JP2010175314A - On-vehicle navigation device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an on-vehicle navigation device capable of attaining comfortable driving by further reducing than hitherto, stresses caused by other vehicles, roads or the like, and of being received by a driver during traveling. <P>SOLUTION: This device includes a route searching section 31, and a vehicle guiding section 32. The device also includes sensors 11, 12, etc., for detecting a prescribed detection object, when own vehicle is traveling; an information acquisition section 33 for acquiring object information on the prescribed detection object, based on the data detected by the sensors 11, 12, etc.; and an information accumulation section 34 for accumulating object information acquired by the information acquiring section 33, in correlation with theroad information for specifying a road along which own vehicle is traveling. The route searching section 31 determines the index on the sense of oppression received by the driver, based on the object information and the road information accumulated by the information accumulation section 34, and preferentially presents a route having a low index on the sense of oppression. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention provides a route search unit that searches and presents a route to a destination using road data, a vehicle guide unit that guides a vehicle along a route selected from the routes presented by the route search unit, It is related with a vehicle-mounted navigation apparatus provided with.

  Conventionally, for example, in Patent Document 1, in order to avoid a road having a traffic problem such as a heavy traffic and a traffic jam, the road frequency is acquired based on history information acquired from probe information or the like, An example of a technique for avoiding the road if the traveling frequency is less than a predetermined reference value is disclosed.

JP 2008-275348 A

  However, even if it is possible to avoid the difficult road by applying the technique of Patent Document 1, it is specific to the periphery of the own vehicle (that is, one or more surroundings on the front side, right side, left side, rear side) For example, when a vehicle such as a large vehicle or a motorcycle travels, the driver may feel a sense of tension or pressure. Particularly, for example, in the case of large vehicles such as trucks, dump trucks, and buses, it is difficult to grasp the surrounding situation because the ratio of the visibility is high. In such a case, there is a possibility that the driver is stressed during traveling.

  Accordingly, the present invention has been made in view of the above points, and an in-vehicle navigation system that can reduce the stress that the driver receives during traveling due to other vehicles, roads, and the like, and can perform comfortable driving. An object is to provide an apparatus.

Means for solving the above-described problems will be described below.
A vehicle-mounted navigation device according to a first aspect of the present invention searches a route to a destination using road data and presents the route along a route presented by the route search unit. In a vehicle-mounted navigation device including a vehicle guide unit, when the host vehicle is traveling, a sensor that detects other vehicles around the host vehicle and data detected by the sensor are related to the predetermined detection target. An information acquisition unit that acquires target information; an information storage unit that stores the target information acquired by the information acquisition unit and road information that identifies the road on which the host vehicle is traveling; The unit obtains an index relating to a sense of tension and pressure that the driver receives based on the target information and the road information accumulated by the information accumulation unit, It is intended to present the index is lower pathway for tightness preferentially.

Other vehicles in the vicinity of the subject vehicle to be detected are the travel amount (meaning the number of vehicles, also referred to as “traffic amount”), type (specifically, large vehicle, medium-sized vehicle, small vehicle, two-wheeled vehicle, etc.) , One or more of size (for example, vehicle width, vehicle height, vehicle length, etc.), travel speed, distance between vehicles, license plate, and the like.
A sensor of a type corresponding to the predetermined detection target is used. As an example, with regard to the travel amount and size of other vehicles, one or more of cameras, radars, microphones, and the like are applicable. For the traveling speed of other vehicles, a speed measuring sensor such as a speed gun is applicable. As for the inter-vehicle distance to other vehicles, one or more of distance measurement sensors such as a laser distance measurement sensor and a sonic distance measurement sensor are applicable. Moreover, the arrangement can be one or more of the front side, the right side, the left side, and the rear side of the vehicle body depending on the object to be detected.
The information acquisition unit may be arbitrarily formed as long as the information detected for the predetermined detection target described above can be acquired as target information. The target information may be not only single data but also a data aggregate including a large number of data such as image data and signal data.
The road information is arbitrary as long as it is information that can identify the road on which the host vehicle is traveling. For example, a link in road data corresponds.
The information storage unit may be arbitrarily formed as long as the target information and the road information can be stored in association with each other (including recording and storage), and how the information is related is arbitrary. For example, the target information and the road information are stored as the same link, and the target information and the road information are stored as one data structure.
The route search unit obtains an index related to the sense of tension and pressure experienced by the driver based on the target information and road information for each route to the searched destination, or a route with a low index related to the sense of tension and pressure. It should be possible to present it with priority.
Since the index related to the feeling of tension and pressure received by the driver is likely to depend on the subjectivity of the driver, it is possible to set which target vehicle is likely to receive the feeling of tension and pressure. It should be noted that the pressure index that summarizes the sense of tension and pressure needs to be rearranged in the searched route when presenting the route, and is therefore handled quantitatively.

  The route search unit of the in-vehicle navigation device of the invention according to claim 2 determines whether or not the searched route includes a road specified by the road information stored by the information storage unit. An index for obtaining an index relating to a feeling of pressure received by the driver based on the target information accumulated in association with the road information when the road determination unit and the road determination unit determine that the road is included. And a candidate presenting unit that rearranges and presents the searched routes so that a route with a low index calculated by the index calculating unit is given priority.

  The route search unit of the in-vehicle navigation device of the invention according to claim 3 further excludes a road specified by the road information accumulated by the information accumulation unit, and a required time and a required distance to the destination In this case, a detour route in which the amount of increase in one or both is within an allowable range is searched for and presented.

  When the predetermined detection target is another vehicle, the route search unit of the in-vehicle navigation device according to a fourth aspect of the invention increases as one or more of the size, travel amount, and number of encounters of the other vehicle increases. The pressure index related to the feeling of tension and pressure felt by the driver is set high.

The information storage unit of the in-vehicle navigation device of the invention according to claim 5 further includes date and time information indicating one or more of the date, day of the week, and time when the host vehicle is running as the target information and The route search unit is stored in association with road information, and is received by the driver only when the date and time of travel is within a predetermined range from the date and time specified by the date and time information stored by the information storage unit. It seeks an index about the sense of urgency.
Here, the date and time corresponds to one or more of date, day of the week, and time. Within a predetermined range from the date and time specified by the date and time information, for example, Golden Week, Bon Festival / New Year Week, time zone, etc. are applicable.

  The sensor of the in-vehicle navigation device of the invention according to claim 6 detects another vehicle that travels around the host vehicle, and the information acquisition unit includes a travel amount of the other vehicle, a type of the other vehicle, the One or more pieces of information are acquired as target information among the size of the other vehicle, the traveling speed of the other vehicle, the inter-vehicle distance to the other vehicle, and the ratio of the field of view blocked by the other vehicle.

  The index related to the feeling of pressure received by the driver of the in-vehicle navigation device according to claim 7 is information indicating a cost for use in route search, and the road as the feeling of pressure received by the driver increases. The route search unit is configured to preferentially present a route with a low link cost among the searched routes.

  According to the first aspect of the present invention, the route search unit of the vehicle-mounted navigation device has a feeling of tension and a feeling of pressure that the driver receives (hereinafter may be simply referred to as “pressure feeling index”). Since a route with a low pressure is presented preferentially, the driver can easily select a route with a low pressure index. In addition, since the vehicle guide unit guides the vehicle along the selected route, the driver receives less stress during traveling and can perform comfortable driving.

