JP5796437B2 - Movement guidance system, movement guidance apparatus, movement guidance method, and computer program - Google Patents

Description

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

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

  Here, when performing guidance such as turning left or right at the guidance branch point, it is necessary for the user to accurately identify the guidance branch point. And in order to make a user specify a guidance branch point correctly, it is important to output guidance at an appropriate timing according to the content of guidance. However, when a vehicle travels in an urban center where the interval between the branch points is short, there are cases where the output of guidance cannot be performed at an appropriate timing. For example, when performing guidance for specifying a guidance branch point using the number of branch points or the number of traffic lights from the vehicle to the guidance branch point, if a branch point or a traffic signal is passed during the output of guidance, the branch point or traffic signal May not be counted correctly.

  Therefore, for example, in Japanese Patent Application Laid-Open No. 2007-155352, when performing guidance for specifying a guidance branch point using the number of branch points from the vehicle to the guidance branch point, the branch point is not passed during guidance output. Thus, a technique for changing the start timing of guidance is described. Further, there is described a technique for performing guidance for specifying a guidance branch point using the number of branch points including the number of branch points that pass when the guidance start timing cannot be changed.

JP2007-155352A (pages 9-12)

  Here, in the technique described in the above-mentioned Patent Document 1, in the guidance performed when the guidance start timing cannot be changed so as not to pass through the branch point during the guidance output, the guidance passes through the branch point during the guidance output. As a result, the guidance branch point may not be accurately specified by the user. If guidance cannot be output at an appropriate timing according to the content of guidance, guidance may not be provided or the guidance phrase may be changed. In some cases, the guidance necessary to identify the user is not provided. On the other hand, when it is set as the structure which changes a guidance phrase, there is a possibility that a user may be confused by the phrase being changed frequently and a guidance branch point cannot be specified correctly.

  The present invention has been made to solve the above-described conventional problems, and the guidance phrase is frequently changed by setting so that guidance is not uttered in a situation where guidance is unnecessary for the user. It is possible to perform necessary guidance for allowing the user to specify the guidance branch point without the need, and it is possible to accurately identify the guidance branch point based on the spoken guidance. An object of the present invention is to provide a movement guidance device, a movement guidance method, and a computer program.

In order to achieve the above object, a travel guidance system (1) according to claim 1 of the present application provides a guidance route for guiding the movement of a mobile body (80) and a guidance route (71) on the guidance route. The setting means (13) and a guidance start point for starting guidance at the guidance branch point are determined based on the first guidance start point and the first guidance start point that are present on the departure side of the guidance route from the guidance branch point. And a guidance start point setting means (13) for setting a plurality of locations including at least a second guidance start point existing on the guidance branch point side of the guide route, and the guidance branch point with respect to the plurality of guidance start points. Guidance setting means (13) for setting each of the guidance, and when the mobile body reaches the guidance start point, the guidance branch is set using the guidance set for the reached guidance start point. Departure of point guidance Branch point guide means (13) for performing the following, wherein the guide setting means is a first phrase for specifying the guide branch point with respect to the first guidance start point, and the movement at the guide branch point. Branch point guidance that includes a second phrase that specifies the direction of movement of the body is set, and within a predetermined time after the utterance of the branch point guidance started at the first guidance start point ends. When it is determined that the vehicle reaches within a predetermined distance from the guidance branch point, it is set so that guidance is not uttered to the second guidance start point.
The “moving body” includes a pedestrian and a two-wheeled vehicle in addition to the vehicle.
In addition, the “guidance branch point” corresponds to a branch point that is a target for performing guidance such as a right / left turn instruction when performing guidance of movement of the moving object according to the guidance route.
A “phrase” corresponds to a phrase.

Moreover, the movement guidance system (1) according to claim 2 is the movement guidance system according to claim 1, wherein the first phrase is from the moving body (80) to the guidance branch point (71). The phrase is characterized in that the guide branch point is specified using the number of traffic lights located between them.
Further, the “number of traffic lights located between the moving body and the guidance branch point” may be the number of traffic lights in the branch point unit. That is, when a plurality of traffic lights are provided at the same branch point on a large road or the like, the plurality of traffic lights may be counted as one traffic light. In that case, the “first guidance” according to the present invention uses the number of branch points (that is, signal intersections) where traffic lights located between the moving body and the guide branch point are used to determine the guide branch point. It corresponds also to the structure which performs guidance to specify. However, even when counting is performed in units of branch points, it is desirable to count the number of traffic lights (for example, push button type traffic lights) installed outside the branch point. The same applies to the following claims.

  Further, the travel guidance system (1) according to claim 3 is the travel guidance system according to claim 2, wherein a departure side of the guide route with respect to the guide branch point (71) or the guide branch point. Branch point judging means (13) for judging whether or not the preceding branch point (72, 74, 76) which is a branch point at is a misidentified branch point which is a branch point that satisfies the condition that the counting of the traffic light is likely to be erroneous, The guidance setting means (13) is a case where the guidance branch point and the previous branch point are determined not to be the misidentification branch point by the branch point determination means, and the guidance start means (13) started at the first guidance start point. When it is determined that the mobile body reaches within a predetermined distance from the guidance branch point within a predetermined time after the branch point guidance utterance ends, the guidance utterance is not performed at the second guidance start point. Features set to To.

  Further, the travel guidance system (1) according to claim 4 is the travel guidance system according to claim 3, wherein the misidentified branch point is the type of traffic signal installed at the branch point, the shape of the branch point, or the branch point. The shape of the link connected to the point is a branch point that satisfies a predetermined condition.

  Further, the travel guidance system (1) according to claim 5 is the travel guidance system according to claim 4, wherein the predetermined condition is that the one-lamp type or two-lamp type traffic signal (71) at the branch point. It is a condition that is installed.

  Further, the movement guidance system (1) according to claim 6 is the movement guidance system according to claim 4, wherein the predetermined condition is that the entrance side traffic signal (73) installed at the branch point and the exit side are provided. It is characterized in that the installation interval of the traffic light (74) is not less than a predetermined interval.

  The movement guidance system (1) according to claim 7 is the movement guidance system according to claim 4, wherein the predetermined condition is that a predetermined feature (76) is installed in the branch point. It is characterized by being a condition.

  The movement guidance system (1) according to claim 8 is the movement guidance system according to claim 4, wherein the predetermined condition is that the branch point and another branch point adjacent to the branch point (81). ) Is less than a predetermined interval.

  Further, the movement guidance system (1) according to claim 9 is the movement guidance system according to claim 4, wherein the predetermined condition is that the traffic light (86) installed at the branch point is connected to the branch point. It is a condition that it cannot be visually recognized from the mobile body (101) located in front of a predetermined distance.

  Further, the movement guidance system (1) according to claim 10 is the movement guidance system according to claim 4, wherein the predetermined condition is that a plurality of links (87, 88) in the same direction with respect to the branch point. ) Is connected.

  Further, the movement guide device (1) according to claim 11 includes a guide route for guiding the movement of the mobile body (80), a guide route setting means for setting a guide branch point (71) on the guide route, and the guide A guidance start point for starting guidance at a branch point is a first guidance start point existing on the departure side of the guide route with respect to the guide branch point, and the guide branch point of the guide route with respect to the first guidance start point. A guidance start point setting means for setting at a plurality of locations including at least a second guidance start point existing on the side, a guidance setting means for setting guidance for the guidance branch points for the plurality of guidance start points, Branch point guide means for performing guidance of the guidance branch point using the guidance set for the reached guidance start point when the mobile body reaches the guidance start point. The guide setting hand Sets, for the first guidance start point, a branch point guidance that includes a first phrase that identifies the guidance branch point and a second phrase that identifies the moving direction of the mobile object at the guidance branch point, respectively. And when the mobile body has reached within a predetermined distance from the guidance branch point within a predetermined time after the utterance of the branch point guidance started at the first guidance start point is completed, It is characterized in that it is set so that guidance is not uttered at the guidance start point.

