JP5433408B2 - Navigation device and guidance method thereof - Google Patents

Description

  The present invention relates to a navigation device technology.

  2. Description of the Related Art Conventionally, a navigation apparatus uses a route guidance technique corresponding to a lane in which only a vehicle that satisfies a specific condition, such as an HOV (High-Occupancy Vehicles) lane, can travel. Patent Document 1 describes a technique regarding such a navigation device. The HOV lane is also called a car pool lane.

JP 2000-131085 A

  In the navigation device as described above, there is a case where guidance of the HOV lane entrance is performed in order to travel on the HOV lane. However, since the entrance / exit of the HOV lane is restricted, there is a case where the vehicle deviates from the recommended route when traveling on the HOV lane.

  An object of the present invention is to provide a navigation technique capable of appropriately guiding a user at the entrance / exit of a lane that can pass by satisfying a predetermined condition.

  In order to solve the above-mentioned problems, a navigation device according to the present invention includes a storage means for storing lane information including the installation status of a lane (hereinafter referred to as a conditional lane) that can pass when a predetermined condition is satisfied, and a destination. Route guidance means for guiding the recommended route up to and a guidance means for guiding the entrance / exit of the conditional lane, and the guidance means can travel without departing from the recommended route when traveling along the conditional lane. In the case where the condition lane disappears, guidance is provided so as not to enter the conditional lane from the entrance of the conditional lane, or guidance for the presence of the entrance to the conditional lane is suppressed.

  In the navigation apparatus guidance method according to the present invention, the navigation apparatus stores lane information including installation conditions of lanes (hereinafter referred to as “conditional lanes”) that are allowed to pass when predetermined conditions are satisfied. Route guidance means for guiding a recommended route to the destination and guidance means for guiding the entrance / exit of the conditional lane, and the guidance means does not deviate from the recommended route when traveling in the conditional lane When it becomes impossible to travel to the vehicle, it is guided not to enter the conditional lane from the entrance of the conditional lane, or the step of suppressing the guidance of the presence of the entrance of the conditional lane is performed. And

  According to the invention of the present application, it is possible to provide a navigation technology that can appropriately guide at the entrance / exit of a lane that can pass when a predetermined condition is satisfied.

FIG. 1 is a schematic configuration diagram of a navigation device. FIG. 2 is a diagram illustrating the configuration of the link table. FIG. 3 is a diagram showing the mounting position of the camera. FIG. 4 is a diagram illustrating a state in which a captured image is projected onto the ground surface. FIG. 5 is a functional configuration diagram of the arithmetic processing unit. FIG. 6 is a flowchart of the HOV exit guidance process. FIG. 7 is a diagram illustrating the HOV exit guidance process using a specific example. FIG. 8 is a flowchart of a modified example of the HOV exit guidance process. FIG. 9 is a diagram illustrating a modification example of the HOV exit guidance process using a specific example.

  A navigation apparatus to which a first embodiment of the present invention is applied will be described below with reference to the drawings.

  FIG. 1 shows an overall configuration diagram of the navigation device 100. The navigation device 100 is a so-called navigation device capable of displaying map information and indicating a point indicating the current location of the navigation device 100 and information for guiding a route to a set destination.

  The navigation device 100 includes an arithmetic processing unit 1, a display 2, a storage device 3, a voice input / output device 4 (including a microphone 41 as a voice input device and a speaker 42 as a voice output device), an input device 5, and a ROM. A device 6, a vehicle speed sensor 7, a gyro sensor 8, a GPS (Global Positioning System) receiver 9, an FM multiplex broadcast receiver 10, a beacon receiver 11, a camera 12, an in-vehicle network communication device 13, It has.

  The arithmetic processing unit 1 is a central unit that performs various processes. For example, the current location is calculated based on information output from the various sensors 7 and 8, the GPS receiver 9, the FM multiplex broadcast receiver 10, and the like. Further, map data necessary for display is read from the storage device 3 or the ROM device 6 based on the obtained current location information.