  According to the invention of claim 2, when the road specified by the road information accumulated by the information accumulation unit is included in the searched route, the index calculation means obtains a pressure sensation index based on the target information. . The candidate presenting means rearranges and presents the searched routes so that a route with a low index calculated by the index calculating means is given priority. In addition to the effect described in claim 1, it is possible to reliably calculate the pressure index, and to preferentially present a route in which the driver is less susceptible to stress.

  According to the invention of claim 3, the route search unit searches for and presents a detour in which the amount of increase in one or both of the required time and required distance to the destination is within an allowable range. In addition to the effect described in claim 1 or claim 2, a detour is also presented, so that the driver can select a desired route for driving comfortably.

  According to the invention of claim 4, when the predetermined detection target is another vehicle, the route search unit calculates the numerical value of the pressure sensation index as one or more of the size, travel amount, and number of encounters of the other vehicle increase. Set high. In addition to the effect described in any one of claims 1 to 3, the larger the size, travel amount, and number of encounters of other vehicles, the more easily the driver is stressed. The route can be presented.

  According to the invention of claim 5, the route search unit is within a predetermined range from the date / time etc. specified by the date / time information accumulated by the information accumulation unit in the date, day of the week, and time of day, etc. The pressure index is calculated only at certain times. In consideration of the difference in the type of vehicle that passes depending on the day of the week, the time of day, etc., in addition to the effect described in any one of claims 1 to 4, the pressure index is limited only to the day of the week, the time of day, etc. Since the calculation is performed, an appropriate route can be presented in real time.

  According to the invention of claim 6, the target information includes the travel amount of the other vehicle, the type of the other vehicle, the size of the other vehicle, the travel speed of the other vehicle, the distance between the other vehicles, and the field of view blocked by the other vehicle. The information is one or more of the ratios. In addition to the effect according to any one of claims 1 to 5, since the compression feeling index is calculated based on information obtained by detecting other vehicles traveling around the host vehicle, the driver can The degree of stress to be received can be accurately expressed quantitatively, that is, quantified.

  According to the invention of claim 7, the pressure index is set such that the cost of the link set for each road increases as the pressure feeling (degree) received by the driver increases. In addition to the effect according to any one of claims 1 to 6, the route search unit preferentially presents a route having a low link cost among the searched routes. It becomes easy to select a route with a low.

FIG. 1 is a block diagram schematically showing a configuration example of an in-vehicle navigation device according to Embodiment 1 of the present invention. FIG. 2 is a conceptual diagram showing a structure example of a map database in the vehicle-mounted navigation device according to the first embodiment of the present invention. FIG. 3 is a diagram showing a record example of the map database in the in-vehicle navigation device according to the first embodiment of the present invention. FIG. 4 is a flowchart showing an example of a procedure of the surrounding vehicle learning process in the embodiment of the present invention. FIG. 5 is a flowchart showing a procedure example of the vehicle registration process in the first embodiment of the present invention. FIG. 6 is a flowchart showing a procedure example of route search guidance processing according to the first embodiment of the present invention. FIG. 7 is a flowchart showing an example of a procedure for candidate selection processing according to the first embodiment of the present invention. FIG. 8 is a flowchart illustrating a procedure example of the index calculation process according to the first embodiment of the present invention. FIG. 9 is a diagram showing an example of a screen presenting the searched route according to the first embodiment of the present invention. FIG. 10 is a flowchart showing a procedure example of the front and rear vehicle learning process in the second embodiment of the present invention. FIG. 11 is a flowchart showing a procedure example of the vehicle registration process in the second embodiment of the present invention. FIG. 12 is a flowchart showing a procedure example of road learning processing in the embodiment of the present invention.

  Hereinafter, the best mode of the present invention will be described with reference to the drawings. In addition, since it is common to embodiment and the same symbol and the same code | symbol are the same or an equivalent functional part in a figure, the overlapping description is abbreviate | omitted here.

[Embodiment 1]
In the first embodiment, another vehicle running around the host vehicle is imaged with a camera, and the target information (that is, the type) of the other vehicle is acquired and accumulated based on the obtained image data, and then accumulated. This is an example in which an index relating to a feeling of tension, a feeling of pressure, or the like received by the driver is obtained based on the target information, and a route with a low index relating to the feeling of pressure is preferentially presented.

The first embodiment will be described with reference to FIGS.
FIG. 1 is a block diagram schematically showing a configuration example of an in-vehicle navigation device according to an embodiment of the present invention, and FIG. 2 is a conceptual diagram showing a structural example of a map database in the in-vehicle navigation device according to the embodiment of the present invention. FIG. 3 is a diagram showing a record example of a map database in the in-vehicle navigation device of the embodiment of the present invention. FIG. 4 is a flowchart showing an example of the procedure of the surrounding vehicle learning process in the embodiment of the present invention, FIG. 5 is a flowchart showing an example of the procedure of the vehicle registration process in the embodiment of the invention, and FIG. 6 is in the embodiment of the invention. 7 is a flowchart showing an example of a procedure for route search guidance processing, FIG. 7 is a flowchart showing an example of a procedure for candidate selection processing in an embodiment of the present invention, and FIG. 8 is a flowchart showing an example of a procedure for index calculation processing in an embodiment of the present invention. FIG. 9 is a diagram showing an example of a screen presenting the searched route in the embodiment of the present invention.

  First, a configuration example of a navigation device mounted on a vehicle such as an automobile, that is, a vehicle-mounted navigation device will be described with reference to FIG.

  A sensor group 10 composed of various sensors (including sensors not shown) necessary for the in-vehicle navigation device as an application of the present embodiment shown in FIG. 1, a recording medium 20 composed of one or more of a semiconductor memory, a hard disk, etc., a map In addition to satellite navigation that uses the database 21 to measure the position using radio waves from GPS satellites, self-sustained navigation that can detect the position of the vehicle on elevated roads and tunnels where radio waves from GPS satellites are difficult to receive was adopted. Communication with the navigation control unit 30, the operation unit 40 where the operator corrects the position at the start of traveling, or inputs the departure point, destination, etc., and external devices (for example, a computer network, a speed measurement sensor, etc.) A communication unit 50 for performing a route search, a voice for performing route guidance, and an output unit 60 for outputting by display .

  The sensor group 10 includes sensors necessary for realizing the present invention. For example, one or more of the camera 11, the radar 12, the gyroscope 13, the speed measurement sensor 14, the distance measurement sensor 15, the microphone 16, and the like are applicable. To do. Furthermore, although not shown in the drawings, as an in-vehicle navigation device, for example, a GPS (Global Positioning System) sensor used for satellite navigation, a geomagnetic sensor used for autonomous navigation, a steering sensor, a beacon sensor, an altitude sensor, etc. Sensors necessary to perform the operation are included.

The camera 11 can capture an image of an object such as another vehicle traveling around the host vehicle or a traveling road. For example, a CCD camera or a CMOS camera is used.
The radar 12 only needs to be able to measure the size and shape of an object by performing horizontal scanning and vertical scanning. Generally, a primary radar is used, but when a Doppler radar is used, the speed of the object is measured. it can.

The gyroscope 13 (also referred to as “gyro sensor”) can be used regardless of rotation type, vibration type, gas type, or optical type as long as the angular velocity can be detected.
The speed measurement sensor 14 can be used if it can measure the traveling speed of the object. For example, a speed gun is applicable.
The distance measuring sensor 15 is optional as long as it can measure the distance to the object, for example, the inter-vehicle distance. For example, a laser sensor or an infrared sensor can be used.
The microphone 16 only needs to convert the sound emitted by the object into an electrical signal.