The mobile guide method according to claim 12, the guide route setting means, and away step to set the guidance branch point on the guidance route and the guide path for guiding the movement of the moving body (80) (71), The guidance start point setting means sets a guidance start point for starting guidance for the guidance branch point from a first guidance start point and a first guidance start point that are present on the departure side of the guide route from the guidance branch point. the guide and answering step be set in a plurality of locations including at least a second guidance starting point existing in the branch point side, the guide setting means, the guidance branch point to the plurality of guidance start point of even the guide path and Luz steps to set each guidance branch point guide means, when the moving body has reached the guidance starting point, using the guidance set for the guidance starting point has been reached該到, Issuing guidance for the guidance branch point The has a row mortar step, wherein the guide setting means, wherein the first guidance starting point, and the first phrase that identifies the guidance branch point, the moving direction of the movable body in the guidance branch point Branch point guidance each including a second phrase that identifies the branch point guidance, and the mobile body moves the guidance branch point within a predetermined time after the utterance of the branch point guidance started at the first guidance start point ends. When it is determined that the vehicle will reach within a predetermined distance from the second guidance start point, it is set so as not to utter the guidance to the second guidance start point.

Further, a computer program according to claim 13, a computer, a guidance route setting means for setting a guidance branch point on the guidance route and the guide route (71) for guiding the movement of the moving body (80), the guidance branch A guidance start point for starting point guidance is a first guidance start point existing on the departure side of the guidance route with respect to the guidance branch point, and the guidance branch point side of the guidance route with respect to the first guidance start point. Guidance start point setting means for setting at a plurality of locations including at least a second guidance start point existing in the vehicle , guidance setting means for setting guidance for the guidance branch points for the plurality of guidance start points, and the movement when the body has reached the guidance starting point, and branch point guide means which performs speech guidance of the guide branch point with the guidance set for the guidance starting point has been reached該到teeth A computer program for causing to function, the guide setting means, with respect to the first guidance starting point, and the first phrase that identifies the guidance branch point, the moving direction of the movable body in the guidance branch point A branch point guide that includes each of the second phrases to be specified is set, and the mobile body moves from the guide branch point within a predetermined time after the utterance of the branch point guide started at the first guide start point is completed. When it is determined that it will reach within a predetermined distance, it is set so that the guidance utterance is not performed at the second guidance start point.

  According to the movement guidance system according to claim 1 having the above-described configuration, guidance is not uttered in a situation where guidance is unnecessary for a user even in an urban center where the interval between branch points is short. This makes it possible to provide necessary guidance for allowing the user to specify the guidance branch point without frequently changing the guidance phrase. Therefore, it is possible to allow the user to accurately specify the guidance branch point based on the spoken guidance.

  Moreover, according to the movement guidance system of Claim 2, since a guidance branch point is guided by the phrase which specifies a guidance branch point using the number of the traffic lights located between a mobile body and a guidance branch point, It is possible to specify the guidance branch point more accurately by the user.

  Further, according to the movement guidance system according to claim 3, when the guidance branch point or the front branch point is not a misidentified branch point where the signal count is likely to be erroneous, the guidance is not uttered. By not performing it, it is possible to prevent the user from shifting the traffic signal count, and to prevent the guide branch point from being misidentified.

  According to the movement guidance system of claim 4, the misidentified branch point, the type of traffic signal installed at the branch point, the shape of the branch point, or the shape of the link connected to the branch point satisfies a predetermined condition. Since it is set as a branch point, it becomes possible to specify correctly the branch point which is easy to miscount a traffic light from map data as a misidentified branch point.

  Further, according to the movement guide system according to claim 5, since the branch point where the one-lamp type or two-lamp type traffic signal is installed is specified as the misidentified branch point, the installed traffic signal should be included in the count target. It is possible to appropriately identify a branch point that is difficult to be determined by the user as a misidentified branch point.

  In addition, according to the movement guidance system of the sixth aspect, since the branch point where the installation interval between the installed approaching traffic signal and the leaving traffic signal is a predetermined interval or more is identified as the misidentified branch point, the approaching traffic signal and the exiting side are identified. It is possible to appropriately identify a branch point that may include both traffic signals as a misidentification branch point.

  In addition, according to the movement guidance system according to the seventh aspect, the branch point where the predetermined feature is installed in the branch point is specified as the misidentified branch point, so that it passes through one branch point. When passing through two branch points, it is possible for the user to mistakenly identify the branch points that are likely to be counted for two traffic lights as false branch points.

  Further, according to the movement guidance system of the eighth aspect, since the branch point whose distance from the adjacent other branch point is less than the predetermined interval is specified as the misidentified branch point, the two branch points may be passed. Regardless, it is possible for the user to mistakenly recognize that the vehicle passes only one branch point, and to appropriately identify a branch point that may count only one traffic light as a false branch point.

  Further, according to the movement guidance system of the ninth aspect, since the installed traffic signal is identified as a misidentification branch point as a misidentification branch point that cannot be seen from a moving body located a predetermined distance before the branch point, the traffic signal can be seen by the user. It is difficult to appropriately identify a branch point that is difficult to count traffic lights as a misidentified branch point.

  Further, according to the movement guidance system of the tenth aspect, the branch point where a plurality of links are connected in the same direction is specified as the misidentified branch point. It is possible to appropriately identify the branch point that the user misidentifies after passing through one branch point and that may count the traffic lights for two places, as the erroneous branch point.

  Further, according to the movement guide device of the eleventh aspect of the present invention, by setting so that guidance is not uttered in a situation where guidance is unnecessary for the user even in an urban center where the interval between the branch points is short. It is possible to perform necessary guidance for allowing the user to specify the guidance branch point without frequently changing the guidance phrase. Therefore, it is possible to allow the user to accurately specify the guidance branch point based on the spoken guidance.

  Further, according to the movement guide method of claim 12, by setting so as not to utter the guidance even in an urban center where the interval between the branch points is short, in a situation where the guidance is unnecessary for the user. It is possible to perform necessary guidance for allowing the user to specify the guidance branch point without frequently changing the guidance phrase. Therefore, it is possible to allow the user to accurately specify the guidance branch point based on the spoken guidance.

  Furthermore, according to the computer program according to claim 13, even in an urban center where the interval between the branch points is short, by setting so that the guidance is not uttered in a situation where the guidance is unnecessary for the user, It is possible to perform necessary guidance for allowing the user to specify the guidance branch point without frequently changing the guidance phrase. Therefore, it is possible to allow the user to accurately specify the guidance branch point based on the spoken guidance.

