a that enters after turning left at the corresponding intersection X1 are the same. It should be noted that the corresponding connecting roads provided on the upper and lower lines of the main line are usually given a common route number of the main line, and also in this embodiment, the connecting road R1a and the connecting road R2a are assigned. As the route number, a route number having the same value as the value of the route number of the main road K2 is assigned. Therefore, the condition J5 is satisfied.

When the intersection pattern determination unit 12 determines that one guidance intersection is the second pattern, the intersection pattern determination unit 12 accesses the guidance route storage unit 21 and associates it with the node ID of the one guidance intersection to obtain the second pattern. The pattern specific information indicating that is stored.

Next, the third pattern will be described. FIG. 6 is a diagram schematically showing an example of an intersection X4, which is a guide intersection of the third pattern. As shown in FIG. 6, the guide intersection of the third pattern is an intersection in which there is no traffic light and the above-mentioned corresponding conditions are not satisfied. The intersection pattern determination unit 12 refers to the map data 20a to acquire information on the presence or absence of a traffic light at the guide intersection for which the pattern is to be determined, and the value of the acquired information on the presence or absence of a traffic light is a value indicating that no traffic light exists. In that case, it is further determined whether or not the corresponding condition is satisfied. When the corresponding condition is not satisfied, the intersection pattern determination unit 12 determines that the pattern of the guide intersection is the third pattern.

When the intersection pattern determination unit 12 determines that one guidance intersection is the third pattern, the intersection pattern determination unit 12 accesses the guidance route storage unit 21 and associates it with the node ID of the one guidance intersection to obtain the third pattern. The pattern specific information indicating that is stored.

The audio processing unit 13 includes a D / A converter and an amplifier circuit, performs signal processing such as D / A conversion and amplification on the input audio signal, outputs the output to the speaker 300, and is based on the audio signal from the speaker 300. Output audio.

The route guidance unit 14 guides the guidance route in response to a user's instruction or the like using the touch panel 200. The route guidance unit 14 displays a map on the touch panel 200 based on the map data 20a and the guidance route information stored in the guidance route storage unit 21, and the vehicle position detection unit 10 detects the vehicle on the map. The guidance route is guided by displaying a mark indicating the vehicle position and an image showing the guidance route. In addition, the route guidance unit 14 appropriately controls the voice processing unit 13 to guide the guidance route using voice.

In particular, the route guidance unit 14 according to the present embodiment executes a characteristic process for guidance regarding a guidance intersection. The route guidance unit 14 executes "advance guidance" and "detailed guidance" as guidance regarding the guidance intersection. Hereinafter, the processing of the route guidance unit 14 when performing advance guidance and the processing of the route guidance unit 14 when performing detailed guidance will be described in detail in order.

<Processing of route guidance unit 14 when performing advance guidance>
First, the processing of the route guidance unit 14 when performing advance guidance will be described. The route guidance unit 14 provides advance guidance in different modes according to the pattern of the guidance intersection. Hereinafter, the content of the advance guidance and the processing of the route guidance unit 14 will be described for each pattern. The route guidance unit 14 determines which of the first pattern, the second pattern, and the third pattern the guide intersection pattern is, which is the pattern of the guidance route information stored in the guidance route storage unit 21. Judgment is made based on specific information (see FIG. 3).

<First pattern>
First, the content of the advance guidance in the case of the first pattern and the processing of the route guidance unit 14 will be described with reference to FIG. In the route guidance unit 14, when the pattern of the guidance intersection to be passed next on the guidance route is the first pattern, the distance between the "guidance intersection" and the vehicle position is the first threshold value, the second threshold value, and the third threshold value. Monitor whether or not any of the thresholds has been reached. In the present embodiment, the distance between the own vehicle position and the predetermined position on the guidance path means the mileage when the vehicle travels along the guidance path from the own vehicle position to the predetermined position. The route guidance unit 14 calculates the distance between the own vehicle position and the predetermined position by the existing technology based on the information about the link included in the map data 20a and other information. Hereinafter, the first threshold value, the second threshold value, and the third threshold value may be collectively referred to as "advance guidance threshold value".

The first threshold value, the second threshold value, and the third threshold value are threshold values used as triggers for executing the output of the voice (the content of the voice will be described later) related to the advance guidance. In the first pattern, when the distance between the vehicle position and the guidance intersection reaches any of these threshold values, the route guidance unit 14 outputs a voice regarding advance guidance having a content corresponding to the threshold value. In this embodiment, as shown in FIG. 4, the first threshold value is "300 meters", the second threshold value is "100 meters", and the third threshold value is "30 meters".

If the distance between the vehicle position and the guide intersection in the first pattern is the first threshold (300 meters), then the vehicle may pass one or more traffic lights before reaching the guide intersection. .. When it is detected that the distance between the guide intersection and the vehicle position has reached the first threshold value, the route guide unit 14 controls the voice processing unit 13, the distance to the guide intersection, the traffic light of the guide intersection, and the traffic light of the guide intersection. It outputs audio that includes information on the number of traffic lights that pass to the guide intersection and the direction of the turn at the guide intersection. In the present embodiment, for example, when the number of traffic lights passing through to the guide intersection is "5" including the traffic light at the guide intersection and the turning direction at the guide intersection is "right direction", the route guide unit 14 Outputs the voice "300 meters ahead, the fifth traffic light is to the right".