  The recording medium 20 is a recordable memory, and is a medium capable of recording at least a map database 21 and software 22 described later. For example, one or more of semiconductor memory, magnetic tape, magnetic disk, magnetic drum, CD-ROM, MD, DVD-ROM, optical disk, MO, IC card, optical card, memory card, and the like are applicable. The map database 21 is an example of a database.

  The software 22 includes at least a program for realizing a navigation operation, a procedure described later (specifically, a surrounding vehicle learning process in FIG. 4, a vehicle registration process in FIG. 5, a route search guidance process in FIG. 6, and a candidate in FIG. A program for realizing the selection process, the index calculation process of FIG.

  The navigation control unit 30 is configured to be able to implement a navigation operation using the map database 21. Specifically, it includes a route search unit 31, a vehicle guide unit 32, an information acquisition unit 33, an information storage unit 34, and the like. Although not shown, a data access means for accessing the map database 21 and an operation control means for realizing a navigation operation by employing satellite navigation and / or self-contained navigation are also provided separately. Actually, as indicated by a two-dot chain line, a CPU, a ROM, a RAM, a controller, and the like are provided, and the CPU and the software 22 execute each unit and each unit individually.

The route search unit 31 includes a road discriminating unit 31a, an index calculating unit 31b, a candidate presenting unit 31c, etc., and accesses the recording medium 20 and refers to the road data stored in the map database 21 to set the purpose. Search for a route to the ground.
The road discriminating means 31a discriminates whether or not the searched route includes a road specified by the road information accumulated by the information accumulating unit 34. When it is determined that the road is included by the road determination unit, the index calculation unit 31b obtains a pressure sensation index based on the target information accumulated in association with the road information. The candidate presenting unit 31c rearranges and presents the searched routes so that the route with the lower index calculated by the index calculating unit 31b is given priority.

  The vehicle guide unit 32 guides the vehicle along a route selected from the routes searched by the route search unit 31 described above. The guidance is displayed on the screen by outputting necessary data to the output unit 60, and is also transmitted with sound (especially voice) as necessary.

  The information acquisition unit 33 acquires target information related to other vehicles around the host vehicle based on data detected by sensors included in the sensor group 10. One or more of the other vehicles in the vicinity of the subject vehicle that is a predetermined detection target corresponds to travel amount, size (for example, vehicle width, vehicle height, vehicle length, etc.), travel speed, distance between vehicles, license plate, and the like. . This target information may be not only single data but also a data aggregate made up of a large number of data such as images and signals.

  The information accumulating unit 34 accumulates the target information acquired by the information acquiring unit 33 in association with the road information specifying the road on which the host vehicle is traveling. The storage medium may be, for example, the map database 21 of the recording medium 20, or another medium or database. It is possible to arbitrarily set how the target information and the road information are associated with each other. For example, the correspondence such as storing the target information and the road information as the same link and storing the target information and the road information as one data structure is applicable.

  The operation unit 40 is, for example, a part that selects a desired route from among the route candidates to the presented destination, corrects the position at the start of traveling, and inputs and corrects the destination, etc. For example, an operation key, a push button, a jog dial, a cross key, a touch panel, and the like provided on the in-vehicle navigation device body. Note that a voice identification device or the like configured by a remote controller, a microphone, or the like may be used.

  The communication unit 50 transmits / receives various data to / from an FM transmitter, a telephone line, the Internet, a mobile phone network, and the like. For example, various types of data such as road information such as traffic jams, traffic accident information, and D-GPS information for detecting a detection error of a GPS sensor received by a predetermined sensor are received. Further, with respect to programs for realizing the functions of the present invention and programs and data for operating the in-vehicle navigation apparatus main body, for example, from an information center such as an Internet server or a navigation server, an Internet provider terminal or a telephone line -Transmit and receive to and from a plurality of base stations such as communication stations connected via communication lines.

  The output unit 60 presents route candidates to the destination, and guides the vehicle along the route selected from the candidates. For example, specifically, one or more of a display 61 such as an LCD, EL, plasma, CRT, a speaker 62, a vibrator (not shown), and the like are applicable. In addition, when the speech synthesizer is provided, a speech output device that can output the speech synthesized by the speech synthesizer may be used.

  Here, an example of the structure of the map database 21 recorded on the recording medium 20 will be described with reference to FIG. FIG. 2 shows an example of the structure of road data related to one road (that is, the same continuous route) for the sake of simplicity. In practice, road data relating to a large number of roads laid throughout the country or region is accumulated in the map database 21.

  The map database 21 shown in FIG. 2 includes a plurality of links L1, L2, L3,. Each link includes type information J1, position information J2, target information J3, date and time information J4, cost information J5, railroad information J6, and so on. However, specifically, the learning information such as the target information J3, the date information J4, and the cost information J5 is information added by performing learning (see FIGS. 4 and 5 described later). The previous link does not include the learning information.

2 shows an example of recording all the data in the map database 21, but one or more data may be recorded in separate data aggregates (including the database).
Further, although FIG. 2 shows the link L2, actually, for each individual link, type information J1, position information J2, target information J3, date and time information J4, cost information J5, rail line information J6,... Have The learning target information K is information such as the type and size of the other vehicle to be learned when learning information about the other vehicle.

  Further, as shown by a two-dot chain line in FIG. 2, travel amount information related to the travel amount of other vehicles traveling around the host vehicle, encounter information related to the number of encounters with a specific vehicle among other vehicles, One or more of ratio information regarding the ratio of the field of view to be displayed may be recorded as necessary.

The type information J1 is information for specifying a road such as a road type and a road attribute. National roads, prefectural roads, major local roads, general roads, highways, and motorway roads are applicable. Road attributes include main lines, branch lines (bypasses), bridges, railroad crossings, expressway entrances (rampways), toll gates (interchanges), uphills, downhills, and the like.
The position information J2 is information indicating the position of the start point (or end point) of the link. For example, one or more of the latitude and longitude, the distance from the start point of the road (link), the distance to the end point, and the like are applicable.

The target information J3 corresponds to one or more of the travel amount, size (for example, vehicle width, vehicle height, vehicle length, etc.), travel speed, inter-vehicle distance, etc., in the case where another vehicle is the target. For roads, the amount of meandering of roads (for example, winding roads such as roads), the amount of vibration that occurs during travel on gravel roads and uneven roads, One or more of the slip amounts and the like generated during traveling on an iron plate wet with rain or the like are applicable.
The date / time information J4 corresponds to one or more of the date, day of the week, time, etc., and is information related to the date / time when detection by the sensor is mainly performed.
The cost information J5 is information obtained by quantifying the cost of the road, and quantifies the “compression index (that is, an index related to a sense of pressure, such as a sense of tension or a sense of pressure received by the driver)” related to the present invention. In other words, information that is digitized may be included.
The roadside information J6 is information about the roadside along the link. For example, one or more of a parking lot, a landform along a road (including color-coded information, etc.), a building (including a play facility, a building name, a store name, etc.), a leisure resort, a scenic spot, and the like.

  A recording example of the map database 21 related to the type information J1, the position information J2, the target information J3, the date information J4, the cost information J5, the line information J6,... Will be described with reference to FIG. In the recording example of FIG. 3, one data is recorded in each item, but two or more data may be recorded in one item, and the number of data may be different for each item.