  The arithmetic processing unit 1 develops the read map data in graphics, and displays a mark indicating the current location on the display 2 in a superimposed manner. In addition, an optimal route (or a route or stopover) that connects the departure point or current location instructed by the user with the map data or the like stored in the storage device 3 or the ROM device 6 is used. Search for the recommended route. Further, the user is guided using the speaker 42 and the display 2.

  Further, the arithmetic processing unit 1 can guide the traveling at the entrance to the HOV (High-Occupancy Vehicles) lane when performing route guidance. Note that the HOV lane is defined such that only vehicles having a specified number of passengers (for example, two people including the driver) or more and vehicles satisfying a specific standard (low fuel consumption or low pollution) can travel. Lane.

  The arithmetic processing unit 1 of the navigation device 100 has a configuration in which each device is connected by a bus 25. The arithmetic processing unit 1 includes a CPU (Central Processing Unit) 21 that executes various processes such as numerical calculation and control of each device, and a RAM (Random Access Memory) that stores map data, arithmetic data, and the like read from the storage device 3. ) 22, a ROM (Read Only Memory) 23 for storing programs and data, and an I / F (interface) 24 for connecting various types of hardware to the arithmetic processing unit 1.

  The display 2 is a unit that displays graphics information generated by the arithmetic processing unit 1 or the like. The display 2 is configured by a liquid crystal display, an organic EL display, or the like.

  The storage device 3 is composed of at least a readable / writable storage medium such as an HDD (Hard Disk Drive) or a nonvolatile memory card.

  This storage medium stores a link table 200 that is map data (including link data of links constituting roads on a map) necessary for a normal route search device.

  FIG. 2 is a diagram showing the configuration of the link table 200. The link table 200 includes, for each mesh identification code (mesh ID) 201, which is a partitioned area on the map, link data 202 of each link constituting a road included in the mesh area.

  For each link ID 211 that is a link identifier, the link data 202 includes coordinate information 222 of two nodes (start node and end node) constituting the link, a road type 223 indicating the type of road including the link, and a link length. Link length 224 indicating the link travel time 225 stored in advance, a start connection link that is a link connected to the start node of the link, and an end connection link that is a link connected to the end node of the link It includes a start connection link, an end connection link 226, a speed limit 227 indicating the speed limit of the road including the link, an HOV attribute 228 for specifying an attribute regarding the installation status of the HOV lane for each link, and the like.

  The HOV attribute 228 includes a “dedicated” attribute 231 when the link is a road composed only of the HOV lane, and “none” when the link is a road not including the HOV lane. Attribute 234. If the link has both a HOV lane and a normal lane, and the road cannot be changed between the HOV lane and the normal lane, the attribute 232 of “shared-solid line” is used. If the link has both a HOV lane and a normal lane, and the road can change lanes between the HOV lane and the normal lane, An attribute 233 is provided. That is, it can be said that the HOV attribute 228 stores information specifying the installation status of the HOV lane.

  Here, by distinguishing the start node and the end node for the two nodes constituting the link, the upward direction and the downward direction of the same road are managed as different links.

  Returning to FIG. The voice input / output device 4 includes a microphone 41 as a voice input device and a speaker 42 as a voice output device. The microphone 41 acquires sound outside the navigation device 100 such as a voice uttered by a user or another passenger.

  The speaker 42 outputs a message to the user generated by the arithmetic processing unit 1 as voice. The microphone 41 and the speaker 42 are separately arranged at a predetermined part of the vehicle. However, it may be housed in an integral housing. The navigation device 100 can include a plurality of microphones 41 and speakers 42.

  The input device 5 is a device that receives an instruction from the user through an operation by the user. The input device 5 includes a touch panel 51, a dial switch 52, and other hardware switches (not shown) such as scroll keys and scale change keys. In addition, the input device 5 includes a remote controller that can perform operation instructions to the navigation device 100 remotely. The remote controller includes a dial switch, a scroll key, a scale change key, and the like, and can send information on operation of each key or switch to the navigation device 100.

