JP2004069601A - Route guiding apparatus, route guiding method, and program for route guidance - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a route guiding apparatus that allows a driver to reliably drive a branch path that the driver should advance without missing his/her way even in a complicated crossing or the like, improves safety, and can effectively perform visual recognition guidance, and to provide a route guiding method and a program for route guidance. <P>SOLUTION: The route guiding apparatus 1 for performing route guidance to the destination to a vehicle comprises destination setting means 14, 24 for setting the destination; a route guiding means 14 for setting a route to the destination and guiding the route to perform route guidance to the destination visual recognition guidance means 14, 40 that decide whether the visual recognition behavior of the driver to the route guidance due to the route guiding means is correct or not and then carries out affirmation in a correct case, and visually recognize and guide the driver for performing the route guidance in a wrong case; and correction means 14, 40 for correcting the control details for executing vial recognition guidance by the vial recognition guidance means under given conditions so that accuracy in vial recognition guidance is improved. Additionally, the path guiding method and the program for path guidance are also disclosed. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a route guidance device, a route guidance method, and a route guidance program, and particularly to a route guidance device, a route guidance method, and a route guidance program for guiding a vehicle to a destination.
[0002]
[Prior art]
In recent years, when a destination is set, a route guidance device (navigation device) for a vehicle that sets an optimal route from the current location to the destination and guides the vehicle by guiding along the set optimal route has been developed. Widely used.
Advances in communication technology have also made it possible for external information centers to distribute map information and related information to vehicles via the Internet (for example, see Japanese Patent Application Laid-Open No. H11-1001653). Therefore, a route guidance device mounted on a vehicle can also perform route guidance using the latest map information and related information.
[0003]
On the other hand, conventionally, the direction of the driver's line of sight has been detected using a camera (eye camera) mounted in front of the driver's seat of the vehicle, and the switches of the air conditioner have been operated using the detected line of sight ( Japanese Unexamined Patent Publication No. Hei 6-261863), the illumination direction of the headlight and the brightness of the meter display are adjusted according to the driver's visual recognition behavior (Japanese Unexamined Patent Publication No. 9-76815), and the driver is controlled by the driver's line of sight. (Japanese Unexamined Patent Application Publication No. 2000-212543) has been proposed.
[0004]
[Problems to be solved by the invention]
In a conventional route guidance device, when a user turns right or left at an intersection of a T-junction or a crossroad, the route to be advanced can be easily determined based on a map and route guidance (route guidance) displayed on the display device.
However, in the case of a complicated intersection or the like, specifically, in the case of a five-way road, a case where there are many intersections in a short distance, or a case where the road shape is complicated, the conventional route guidance (route guidance) requires a driver. May be confused about which branch road to travel at the intersection and may not be able to determine the original branch road to be followed.
In such a situation, there is a demand for a route guidance device (navigation device) capable of reliably determining a branch road to which the driver should go without being lost even at a complicated intersection or the like.
[0005]
In order to develop a route guidance device that satisfies such demands, the present inventors have applied the technology for detecting the driver's visual recognition behavior (visual direction and visual recognition object) to the route guidance device. Tried.
As described above, the present invention has been made to solve the above-described problem, and the driver can surely travel without getting lost even at a complicated intersection or the like in an unfamiliar place. It is an object of the present invention to provide a route guidance device, a route guidance method, and a route guidance program.
Further, since the present invention corrects the visual guidance so as to increase the precision, the visual guidance can be effectively performed and the safety can be improved. It aims to provide a guidance program.
[0006]
[Means for Solving the Problems]
In order to achieve the above object, a first invention of the present invention is a route guidance device for guiding a vehicle to a destination, comprising: destination setting means for setting a destination; and a route setting device for setting a route to the destination. A route guidance means for guiding the route to the destination by guiding the route, and determining whether or not the driver's visual recognition behavior for the route guidance by the route guidance means is correct. Has a visual guidance means for visually guiding the driver and guiding the route, and a correction means for correcting the control content for executing the visual guidance by the visual guidance means under predetermined conditions so as to increase the precision of the visual guidance. It is characterized by.
[0007]
A second invention of the present invention is a route guidance method for guiding a vehicle to a destination, comprising a destination setting step of setting a destination, and setting a route to the destination and guiding the route to guide the vehicle. A route guidance process for guiding a route to the ground, and determining whether or not the driver's visual recognition behavior for the route guidance in this route guidance process is correct. And a correction step of correcting the control content for executing the visual guidance in the visual guidance step under predetermined conditions so as to increase the accuracy of the visual guidance.
[0008]
A third invention of the present invention is a route guidance program for guiding a vehicle to a destination, setting a destination, setting a route to the destination, guiding the route, and guiding the route to the destination. Then, it is determined whether or not the driver's visual recognition behavior with respect to the route guidance is correct. If correct, the result is affirmative, and if not, the driver is visually guided to guide the route, and the visual guidance is performed under predetermined conditions. This is a route guidance program that controls a computer so as to correct the control content to be executed so as to increase the accuracy of visual guidance.
[0009]
According to the first invention, the second invention, and the third invention of the present invention configured as described above, it is determined whether or not the driver's visual recognition behavior for the route guidance to the set destination is correct. If the judgment is correct and the driver's visual recognition behavior is affirmed, the driver is given a sense of security and the psychological anxiety is removed. It is possible to travel at an intersection or the like. In addition, when the driver's visual recognition behavior is not correct, the driver is visually guided and route guided, so that more effective route guidance can be performed. Further, in the present invention, since the control content for executing the visual guidance under a predetermined condition is corrected so as to increase the precision of the visual guidance, it is possible to effectively perform the visual guidance and improve the safety. be able to.
[0010]
In the above-described first, second, and third aspects of the present invention, preferably, the correction means (step) corrects the control so as to advance the control timing of the visual guidance by the visual guidance means (step) under predetermined conditions. .
In the present invention configured as described above, the control timing of the visual guidance is corrected and hastened, so that the time for the visual guidance is correspondingly increased, and the visual guidance is executed with higher accuracy. In addition, since visual guidance is performed with high accuracy, safety is also improved.