If the distance between the vehicle position and the guide intersection in the first pattern is the second threshold (100 meters), then the vehicle may pass one or more traffic lights before reaching the guide intersection. .. When it is detected that the distance between the guidance intersection and the vehicle position has reached the second threshold value, the route guidance unit 14 controls the voice processing unit 13 to pass through to the traffic light of the guidance intersection and the guidance intersection. It outputs a voice that includes information on the number of traffic lights to be used and the direction of turning at a guide intersection. In the present embodiment, for example, when the number of traffic lights passing through to the guide intersection is "2" including the traffic light at the guide intersection and the turning direction at the guide intersection is "right direction", the route guide unit 14 Outputs the voice "The second signal is to the right". In this example, the audio content does not include information indicating the distance between the vehicle position and the guide intersection, but it is needless to say that the distance may be included.

When the distance between the vehicle position and the guide intersection in the first pattern is the third threshold value (30 meters), there is usually no intersection (traffic light) that the vehicle passes before reaching the guide intersection. The value of the third threshold value is such that when the distance between the vehicle position and the guide intersection is the third threshold value, there is no traffic light (excluding the traffic light at the guide intersection) between the vehicle position and the guide intersection. NS. Further, when the distance between the vehicle position and the guide intersection is the third threshold value, the vehicle position and the guide intersection are in a very close state, and the driver usually passes through the windshield of the vehicle to the guide intersection. You can see the traffic light of.

When it is detected that the distance between the guidance intersection and the vehicle position has reached the third threshold value, the route guidance unit 14 controls the voice processing unit 13 to control the next (= first) traffic light (=). The traffic light at the guidance intersection) is a traffic light used for turning left and right at the intersection, and outputs audio that clearly indicates the direction of the turn at the guidance intersection. In the present embodiment, for example, when the turning direction at the guidance intersection is "right direction", the route guidance unit 14 outputs a voice saying "This signal is in the right direction". In this example, the expression "this signal is ~" is used, but the expression "the first signal is ~" which has the same meaning may be used. Further, in this example, the content of the voice does not include the information indicating the distance between the own vehicle position and the guide intersection, but it is needless to say that the distance may be included.

As described above, in the first pattern, the route guidance unit 14 guides to the guidance intersection by using the traffic lights at the guidance intersection and the number of traffic lights that the vehicle passes through to reach the guidance intersection. More specifically, when the guidance intersection and the vehicle are sufficiently separated from each other, the route guidance unit 14 uses the number of traffic lights at the guidance intersection and the number of traffic lights that pass to reach the guidance intersection to provide guidance. conduct. Therefore, the driver can accurately recognize the position of the guide intersection by using simple and clear information such as the number of traffic lights. Further, when the guidance intersection and the vehicle are close to each other, the route guidance unit 14 provides guidance clearly indicating that the next signal is a signal to be used for turning left or right at the intersection. For this reason, the driver accurately recognizes that the traffic light at the guidance intersection should be used to make a right or left turn at the intersection (guidance intersection) when the guidance intersection and the vehicle are close to each other and the traffic light at the guidance intersection can be actually confirmed. be able to. That is, in the present embodiment, when the guidance intersection has a traffic light, the guidance is performed using the number of traffic lights that the vehicle passes through, including the traffic light at the guidance intersection. Therefore, it is utilized that the guidance intersection has a traffic light. Therefore, it is possible to provide easy-to-understand guidance using a traffic light.

In the above, when the distance between the guidance intersection and the position of the own vehicle becomes a threshold value, the guidance is provided by voice, but in this regard, the guidance may be performed by using an image together with the voice. In this case, for example, information on the content having the same identity as the audio content may be displayed by a pop-up. This also applies to the second pattern and the third pattern, which will be described later.

<Second pattern>
Next, with reference to FIG. 5, the content of the advance guidance in the case of the second pattern and the processing of the route guidance unit 14 will be described. When the pattern of the guidance intersection to be passed next on the guidance route is the second pattern, the route guidance unit 14 sets the distance between the "corresponding intersection" and the vehicle position to the first threshold value (300 meters) and the second threshold value. Monitor whether the advance guidance threshold of (100 meters) or the third threshold (30 meters) has been reached. In this way, the second pattern is not to compare the distance between the "guidance intersection" and the vehicle position and the threshold value, but to compare the distance between the "corresponding intersection" and the vehicle position and the threshold value. The process according to the above is different from the process according to the first pattern described above.

As shown in FIG. 5, when it is detected that the distance between the vehicle position and the corresponding intersection has reached the advance guidance threshold value, the route guidance unit 14 outputs a voice of the content corresponding to the threshold value to provide advance guidance. conduct. More specifically, when the route guidance unit 14 detects that the distance between the vehicle position and the corresponding intersection has reached the first threshold value, the distance to the corresponding intersection, the traffic light of the corresponding intersection, and the corresponding intersection are reached. Outputs audio including the number of passing traffic lights and the direction of turning at a guide intersection as information. For example, when the number of traffic lights including the traffic lights at the corresponding intersection and passing through to the corresponding intersection is "5" and the turning direction at the guidance intersection is "right direction", the route guidance unit 14 is set to "300 meters". First, the fifth signal is in the right direction. "

When it is detected that the distance between the vehicle position and the corresponding intersection has reached the second threshold value (100 meters) in the second pattern, the route guidance unit 14 controls the voice processing unit 13 to control the traffic light of the corresponding intersection and the corresponding intersection. It outputs a voice that includes information on the number of traffic lights passing to the corresponding intersection and the direction of turning at the guide intersection. In the present embodiment, for example, when the number of traffic lights passing through to the corresponding intersection is "2" including the traffic light of the corresponding intersection and the direction of turning at the guide intersection is "right direction", the route guidance unit 14 Outputs the voice "The second signal is to the right". In addition, the content of the voice may include information indicating the distance between the position of the own vehicle and the corresponding intersection.