  The touch panel 51 is mounted on the display surface side of the display 2 and can see through the display screen. The touch panel 51 specifies a touch position corresponding to the XY coordinates of the image displayed on the display 2, converts the touch position into coordinates, and outputs the coordinate. The touch panel 51 includes a pressure-sensitive or electrostatic input detection element.

  The dial switch 52 is configured to be rotatable clockwise and counterclockwise, generates a pulse signal for every rotation of a predetermined angle, and outputs the pulse signal to the arithmetic processing unit 1. The arithmetic processing unit 1 obtains the rotation angle from the number of pulse signals.

  The ROM device 6 includes at least a readable storage medium such as a ROM (Read Only Memory) such as a CD-ROM or a DVD-ROM, or an IC (Integrated Circuit) card. In this storage medium, for example, moving image data, audio data, and the like are stored.

  The vehicle speed sensor 7, the gyro sensor 8, and the GPS receiver 9 are used by the navigation device 100 to detect the current location (own vehicle position). The vehicle speed sensor 7 is a sensor that outputs a value used to calculate the vehicle speed. The gyro sensor 8 is composed of an optical fiber gyro, a vibration gyro, or the like, and detects an angular velocity due to the rotation of the moving body. The GPS receiver 9 receives a signal from a GPS satellite and measures the distance between the mobile body and the GPS satellite and the rate of change of the distance with respect to three or more satellites to thereby determine the current location, travel speed, and travel of the mobile body. It measures the direction.

  The FM multiplex broadcast receiver 10 receives an FM multiplex broadcast signal transmitted from an FM broadcast station. FM multiplex broadcasting includes VICS (Vehicle Information Communication System: Registered Trademark) information, current traffic information, regulatory information, SA / PA (service area / parking area) information, parking information, weather information, and FM multiplex general information. As text information provided by radio stations.

  The beacon receiving device 11 receives rough current traffic information such as VICS information, regulation information, SA / PA (service area / parking area) information, parking lot information, weather information, emergency alerts, and the like. For example, it is a receiving device such as an optical beacon that communicates by light and a radio beacon that communicates by radio waves.

  FIG. 3 shows the camera 12 attached to the rear of the vehicle 300. The camera 12 faces slightly downward, and images the ground surface behind the vehicle using an imaging element such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor) image sensor. In addition, there is no restriction | limiting in the position to which the camera 12 is attached, For example, the camera 12 may be attached to the front of the vehicle 300 and may image the ground surface ahead of the vehicle.

  FIG. 4 is a diagram for explaining a method of generating a ground projection image using an image captured by the camera 12 of FIG. The camera control unit 104 to be described later obtains the position of the viewpoint P of the camera 12 (coordinate position in a three-dimensional space with a predetermined position in the vehicle as the origin) and the imaging direction (gaze direction) K. Then, the camera control unit 104 projects the captured image 510 onto the ground surface 520 from the position of the viewpoint P of the camera 12 in the imaging direction K, and generates a ground projection image 530. Note that the imaging direction K intersects the center of the captured image 510 perpendicularly. The distance from the viewpoint P of the camera 12 to the captured image 510 is determined in advance. The ground projection image 530 generated in this way is an image that looks like a bird's-eye view of the vehicle periphery from above the vehicle.

  The in-vehicle network communication device 13 connects the navigation device 100 to a network (not shown) corresponding to CAN, which is a vehicle control network standard, and an ECU (Electronic control unit) that is another vehicle control device connected to the network. It is a device that communicates by exchanging CAN messages.

  FIG. 5 is a functional block diagram of the arithmetic processing unit 1. As shown in the figure, the arithmetic processing unit 1 includes a main control unit 101, an input receiving unit 102, an output processing unit 103, a camera control unit 104, a lane recognition unit 105, an HOV entrance guide unit 106, and a route search. Part 107 and route guiding part 108.

