JP3766533B2 - Navigation device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a navigation apparatus that performs various types of guidance while a vehicle is traveling.
[0002]
[Prior art]
In general, an in-vehicle navigation device detects a current position of a vehicle, reads map data in the vicinity thereof from a CD-ROM, and displays it on a screen. In addition, a vehicle position mark indicating the vehicle position is displayed at the center of the screen, and map data in the vicinity is scrolled as the vehicle progresses around the vehicle position mark, so that map information around the vehicle position is always known. It is like that.
[0003]
Also, most of the recent in-vehicle navigation devices are equipped with a route guidance function that allows a driver to travel to a desired destination without making a mistake on the road. This route guidance function draws the guidance route on the map image with a different color from other roads and displays it on the screen while driving, or the vehicle approaches within a certain distance from the intersection where the route should be changed. Sometimes, the driver is guided to the destination by enlarging the intersection and displaying an arrow indicating the traveling direction.
[0004]
[Problems to be solved by the invention]
By the way, in the above-described conventional navigation apparatus, only a map image around the travel position is displayed, so that it is difficult for the user to grasp where the vehicle is traveling. In particular, when the map image is displayed in detail, only a narrow range around the vehicle position is included, and it is difficult to grasp the relative traveling direction during the current traveling.
[0005]
For example, “Direction toward Tokyo (upward direction) or away from Tokyo (downward direction)” or “Direction toward or away from station” or relationship with a clear location However, if the relative traveling direction can be known, it is easy to recognize the traveling direction sensuously, but the conventional navigation apparatus cannot meet such a requirement.
[0006]
The present invention was created in view of the above points, and an object of the present invention is to provide a navigation device that can grasp a relative traveling direction.
[0007]
[Means for Solving the Problems]
In order to solve the above-described problem, the navigation device of the present invention has a specific point set for each predetermined area, and is detected by the set specific point and the vehicle position / orientation detecting means. Since the relative traveling direction of the vehicle in relation to one specific point is calculated based on the vehicle position and direction, and this is voice- guided, the user can The relative traveling direction of the vehicle in the relationship can be grasped.
[0008]
In particular, the specific point setting means extracts a specific point corresponding to the area including the own vehicle position by searching an area / specific point table in which a plurality of areas and corresponding specific points are stored. Is preferred. By setting a specific area for each area and extracting a specific point corresponding to the position of the vehicle, it is possible to select a specific point close to the traveling position of the vehicle, and grasp the traveling direction in relation to familiar points Can be provided, and can provide easier-to-understand guidance.
[0009]
In addition, if the angle between the direction connecting the vehicle position and the specific point and the traveling direction of the vehicle is within the predetermined range, the relative traveling direction of the vehicle is guided, and otherwise It is preferable to provide guidance for the absolute direction of the vehicle. The case where the above-mentioned angle is large (when it is close to 90 °) is a case where the vehicle travels around a specific point, and in this case, the relative traveling direction of the vehicle in relation to the specific point is Since it does not change so much, it is possible to provide easier-to-understand guidance by performing guidance using the absolute direction.
[0010]
Moreover, it is preferable that the guidance mentioned above includes information on a specific point and whether the vehicle is in a direction toward or away from the specific point. If these are known, it is possible to roughly grasp what point the vehicle is currently traveling.
[0011]
In addition, it is preferable to provide guidance selection means for selecting whether or not to perform the above-described guidance, and repeatedly perform the guidance at a predetermined timing when the guidance selection is selected. Thus, by repeatedly performing the above-described guidance during traveling, the traveling position of the host vehicle can be continuously confirmed at a predetermined interval.
[0012]
DETAILED DESCRIPTION OF THE INVENTION
A navigation device according to an embodiment to which the present invention is applied sets a central city in each of a plurality of divided regions, and the traveling direction of the vehicle relative to the central city is voiced while traveling in each region. There is a feature in guiding. Hereinafter, a navigation device according to an embodiment will be described with reference to the drawings.
[0013]
(1) Overall Configuration of Navigation Device FIG. 1 is a diagram showing an overall configuration of an in-vehicle navigation device according to an embodiment to which the present invention is applied. The navigation device shown in FIG. 1 reads a navigation controller 1 that controls the whole, a CD-ROM 2 that records various map data necessary for map display, route search, and the like, and reads the map data recorded on the CD-ROM 2. A disk reader 3, a remote control (remote control) unit 4 as an operation unit for a driver or a passenger to input various instructions, a GPS receiver 5 and an autonomous navigation sensor for detecting the position and direction of the vehicle 6, a display device 9 that displays a map image and a guidance route over the map image, and an audio unit 10 that outputs a predetermined guidance voice when performing route guidance.