[0011]
In the above-described first, second, and third aspects of the present invention, preferably, the correction means (step) changes an object for visual guidance under a predetermined condition.
In the present invention configured as described above, the target for the visual guidance is changed to one that is more easily recognized by the driver, so that the visual guidance is executed with higher accuracy. In addition, since visual guidance is performed with high accuracy, safety is also improved.
[0012]
In the above-described first, second, and third aspects of the present invention, preferably, the control timing of the visual guidance is advanced so that the reaction time from the visual guidance by the visual guidance means to the driver's visual behavior is longer. I do. Further, the correction is made such that the control timing of the visual guidance is advanced as the weather condition is more difficult for the driver to visually recognize. In the nighttime, the control is performed so that the control timing of the visual guidance is earlier than in the daytime.
As described above, according to the present invention, in a situation where it is difficult for the driver to recognize the visually guided target object that has been visually guided, the control timing of the visual guidance is corrected and advanced, and accordingly, the visual guidance control is performed accordingly. Since the time is long, recognition of the visual guidance target object is facilitated, visual recognition is effectively performed, and safety is improved.
[0013]
In the above-described first, second, and third aspects of the present invention, preferably, the correction is performed so that the visibility of the driver is higher in the unfamiliar area of the driver than in the recognized area.
According to the present invention configured as described above, in a district where the driver is unfamiliar, the visibility is corrected so as to increase the visibility. There is no reduction in safety.
[0014]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a basic configuration diagram showing one embodiment of the route guidance device of the present invention.
In FIG. 1, reference numeral 1 indicates a vehicle route guidance device (navigation device). An information center 2 is provided outside the vehicle. The information center 2 includes a host computer 4, a map information database 6 for storing map information and the like, and various content databases 8 for storing various contents. It is composed of
The route guidance device 1 can be connected to the Internet 12 via a communication station 10 installed in each area, and various information including map information can be obtained from the information center 2 on the vehicle side. ing.
[0015]
As described later, since the vehicle has map information (DVD-ROM 22) for route guidance, route guidance (including visual guidance described later) can be performed even when map information is not obtained from the information center 2. Can be performed. When the map information is obtained from the information center 2, the latest map information can be obtained, so that more accurate route guidance is possible.
[0016]
The route guidance device 1 includes a CPU 14 that operates as route guidance means for performing route guidance (route guidance) of a vehicle to a destination based on input data and an operation of a driver (driver). A transmission / reception device 16 for receiving various types of information via the Internet 12 and the communication station 10 and transmitting the information from the vehicle to the information center 2 is provided. The transmission / reception device 16 is, specifically, a car phone or a mobile phone.
The route guidance device 1 further includes an HDD storage device 18 that stores the received map information and the like, a display 20 that displays the map information and visual guidance, which will be described later, and a vehicle side that is independent of the map information from the information center 2. DVD-ROM 22 for storing the map information prepared in the above, an operation switch 24 for the driver to set the destination and request the map information and the like to the information center 2, and warns when information cannot be received from the information center. An alarm device 26 is provided. Further, the operation switch 24 is also used when setting and registering an initial value required for visual recognition guidance to be described later (see FIG. 13).
[0017]
The route guidance device 1 includes a GPS receiver 28 that detects the current position of the vehicle, a vehicle speed sensor 30, and a gyro sensor 32. Here, the GPS receiver 28 receives a radio wave from a satellite to detect the current position, the vehicle speed sensor 30 detects the speed of the vehicle to obtain the moving distance, and the gyro sensor 32 detects the moving direction of the vehicle. The current position of the vehicle can be accurately detected from the detection values of these sensors 28, 30, and 32.
Further, the route guidance device 1 includes a VICS receiver 34 for obtaining traffic jam information and the like from the information center 2 or another traffic information center (not shown).
[0018]
The route guidance device 1 further includes a CCD camera 36, a viewing behavior detection device (eye camera) 38, a visibility guidance device 40, a guide light irradiation switch 42, and a viewing behavior execution switch 44, and these devices will be described later. It is used to visually guide the driver who performs.
As shown in FIGS. 2 and 3, the CCD camera 36 is for photographing the scene in front of and around the vehicle, and can be adjusted vertically and horizontally. The CCD camera 36 is provided with an image recognition function. From the captured scene, other vehicles traveling in front of the vehicle (corresponding to a “visual guidance target” described later), traffic volume (presence or absence of traffic congestion, and degree of traffic congestion) ), The presence or absence and amount of pedestrians, whether or not it is nighttime, whether or not it is rainy, etc., can be recognized.
[0019]
The eye camera 38 is provided in front of the driver's seat of the vehicle, and is a viewing behavior detection device that detects a driver's line of sight and a gaze target (viewing target). Here, as the visual recognition behavior detecting apparatus (eye camera), EOG method, photoelectric element type EOG (P-EOG) method, corneal reflection method, first and fourth Purkinje image detection methods, contact lens method, search coil method, Various techniques such as an infrared fundus camera method are applicable. Further, the guide light irradiation switch 42 and the viewing behavior execution switch 44 are mounted on the steering wheel 45 so that the driver can easily operate the switch.
[0020]
The visual recognition guidance device 40 determines whether or not the driver's visual recognition behavior (gaze direction and / or gazing target) detected by the eye camera 38 is correct for the route guidance. In the case where there is no driver, this is a device for visually guiding the driver to a fork to be guided. Further, as shown in FIG. 3, a speaker 46 is provided on the A pillar near the driver's seat, and the speaker 46 can provide voice guidance to the driver regarding route guidance and visual guidance. ing.
In addition, in order to visually guide the driver, the guide light 47 is projected onto the windshield 48, and there is an object to be visually guided in the forward direction indicated by the guide light 47 (a visually guided object to be described later). It has become.
Further, the same screen as the display 20 is displayed on the windshield 48 as the auxiliary display 20a by the OHD device.
[0021]
Next, the visual guidance device 40 will be described in detail. The visual recognition guidance device 40 has a determination function of determining whether or not the driver's visual recognition behavior for route guidance is correct, an affirmative function of affirming when the driver's visual recognition behavior is correct, and It has a visual guidance function for visually guiding the driver.