When it is detected that the distance between the own vehicle position and the corresponding intersection has reached the third threshold value (30 meters) in the second pattern, the route guidance unit 14 controls the voice processing unit 13 to perform the next (= 1). The content clearly states that the (first) traffic light (= traffic light at the corresponding intersection) is the traffic light used when turning right at the intersection, and that the direction to turn at the guidance intersection (in the case of the second pattern, always to the right). Output audio. In the present embodiment, for example, the route guidance unit 14 outputs a voice saying "This signal is in the right direction". In this example, the expression "this signal is ~" is used, but the expression "the first signal is ~" which has the same meaning may be used. Further, the content of the voice may include information indicating the distance between the position of the own vehicle and the corresponding intersection.

As described above, in the second pattern, the route guidance unit 14 guides to the guidance intersection by using the traffic lights at the corresponding intersection and the number of traffic lights that the vehicle passes through to reach the corresponding intersection. More specifically, when the corresponding intersection and the vehicle are sufficiently separated from each other, the route guidance unit 14 uses the number of traffic lights at the corresponding intersection and the number of traffic lights that pass to reach the corresponding intersection to provide guidance. conduct. Further, the route guidance unit 14 indicates that when the corresponding intersection and the vehicle are close to each other, the next (= first) traffic light (traffic light at the corresponding intersection) is a signal used for turning right at the intersection. Provide explicit guidance. Here, as described above, when the pattern of the guide intersection is the second pattern, the guide intersection and the corresponding intersection function as one intersection whose progress / stop is regulated by the signal of the corresponding intersection, and usually, The driver recognizes the guide intersection and the corresponding intersection as one intersection. Based on this, according to the above configuration, even if there is no traffic light at the guide intersection, the guide intersection and the corresponding intersection that is not the guide intersection are one intersection whose progress / stop is regulated by the traffic light of the corresponding intersection. In the case of functioning as, the number of traffic lights including the traffic light of the corresponding intersection can be used to provide guidance that is easy for the driver to understand. In addition, the driver can clearly recognize that the traffic light at the corresponding intersection is the traffic light used for turning right at the guidance intersection.

<Third pattern>
Next, the content of the advance guidance in the case of the third pattern and the processing of the route guidance unit 14 will be described with reference to FIG. When the pattern of the guide intersection to be passed next on the guide route is the third pattern, the route guide unit 14 determines that the distance between the guide intersection and the vehicle position is any of the first threshold value, the second threshold value, and the third threshold value. Monitor whether or not the threshold has been reached.

As shown in FIG. 6, when it is detected that the distance between the guide intersection and the vehicle position reaches the first threshold value in the third pattern, the route guide unit 14 controls the voice processing unit 13 to control the voice processing unit 13. Outputs voice including the distance to the guide intersection and the direction of turning at the guide intersection as information. In the present embodiment, for example, when the turning direction at the guidance intersection is "right direction", the route guidance unit 14 outputs the voice "300 meters ahead, right direction".

In the third pattern, when it is detected that the distance between the guidance intersection and the vehicle position has reached the second threshold value, the route guidance unit 14 controls the voice processing unit 13 to determine the distance between the guidance intersections. And, the voice including the turning direction at the guidance intersection as information is output. In the present embodiment, for example, when the turning direction at the guidance intersection is "right direction", the route guidance unit 14 outputs the voice "100 meters ahead, right direction".

In the third pattern, when it is detected that the distance between the guidance intersection and the vehicle position has reached the third threshold value, the route guidance unit 14 should control the voice processing unit 13 and turn left or right at the intersection. , And output audio that clearly indicates the direction of the turn at the guidance intersection. In the present embodiment, for example, when the turning direction at the guidance intersection is "right direction", the route guidance unit 14 outputs a voice saying "The intersection 30 meters ahead is in the right direction".

As described above, in the third pattern, the route guidance unit 14 does not perform guidance using the number of traffic lights when guiding to the guidance intersection, but guides using the distance from the own vehicle position to the guidance intersection. Due to this configuration, the following effects are obtained. That is, when the pattern of the guide intersection is the third pattern, the traffic light that passes before reaching the guide intersection is used, and the traffic light is passed at the end, such as "After passing the third traffic light, it is to the right." It is possible to provide guidance to the guidance intersection by notifying that the next intersection of the traffic light is the guidance intersection. However, in this case, when the last passing traffic light and the guidance intersection are largely separated from each other, or when there is actually a road between the last passing traffic light and the guidance intersection, which does not exist in the map data 20a. For example, the driver may misunderstand the position of the guide intersection, and the driver may find it difficult to understand the guide intersection. Based on the above, according to the above configuration, if there is no traffic light at the guidance intersection and the case is not the case described in the second pattern described above, guidance using the number of traffic lights is not performed, and the vehicle and the intersection Since the guidance is performed using the distance of the above, it is possible to prevent the driver from misunderstanding about the position of the traffic light and to realize the guidance that is easy for the driver to understand.

