System for and method of providing lane guidance

The present invention relates to a route guidance system, a route guidance method and a program.

Conventionally, in a navigation device, for example, the current position of the vehicle, that is, the current location is detected by GPS (Global Positioning System), the map data is read from the data recording unit, and the map screen is displayed on the display unit. It is formed so that the position of the own vehicle representing the current location, a map around the position of the own vehicle, and the like are displayed on the map screen. Therefore, the driver can drive the vehicle according to the position of the own vehicle displayed on the map screen and the like.

Further, when the driver inputs the destination and sets the search condition, the route search process is performed based on the search condition, and the route from the departure point represented by the current location to the destination is searched according to the map data. Will be done. Then, the searched route, that is, the search route is displayed together with the position of the own vehicle on the map screen, and the search route is guided, that is, the route guidance is performed. Therefore, the driver can drive the vehicle along the displayed search route.

By the way, in the route guidance, when it is necessary to turn the vehicle left or right at a predetermined intersection, for example, voice is output and the route guidance is performed before the vehicle reaches the intersection, that is, the guidance intersection. It has become. Therefore, one or more guide points are set at each place on the search route, which is separated by a set distance from the guide intersection, and when the vehicle arrives at each guide point, it is set in advance for each guide point. The guidance of the contents is output by voice (see, for example, Patent Document 1).

In addition, when performing the route guidance, if there are a plurality of lanes on the road to the guidance intersection, it is determined so that the vehicle can smoothly enter the guidance intersection and smoothly exit from the guidance intersection. The lane is set as the recommended lane, and lane guidance is also provided to drive on the recommended lane.<patcit num="1"><text>Japanese Unexamined Patent Publication No. 6-295399</text></patcit>

<p> However, in the conventional navigation device, when the driver misses the route guidance or needs to turn right at the guidance intersection, if the leftmost lane is the recommended lane, the driver moves the vehicle. It may not be possible to drive according to the lane guidance, and the vehicle may accidentally drive in a lane different from the recommended lane. That is, it may not be possible to drive the vehicle along the search route.</p><p> Further, even when the vehicle is already traveling in the recommended lane, the lane guidance is repeatedly performed, so that the driver feels annoyed by the excessive lane guidance.</p><p> The present invention solves the problems of the conventional navigation device, can surely drive the vehicle according to the lane guidance, and the driver does not feel the excessive lane guidance bothersome. The route guidance system and the route guidance method. And to provide the program.</p>

<p> Therefore, in the route guidance system of the present invention, a current location detection unit that detects the current location of the own vehicle as the own vehicle position, a route search processing means that searches for a search route to the destination based on the own vehicle position, and a route search processing means. Recommended lane setting processing means for setting recommended lanes on the road based on the search route, lane guidance processing means for guiding the lane to guide the own vehicle to the recommended lane, and lanes from the own vehicle position to the recommended lane. It has a vehicle trend determination processing means for determining whether or not the own vehicle has moved in a direction approaching the recommended lane based on a change in the number of lane movements when the vehicle moves.</p><p> Then, the lane guidance processing means stops the lane guidance when the own vehicle moves in the direction approaching the recommended lane.</p>

<p> According to the present invention, it is determined whether or not the own vehicle has moved in the direction approaching the recommended lane based on the position of the own vehicle and the recommended lane, and when the own vehicle moves in the direction approaching the recommended lane, the lane is determined. Since the guidance is canceled, the driver does not feel annoyed by excessive lane guidance.</p><p> Also, for example, when the driver misses the lane guidance or needs to turn right at a guidance intersection, and the leftmost lane is the recommended lane, the vehicle is surely driven according to the lane guidance. be able to. Therefore, it is possible to prevent the vehicle from accidentally traveling in a lane different from the recommended lane, and the vehicle can be traveled along the search route.</p>

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. A navigation system as a route guidance system will be described.

FIG. 1 is a diagram showing a navigation system according to an embodiment of the present invention.

In the figure, reference numeral 10 denotes an automatic transmission control unit as a power train control unit, and the automatic transmission control unit 10 is a power train that shifts gears at a predetermined gear ratio, for example, a continuously variable transmission as an automatic transmission. (CVT), stepped transmission (automatic transmission), electric drive device, etc. are controlled.