Specifically, when the driver is visually recognizing a fork to be route-guided, the visual recognition guidance device 40 is visually recognizing the fork that the driver should proceed to. In this case, voice guidance is given to the driver, for example, "correct answer". Next, when the driver does not visually recognize the branch point to be route-guided, the driver visually recognizes the branch road to be route-guided based on the object that the driver is visually recognizing at that time. Induce.
[0022]
Further, as another method, when the driver is not visually recognizing the branch road to be guided, first, the driver visually recognizes the visual guidance target that is convenient for performing the visual guidance in order, Finally, the driver's visual recognition may be guided to a branch to be guided.
Further, as another method, when the driver is not visually recognizing the branch to be guided, the driver may be guided in the direction of the branch to be guided.
[0023]
Next, referring to FIG. 4, a visual guidance target object convenient for visual guidance will be described. First, in the case of an intersection of a T-junction or a crossroad in an area recognized by the driver, the visual guidance described later is not performed, so that the visual guidance target is unnecessary. Next, when a branch road to be guided is relatively easy to recognize, such as a T-junction or an intersection of a crossroad in an area where the driver is unfamiliar, the vehicle is located ahead of the vehicle in the traveling direction. 2) Buildings (convenience stores / gas stations / clock towers, bronze statues, etc.) 3) Vehicles ahead (large and prominent vehicles such as buses and trucks) 4) Signs and signs (road signs, noticeable signs, etc.) 5) Select (search) as a visually guided object in the priority order of the guide light described above. This is because the traffic signal is most easily recognized by the driver, and then the building, the vehicle ahead, and the signs and signs are easy to recognize.If there is no such visual guidance target, the guide light is transmitted to the visual target. Select as
[0024]
Next, in the case of an intersection of a T-junction or a crossroad when visibility is bad such as at night or bad weather, 1) a traffic light, 2) selection (search) as a visual guidance target object in priority order of guidance light. I do.
Next, in the case of a complicated intersection in the area recognized by the driver, specifically, in the case of a five-way intersection, when there are many intersections in a short distance, when the road shape is complicated, etc. Is selected (searched) as a visual guidance target in the priority order of 1) building, 2) sign / signboard, 3) guidance light.
[0025]
Next, in the case of a complex intersection or the like in an area where the driver is unfamiliar, 1) a building, 2) a vehicle ahead, 3) a sign / signboard, and 4) a visual guidance target is arranged in priority order of the guidance light. select. In a complex intersection, etc., if a traffic light is used as a visual guidance target, the driver may be confused as to which branch road to proceed. , The vehicle ahead, the sign / signboard, and the guide light in this order.
Further, in the case of a complicated intersection or the like when visibility is poor such as at night or bad weather, 1) guide light is selected as a visual recognition target.
[0026]
Next, an example in which the route guidance device 1 of the present embodiment visually guides a driver in route guidance to a destination will be described with reference to FIG. FIG. 5 shows an example in which there are many intersections in a short distance, and the driver's line of sight, the visual guidance target, and the voice guidance content are superimposed on the map displayed on the display 20. FIG. The road 56 in FIG. 5 is a route for which route guidance is provided, is displayed thicker (highlighted) than other roads, and is easily recognized by the driver.
As shown in FIG. 5, the own vehicle A is traveling along the route 56 on which the route is guided, and at this time, the driver's line of sight B1 is directed to the traveling road 56, and furthermore, the driver's eyes B1 In the route guidance, a branch road 52 that makes a right turn at the intersection 50 is set. There are two intersections in front of the intersection 50, and it is difficult for the driver to recognize the branch road 52 guided by the route. In such a situation, the driver is visually guided to the fork 52 (right-turn road) at the intersection 50 as follows.
[0027]
First, at the position of the vehicle A1, the driver visually recognizes the right lateral direction as indicated by B1. In this case, since the road 56 along the route guidance is not visually recognized, at the position of the own vehicle A2, the gas station 64 is set as the visual guidance target, and the voice guidance "Gas station is on the left" is given. The mark of the gas station 64 is enlarged and displayed on the map on the display 20. By this visual guidance, the driver recognizes (visually recognizes) the gas station 64 located to the left of the voice guidance and the enlarged display of the gas station 64 as shown in B2. At this time, the voice guidance of "Yes it is" is affirmed.
Here, in order to visually guide the driver, the gas station 64, which is the visual guidance target, is displayed in an enlarged manner. However, the present invention is not limited to this. It may be displayed.
[0028]
Next, at the position of the vehicle A3 after passing through the gas station 64, the fire department 66 is set as the visual guidance target, and the voice guidance is given that "there is a fire department on the right side ahead", and at the same time, the mark of the fire department 66 is displayed. Enlarge the display. As indicated by B3, the driver recognizes (visually recognizes) the fire station 66 on the right hand side in accordance with the voice guidance and the enlarged display of the fire station. At this time, the voice affirms "Yes, it is the fire station" and gives voice guidance, "Please proceed on the left side of the road."
Next, since the driver visually recognizes the branch road 52 to be guided at the position of the own vehicle A4 before the branch road 50, the driver affirms with the voice guidance that "Yes, the answer is correct on that road".
In this manner, the driver can surely travel on the forked road 52 at the intersection 50 without hesitation.
[0029]
Here, as shown in FIG. 5, when visually guiding the driver, various information (map information, a visible range, a guide route, a visible target object, and the like) for the visual guidance are shown on the screen of the display. However, when the driver looks at the display screen, the direction of the driver's line of sight is the direction of the display screen, so it is necessary for the driver to accurately recognize the screen display content for visual guidance. The display screen is kept for a predetermined time (several seconds).
In addition, when the display screen during the visual guidance is held for a predetermined time as described above, if the driver once takes his / her eyes off the display screen and looks at the display screen again, Is to return to the display on the previous display and keep it.
As described above, by maintaining the display on the display screen for the predetermined time, the driver can be visually guided more accurately, and the driver can identify the road to be traveled without getting lost.