[0014]
The disk reader 3 described above can be loaded with one or more CD-ROMs 2 and reads map data from any of the CD-ROMs 2 under the control of the navigation controller 1. The remote control unit 4 includes a search key for giving a route search instruction, a route guidance mode key used for setting the route guidance mode, a destination input key, left / right / up / down cursor keys, a map reduction / enlargement key, and a cursor on the display screen. Various operation keys such as a setting key for confirming an item at a position and a traveling direction guidance key for instructing start / end of traveling direction guidance are provided. An infrared signal corresponding to the operation state of the key is directed to the navigation controller 1. Sent.
[0015]
The GPS receiver 5 receives radio waves transmitted from a plurality of GPS satellites, performs a three-dimensional positioning process or a two-dimensional positioning process, and calculates the absolute position and direction of the vehicle (the vehicle direction is determined by the current vehicle). Calculated based on the position and the vehicle position before one sampling time ΔT), and these are output together with the positioning time. The autonomous navigation sensor 6 includes an angle sensor 12 such as a vibration gyro that detects a vehicle rotation angle as a relative direction, and a distance sensor 14 that outputs one pulse for each predetermined travel distance. Detect position and orientation.
[0016]
Based on the image data output from the navigation controller 1, the display device 9 displays map information around the vehicle along with the vehicle position mark, departure point mark, destination mark, etc., and displays a guidance route on the map. To do. The audio unit 10 outputs a guidance voice at an intersection where the vehicle is approaching and a voice that guides the relative traveling direction of the host vehicle in relation to the central city.
[0017]
(2) Detailed Contents of Map Data Next, details of the map data recorded on the CD-ROM 2 will be described. The map data recorded on the CD-ROM 2 is based on the leaves separated by a predetermined longitude and latitude. The map data of each leaf can be specified and read by specifying the leaf number. It becomes. In addition, the map data for each map leaf includes (1) a drawing unit composed of various data necessary for map display, and (2) data necessary for various processes such as map matching, route search, and route guidance. Road unit and (3) intersection unit consisting of detailed data of the intersection. The drawing unit described above includes background layer data necessary for displaying buildings, rivers, and the like, and character layer data necessary for displaying city names, road names, and the like.
[0018]
In the road unit described above, a line connecting a certain intersection on the road with another adjacent intersection or the like is called a link, and a point connecting two or more links is called a node. FIG. 2 is a diagram showing an overall configuration of the road unit described above. As shown in the figure, the road unit includes a unit header for identifying the road unit, a connection node table storing detailed data of all nodes, and a node table indicating a storage position of the connection node table. And a link table storing detailed data of links specified by two adjacent nodes.
[0019]
FIG. 3 is a diagram illustrating detailed contents of various tables included in the road unit. As shown in FIG. 3A, the node table stores node records # 0, # 1,... Corresponding to all the nodes included in the drawing of interest. Each node record is given a node number from # 0 in the order of arrangement, and indicates the storage position of the connection node table corresponding to each node.
[0020]
In addition, as shown in FIG. 3B, the connection node table is provided for each existing node.
a. Normalized longitude / latitude,
b. "Node attribute flag" consisting of an intersection node flag indicating whether or not this node is an intersection node, an adjacent node flag indicating whether or not the node is at the boundary with other leaves,
c. "Number of connected nodes", which indicates the number of nodes that make up the other end of each link when there is a link with this node as one end of the link,
d. If the link connected to this node has traffic restrictions such as right turn prohibition or U turn prohibition, the "number of traffic restrictions"
e. Connection node records for the number of links indicating the link number of each link where this node is one end,
f. A traffic regulation record showing the specific contents of the traffic regulation corresponding to the number of traffic regulations mentioned above,
g. If this node is a node at the boundary with another leaf, an “adjacent node record” indicating the position of the connection node table of the corresponding node in the adjacent leaf,
h. If this node is an intersection node, the storage location and size of the corresponding intersection record in the intersection unit;
Etc. are included.
[0021]
Further, as shown in FIG. 3C, the link table includes a plurality of link records in the order of link numbers corresponding to all the links included in the drawing of interest. Each of these link records
a. Link ID, which is a code attached to each link mainly for the search route display,
b. Node number 1 and node number 2 identifying two nodes located at both ends of the link,
c. Link distance,
d. The cost, in minutes, of the time required to traverse this link,
e. Various road attribute flags, including road attribute information corresponding to this link,
f. A road type flag indicating the width of the road such as whether the actual road corresponding to this link is a highway or a general road, how many meters the road is wide,
g. The route number given to the road corresponding to this link,
Etc. are included.
