JP5541211B2 - Movement guidance system, movement guidance apparatus, movement guidance method, and computer program - Google Patents

Description

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

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

  Here, when performing guidance such as turning left or right at the guidance intersection, it is important to allow the user to accurately identify the guidance intersection. Therefore, conventionally, guidance has been performed using landmark objects (for example, store signboards) that serve as landmarks of guidance intersections. Further, when performing guidance using a landmark object, it is important that the landmark object is visible to the user when performing guidance. Therefore, for example, in Japanese Patent Application Laid-Open No. 10-177699, the presence or absence of a landmark object (for example, a traffic light) is detected using a camera at the start of guiding a guidance intersection, and the guidance intersection is detected using the detected landmark object. It describes the technology that provides guidance.

Japanese Patent Application Laid-Open No. 10-177699 (page 3, page 4, FIG. 2)

  However, in the technique described in Patent Document 1, it is possible to guide a landmark object that can be visually recognized at the start of guidance, but whether or not the landmark object can be visually recognized during guidance is considered. Absent. Here, it is expected that the act of searching for the landmark object to which the user has been guided is performed during guidance after a certain period of time has elapsed since the start of guidance, rather than at the start of guidance. However, in the technique described in Patent Document 1, since whether or not the landmark object can be visually recognized during the guidance is not considered, there is a possibility that the user cannot find the landmark object that has been guided. It was. Further, even if a landmark object is found, the landmark object may be hidden behind an obstacle during guidance and cannot be viewed. As a result, the user cannot specify the guidance intersection, and the timing of the right / left turn operation is delayed or the situation where the user travels off the guidance route has occurred.

  The present invention has been made to solve the above-described conventional problems, and considering the visual recognition state of the landmark object during the guidance from the user, the object such as a signboard of a store around the guidance intersection Since an appropriate target object is selected as a mark target object and guidance of a guidance intersection is performed, a movement guidance system, a movement guidance device, a movement guidance method, and a computer program that enable a user to accurately identify the guidance intersection The purpose is to provide.

In order to achieve the object, the movement guidance system (1) according to claim 1 of the present application includes a guidance route setting means (13) for setting a guidance route for guiding the movement of the moving body (51), and the position of the moving body. A moving body position acquiring means (13) for acquiring a moving intersection position specifying means (13) for specifying a guiding intersection (52) ahead of the moving body in the traveling direction based on the guidance route and the position of the moving body. Among the objects located around the guidance intersection identified by the guidance intersection identification means, landmark object candidates (53 to 53) that are candidates for the landmark object to be used as a landmark when guiding the guidance intersection 56) landmark candidate information obtaining means (13) for obtaining information, obstacle information obtaining means (13) for obtaining information on obstacles (57, 58) located around the guidance intersection, and the landmark object Duplicate candidates In some cases, landmark object candidate information that is information of the landmark object candidate acquired by the landmark candidate information acquisition means, and obstacle information that is information of the obstacle acquired by the obstacle information acquisition means And the landmark object at the guidance intersection among a plurality of landmark object candidates based on a guidance start point at which guidance for the guidance intersection starts and a guidance end point at which guidance for the guidance intersection ends. Guide object selection means (13) for selecting an object to be used, and guidance of the guidance intersection using the mark object candidate selected as the mark object of the guidance intersection by the mark object selection means It possesses the intersection guidance unit (13), the performing, the mark object selection means, while the movable body is moved from the guide start point to said guide end point, is blocked in the obstacle If there is a landmark object candidate that is always visible from the mobile body without any movement, and if it is determined that there is a landmark object candidate that is always visible from the mobile body, the landmark object candidate is determined. Is selected as the mark object at the guidance intersection, and it is determined that there is no mark object candidate that is always visible from the moving object, the mobile object starts the guidance for each mark object candidate. While moving from the point to the guidance end point, calculate the distance or time ratio that allows the landmark object candidate to be visually recognized without being obstructed by the obstacle from the moving body, and the landmark object having a high calculated ratio An object candidate is preferentially selected as the landmark object at the guidance intersection .
The “moving body” includes a pedestrian and a two-wheeled vehicle in addition to the vehicle.
In addition, the “guide intersection” corresponds to an intersection that is a target for performing guidance such as a right / left turn instruction when performing guidance of movement of the moving object according to the guidance route.
The “object” is a structure installed on the ground surface that can serve as a user's landmark, and corresponds to, for example, a store signboard.

Further, the travel guidance system (1) according to claim 2 is the travel guidance system according to claim 1, wherein when there are a plurality of landmark object candidates (53 to 56), each landmark object candidate is provided. In addition, when it is assumed that the guide object candidate is the guide mark object and the guidance intersection is to be guided, the point of the moving body (51) that starts the guidance is specified as the guidance start point, and the guidance is performed. and wherein the specific to Turkey as point the guidance end point of the moving body to end.

A travel guidance system (1) according to claim 3 is the travel guidance system according to claim 1 or claim 2, wherein the travel path (63, 64) of the mobile body (51) is predicted. It has a trajectory prediction means (13), before Symbol travel locus based on the travel locus of the moving body that is predicted by the prediction means, and specifying the guidance starting point and the guidance end point.

  Further, the movement guidance system (1) according to claim 4 is the movement guidance system according to claim 3, wherein the road shape of the road on which the moving body (51) enters the guidance intersection (52) is acquired. Road shape acquisition means (13) for performing the movement trajectory prediction means (13) based on the guide route and the road shape acquired by the road shape acquisition means. It is characterized by prediction.

Further, the movement guidance system (1) according to claim 5 is the movement guidance system according to any one of claims 1 to 4 , wherein the intersection guidance means (13) is the mark selection means (13). ) To output a guidance including a phrase for allowing the user to specify the landmark object candidate (53 to 56) selected as the landmark object at the guidance intersection (52), and the highest visible rate When there are a plurality of landmark object candidates, it is assumed that for each landmark object candidate, the guidance object is guided by the intersection guidance means when the guidance object candidate is used as the landmark object. Output end point specifying means (13) for specifying the point of the moving object (51) where the output of the candidate phrase is predicted to end, and the point specified by the output end point specifying means While the moving body moves to the guidance end point, a post-guidance visual recognition ratio that is a ratio of a distance or a time in which the landmark object candidate can be visually recognized without being obstructed by the obstacle from the moving body is calculated. And a post-guidance visual recognition ratio calculating means (13), wherein the mark selection means (13) preferentially selects the mark object candidate having a high post-guidance visual recognition ratio as the mark object at the guidance intersection. It is characterized by selecting as a thing.

A travel guidance system (1) according to claim 6 is the travel guidance system according to any one of claims 1 to 5 , wherein the landmark object candidate information includes the landmark object candidate (53). To 56), and the obstacle information includes information on the position and shape of the obstacles (47, 48).

According to a seventh aspect of the present invention, there is provided a travel guidance device (1) comprising: a guide route setting means (13) for setting a guide route for guiding the movement of the mobile body (51); and a mobile body position for acquiring the position of the mobile body. An acquisition means (13), a guidance intersection identification means (13) for identifying a guidance intersection (52) ahead of the moving body based on the guidance route and the position of the movement body, and the guidance intersection identification Information on landmark object candidates (53 to 56) that are candidates for a landmark object to be a landmark when guiding the guidance intersection among the objects located around the guidance intersection identified by the means is acquired. When there are a plurality of landmark candidate candidates, landmark candidate information acquisition means (13) for performing obstacle information acquisition means (13) for acquiring information on obstacles (57, 58) located around the guidance intersection, and And the candidate for the placemark Landmark object candidate information that is information on the landmark object candidate acquired by the information acquisition means, obstacle information that is information on the obstacle acquired by the obstacle information acquisition means, and guidance for the guidance intersection A target object to be the landmark object at the guidance intersection is selected from among a plurality of landmark object candidates based on the guidance start point at which the guidance intersection is started and the guidance end point at which the guidance at the guidance intersection is terminated. Marking object selection means (13) and intersection guidance means (13) for guiding the guidance intersection using the landmark object candidates selected as the marking object at the guidance intersection by the marking object selection means. ) and, have a, the mark object selection means, while the movable body is moved from the guide start point to said guide end point, normally from the mobile without being blocked by the obstacle It is determined whether or not there is a mark object candidate that can be visually recognized. If it is determined that there is a mark object candidate that is always visible from the moving object, the mark object candidate is determined as the mark of the guidance intersection. When it is determined that there is no landmark target candidate that is selected as an object and is always visible from the moving object, the moving object is moved from the guidance start point to the guidance end point for each landmark object candidate. Calculate the distance or time ratio at which the landmark object candidate can be visually recognized without being obstructed by the obstacle from the moving body while moving, and preferentially select the landmark object candidate with the high calculated ratio. It selects as the said mark target object of a guidance intersection .