It is the block diagram which showed the navigation apparatus which concerns on this embodiment. It is the figure which showed an example of the traffic signal and stop line which are arrange | positioned at a branch point. It is the figure which showed an example of the guidance phrase condition table. It is a flowchart of a branch point guidance processing program according to the present embodiment. It is a flowchart of the sub process program of the guidance setting process which concerns on this embodiment. It is the figure which showed the speech area of traffic signal guidance. It is the figure which showed the speech mode by normal traffic signal guidance. It is a figure explaining the example of the branch point which satisfy | fills the conditions which are easy to make the count of a traffic signal easy to be erroneous. It is a figure explaining the example of the branch point which satisfy | fills the conditions which are easy to make the count of a traffic signal easy to be erroneous. It is a figure explaining the example of the branch point which satisfy | fills the conditions which are easy to make the count of a traffic signal easy to be erroneous. It is a figure explaining the example of the branch point which satisfy | fills the conditions which are easy to make the count of a traffic signal easy to be erroneous. It is a figure explaining the example of the branch point which satisfy | fills the conditions which are easy to make the count of a traffic signal easy to be erroneous. It is a figure explaining the example of the branch point which satisfy | fills the conditions which are easy to make the count of a traffic signal easy to be erroneous. It is the figure which showed the speech mode by distance guidance. It is the figure which showed the speech mode by the traffic signal guidance which abbreviate | omitted a part of guidance.

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

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

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

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

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

  Here, the link data 33 includes, for example, a link ID for identifying the link, end node information for identifying a node located at the end of the link, the road type of the road constituting the link, the number of lanes, and the like. Remembered. The node data 34 stores a node ID for identifying the node, position coordinates of the node, connection destination node information for specifying a connection destination node to which the node is connected via a link, and the like. Further, as the branch point data 35, relevant node information for specifying a node forming the branch point (intersection), connection link information for specifying a link connected to the branch point (hereinafter referred to as a connection link), a branch point The traffic signal information 36 relating to traffic lights installed in the vicinity of the stop line, the stop line information 37 relating to stop lines installed around the branch point, and the like are stored.

  In addition, the traffic signal information 36 is the direction in which the traffic light is installed (that is, the direction in which the traffic light is facing) of the traffic signal installed around each branch point (intersection) in the whole country, and hereinafter referred to as the installation direction. ), The number of lamps (3-lamp type, 2-lamp type, 1-lamp type, etc.), the position coordinates where the traffic light is installed (hereinafter referred to as installation coordinates), and the like. Furthermore, when a plurality of traffic lights are installed at one branch point, the installation direction, installation coordinates, etc. are stored for each of the traffic lights. For example, as shown in FIG. 2, eight traffic lights 52 to 59 are installed at a branching point 51 where two one-lane roads intersect. Accordingly, as the traffic signal information 36 of the branch point 51, the installation direction, installation coordinates, and the like of the traffic signals 52 to 59 are stored.

  The traffic signal information 36 is the traffic signal that is on the most exit side for each exit direction from the branch point (that is, the traffic signal that can be visually recognized at the end of the branch when the vehicle passes through the branch point. It is good also as a structure which memorize | stores only the information regarding a side signal apparatus. For example, at the branch point 51 shown in FIG. 2, information on the traffic signal 53 that is the exit side traffic signal is stored for the exit direction from the bottom to the top of the diagram, and the exit side is displayed for the exit direction from the top to the bottom of the diagram. Stores information on the traffic light 55 that is a traffic light, stores information on the traffic light 57 that is a traffic light on the exit side with respect to the exit direction from the left to the right in the figure, and exits on the exit direction from the right to the left in the figure. Information on the traffic signal 59 that is a traffic signal is stored. That is, it is good also as a structure which memorize | stores only the installation direction and installation coordinate of the traffic lights 53, 55, 57, 59 among the 8 traffic lights 52-59. In addition, for each approach direction from a branch point, as a configuration for storing only information related to a traffic light that is closest to the entry side (that is, the departure side) (that is, a traffic light that can be visually recognized by the vehicle first, hereinafter referred to as an entry side traffic signal). Also good.

  On the other hand, the stop line information 37 stores information related to the road marking of the stop line, among the features formed on the road surface. Specifically, the identification ID, the coordinate data for specifying the position of the stop line on the map, and the branch point ID for identifying the branch point where the stop line is installed are stored. Note that the coordinate data may be specified not by the absolute position but by the relative position of the branch point where the stop line is installed with respect to the node point. For example, as shown in FIG. 2, stop lines 60 to 63 are installed at four points at a branch point 51 where roads of two lanes on one side intersect. Therefore, as the stop line information 37, various information regarding the stop lines 60 to 63 is stored.

  And navigation ECU13 is based on each data memorize | stored in map information DB31 as mentioned later, and the branch existing in the departure place side of a guidance route from this guidance branch point ahead of the advancing direction of a vehicle. A point (hereinafter referred to as a front branch point) is specified. Further, the branch point data 35 of the guide branch point and the front branch point and the link data 33 of the link connected to each branch point are acquired. And navigation ECU13 sets the guidance start point which starts the content of guidance with respect to a guidance branch point, and guidance based on each acquired data. Further, the navigation ECU 13 also determines whether or not the guidance branch point or the front branch point is a branch point that satisfies the condition that the signal counting is likely to be erroneous (hereinafter referred to as a misidentified branch point) based on each acquired data. To do. The guidance branch point is a branch point to which guidance such as a right / left turn instruction is given when the navigation device 1 performs traveling guidance according to the guidance route set in the navigation device 1.

Here, examples of guidance candidates set as guidance for guidance branch points by the navigation ECU 13 include the following guidance.
(1) Guidance using the number of traffic signals located between the current position of the vehicle and the guidance branch point (hereinafter referred to as “traffic signal guidance”).
(2) Guidance using the distance from the current position of the vehicle to the guidance branch point (hereinafter referred to as “distance guidance”).
Here, “the number of traffic lights located between the current position of the vehicle and the guidance branch point” is preferably the number of traffic lights per branch point. That is, when a plurality of traffic signals are provided at the same branch point on a large road or the like, it is desirable that the plurality of traffic signals be counted as one traffic signal. In that case, “traffic signal guidance” corresponds to guidance for specifying a guidance branch point using the number of branch points (that is, traffic signal intersections) where traffic lights located between the vehicle and the guidance branch point are installed. . However, even when counting is performed in units of branch points, it is desirable to count the number of traffic lights (for example, push button type traffic lights) installed outside the branch point. The same applies to the following description.

The guidance phrase condition table 32 includes conditions for starting the utterance of guidance along with the contents of phrases (phrases) to be spoken for the above-mentioned plurality of types of guidance candidates that are guidance candidates for guiding the guidance branch point. It is a table stored in association with each other.
Hereinafter, the guidance phrase condition table 32 will be described in more detail with specific examples. FIG. 3 shows an example of the guidance phrase condition table 32.

  For example, for "Signal Guide", "The third signal is left (right) direction", "The second signal is left (right) direction" and "Next signal is left (right) direction" ”Is associated. Furthermore, a guidance start point, which is a point at which guidance speech is started when the vehicle reaches each guidance phrase, is associated. For example, in the case of guiding “the second signal is in the left (right) direction”, the guidance utterance is made while the user can count two traffic lights before entering the guidance branch point. Need to start. Therefore, as shown in FIG. 3, the guidance phrase “the second signal is in the left (right) direction” has a traffic signal two before the guidance branch point (note that a plurality of traffic lights are installed at the branch point). The exit side traffic light installed on the most exit side with respect to the direction of travel of the vehicle is not visible to the passenger (for example, 5 meters before the traffic light two before the guidance branch point). It is associated as a point. In addition, in the “traffic signal guide”, it is possible to set so that a part of the guide is not uttered when a certain condition is satisfied. Details will be described later.

  In addition, “distance guidance” is associated with the guidance phrases “700m ahead is left (right)”, “300m ahead is left (right)” and “soon left (right)”. Yes. Furthermore, a guidance start point, which is a point at which guidance speech is started when the vehicle reaches each guidance phrase, is associated. For example, in the case of performing a guidance saying “700 m ahead is in the left (right) direction”, the guidance utterance needs to be performed in a state where the travel distance to enter the guidance branch point is 700 m. Therefore, as shown in FIG. 3, the guidance phrase “700 m ahead is in the left (right) direction” is associated with the guidance start point 750 m before the guidance branch point.