<Processing of route guidance unit 14 when performing detailed guidance>
Next, the processing of the route guidance unit 14 when performing detailed guidance will be described. Hereinafter, the processing of the route guide unit 14 when the pattern of the guide intersection is the second pattern will be described first, and then the process of the route guide unit 14 when the pattern of the guide intersection is the first pattern or the third pattern will be described. The processing will be described.

<Second pattern>
When the vehicle travels on the guidance route and the next guidance intersection through which the vehicle passes is an intersection of the second pattern, the route guidance unit 14 executes the following processing with respect to the detailed guidance. That is, the route guidance unit 14 monitors whether or not the position of the own vehicle and the position of the corresponding intersection has reached the fourth threshold value. The fourth threshold value is a threshold value that is used as a trigger for displaying the intersection enlarged view G1 described later, and is a value such that the position of the own vehicle and the corresponding intersection are sufficiently close to each other. The fourth threshold is, for example, a distance of 30 meters or less. The configuration may be such that the user can set the fourth threshold value. When it is detected that the distance between the vehicle position and the corresponding intersection reaches the fourth threshold value, the route guidance unit 14 displays the intersection enlarged view G1 on the touch panel 200.

FIG. 7 is a diagram showing an example of the intersection enlarged view G1 according to the second pattern, and shows the screen of the touch panel 200 in the state where the intersection enlarged view G1 is displayed. As shown in FIG. 7, when displaying the intersection enlarged view G1, the route guidance unit 14 divides the display area of the touch panel 200 into a left side area and a right side area, and displays the intersection enlarged view G1 in the left side area. The map that was displayed before is displayed, and the intersection enlarged view G1 is displayed in the area on the right side. In the second pattern, the intersection enlarged view G1 is a screen in which a map of the vicinity of the corresponding intersection centered on the corresponding intersection is enlarged and displayed, and the position of the own vehicle is clearly indicated on the map.

The roads and intersections shown in the map of FIG. 7 correspond to the roads and intersections shown in FIGS. 5 and 10, and in FIG. 7, for convenience of explanation, each road and each intersection of FIGS. 5 and 10 It has the same code as each corresponding road and each intersection. As shown in FIG. 7, the route guidance unit 14 displays an image showing the guidance route on the map of the intersection enlarged view G1.

Further, in the case of the second pattern, the route guidance unit 14 displays the intersection check mark M1 at a position corresponding to the corresponding intersection (intersection X1 in FIG. 7) instead of the guide intersection. The intersection check mark M1 is a ring-shaped image surrounding the intersection, and is displayed on the intersection enlarged view G1 for the purpose of clearly indicating that a right or left turn should be made at the intersection surrounded by the intersection check mark M1. Further, in the case of the second pattern, the route guide unit 14 displays the traffic light mark M2 representing the traffic light in association with the corresponding intersection. Further, in the case of the second pattern, the route guidance unit 14 refers to the node database and displays the lane explicit image M3 based on the lane information of the corresponding intersection. The lane explicit image M3 is an image that clearly indicates the lane in which the vehicle should travel in order to proceed on the guidance route among the lanes that can be traveled.

Here, as described above, when the pattern of the guide intersection is the second pattern, the guide intersection and the corresponding intersection function as one intersection whose progress / stop is controlled by the traffic light of the corresponding intersection. Therefore, for the driver, it is better to clearly indicate the traffic light of the corresponding intersection on the map and then guide the route as a traffic light that should be used when turning right at the guidance intersection. Guidance is easy to understand without making a mistake in the traffic light to be used. Based on the above, in the case of the second pattern, in the intersection enlarged view G1, the corresponding intersection is surrounded by the intersection check mark M1, the traffic light mark M2 is displayed in association with the corresponding intersection, and based on the lane information of the corresponding intersection. Since the lane clear image M3 is displayed, it is possible to provide guidance that is easy for the driver to understand.

<1st pattern or 3rd pattern>
When the vehicle travels on the guidance route and the next guide intersection through which the vehicle passes is an intersection of the first pattern or the third pattern, the route guidance unit 14 executes the following processing with respect to the detailed guidance. That is, the route guide unit 14 monitors whether or not the position of the own vehicle and the position of the guide intersection has reached the fourth threshold value. When it is detected that the distance between the vehicle position and the guide intersection has reached the fourth threshold value, the route guidance unit 14 displays an enlarged view of the intersection on the touch panel 200.

In the case of the first pattern or the third pattern, the route guidance unit 14 enlarges and displays a map of the vicinity of the guidance intersection centered on the guidance intersection on the intersection enlargement map, and also displays a mark indicating the position of the own vehicle on the map. , And an image showing the guidance route is displayed. Further, the route guidance unit 14 displays the intersection check mark M1 at a position corresponding to the guidance intersection. Further, in the enlarged view of the intersection, the route guide unit 14 displays the traffic light mark M2 in association with the guide intersection in the case of the first pattern (the pattern in which the guide intersection has a traffic light), and displays the signal mark M2 in association with the guide intersection, and the third pattern (the guide intersection is a traffic light). In the case of (a pattern that does not have), the traffic light mark M2 is not displayed. Further, in the case of the first pattern or the third pattern, the route guidance unit 14 refers to the node database and displays the lane explicit image M3 based on the lane information of the guidance intersection.

As described above, in the case of the first pattern or the third pattern, the enlarged view of the intersection clearly shows that the guide intersection is an intersection where the right or left turn should be made, and then various displays for supporting the right or left turn at the guide intersection. Is done. The driver can smoothly turn left and right at the guide intersection by referring to the enlarged view of the intersection.