The mobile guide method according to claim 8, the guide route setting means, and away step to set the guide route for guiding the movement of the moving body (51), the mobile location acquisition means, the position of the movable body and Luz step to obtain a guidance intersection specifying means, based on the position of the movable body and the guide route, and away step to identify the guidance intersection (52) in the direction of travel of the moving body, landmarks Among the objects located around the guidance intersection specified by the guidance intersection identification means , the candidate information acquisition means is a landmark object that is a candidate for the landmark object when performing guidance for the guidance intersection. and Luz step to acquire the information of the candidate (53 to 56), the obstacle information acquiring means, and away step to acquire the information of the obstacle (57, 58) located around the guidance intersection, landmarks target object selection means, the mark object If the candidate is more, is information of the landmark candidate information and marker object candidate information which is information about the acquired landmark object candidate by obtaining means, the obstacle obtained by the obstacle information acquiring means Based on the obstacle information, the guidance start point for starting the guidance for the guidance intersection, and the guidance end point for ending guidance for the guidance intersection, the guidance intersection of the plurality of landmark object candidates is selected. and Luz step to select the object to be a mark object, intersection guidance means, using said marker object candidate selected in the mark object of the guidance intersection by the mark target object selecting means, said guide this possess a row mortar step guidance intersection, and the mark object selection means, while the movable body is moved from the guide start point to said guide end point, being blocked by the said obstacle If there is a marker object candidate that is always visible from the mobile object, and if it is determined that there is a marker object candidate that is always visible from the mobile object, the candidate mark object candidate is When the landmark object is selected as the landmark object at the guidance intersection and it is determined that there is no landmark object candidate that is always visible from the movable body, the movable body is the guidance start point for each landmark object candidate. A distance or time ratio at which the landmark object candidate can be visually recognized without being obstructed by the obstacle from the moving body while moving from the guidance end point to the guidance end point, and the landmark object having a high calculated percentage is calculated. A candidate is preferentially selected as the landmark object at the guidance intersection .

Further, a computer program according to claim 9, a computer, a guidance route setting means for setting a guide route for guiding the movement of the moving body (51), a movable body position acquiring means for acquiring a position of the movable body, on the basis of the position of the moving body and the guide route, and the guidance intersection specifying means for specifying the guidance intersection (52) in the direction of travel of the moving body, around the guidance intersection specified by the guidance intersection specifying means Mark candidate information acquiring means for acquiring information on mark object candidates (53 to 56) that are candidates for mark objects to be used as a mark when guiding the guidance intersection among the objects located at the position, and the guidance an obstacle information acquiring means for acquiring information of an obstacle located around the intersection (57, 58), when the mark object candidates are multiple up by the landmark candidate information obtaining means Wherein the mark object candidate information which is information of landmark object candidates, and obstacle information is information about the acquired obstacle by the obstacle information acquiring means, guidance start to start guiding the guidance intersection Mark object selection means for selecting an object to be the mark object at the guidance intersection from among a plurality of candidate mark objects based on the point and the guidance end point at which the guidance at the guidance intersection is terminated And the intersection guide means for guiding the guidance intersection using the landmark object candidate selected as the landmark object at the guidance intersection by the landmark object selection means , and the landmark The object selection means is a landmark object that is always visible from the moving body without being obstructed by the obstacle while the moving body moves from the guidance start point to the guidance end point. It is determined whether there is a candidate, and if it is determined that there is a landmark object candidate that is always visible from the mobile object, the landmark object candidate is selected as the landmark object at the guidance intersection, If it is determined that there are no landmark object candidates that are always visible from the mobile object, the movement is performed while the mobile object moves from the guidance start point to the guidance end point for each landmark object candidate. The ratio of the distance or time at which the landmark object candidate can be visually recognized without being obstructed by the obstacle from the body is calculated, and the landmark object candidate having the high calculated ratio is preferentially the landmark object at the guidance intersection. It is characterized by selecting the thing.

According to the movement guidance system according to claim 1 having the above-described configuration, it is possible to determine whether the landmark object is visually recognized by the user during guidance, and thereby the object such as a signboard of a store around the guidance intersection From this, it is possible to select an appropriate target object as a mark target object and perform guidance of the guidance intersection. As a result, it is possible to allow the user to easily grasp the landmark object that has been guided, and to allow the user to accurately identify the guidance intersection.
Also, when there are multiple objects such as store signboards around the guidance intersection to be guided, the moving body is not obstructed by the obstacle while moving from the guidance starting point to the guidance ending point. Since an object with a high distance or time ratio in which the object can be visually recognized is preferentially selected as a mark object of the guidance intersection, an object that is highly likely to be visually recognized by the user during guidance is selected as a mark object of the guidance intersection It becomes possible to select preferentially as a thing. As a result, it is possible to allow the user to easily grasp the landmark object that has been guided, and to allow the user to accurately identify the guidance intersection.

  Moreover, according to the movement guidance system of Claim 2, even when it is a case where there are a plurality of objects such as a store signboard around the guidance intersection to be guided, guidance is performed for each object. By comparing the positions of the moving objects, it is possible to select an appropriate object as a landmark object from among a plurality of objects.

  Further, according to the movement guidance system of the third aspect, since the guidance start point for starting guidance and the guidance end point for ending guidance are specified based on the future travel locus of the movable body, the movable body By predicting the future movement position, it is possible to specify a more accurate guidance start point and guidance end point.

  In addition, according to the movement guidance system of the fourth aspect, since the traveling locus of the moving body is predicted based on the road shape of the road where the moving body enters the guidance intersection, the movement guiding system is based on the road shape around the moving body. Thus, it is possible to predict a more accurate traveling locus of the moving body.

Moreover, according to the movement guidance system of Claim 5 , when there are multiple objects, such as a store signboard, around the guidance intersection used as guidance object, the phrase for making a user identify an object is output. While the moving body moves from the point to the guidance end point, the target object of the guidance intersection that gives priority to the object with a high distance or time ratio in which the object can be visually recognized without being obstructed by the obstacle from the moving object Therefore, it is possible to preferentially select an object having a high possibility of being visually recognized by the user after the timing at which the user starts searching for the landmark object during guidance as the landmark object at the guidance intersection. As a result, it is possible to allow the user to easily grasp the landmark object that has been guided, and to allow the user to accurately identify the guidance intersection.

Moreover, according to the movement guidance system of Claim 6 , when there are a plurality of objects such as a store signboard around the guidance intersection to be guided, the position and shape of each object and the object are visually recognized. Therefore, based on the position and shape of an obstacle that is an obstacle, it is possible to select an appropriate object that is easy for the user to visually recognize from among a plurality of objects as the mark object.

In addition, according to the movement guide device of the seventh aspect , by considering the visual recognition state of the landmark object during the guidance from the user, it is possible to appropriately select the object such as the signboard of the store around the guidance intersection. It is possible to select a target object as a landmark object and guide a guidance intersection. As a result, it is possible to allow the user to easily grasp the landmark object that has been guided, and to allow the user to accurately identify the guidance intersection.
Also, when there are multiple objects such as store signboards around the guidance intersection to be guided, the moving body is not obstructed by the obstacle while moving from the guidance starting point to the guidance ending point. Since an object with a high distance or time ratio in which the object can be visually recognized is preferentially selected as a mark object of the guidance intersection, an object that is highly likely to be visually recognized by the user during guidance is selected as a mark object of the guidance intersection It becomes possible to select preferentially as a thing. As a result, it is possible to allow the user to easily grasp the landmark object that has been guided, and to allow the user to accurately identify the guidance intersection.

Further, according to the movement guide method according to claim 8 , by considering the visual recognition state of the landmark object during the guidance from the user, it is possible to appropriately select the object such as a signboard of a store around the guidance intersection. It is possible to select a target object as a landmark object and guide a guidance intersection. As a result, it is possible to allow the user to easily grasp the landmark object that has been guided, and to allow the user to accurately identify the guidance intersection.
Also, when there are multiple objects such as store signboards around the guidance intersection to be guided, the moving body is not obstructed by the obstacle while moving from the guidance starting point to the guidance ending point. Since an object with a high distance or time ratio in which the object can be visually recognized is preferentially selected as a mark object of the guidance intersection, an object that is highly likely to be visually recognized by the user during guidance is selected as a mark object of the guidance intersection It becomes possible to select preferentially as a thing. As a result, it is possible to allow the user to easily grasp the landmark object that has been guided, and to allow the user to accurately identify the guidance intersection.