  The main control unit 101 is a central functional unit that performs various processes, and controls other processing units according to the processing content. In addition, information on various sensors, the GPS receiver 9 and the like is acquired, and a map matching process is performed to identify the current location. In addition, the travel history is stored in the storage device 3 for each link by associating the travel date and time with the position as needed. Further, the current time is output in response to a request from each processing unit.

  The input receiving unit 102 receives an instruction from a user input via the input device 5 or the microphone 41, and controls each unit of the arithmetic processing unit 1 so as to execute processing corresponding to the requested content. For example, when the user requests a recommended route search, the output processing unit 103 is requested to display a map on the display 2 in order to set a destination.

  The output processing unit 103 receives screen information to be displayed such as polygon information, for example, converts it into a signal for drawing on the display 2, and instructs the display 2 to draw.

  The camera control unit 104 controls the operation of the camera 12. For example, the start / end timing of imaging by the camera 12 is set. In addition, transmission of the captured image to the lane recognition unit 105 is controlled.

  The lane recognition unit 105 acquires an image captured by the camera 12 as image data. Then, the acquired image is converted into an image for display (ground projection image). Further, from the acquired image, a sign laid or colored on the road surface of the road is recognized, and the lane in which the vehicle travels is specified. For example, as will be described later, the lane recognition unit 105 recognizes the presence of a sign (rhombic paint) or the like indicating that it is an HOV lane, and if the sign is present near the left and right center in the image, It is determined that 300 is traveling on the HOV lane. Alternatively, the lane recognition unit 105 recognizes the sign not in the vicinity of the left and right center in the image but in a position shifted to the left or right rather than the vicinity of the center of the left and right. If the sign is recognized, it is determined that the vehicle is traveling in an adjacent lane that is not an HOV lane.

  The HOV entrance / exit guide unit 106 provides guidance to the user regarding entry / exit between the HOV lane and the normal lane at the entrance / exit of the HOV lane. Specifically, the HOV entrance / exit guide unit 106 indicates that it should enter the HOV lane, exit from the HOV lane, or travel at the entrance / exit of the HOV lane (generally, the exit and the entrance are shared). The user is informed that the lane should be maintained by using voice / images. In the guidance, as will be described later, when the HOV entrance / exit guide unit 106 can exit from the HOV lane to the normal lane without departing from the recommended route, the presence of the HOV lane at the entrance to the preceding HOV lane. Can be guided. In addition, when the HOV entrance / exit guide unit 106 has to deviate from the recommended route because it cannot leave the HOV lane, even if there is a HOV lane entrance / exit that can be entered most recently, the HOV lane is at the entrance / exit. Guidance not to enter or to notify the presence of the HOV lane entrance.

  If there is a possibility of deviating from the recommended route, the HOV entrance / exit guide unit 106 may deviate from the recommended route when entering the HOV lane so as not to enter the HOV lane in the entry section to the HOV lane. Etc. " Of course, the presence of the HOV lane entrance may not be guided. In such a case, the HOV entrance / exit guide unit 106 provides guidance that the user should exit in the exit section from the HOV lane. The HOV entrance / exit guide 106 identifies the nearest section (close to the current location) among the sections on the recommended route that can exit the HOV lane as the exit section from the HOV lane. This is to reduce deviation from the recommended route as much as possible.

  In other words, the HOV entrance / exit guide unit 106 can exit without departing from the recommended route on the HOV lane that enters the HOV lane immediately before the entrance of the HOV lane (for example, 200 m before the start position of the section that can enter the HOV lane). When there is no exit area, it can be said that guidance for deterring entry is performed. In addition, it can be said that the HOV entrance / exit guide unit 106 performs guidance to exit the HOV lane at the nearest exit of the HOV lane.

  Moreover, in the approach section to the HOV lane where there is a possibility of traveling without departing from the recommended route, the HOV entrance / exit guide unit 106 guides the existence of the HOV lane entrance. Even in such a case, the HOV entrance / exit guide unit 106 provides guidance that the user should exit in the exit section from the HOV lane. However, the HOV entrance / exit guide 106 identifies the farthest (close to the destination) section of the recommended route that can exit the HOV lane as the exit section from the HOV lane. This is to make it travel on the HOV lane as much as possible.