FIG. 8 is a flowchart showing an example of processing of the intersection pattern determination unit 12 according to the present embodiment. In the process shown in the flowchart of FIG. 8, after the destination is set by the user, the start of guidance of the route (guidance route) to the destination is instructed, and in response to this, the route search unit 11 provides the guidance route information. After being generated and stored in the guidance route storage unit 21, it is executed based on the guidance route information stored in the guidance route storage unit 21.

As shown in FIG. 8, the intersection pattern determination unit 12 determines one of the guide intersections included in the guidance route and the guide intersection for which the pattern has not yet been determined as the target for determining the pattern. (Step SA1). Hereinafter, the guide intersection determined to be the target for determining the pattern in step SA1 will be referred to as a “processed intersection”.

After determining the intersection to be processed in step SA1, the intersection pattern determination unit 12 refers to the node database, acquires traffic light presence / absence information of the intersection to be processed, and based on the acquired traffic light presence / absence information, the intersection to be processed determines the traffic light. It is determined whether or not it has (step SA2). When having a traffic light (step SA2: YES), the route guidance unit 14 determines that the intersection to be processed is an intersection of the first pattern (step SA3). Next, the intersection pattern determination unit 12 accesses the guidance route storage unit 21 and stores pattern identification information indicating that it is the first pattern in association with the node ID of the intersection to be processed (step SA4). After the processing of step SA4, the intersection pattern determination unit 12 shifts the processing procedure to step SA5.

When it is determined in step SA2 that the intersection to be processed does not have a traffic light (step SA2: NO), the intersection pattern determination unit 12 determines whether or not the corresponding condition is satisfied for the intersection to be processed (step SA6). When the corresponding condition is satisfied (step SA6: YES), the intersection pattern determination unit 12 determines that the intersection to be processed is an intersection of the second pattern (step SA7). Next, the intersection pattern determination unit 12 accesses the guidance route storage unit 21 and stores pattern identification information indicating that it is the second pattern in association with the node ID of the intersection to be processed (step SA8). After the processing of step SA8, the intersection pattern determination unit 12 shifts the processing procedure to step SA5.

When it is determined in step SA6 that the corresponding condition is not satisfied (step SA6: NO), the intersection pattern determination unit 12 determines that the intersection to be processed is an intersection of the third pattern (step SA9). Next, the intersection pattern determination unit 12 accesses the guidance route storage unit 21 and stores pattern identification information indicating that it is the third pattern in association with the node ID of the intersection to be processed (step SA10). After the processing of step SA10, the intersection pattern determination unit 12 shifts the processing procedure to step SA5.

In step SA5, the intersection pattern determination unit 12 determines whether or not the pattern determination is completed for all the guide intersections included in the guidance route. When the pattern determination is not completed (step SA5: NO), the intersection pattern determination unit 12 returns the processing procedure to step SA1. On the other hand, when the pattern determination is completed (step SA5: YES), the intersection pattern determination unit 12 ends the process.

FIG. 9 is a flowchart showing an example of processing of the route guidance unit 14 according to the present embodiment. In particular, FIG. 9 shows an example of processing of the route guidance unit 14 when performing advance guidance. The process shown in the flowchart of FIG. 9 is executed at any time while the guidance route is being guided.

As shown in FIG. 9, the route guidance unit 14 determines whether or not the position of the own vehicle is in a predetermined state (step SB1). The predetermined state is a state in which the distance between the guide intersection and the position of the own vehicle reaches the advance guidance threshold value when the pattern of the guide intersection is the first pattern or the third pattern. Further, the predetermined state is a state in which the distance between the corresponding intersection and the position of the own vehicle reaches the advance guidance threshold value when the pattern of the guidance intersection is the second pattern. The route guidance unit 14 continuously and repeatedly executes the process of step SB1 until the position of the own vehicle reaches a predetermined state.

When the vehicle position is in a predetermined state (step SB1: YES), the route guidance unit 14 determines whether or not the guidance intersection is an intersection of the first pattern (step SB2). When the guide intersection is an intersection of the first pattern (step SB2: YES), the route guidance unit 14 uses the traffic lights of the guide intersection and the number of traffic lights that the vehicle passes to reach the guide intersection to guide the guide to the guide intersection. (Step SB3). As described above, for example, the route guidance unit 14 outputs a voice saying "300 meters ahead, the fifth signal is in the right direction". After the processing of step SB3, the route guidance unit 14 shifts the processing procedure to step SB4.

When the guide intersection is not the intersection of the first pattern (step SB2: NO), the route guidance unit 14 determines whether or not the guide intersection is the intersection of the second pattern (step SB5). When the guidance intersection is an intersection of the second pattern (step SB5: YES), the route guidance unit 14 provides guidance to the guidance intersection using the traffic lights of the corresponding intersection and the number of traffic lights that the vehicle passes through to reach the corresponding intersection. (Step SB6). As described above, for example, the route guidance unit 14 outputs a voice saying "300 meters ahead, the fifth signal is in the right direction". After the processing of step SB6, the route guidance unit 14 shifts the processing procedure to step SB4.