Furthermore, according to the computer program of the ninth aspect , by considering the visual recognition state of the mark target object during the guidance from the user, it is possible to appropriately select the target object such as a store signboard around the guidance intersection. It is possible to select the target object as the mark target object and to guide the guidance intersection. As a result, it is possible to allow the user to easily grasp the landmark object that has been guided, and to allow the user to accurately identify the guidance intersection.
Also, when there are multiple objects such as store signboards around the guidance intersection to be guided, the moving body is not obstructed by the obstacle while moving from the guidance starting point to the guidance ending point. Since an object with a high distance or time ratio in which the object can be visually recognized is preferentially selected as a mark object of the guidance intersection, an object that is highly likely to be visually recognized by the user during guidance is selected as a mark object of the guidance intersection It becomes possible to select preferentially as a thing. As a result, it is possible to allow the user to easily grasp the landmark object that has been guided, and to allow the user to accurately identify the guidance intersection.

It is the block diagram which showed the navigation apparatus which concerns on this embodiment. It is the figure which showed an example of the landmark information memorize | stored in map information DB. It is a flowchart of the intersection guidance processing program concerning this embodiment. It is the figure which showed the example of guidance of the guidance intersection using a mark target object. It is a flowchart of the sub process program of the mark object selection process which concerns on this embodiment. It is a flowchart of a sub-processing program of a landmark object candidate and an obstacle detection process according to the present embodiment. It is the figure which showed the detection example of the marker object candidate and the obstacle. It is a flowchart of the sub process program of the driving | running track prediction process which concerns on this embodiment. It is the figure which showed an example of the driving | running | working locus | trajectory of the vehicle estimated. It is a flowchart of the sub process program of the guidance start and end point specific process which concerns on this embodiment. It is the figure which showed an example of the guidance start point and guidance end point which are specified. It is a flowchart of the sub-processing program of the mark target object candidate comparison process which concerns on this embodiment. It is a flowchart of the sub-processing program of the mark target object candidate comparison process which concerns on this embodiment. It is the figure shown about the visual recognition aspect of the marker object candidate from a virtual position.

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

  As shown in FIG. 1, the navigation device 1 according to the present embodiment includes a current position detection unit 11 that detects a current position of a vehicle on which the navigation device 1 is mounted, a data recording unit 12 that records various data, A navigation ECU 13 that performs various arithmetic processes based on the input information, an operation unit 14 that receives operations from the user, and a liquid crystal display 15 that displays a map around the vehicle and facility information related to the facility to the user. Communicating between a speaker 16 that outputs voice guidance regarding route guidance, a DVD drive 17 that reads a DVD as a storage medium, and an information center such as a probe center or a VICS (registered trademark: Vehicle Information and Communication System) center And a communication module 18 for performing. In addition, a front camera 19 is connected to the navigation device 1.

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

  The data recording unit 12 is also a hard disk (not shown) as an external storage device and a recording medium, and a driver for reading the map information DB 31 and a predetermined program recorded on the hard disk and writing predetermined data on the hard disk And a recording head (not shown). The data recording unit 12 may be configured by a memory card, an optical disk such as a CD or a DVD, instead of the hard disk.

  Here, the map information DB 31 includes, for example, link data 32 relating to roads (links), node data 33 relating to node points, intersection data 34 relating to each intersection, point data relating to points such as facilities, and map display data for displaying a map. The storage means stores search data for searching for routes, search data for searching for points, and the like.

  Here, as the link data 32, for example, a link ID for identifying the link, end node information for specifying a node located at the end of the link, road type of the road constituting the link, number of lanes, lane Each travel classification is stored. The node data 33 stores a node ID for identifying the node, position coordinates of the node, connection destination node information for specifying a connection destination node to which the node is connected through a link, and the like. Further, as the intersection data 34, relevant node information for identifying the node forming the intersection, connection link information for identifying a link connected to the intersection (hereinafter referred to as a connection link), and a mark object located around the intersection The landmark information 35 etc. regarding the object candidate is stored.

  The landmark object candidate is a candidate for an object (such as a store signboard) that can be a landmark when guiding a guidance intersection. Here, as a landmark object candidate, for example, a specific facility (for example, a convenience store, a gas station, a fast food) that is located within a predetermined range (for example, within a radius of 100 m) from an intersection and that can provide a sign that can be identified from a distance. Corresponding to the store sign. The mark information 35 stores the type (name) and position coordinates of candidate mark objects for each intersection in the whole country. When a plurality of landmark object candidates exist for one intersection, the type (name) and position coordinates are stored for each of the plurality of landmark object candidates.

Here, FIG. 2 is a diagram showing an example of the mark information 35 stored in the map information DB 31. As shown in FIG. 2, the landmark information 35 stores an intersection ID for identifying an intersection, a type (name) of a candidate landmark object located around the intersection ID, and a position coordinate in association with each other.
For example, at the intersection with the intersection ID “10001”, there are four objects as landmark object candidates, and each landmark object candidate is a “convenience store signboard” in (X1, Y1) and (X2 , Y2) “Gas station xx signboard”, (X3, Y3) “Fast food XX shop signboard” and (X4, Y4) “XX bookstore signboard” Is shown. Similarly, information related to mark object candidates at other intersections is also stored.

  The landmark information 35 stores, for each type of landmark object candidate, a voice phrase for allowing the user to identify the landmark object candidate among voice phrases used for voice guidance at the guidance intersection. For example, “Convenience Store XX” is stored as a speech phrase for allowing the user to identify the landmark target candidate of “Convenience Store XX Signboard”, and the landmark target candidate of “Gas Station XX Signboard” is selected by the user. “Gasoline station xx” is stored as a voice phrase to be specified. Similarly, other landmark object candidates are also stored.

  On the other hand, the navigation ECU (Electronic Control Unit) 13 is an electronic control unit that controls the entire navigation device 1. The CPU 41 as an arithmetic device and a control device, and a working memory when the CPU 41 performs various arithmetic processes. And a RAM 42 for storing route data when the route is searched, a control program, and an intersection guidance processing program (FIGS. 3, 5, 6, 8, and 10) described later. 12 and 13) are recorded, and an internal storage device such as a flash memory 44 for storing a program read from the ROM 43 is provided. The navigation ECU 13 constitutes various means as processing algorithms. For example, the guide route setting means sets a guide route from a departure place (for example, the current position of the vehicle) that guides the movement of the vehicle (moving body) to the destination. The moving body position acquisition means acquires the position of the vehicle. The guidance intersection identification means identifies a guidance intersection ahead of the traveling direction of the vehicle based on the guidance route and the position of the vehicle, and the landmark candidate information acquisition means includes the object located around the identified guidance intersection. Then, information on a landmark object candidate that is a candidate for a landmark object to be used as a landmark when guiding the guidance intersection is acquired. The obstacle information acquisition means acquires information on obstacles located around the guidance intersection. If there are a plurality of landmark object candidates in the vicinity of the guidance intersection, the point specifying means assumes that the guidance intersection is guided by using the landmark object candidate as the landmark object for each landmark object candidate. A guidance start point, which is a vehicle point where the guidance is started, and a guidance end point, which is a vehicle point where the guidance is terminated, are specified. The landmark object selection means includes landmark object candidate information that is information about the landmark object candidate, obstacle information that is obstacle information acquired by the obstacle information acquisition means, a guidance start point, and a guidance end point. Based on the above, an object to be a mark object at the guidance intersection is selected from among a plurality of mark object candidates. The intersection guidance means guides the guidance intersection using the landmark object candidate selected as the landmark object of the guidance intersection by the landmark object selection means. The travel locus prediction means predicts the travel locus of the vehicle. The road shape acquisition means acquires the road shape of the road on which the vehicle enters the guidance intersection. The visual recognition ratio calculating means calculates the distance or time for which the landmark object candidate can be visually recognized without being obstructed by the obstacle from the vehicle while the vehicle moves from the guidance start point to the guidance end point for each landmark object candidate. A viewable ratio that is a ratio is calculated. When it is assumed that when there are a plurality of landmark object candidates having the highest viewable ratio, the output end point specifying means guides the guidance intersection with the landmark object candidate as the landmark object for each landmark object candidate. In addition, the point of the vehicle where the output of the phrase of the landmark object candidate is predicted to be completed by the intersection guidance unit is identified, and the post-guidance visual recognition rate calculating unit moves the vehicle from the identified point to the guidance end point. In the meantime, a post-guidance visual recognition ratio that is a ratio of a distance or a time at which the landmark object candidate can be visually recognized without being obstructed by the obstacle from the vehicle is calculated.

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

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

  Further, the speaker 16 outputs voice guidance for guiding traveling along the planned traveling route and traffic information guidance based on an instruction from the navigation ECU 13. In particular, in the present embodiment, at the timing when the guidance intersection reaches a predetermined distance (for example, 500 m) ahead in the traveling direction of the vehicle, output of voice guidance for guiding traveling along the guidance route is started. Further, in the navigation device 1 according to the present embodiment, when there is an appropriate target object (for example, a store signboard) at the guidance intersection in front of the traveling direction of the host vehicle, the target mark object is used. Output voice guidance. For example, “Soon after XX (store name) is going to the right” is output.