  In other words, the HOV entrance / exit guide unit 106 can exit without departing from the recommended route on the HOV lane that enters the HOV lane immediately before the entrance of the HOV lane (for example, 200 m before the start position of the section that can enter the HOV lane). If there is a long exit section, it can be said that guidance is performed without inhibiting entry. Further, it can be said that the HOV entrance guide unit 106 performs guidance so as to exit the HOV lane at the farthest exit of the HOV lane.

  The route search unit 107 searches for an optimum route (recommended route) that connects the starting point or current location instructed by the user and the destination. In the route search, a route is searched based on a link cost set in advance for a predetermined section (link) of a road using a route search logic such as Dijkstra method. In this process, a route that minimizes the link cost is searched without considering a route that uses the HOV lane.

  The route guidance unit 108 guides the user's driving operation using the speaker 42 and the display 2 so that the current location of the vehicle does not deviate from the recommended route. In addition, the route guiding unit 108 instructs the HOV entrance / exit guide unit 106 to perform guidance to the HOV lane entrance or guidance to the normal lane.

  Each functional unit of the arithmetic processing unit 1 described above, that is, the main control unit 101, the input receiving unit 102, the output processing unit 103, the camera control unit 104, the lane recognition unit 105, the HOV entrance / exit guide unit 106, the route search unit 107, the route guidance The unit 108 is constructed by the CPU 21 reading and executing a predetermined program. Therefore, the RAM 22 stores a program for realizing the processing of each functional unit.

  In addition, each above-mentioned component is classified according to the main processing content, in order to make an understanding easy the structure of the navigation apparatus 100. FIG. Therefore, the present invention is not limited by the way of classifying the components and their names. The configuration of the navigation device 100 can be classified into more components depending on the processing content. Moreover, it can also classify | categorize so that one component may perform more processes.

  Each functional unit may be constructed by hardware (ASIC, GPU, etc.). Further, the processing of each functional unit may be executed by one hardware or may be executed by a plurality of hardware.

  [Description of Operation] Next, the operation of the HOV exit guidance process performed by the navigation device 100 will be described. FIG. 6 is a flowchart showing the HOV exit guidance process performed by the navigation device 100. This flow is started when the navigation apparatus 100 is turned on and the navigation apparatus 100 is activated.

  First, the HOV entrance / exit guide unit 106 determines whether or not the recommended route is being guided (step S001). Specifically, the HOV entrance / exit guide unit 106 determines whether or not the route guidance unit 108 performs route guidance.

  When the recommended route is not being guided (“No” in step S001), the HOV entrance / exit guide 106 returns the control to step S001. When the recommended route is being guided (“Yes” in step S001), the HOV entrance / exit guide unit 106 determines whether the host vehicle is traveling on a normal lane (step S002). Specifically, the lane recognition unit 105 is requested to determine whether or not the vehicle is traveling on a normal lane. The lane recognition unit 105 acquires the HOV attribute 228 of the traveling lane and determines whether or not the host vehicle is traveling in the normal lane. The lane recognition unit 105 determines that the vehicle is not traveling in the normal lane if the HOV attribute of the traveling lane is “dedicated”. If the HOV attribute of the traveling lane is “none”, the lane recognition unit 105 determines that the host vehicle is traveling in the normal lane. If the HOV attribute of the traveling lane is “shared”, the lane recognition unit 105 determines whether or not the vehicle is traveling in the HOV lane using an image captured by the camera 12.

  If the vehicle is not traveling in the normal lane (“No” in step S002), the HOV entrance / exit guide 106 returns the control to step S002. When the host vehicle is traveling in a normal lane (“Yes” in step S002), the HOV entrance guide unit 106 is a predetermined distance before the link of the HOV lane entrance where the host vehicle can enter the HOV lane (for example, the entrance It is determined whether it is 200 m before the link start node (step S003).