  Here, as described above, the “traffic signal guidance” and the “distance guidance” include the first phrase (for example, “third signal”) that specifies the guidance branch point and the vehicle movement direction (guidance) at the guidance branch point. A phrase including a second phrase (for example, “left (right) direction”) that specifies (direction). Similarly, other guidance phrases are stored in the guidance phrase condition table 32. In addition to the left (right) direction, there are a right (left) diagonal direction, a right (left) front direction, and the like as the guidance direction of the guidance branch point. Each numerical value (5 m or the like) for specifying the guidance start condition can be changed as appropriate.

  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. In addition to a RAM 42 for storing route data when a route is searched, a control program, a ROM 43 in which a branch point guidance processing program (see FIGS. 4 and 5) described later is recorded 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 guidance route setting means sets a guidance route and a guidance branch point from a departure point (for example, the current position of the vehicle) that guides the movement of the vehicle (moving body) to the destination. The guidance start point setting means includes a guidance start point for starting guidance at a guidance branch point, a first guidance start point existing on the departure side of the guidance route with respect to the guidance branch point, and a guidance route from the first guidance start point. Are set at a plurality of locations including at least a second guidance start point existing on the guidance branch point side. The guidance setting means sets guidance for a guidance branch point for each of a plurality of guidance start points. When the vehicle reaches the guidance start point, the branch point guidance means utters guidance at the guidance branch point using the guidance set for the reached guidance start point. The branch point judging means is a guide branch point or a branch point on the departure side of the guide route with respect to the guide branch point. Judge whether or not.

  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 the present embodiment, when the guidance branch point approaches within a predetermined distance (for example, 300 m) ahead of the traveling direction of the vehicle, an enlarged view near the guidance branch point and the traveling direction at the guidance branch point of the vehicle are displayed.

  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, when the guidance branch point is ahead of the traveling direction of the vehicle, a voice guidance indicating that the predetermined guidance start timing based on the guidance content (for example, “the second signal is to the left”) In the case of outputting, the voice guidance at the guidance branch point is outputted at a timing 5 meters before (see FIG. 3) from the traffic light two before the guidance branch point.

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

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

  Next, a branch point guidance processing program executed by the navigation ECU 13 in the navigation device 1 having the above configuration will be described with reference to FIG. FIG. 4 is a flowchart of the branch point guidance processing program according to this embodiment. Here, the branch point guidance processing program is a program that is repeatedly executed at predetermined intervals after the ACC of the vehicle is turned on, and guides the guidance branch point on the guidance route. The programs shown in the flowcharts of FIGS. 4 and 5 below are stored in the RAM 42 and the ROM 43 provided in the navigation device 1 and are executed by the CPU 41.

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

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

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

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

  Subsequently, in S4, the CPU 41 determines a guidance branch point within a predetermined distance (for example, within 1.47 km) ahead of the traveling direction of the vehicle based on the current position of the vehicle acquired in S1 and the guidance route acquired in S2. It is determined whether or not there is. Note that the guidance branch point is a branch point to which guidance such as a right / left turn instruction is given when the navigation device 1 guides traveling according to the guidance route set in the navigation device 1 as described above.

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

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

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

  In S6, the CPU 41 determines whether or not the guidance for the guidance branch point ahead in the traveling direction of the vehicle has already been set in the guidance setting process (S7) described later. In S6, it is determined whether or not the guidance content of the voice guidance instructing the right or left turn at the guidance branch point among the guidance to the guidance branch point is set. In the present embodiment, in particular, one of the “signal guidance” and “distance guidance” shown in FIG. 3 is set.

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

  In S7, the CPU 41 executes a guidance setting process (FIG. 5) described later. In the guidance setting process, guidance and guidance for the guidance branch point ahead in the traveling direction of the vehicle is performed based on each data (link data 33, branch point data 35, etc.) stored in the map information DB 31 as described later. This is processing for setting a guidance start point to be performed.

  Next, in S8, the CPU 41 determines whether or not the vehicle has reached the guidance start point corresponding to the guidance set in S7. For example, when “signal guidance” is set to guidance in S7, the guidance start point is “5m before the traffic signal three points before the guidance branch point” and “the traffic signal two times before the guidance branch point” There are “5m before” and “5m before the traffic light just before the guidance branch point”.

  When it is determined that the vehicle has reached the guidance start point corresponding to the guidance set in S7 (S8: YES), the process proceeds to S9. On the other hand, when it is determined that the vehicle has not reached the guidance start point corresponding to the guidance set in S7 (S8: NO), the branch point guidance processing program is terminated.

In S9, the CPU 41 provides guidance regarding the guidance branch point based on the guidance set in S7. Specifically, guidance for specifying the guidance branch point and the moving direction of the vehicle at the guidance branch point is performed. For example, in S7, “Signal guidance” is set to guidance, and if the vehicle reaches 5m before the traffic signal two before the guidance branch point, “the second signal is in the left (right) direction. Is output from the speaker 16. However, when “Signal Guide” is set as guidance, guidance at some guidance start points (for example, guidance for “next signal is in the left (right) direction”) when certain conditions are met There is no utterance. Details will be described later. Further, when the guidance branch point approaches within a predetermined distance (for example, 300 m) of the vehicle, an enlarged view near the guidance branch point and the traveling direction at the guidance branch point of the vehicle are displayed on the liquid crystal display 15.
As a result, it becomes possible for the user to accurately specify the guidance branch point and the road from which the vehicle exits from the guidance branch point.

  Next, sub-processing of the guidance setting process executed in S7 will be described with reference to FIG. FIG. 5 is a flowchart of a sub-processing program for guidance setting processing.

  First, in S11, the CPU 41 specifies a near branch point that is closer to the departure point of the guide route than the guide branch point that is ahead in the traveling direction of the vehicle, based on each data stored in the map information DB 31. Further, the branch point data 35 of the guide branch point and the front branch point and the link data 33 of the link connected to each branch point are acquired.

  Next, in S12, the CPU 41, based on the link data 33 and the branch point data 35 acquired in S11, among the plurality of guidance candidates defined in the guidance phrase condition table 32 (FIG. 3), in particular “traffic signal guidance”. It is determined whether or not the guidance by can be appropriately uttered as guidance for guiding a guidance branch point located in front of the traveling direction of the vehicle. Specifically, when the guidance utterance is started within the prescribed utterance section set in “traffic guidance”, it is determined whether or not the guidance utterance can be ended within the same utterance section.

  Here, the utterance section is set for each guidance phrase of “signal guidance”. For example, in the guidance of “The third traffic light is in the left (right) direction”, “5m before the traffic light at the third stop before the guidance branch point” to “50m before the traffic light at the second stop before the guidance branch point” The interval until is the utterance interval. In addition, in the guidance that “the second signal is in the left (right) direction”, “5m before the traffic light at the front of the guidance branch point” to “50m before the traffic light at the front of the guidance branch point” The interval until is the utterance interval. In addition, in the guidance that “the next signal is in the left (right) direction”, the section from “5m before the traffic light just before the guidance junction” to “50m before the traffic light at the guidance junction” It becomes. Hereinafter, the utterance section will be described in detail with reference to FIG. In the following description of the embodiments, the guide branch point and the front branch point are both branch points where a traffic light is installed, and the branch on the front side of the guide branch point (the departure side along the guide route). The point is referred to as the first front branch point, the branch point on the further one side of the first front branch point (the departure side along the guide route) is referred to as the second front branch point, and further to the second front branch point. A branch point on the front side (the departure side along the guide route) will be referred to as a third front branch point.