[0022]
FIG. 4 is a diagram showing the detailed contents of the road name table included in the character layer of the drawing unit. As shown in the figure, the road name table includes a road name record corresponding to each road included in the leaf of interest, and each road name record includes
a. Route number,
b. A road type code indicating the content of this road (highway, urban highway, national highway, etc.)
c. Route codes corresponding to route numbers such as national and prefectural roads,
d. Route name reading kana character string,
e. Route name string,
Etc. are included.
[0023]
(3) Detailed Configuration and Operation of Navigation Controller Next, a detailed configuration of the navigation controller 1 shown in FIG. 1 will be described. The navigation controller 1 includes a map buffer 16 for displaying a predetermined map on the display device 9 based on the map data read from the CD-ROM 2, a map reading control unit 18, a map drawing unit 20, a VRAM 22, a reading control unit 24, An image composition unit 26, a data storage unit 30 for performing calculation of the vehicle position, map matching processing, route search processing, route guidance processing and displaying the result, vehicle position / orientation calculation unit 32, map matching processing unit 34, a route search processing unit 36, a guidance route memory 38, a route search memory 40, a guidance route drawing unit 42, a mark image generation unit 44, an intersection guide unit 46, and the relationship between the relative traveling direction of the own vehicle and the central city. The traveling direction guide unit 48 for guiding the user and various operation screens for the user are displayed and the remote control unit 4 Remote control unit 60 for transmitting the created instruction to each section, the cursor position calculating unit 62, and an operation screen generating unit 64.
[0024]
The map buffer 16 is for temporarily storing map data read from the CD-ROM 2 by the disk reader 3. When the map readout control unit 18 calculates the screen center position, an instruction to read out a predetermined range of map data including the screen center position is sent from the map readout control unit 18 to the disk reader 3 and is necessary for map display. Map data is read from the CD-ROM 2 and stored in the map buffer 16. For example, map data corresponding to four map leaves including the screen center position is read and stored in the map buffer 16. An area / center position table described later is also read from the CD-ROM 2 and stored in the map buffer 16.
[0025]
The map drawing unit 20 creates a map image necessary for display based on the drawing units included in the map data of the four map leaves stored in the map buffer 16. The created map image data is stored in the VRAM 22, and the map image data for one screen is read by the read control unit 24. The image composition unit 26 performs image composition by superimposing the image data output from the mark image generation unit 44, the intersection guide unit 46, and the operation screen generation unit 64 on the read map image data. The image thus displayed is displayed on the screen of the display device 9.
[0026]
The data storage unit 30 sequentially stores positioning position (own vehicle position) data output from the GPS receiver 5. Further, the vehicle position / orientation calculation unit 32 calculates the absolute vehicle position and direction from the relative position and direction of the own vehicle output from the autonomous navigation sensor 6. The map matching processing unit 34 determines whether or not the vehicle position calculated by the vehicle position / orientation calculating unit 32 by the GPS receiver 5 stored in the data storage unit 30 is on the road of the map data. If the vehicle is off the road, a process for correcting the vehicle position obtained by calculation is performed. Pattern matching and projection methods are known as typical map matching methods.
[0027]
When the destination input key is pressed after the cursor is moved to a specific location on the map by the operation of the cursor key of the remote control unit 4, the route search processing unit 36 calculates the cursor calculated by the cursor position calculation unit 62 at this time. Set the location as the destination of the route search. The set destination data is stored in the guide route memory 38. In addition, when the search key of the remote control unit 4 is pressed, the route search processing unit 36 sets the vehicle position after being corrected by the map matching processing unit 34 as a departure place and stores it in the guidance route memory 38. The travel route connecting the starting point and the destination stored in the guide route memory 38 under a predetermined condition is searched. For example, under various conditions such as the shortest time, a guide route is set that minimizes the cost considering the road conditions in each region. As a typical method of route search, Dijkstra method and horizontal search method are known. The guidance route set by the route search processing unit 36 in this way is stored in the guidance route memory 38.
[0028]
The route search memory 40 stores intersection network list data necessary for route search. The stored route data is read out by the route search processing unit 36 described above, and a predetermined route search process is performed. .