  If the vehicle is not a predetermined distance before the link at the entrance of the HOV lane where the host vehicle can enter the HOV lane (“No” in step S003), the HOV entrance / exit guide 106 returns the control to step S002. When the vehicle is a predetermined distance before the link at the entrance of the HOV lane where the vehicle can enter the HOV lane (“Yes” in step S003), the HOV entrance / exit guide unit 106 is an exit link that can exit the HOV lane on the recommended route. Is included (step S004). That is, it can be said that the HOV entrance guide 106 determines whether or not the vehicle can travel on the HOV lane without departing from the recommended route.

  When an exit link from the HOV lane is included on the recommended route (“Yes” in step S004), the HOV entrance / exit guide unit 106 guides that the HOV entrance exists at the entrance link of the HOV lane. (Step S005). For example, guidance such as “There is a HOV entrance”.

  Then, the HOV entrance / exit guide unit 106 guides the user to exit the HOV lane at the farthest HOV lane exit link on the recommended route (step S006). Specifically, the HOV entrance guide unit 106 is illustrated so as to guide the exit from the HOV lane at the farthest, that is, the exit link closest to the destination among the links that can exit from the HOV lane on the recommended route. Registered in the storage area (for example, the storage area on the RAM 22), and when the exit link is reached, a message is presented to the user to leave the HOV lane. Then, the control is returned to step S001.

  If the recommended route does not include an exit link from the HOV lane (“No” in step S004), the HOV entrance guide unit 106 guides the HOV lane entrance link not to enter the HOV (step S007). ). Specifically, the HOV entrance / exit guide unit 106 targets the link at the entrance of the HOV lane determined in step S003 to be within a predetermined distance from the host vehicle, and “departs from the route when entering the HOV lane”. Is issued, a message for guiding the user not to enter the HOV lane is presented to the user. Alternatively, the HOV entrance / exit guide 106 may guide the HOV lane from not entering by not guiding the existence of the HOV lane.

  Then, the HOV entrance / exit guide unit 106 guides the exit from the HOV lane at the nearest HOV lane exit link ahead of the HOV lane entrance (step S008). Specifically, the HOV entrance / exit guide unit 106 is a storage area (not shown) so as to guide the exit from the HOV lane at the exit link closest to the current location among the links that can exit the HOV lane on the recommended route (for example, When the registered exit link is reached, a message is displayed to the user to leave the HOV lane. This is to minimize deviation from the recommended route. Then, the control is returned to step S001.

  The above is the processing content of the HOV exit guidance processing. By performing the above HOV exit guidance process, the navigation device 100 can appropriately guide the user at the entrance / exit of the HOV lane. That is, the user can appropriately travel on the HOV lane without departing from the recommended route. Further, even when the vehicle deviates from the recommended route, the influence of the departure can be minimized.

  In the above processing, it is assumed that the HOV lane travels on a highway, but the present invention is not limited to this. For example, you may make it perform the entrance / exit guidance of a HOV lane also on a general road. In this way, it is possible to eliminate the user's hesitation whether the recommended route can be traveled even if traveling on the HOV lane, or whether the travel will deviate from the recommended route if traveling on the HOV lane.

FIG. 7 is a diagram illustrating an example of the HOV exit guidance process in a more specific scene.
In FIG. 7, it is assumed that a vehicle traveling on the normal lane 451 of the road 450 provided with the normal lane 452 and the HOV lane 451 is directed to a branch line 453 that is a road to the destination. In FIG. 7A, it is assumed that the entrance / exit between the normal lane 452 and the HOV lane 451 of the road 450 has only one entrance / exit 454 in front of the branch line 453. That is, an entrance / exit prohibition section 455 in which entry / exit between the normal lane 452 and the HOV lane 451 is prohibited is provided before the entrance / exit 454. In FIG. 7B, the entrance / exit between the normal lane 452 and the HOV lane 451 of the road 450 is from an entrance / exit 454 near the vehicle before the branch line 453 and a vehicle ahead of the entry / exit section 455. Assume that there are two locations of distant entrances 455.