As shown in FIG. 6, the utterance section of the guidance “the third signal is in the left (right) direction” is a traffic signal 73 at the third front branch point 72 that is three front from the guide branch point 71. This is a section from a point A 5 m before the point B to a point B further 50 m before the signal 75 at the second front branch point 74 that is two before the guide branch point 71. As a result, the user who has received the guidance can count three traffic signals of the second front branch point 74, the first front branch point 76, and the guide branch point 71 before entering the guidance branch point 71. It becomes possible to clearly specify that the “third signal” in the guidance sentence is the traffic light 78 installed at the guidance branch point 71.
Similarly, the utterance section of the guidance that “the second signal is in the left (right) direction” is a point C 5 m before the traffic light 75 of the second front branch point 74 that is the second front side with respect to the guide branch point 71. From the traffic light 77 at the first front branch point 76 on the near side with respect to the guidance branch point 71, the section extends from the traffic light 77 to the point D 50 meters ahead. As a result, the user who received the guidance can count the two traffic lights at the first front branch point 76 and the guidance branch point 71 before entering the guidance branch point 71. It is possible to clearly specify that the “signal” is the traffic light 78 installed at the guidance branch point 71.
Similarly, the utterance section of the guidance that “the next signal is in the left (right) direction” is from a point E 5 m before the traffic light 77 of the first front branch point 76 that is one side before the guide branch point 71, This is a section from the traffic light 78 at the guidance branch point 71 to the point F 50 meters ahead. As a result, the user who has received the guidance can count only the traffic lights at the guidance branch point 71 before entering the guidance branch point 71, and the “next signal” in the guidance sentence is installed at the guidance branch point 71. It is possible to clearly identify the traffic signal 78.
In S12, it is determined whether or not the utterance can be started and ended in the utterance section for each guidance phrase uttered in the “traffic light guide”.

  Then, when it is determined that the guidance by the “traffic signal guidance” can be appropriately spoken as guidance for guiding the guidance branch point located in front of the traveling direction of the vehicle (S12: YES), that is, “traffic signal guidance” When it is determined that all the guidance phrases uttered in “” can start and end utterance within the set utterance section, the process proceeds to S13. On the other hand, when it is determined that the guidance based on the “traffic signal guidance” cannot be properly spoken as guidance for guiding the guidance branch point located ahead in the traveling direction of the vehicle (S12: NO), that is, the “traffic signal guidance” If it is determined that at least one guidance phrase uttered in step S3 cannot start and end within the set utterance section, the process proceeds to S14.

  In S <b> 14, the CPU 41 sets “traffic signal guidance” as guidance for a guidance branch point in front of the traveling direction of the vehicle. Note that “traffic signal guidance” is guidance using the number of traffic signals from the current position of the vehicle to the guidance branch point (see FIG. 3). As a result, as shown in FIG. 7, guidance for specifying the guidance branch point 71 is performed based on the number of traffic lights located between the vehicle 80 and the guidance branch point 71 (S9). Specifically, at the timing when the traffic signal 73 at the third front branch point 72 on the third front side with respect to the guidance branch point 71 disappears from the user's field of view, “the third signal is to the left” At the timing when the guidance is performed and the traffic light 75 at the second front branch point 74 that is next to the guide branch point 71 disappears from the user's field of view, “the second signal is to the left” At the timing when the traffic light 77 at the first front branch point 76, which is one on the front side with respect to the guide branch point 71, disappears from the user's field of view, "The next signal is to the left." Guidance is given. In this case, the user is not erroneously counting the traffic light, and the “third signal”, “second signal”, and “next signal” being guided indicate the traffic light 78 at the guidance branch point 71. Can be clearly identified. In S15, the CPU 41 stores, in the RAM 42, the guidance start point where the set guidance phrase is uttered together with the guidance phrase set for guidance. The guidance start point is set based on the guidance phrase condition table 32. Thereafter, the process proceeds to S8.

  On the other hand, in S14, based on the link data 33 and the branch point data 35 acquired in S11, the CPU 41 misidentifies the branch where the guide branch point and the front branch point ahead of the traveling direction of the vehicle easily cause the signal count to be erroneous. Determine if it is a point. Note that the front branch point to be determined in S14 is a front branch point related to guidance when performing “traffic signal guidance”, and is, for example, a front branch point from the guide branch point to the front three points.

Here, the misidentified branch point that satisfies the condition that the signal count is likely to be erroneous is a branch point that satisfies at least one of the following conditions (A) to (F).
(A) A 1-lamp or 2-lamp signal is installed at the branch point.
(B) The installation interval of the entrance side traffic signal and the exit side traffic signal installed at the branch point is a predetermined interval or more (for example, 50 m or more).
(C) Features that may give false positives when branch points such as overpasses, pedestrian bridges, and separation zones are divided within the branch points.
(D) The distance between other adjacent branch points is less than a predetermined distance (for example, less than 30 m).
(E) The traffic light installed at the branch point cannot be visually recognized from a vehicle located a predetermined distance before the branch point (for example, 100 m before).
(F) A plurality of links are connected in the same direction with respect to the branch point.

Below, each condition of (A)-(F) is demonstrated in detail using FIGS. 8-13.
For example, as shown in FIG. 8, a branch point 82 where a one-lamp type traffic signal 81 is installed is a branch point corresponding to the condition (A). In such a one-lamp type traffic light 81, it is difficult for the user to determine whether or not the installed traffic signal should be included in the counting target when guidance by “traffic signal guidance” is performed. It becomes a branch point.

  Further, as shown in FIG. 9, the branch point 85 where the number of lanes of the crossing road is large and the installation interval L between the entrance side traffic signal 83 and the exit side traffic signal 84 is a predetermined interval or more (for example, 50 m or more) It becomes a branch point corresponding to the condition. When guidance using “traffic signal guidance” is performed at a branch point where the installation distance between the entrance side traffic signal 83 and the exit side traffic signal 84 is particularly wide, guidance is also performed according to the number of traffic lights at the branch point unit. Regardless, there is a possibility that the user may include both the traffic lights 83 and 84 in the count target, and this is a branch point where the count of the traffic lights is likely to be erroneous.

  Further, as shown in FIG. 10, a branch point 87 under the elevated 86 becomes a branch point corresponding to the condition (C). There is a possibility that the branch point 87 under the elevated 86 is misunderstood that the branch point 87 is divided back and forth by the elevated 86. Therefore, when guidance by “traffic signal guidance” is performed, the user misunderstands that the vehicle passes through two branch points even though it passes through one branch point, and counts two traffic signals (that is, traffic signals). Although it is necessary to count only 88, the traffic light 88 and the traffic light 89 are counted), so that it becomes a branch point where the traffic light count is likely to be erroneous.

  Moreover, as shown in FIG. 11, the branch points 90 and 91 in which the distance M between other adjacent branch points is less than a predetermined distance (for example, less than 30 m) are branch points corresponding to the condition (D). The installation interval may be a distance between nodes at a branch point, a distance between stop lines installed at a branch point, or a distance between road ends (a distance between nodes from an intersection road of each branch point). Or a distance obtained by subtracting 1/2 of the road width). In such branch points 90 and 91 having a narrow installation interval, although there are two branch points, there is a possibility that the user may be mistaken for one branch point. Therefore, when guidance by “traffic signal guidance” is performed, the user misunderstands that only one branch point is passed despite passing through two branch points 90 and 91, and only one traffic signal is counted. (In other words, although there is a need to count the traffic signal 92 and the traffic signal 93, only the traffic signal 92 is counted), it becomes a branching point where the counting of the traffic signal is likely to be erroneous.