[0029]
The guide route drawing unit 42 selects, from the guide route data stored in the guide route memory 38, the one included in the map area drawn in the VRAM 22 at that time, and overlaid on the map image and emphasized thickly with a predetermined color. Draw a guidance route. The mark image generation unit 44 generates a vehicle position mark at the own vehicle position after the map matching process, or generates a cursor mark having a predetermined shape.
[0030]
The intersection guide unit 46 performs guidance at the intersection where the vehicle is approaching with a display image and sound. When the vehicle approaches within a predetermined distance from the intersection ahead of the guidance route, The approaching intersection guide map (intersection enlarged view, destination, approach direction arrow) is displayed on the screen of the display device 9 and the approach direction is guided by voice through the audio unit 10.
[0031]
The traveling direction guide 48 is for guiding the relative traveling direction of the vehicle in relation to the central city corresponding to the traveling area. The regional / central city table (from the map buffer 16) Based on the vehicle position / orientation data after the map matching processing output from the map matching processing unit 34 and the map matching processing output from the map matching processing unit 34, the region where the vehicle is currently traveling and the central city corresponding to the region are determined. Identify and determine the traveling direction of the vehicle in relation to the central city. The determination of the traveling direction is performed at a predetermined timing (for example, a predetermined time interval).
[0032]
The map buffer 16 and the traveling direction guide unit 48 described above serve as specific point setting means, the GPS receiver 5, the autonomous navigation sensor 6, the data storage unit 30, the vehicle position / orientation calculation unit 32, and the map matching processing unit 34 include the vehicle position. The traveling direction guide unit 48 corresponds to the direction detection unit, the traveling direction calculation unit, the traveling direction guide unit, the remote controller 4, the traveling direction guide unit 48, and the remote control unit 60 correspond to the guidance selection unit. The region / central city table corresponds to the region / specific point table.
[0033]
(4) Operation of Navigation Device The navigation device as a whole and the navigation controller 1 have the above-described configuration. Next, a description will be given of a guidance operation in the relative traveling direction of the vehicle in relation to the central city.
[0034]
(4-1) Area division and designation of central city FIG. 5 is a diagram showing the relationship between the divided areas and the central city. As shown in the figure, each region is a polygonal region, and one central city is set in each region. The central city can be set in various ways, for example, by setting the city with the largest population in the area or by setting a city that is a key traffic point.
[0035]
FIG. 6 is a diagram showing the detailed contents of the region / central city table. As shown in the figure, the region / central city table includes region / central city records corresponding to each region.
a. The name of the central city,
b. The longitude and latitude of the central city,
c. The longitude / latitude of the vertices of the polygons that make up the region (the vertices / latitudes of the region),
It is composed of If the longitude / latitude of the vehicle position is known, the region and the central city corresponding to the vehicle position can be specified by searching this table.
[0036]
(4-2) Traveling Direction Guidance Process Next, the guidance operation in the relative traveling direction of the host vehicle will be specifically described. FIG. 7 is a flowchart showing an operation procedure of relative traveling direction guidance of the own vehicle. When the user operates the remote control unit 4 to instruct the traveling direction guidance, the traveling direction guide unit 48 specifies the area including the own vehicle position and the central city corresponding to the area (step 100). Specifically, the advancing direction guide unit 48 includes the vehicle position / orientation data output from the map matching processing unit 34 and each region / center city record included in the map / center city table read from the map buffer 16. Based on the "latitude / longitude of the apex of the area area", the area in which the vehicle is running is identified, and the name, longitude / latitude of the central city corresponding to the identified area are read from the area / central city table. .
[0037]
Next, the traveling direction guide unit 48 calculates an angle θ formed by the traveling direction of the host vehicle and a straight line connecting the host vehicle position and the central city (a straight line between the host vehicle and the central city) (step 101). FIG. 8 is a diagram showing a relationship between the traveling direction of the own vehicle and a straight line between the own vehicle and the central city. The traveling direction of the vehicle shown in the figure is obtained from the vehicle position / direction data, and the straight line between the vehicle and the central city is calculated based on the longitude of the central city in the vehicle position / direction data and the region / central city record. * Calculated from latitude.