14 is an information terminal, for example, a navigation device as an in-vehicle device mounted on a vehicle, 63 is a network, 51 is an information center as an information provider, and the automatic transmission control unit 10, the navigation device 14, and the network. The navigation system is composed of 63, information center 51, etc.

The navigation device 14 is based on a GPS sensor 15 as a current location detection unit that detects the current location of the own vehicle, a data recording unit 16 as an information recording unit that records various information in addition to map data, and input information. A navigation processing unit 17 that performs various arithmetic processing such as navigation processing, an orientation sensor 18 as an orientation detection unit that detects the orientation of the vehicle, and a first input for the driver who is an operator to perform a predetermined input. Operation unit 34 as a unit, display unit 35 as a first output unit for notifying the driver by performing various displays by images displayed on a screen (not shown), and a first for performing a predetermined input by voice. A voice input unit 36 as an input unit of 2, a voice output unit 37 as a second output unit for performing various outputs by voice and notifying the driver, and a communication unit as a transmission / reception unit functioning as a communication terminal. with 38, the navigation processing unit 17, GPS cell capacitors 15, the data recording unit 16, direction sensor 18, operating unit 34, display unit 35, voice input unit 36, the audio output unit 37 and communication unit 38 are connected ..

Further, the navigation processing unit 17 is attached to the automatic transmission control unit 10, a front monitoring device 48 that is attached to a predetermined position at the front end of the vehicle and monitors the front of the vehicle, and a predetermined location at the rear end of the vehicle. The back camera (rear monitoring camera) 49 as an imaging device that photographs the rear of the vehicle and as a rear monitoring device, and the accelerator as an engine load detection unit that detects the operation of the accelerator pedal by the driver by the accelerator opening. A sensor 42, a brake sensor 43 as a braking detection unit that detects the operation of the brake pedal by the driver based on the amount of depression of the brake, a vehicle speed sensor 44 as a vehicle speed detection unit that detects the vehicle speed, and the like are connected. The accelerator sensor 42, the brake sensor 43, and the like constitute an operation information detection unit for detecting vehicle operation information by the driver.

The GPS sensor 15 detects the current location on the earth by receiving radio waves generated by artificial satellites, and also detects the time. In the present embodiment, the GPS sensor 15 is used as the current location detection unit, but a distance sensor, a steering sensor, an altimeter, etc. (not shown) are used alone or in combination in place of the GPS sensor 15. You can also do it. Further, a gyro sensor, a geomagnetic sensor, or the like can be used as the orientation sensor 18. In the present embodiment, the directional sensor 18, the vehicle speed sensor 44, and the like are arranged, but when a GPS sensor having a function of detecting the own vehicle azimuth, the vehicle speed, and the like is used, the directional sensor is used. 18, vehicle speed sensor 44, etc. are unnecessary.

The data recording unit 16 includes a map database composed of map data files, and map data is recorded in the map database. The map data includes intersection data related to intersections, node data related to nodes, road data related to road links, search data processed for search, facility data related to facilities, and the like, as well as feature data related to features on roads. Is included.

The feature is a display that is installed or formed on the road to provide the driver with various driving information and to provide various driving guidance, and is a display line or a road sign. , Pedestrian crossing, manhole, traffic light, etc. The display line includes a stop line for stopping the vehicle, a vehicle lane boundary line for dividing each lane, a lane marking line indicating a parking space, and the like, and the road sign indicates the direction of travel in each lane. Includes traffic classification signs represented by, guidance signs such as "stop" that give notice of temporary stop points, and guidance signs such as "direction XX". The feature data includes position information representing the position of each object in coordinates and the like, image information representing each object in an image, and the like. The temporary stop includes an approach point from a non-priority road to a priority road, a railroad crossing, an intersection where a red light blinks, and the like.

Further, the road data relating to the lane includes lane data including a lane number assigned to each lane on the road, lane position information, and the like. The data recording unit 16 also records data for outputting predetermined information by the voice output unit 37.