[0030]
Next, in the route guidance device of the present embodiment, the content of the visual guidance is changed depending on the traveling state (vehicle speed, traffic volume, presence / absence of pedestrians, etc.) and the distance from the vehicle position to the branch road to be guided. ing. FIG. 6 is a diagram illustrating an example of the present embodiment in which the content of the visual guidance is changed according to the traveling state and the distance from the vehicle position to the branch road to be guided. Hereinafter, this will be described in detail with reference to FIG.
[0031]
First, the visual guidance level is set from level 0 to level 5 from the running state. The visual guidance level 0 is a situation where the vehicle is stopped, at a low speed, and the traffic volume is small, and the visual guidance can be sufficiently performed. The visual guidance level 1 is a situation where the vehicle is traveling on a congested road at a low speed, and the visual guidance is slightly difficult (light). The visual guidance level 2 is a situation in which the vehicle is traveling at medium speed with a medium traffic volume, and is a situation (moderate) where visual guidance is difficult to perform. The visual guidance level 3 is a situation in which the vehicle is traveling at a medium speed or higher in an overcrowded state, and is a situation (altitude) in which visual guidance is more difficult to perform. The visual guidance level 4 is a situation where there is a pedestrian or the like in an overcrowded state, and is a situation (danger) where visual guidance is very difficult to perform. The visual guidance level 5 is a case where the visual guidance switch (not shown) is turned off and the driver does not desire visual guidance. At this level 5, the visual guidance is stopped.
In the present embodiment, the contents of the visual guidance are changed according to the driving conditions (vehicle speed and traffic conditions around the vehicle) defined as the visual guidance levels 0 to 5.
[0032]
Next, in the present embodiment, the distance from the vehicle position to the branch road (intersection) to be routed is divided into, for example, less than 700 m, 300 m, 100 m, 50 m, and 50 m, and the route guidance ( (Including visual guidance).
In the present embodiment, as shown in FIG. 6, the area is divided into areas (1) to (36) according to the visual recognition level and the distance from the vehicle position to the branch road to be routed. The contents of the guidance (including the visual guidance) are changed.
[0033]
Hereinafter, the contents of the route guidance (visual guidance) according to an example of the present embodiment will be specifically described with reference to FIG. If the distance from the vehicle position to the intersection (branch road) to which the route is to be guided is 100 m or more and the visual guidance level is 0 to 4 (areas 1 to 15), for example, "diagonally right at 700 m ahead XX intersection" The route is guided by voice guidance. If the intersection (branch road) to be guided from the vehicle position is a long distance, the guidance to the distance to the intersection, the name of the intersection, and the direction at the intersection is provided.
[0034]
In these areas 1 to 15, only the above-described route guidance may be used, or visual guidance may be performed. In the case of visual guidance, if the direction that the driver is visually recognizing is the direction of the intersection (branch road) to which the route is to be guided, the voice guidance that “the direction is correct” is affirmed, and the route is confirmed. When the intersection (branch road) to be guided is not visually recognized, the driver is guided in the direction of the intersection (branch road) by voice guidance of “look diagonally right”.
[0035]
Next, when the distance from the vehicle position to the intersection (branch road) becomes 100 to 50 m (as described later, in the case of night or rainy weather, etc., 100 to 70 m), the driver guides the route. When it is not possible to visually recognize the forked road (when the traveling road is curved), normal route guidance is performed. Specifically, in the areas 16 to 18 of the visual guidance levels 0 to 2, the direction to the intersection to be guided is guided. Further, in the areas 19 and 20 of the visual recognition levels 3 and 4, the voice guidance "50 m ahead, diagonally right at the XX intersection" is given, and a lane shift instruction is given as necessary.
[0036]
In the regions 16 to 20, only the above-described route guidance may be performed, or visual guidance may be performed. In the case of visual guidance, if the direction that the driver is visually recognizing is the direction of the branch road to be guided, perform a voice guidance saying "the direction is correct" and affirmatively. When the fork is not visually recognized, the driver is guided in the direction of the fork by voice guidance “Look diagonally right”.
[0037]
In addition, as shown as regions 21 to 25, when the driver can visually recognize the branch road, visual guidance is performed. At the visual recognition guidance level 0, when the driver is visually recognizing the branch to be guided in the area 21 in the area 21, the voice guidance is given that "it is correct." The voice guidance is "forward right direction", and if the driver is visually recognizing the branch to be guided, the voice guidance is "it is correct."
[0038]
The visual guidance levels 1 to 4 also perform substantially the same visual guidance. However, at the visual guidance level 1 (area 22), the visual guidance is performed with the sign, the signboard, the building, and the vehicle traveling ahead as the visual guidance target objects according to the priority described above. At the visual recognition guidance level 2 (area 23), visual recognition is performed with the signboard, the building, and the vehicle traveling ahead as the visual guidance targets in the above-described priority order. At the visual guidance level 3 (area 24), visual guidance is performed with the building and the vehicle traveling ahead as the visual guidance targets in the above-described priority order. At the visual guidance level 4 (area 24), visual guidance is performed using the direction of the road to be traveled.
[0039]
Here, in the regions 21 to 25, the visual guidance target object is changed according to the visual guidance level. This is because at the visual guidance level 0, there is no problem even if the visual guidance is performed. This is because, as the level shifts from 1 to 4, the driver must concentrate on the original driving, and it is preferable to select a large and easily visible object as the visual guidance target. In this way, the driver's gaze on the visual guidance target by the visual guidance is eased. As a result, it is possible to prevent the driver's attention from lowering due to visual guidance when the driver must concentrate on the original driving.
[0040]
Next, when the distance from the vehicle position to the forked road (intersection) to be guided is less than 50 m (as described later, in the case of nighttime or rainy weather, etc., less than 70 m), the driver passes the forked road. When it is not possible to visually recognize (when the traveling road is curved), visual guidance is performed using the direction and the mark (intersection). More specifically, in the areas 26 to 30 of the visual guidance levels 0 to 4, while visually recognizing using the direction, the intersection is visually recognized at a position where the advance notice and the intersection can be recognized. For example, give voice guidance that "You will soon see an intersection on your right. This is an intersection. Please turn right." At this time, if the driver is visually recognizing the branch road to be guided, the voice guidance of "it is the correct answer" is given and affirmation is made.