[0038]
Next, the traveling direction guide section 48 performs traveling direction guidance according to the value of the angle θ formed by the traveling direction of the host vehicle and the straight line between the host vehicle and the central city. FIG. 9 is a diagram illustrating the relationship between the angle θ and the traveling direction guidance. As shown in the figure, when the angle θ is included in the range of 0 ° to 45 ° or 315 ° to 360 ° (the range of (1)), it is proceeding in the direction toward the central city. When the angle θ is included in the range of 135 ° to 225 ° (range (3)), it is assumed that the vehicle is moving away from the central city, and a voice guidance is given to that effect. In addition, when the angle θ is included in the range of 45 ° to 135 ° or 225 ° to 315 ° (the range of (2) or (3)), it cannot be said that it goes away from the central city. Guides the direction of travel in absolute direction.
[0039]
First, the traveling direction guide 48 determines whether or not the calculated angle θ is within the range of 0 ° ≦ θ ≦ 45 ° or 315 ° ≦ θ <360 °, that is, within the range of (1) in FIG. It is determined whether or not there is (step 102). If it is within the range of (1), a voice message indicating that the user is heading to the central city, for example, “Going up in the direction of XX (name of the central city)” is output through the audio unit 10 (step) 103).
[0040]
If the calculated angle θ is not within the range of (1) in FIG. 9, the traveling direction guide unit 48 next determines whether or not the calculated angle θ is within the range of 135 ° ≦ θ ≦ 225 °, That is, it is determined whether it is within the range of (2) in FIG. 9 (step 104). If it is within the range of {circle around (2)}, guidance indicating that the user is moving away from the central city, for example, guidance such as “Descent from OO” is output through the audio unit 10 (step 105).
[0041]
If the calculated angle θ is not within the range of {circle around (1)} and {circle around (2)} in FIG. 9, the traveling direction guide section 48 next guides the traveling direction in an absolute direction (step 106). For example, the route number corresponding to the link on which the vehicle is traveling is extracted based on the link table shown in FIG. 3C, and the route name reading pseudonym corresponding to the route number is shown based on the road name table shown in FIG. A string is specified. Therefore, based on the vehicle position / orientation data output from the map matching processing unit 34 and the specified route name reading kana character string, for example, a guidance such as “I am heading XX line southeast” is given. Audio is output through the audio unit 10. FIG. 10 is a diagram illustrating the relationship between the traveling direction and the absolute direction. When the traveling direction is guided in the absolute direction, the direction corresponding to the traveling direction is identified from the eight directions shown in FIG.
[0042]
When the guidance in the advancing direction in steps 103, 105, and 106 ends, the advancing direction guide unit 48 monitors whether or not a predetermined time has elapsed since the guidance ended (step 107). Returning to, guidance of the traveling direction of the vehicle at that position is started.
[0043]
In this way, in relation to the central city of each region, the guidance of the relative traveling direction of the own vehicle is performed by voice, so that the user can easily see how the vehicle is traveling with respect to the central city. I can know. In particular, even if the user is lost or traveling on a road that is traveling, the user listens to the direction guidance given at a predetermined timing, The relative own vehicle position can be grasped. Further, since the guidance in the direction of travel guides whether the user is heading toward or away from the central city of the area, the guidance can be easily understood for the user.
[0044]
In addition, this invention is not limited to the said embodiment, A various deformation | transformation implementation is possible within the range of the summary of this invention. For example, in the above-described embodiment, the area / center city table is recorded in the CD-ROM 2 in advance, but the user may be able to freely set the contents.
[0045]
In the above-described embodiment, the area is a polygonal area. For example, the prefectural boundary data and the municipal boundary data are included in the regional / central city record with the prefecture and the municipality as one area. Or a radius within 50 km from the central city. In particular, when a region is configured in a narrow range, such as when a city is a region, the region / central city record is centered on the longitude / latitude of the center of the region such as a station or government office. It is desirable to set it instead of the longitude / latitude of the city. Regardless of the size of the area, a place or a building with a famous name such as a sightseeing spot may be used instead of the central city of each area.
[0046]
Further, in the above-described embodiment, the azimuth in the traveling direction of the own vehicle is obtained based on the own vehicle position / orientation data output from the map matching processing unit 34, but the longitude / latitude of the nodes at both ends of the traveling link. The direction of the traveling direction of the own vehicle may be obtained based on the above. In this case, first, the node numbers of the nodes at both ends of the running link are obtained from the link table shown in FIG. 3C, and then from the connection node table in FIG. 3B corresponding to these node numbers. Get the normalized longitude / latitude of the node.
[0047]
In the above-described embodiment, the direction of travel of the vehicle is determined and guided every predetermined time. However, the vehicle may be guided every time it travels a predetermined distance, and the intersection guidance is not hindered. In addition, guidance in the traveling direction may be performed at an intermediate point of the link or a point traveled a predetermined distance from one end of the link.