Further, in the data recording unit 16, a statistical database composed of statistical data files, a traveling history database composed of traveling history data files, and the like are formed, statistical data is stored in the statistical data file, and traveling history data is stored in the traveling history data file. However, both are recorded as actual data.

The statistical data is the actual results of traffic information provided in the past, that is, historical information representing the history, and is not shown in a road traffic information center such as a VICS (registered trademark: Vehicle Information and Communication System) center as an information provider. Traffic information provided in the past by the Ministry of Land, Infrastructure, Transport and Tourism, road traffic census information which is data representing the traffic volume by the road traffic census provided by the Ministry of Land, Infrastructure, Transport and Tourism, road timetable information provided by the Ministry of Land, Infrastructure, Transport and Tourism, etc. Or it is created by using it in combination, processing it as necessary, and performing statistical processing. It should be noted that traffic jam prediction information or the like for predicting a traffic jam situation can be added to the statistical data. In that case, in creating the statistical data, detailed conditions such as date and time, day of the week, weather, various events, seasons, facility information (presence or absence of large facilities such as department stores and supermarkets) are added to the history information.

The data items of the statistical data include a link number for each road link, a direction flag indicating a traveling direction, an information type indicating an information type, a degree of congestion at a predetermined timing, and when traveling on each road link. , Link required time representing the required time for each predetermined timing, average data for each day of the link required time, for example, daytime average data and the like.

Further, the travel history data is collected from a plurality of vehicles, that is, own vehicle or another vehicle by the information center 51, and is performance information representing the travel performance of the vehicle on the road on which each vehicle travels, that is, the travel performance. , Calculated as probe data based on driving data and accumulated.

The data item of the travel history data includes a link required time for each predetermined timing when traveling on each road link, a traffic congestion degree for each predetermined timing when traveling on each road link, and the like. Travel history data can be added to the statistical data. Further, in the present embodiment, the degree of congestion is used as a congestion index indicating the degree of congestion, and is represented by the distinction between congestion, congestion and non-congestion.

The data recording unit 16 includes a disk (not shown) such as a hard disk, a CD, a DVD, or an optical disk for recording the various data, and also reads / writes for reading / writing various data. A head (not shown) such as a head is provided. Further, a memory card or the like can be used for the data recording unit 16. An external storage device is composed of each of the disks, a memory card, and the like.

In the present embodiment, the map database, the statistical database, the traveling history database, and the like are formed in the data recording unit 16, but the map database, the statistical database, and the traveling history are formed in the information center 51. It is also possible to form a database or the like.

Further, the navigation processing unit 17 controls a CPU 31 as a control device that controls the entire navigation device 14 and as an arithmetic unit, and a RAM 32 used as a working memory when the CPU 31 performs various arithmetic processes. In addition to the programs for, ROM33 in which various programs for searching the route to the destination, route guidance, etc. are recorded, various data, flash memory (not shown) used for recording the programs, etc. Be prepared. The internal storage device is composed of the RAM 32, ROM 33, flash memory, and the like.

In the present embodiment, various programs can be recorded in the ROM 33, and various data can be recorded in the data recording unit 16, but programs, data, and the like can also be recorded on a disk or the like. In this case, the program, data, etc. can be read from a disk or the like and written to the flash memory. Therefore, the program, data, etc. can be updated by exchanging the disk or the like. Further, the control program, data, and the like of the automatic transmission control unit 10 can also be recorded on the disk or the like. Further, the program, data and the like can be received via the communication unit 38 and written to the flash memory of the navigation processing unit 17.

The operation unit 34 is operated by the driver to correct the current location at the start of traveling, input the starting point and the destination, input the passing point, and operate the communication unit 38. As the operation unit 34, a keyboard, mouse, etc. (not shown) arranged independently of the display unit 35 can be used. Further, as the operation unit 34, a predetermined input operation is performed by touching or clicking an image operation unit such as various keys, switches, and buttons displayed as images on the screen formed on the display unit 35. You can use a touch panel that allows you to do this.