[0041]
In the regions 31 to 33, the driver can visually recognize the forked road, and thus performs the original visual guidance. If the driver is visually recognizing the branch road to which the route should be guided, the voice guidance will be “It is correct.” If not, the driver is visually recognizing what the driver is visually recognizing. It guides the driver's vision to the fork on the basis of the object. Further, as described above, the driver may visually recognize the specific visual guidance target object, and guide the driver to the branch road based on the specific visual guidance target object. In the areas 34 and 35 of the visual guidance levels 3 and 4, since the driver must concentrate on the original driving, the driver issues a visual guidance stop guidance and then stops the visual guidance.
[0042]
In the case of the visual guidance level 5, the visual guidance switch (not shown) is turned off. In this case, the visual guidance is stopped, and the normal guide voice guidance is executed.
Further, when performing the visual guidance, if the range seen by the driver is equal to or more than a predetermined value, for example, out of the range θ described above, the visual guidance is prohibited. This is because visual guidance is unnecessary or appropriate visual guidance cannot be performed.
Further, in a situation where the visibility is relatively poor, such as at night or in rainy weather, it is preferable to promptly perform the visual guidance for the driver. Need to be faster than that. For example, in FIG. 6, it is preferable to change the distance “50 m”, which is the reference for the regions 16 to 25, to “70 m”. Further, it is preferable to change the reference of the distance “less than 50 m”, which is the reference of the regions 26 to 35, to “less than 70 m”.
[0043]
Next, the operation (route guidance method) by the route guidance device of the present embodiment will be described with reference to FIG. In FIG. 7, S indicates each step.
First, in S1, it is determined whether or not a visual guidance switch (not shown) is ON. If it is ON, the process proceeds to S2, where it is determined whether the visual guidance prohibition flag F is P or not. Here, F = P means that visual guidance is prohibited. If the visual guidance is not prohibited, the process proceeds to S3, and it is determined whether the destination has been set. If the destination has been set, the process proceeds to S4, where the distance from the vehicle position to the branch road to be routed is calculated, and the traveling state (vehicle speed or the like) is further determined. Next, the process proceeds to S5, and it is determined whether or not the distance from the vehicle position to the branch road (intersection) to be guided is within 100 m. If it is not less than 100 m, there is a considerable distance to the branch road, so the process proceeds to S6, and normal route guidance (route guidance) is performed. At this time, no visual guidance is performed.
[0044]
In addition, in S5 and S6, instead of these contents, when the distance from the vehicle position to the branch road is 700 m, 300 m, 100 m or more, the visual guidance is performed in the regions 1 to 15 in FIG. 6 as described above. You may do it.
Next, the process proceeds to S7, and visual guidance is performed according to the distance from the vehicle position to the branch road to which the route is to be guided (see FIG. 6).
[0045]
Next, a visual guidance prohibition flow for setting the visual guidance prohibition flag P (see S2 in FIG. 7) will be described with reference to FIG. This visual guidance prohibition flow shows a case where it is not preferable to perform visual guidance from the viewpoint of driving safety (conditions for prohibiting visual guidance).
First, in S11, it is determined whether or not the road width is equal to or smaller than a predetermined value. If the road width is equal to or less than the predetermined value, the driver should concentrate on driving. In such a case, visual guidance reduces safety, so the process proceeds to S12 and visual guidance is performed. Is OFF, that is, prohibited. In the route guidance device of the present embodiment, the driver can select or automatically switch between two types of route guidance by route guidance and route guidance by visual guidance (+ route guidance). ing. Further, in the route guidance and the visual guidance, corresponding voice and display patterns are set. For this reason, the voice and display pattern (voice / display normal mode) for route guidance are also set in S12.
Next, the process proceeds to S13, and a warning that the visual guidance has been stopped is issued to the driver. This warning is given by display or voice guidance. Further, in S14, the visual guidance prohibition flag F is set to F = P.
[0046]
Next, in the case of NO in S11, the process proceeds to S15, and it is determined whether or not the inter-vehicle distance with the preceding vehicle is a predetermined short distance. If the inter-vehicle distance is short, the process proceeds to S16, and it is determined whether or not there is a traffic jam. If the inter-vehicle distance is small and there is no traffic congestion, it is considered that the vehicle is traveling at a relatively high speed. In such a case, the driver needs to concentrate on driving and visual guidance is not required. Proceed to and prohibit visual guidance.
Next, the process proceeds to S17, and it is determined whether or not the turn is equal to or more than a predetermined turn. Specifically, when the vehicle speed is equal to or more than a predetermined value and the steering angle is equal to or more than a predetermined value, it is determined that the vehicle is turning more than a predetermined value. Also in this case, the driver needs to concentrate on driving and does not need the visual guidance, so the process proceeds to S12, and the visual guidance is prohibited.
[0047]
Next, the process proceeds to S18, and it is determined whether or not the distance to the intersection to which the route is to be guided is equal to or less than a predetermined value. When the intersection approaches, the route guidance (for example, voice guidance such as "Please turn right at the next intersection") is more effective than the visual guidance. Since it is not preferable from the viewpoint of safety, the process proceeds to S12, and the visual guidance is prohibited.
Next, the process proceeds to S19, where it is determined whether or not the distance to the target is equal to or less than a predetermined value. If the distance is short, similarly to S12, the visual guidance is prohibited.
Further, the process proceeds to S20, and it is determined whether or not the intersection to be route-guided is a simple intersection (T-shaped intersection, crossroad, or the like). In addition, for example, even if it is a crossroad, when another intersection exists within a relatively short distance of the crossroad, the driver does not easily recognize the crossroad, so this crossroad does not correspond to a simple intersection. In the case of a simple intersection, since route guidance (for example, voice guidance such as “Please turn right at the next intersection”) is more effective than visual guidance, the process proceeds to S12 and prohibits visual guidance. .