  In FIG. 3, “National highway No. 1” meaning National highway No. 1 is recorded in the type information J11 corresponding to the type information J1 of FIG. In the position information J12 corresponding to the position information J2 in FIG. 2, “35.12N” indicating latitude and “136.34E” indicating longitude are recorded. In the target information J13 corresponding to the target information J3 in FIG. 2, the “large vehicle” indicating the type of the other vehicle, the vehicle width “2400W” and the vehicle height “2300H” indicating the size of the other vehicle are recorded. Yes. In the date / time information J14 corresponding to the date / time information J4 in FIG. 2, the time “18:00” when the detection by the sensor is performed is recorded. In the cost information J15 corresponding to the cost information J5 in FIG. 2, “10” is recorded as a numerical value indicating the cost. In the track information J16 corresponding to the track information J6 in FIG. 2, “amusement park” as an entertainment facility is recorded.

When accessing the map database 21 of the recording medium 20 described above and guiding the host vehicle along the route to the destination, the other vehicle traveling around the host vehicle is imaged, and the captured image data is converted into the captured image data. The surrounding vehicle learning process which acquires and learns the information regarding the other vehicle will be described with reference to FIG.
The peripheral vehicle learning process in FIG. 4 is repeatedly executed until the host vehicle arrives at the destination, including the vehicle registration process in FIG. 5 that is called during the process.

In FIG. 4, first, the camera 11 is used to image the surroundings of the host vehicle [Step S10], the image data obtained by the imaging is recognized, and other vehicles are detected and listed [Step S11]. The other vehicles listed here are all detection vehicles including vehicles to be processed as an index related to the feeling of tension, feeling of pressure, etc. received by the driver, such as large vehicles such as trucks and buses, motorcycles, etc. Vehicles other than those specified by the driver as receiving a sense of tension, pressure, etc. are also included.
Other techniques relating to image recognition performed when detecting a vehicle can also be handled by conventional techniques, and thus illustrations and detailed explanations are omitted.

Next, it is determined from all the detected vehicles whether the driver has been identified as receiving a sense of tension, pressure, etc. [step S12]. The vehicle that receives a sense of tension, pressure, or the like set by the driver has individual differences, but is, for example, a large vehicle, a medium vehicle, or the like. In step S12, it is determined whether or not the driver is a vehicle identified as receiving a sense of tension, pressure, or the like. If the vehicle is not a corresponding vehicle, the corresponding vehicle is deleted from the listed list [step S17].
However, when it is determined in step S12 that the driver has identified the vehicle as receiving tension, pressure, etc., vehicle registration processing is performed in step S13.

  In FIG. 5, since this routine is called as a corresponding vehicle received by the driver in the vehicle list specified as the driver receiving tension, pressure, etc. in step S <b> 13, imaging is performed in step S <b> 10 of FIG. 4. The information of the other vehicle is acquired based on the obtained image data [information acquisition unit 33; step S20]. As other vehicle information, for example, specifically, the type of other vehicle such as a large vehicle, a two-wheeled vehicle, specifically, the size of the other vehicle such as a vehicle width, a vehicle height, a vehicle length, etc. One or more pieces of information correspond to the inter-vehicle distance. As an example, in order to obtain the type of another vehicle, the image data is recognized and analyzed to determine the approximate size of the other vehicle, and the type of the other vehicle according to the classification of the size of the vehicle stipulated in the Road Traffic Law, that is, Any one of a large vehicle, a medium vehicle, a small vehicle, a two-wheeled vehicle, etc. may be specified. In acquiring information of other vehicles including this example, it is possible to use image recognition technology for recognizing image data, image analysis technology for analyzing image data, etc., but conventional technology can also handle this. Since it is possible, illustration and detailed explanation are omitted.

  It is determined whether or not the other vehicle has been registered in the map database 21 based on the information of the other vehicle specified that the driver obtained by executing Step S20 receives a sense of tension, pressure, etc. [Step S21]. If it is a registered other vehicle (YES), the road cost is increased corresponding to the increase in the number of times of detection (information storage unit 34; step S25), and the processed other vehicle is deleted from the list. [Step S24], this routine is exited. According to the registration example of FIG. 3, in step S25, the cost information J15 may be changed at least according to the number of times. Of course, it is desirable to store the date and time information at the same time.

  On the other hand, when the other vehicle obtained by executing Step S20 is not registered (NO in Step S21), it is determined whether or not the other vehicle is a learning target [Step S22]. Since what other vehicle is to be learned depends on the subjectivity of the driver of the host vehicle, a predetermined recording medium such as FIG. Is recorded (set) in the learning target information K of the map database 21 shown in FIG. When the driver of the own vehicle receives a feeling of pressure between the large vehicle and the two-wheeled vehicle, the large vehicle and the two-wheeled vehicle may be recorded by operating the operation unit 40.

  If the vehicle is another vehicle to be learned (YES), predetermined information such as target information on the other vehicle is registered (recorded) in the map database 21 or the like [information storage unit 34; step S23] and processed. The other vehicle is deleted from the list [step S24], and the process returns.

  In particular, by executing step S23, the predetermined information is recorded as part of the links L1, L2, L3,... As target information J3 (see FIGS. 2 and 3). According to the structure example of the map database 21 shown in FIG. 2, the target information J3 is associated with the road information in that the target information J3 is recorded as a part of the links L1, L2, L3,. Accumulated. Moreover, according to the registration example of FIG. 3, what is necessary is just to record about the information acquired by step S20 as object information J13, date information J14, cost information J15, etc. FIG.

  On the other hand, if it is not the other vehicle to be learned in step S22 (NO), there is no need to register (record) in the map database 21, so the processed other vehicle is deleted from the list [step S24], Return.

  In step S23 and step S25, the travel amount information related to the travel amount of other vehicles that travel around the host vehicle, the encounter information related to the number of encounters with a specific vehicle among the other vehicles, and the proportion of the field of view blocked by the other vehicle. It is desirable to register (record) ratio information and the like (illustrated by a two-dot chain line in FIG. 2) in the same row as the above-described target information J13, date / time information J14, etc. These pieces of information are referred to when one or more of steps S54, S55, and S56 in FIG.

  Returning to FIG. 4 after completing the vehicle registration process of FIG. 5, with reference to the map database 21, whether or not there is a vehicle that has been identified as a driver who is not detected continuously for a short period of time receives a sense of tension, pressure, etc. [Step S14]. The length of a certain short period can be arbitrarily set, and corresponds to, for example, 30 days, 20 days, 10 days, or 1 week. It is desirable that the length of the certain short period can be set by operating the operation unit 40 by the driver of the host vehicle.

If there is another vehicle that is not detected continuously for a certain short period in step S14 (YES), a vehicle that is identified as a driver who is not detected continuously for a certain long time in step S15 receives a sense of tension, pressure, etc. It is determined whether or not there is. The length of the fixed long period can be arbitrarily set, and corresponds to, for example, 1 month, 2 months, 3 months, 20 days, and the like. It is desirable that the fixed long-term length can be set by operating the operation unit 40 by the driver of the host vehicle.
The fixed short period in step S14 and the fixed long period in step S15 are used to reduce the cost of the road during the fixed short period, and it is specified that the driver receives a sense of tension, pressure, etc. for a certain long period. Used to cancel vehicle registration costs. In other words, if a truck that has been frequently traveled as identified as having a sense of tension, pressure, etc., decreases rapidly due to the opening of a bypass, completion of construction, etc. If the cost is reduced, the response will be delayed.