A display is used as the display unit 35. Then, on various screens formed on the display unit 35, the current location of the vehicle is displayed as the own vehicle position and the direction of the vehicle is displayed as the own vehicle direction, and a map, a search route, guidance information along the search route, and traffic are displayed. Not only can information be displayed, the distance to the next intersection in the search route, and the direction of travel at the next intersection can be displayed, but also the operation of the image operation unit, operation unit 34, voice input unit 36, etc. It is possible to display guidance, operation menus, key guidance, and display FM multiplex broadcasting programs.

Further, the voice input unit 36 is composed of a microphone or the like (not shown), and can input necessary information by voice. Further, the voice output unit 37 includes a voice synthesizer and a speaker (not shown), and the search route, guidance information, traffic information, and the like are output from the voice output unit 37, for example, as voice synthesized by the voice synthesizer. ..

The communication unit 38 transmits various information such as current traffic information and general information transmitted from the road traffic information center to a radio beacon device, an optical beacon device, or the like arranged along the road. , A beacon receiver for receiving as an optical beacon or the like, an FM receiver for receiving as FM multiplex broadcasting via an FM broadcasting station, or the like. The traffic information includes traffic congestion information, regulation information, parking lot information, traffic accident information, congestion status information of service areas, and the like, and general information includes news, weather forecasts, and the like. Further, although the beacon receiver and the FM receiver are unitized and arranged as a VICS receiver, they can be arranged separately.

The traffic information includes an information type indicating the type of information, a mesh number for specifying the mesh, a link number indicating two points, for example, a road link connecting between intersections, and indicating the distinction between ascending / descending. , Including link information indicating the content of the information provided corresponding to the link number, for example, when the traffic information is traffic jam information, the link information is the distance from the start point of the road link to the head of the traffic jam. Congestion head data representing the above, the degree of traffic jam, the length of the traffic jam representing the distance from the beginning of the traffic jam to the end of the traffic jam, the link required time representing the time required to travel on the road link, and the like.

Then, the communication unit 38 can receive various information such as traffic information and general information from the information center 51 in addition to data such as the map data, statistical data, and travel history data via the network 63. ..

Therefore, the information center 51 includes a server 53, a communication unit 57 connected to the server 53, a database (DB) 58 as an information recording unit, and the like, and the server 53 serves as a control device and performs calculations. It is equipped with CPU 54, RAM 55, ROM 56, etc. as a device. Further, in the database 58, data similar to various data recorded in the data recording unit 16, for example, the map data, statistical data, travel history data, and the like are recorded. Further, the information center 51 provides various information such as current traffic information and general information transmitted from the road traffic information center, and travel history data collected from a plurality of vehicles (own vehicle or other vehicle) in real time. can do.

The forward monitoring device 48 is composed of a laser radar, a radar such as a millimeter wave radar, an ultrasonic sensor, or a combination thereof, and monitors a vehicle traveling in advance, that is, a preceding vehicle, or temporarily. Monitor stop points, obstacles, etc. In addition, the front monitoring device 48 detects the relative speed indicating the relative vehicle speed with respect to the preceding vehicle, the approaching speed to the temporary stop point, the approaching speed to the obstacle, etc. as the vehicle peripheral information, and calculates the inter-vehicle distance, the inter-vehicle time, etc. To do.

The back camera 49 is composed of a CCD element and is attached with an optical axis directed diagonally downward in order to monitor the rear of the vehicle. In addition to the feature, the vehicle traveling behind the vehicle, that is, A vehicle behind, a building on the side of the road, a structure, etc. are photographed as an object to be photographed, and image data of the photographed object is generated and sent to the CPU 31. The CPU 31 reads the image data and performs image processing on the image data to recognize each object to be imaged in the image as a recognition target object. In the present embodiment, the CCD element is used as the back camera 49, but a C-MOS element or the like can be used.

The navigation system, navigation processing unit 17, CPU 31, 54, server 53, etc. function as a computer alone or in combination of two or more, and perform arithmetic processing based on various programs, data, and the like. A recording medium is composed of a data recording unit 16, RAM32, 55, ROM33, 56, a database 58, a flash memory, and the like. Then, as the arithmetic unit, an MPU or the like can be used instead of the CPUs 31 and 54.