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

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

  Further, the front camera 19 is constituted by a stereo camera using a solid-state image sensor such as a CCD, for example, and is installed above the front bumper of the vehicle and installed with the optical axis direction downward from the horizontal by a predetermined angle. And the front camera 19 images the surrounding environment around a guidance intersection, when a vehicle approaches a guidance intersection. Further, the navigation ECU 13 detects the type and position of the landmark object candidate located around the guidance intersection based on the captured image. Further, the position and shape of an obstacle (such as a roadside tree) that becomes an obstacle to visually recognizing the landmark object candidate are also detected. Then, the navigation ECU 13 selects a landmark object for guiding the guidance intersection based on the landmark object candidate and the position information of the obstacle detected as described later.

  Next, an intersection guidance processing program executed by the navigation ECU 13 in the navigation device 1 having the above configuration will be described with reference to FIG. FIG. 3 is a flowchart of the intersection guidance processing program according to the present embodiment. Here, the intersection guidance processing program is a program that is executed at predetermined intervals after the ACC of the vehicle is turned on, and guides the guidance intersection in front of the traveling direction of the vehicle. The programs shown in the flowcharts of FIGS. 3, 5, 6, 8, 10, 12, and 13 below are stored in the RAM 42 and ROM 43 provided in the navigation device 1, and are executed by the CPU 41. Executed.

  First, in the intersection guidance processing program, in step (hereinafter abbreviated as S) 1, the CPU 41 determines whether route guidance based on the guidance route set in the navigation device 1 is being performed. Here, the guidance route is a recommended route from the departure point (for example, the current position of the host vehicle) to the destination selected by the user, and is set based on the result of the route search process. The route search process is performed by a known Dijkstra method or the like using link data 32, node data 33, traffic information acquired from the VICS center, or the like stored in the map information DB 31.

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

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

  Next, in S <b> 3, the CPU 41 acquires a guide route set in the navigation device 1.

  Subsequently, in S4, the CPU 41 determines whether there is a guidance intersection within a predetermined distance (for example, within 500 m) ahead of the traveling direction of the vehicle based on the current position of the vehicle acquired in S1 and the guidance route acquired in S2. Judge whether or not. Note that the guidance intersection is an intersection to which guidance such as a right / left turn instruction is given when the navigation device 1 provides guidance for traveling according to the guidance route set in the navigation device 1 as described above.

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

  In S <b> 5, the CPU 41 determines whether guidance for a guidance intersection in front of the traveling direction of the vehicle has already been performed. In S5, it is determined whether or not the voice guidance for instructing the right or left turn at the guidance intersection among the guidance for the guidance intersection has been performed.

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

  In S6, the CPU 41 executes a mark object selection process (FIG. 5) described later. The landmark object selection process is a process of selecting an object as a landmark object at the guidance intersection from among landmark object candidates around the guidance intersection located in the forward direction of the vehicle as will be described later. It is.

  Next, in S7, the CPU 41 performs guidance related to the guidance intersection using the landmark object candidate selected as the landmark object at the guidance intersection in S6. Specifically, guidance for specifying the exit direction of the guidance intersection of the vehicle (that is, guidance for identifying the exit road from which the vehicle exits the guidance intersection) is performed.

For example, as shown in FIG. 4, the vehicle 51 is approaching a guidance intersection 52 where a right turn guidance is provided, and “convenience store XX signboard 53”, “gas station × A description will be given of guidance performed at the guidance intersection 52 when there is a “x signboard 54”, “fast food xx shop sign 55”, and “xx bookstore sign 56”. In this case, for example, when “Convenience Store XX Sign 53” is selected as the guide object of the guidance intersection in S6, the user is instructed to turn right at the intersection with the convenience store XX sign 53 as a landmark. Specifically, in S7, a voice guidance saying “Convenience store XX will be in the right direction soon” is output from the speaker 16. Further, for example, when “Gas station xx signboard 54” is selected as the landmark object of the guidance intersection in S6, the user is instructed to turn right at the intersection with the gas station xx signboard 54 as a mark. Specifically, in S7, the voice guidance “Soon, gas station xx is going to the right” is output from the speaker 16. Further, when the guidance intersection approaches within a predetermined distance (for example, 300 m) of the vehicle, an enlarged view of the vicinity of the guidance intersection including the mark object and the traveling direction at the guidance intersection of the vehicle are displayed on the liquid crystal display 15.
As a result, it becomes possible for the user to accurately specify the guidance intersection and the road from which the vehicle exits from the guidance intersection.

  Next, the sub-process of the mark object selection process executed in S6 will be described with reference to FIG. FIG. 5 is a flowchart of a sub-processing program for the mark object selection process.

  First, in S11, the CPU 41 executes a marker object candidate and obstacle detection process (FIG. 6) described later. Note that the landmark object candidate and obstacle detection processing is performed based on an image captured by the front camera 19 as described later, and landmark object candidates and obstacles located around the guidance intersection ahead of the traveling direction of the vehicle. It is a process to detect.

  Next, in S12, the CPU 41 executes a travel locus prediction process (FIG. 8) described later. The travel locus prediction process is a process for predicting a future travel locus of the vehicle from the surrounding road shape and the like as will be described later.

  Subsequently, in S13, the CPU 41 executes a guidance start and end point specifying process (FIG. 10) described later. The guidance start and end point specifying process is a guidance start which is a vehicle point where guidance is started for each travel locus predicted in S12 as described later (that is, a vehicle point where voice guidance output is started). This is a process of specifying a point and a guidance end point, which is a vehicle point at which guidance ends (that is, a vehicle point at which the output of voice guidance ends).

  Thereafter, in S14, the CPU 41 executes a marker object candidate comparison process (FIGS. 12 and 13) described later. The landmark object candidate comparison process is specified in S13, as will be described later, the position and shape of the landmark object and obstacle detected in S11, the future travel locus of the vehicle predicted in S12, and the like. A process of selecting an optimal target object to be a landmark object at the guidance intersection from candidate landmark objects in the vicinity of the guidance intersection ahead of the traveling direction of the vehicle based on the guidance start point and guidance end point. It is.

  Next, the sub-process of the landmark object candidate and the obstacle detection process executed in S11 will be described with reference to FIG. FIG. 6 is a flowchart of a sub-processing program for landmark object candidates and obstacle detection processing.

  First, in S <b> 21, the CPU 41 acquires information on landmark object candidates in the vicinity of a guidance intersection in front of the traveling direction of the vehicle from the map information DB 31. Specifically, the CPU 41 first specifies an intersection ID of a guidance intersection that is ahead in the vehicle traveling direction. And it acquires by each reading out the kind (name) and position information of a landmark object candidate matched with identified intersection ID from the landmark information 35 (FIG. 2) memorize | stored in map information DB31.

  The following processes in S22 to S25 are executed for all landmark object candidates whose information has been acquired in S21. Specifically, the processes of S22 to S25 are repeatedly executed in the order in which the information is read in S21, with the landmark object candidate whose information is acquired in S21 as the processing target. Then, after the processing for all landmark object candidates whose information has been acquired in S21 is completed, the process proceeds to S26.

  First, in S22, the CPU 41 reads an image recognition template corresponding to a landmark object candidate to be processed from a storage medium such as the data recording unit 12. Note that a template for image recognition is prepared in advance for each type of landmark object (for example, “Convenience Store XX Sign”, “Gas Station xx Sign”, etc.).

  Next, in S23, the CPU 41 executes image recognition processing based on template matching on the captured image based on the captured image captured of the front environment of the vehicle captured by the front camera 19 and the template read out in S22. . And the mark target object candidate of the process target contained in a captured image is detected. Since image recognition processing by template matching is already known, detailed description is omitted.

  Subsequently, in S24, the CPU 41 determines whether or not a marker object candidate to be processed has been detected as a result of the image recognition process by template matching in S23.

  If it is determined that the mark target candidate to be processed has been detected (S24: YES), the process proceeds to S25. On the other hand, when it is determined that the mark target candidate to be processed could not be detected (S24: NO), the process proceeds to S22 or S26.

  In S25, the CPU 41 specifies the position coordinates and shape of the mark target candidate to be processed based on the result of the image recognition process by the template matching in S23. The front camera 19 is a stereo camera as described above. Accordingly, the CPU 41 detects the landmark object candidate based on the current position of the vehicle acquired in S2, the installation position and the optical axis direction of the front camera 19, and the position and shape on the image where the landmark object candidate is captured. It is possible to specify the position coordinates and shape of the. Note that it is desirable to specify the position coordinates also in the height direction.