That is, when there is a corresponding vehicle that is not detected continuously for a short period of time in step S14, and there is no vehicle that is identified as a driver who is not detected continuously for a long period of time in step S15 as receiving a sense of tension, pressure, etc. In step S16, the cost of the road is reduced in response to reducing the number of detections for the road on which the other vehicle was traveling, and then the peripheral vehicle learning process is completed and the process returns.
However, when there is a corresponding vehicle that is not detected continuously for a certain short period in step S14, and there is a vehicle that is identified as a driver who is not detected continuously for a certain long period of time in step S15. In step S18, the cost of the vehicle on the road is reset to “0”.
If a driver who has not been detected continuously for a short period of time does not have a vehicle identified as receiving a sense of tension, pressure, etc. (NO), it will be necessary to keep an eye on the vehicle without changing the number of detections. Return after completing the vehicle learning process.
According to the registration example of FIG. 3, in step S18, the record of the target information J13 and the date / time information J14 corresponding to the other vehicle may be deleted. Similarly, in step S16, the cost of the contents of the cost information J15 may be reduced.

By executing the surrounding vehicle learning process and the vehicle registration process described above, information related to the vehicle on which the driver feels pressure, that is, the type, size, inter-vehicle distance, and the like of other vehicles is accumulated in the map database 21. A route search guidance process for guiding the vehicle to the destination based on the information accumulated in the map database 21 will be described with reference to FIG.
6 includes the candidate selection process shown in FIG. 7 and the index calculation process shown in FIG. 8, which are called during the process, after the predetermined operation in the operation unit 40 is performed. It is repeatedly executed until it reaches the ground.

  In FIG. 6, first, when a destination is set by an operator, in particular, a driver of the own vehicle, by operating the operation unit 40 [step S30], candidates for selecting one or more candidates for a route to the destination. A selection process is executed [step S31]. In step S30, the current location may be set as the departure location, or a location other than the current location may be set as the departure location. An example of the procedure for candidate selection processing in step S31 will be described below with reference to FIG.

  In FIG. 7, the map database 21 is first accessed to search for a route to the destination [step S40]. If no search has been made (NO in step S41), there is no other candidate, so the candidate selection process is terminated and the process returns.

On the other hand, when the route to the destination can be searched (YES in step S41), it is determined whether or not the route includes a road registered by learning [step S42]. An example of the discrimination method in step S42 will be briefly described.
The route to the destination is usually via one or more roads. Since each road is specified by road data links L1, L2, L3,... Illustrated in FIG. 2, the route to the destination (the entire process) is all or one of the road data corresponding to each individual road through which it passes. This is realized by connecting the links of the sections. When there is a link including the target information J3 in FIG. 2 or the target information J13 in FIG. 3 among the links thus linked, the registered road is included. Therefore, the determination is made based on whether or not the learning information is included in the linked links.

  If the route to the destination does not include a road registered by learning (NO), there will be no element (other vehicle) that the driver receives a sense of pressure, so the searched route is a candidate. Add [step S48] and return to step S40 to search for other candidates.

  On the other hand, when a road registered by learning is included in the route to the destination in step S42 (YES), the date and time of traveling on the registered road among the searched routes is the date and time registered by learning, etc. To determine whether it is within a predetermined range [step S43]. Within the predetermined range from the registered date and time, for example, means within the predetermined range from the date and time specified by the date and time information J4 shown in FIG. Specifically, one or more of Golden Week, Bon Week, time zone, and the like are applicable, and the operation unit 40 is operated and set in advance.

  If it is not within the predetermined range from the registered date and time (NO), there is no element (other vehicle) for which the driver feels pressure, so the searched route is added as a candidate [step S48]. Return to step S40 to search for other candidates.

  On the other hand, if it is within a predetermined range from the date and time registered in step S43 (YES), an index calculation process is executed to calculate an index of the feeling of pressure received by the driver from another vehicle [step S44]. A procedure example of the index calculation process will be described with reference to FIG.

  In FIG. 8, first, an initial value, for example, zero is set as an index value indicating an index of the feeling of pressure received by the driver [step S50]. Then, for example, the index value is incremented based on the learning information shown in FIG. 2, specifically, the target information J3, the date / time information J4, and the cost information J5 [steps S51 to S56], and the index calculation processing is finished. Return. Note that the processing order of steps S51 to S56 shown in FIG. 8 is merely an example, and it may be formed in any order.

The index value is increased according to the type of the other vehicle (target information J3) [step S51]. For example, the numerical value is increased in the order of two-wheeled vehicle → small vehicle → medium-sized vehicle → large vehicle, and is added to the index value.
As the size of the other vehicle (target information J3) increases, the index value is increased [step S52]. Even if the other vehicle is of the same type (for example, a large vehicle), it tends to feel a sense of pressure as the size increases. Therefore, the numerical value is increased as the vehicle width, vehicle height, vehicle length, etc. increase, and is added to the index value.
The index value is increased as the road cost (cost information J5) increases [step S53]. In other words, it is a numerical value that changes as the number of times of detection of other vehicles that are increased or decreased by step S15 in FIG. 4 and step S26 in FIG. 5 increases or decreases. The numerical value added to the index value may be the numerical value of the cost itself, or may be a numerical value converted based on the cost.

The index value is increased as the travel amount (that is, the number) of other vehicles traveling around the host vehicle increases (step S54). It is considered that the feeling of pressure decreases when the traveling amount is small, and the feeling of pressure increases when the traveling amount increases.
The index value is increased as the number of encounters with the specific vehicle among other vehicles increases [step S55]. The specific vehicle is another vehicle in which the driver is particularly susceptible to pressure, and is set in advance by operating the operation unit 40. This is due to the driver's subjectivity. For example, a large vehicle is a dump truck or a trailer. As the numerical value to be added to the index value, the numerical value of the number of encounters may be used, or a numerical value converted based on the number of encounters.
The index value is increased as the proportion of the field of view blocked by other vehicles increases [step S56]. Large vehicles change the index value higher, but even small vehicles change the index value higher when luggage, such as skis or bicycles, is loaded on the roof. That is, regardless of the type of other vehicle, the numerical value is increased as the proportion of the field of view to be blocked increases and added to the index value.
In addition, although description is abbreviate | omitted, as for the parameter | index regarding a feeling of tension and a feeling of pressure, when the ratio of the visual field blocked | interrupted reduces, a numerical value is lowered | hung with it and an index value is subtracted with it.

Returning to FIG. 7 after completing the index calculation process of FIG. 8, it is determined whether or not the index value obtained by executing step S44 exceeds the reference value [step S45]. This reference value is a numerical value that can be ignored if the driver feels a certain degree of pressure and can be ignored at all, and is set in advance by operating the operation unit 40.
If the index value is less than or equal to the reference value (NO), the driver feels less pressure and does not affect driving, so the searched route is added as a candidate [step S48], and other candidates are selected. Return to step S40 to search.

On the other hand, if the index value exceeds the reference value in step S45 (YES), the map database 21 is accessed to search for a detour after excluding the registered road [step S46]. Since registered roads are excluded, there is no element (other vehicle) on the detour that causes the driver to feel pressure.
However, compared to the route searched in step S40, the time and distance required to reach the destination via the detour may be significantly increased. Therefore, it is determined whether or not the amount of increase in one or both of the required time and required distance to the destination via the detour is within an allowable range [step S47]. The allowable range is set in advance by operating the operation unit 40.

If the increase amount when passing through the detour is within an allowable range (YES), the searched detour is added as a route candidate [step S48], and the process returns to search for another candidate.
On the other hand, if the increase amount via the detour in step S47 is outside the allowable range (NO), the process returns to search for another candidate without adding as a candidate.