When the guidance intersection is not the intersection of the second pattern (= when the guidance intersection is the intersection of the third pattern) (step SB5: NO), the route guidance unit 14 does not use the number of traffic lights, from the vehicle to the guidance intersection. Guidance to the guidance intersection is performed using the distance of (step SB7). As described above, for example, the route guidance unit 14 outputs a voice saying "300 meters ahead, to the right". After the processing of step SB6, the route guidance unit 14 shifts the processing procedure to step SB4.

In step SB4, the route guidance unit 14 determines whether or not the guidance of the guidance route is completed. When the user arrives at the destination or is instructed by the user to end the guidance of the guidance route, the route guidance unit 14 determines that the guidance of the guidance route is completed in step SB4. When the guidance of the guidance route is not completed (step SB4: NO), the route guidance unit 14 shifts the processing procedure to step SB1. When the guidance of the guidance route is completed (step SB4: YES), the route guidance unit 14 ends the process.

In the flowchart of FIG. 9, for convenience of explanation, the route guidance unit 14 is configured to determine whether or not the guidance of the guidance route is completed in step SB4, but the route guidance unit 14 is configured to determine whether or not the guidance of the guidance route is completed. While the process is being executed, it monitors whether or not the guidance of the guidance route is completed, and if it is completed, it executes the necessary termination process and then terminates the process.

As described in detail above, in the route guidance device 100 according to the present embodiment, after searching for the guidance route, the guidance intersection of the guidance route is an intersection of the first pattern, an intersection of the second pattern, or a third pattern. Determine if it is an intersection. As described above, the intersection of the second pattern functions as one intersection together with the corresponding intersection, and the progress / stop is regulated by the traffic light of the corresponding intersection. Then, when the guide intersection is an intersection of the first pattern, the route guidance device 100 guides the guide intersection by using the number of traffic lights of the guide intersection and the number of traffic lights that the vehicle passes through to reach the guide intersection. When the guidance intersection is an intersection of the second pattern, the route guidance device 100 provides guidance to the guidance intersection by using the traffic lights of the corresponding intersection and the number of traffic lights that the vehicle passes through to reach the corresponding intersection. When the guide intersection is an intersection of the third pattern, the route guidance device 100 guides the guide intersection by using the distance from the vehicle to the guide intersection without using the number of traffic lights.

According to this configuration, when the guidance intersection has a traffic light, guidance is performed using the number of traffic lights including the traffic light at the guidance intersection. Therefore, the number of traffic lights is used by utilizing the fact that the guidance intersection has a traffic light. Easy-to-understand guidance can be provided. Further, according to the above configuration, even when the guide intersection does not have a signal, in the case where the guide intersection and the corresponding intersection which is not the guide intersection function as one intersection, the signal including the signal of the corresponding intersection Since guidance is performed using the number of guides, the number of traffic lights is used based on the fact that the guide intersection and the corresponding intersection function as one intersection, and the traffic lights at the corresponding intersections regulate the progress / stop at the guide intersections. Easy-to-understand guidance can be provided. Further, according to the above configuration, when the guide intersection does not have a traffic light and is not the case described above, the guide to the guide intersection is performed using the distance to the guide intersection without using the number of traffic lights. Therefore, it is possible to prevent the driver from misunderstanding the position of the guidance intersection due to the guidance to the guidance intersection being performed using the number of traffic lights, and to use the distance to the guidance intersection for appropriate guidance. Can be done. That is, according to the above configuration, when guiding the guidance intersection, after providing appropriate guidance according to whether or not there is a traffic light at the guidance intersection, there is no traffic light at the guidance intersection and the guidance intersection In the case where another intersection functions as one intersection, appropriate guidance corresponding to that case can be provided.

<First modification>
Next, a first modification of the above-described embodiment will be described. In the above-described embodiment, the corresponding condition is composed of five conditions, condition J1 to condition J5. In this regard, in addition to the conditions J1 to J5, the following conditions J6 may be added to the corresponding conditions. Condition J6: The corresponding intersection is located within a predetermined range from the guide intersection. Here, when the corresponding intersection and the guide intersection function as one intersection, the corresponding intersection is located within a predetermined range from the guide intersection. Based on this, the condition J6 is a condition for more reliably determining that the guide intersection is an intersection of the second pattern. The values in the predetermined range are appropriately determined after prior verification.

<Second modification>
Next, a second modification of the above-described embodiment will be described. In the above-described embodiment, the intersection of the second pattern is an intersection corresponding to the intersection X2 of FIG. 5, and the corresponding condition is a condition that is satisfied when the guide intersection corresponds to the intersection X2 of FIG. Regarding this point, the intersection of the second pattern is not limited to the intersection corresponding to the intersection X2 in FIG. That is, the intersection of the second pattern may be an intersection that functions as one intersection together with other intersections and whose progress / stop is regulated by the traffic light of the other intersection. Further, the corresponding condition may be a condition that is satisfied when the guide intersection functions as one intersection together with other intersections and the progress / stop is restricted by the traffic light of the other intersection.

In particular, the guidance intersection does not have a traffic light, another intersection located immediately before the guidance intersection on the guidance route has a traffic light, and both the guidance intersection and the other intersection are via a side road or a connecting road. When connecting to a common main line, the guide intersection functions as one intersection together with other intersections. Based on this, the corresponding condition is that other intersections located immediately before the guide intersection on the guidance route have traffic lights, and both the guide intersection and the other intersection are side roads or connecting roads. The condition is satisfied when connecting to a common main line via the above, and the intersection pattern determination unit 12 may determine the pattern of the guide intersection as the second pattern when the guide intersection satisfies the corresponding condition.