  In FIG. 7A, the exit link that can leave the HOV lane 451 is not included in the section to the branch line 453 (the entrance 454 becomes an entrance when viewed from a vehicle traveling in the normal lane). Because). Therefore, the navigation apparatus 100 does not guide the existence of the entrance to the HOV lane 451 at the entrance / exit 454. Alternatively, the navigation device 100 performs a voice guide saying “If you enter the HOV lane, you will deviate from the route”.

  On the other hand, in FIG. 7B, it can be said that the exit link (entrance / exit 456) that can exit from the HOV lane 451 is included in the section to the branch line 453. Therefore, the navigation apparatus 100 guides the existence of the entrance to the HOV lane 451 at the entrance / exit 454 using a voice guide such as “There is a HOV entrance”. At the same time, the navigation device 100 performs voice guidance “There is a HOV exit” at the entrance / exit 456.

  The embodiment of the present invention has been described above. According to the embodiment of the present invention, when the entrance of the HOV lane approaches the user who is traveling according to the recommended route, the navigation device 100 can appropriately guide the user at the entrance.

  The present invention is not limited to the above embodiment. The above embodiment can be variously modified within the scope of the technical idea of the present invention. For example, the lane recognition processing by the lane recognition unit 105 may be performed by, for example, highly accurate GPS position information or lane recognition based on information received from an oscillator for lane recognition laid for each lane. .

  Further, for example, as shown in FIG. 8, the flow of the HOV exit guidance process may be changed. FIG. 8 is a diagram showing a modification of the HOV exit guidance process. As shown in FIG. 8, in the modification, steps S101 and S102 are included between steps S004 and S007 of the HOV exit guidance process.

  In step S101, the HOV entrance / exit guide 106 searches for a route that passes through the nearest exit from the HOV lane (step S101). Specifically, the HOV entrance / exit guide unit 106 instructs the route search unit 107 to search for a recommended route from the current location to the destination. At that time, the HOV entrance / exit guide unit 106 instructs the route search unit 107 so that the recommended route is a route passing the nearest exit from the HOV lane.

  Then, the HOV entrance guidance unit 106 compares the cost of the re-searched route with the cost of the remaining portion of the recommended route being guided, and determines whether the cost of the re-searched route is more advantageous. Is determined (step S102). Specifically, the HOV entrance guidance unit 106 calculates the cost of the route searched again in step S101, and the cost of the route searched again is compared with the cost of the remaining section of the recommended route being guided. If it is smaller, it is determined that the cost of the re-searched route is more advantageous.

  Then, if the cost of the re-searched route is more advantageous (“Yes” in step S102), the HOV entrance guide unit 106 advances the process to step S005. Alternatively, if the cost of the re-searched route is not more advantageous (“No” in step S102), the route guidance unit 108 sets the re-searched route as a new recommended route, The process proceeds to step S007.

  The above is a modification of the HOV exit guidance process. The above modification will be described with reference to a specific example in FIG. FIG. 9 is a diagram illustrating the HOV exit guidance process according to the modified example in a specific scene.

  FIG. 9 shows a recommended route 421a when the vehicle 400C traveling on the normal lane 401 of the road 400 provided with the normal lane 402 and the HOV lane 401 heads for the destination 420. In addition, the entrance / exit of the normal lane 402 and the HOV lane 401 of the road 400 is shown in two places, the entrance / exit 403 close to the vehicle and the entrance / exit 404 far from the vehicle. Further, the recommended route 421a is shown to enter the branch road 410 from the road 400 in the vicinity of the entrance 403 and head toward the destination 410.