  Returning to FIG. 6 after completing the candidate selection process of FIG. 7, the route candidates selected in step S31 are rearranged and presented to the output unit 60 [step S32]. Candidate rearrangement (sorting) is performed by index values obtained by executing the index calculation processing of FIG. 8 or cost information J5, J15 recorded in association with the links L1, L2, L3,. The number of roads registered in the map database 21 included in the route (that is, links L1, L2, L3,...) And other criteria may be set based on one or more. For example, the presentation to the output unit 60 is transmitted by voice from the speaker 62 and displayed on the display 61 as shown in FIG.

  FIG. 9 shows an example in which index values are displayed together, and FIG. 9 (b) shows an example in which road costs are displayed together. In the display example of FIG. 9A, five candidates and index values are presented, and as shown by the mark, the second “B route” is currently selected. The display example of FIG. 9B is the same except that the index value in FIG. 9A is changed to the cost of the road. It should be noted that the display form of the list is arbitrary as long as route candidates can be recognized, such as not displaying index values or road costs, or displaying routes on a map. Further, the display form may be changed between the case where the index value is displayed and the case where the road cost is displayed.

  The operator operates the selection buttons 61a and 61b displayed on the lower side of the screen to select a desired route or detour, and operates the confirm button 61c to confirm the selected route or detour (step S33). . A vehicle guidance process for guiding the host vehicle to the destination is executed along the determined route or detour [step S34]. When the vehicle arrives at the destination, the route search guidance process is terminated and the process returns. Note that the procedure of the vehicle guidance process can be realized based on the prior art, and therefore illustration and detailed description thereof are omitted.

[Embodiment 2]
In the second embodiment, another vehicle traveling in front of and behind the host vehicle is scanned with a radar, and the target information (that is, the size) of the other vehicle is acquired and accumulated based on the obtained scanning signal data, and then accumulated. This is an example in which an index related to the feeling of pressure received by the driver is obtained based on the target information, and a route with a low index related to the pressure feeling is preferentially presented.
For the sake of simplicity of illustration and description, the second embodiment will be described with respect to differences from the first embodiment. Therefore, the same elements as those used in the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

The second embodiment will be described with reference to FIGS.
FIG. 10 is a flowchart showing a procedure example of the front and rear vehicle learning process in the second embodiment of the present invention, and FIG. 11 is a flowchart showing a procedure example of the vehicle registration process in the second embodiment of the present invention.
Both the front and rear vehicle learning process and the vehicle registration process are realized individually by the CPU shown in FIG. Further, the front and rear vehicle learning process of FIG. 10 is repeatedly executed until the own vehicle arrives at the destination, including the vehicle registration process of FIG. 11 called in the middle of the process.

  The front and rear vehicle learning process in FIG. 10 is a procedure that replaces the surrounding vehicle learning process in FIG. 4 in the first embodiment. In FIG. 10, first, the front and rear of the host vehicle are horizontally scanned by the radar 12 [step S60]. The front and rear of the host vehicle mean one or both of the front and rear as viewed from the host vehicle. Based on the scanning signal data obtained by scanning, vehicle registration processing for registering target information (ie, size) of other vehicles in the map database 21 is executed [step S61]. The vehicle registration process will be described with reference to FIG.

  The vehicle registration process of FIG. 11 is a procedure that replaces the vehicle registration process of FIG. 5 in the first embodiment. In FIG. 11, first, based on the scanning signal data obtained in step S60 of FIG. 10, it is determined whether there are other vehicles before and after [step S70]. If there are no other vehicles before and after (NO), there is no information to be registered in the map database 21, so the vehicle registration process is terminated and the process returns.

On the other hand, if there are other vehicles before and after at step S70 (YES), the front and rear of the host vehicle are vertically scanned by the radar 12 [step S71], and the scanning signal data obtained at one or both of step S60 and step S71 is obtained. Based on this, the size of the other vehicle is determined, and the inter-vehicle distance to the other vehicle is obtained [step S72]. That is, if the scanning signal data for vertical scanning is used, the vehicle height of the other vehicle can be determined, and if the scanning signal data for horizontal scanning is used, the vehicle width of the other vehicle can be determined. If any of the scanning signal data is used, the inter-vehicle distance to another vehicle can be obtained.
In the following, in order to simplify the description, processing when the vehicle height of another vehicle is determined using the scanning signal data for the vertical scanning obtained by executing step S71 will be described.
In addition, when calculating the vehicle width of another vehicle, or when calculating | requiring the inter-vehicle distance to another vehicle, step S71 does not need to be performed. Further, in executing steps S73 and S74 described later, the vehicle height may be read as the vehicle width or the inter-vehicle distance.

  If step S72 is performed and the vehicle height of another vehicle is calculated, it will be discriminate | determined whether it is the registered vehicle height [step S73]. Specifically, it is determined whether or not a vehicle height that is the same as the vehicle information recorded as the target information J3 shown in FIG. If the vehicle height has already been registered (YES), the road cost is increased in response to increasing the number of times of continuous discovery [information storage unit 34; step S76], and the vehicle registration process is completed and the process returns. . If the registration example of FIG. 3 is followed, what is necessary is just to change the content of the cost information J15 in step S76.

  When the vehicle height determined in step S73 is not registered (NO), it is determined whether or not the vehicle height is a learning target [step S74]. Since what kind of vehicle height is to be learned depends on the subjectivity of the driver of the own vehicle, a predetermined recording medium, for example, FIG. Recorded (set) in the learning target information K or the like of the map database 21 shown in FIG. For example, when a feeling of pressure is received at a vehicle height exceeding 2 meters, “2 meters” may be recorded by operating the operation unit 40.

  If it is the height of the vehicle to be learned (YES), the road cost is increased corresponding to the initialization of the number of times of continuous discovery [information storage unit 34; step S75], and the vehicle registration process is finished. Return. In step S75, the same process as step S76 described above may be performed. On the other hand, if the vehicle height is not the learning target in step S73 (NO), there is no need to register (record) in the map database 21, so the vehicle registration process is terminated and the process returns.

  Returning to FIG. 10 after completing the vehicle registration process of FIG. 11, it is determined whether or not there are front and rear vehicles that are not detected continuously for a certain period with reference to the map database 21 [step S62]. The length of the fixed period can be arbitrarily set, and corresponds to, for example, one month or one week. It is desirable that the driver of the own vehicle can set the operation unit 40 by operating it.

If there are front and rear vehicles that are not detected continuously for a certain period of time (YES), the road cost is lowered in response to initializing the number of times of continuous discovery [information storage unit 34; step S63], before and after Return after completing the vehicle learning process.
On the other hand, when the front and rear vehicles are detected within a certain period in step S62 (NO), it is necessary to keep an eye on the future, so the front and rear vehicle learning process is finished without changing the number of continuous discoveries, and the process returns.

  By executing the front and rear vehicle learning process and the vehicle registration process described above, information related to other vehicles on which the driver feels pressure, that is, vehicle height, vehicle width, inter-vehicle distance, and the like are accumulated in the map database 21. When the route search guidance process for guiding the host vehicle to the destination is executed based on the information accumulated in the map database 21 in this way, the host vehicle is guided to the destination with less or no feeling of pressure received by the driver. Can do.

  Since the procedure for the route search guidance process is as described in the first embodiment, a detailed description is omitted. In the index calculation process of FIG. 8 called from the route search guidance process of FIG. 6 through the candidate selection process of FIG. 7, steps S50, S52, S53, and S55 may be executed. Among these, the “specific vehicle” in step S55 is a vehicle other than the vehicle height, the vehicle width, and the inter-vehicle distance that the driver is particularly susceptible to pressure, and is set in advance by operating the operation unit 40.