FIG. 10 is a diagram showing another example of a case in which a guide intersection functions as one intersection together with other intersections. In FIG. 10, the white arrow drawn over the road indicates the direction in which the vehicle can travel on the road. Further, in FIG. 10, the upward direction is north, the upward direction is east, the downward direction is south, and the left direction is west.

In FIG. 10, the road K10 extending from north to south is a general national highway, and has intersections X10a and intersections X10b in order toward the north as intersections. The intersection X10a is provided with a traffic light S10 that regulates the progress / stop of a vehicle traveling north on the road K10, but the intersection X10b is provided with a traffic light S10 that regulates the progress / stop of a vehicle traveling north on the road K10. There is no traffic light to regulate. Further, the intersection X10a is provided with a stop line T11, but the intersection X10b is not provided with a stop line. In FIG. 10, for convenience of explanation, only the traffic light (traffic light S10) that regulates the progress / stop of the vehicle traveling north on the road K10 is drawn in the figure, and the vehicle traveling south on the road K10 is drawn. The traffic light that regulates the progress / stop of is not drawn.

From the intersection X10a, a connecting road R10a extends eastward. The connecting road R10a is a road connected to the highway via the gate GT10, which is the entrance / exit of the highway (main line). The connecting road R10a is a dedicated road for vehicles leaving the expressway with the gate GT10 as an exit to enter the road K10, and vehicles traveling on the road K10 are prohibited from entering the connecting road R10a. There is.

From the intersection X10b, a connecting road R10b extends eastward. The connecting road R10b is a road connected to the expressway via the gate GT10. The connecting road R10b is a dedicated road for a vehicle traveling on the road K10 to enter the highway with the gate GT10 as an entrance, and a vehicle leaving the highway with the gate GT10 as an exit enters the connecting road R10b. That is forbidden.

The traffic light S10 is a traffic light that regulates the progress / stop at the intersection X10a and the intersection X10b for a vehicle traveling north on the road K10. More specifically, as described above, the intersection X10a is provided with a stop line T11 for vehicles traveling north on the road K10, while the intersection X10b is provided with a stop line T11 for vehicles traveling north on the road K10. No lines are provided. The traffic light S10 is a traffic light provided corresponding to the stop line T11, and a vehicle traveling north on the road K10 is regulated by the traffic light S10 for going straight and turning right at the intersection X10b.

In the case of the mode shown in FIG. 10, the guidance route goes straight on the intersection X10a, turns right at the intersection X10b, enters the connecting road R10b, and enters the gate GT10, as shown by the thick line in FIG. It is assumed that the route is KR10, which enters the expressway via the road. In this case, the intersection X10b becomes a guide intersection. When the intersection X10b is a guide intersection, the intersection X10b functions together with the intersection X10a as one intersection whose progress / stop is regulated by the traffic light S10 of the intersection X10a. Based on this, the intersection corresponding to the intersection X10b is included in the intersection of the second pattern, and when the guide intersection is the intersection corresponding to the intersection X10b, the traffic light of the intersection corresponding to the intersection X10a is used to reach the guide intersection. It may be configured to provide guidance.

The intersection X10b as a guide intersection does not have a traffic light, the intersection X10a located immediately before the guide intersection on the guidance route has a traffic light, and both the intersection X10a and the intersection X10b are common via the connecting road. It is connected to the main line. Based on this, the conditions used for determining whether or not the guide intersection is an intersection corresponding to the intersection X10b are, for example, the following conditions. Condition J7: Another intersection located immediately before the guide intersection on the guidance route has a traffic light. Condition J8: The guide intersection and the other intersection are connected to a common main line via a connecting road.

In the above-described embodiment, the route guidance unit 14 displays information on the guidance on the touch panel 200 and outputs various guidance by outputting a voice related to the guidance. In this regard, the illustrated guidance is an example, and the guidance may be performed by another method. For example, the guidance may be provided by displaying the information on the windshield by the head-up display, or the guidance may be provided by displaying the information on a display device other than the touch panel 200, for example.

Further, in the above-described embodiment, the content of the voice output at the time of guidance regarding the guidance intersection and the content of the displayed image have been described with appropriate examples, but the content of the illustrated voice and the image The content is just an example and is not limited to the illustrated content.

In addition, each of the above embodiments is merely an example of embodiment of the present invention, and the technical scope of the present invention should not be construed in a limited manner. That is, the present invention can be implemented in various forms without departing from its gist or its main features.

11 Route search unit 12 Intersection pattern determination unit 14 Route guidance unit 20 Map data storage unit 100 Route guidance device

Claims (6)