  Further, as shown in FIG. 12, an approach road 95 entering the branch point 94 is curved, and a traffic light 96 installed at the branch point 94 is moved from a vehicle located a predetermined distance before the branch point (for example, 100 m before). When it cannot be visually recognized, it becomes a branch point corresponding to the condition (E). More specifically, the above condition (E) is satisfied when the azimuth difference α between the connection point of the road 95 to the branch point 94 and a point before a predetermined distance (for example, 100 m before) is equal to or greater than a predetermined angle. It becomes a branch point. At the branch point 94 having such a curved approach road 95, it is difficult for the user to see the traffic signal and it is difficult to count the traffic signal. Note that the condition (E) may be that a large other vehicle is positioned in front of the vehicle.

  In addition, as shown in FIG. 13, a branch point 99 having a complicated shape in which a plurality of roads 97 and 98 are connected in the same direction, which is a branch point of five or more roads, satisfies the above condition (F). It becomes a branching point. Such a branch point 99 where a plurality of roads 97 and 98 are connected in the same direction may give a misunderstanding that it is composed of a plurality of branch points with a boundary between the road 97 and the road 98 as a boundary. Therefore, when guidance by “traffic signal guidance” is performed, the user misunderstands that the vehicle passes through two branch points even though it passes through one branch point, and counts two traffic signals (that is, traffic signals). Although it is necessary to count only 100, the traffic signal 100 and the traffic signal 101 may be counted).

  If it is determined that the guidance branch point or the front branch point in front of the traveling direction of the vehicle is a misidentified branch point that satisfies the condition that the signal count is likely to be erroneous (S14: YES), the process proceeds to S15. On the other hand, when it is determined that the guide branch point and the front branch point in the forward direction of the vehicle are not misidentified branch points that satisfy the condition that the counting of the traffic light is likely to be erroneous (S14: NO), the process proceeds to S16. .

  If the guidance branch point or the preceding branch point is a misidentified branch point, the guidance at the guidance branch point will be omitted if guidance that is determined not to be able to be spoken within the utterance section is omitted from the guidance of the traffic signal guidance. However, there is a risk of miscounting the traffic light. Accordingly, in S15, the CPU 41 sets “distance guidance” as guidance for a guidance branch point ahead of the traveling direction of the vehicle. The “distance guidance” is guidance using the distance from the current position of the vehicle to the guidance branch point (see FIG. 3). As a result, as shown in FIG. 14, guidance for specifying the guidance branch point 71 is always performed based on the distance from the vehicle 80 to the guidance branch point 71 instead of the number of traffic lights (S9). Specifically, in a state where the distance from the vehicle 80 to the guidance branch point 71 is 750 m, guidance “700 m ahead is leftward” is performed, and then the distance from the vehicle 80 to the guidance branch point 71 is In the state of 350m, “300m ahead is left direction” guidance is performed, and finally the distance from the vehicle 80 to the guidance branch point 71 is 50m and “Soon to be left direction” guidance. Done. In this case, since the number of traffic lights is not used, the effect of specifying the branch point is slightly reduced, but it is possible to prevent the user from mistaking the traffic signal count to misidentify other branch points as guide branch points. Become. In S15, the CPU 41 stores, in the RAM 42, the guidance start point where the set guidance phrase is uttered together with the guidance phrase set for guidance. The guidance start point is set based on the guidance phrase condition table 32. Thereafter, the process proceeds to S8.

  On the other hand, in S16, the CPU 41 guides immediately before the guidance (corresponding to guidance started at the second guidance start point of the present invention) determined to be unable to speak in the utterance section in S12 (start of the first guidance of the present invention). It is determined whether or not the vehicle arrives within a predetermined distance from the guidance branch point within a predetermined time after the utterance of (equivalent to guidance started at the point) ends. Here, the “predetermined time” in S16 is a time (for example, 15 seconds) in which the content of the guidance that the user has guided can be stored without forgetting. In S16, the “predetermined distance” is a distance (for example, 30 m) from the guidance branch point to a point where a user starts a preparation operation (for example, a blinker lighting operation) for making a right or left turn at the guidance branch point. In addition, it is good also as a distance from the stop line and signal apparatus installed in the guidance branch point instead of the distance from the guidance branch point.

Here, the determination process of S16 will be described in more detail with reference to FIG. FIG. 15 illustrates a case where the interval between the guidance branch point 71 and the first front branch point 76 is narrow, and the guidance that “the next signal is in the left direction” cannot start and end the utterance within the utterance section. To do. That is, in the example shown in FIG. 15, “the second signal is in the left direction” corresponds to the guidance started at the first guidance start point of the present invention, and “the next signal is in the left direction”. This corresponds to the guidance started at the second guidance start point of the invention. Further, the first guidance start point is a point further 5 meters before the traffic light 75 at the second front branch point 74, and the first guidance start point is a point further 5 meters before the traffic light 77 at the first front branch point 76.
In the example illustrated in FIG. 15, first, the CPU 41 determines a predetermined time (for example, 15) after the utterance of the guidance “second signal is leftward” performed immediately before “next signal is leftward”. Seconds) after the elapse of time, the position A of the vehicle 80 is predicted from the vehicle speed, speech time, and the like. Thereafter, a distance N from the position A to the guidance branch point 71 is calculated, and it is determined whether or not the distance N is a predetermined distance (for example, 30 m) or less. If the distance N is equal to or smaller than the predetermined distance, the vehicle is predetermined from the guidance branch point within a predetermined time after the utterance of the guidance immediately before the guidance determined to be unable to speak in the utterance section in S12. It is determined that the distance is reached. On the other hand, when the distance N is larger than the predetermined distance, the vehicle is moved from the guidance branch point to the predetermined distance within a predetermined time after the utterance of the guidance just before the guidance determined to be unable to speak in the utterance section in S12. It is determined that it does not reach within.
When estimating the position A, in addition to the vehicle speed of the host vehicle, the road type, the presence or absence of the preceding vehicle, the distance to the preceding vehicle, the behavior of the preceding vehicle, the lighting condition of the traffic light, the future change of the lighting condition of the traffic light It is desirable to estimate in consideration of the accelerator state and the brake state of the host vehicle.

  Then, when it is determined that the vehicle reaches within a predetermined distance from the guidance branch point within a predetermined time after the utterance of the guidance immediately before the guidance determined to be unable to speak within the utterance section in S12 (S16: (YES), the process proceeds to S17. On the other hand, when it is determined that the vehicle does not reach within the predetermined distance from the guidance branch point within a predetermined time after the utterance of the guidance immediately before the guidance determined to be unable to speak within the utterance section in S12. In (S16: NO), the process proceeds to S15. In S15, the CPU 41 omits guidance that is determined not to be able to speak in the utterance section in the guidance for the guidance branch point by “traffic signal guidance”, and then makes a right or left turn at the guidance branch point after the guidance utterance has ended. It is determined that there is a possibility that the user's memory of the guidance content becomes ambiguous because the interval until the preparation operation is started becomes long and the user misidentifies the guidance branch point. Therefore, the CPU 41 sets “distance guidance” instead of “traffic signal guidance” as guidance for a guidance branch point ahead of the traveling direction of the vehicle.