[Embodiment 3]
In the third embodiment, the road on which the host vehicle travels is measured with a gyroscope, and the form of the road, that is, the vibration amount is acquired and accumulated based on the obtained measurement data, and then, based on the accumulated form information. This is an example of obtaining an index related to the feeling of pressure received by the driver and preferentially presenting a route having a low index related to the pressure feeling.
For simplicity of illustration and description, the third embodiment will be described with respect to differences from the first embodiment. Therefore, the same elements as those used in the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

  The third embodiment will be described with reference to FIG. FIG. 12 is a flowchart showing an example of a procedure of road learning processing in the embodiment of the present invention. The road learning process is realized when the CPU shown in FIG. 1 executes the software 22, and is repeatedly executed until the host vehicle arrives at the destination. The form of the road corresponds to one or more of the meandering amount, vibration amount, slip amount, etc. of the road, and the following description will be made taking the vibration amount as an example.

  The road learning process in FIG. 12 is a procedure that replaces the surrounding vehicle learning process in FIG. 4 in the first embodiment. In FIG. 12, first, measurement is performed by the gyroscope 13 [step S80], and the amount of vibration received by the host vehicle traveling on the road is obtained based on the signal data obtained by the measurement [step S81]. For example, the maximum value related to the amplitude of the signal is set as the vibration amount.

  It is determined whether or not the vibration amount obtained by executing step S81 has been registered in the map database 21 [step S82]. Specifically, it is determined whether or not a vibration amount that is the same as the vibration amount recorded as the target information J3 shown in FIG.

If registered (YES), the road cost is increased corresponding to the increase in the number of detections [step S85], and the road learning process is terminated and the process returns. If the registration example of FIG. 3 is followed, what is necessary is just to change the content of the cost information J15 in step S85.
On the other hand, when the vibration amount is not yet registered in step S82 (NO), the road cost is increased in correspondence with the initialization of the number of detections [information storage unit 34; step S84], and road learning processing is performed. Finish and return. In step S84, the same process as in step S85 described above may be performed.

  By executing the above-described road learning process, information regarding the form of the road on which the driver feels pressure, that is, the amount of meandering, vibration, and slipping of the road is accumulated in the map database 21. When the route search guidance process for guiding the host vehicle to the destination is executed based on the information accumulated in the map database 21 in this way, the host vehicle is guided to the destination with less or no feeling of pressure received by the driver. Can do.

  Since the procedure for the route search guidance process is as described in the first embodiment, a detailed description is omitted. Further, in the index calculation process of FIG. 8 called from the route search guidance process of FIG. 6 through the candidate selection process of FIG. 7, steps S50, S57, S58, and S59 may be executed. Steps S57, S58, and S59 will be briefly described below. Note that the processing order of steps S57, S58, and S59 is also an example, as in steps S51 to S56, and they may be formed in any order.

The index value is increased according to the amount of meandering of the road (target information J3) [step S57]. The numerical value added to the index value may be the value of the meandering amount itself, or may be a numerical value converted based on the meandering amount.
The index value is increased according to the amount of vibration (target information J3) received during traveling on the road [step S58]. The numerical value added to the index value may be the numerical value of the vibration amount itself, or may be a numerical value converted based on the vibration amount.
The index value is increased according to the amount of slip (object information J3) received during road travel [step S59]. The numerical value added to the index value may be a numerical value of the slip amount itself, or may be a numerical value converted based on the slip amount.

[Configuration of the embodiment]
According to the in-vehicle navigation device of the first embodiment, the second embodiment, and the third embodiment, the route search unit 31 that searches for and displays the route to the destination using the road data, and the route search unit 31 In a vehicle-mounted navigation device that includes a vehicle guide unit 32 that guides a vehicle along a route selected from among the presented routes, a camera 11 that detects a predetermined detection target when the host vehicle is traveling, An information acquisition unit 33 that acquires target information J3 and J13 related to a predetermined detection target based on data detected by a sensor including the radar 12, the gyroscope 13, and the like and a sensor including the camera 11, the radar 12, the gyroscope 13, and the like. And the target information J3, J13 acquired by the information acquisition unit 33 and the links L1, L2, L for identifying the road on which the host vehicle is traveling 3 and so on. The route search unit 31 includes target information J3, J13 and links L1, L2, L3 accumulated by the information accumulation unit 34. ,... Can be obtained based on road information such as,..., And a route with a low index related to the pressure feeling can be preferentially presented.

  According to the in-vehicle navigation device of the first to third embodiments, the route search unit 31 includes road information such as links L1, L2, L3,... Accumulated by the information accumulation unit 34 in the searched route. The road discriminating means 31a for discriminating whether or not the road specified by the road is included, and when the road discriminating means 31a determines that the road is included, the links L1, L2, L3,. Index calculation means 31b for obtaining an index related to the feeling of pressure received by the driver based on the target information J3 and J13 accumulated in association with the road information, and a route with a low index calculated by the index calculation means 31b is given priority. Further, it is possible to adopt a configuration having candidate presentation means 31c that rearranges and presents the searched routes.

  According to the in-vehicle navigation device of the first to third embodiments, the route search unit 31 is further specified by road information such as the links L1, L2, L3,... Accumulated by the information accumulation unit 34. The road to be searched can be excluded, and a detour in which the amount of increase in one or both of the required time and required distance to the destination is within the allowable range can be searched and presented (step in FIG. 7). (See S46 and FIG. 9).

  In addition, according to the vehicle-mounted navigation device of the first to third embodiments, the route search unit 31 includes the size of the other vehicle, the travel amount, and the number of encounters when the predetermined detection target is the other vehicle. It can be set as the structure which sets highly the parameter | index regarding the feeling of oppression which a driver | operator receives as one or more increases (refer step S52, S54, S55 of FIG. 8).

  According to the first embodiment, the information accumulating unit 34 further converts the date and time information J4 and J14 indicating the date and time when the host vehicle is traveling into the target information J3 and J13 and the links L1, L2, L3,. The route searching unit 31 identifies one or more of the date, day of the week, and time of travel in the date and time information J4 and J14 accumulated by the information accumulating unit 34. Only when it is within a predetermined range from the date and time or the like, it is possible to obtain an index related to a sense of feeling received by the driver (see steps S43 and S44 in FIG. 7).

Furthermore, according to the in-vehicle navigation device of the first to third embodiments, the sensor including the camera 11, the radar 12, the gyroscope 13 and the like detects other vehicles that travel around the host vehicle and obtains information. The unit 33 targets one or more pieces of information among the travel amount of the other vehicle, the type of the other vehicle, the size of the other vehicle, the travel speed of the other vehicle, the distance between the other vehicles, and the ratio of the field of view blocked by the other vehicle. The information can be obtained as information J3, J13 (see step S21 in FIG. 5 and step S72 in FIG. 11).
In each of the above embodiments, the sensor including the camera 11, the radar 12, the gyroscope 13, and the like detects other vehicles that travel around the host vehicle, and the travel amount of the other vehicle, the type of the other vehicle, and the size of the other vehicle. In the case where one or more pieces of information are acquired as the target information J3 and J13 among the traveling speed of the other vehicle, the inter-vehicle distance to the other vehicle, and the ratio of the field of view obstructed by the other vehicle. The plate can be detected and read, and the type of other vehicle and the size of the other vehicle can be specified therefrom.