  Thereafter, when the processes of S22 to S25 are completed for all the landmark object candidates whose information has been acquired in S21, the process proceeds to S26. On the other hand, when all the landmark object candidates whose information has been acquired in S21 are targeted, if the processes in S22 to S25 are not completed, the next landmark object candidate is newly selected as the process target. Then, the process returns to S22.

  In S26, the CPU 41 acquires the road shape from the current position of the vehicle to the guidance intersection ahead of the traveling direction of the vehicle based on the link data 32 stored in the map information DB 31.

  Next, in S27, the CPU 41, based on the captured image obtained by imaging the front environment of the vehicle imaged by the front camera 19, is located around the guidance intersection, in particular, around the road from the current position of the vehicle to the guidance intersection. An image recognition process for detecting the image is executed. Here, the obstacle is an object that may be an obstacle to visually confirm the landmark object from the vehicle, and includes, for example, roadside trees, street lamps, buildings, and the like. Further, for example, an image recognition process based on feature point matching is used to detect an obstacle. Since image recognition processing by feature point matching is already known, detailed description is omitted.

  Subsequently, in S28, the CPU 41 determines whether an obstacle located around the road from the current position of the vehicle to the guidance intersection is detected as a result of the image recognition process in S27.

  And when it determines with the obstacle located in the road periphery from the present position of a vehicle to the guidance intersection ahead of the advancing direction of a vehicle having been detected (S28: YES), it transfers to S29. On the other hand, when it is determined that an obstacle located around the road from the current position of the vehicle to the guidance intersection ahead of the traveling direction of the vehicle is not detected (S28: NO), the process proceeds to S12.

  In S29, based on the result of the image recognition process in S27, the CPU 41 specifies the position coordinates and shape of the obstacle located around the road from the current position of the vehicle to the guidance intersection. The front camera 19 is a stereo camera as described above. Therefore, the CPU 41 determines the position coordinates of the obstacle based on the current position of the vehicle acquired in S2, the installation position and the optical axis direction of the front camera 19, and the position and shape on the image where the obstacle is captured. The shape can be specified. Note that it is desirable to specify the position coordinates also in the height direction. Moreover, it is not necessary to specify the kind of obstacle in particular, but the configuration may be specified.

  Here, FIG. 7 is a diagram showing an example of the mark object and the obstacle detected as a result of executing the processes of S21 to S29. In the example shown in FIG. 7, trees 57 and 58, which are obstacles, are located around the road from the current position of the vehicle 51 to the guidance intersection 52 ahead of the traveling direction of the vehicle 51. Then, the vehicle 51 is blocked by the tree 57 and the “gas station xx signboard 54” and the “xx bookstore signboard 56” cannot be captured by the front camera 19. Therefore, in S25, among the four landmark object candidates located around the guidance intersection 52, the position coordinates of the landmark object candidates of “Convenience Store XX Signboard 53” and “Fast Food XX Shop Signboard 55” And the shape is detected. In S29, the position coordinates and shapes of the trees 57 and 58 are detected as obstacles.

  Next, the sub-process of the travel locus prediction process executed in S12 will be described with reference to FIG. FIG. 8 is a flowchart of a sub-processing program of the travel locus prediction process.

  In S31, the CPU 41 determines the number of lanes of the road and the travel classification defined in each lane (for example, a right turn lane, a left turn lane, etc.) as the road shape of the road from the current position of the vehicle to the guidance intersection. Get from. Specifically, the CPU 41 first specifies the link ID of the link that forms the road from the current position to the guidance intersection. And it acquires by reading the driving | running | working division prescribed | regulated for every lane number matched with identified link ID from the link data 32 memorize | stored in map information DB31.

  Next, in S <b> 32, the CPU 41 specifies the lane (hereinafter, referred to as the own vehicle lane) in which the vehicle is currently traveling. In addition, it is desirable to use the above-described high-precision location technology for specifying the own vehicle lane.

  Subsequently, in S33, the CPU 41 identifies a lane (hereinafter referred to as a recommended lane) on which the vehicle should travel before the guidance intersection from the guidance route set in the navigation device 1. For example, when the guide route is a route that makes a right turn at a guidance intersection and there is a right turn dedicated lane on the road on which the vehicle travels, the right turn dedicated lane is specified as the recommended lane.

  Thereafter, in S34, the CPU 41 determines whether or not the vehicle lane specified in S32 matches the recommended lane specified in S33.

  If it is determined that the vehicle lane identified in S32 matches the recommended lane identified in S33 (S34: YES), the vehicle moves from the current position to the guidance intersection. It is assumed that the vehicle is traveling, and the traveling locus of the vehicle is predicted (S35).

  On the other hand, when it is determined that the own vehicle lane specified in S32 is different from the recommended lane specified in S33 (S34: NO), the vehicle is between the current position and the guidance intersection. The traveling locus of the vehicle is predicted on the assumption that the vehicle travels by changing the lane from the recommended lane to the recommended lane (S36). In S36, the lane change is performed immediately before the guidance intersection (for example, 30 meters before the guidance intersection) and the vicinity of the current position of the vehicle (that is, 500 meters before the guidance intersection) (for example, 470 meters before the guidance intersection). ) To predict two patterns when changing lanes. For example, as shown in FIG. 9, when the vehicle 51 has a guidance intersection 52 to be guided to turn right ahead of the traveling direction, the vehicle 51 is in front of the own vehicle lane 61 where the vehicle 51 currently travels and the guidance intersection 52. Is different from the recommended lane 62 to be traveled, the travel locus 63 for changing lanes immediately before the guidance intersection 52 (for example, 30 meters before the guidance intersection) and the current position of the vehicle (that is, 500 meters before the guidance intersection) ) In the vicinity of the vehicle (for example, 30 m ahead of the current position of the vehicle). Thereafter, the process proceeds to S13.

  Next, the sub-process of the guidance start and end point specifying process executed in S13 will be described with reference to FIG. FIG. 10 is a flowchart of a sub-processing program for guidance start and end point identification processing.

  In S <b> 41, the CPU 41 determines the vehicle exit planned direction (right (left) direction, right (left) diagonal direction) at the guidance intersection ahead of the traveling direction, based on the guidance route set in the navigation device 1 and the shape of the guidance intersection. , Right (left) front direction, etc.). For example, in the example shown in FIG. 4, the planned exit direction is “right direction”.

  The following processes in S42 to S45 are executed for all landmark object candidates detected in the image recognition process in S23. Specifically, the processes in S42 to S45 are repeatedly executed with the mark object candidate detected in the image recognition process in S23 as the process target in the order detected in the image recognition process. Then, after the processing for all landmark object candidates detected in the image recognition processing in S23 is completed, the sub-processing program is terminated.

  First, in S42, the CPU 41 acquires from the map information DB 31 a voice phrase corresponding to a landmark object candidate to be processed (that is, a voice phrase for allowing a user to identify a landmark object candidate). For example, “Convenience Store XX” is acquired from the map information DB 31 as the speech phrase corresponding to the landmark object candidate of “Convenience Store XX Sign”.

  Next, in S43, the CPU 41 requires a time required for outputting the voice guidance including the voice phrase acquired in S42 (for example, "Convenience store XX will be in the right direction" soon) from the speaker 16 (hereinafter, guidance is required). Time). The guidance required time is determined by the planned exit direction of the vehicle acquired in S41 and the voice phrase acquired in S42.

  Subsequently, in S44, the CPU 41 acquires the current vehicle speed of the vehicle based on the detection result of the vehicle speed sensor 22.

  Thereafter, in S45, the CPU 41 determines a guidance start point, which is a vehicle point at which guidance is started, and a guidance end point, which is a vehicle point at which guidance is ended, for each travel locus predicted in S35 or S36. Identify each one. In the present embodiment, the guidance start point is always the current position of the vehicle (that is, 500 m before the guidance intersection) regardless of the type of travel locus or landmark object candidate. And as for the guidance end point, a different point is specified for each predicted travel locus based on the required guidance time acquired in S43 and the vehicle speed acquired in S44. Specifically, the CPU 41 calculates a distance obtained by multiplying the vehicle speed by the required guidance time (hereinafter referred to as “necessary guidance distance”), and identifies a point separated from the guidance start point by the necessary guidance distance along the travel path as the guidance end point. To do.

  After that, when the processes of S42 to S45 are completed for all landmark object candidates detected in the image recognition process of S23, the process proceeds to S14. On the other hand, if all the landmark object candidates detected in the image recognition process of S23 are targets, and if the processes of S42 to S45 are not completed, a new landmark object candidate is newly set as a processing target. And return to S42.