[0048]
In the embodiment described above, specific numerical values are used when determining whether the vehicle is moving toward or away from the central city based on the angle θ formed by the vehicle position and the straight line between the vehicle and the central city (step). 103 and step 105), these numerical values are merely examples. For example, when 120 ° ≦ θ ≦ 240 °, another numerical value may be used, for example, it is determined that the distance is away from the central city.
[0049]
In the above-described embodiment, voice guidance is given as to whether the vehicle is traveling up or down with respect to the central city. In addition to this, a place name corresponding to the current vehicle position is included. It may be. For example, voice guidance such as “currently going up around △△ in the direction of XX” is performed. However, it is necessary to store the place name reading kana data as the attribute of the link or node, or hold the correspondence between the travel position and the place name reading kana data as a table.
[0050]
【The invention's effect】
As described above, according to the present invention, based on the set specific point and the own vehicle position and direction detected by the own vehicle position / orientation detection means, the relative position of the own vehicle in relation to the specific point is determined. Since the traveling direction is calculated and guided, the user can grasp the relative traveling direction of the vehicle in relation to the specific point by this guidance.
[0051]
In particular, by setting a specific area for each area and extracting a specific point corresponding to the position of the vehicle, it is possible to select a specific point close to the traveling position of the vehicle, and the direction of travel in relation to familiar points Can be grasped, and more easily understandable guidance can be provided. In addition, when the angle between the direction connecting the vehicle position and the specific point and the traveling direction of the own vehicle is included in the predetermined range, the relative traveling direction of the own vehicle is guided. By providing guidance on the absolute direction of the vehicle, it is possible to provide easy-to-understand guidance even when the vehicle travels around a specific point.
[Brief description of the drawings]
FIG. 1 is a diagram illustrating an overall configuration of an in-vehicle navigation device according to an embodiment.
FIG. 2 is a diagram showing an overall configuration of a road unit.
FIG. 3 is a diagram showing detailed contents of various tables included in a road unit.
FIG. 4 is a diagram showing detailed contents of a road name table included in a drawing unit.
FIG. 5 is a diagram illustrating a relationship between a region and a central city.
FIG. 6 is a diagram showing detailed contents of a region / central city table.
FIG. 7 is a flowchart showing an operation procedure for guiding the traveling direction of the host vehicle.
FIG. 8 is a diagram showing a relationship between a traveling direction of the own vehicle and a straight line between the own vehicle and the central city.
FIG. 9 is a diagram showing the relationship between the traveling direction of the own vehicle and the traveling direction guidance.
FIG. 10 is a diagram illustrating a relationship between a traveling direction of a host vehicle and a guided direction.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Navigation controller 4 Remote control unit 10 Audio part 16 Map buffer 34 Map matching process part 48 Travel direction guidance part

Claims (5)

A specific point setting means for setting a specific point set for each predetermined area;
A vehicle position / orientation detection means for detecting the vehicle position and direction;
Based on the vehicle position and direction detected by the vehicle position / orientation detection unit and the specific point set by the specific point setting unit, the one specific corresponding to the area including the vehicle position A traveling direction calculation means for calculating a relative traveling direction of the host vehicle in relation to the point;
Travel direction guidance means for guiding the relative travel direction of the host vehicle calculated by the travel direction calculation means by voice ;
A navigation device comprising: In claim 1,
The specific point setting means has an area / specific point table in which a plurality of areas and corresponding specific points are stored, and the vehicle position is included by searching the area / specific point table. The navigation device is characterized in that the specific point corresponding to the area to be extracted is extracted. In claim 1 or 2,
The advancing direction guide means guides the relative advancing direction of the own vehicle when an angle formed between the direction connecting the own vehicle position and the specific point and the advancing direction of the own vehicle is included in a predetermined range. And a navigation device that provides guidance on the absolute direction of the subject vehicle when the angle is not included in the predetermined range. In any one of Claims 1-3,
The guidance of the relative traveling direction of the host vehicle performed by the traveling direction guiding means includes information on the specific point and whether the host vehicle is in a direction toward or away from the specific point. A featured navigation device. In any one of Claims 1-4,
A guidance selection means for selecting presence or absence of guidance in the relative traveling direction of the host vehicle performed by the traveling direction guidance means;
The navigation apparatus characterized in that the advancing direction guiding means repeatedly performs the guidance at a predetermined timing when the guidance selection means selects to perform guidance.

Images