A information about the nodes and links, comprising at least a connection link information indicating a link connected to the traffic signal existence information and the node indicating the presence or absence of a traffic signal for each node, type of the road corresponding to the link for each link (provided that A map data storage unit that stores map data having road network information including at least link type information indicating (at least main lines, connecting roads, and frontage roads) are included in the road type.
A route search unit that searches for a guidance route based on the road network information stored in the map data storage unit, and a route search unit.
Based on the road network information stored in the map data storage unit,
The guidance intersection on the guidance route is
Is it the first pattern intersection with a traffic light?
Is it a second pattern intersection that does not have a traffic light, is regulated by traffic lights at other intersections, and functions as one intersection together with the other intersections?
An intersection pattern determination unit that determines whether the intersection is an intersection of the first pattern and a third pattern other than the second pattern.
When the intersection pattern determination unit determines that the guide intersection is an intersection of the first pattern, the number of traffic lights of the guide intersection and the number of traffic lights that the vehicle passes through to reach the guide intersection is used to reach the guide intersection. Guidance,
When the guide intersection is determined by the intersection pattern determination unit to be an intersection of the second pattern, the guide intersection is used by the number of traffic lights of the other intersection and the number of traffic lights that the vehicle passes through to reach the other intersection. Guidance to
When the intersection pattern determination unit determines that the guidance intersection is an intersection of the third pattern, route guidance for guiding to the guidance intersection using the distance from the vehicle to the guidance intersection without using the number of traffic lights. and a part,
The intersection pattern determination unit
Based on the traffic light presence / absence information, it is determined whether or not the guide intersection has a traffic light, and if so, it is determined that the guide intersection is an intersection of the first pattern.
Based on the traffic light presence / absence information, the connection link information, and the link type information, the guide intersection does not have a traffic light, and another intersection located immediately before the guide intersection on the guidance route has a traffic light. It is determined whether or not the condition that both the guide intersection and the other intersection are connected to the common main line via the side road or the connecting road is satisfied, and if the condition is satisfied, the guide intersection is the second pattern. Judging that it is an intersection of
A route guidance device characterized in that when the guide intersection is not the first pattern and is not the second pattern, it is determined that the guide intersection is an intersection of the third pattern. The road network information includes regulatory information indicating that a vehicle entering a node from one link is prohibited from exiting to another specific link for each node, and for each link. , Includes route number information indicating the route number of the road corresponding to the link,
Based on the signal presence / absence information, the connection link information, the regulation information, the link type information, and the route number information, the intersection pattern determination unit guides the guidance intersection at the guidance intersection without having a signal. Is a right turn, the type of road to enter when turning right at the guidance intersection is a connecting road or a side road on the same route as the main line, and another intersection located immediately before the guidance intersection on the guidance route is a traffic light. It is a corresponding intersection where right turn is prohibited, and the type of road to enter when turning left at the corresponding intersection is a connecting road or a side road of the same route as the main line, and it enters when the guide intersection is turned right. If the route number of the road and the route number of the road that you enter when you turn left at the corresponding intersection have the same value
The route guidance device according to claim 1 , wherein the guidance intersection is determined to be an intersection of the second pattern. The intersection pattern determination unit
The route guidance device according to claim 2 , further comprising determining the guide intersection as an intersection of the second pattern when the corresponding intersection is located within a predetermined range from the guide intersection. The route guidance unit
When the guide intersection is determined by the intersection pattern determination unit to be an intersection of the second pattern, when the distance between the vehicle and another intersection that functions as one intersection together with the guide intersection becomes a predetermined distance. According to any one of claims 1 to 3 , the guidance to the guidance intersection is performed by using the traffic lights at the other intersection and the number of traffic lights that the vehicle passes through to reach the other intersection. The described route guidance device. The route guidance unit
When the guide intersection is an intersection of the second pattern,
Claims 1 to 4 are characterized in that the traffic lights provided at other intersections that function as one intersection together with the guide intersections provide guidance clearly indicating that they are traffic lights that regulate the progress / stop at the guide intersections. The route guidance device according to any one of the above. A information about the nodes and links, comprising at least a connection link information indicating a link connected to the traffic signal existence information and the node indicating the presence or absence of a traffic signal for each node, type of the road corresponding to the link for each link (provided that This is a route guidance method using a route guidance device that stores road network information that includes at least link type information indicating (at least main lines, connecting roads, and frontage roads).
The first step in which the route search unit of the route guidance device searches for a guidance route based on the road network information,
Based on the road network information, the intersection pattern determination unit of the route guidance device determines that the guidance intersection on the guidance route is an intersection of the first pattern having a traffic light, or a traffic light of another intersection without a traffic light. A second step of determining whether the intersection is a second pattern intersection where progress / stop is regulated and functions as one intersection together with the other intersection, or an intersection of the first pattern and a third pattern other than the second pattern. ,
When the route guidance unit of the route guidance device determines that the guidance intersection is an intersection of the first pattern by the intersection pattern determination unit, the signal of the guidance intersection and the signal that the vehicle passes through until reaching the guidance intersection. Guidance to the guide intersection is performed using the number of the above, and when the guide intersection is determined to be the intersection of the second pattern by the intersection pattern determination unit, the signal of the other intersection and the other intersection are reached. Guidance to the guidance intersection is performed using the number of traffic lights that the vehicle passes through, and when the intersection pattern determination unit determines that the guidance intersection is an intersection of the third pattern, the vehicle does not use the number of traffic lights. Including a third step of guiding to the guide intersection using the distance from to the guide intersection.
In the second step, the intersection pattern determination unit
Based on the traffic light presence / absence information, it is determined whether or not the guide intersection has a traffic light, and if so, it is determined that the guide intersection is an intersection of the first pattern.
Based on the traffic light presence / absence information, the connection link information, and the link type information, the guide intersection does not have a traffic light, and another intersection located immediately before the guide intersection on the guidance route has a traffic light. It is determined whether or not the condition that both the guide intersection and the other intersection are connected to the common main line via the side road or the connecting road is satisfied, and if the condition is satisfied, the guide intersection is the second pattern. Judging that it is an intersection of
A route guidance method characterized in that when the guide intersection is not the first pattern and is not the second pattern, it is determined that the guide intersection is an intersection of the third pattern.

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