Next, the basic operation of the navigation system having the above configuration will be described.

First, when the operation unit 34 is operated by the driver and the navigation device 14 is activated, the navigation initialization processing means (not shown) of the CPU 31 performs the navigation initialization processing, and the current location of the vehicle detected by the GPS sensor 15 The vehicle orientation detected by the orientation sensor 18 is read, and various data are initialized. Next, the matching processing means (not shown) of the CPU 31 performs matching processing, and whichever the current location is based on the read locus of the current location and the shape, arrangement, etc. of each road link constituting the road around the current location. The current location is specified by determining whether the vehicle is located on the road link.

Further, in the present embodiment, the matching processing means further identifies the current location based on the position of each object to be photographed by the back camera 49.

Therefore, the image recognition processing means (not shown) of the CPU 31 performs the image recognition process, reads the image data from the back camera 49, and recognizes the feature in the image composed of the image data. Further, the distance calculation processing means (not shown) of the CPU 31 performs a distance calculation process and calculates the distance from the back camera 49 to the actual feature based on the position of the feature in the image. Then, the current location identification processing means of the matching processing means performs the current location identification process, reads the distance, reads the feature data from the data recording unit 16, acquires the coordinates of the feature, and obtains the coordinates and the distance. Identify your current location based on.

Further, the lane detection processing means (not shown) of the CPU 31 performs lane detection processing, and similarly collates the feature recognized based on the image data with the feature data read from the data recording unit 16. By doing so, the lane in which the vehicle is traveling, that is, the traveling lane is detected.

The lane detection processing means reads the sensor output of the geomagnetic sensor, and determines whether or not there is an object to be detected made of a ferromagnetic material such as a manhole in a predetermined lane on the road based on the sensor output. , It is also possible to detect the traveling lane based on the judgment result. Further, the high-precision GPS sensor 15 can be used to accurately detect the current location and detect the traveling lane based on the detection result. Further, if necessary, the traveling lane can be detected by combining the sensor output of the geomagnetic sensor, the current location, and the like at the same time as performing image processing on the image data of the display line.

Subsequently, the basic information acquisition processing means (not shown) of the CPU 31 performs the basic information acquisition process and reads the map data from the data recording unit 16 to acquire the map data, or receives the map data from the information center 51 or the like via the communication unit 38. And get it. When the map data is acquired from the information center 51 or the like, the basic information acquisition processing means downloads the received map data to the flash memory.

Then, the display processing means (not shown) of the CPU 31 performs display processing and forms various screens on the display unit 35. For example, the map display processing means of the display processing means performs map display processing, forms a map screen on the display unit 35, displays a map of the surroundings on the map screen, and sets the current location as the own vehicle position and the direction of the vehicle. Is displayed as the vehicle orientation.

Therefore, the driver can drive the vehicle according to the map, the position of the own vehicle, and the direction of the own vehicle.

Further, when the driver operates the operation unit 34 to input the destination, the destination setting processing means (not shown) of the CPU 31 performs the destination setting process and sets the destination. The departure place can be entered and set as needed. In addition, a predetermined point can be registered in advance, and the registered point can be set as a destination. Subsequently, when the driver operates the operation unit 34 to input the search condition, the search condition setting processing means (not shown) of the CPU 31 performs the search condition setting process and sets the search condition.

When the destination and the search condition are set in this way, the route search processing means (not shown) of the CPU 31 performs the route search process, reads the current location, the destination, the search condition, and the like, and also from the data recording unit 16. The search data and the like are read out, the route from the departure point represented by the current location to the destination is searched under the search conditions based on the current location, the destination, and the search data, and the route data representing the search route is output. At this time, the route having the smallest total link cost assigned to each road link is defined as the search route.

Further, when a plurality of lanes are formed on the road and a traveling lane is detected, the route search processing means searches for a search route for each lane. In that case, the route data also includes the lane number of the traveling lane and the like.