  On the other hand, in S17, the CPU 41 makes a right or left turn at the guidance branch after the guidance ends even if guidance that is determined not to be able to speak within the speech section is omitted from the guidance of the guidance branch point by “traffic signal guidance”. Since the interval until the preparation operation is started is short, the user memorizes the guidance contents, and it is determined that there is no possibility that the user misidentifies the guidance branch point. Therefore, “traffic signal guidance” is set as guidance for a guidance branch point ahead of the traveling direction of the vehicle. In addition, it is set so that the utterance is not performed for the guidance determined that the utterance cannot be performed within the utterance section. For example, in the example illustrated in FIG. 15, the CPU 41 sets the utterance not to be performed for “the next signal is in the left direction” that is determined to be unable to start and end the utterance within the utterance section. Then, at the timing when the traffic signal 73 at the third front branch point 72 that is three front from the guidance branch point 71 disappears from the user's field of view, a guidance is given that “the third signal is to the left”. Next, at the timing when the traffic light 75 at the second front branch point 74 that is two on the front side with respect to the guide branch point 71 disappears from the user's view, the guidance is “the second signal is to the left” Is done. In this case, the user must clearly specify that the “third signal” or “second signal” being guided indicates the traffic light 78 at the guidance branch point 71 without erroneously counting the traffic light. Is possible. In S <b> 17, the CPU 41 stores, in the RAM 42 or the like, a guidance start point where the set guidance phrase is uttered together with the guidance phrase set for guidance. The guidance start point is set based on the guidance phrase condition table 32. Thereafter, the process proceeds to S8.

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 branch point ahead of the traveling direction of the vehicle. In this case, it is determined whether or not the guidance by “traffic signal guidance” can be appropriately uttered within the specified utterance section (S12), and it is determined that the utterance cannot be properly uttered within the utterance section, When the vehicle arrives within a predetermined distance from the guidance branch point within a predetermined time after the utterance of the guidance immediately before the guidance determined to be impossible, as guidance for the guidance branch point ahead of the traveling direction of the vehicle “Signal guidance” is set, and guidance that is determined not to be uttered within the utterance section is set not to utter (S17). By setting the guidance phrase not to be spoken in situations where the guidance is unnecessary for the user even in an urban area where the interval is short, the guidance branch point can be set to the user without changing the guidance phrase frequently. Necessary guidance for identifying can be provided. Therefore, it is possible to allow the user to accurately specify the guidance branch point based on the spoken guidance.
In addition, in “traffic signal guidance”, the guidance branch point is guided by a phrase that specifies the guidance branch point using the number of traffic lights located between the vehicle and the guidance branch point, so that the guidance branch point is more accurately determined by the user. It becomes possible to specify.
In addition, when the guidance branch point or the front branch point is not a misidentified branch point where the count of the traffic signal is likely to be erroneous, it is set so that guidance is not uttered. It is possible to prevent the misidentification of the guidance branch point.
In addition, the misidentified branch point is a branch point where the type of traffic signal installed at the branch point, the shape of the branch point, or the shape of the link connected to the branch point satisfies a predetermined condition. A point can be accurately identified as a misidentified branch point.
For example, a branch point where a one-lamp type or two-lamp type traffic signal is installed is identified as a misidentified branch point, so a branch point that is difficult for the user to determine whether the installed signal should be included in the count is misidentified It becomes possible to specify appropriately as a branch point.
In addition, since the branching point where the installation interval between the installed approaching traffic signal and the leaving traffic signal is equal to or greater than the predetermined interval is identified as a misidentified branching point, there is a possibility that both the traffic signal signals of the entering traffic signal and the leaving traffic signal are included in the count target. A branch point can be appropriately identified as a misidentified branch point.
In addition, since the branch point where the predetermined feature is installed in the branch point is specified as the misidentified branch point, the user misidentifies that the two branch points are passed despite passing through one branch point, It is possible to appropriately specify a branch point that may count two traffic lights as a misidentified branch point.
In addition, since a branch point whose distance from another adjacent branch point is less than a predetermined interval is specified as a misidentified branch point, the user can pass only one branch point despite passing through two branch points. It becomes possible to appropriately identify a branch point that may be erroneously recognized and that may count only one traffic signal as a false branch point.
In addition, because the installed traffic signal is identified as a misidentified bifurcation point, a bifurcation point that cannot be seen from the vehicle located a predetermined distance before the bifurcation point is detected, so that it is difficult for the user to see the traffic signal and it is difficult to count the traffic signal. It becomes possible to specify appropriately as a point.
In addition, since a branch point where a plurality of links are connected in the same direction is specified as a misidentified branch point, the user misidentifies that the two branch points are passed despite passing through one branch point, It is possible to appropriately specify a branch point that may be counted for two places as a misidentified branch point.

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

  In the determination process of S16 of the present embodiment, the vehicle moves from the guidance branch point within a predetermined time (for example, 15 seconds) after the utterance of the guidance immediately before the guidance determined to be unable to speak within the utterance section. It is determined whether or not it will reach within a predetermined distance (for example, 30 m), but the distance from the point where the utterance of the guidance immediately before the guidance determined to be unable to speak within the utterance section to the guidance branch point is the predetermined distance It is good also as a structure which determines whether it is within (for example, 300 m). Moreover, it is good also not as the distance to a guidance branch point but to the distance to the stop line and traffic signal installed in the guidance branch point.

  Further, in this embodiment, when the guidance branch point is located within a predetermined distance ahead of the traveling direction of the vehicle, the guidance branch point guidance located in front of the guidance branch point is set (S7). The timing for setting the guidance may be another timing. For example, guidance may be set for each guidance branch point included in the guidance route when the navigation device 1 sets the guidance route. Moreover, it is good also as a structure which sets a guidance previously with respect to each branch point before setting a guidance route.

  Further, in this embodiment, when it is determined that guidance by “traffic signal guidance” cannot be properly performed within the specified utterance section, and it is determined that it is not possible to set not to perform utterance. In addition, instead of “traffic signal guidance”, the guidance is made by “distance guidance”, but other guidance may be adopted as long as the guidance branch point is specified without using the number of traffic lights. For example, guidance for specifying a guidance branch point may be performed using the number of branch points from the current position of the vehicle to the guidance branch point.

  Further, in this embodiment, when it is determined that neither the guidance branch point nor the preceding branch point is a misidentified branch point, the guidance by the “traffic signal guidance” is set as guidance of the guidance branch point and a part of the utterance is set. However, if it is determined that one of the two is not a misidentified branch point, the guidance by “traffic signal guidance” is set as guidance for the guidance branch point, and part of the utterance is not performed. It may be set to.

  Further, in the present embodiment, when it is determined that the guidance by “traffic signal guidance” cannot be performed within the specified speech section (S12: NO), a part of the guidance is set not to be spoken. Even when it is determined that the guidance by “traffic signal guidance” can be made within the prescribed utterance section (S12: YES), a part of the guidance is set not to be uttered if the determination conditions of S14 and S16 are satisfied. You may do it.

  In the present embodiment, as the traffic light guidance, “the third signal is in the left (right) direction”, “the second signal is in the left (right) direction” and “the next signal is in the left (right) direction”. Although the guidance using the guidance phrase “is” is performed, guidance using other phrases may be performed. For example, the guidance phrase “The next signal of the signal that will be passed is in the left (right) direction” or the guidance phrase “The next signal of the signal that is passing is in the left (right) direction” is used. You may give guidance. Furthermore, guidance without a part of the guidance phrase may be performed.