  Here, the exit link exiting from the HOV lane 401 is not included in the recommended route 421a (because the entrance / exit 403 is an entrance when viewed from the vehicle 400C traveling in the normal lane). Therefore, the navigation apparatus 100 re-searches the route 421b that passes through the entrance / exit 404, which is the nearest exit from the HOV lane 401, and compares the cost with the cost of the 421a. Do not deter entry (guide the presence of HOV lanes). Then, guidance is given to exit the HOV lane at the entrance 404. If not advantageous, the navigation apparatus 100 guides the entrance / exit 403 not to enter the HOV lane 401 and guides the exit / exit 404 to exit the HOV lane 401. In this case, since the route deviates from the recommended route 421a, the route 421b is set as a new recommended route.

  In the above, this invention was demonstrated centering on embodiment. In the above-described embodiment, the example in which the present invention is applied to the navigation apparatus has been described. However, the present invention is not limited to the navigation apparatus, and can be applied to all apparatuses that perform route guidance of a moving body.

  In the above-described embodiment, the case of the United States where the right-side traveling is a criterion is mainly described as an example. Of course, in the UK and Japan, where left-hand driving is the standard, the left and right may be reversed.

DESCRIPTION OF SYMBOLS 1 ... Arithmetic processing part, 2 ... Display, 3 ... Memory | storage device, 4 ... Voice output device, 5 ... Input device, 6 ... ROM device, 7 ... Vehicle speed sensor , 8 ... Gyro sensor, 9 ... GPS receiver, 10 ... FM multiplex broadcast receiver, 11 ... Beacon receiver, 12 ... Camera, 13 ... In-vehicle network communication device, 21 ... CPU, 22 ... RAM, 23 ... ROM, 24 ... I / F, 25 ... bus, 41 ... microphone, 42 ... speaker, 51 ... touch panel, 52 ... Dial switch, 100 ... Navigation device, 101 ... Main control unit, 102 ... Input reception unit, 103 ... Output processing unit, 104 ... Camera control unit, 105 ... Lane Recognition part, 106 ... HOV entrance Internal, 107 ... route search section, 108 ... route guidance unit, 200 ... link table, 300 ... vehicle

Claims (6)

Storage means for storing lane information including the installation status of lanes (hereinafter referred to as conditional lanes) that can be passed by satisfying predetermined conditions;
Route guidance means for guiding the recommended route to the destination,
Guiding means for guiding the entrance and exit of the conditional lane,
If the guidance means travels on the conditional lane and cannot travel without departing from the recommended route, the guidance means guides the vehicle from entering the conditional lane from the entrance of the conditional lane, or Suppress the presence of conditional lane entrances,
A navigation device characterized by that. The navigation device according to claim 1,
The guide means determines that the vehicle cannot travel without departing from the recommended route when there is no exit from the conditional lane on the recommended route.
A navigation device characterized by that. The navigation device according to claim 1 or 2,
The guide means guides the vehicle to exit from the conditional lane at the nearest conditional lane exit link when the vehicle cannot travel without departing from the recommended route.
A navigation device characterized by that. The navigation device according to any one of claims 1 to 3,
When the guide means cannot travel without departing from the recommended route, it re-searches the route that passes the nearest conditional lane exit link, and if the cost of the re-searched route is not advantageous, Guiding not to enter the conditional lane from the entrance of the conditional lane,
A navigation device characterized by that. The navigation device according to any one of claims 1 to 4,
When the guide means can travel without departing from the recommended route, the guide means guides the vehicle to exit from the conditional lane at the farthest conditional lane exit link that does not deviate from the recommended route.
A navigation device comprising: A navigation device guidance method comprising:
The navigation device
Storage means for storing lane information including the installation status of lanes (hereinafter referred to as conditional lanes) that can be passed by satisfying predetermined conditions;
Route guidance means for guiding the recommended route to the destination,
Guiding means for guiding the entrance and exit of the conditional lane,
If the guidance means travels on the conditional lane and cannot travel without departing from the recommended route, the guidance means guides the vehicle from entering the conditional lane from the entrance of the conditional lane, or Suppressing guidance of the presence of a lane entrance,
The guidance method characterized by implementing.

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