  According to the in-vehicle navigation device of the third embodiment, the sensor including the camera 11, the gyroscope 13 and the like detects the form of the road on which the host vehicle travels, and the information acquisition unit 33 determines the amount of meandering of the road from the road. It can be set as the structure which acquires 1 or more information as the target information J3 and J13 among the amount of vibration received, and the slip amount produced by drive | working a road (refer FIG. 12).

  Furthermore, according to the in-vehicle navigation device of the first to third embodiments, the index related to the feeling of pressure received by the driver is information indicating the cost for use in the route search, and is received by the driver. The cost of the links L1, L2, L3,... Set for each road increases as the feeling of pressure increases, and the route search unit 31 includes links L1, L2, L3,. It is possible to preferentially present a route with low cost information J5, J15 (see step S32 in FIG. 6 and FIG. 9B).

[Other Embodiments]
As described above, the best mode for carrying out the present invention has been described according to the first embodiment, the second embodiment, and the third embodiment. However, the present invention is not limited to the gist of the present invention. Can also be implemented. For example, the following forms may be realized.

  In the first embodiment, by performing image recognition and image analysis on the image data captured using the camera 11, one or more of the types of other vehicles, the size of the other vehicles, the inter-vehicle distance to the other vehicles, and the like. Information was acquired (see step S21 in FIG. 5). In the second embodiment, the size of the other vehicle is determined based on the scanning signal data obtained using the radar 12, and the inter-vehicle distance to the other vehicle is obtained (see step S72 in FIG. 11). Furthermore, in the third embodiment, one or more of the meandering amount, the vibration amount, and the slip amount of the road are obtained based on the signal data obtained by measurement with the gyroscope 13 (see step S81 in FIG. 12). . It may replace with these forms and may acquire object information using other sensors. Examples of other sensors include a speed measurement sensor 14, a distance measurement sensor 15, a microphone 16, and the like.

Since the speed measurement sensor 14 can measure the traveling speed of other vehicles traveling around the host vehicle, the driver receives a feeling of pressure depending on the traveling speed of the other vehicle, for example, when traveling at a tremendous speed. Can handle the case.
Since the distance measurement sensor 15 can measure the distance between other vehicles traveling around the host vehicle, the distance measurement sensor 15 can cope with a case where the distance between the vehicles is shortened during driving on the road and the driver receives a feeling of pressure. it can.
The microphone 16 can measure the sound quality and volume of the sound emitted from the own vehicle or the other vehicle, so that the type of the other vehicle is specified, the distance between the vehicles to the other vehicle is specified, or the form of the road is specified. It is possible to cope with a case where the driver receives a feeling of pressure depending on the type, the inter-vehicle distance, and the form of the road.

  In the first embodiment, the second embodiment, and the third embodiment, the host vehicle is provided with various sensors, and is configured to acquire information related to other vehicles based on data detected by the sensors (see FIG. 1). . Instead of this form, one or more sensors related to the sensor group 10 shown in FIG. 1 are transmitted from a sensor provided in a building, a sign, or the like via a communication line such as an Internet line, and the communication unit 50 is transmitted. You may form so that the information regarding another vehicle may be acquired based on the data received via.

  The vehicle-mounted navigation devices according to the first to third embodiments are formed so as to be individually executable. Instead of this form, two or more forms may be combined and formed. For example, when Embodiment 1 and Embodiment 2 are combined, by performing image recognition and image analysis on image data captured using the camera 11, the type of the other vehicle, the size of the other vehicle, the other vehicle In addition to obtaining one or more pieces of information such as the inter-vehicle distance up to, it is possible to determine the size of the other vehicle based on the scanning signal data obtained using the radar 12 and obtain the inter-vehicle distance to the other vehicle. become able to. Therefore, it is possible to obtain an operational effect obtained by combining the first embodiment, the second embodiment, and the third embodiment described above.

  In the first embodiment, the second embodiment, and the third embodiment, it is realized by an in-vehicle navigation device. Instead of this form, it may be realized by a device independent of the vehicle-mounted navigation device, or may be realized integrally with another vehicle-mounted device such as a console or an audio device. In any case, since only the form is different, it is possible to obtain the same operational effects as those of the on-vehicle navigation device of the first to third embodiments described above.

10 sensor group 11 camera (sensor)
12 Radar (sensor)
13 Gyroscope (sensor)
14 Speed measurement sensor (sensor)
15 Distance measuring sensor (sensor)
16 Microphone (sensor)
20 Recording media 21 Map database (database)
DESCRIPTION OF SYMBOLS 30 Navigation control part 31 Route search part 31a Road discrimination | determination means 31b Index calculation means 31c Candidate presentation means 32 Vehicle guide part 33 Information acquisition part 34 Information storage part 40 Operation part 50 Communication part 60 Output part (candidate presentation means)
L1, L2, L3, ... Link J1, J11 Type information J2, J12 Location information J3, J13 Target information J4, J14 Date and time information J5, J15 Cost information J6, J16 Line information

Claims (7)

In a vehicle-mounted navigation device comprising: a route search unit that searches for a route to a destination using road data; and a vehicle guide unit that guides a vehicle along the route searched by the route search unit.
A sensor for detecting other vehicles around the own vehicle when the own vehicle is running;
An information acquisition unit that acquires target information related to the predetermined detection target based on data detected by the sensor;
An information accumulation unit that accumulates the target information acquired by the information acquisition unit and road information that identifies the road on which the host vehicle is traveling;
The route search unit obtains an index related to a feeling of pressure received by the driver based on the target information and the road information accumulated by the information accumulation unit, and preferentially presents a route having a low index related to the pressure feeling. A vehicle-mounted navigation device. The route search unit
Road discriminating means for discriminating whether or not a road specified by the road information accumulated by the information accumulating unit is included in the searched route;
When it is determined that the road is included by the road determination means, an index calculation means for obtaining an index related to the feeling of pressure received by the driver based on the target information accumulated in association with the road information;
The in-vehicle navigation device according to claim 1, further comprising candidate presenting means for rearranging and presenting searched routes so that a route with a low index calculated by the index calculating unit is given priority. .   The route search unit further excludes a road specified by the road information accumulated by the information accumulation unit, and an increase amount for one or both of a required time and a required distance to the destination is within an allowable range. The in-vehicle navigation device according to any one of claims 1 and 2, wherein an internal detour is searched for and presented.   The route search unit sets an index related to a feeling of pressure received by the driver as one or more of the size, travel amount, and number of encounters of the other vehicle increases. Item 4. The in-vehicle navigation device according to any one of items 3 to 4. The information accumulating unit further accumulates date information indicating one or more of the date, day of the week, and time when the host vehicle is traveling in association with the target information and road information,
The route search unit is configured to perform the driving only when one or more of the date, day of the week, and time of travel is within a predetermined range from the date and time specified by the date and time information stored by the information storage unit. The vehicle-mounted navigation device according to any one of claims 1 to 5, wherein an index related to a sense of feeling received by a person is obtained.   The information acquisition unit includes a travel amount of the other vehicle, a type of the other vehicle, a size of the other vehicle, a travel speed of the other vehicle, an inter-vehicle distance to the other vehicle, and a ratio of a field of view blocked by the other vehicle. The in-vehicle navigation device according to any one of claims 1 to 5, wherein one or more pieces of information are acquired as target information. The index related to the feeling of pressure received by the driver is information indicating the cost for use in route search, and the cost of the link set for each road as the feeling of tension and pressure received by the driver increases. Set it to be high,
The navigation device according to any one of claims 1 to 6, wherein the route search unit preferentially presents a route with a low cost of the link among the searched routes.

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