[0048]
Next, when the road width is not less than a predetermined value and the inter-vehicle distance is large, in the case of traffic congestion, when the vehicle is not turning more than a predetermined value (that is, when the vehicle is traveling straight or when the vehicle is turning large), the distance to the intersection or the target object is a predetermined value In the above case, and when it is not a simple intersection, the process proceeds to S21, and the visual guidance control (route guidance control combination) is turned on, that is, executed. At this time, a voice and a display pattern (voice / display visual guidance mode) for visual guidance are set. Next, the process proceeds to S22, where F = P is canceled in the visual guidance prohibition flag F.
[0049]
As shown in FIG. 8, according to the present embodiment, when a predetermined condition is satisfied, the visual guidance is prohibited, so that the driver's line of sight (the line of sight) moves due to the visual guidance. The driver can concentrate on the original driving without any problems, improving safety.Furthermore, since the driver is guided by the route guidance, even at a complicated intersection, he / she can travel without hesitation. can do.
[0050]
Next, with reference to FIG. 9 and FIG. 10, the control contents of the visual guidance and the timing of the visual guidance according to the present embodiment will be described.
FIG. 9 is a flowchart showing the control contents of the visual guidance (using route guidance). As shown in FIG. 9, first, in S31, the distance to the intersection where the route guidance is required is estimated. Next, in S32, the traffic volume is estimated. As described above, the traffic volume may be estimated by the CCD camera 36, or information on the traffic volume may be obtained from the information center 2. Next, the process proceeds to S33, and the visual recognition guidance method is determined from the MAP based on the distance to the intersection, the traffic volume, and the driving state. Specifically, this MAP is as shown in FIG. 6, and any one of the areas (1) to (36) is selected.
[0051]
Next, the process proceeds to S34, and it is determined whether or not a search for a visually guided object (visual object) is necessary. If it is necessary to search for the visual guidance target, the process proceeds to S35, the search condition of the visual guidance target (visual object) is obtained from the MAP, and the visual guidance target (visual object) is searched. Specifically, this MAP is shown in FIG. 4, and an appropriate visual guidance target object is selected according to the set priority order according to various situations.
If it is not necessary to search for the visual guidance target (visual object), that is, if the visual direction is to be guided, the process proceeds to S36, and the visual direction for visual guidance is set.
[0052]
Next, the process proceeds to S37, in which guidance timing for visual guidance is set. The contents of the guidance timing are specifically described in the guidance timing subroutine of FIG. 10 as described later.
Next, the process proceeds to S38, where it is determined whether or not it is the guidance timing of the visual guidance. If it is the guidance timing, the process proceeds to S39 and the visual guidance is executed.
Next, in S40, when the visual guidance is executed, it is determined whether or not the driver has visually recognized the visual guidance target object or has visually recognized the visual direction. When the visual guidance target object or the visual recognition direction is not visually recognized, the process proceeds to S41, where the visual guidance re-execution guidance is determined, and the visual recognition guidance is executed again. More specifically, the changed visual guidance is performed by changing the visual guidance target object, changing the content of the voice guidance at the time of visual guidance, or changing the visual recognition direction.
[0053]
Next, the guidance timing of the visual recognition guidance will be described with reference to FIG. At S42, whether the weather is bad, at S43, at night, at S44, the response to the driver's visual guidance decreases, at S45, at the driver's unguided area, at S46, the road width It is determined whether each value is smaller than a predetermined value.
Next, the weather is not bad (good), it is not night (daytime), the reaction is not reduced (good response), it is not an unfamiliar area (it is a recognized area), and the road width is small. If the condition is not (the road width is large), the process proceeds to S47, and the guidance timing of the visual guidance is set to the normal mode as a reference. In such a situation, since the driver's reaction is good and the visibility is good in the recognition area, the driver can easily recognize the visual guidance target object, and normal guidance timing is sufficient.
On the other hand, when the weather is poor, at night, the response is low, the area is unfamiliar, or the road width is small, it is difficult for the driver to visually recognize the visual guidance target. Therefore, the process proceeds to S48, and a correction is made such that the guidance timing is advanced as compared with the normal mode.
[0054]
As a result, according to the present embodiment, even in an area where the driver is unfamiliar, or in a case where the visibility is poor and the response of the driver is low, the guidance timing of the visual guidance is Is corrected so as to be earlier than usual, so that the time for the visual guidance is lengthened, and the visual guidance is performed with a correspondingly higher accuracy.
Further, in the present embodiment, when the weather is bad, at night, the reaction is decreasing, the area is unfamiliar, or the road width is small, the visual guidance other than the guidance timing is used. A similar effect can be exerted by changing the object to an object that the driver can easily recognize.
As described above, according to this embodiment, even in an unfamiliar area, poor visibility, or even when the reaction is decreasing, it is possible to travel without getting lost at a complicated intersection. Furthermore, since the visual guidance can be performed with higher accuracy, a decrease in safety can be prevented.
[0055]
Next, referring to FIGS. 11 and 12, a description will be given of a flow for confirming the driver's visual recognition target object or visual recognition direction with respect to visual guidance. FIG. 11 shows a case of a type provided with a visual recognition action execution switch 44 (see FIGS. 1 and 3), and FIG. 12 shows a case of a type not provided with such a switch 44.
First, the case of FIG. 11 will be described. First, in S51, it is determined whether the visual guidance has been performed. If executed, the process proceeds to S52, where it is determined whether the visual recognition action execution switch is ON. When the visual recognition action execution switch 44 is ON, the driver himself / herself indicates that the driver is visually recognizing the visual guidance target object or the visual recognition direction that has been visually guided. In this case, the process proceeds to S53, in which the eye object 38 (see FIG. 1) confirms the target object or the viewing direction that the driver is viewing. That is, it is confirmed that the driver visually recognizes and completes the visual recognition operation. Next, in S54, it is determined whether or not the visually recognized object visually recognized by the driver is a visual guidance target object (correct answer). If the answer is correct, voice guidance such as "it is correct" is performed in S55. Affirm the driver's viewing behavior.
[0056]
Next, in the case of NO in S52, that is, when the driver does not turn on the visual recognition action execution switch despite performing the visual guidance, the process proceeds to S56, and it is determined whether or not a predetermined time has elapsed. If so, the process proceeds to S57. In the case of NO in S54, the process similarly proceeds to S57.