The route search process can be performed at the information center 51. In that case, the CPU 31 transmits the current location, destination, search conditions, etc. to the information center 51 via the network 63. When the information center 51 receives the current location, destination, search condition, etc., the route search processing means (not shown) of the CPU 54 performs the same route search process as the CPU 31, reads the search data, etc. from the database 58, and reads the current location, the purpose, etc. Based on the land and the search data, the route from the departure point to the destination is searched under the search conditions, and the route data representing the search route is output. Next, the transmission processing means (not shown) of the CPU 54 performs transmission processing and transmits the route data to the navigation device 14 via the network 63.

Subsequently, the guidance processing means (not shown) of the CPU 31 performs guidance processing and provides route guidance. Therefore, the route display processing means of the guidance processing means performs the route display processing, reads the route data, and displays the search route on the map screen according to the route data.

By the way, in the route guidance, when it is necessary to turn the vehicle left or right at a predetermined intersection, the intersection is set as a guide point and a guide intersection. Therefore, the guide intersection setting processing means of the guidance processing means performs the guidance intersection setting processing, and determines whether or not there is an intersection in which the vehicle needs to turn left or right according to the route data, that is, based on the search route. However, if there is an intersection where the vehicle needs to turn left or right, that intersection is set as a guide intersection.

When the search route for each lane is searched, the recommended lane setting processing means of the guidance processing means performs the recommended lane setting processing and passes through a lane recommended to travel, for example, a guidance intersection. In this case, select and set lanes suitable for entering the guide intersection, lanes suitable for exiting the guide intersection, etc. as recommended lanes. Then, the route display processing means displays the search route on the map screen, and displays an enlarged view of the road on which the vehicle is traveling, that is, a road enlarged view, in a predetermined area of the map screen to enlarge the road. Guide the lane according to the figure. In this case, each lane and its recommended lane are displayed on the enlarged road map.

Subsequently, the voice output processing means of the guidance processing means performs voice output processing, and outputs the route guidance by voice from the voice output unit 37. Therefore, the route guidance point setting processing means of the voice output processing means performs the route guidance point setting process, and each location before (own vehicle side) from the guidance intersection on the search route and separated by a preset distance. To set one or more route guidance points. Further, the point guidance processing means of the voice output processing means performs the point guidance processing, and when the vehicle arrives at each route guidance point, the guide intersection is set in advance for each route guidance point, for example, from the position of the own vehicle. Route guidance will be provided regarding the distance to the guidance intersection, turning left and right at the guidance intersection, etc. When a recommended lane is set, the lane guidance processing means as the point guidance processing means performs lane guidance processing, and the contents preset for each route guidance point, for example, from the own vehicle position to the guidance intersection. We will provide lane guidance for each recommended lane and recommended lanes beyond the guidance intersection.

Further, the intersection enlarged map display processing means of the guidance processing means performs the intersection enlarged map display processing, and before the vehicle reaches the guide intersection, the enlarged view of the guide intersection, that is, the intersection enlargement is performed in a predetermined area of the map screen. The figure is displayed and the route is guided by the enlarged view of the intersection. In this case, the map around the guide intersection, the search route, and the land markers such as facilities that serve as landmarks at the guide intersection are displayed on the enlarged intersection map, and if lane guidance is performed, the recommended lane is further displayed. Will be done.

By the way, when the driver misses the lane guidance when voice guidance is given, or when the driver needs to turn right at the guidance intersection, driving when the leftmost lane is the recommended lane. If a person cannot drive the vehicle according to the lane guidance and mistakenly drives the vehicle in a lane different from the recommended lane, the vehicle may not be able to drive along the search route.

Further, for example, when the driver is trying to move to the recommended lane, or when the driver is already traveling in the recommended lane, and the lane guidance is repeatedly performed, the driver feels annoyed by the excessive lane guidance.

Therefore, in the present embodiment, lane guidance is provided according to the movement of the vehicle.

FIG. 2 is a flowchart showing the operation of the lane guidance processing means according to the embodiment of the present invention, and FIG. 3 is an explanatory diagram of the lane guidance processing according to the embodiment of the present invention.

In FIG. 3, pr1 to pr3 are the vehicle positions, r1 is the road, Rt is the search route, k1 to k4 are lanes, and lane k4 is the recommended lane.