Here, FIG. 11 shows a case where a traveling locus 63 and a traveling locus 64 are predicted as the traveling locus of the vehicle 51, respectively, and “convenience store sign 53” and “fast food” are obtained in the image recognition process of S23. It is the figure shown about the guidance start point and guidance end point specified in the process of said S42-S45, when "* shop signboard 55" is detected. In the example shown in FIG. 11, for the travel locus 63, guidance using a “convenience store XX signboard 53” with a short guidance required time (for example, 4 seconds) (for example, “the convenience store XX will be in the right direction soon”). G ₁ is identified as a guidance end point to perform. In addition, as a guidance end point for performing guidance (for example, “Fast food ○ × shop is right direction” soon) using “fast food ○ × shop signboard 55” with a long guidance time (for example, 5 seconds) G ₂ located closer to the guidance intersection 52 than G ₁ is identified. On the other hand, the running track 64 has, G ₃ is specified as the guide end point to perform guidance with guidance required time shorter (for example, four seconds), "Signs 53 convenience store ○○." Further, as the guide end point to perform guidance with long guide required time (e.g. 5 seconds), "Signs 55 fast food ○ × ya", G ₄ is identified in the guidance intersection 52 side from G ₃ .

  Next, the sub-process of the landmark object candidate comparison process executed in S14 will be described with reference to FIG. FIG. 12 is a flowchart of a sub-processing program for the landmark object candidate comparison process.

  The following processes in S52 to S56 are executed for all landmark object candidates detected in the image recognition process in S23. Specifically, in the order detected by the image recognition process, the process of S51 to S56 is repeatedly executed with the landmark object candidate detected by the image recognition process of S23 as a processing target. Then, after the processing for all landmark object candidates detected in the image recognition process of S23 is completed, the process proceeds to S57.

  First, in S51, the CPU 41 calculates the distance along the travel locus from the guidance start point specified in S45 to the guidance end point for each vehicle travel locus predicted in S35 or S36.

  Next, in S52, the CPU 41 reads the count value T from the RAM 42 and initializes it. The count value T is a value obtained by counting the distance (m) at which the landmark object candidate can be visually recognized without being obstructed by the obstacle while the vehicle moves from the guidance start point to the guidance end point, as will be described later. And is counted up in S55 described later.

  Subsequently, in S53, the CPU 41 sets a virtual position of the vehicle with the guidance start point as an initial position. Then, the processes of S53 to S55 below are executed in a state where the virtual position is moved in the direction of the guidance intersection every 1 m along the traveling track of the vehicle predicted in S35 or S36. It is repeatedly executed until the end point is reached.

  In S <b> 54, the CPU 41 determines whether the landmark object candidate to be processed can be visually recognized without being obstructed by the obstacle from the vehicle at the current virtual position. Specifically, the CPU 41 makes a determination based on the position coordinates and shape of the landmark object candidate specified in S25 and the position coordinates and shape of the obstacle around the road specified in S29.

  As a result, when it is determined that the mark target candidate to be processed can be visually recognized without being obstructed by the obstacle at the current virtual position (S54: YES), the count value T is read from the RAM 42 and counted. The value T is counted up (S55). On the other hand, when it is determined that the target mark object candidate to be processed cannot be visually recognized because it is blocked by an obstacle from the vehicle at the current virtual position (S54: NO), the count value T is not counted up. The virtual position is moved to the next position (S53).

Here, FIG. 14 shows a case where the traveling locus 64 is predicted as the traveling locus of the vehicle 51, and the above-described processing of S53 to S55 is repeatedly executed with “Convenience Store ○ 53” as a processing target. FIG. In the example shown in FIG. 14, the determination between the guidance start point P to the guidance end point G _3, whether visible to "kanban 53 convenience store ○○" without being interrupted from the vehicle 51 every 1m obstacle The count value T is counted up. For example, when a virtual position is set at the point P ₁ , no obstacle is located between the virtual position and “convenience store sign 53”, so that the vehicle 51 at the virtual position is changed to the obstacle. The “Convenience Store XX Sign 53” is visible without being blocked. On the other hand, for example, when a virtual position is set at the point P ₂ , the tree 58 that is an obstacle is positioned between the virtual position and the “signboard 53 of the convenience store ○○”, so that it is at the virtual position. The vehicle 51 is blocked by an obstacle, and the “convenience store ◯ signboard 53” cannot be visually recognized. Accordingly, the count value T if the virtual position is set to the point P ₁ is counted up, so that the count value T is not counted up when the virtual position is set to a point P _2. Similarly, the virtual position for each 1m between the guidance start point P to the guidance end point G ₃ is set, so that the presence or absence of the count-up is determined.

  Then, by repeatedly executing the processes of S53 to S55, the distance (m) where the landmark object candidate can be visually recognized without being obstructed by the obstacle from the vehicle while the vehicle moves from the guidance start point to the guidance end point. ) Is counted. Further, when a plurality of travel loci are predicted in S35 or S36, the vehicle moves from the guidance start point to the guidance end point for each predicted plurality of travel trajectories. The distance (m) at which the landmark object candidate can be visually recognized without being blocked is counted.

Thereafter, in S56, the CPU 41 calculates a ratio X at which the landmark object candidate can be visually recognized without being obstructed by the obstacle from the vehicle while the vehicle moves from the guidance start point to the guidance end point. Specifically, if the distance along the travel locus from the guidance start point to the guidance end point calculated in S51 is Y (m), the following equation (1) is used.
X = T / Y (1)
Further, when a plurality of travel tracks are predicted in S35 or S36, the ratio X is calculated for each of the predicted plurality of travel tracks.

  Then, when the processes of S52 to S56 are completed for all the landmark object candidates detected in the image recognition process of S23, the process proceeds to S57. On the other hand, if all the mark object candidates detected in the image recognition process in S23 are not processed and the processes in S52 to S56 are not completed, the next mark object candidate is newly set as a process target. And return to S52.

  In S57, the CPU 41 performs the processes of S51 to S56 on all the landmark object candidates detected in the image recognition process of S23. As a result, the obstacle is always between the guidance start point and the guidance end point. It is determined whether there is a mark object candidate that can visually recognize the mark object candidate from the virtual position without being obstructed.

  When it is determined that there is a landmark object candidate that can visually recognize the landmark object candidate from the virtual position without being obstructed by the obstacle from the guidance start point to the guidance end point (S57: YES). To S58. On the other hand, when it is determined that there is no landmark object candidate that can visually recognize the landmark object candidate from the virtual position without being obstructed by the obstacle from the guidance start point to the guidance end point (S57: NO) To S61.

  In S58, the CPU 41 further determines whether or not there is only one landmark object candidate that can visually recognize the landmark object candidate from the virtual position without being obstructed by the obstacle from the guidance start point to the guidance end point. judge.

  Then, when it is determined that there is only one landmark object candidate that can visually recognize the landmark object candidate from the virtual position without being obstructed by the obstacle from the guidance start point to the guidance end point (S58: YES) ) Shifts to S59. On the other hand, when it is determined that there are a plurality of landmark object candidates that can visually recognize the landmark object candidate from the virtual position without being obstructed by the obstacle from the guidance start point to the guidance end point (S58: NO) ) Shifts to S60.

  In S60, the CPU 41 selects a corresponding landmark object candidate as a landmark object at a guidance intersection ahead of the traveling direction of the vehicle. And guidance about a guidance intersection is performed using the landmark object candidate selected as a landmark object of a guidance intersection as mentioned above (refer to S7 and Drawing 4).

On the other hand, in S61, the CPU 41 selects a landmark object candidate with the highest priority among the corresponding landmark object candidates as a landmark object at the guidance intersection ahead of the traveling direction of the vehicle. The priority order is determined based on the following criteria (A) and (B).
(A) The priority order of landmark object candidates on the exit direction side of the vehicle at the guidance intersection is set high.
(B) When there are a plurality of landmark object candidates on the exit direction side of the vehicle at the guidance intersection, the priority order of the landmark object candidates on the front side of the guidance intersection is set high.
For example, in the example shown in FIG. 4, “Convenience Store XX Sign 53” has the highest priority, “Fast Food XX Shop Sign 55”, “Gas Station XX Sign 54”, “XX Bookstore” The order of priority is lower in the order of “signboard 56”.
Thereafter, as described above, guidance regarding the guidance intersection is performed using the landmark object candidate selected as the landmark object at the guidance intersection (see S7, FIG. 4).

  In S61, the CPU 41 calculates the ratio X calculated in S56 (the ratio that allows the landmark object candidate to be visually recognized without being blocked by the obstacle from the vehicle while the vehicle moves from the guidance start point to the guidance end point). It is determined whether there is only one candidate for the highest mark object.

  When it is determined that there is only one landmark object candidate with the highest ratio X calculated in S56 (S61: YES), the process proceeds to S62. On the other hand, when it is determined that there are a plurality of candidate mark objects having the highest ratio X calculated in S56 (S61: NO), the process proceeds to S63.