In S57, the contents of the visual guidance re-execution are determined, and the re-guidance is executed. Specifically, for example, as in the route guidance shown in FIG. 6, the visual guidance is set according to the distance to the intersection to which the route is to be guided. At this time, if the distance to the intersection is short, the visual guidance may be prohibited and the route may be guided only by the route guidance.
[0057]
In the embodiment shown in FIG. 11, a visual recognition action execution switch is provided, and when the driver takes a visual recognition action in response to visual recognition guidance, this switch is turned on, so that the driver's visual recognition operation is completed. It can be easily confirmed. Therefore, when the driver does not perform the visual recognition operation for the visual guidance, the visual guidance can be performed again. In addition, this visual recognition guidance is different from the first visual recognition guidance in that the distance to the intersection is shorter by a predetermined amount of time, so that the visual guidance according to the distance to the intersection at that time can be performed. .
[0058]
Next, referring to FIG. 12, a case in which the visual recognition action execution switch is not provided will be described. First, in S61, it is determined whether the visual guidance has been performed. If executed, the process proceeds to S62, and it is determined whether or not the driver has performed a visual recognition action with respect to the visual guidance. In this case, when the eye camera 38 detects a change in the driver's viewing direction, it is determined that there is a viewing action. If there is a visual recognition action, the process proceeds to S63.
In S63, a viewing check time T1 for checking that the driver is viewing the viewing target (or viewing direction) (viewing completion) is set. The visibility check time T1 is set to a shorter time as the vicinity of the intersection, the inter-vehicle distance is small, the number of pedestrians is large, or the weather is poor. In such a case, the time required for the driver to visually recognize the visual target (or the visual direction) is shortened, and accordingly, the visual confirmation time T1 is also shortened.
[0059]
Next, the process proceeds to S64, in which a visible object is estimated. That is, the visual object that the driver has visually recognized for T1 hours or more is extracted. Next, in S65, it is determined whether or not the visually recognized object visually recognized by the driver is a visual guidance target object (correct answer). If the answer is correct, voice guidance such as "it is correct" is provided in S66. Affirm the driver's viewing behavior.
Next, if NO in S65, that is, if the driver's visible object (viewing direction) is different from the visual guidance target (viewing direction), the process proceeds to S67.
In S67, the content of the visual guidance re-execution is determined, and the re-guidance is executed. Specifically, for example, as in the route guidance shown in FIG. 6, the visual guidance is set according to the distance to the intersection to which the route is to be guided. At this time, a voice or an action to be executed when the driver performs the visual recognition action may be set. This makes it possible to make a determination similar to that provided with the visual recognition action execution switch. When the distance to the intersection is short, the visual guidance may be prohibited and the route may be guided only by the route guidance.
[0060]
Next, in the case of NO in S62, that is, when the driver does not take a visual action even though the visual guidance is executed, the process proceeds to S68, and the waiting time T2 is set. The waiting time T2 is a time until the visual guidance is started again, and is set to be longer as the vicinity of the intersection, the inter-vehicle distance is small, the number of pedestrians is large, or the weather is poor. In the case of the vicinity of an intersection, etc., the necessity of visual guidance is small, and the visual guidance is cumbersome and it is necessary to concentrate on the original driving, so the time until the next visual guidance is set longer It is doing.
Next, the process proceeds to S69, where it is determined whether or not the time T2 has elapsed. If the time has elapsed, the process proceeds to S70, and the same processing as that of S67, that is, the content of the visual guidance re-execution is determined, and the re-guidance is executed. I do.
[0061]
In the embodiment shown in FIG. 12, even when the visual recognition action execution switch is not provided, the visual recognition confirmation time T1 is set, and when the driver visually recognizes the time T1 or more, the visual recognition operation is completed. Since it is confirmed that the driver has performed the visual recognition operation, it is possible to easily confirm completion of the driver's visual recognition operation. Therefore, when the driver does not perform the visual recognition operation for the visual guidance, the visual guidance can be performed again. Further, even when the driver does not take a visual action in response to the visual guidance, the waiting time T2 is set, and the visual guidance is performed again after the waiting time T2 has elapsed, so that the effective guidance is performed again. Can be visually guided.
[0062]
Next, the initial setting of the route guidance device will be described with reference to FIG. In order to perform visual guidance by the route guidance device, it is necessary to input a necessary initial value in advance according to the driver's preference and characteristics. FIG. 13 shows a screen for setting the initial value (initial value).
First, it is necessary to input the level of visibility, such as the driver's visual acuity and conductor visual acuity. If it is known in advance, the level of the visual ability such as the visual acuity and the conductor visual acuity is input. When it is unknown, an inspection such as visual acuity is performed using the route guidance device itself, and the level of the visual acuity such as the visual acuity and the conductor visual acuity is verified. In addition to the visual acuity, in addition to visual acuity and conductor visual acuity, there are color discrimination ability and day and night visual acuity. In addition, these visual abilities can be input and verified. As a result, the visibility ability level is verified. Thereby, for example, when the visual acuity is relatively poor, the timing of the visual guidance is advanced earlier than the standard one. Further, when a specific color cannot be recognized, when searching for a visual guidance target, the target of such a color is deleted. Further, when the night vision is poor, a visual guidance target that is easy to recognize is searched.
[0063]
Next, the driver's eye position is registered. The eye position can be set from a driver's seat position, a front mirror position, an eye camera, and the like.
Next, settings can be made for each user (driver) in accordance with his / her preference. First, it is possible to select whether or not to perform visual guidance. That is, it is possible to select whether the visual guidance (+ route guidance) method is the route guidance method.
Next, the priority of the visual guidance target object is set. The priority shown in FIG. 4 is set as a reference. The priority of the visual guidance target can be arbitrarily changed according to the user's preference. In addition, if there is an object that is not preferable as a visual guidance target, it can be set as a non-target.
[0064]
The guidance timing of the visual guidance can be adjusted to three stages of “early”, “standard”, and “late”.
The number of times of performing the visual guidance again can be set. It is also possible to select not to perform visual recognition guidance again. Further, the content of the visual guidance again can be changed to the same or different.