  In the present embodiment, the signal information 36 is configured to store information related to all the traffic lights arranged around the branch point, but only information related to the signal on the most exit side is stored for each exit direction from the branch point. It is good also as composition to do. Moreover, it is good also as a structure which memorize | stores the information regarding a stop line instead of a traffic light.

  In the present embodiment, the misidentified branch point that satisfies the condition that the signal count is likely to be erroneous is set as a branch point that satisfies at least one of the conditions (A) to (F). Other conditions other than F) may be set.

  In addition to the navigation device, the present invention can be applied to a device having a function of performing route guidance based on a guidance route. For example, the present invention can be applied to a portable terminal such as a cellular phone or a PDA, a personal computer, a portable music player, etc. (hereinafter referred to as a portable terminal or the like). Further, the present invention can be applied to a system including a server and a mobile terminal. In that case, each step of the above-described branch point guidance processing program (FIGS. 4 and 5) may be configured to be implemented by either a server or a mobile terminal. In addition, when the present invention is applied to a mobile terminal or the like, travel guidance may be given to a moving body other than a vehicle, for example, a user of a mobile terminal or a two-wheeled vehicle.

1 Navigation device 13 Navigation ECU
31 Map information DB
32 Guidance phrase condition table 36 Traffic signal information 41 CPU
42 RAM
43 ROM
80 Vehicle 71 Guide branch point 72, 74, 76 Front branch point

Claims (13)

A guide route for guiding the movement of the moving body, a guide route setting means for setting a guide branch point on the guide route,
The guidance start point for starting the guidance for the guidance branch point is a first guidance start point existing on the departure side of the guidance route with respect to the guidance branch point, and the guidance on the guidance route with respect to the first guidance start point. Guidance start point setting means for setting a plurality of locations including at least the second guidance start point existing on the branch point side;
Guidance setting means for setting guidance of the guidance branch point for each of the plurality of guidance start points;
Branch point guidance means for uttering guidance for the guidance branch point using the guidance set for the reached guidance start point when the mobile body reaches the guidance start point; Have
The guidance setting means includes:
For the first guidance start point, set a branch point guidance that includes a first phrase that identifies the guidance branch point and a second phrase that identifies the moving direction of the moving body at the guidance branch point,
The second guidance starts when it is determined that the mobile body reaches within a predetermined distance from the guidance branch point within a predetermined time after the utterance of the branch point guidance started at the first guidance start point is completed. A movement guidance system, characterized in that it is set not to utter guidance for a point.   The said 1st phrase is a phrase which specifies this guidance branch point using the number of the traffic lights located between the said mobile body and the said guidance branch point, The movement guidance system of Claim 1 characterized by the above-mentioned. . Judgment as to whether the preceding branch point, which is the branch point on the departure side of the guide route with respect to the guide branch point or the guide branch point, is a misidentified branch point satisfying a condition that easily causes a signal count error A branch point judging means for
The guidance setting means is a case where the guidance branch point and the preceding branch point are determined not to be the misidentified branch point by the branch point determination means, and the branch point guidance started at the first guidance start point. If it is determined that the mobile body reaches within a predetermined distance from the guidance branch point within a predetermined time after the end of the utterance, the setting is made so that the guidance utterance is not performed at the second guidance start point. The movement guidance system according to claim 2 characterized by things.   4. The misidentified branch point is a branch point that satisfies a predetermined condition of the type of traffic signal installed at the branch point, the shape of the branch point, or the shape of the link connected to the branch point. Travel guidance system.   5. The movement guide system according to claim 4, wherein the predetermined condition is that a one-lamp or two-lamp traffic signal is installed at the branch point.   5. The movement guide system according to claim 4, wherein the predetermined condition is that an installation interval between the entrance side traffic signal and the exit side traffic signal installed at the branch point is equal to or greater than a predetermined interval.   5. The movement guidance system according to claim 4, wherein the predetermined condition is that a predetermined feature is installed in the branch point.   5. The movement guidance system according to claim 4, wherein the predetermined condition is that an interval between the branch point and another branch point adjacent to the branch point is less than a predetermined interval.   5. The movement guide system according to claim 4, wherein the predetermined condition is that a traffic light installed at the branch point cannot be visually recognized from the moving body located a predetermined distance before the branch point. .   5. The movement guide system according to claim 4, wherein the predetermined condition is that a plurality of links are connected in the same direction with respect to the branch point. A guide route for guiding the movement of the moving body, a guide route setting means for setting a guide branch point on the guide route,
The guidance start point for starting the guidance for the guidance branch point is a first guidance start point existing on the departure side of the guidance route with respect to the guidance branch point, and the guidance on the guidance route with respect to the first guidance start point. Guidance start point setting means for setting a plurality of locations including at least the second guidance start point existing on the branch point side;
Guidance setting means for setting guidance of the guidance branch point for each of the plurality of guidance start points;
Branch point guidance means for uttering guidance for the guidance branch point using the guidance set for the reached guidance start point when the mobile body reaches the guidance start point; Have
The guidance setting means includes:
For the first guidance start point, set a branch point guidance that includes a first phrase that identifies the guidance branch point and a second phrase that identifies the moving direction of the moving body at the guidance branch point,
The second guidance starts when it is determined that the mobile body reaches within a predetermined distance from the guidance branch point within a predetermined time after the utterance of the branch point guidance started at the first guidance start point is completed. A movement guidance device, characterized in that it is set so that guidance is not uttered to a point. Guidance route setting means, and away step to set the guidance branch point on the guidance route and the guide path for guiding the movement of the moving body,
The guidance start point setting means sets a guidance start point for starting guidance for the guidance branch point from a first guidance start point and a first guidance start point that are present on the departure side of the guide route from the guidance branch point. and Luz step also set a plurality of positions including at least a second guidance starting point existing in the guidance branch point side of the guide path,
Guiding setting means, and away step to set each guide of the guide branch point with respect to the plurality of guidance starting point,
Junction guiding means, when the moving body has reached the guidance starting point, using the guidance set for the guidance starting point has been reached該到, intends row speech guidance of the guidance branch point a Graphics and steps, the,
The guidance setting means includes:
For the first guidance start point, set a branch point guidance that includes a first phrase that identifies the guidance branch point and a second phrase that identifies the moving direction of the moving body at the guidance branch point,
The second guidance starts when it is determined that the mobile body reaches within a predetermined distance from the guidance branch point within a predetermined time after the utterance of the branch point guidance started at the first guidance start point is completed. A movement guidance method characterized in that setting is made so that guidance is not uttered to a point. The computer,
A guide route for guiding the movement of the moving body, a guide route setting means for setting a guide branch point on the guide route,
The guidance start point for starting the guidance for the guidance branch point is a first guidance start point existing on the departure side of the guidance route with respect to the guidance branch point, and the guidance on the guidance route with respect to the first guidance start point. Guidance start point setting means for setting a plurality of locations including at least the second guidance start point existing on the branch point side;
Guidance setting means for setting guidance of the guidance branch point for each of the plurality of guidance start points;
When the moving body has reached the guidance starting point, using the guidance set for the guidance starting point has been reached該到, the junction guiding means for performing speech guidance of the guidance branch point, the teeth A computer program for making
The guidance setting means includes:
For the first guidance start point, set a branch point guidance that includes a first phrase that identifies the guidance branch point and a second phrase that identifies the moving direction of the moving body at the guidance branch point,
The second guidance starts when it is determined that the mobile body reaches within a predetermined distance from the guidance branch point within a predetermined time after the utterance of the branch point guidance started at the first guidance start point is completed. A computer program characterized in that it is set so that guidance is not uttered to a point.

Images