  In S62, the CPU 41 selects a corresponding landmark object candidate as a landmark object at the guidance intersection in front of the traveling direction of the vehicle. And guidance about a guidance intersection is performed using the landmark object candidate selected as a landmark object of a guidance intersection as mentioned above (refer to S7 and Drawing 4).

  On the other hand, in S63, when it is assumed that the guidance intersection is guided by using the landmark object candidate as the landmark object, the CPU 41 specifies a landmark object candidate for each of the corresponding landmark object candidates. (For example, “Convenience Store XX” for a candidate for a target object of “Convenience Store XX”) is identified as a point where output is predicted to end. Then, for each of a plurality of corresponding landmark object candidates, a ratio Z at which the landmark object candidate can be visually recognized without being obstructed by the obstacle from the vehicle while moving from the predicted point to the guidance end point is calculated. The method for calculating the ratio Z is the same as S56 described above, and a description thereof will be omitted.

  Further, in S64, the CPU 41 selects a landmark object candidate having the highest ratio Z among the corresponding landmark object candidates as a landmark object at the guidance intersection ahead of the traveling direction of the vehicle. Thereafter, as described above, guidance regarding the guidance intersection is performed using the landmark object candidate selected as the landmark object at the guidance intersection (see S7, FIG. 4).

  Note that when a plurality of vehicle trajectories are predicted in S36, the processing of S57 to S63 may be executed for each travel trajectory, or the processing of S57 to S63 is executed for all the travel trajectories. You may do it. In addition, when the processing of S57 to S63 is executed for each traveling locus and the landmark object candidate selected as the landmark object is different for each traveling locus, the above-described (A) and (B). The higher priority may be selected as the mark object based on the priority criterion, or the higher priority may be selected as the mark object based on the other priority standards.

As described above in detail, according to the navigation device 1 according to the present embodiment, the movement guidance method using the navigation device 1 and the computer program executed by the navigation device 1, there is a guidance intersection ahead of the traveling direction of the vehicle. In addition, among the objects located around the guidance intersection, information on landmark object candidates that are candidates for the landmark object to be used as a landmark when performing guidance at the guidance intersection is acquired (S25), and the landmark object Information on obstacles that may be an obstacle to visually recognize the candidate is acquired (S29), and when there are a plurality of landmark object candidates, the landmark object candidate information, the obstacle information, and the guidance Based on the guidance start point at which the guidance of the intersection is started and the guidance end point at which the guidance of the guidance intersection is terminated, the landmark object of the guidance intersection among the plurality of landmark object candidates (S51 to S64) and guide the guidance intersection using the landmark object candidate selected as the landmark object at the guidance intersection (S7). Therefore, the user of the landmark object candidate during guidance It is possible to guide the guidance intersection by selecting an appropriate target object from among the landmark target candidates such as billboards of stores in the vicinity of the guidance intersection by considering the visual recognition state from Become. As a result, it is possible to allow the user to easily grasp the landmark object that has been guided, and to allow the user to accurately identify the guidance intersection.
In addition, when there are a plurality of landmark object candidates, for each landmark object candidate, it is assumed that the guidance intersection is guided using the landmark object candidate as the landmark object, and the vehicle point where the guidance is started is guided. Since the vehicle is identified as the start point and the vehicle point at which the guidance is to be terminated is identified as the guidance end point (S45), even if there are a plurality of landmark object candidates around the guidance intersection to be guided, By comparing the position of the vehicle while it is being performed, it is possible to select an appropriate object as a landmark object.
Further, since the guidance start point for starting the guidance and the guidance end point for ending the guidance are specified based on the future travel locus of the vehicle (S45), by predicting the future travel position of the vehicle, It is possible to specify an accurate guidance start point and guidance end point.
In addition, since the vehicle trajectory is predicted based on the road shape of the road where the vehicle enters the guidance intersection, it is possible to predict the vehicle trajectory more accurately based on the road shape around the vehicle. Become.
Further, when there are a plurality of landmark object candidates around the guidance intersection to be a guidance target, the landmark object candidate is not obstructed by the obstacle from the vehicle while the vehicle travels from the guidance start point to the guidance end point. Is selected as a landmark object at the guidance intersection preferentially (S57 to S64). Therefore, a landmark object candidate that is likely to be visually recognized by the user during guidance is selected at the guidance intersection. It becomes possible to preferentially select the mark object. As a result, it is possible to allow the user to easily grasp the landmark object that has been guided, and to allow the user to accurately identify the guidance intersection.
In addition, when there are a plurality of landmark object candidates around the guidance intersection to be a guidance target, while the vehicle travels from the point of outputting a voice phrase for allowing the user to identify the landmark object candidate to the guidance end point, Since a target object with a high distance ratio in which the target landmark object can be viewed without being obstructed by an obstacle from the vehicle is preferentially selected as a target landmark at the guidance intersection, the user searches for the target landmark object during guidance. It becomes possible to preferentially select an object that is highly likely to be visually recognized by the user after the start timing as a mark object at the guidance intersection. As a result, it is possible to allow the user to easily grasp the landmark object that has been guided, and to allow the user to accurately identify the guidance intersection.
In addition, since the landmark object candidate to be selected as the landmark object of the guidance intersection is selected based on the information on the position and shape of the landmark object candidate and the information on the position and shape of the obstacle, the guidance object candidate to be guided is selected. When there are a plurality of landmark object candidates such as a signboard of a store in the vicinity, it is possible to select an appropriate object that is easy for the user to visually recognize as a landmark object from among the plurality of landmark object candidates.

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

  In this embodiment, the obstacle is detected using the front camera 19, but other detection devices (for example, a radar sensor or an infrared sensor) may be used. Moreover, not only fixed objects but also moving objects (for example, other vehicles and pedestrians) may be detected as obstacles. However, when a moving object is detected as an obstacle, it is necessary to perform a prediction process for predicting a future movement locus of the detected moving object, and to count the count value T (S55) based on the result of the prediction process. is there.

  In this embodiment, the guidance start point for starting the guidance at the guidance intersection is set as a fixed position (for example, 500 m before the guidance intersection). However, the guidance start point is changed depending on the guidance content and the predicted traveling locus of the vehicle. Also good.

  Moreover, in this embodiment, although it is set as the structure which moves a virtual position to a guidance intersection direction every 1 m along a driving | running | working locus | trajectory in said S53, the distance moved may not be every 1m. For example, it may be configured to move every 50 cm or every 2 m.

  Further, in the present embodiment, the ratio X in which the landmark object candidate can be visually recognized without being obstructed by the obstacle from the vehicle while the vehicle moves from the guidance start point to the guidance end point in S56 is calculated as a distance ratio. However, it may be calculated as a percentage of time. In the present embodiment, the landmark object candidate having the highest calculated ratio X is selected as the landmark object at the guidance intersection. However, the landmark object candidate having the highest ratio X may be preferentially selected. For example, mark object candidates other than the mark object candidate having the highest ratio X may be selected as the mark object at the guidance intersection. For example, if the landmark object candidate with the second highest ratio X has a higher priority than the landmark object candidate with the highest ratio X, the priority order is (A) and (B), the ratio X is 2. The second highest landmark object candidate may be selected as the landmark object at the guidance intersection.

  In addition to the navigation device, the present invention can be applied to a device having a function of performing route guidance based on a guidance route. For example, the present invention can be applied to a portable terminal such as a cellular phone or a PDA, a personal computer, a portable music player, etc. (hereinafter referred to as a portable terminal or the like). Further, the present invention can be applied to a system including a server and a mobile terminal. In that case, each step of the above-described intersection guidance processing program (FIGS. 3, 5, 6, 8, 10, 12, and 13) is configured to be performed by either the server or the portable terminal. Also good. In addition, when the present invention is applied to a mobile terminal or the like, travel guidance may be given to a moving body other than a vehicle, for example, a user such as a mobile terminal or a two-wheeled vehicle.