Further, the visual recognition accuracy can be set. In addition to detecting the visual recognition operation of the driver with the eye camera, an action to be performed when the driver performs the visual recognition action is also used, so that the visual recognition operation can be surely confirmed. This combination of actions includes "pointing and calling together", "nodding and calling together", "voice combined", and "visual only" (only the original visual recognition operation is confirmed and no action is used together). I have.
In addition, as the recognition accuracy of the visual recognition operation, one of “accuracy emphasis”, “precision rather than accuracy”, and “rather speed priority (confirmation of completion of the driver's visual recognition operation is performed in a short time)” You can choose. In the case of “precision priority”, the driver's recognition area can be excluded. In the case of "speed priority", cities (areas) to which the driver is not notified can be excluded.
[0065]
In the embodiment shown in FIG. 13, since the content and accuracy of the visual guidance can be matched to the driver's preference and characteristics, effective visual guidance is possible, and the accuracy and comfort are improved. Therefore, safety is improved.
[0066]
【The invention's effect】
As described above, according to the route guidance device, the route guidance method, and the route guidance program of the present invention, even at a complicated intersection or the like in an unfamiliar place, the driver can travel without hesitation. be able to. In addition, since the correction is performed so that the accuracy of the visual guidance is increased, the visual guidance can be effectively performed, and the safety can be improved.
[Brief description of the drawings]
FIG. 1 is a basic configuration diagram showing an embodiment of a route guidance device of the present invention.
FIG. 2 is a schematic perspective view showing a vehicle equipped with the route guidance device of the present invention.
FIG. 3 is a rear view of the vicinity of a driver's seat of a vehicle equipped with the route guidance device of the present invention.
FIG. 4 is a diagram showing priorities of visual guidance targets selected by an embodiment of the route guidance device of the present invention.
FIG. 5 is a diagram showing an example of driver's visual recognition guidance according to the embodiment of the route guidance device of the present invention.
FIG. 6 is a diagram showing a visual guidance level, a distance from a vehicle position to a forked road (intersection) to be guided, and details of the visual guidance according to the embodiment of the route guidance apparatus of the present invention. is there.
FIG. 7 is a flowchart showing an operation (route guidance method) according to the embodiment of the route guidance device of the present invention.
FIG. 8 is a flowchart illustrating a case where visual guidance is prohibited according to the embodiment of the route guidance apparatus of the present invention.
FIG. 9 is a flowchart showing the control contents of visual guidance according to the embodiment of the route guidance apparatus of the present invention.
FIG. 10 is a flowchart showing the timing of visual guidance according to the embodiment of the route guidance apparatus of the present invention.
FIG. 11 is a flowchart showing a flow (with a visual recognition action execution switch) for confirming a visual recognition target object or a visual recognition direction of a driver for visual guidance according to an embodiment of the route guidance apparatus of the present invention.
FIG. 12 is a flowchart illustrating a flow (without a viewing action execution switch) for confirming a driver's view of a viewing guide target or a viewing direction with respect to viewing guidance according to an embodiment of the route guidance apparatus of the present invention.
FIG. 13 is a screen for performing initial setting according to the embodiment of the route guidance apparatus of the present invention.
[Explanation of symbols]
1 route route guidance device 2 information center 12 internet 14 CPU
20 display 20a auxiliary display 22 DVD-ROM
24 operation switch 28 GPS receiver 30 vehicle speed sensor 32 gyro sensor 36 CCD camera (image recognition device)
38 Visual Behavior Detection Device (Eye Camera)
40 Recognition guide device 42 Guidance light irradiation switch 44 Recognition action execution switch 46 Speaker 47 Guidance light 48 Windshield 50 Intersection 52 Branch road

Claims (9)

A route guidance device for guiding a vehicle to a destination,
Destination setting means for setting a destination;
Route guidance means for setting a route to the destination, guiding the route, and guiding the route to the destination,
Visual guidance means for determining whether or not the driver's visual recognition behavior with respect to the route guidance of the route guidance means is correct, and affirming if correct, and visually guiding and guiding the driver if incorrect,
Correction means for correcting the control content for executing the visual guidance by the visual guidance means under predetermined conditions so as to increase the accuracy of the visual guidance;
A route guidance device comprising: The route guidance device according to claim 1, wherein the correction means corrects the control timing of the visual guidance by the visual guidance means under a predetermined condition. The route guidance device according to claim 1, wherein the correction unit changes an object for the visual guidance under a predetermined condition. 3. The route guidance device according to claim 2, wherein the correction means corrects the control timing of the visual guidance by the visual guidance means as the reaction time from the visual guidance by the visual guidance means to the visual recognition behavior of the driver is longer. . 3. The route guidance device according to claim 2, wherein the correction means corrects the control timing of the visual guidance by the visual guidance means so as to be advanced in a weather condition in which the driver is hard to visually recognize. 3. The route guidance device according to claim 2, wherein the correction means corrects the control timing of the visual guidance by the visual guidance means earlier in the nighttime than in the daytime. 3. The route guidance device according to claim 2, wherein the correction means corrects the driver so that the visibility of the driver is higher in the unfamiliar area of the driver than in the recognized area. A route guidance method for guiding a vehicle to a destination,
A destination setting process for setting a destination;
A route guidance step of setting a route to the destination, guiding the route, and guiding the route to the destination,
A visual guidance step of determining whether or not the driver's visual recognition behavior with respect to the route guidance in the route guidance step is correct; affirming if correct, and visually guiding and guiding the driver if incorrect,
A correction step of correcting the control content for executing the visual guidance in the visual guidance step under predetermined conditions so that the accuracy of the visual guidance is increased;
A route guidance method comprising: This is a route guidance program that guides a vehicle to a destination, and sets a destination, sets a route to the destination, guides the route, guides the route to the destination, and provides a driver with respect to the route guidance. Judge whether the viewing behavior is correct or not, affirmatively if it is correct, and if it is not correct, visually guide the driver and guide the route, and perform the visual guidance under predetermined conditions. A route guidance program that controls a computer to compensate for the increase

Images