When the recommended lane k4 is set by the recommended lane setting processing means and the lane guidance for guiding to the recommended lane is performed by the lane guidance processing means, the vehicle trend determination processing means of the guidance processing means performs the vehicle trend determination processing. To determine the movement of the vehicle. Therefore, the vehicle trend determination processing means reads the own vehicle position pr1 at the time when the lane guidance is performed, starts timing by a timer (not shown), and a predetermined time τ1 has elapsed since the lane guidance was performed. Read the current vehicle position pr2 or pr3. The time τ1 is set to a time during which the direction of movement can be determined from the position pr1 of the own vehicle, for example, a time required for the vehicle to move in one lane.

Subsequently, the vehicle trend determination processing means changes the number of lane movements when the vehicle position moves from lane k3 or k1 to the recommended lane based on the relationship between the vehicle position pr2 or pr3 and the recommended lane. In the present embodiment, the moving direction of the vehicle is determined based on whether or not the number of lane movements has decreased. That is, when the number of lane movements decreases, the vehicle trend determination processing means determines that the vehicle has moved in the direction approaching the recommended lane (hereinafter referred to as "approaching direction") as shown by the arrow A direction. , If the number of lane movements does not change, it is determined that the vehicle has moved in the direction parallel to the recommended lane (hereinafter referred to as the "parallel direction"), and if the number of lane movements increases, the vehicle is indicated by the arrow B direction. It is judged that the vehicle has moved away from the lane (hereinafter referred to as the "separation direction").

Then, when the vehicle moves in the approaching direction, the lane guidance processing means stops the lane guidance for a predetermined section. Therefore, the guidance stop processing means of the lane guidance processing means performs the guidance stop processing, starts the time counting by the timer with the time when the movement direction is determined as the guidance stop start timing, and the point where the movement direction is determined. Is recorded in RAM32 as the starting point for discontinuing guidance. Then, the guidance stop processing means does not perform lane guidance until a certain time τ2 elapses from the guidance stop start timing and the vehicle travels a certain distance Lx from the guidance stop start point.

Even if the time τ2 has elapsed, if the vehicle has not traveled for the distance Lx, traffic congestion may occur, so the lane guidance processing means does not perform lane guidance. Similarly, if the time τ2 has not elapsed even if the vehicle has traveled a distance of Lx, it is considered that the driver remembers the latest lane guidance, so that the lane guidance processing means does not perform the lane guidance.

On the other hand, when the vehicle moves in the parallel direction or the isolation direction, the lane guidance processing means provides lane guidance.

In this way, when the vehicle moves in the approaching direction with respect to the recommended lane, the lane guidance is stopped. Therefore, for example, when moving to the recommended lane, when the vehicle is already traveling in the recommended lane, etc. In addition, lane guidance will not be performed repeatedly. Therefore, the driver does not feel annoyed by excessive lane guidance.

In addition, when the vehicle moves in the parallel direction or the isolation direction, lane guidance is performed. Therefore, for example, when the driver misses the lane guidance or needs to turn right at the guidance intersection, the leftmost lane is used. When it is in the recommended lane, the vehicle can be reliably driven according to the lane guidance. Therefore, it is possible to prevent the vehicle from accidentally traveling in a lane different from the recommended lane, and the vehicle can be traveled along the search route.

Next, the flowchart will be described. Step S1 Determine if the number of lane moves to the recommended lane has decreased. If the number of lane movements to the recommended lane has decreased, the process proceeds to step S2. If not, the process proceeds to step S3. Step S2 Stop lane guidance for a certain period of time and a certain distance, and return. Step S3 Guide the lane and return.

The present invention is not limited to the above-described embodiment, and various modifications can be made based on the gist of the present invention, and these are not excluded from the scope of the present invention.

<figref num="1">It is a figure which shows the navigation system in embodiment of this invention.</figref><figref num="2">It is a flowchart which shows the operation of the lane guidance processing means in embodiment of this invention.</figref><figref num="3">It is explanatory drawing of the lane guidance processing in embodiment of this invention.</figref>

Code description

10 Automatic transmission control unit 14 Navigation device 15 GPS sensor 31 CPU 51 Information Center 63 network