1 Navigation device 13 Navigation ECU
41 CPU
42 RAM
43 ROM
51 Vehicle 52 Guided Intersection 53-56 Candidate Object Candidate 57, 58 Tree 61 Own Vehicle Lane 62 Recommended Lane 63, 64 Traveling Track

Claims (9)

A guide route setting means for setting a guide route for guiding the movement of the moving body;
Moving body position acquisition means for acquiring the position of the moving body;
Based on the guidance route and the position of the moving body, a guidance intersection specifying means for specifying a guidance intersection ahead of the moving body in the traveling direction;
Information on landmark object candidates that are candidates for a landmark object to be used as a landmark when performing guidance for the guidance intersection among the objects located around the guidance intersection identified by the guidance intersection identification unit is acquired. Landmark candidate information acquisition means;
Obstacle information acquisition means for acquiring information of obstacles located around the guidance intersection;
When there are a plurality of landmark object candidates, landmark object candidate information that is information on the landmark object candidate acquired by the landmark candidate information acquisition means, and the obstacle acquired by the obstacle information acquisition means Based on the obstacle information, the guidance start point for starting guidance for the guidance intersection, and the guidance end point for ending guidance for the guidance intersection. Mark object selection means for selecting an object to be the mark object at the guidance intersection;
Using the mark subject the marker object is selected in object candidate of the guidance intersection by the mark target object selecting means, have a, and intersection guidance means for performing guidance of the guidance intersection,
The mark object selecting means includes:
While the moving body moves from the guidance start point to the guidance end point, it is determined whether there is a landmark object candidate that is always visible from the moving body without being obstructed by the obstacle,
When it is determined that there is a landmark object candidate that is always visible from the mobile object, the landmark object candidate is selected as the landmark object at the guidance intersection,
If it is determined that there are no landmark object candidates that are always visible from the mobile object, the movement is performed while the mobile object moves from the guidance start point to the guidance end point for each landmark object candidate. Calculate the distance or time ratio at which the landmark object candidate is visible without being obstructed by the obstacle from the body,
A moving guidance system characterized by preferentially selecting the landmark object candidate having a high calculated ratio as the landmark object at the guidance intersection . When there are a plurality of mark object candidates, the movement to start the guidance is assumed for each mark object candidate when the guide intersection is assumed to be the mark object candidate as the mark object. identify location of the body as the guidance starting point, travel guidance system according to claim 1, wherein the benzalkonium to identify the location of the moving body to terminate in the guide as the guide end point. A travel locus prediction means for predicting a travel locus of the mobile body;
Based on the travel locus of the front SL travel track the moving object, which is predicted by the prediction means, travel guidance system according to claim 1 or claim 2, characterized in that identifying the guidance starting point and the guidance end point . Road shape acquisition means for acquiring a road shape of a road on which the moving body enters the guidance intersection;
The travel guidance according to claim 3, wherein the travel trajectory predicting unit predicts a travel trajectory of the moving body based on the guide route and the road shape acquired by the road shape acquiring unit. system. The intersection guidance means outputs a guidance including a phrase for allowing a user to specify the landmark object candidate selected as the landmark object at the guidance intersection by the landmark selection means,
When it is assumed that when there are a plurality of landmark object candidates with the highest visible rate, the guidance intersection is guided as the landmark object candidate for each landmark object candidate, An output end point specifying unit for specifying a point of the moving body that is predicted to end the output of the phrase of the landmark object candidate by the intersection guide unit;
A distance or time during which the moving object moves from the point specified by the output end point specifying unit to the guidance end point so that the landmark object candidate can be visually recognized without being obstructed by the obstacle. And a post-guidance viewable ratio calculating means for calculating a post-guidance viewable ratio that is a ratio of
It said mark selection means to one of claims 1 to 4, characterized in that selecting a high the rear guiding visible proportion the mark object candidate as the landmark objects of the guidance intersection preferentially The described travel guidance system. The landmark object candidate information includes information on the position and shape of the landmark object candidate,
The obstacle information, travel guidance system according to any one of claims 1 to 5, characterized in that it comprises information about the position and shape of the obstacle. A guide route setting means for setting a guide route for guiding the movement of the moving body;
Moving body position acquisition means for acquiring the position of the moving body;
Based on the guidance route and the position of the moving body, a guidance intersection specifying means for specifying a guidance intersection ahead of the moving body in the traveling direction;
Information on landmark object candidates that are candidates for landmark objects to be used as a landmark when performing guidance for the guidance intersection among the objects located around the guidance intersection identified by the guidance intersection identification unit is acquired. Landmark candidate information acquisition means;
Obstacle information acquisition means for acquiring information of obstacles located around the guidance intersection;
When there are a plurality of landmark object candidates, landmark object candidate information that is information on the landmark object candidate acquired by the landmark candidate information acquisition means, and the obstacle acquired by the obstacle information acquisition means Based on the obstacle information, the guidance start point for starting guidance for the guidance intersection, and the guidance end point for ending guidance for the guidance intersection. Mark object selection means for selecting an object to be the mark object at the guidance intersection;
Using the mark subject the marker object is selected in object candidate of the guidance intersection by the mark target object selecting means, have a, and intersection guidance means for performing guidance of the guidance intersection,
The mark object selecting means includes:
While the moving body moves from the guidance start point to the guidance end point, it is determined whether there is a landmark object candidate that is always visible from the moving body without being obstructed by the obstacle,
When it is determined that there is a landmark object candidate that is always visible from the mobile object, the landmark object candidate is selected as the landmark object at the guidance intersection,
If it is determined that there are no landmark object candidates that are always visible from the mobile object, the movement is performed while the mobile object moves from the guidance start point to the guidance end point for each landmark object candidate. Calculate the distance or time ratio at which the landmark object candidate is visible without being obstructed by the obstacle from the body,
The movement guide apparatus characterized by preferentially selecting the landmark object candidate having a high calculated ratio as the landmark object at the guidance intersection . Guidance route setting means, and away step to set the guide route for guiding the movement of the moving body,
Mobile location acquisition means includes Luz step to obtain the position of the movable body,
Guidance intersection specifying means, based on the position of the movable body and the guide route, and away step to identify the guidance intersection in the direction of travel of the moving body,
A landmark object that is a candidate for a landmark object to be a landmark when the landmark candidate information acquisition means performs guidance for the guidance intersection among objects located around the guidance intersection identified by the guidance intersection identification means. and Luz steps to acquire the information of the object candidate,
Obstacle information acquiring means, and away step to acquire the information of the obstacle located around the guidance intersection,
When the landmark object selection means has a plurality of landmark object candidates, landmark object candidate information that is information on the landmark object candidate acquired by the landmark candidate information acquisition means, and the obstacle information acquisition means A plurality of the landmarks based on the obstacle information that is obtained by the obstacle information, a guidance start point for starting guidance for the guidance intersection, and a guidance end point for ending guidance for the guidance intersection. and Luz step to select the object to be out of the object candidates and the mark object of the guidance intersection,
Intersection guidance means, using said marker object candidate selected in the mark object of the guidance intersection by the mark target object selecting means, have a, and rows mortar step guidance of the guidance intersection,
The mark object selecting means includes:
While the moving body moves from the guidance start point to the guidance end point, it is determined whether there is a landmark object candidate that is always visible from the moving body without being obstructed by the obstacle,
When it is determined that there is a landmark object candidate that is always visible from the mobile object, the landmark object candidate is selected as the landmark object at the guidance intersection,
If it is determined that there are no landmark object candidates that are always visible from the mobile object, the movement is performed while the mobile object moves from the guidance start point to the guidance end point for each landmark object candidate. Calculate the distance or time ratio at which the landmark object candidate is visible without being obstructed by the obstacle from the body,
A moving guidance method characterized by preferentially selecting the landmark object candidate having a high calculated ratio as the landmark object at the guidance intersection . The computer,
A guide route setting means for setting a guide route for guiding the movement of the moving body;
Moving body position acquisition means for acquiring the position of the moving body;
Based on the guidance route and the position of the moving body, a guidance intersection specifying means for specifying a guidance intersection ahead of the moving body in the traveling direction;
Information on landmark object candidates that are candidates for a landmark object to be used as a landmark when performing guidance for the guidance intersection among the objects located around the guidance intersection identified by the guidance intersection identification unit is acquired. Landmark candidate information acquisition means ;
Obstacle information acquisition means for acquiring information of obstacles located around the guidance intersection;
When there are a plurality of landmark object candidates, landmark object candidate information that is information on the landmark object candidate acquired by the landmark candidate information acquisition means, and the obstacle acquired by the obstacle information acquisition means Based on the obstacle information, the guidance start point for starting guidance for the guidance intersection, and the guidance end point for ending guidance for the guidance intersection. Mark object selection means for selecting an object to be the mark object at the guidance intersection;
An intersection guidance means for guiding the guidance intersection using the landmark object candidate selected as the landmark object at the guidance intersection by the landmark object selection means ;
As well as function
The mark object selecting means includes:
While the moving body moves from the guidance start point to the guidance end point, it is determined whether there is a landmark object candidate that is always visible from the moving body without being obstructed by the obstacle,
When it is determined that there is a landmark object candidate that is always visible from the mobile object, the landmark object candidate is selected as the landmark object at the guidance intersection,
If it is determined that there are no landmark object candidates that are always visible from the mobile object, the movement is performed while the mobile object moves from the guidance start point to the guidance end point for each landmark object candidate. Calculate the distance or time ratio at which the landmark object candidate is visible without being obstructed by the obstacle from the body,
A computer program characterized by preferentially selecting the landmark object candidate having a high calculated ratio as the landmark object at the guidance intersection .

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