JP2017032396A - Driving assistance system, driving assistance method, and computer program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a driving assistance system, driving assistance method, and computer program, which allow for providing guidance for guiding a vehicle to a guided lane at most appropriate timing and with most appropriate content for the vehicle.SOLUTION: A driving assistance system is configured to; identify a guided lane to which a vehicle should be guided; identify a lane-change endpoint by which a lane change to the guided lane should be completed by the vehicle; set up a guidance zone, in which guidance is provided to guide the vehicle to the guided lane, for each lane of a road the vehicle is on based on the identified guided lane and lane-change endpoint; set up content of guidance for each guidance zone that has been set up; and, when the vehicle is in a guidance zone, provide guidance with content that has been set up for the guidance zone.SELECTED DRAWING: Figure 7

Description

  The present invention relates to a travel support system, a travel support method, and a computer program for guiding a lane in which a vehicle travels.

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

  Here, when the guide route is composed of a plurality of lanes in particular, it is important to provide guidance for guiding the vehicle to the lane in which the vehicle should travel (hereinafter referred to as a guide lane). For example, if the vehicle makes a left turn at the next guidance intersection, it is necessary to drive the lane divided in the left turn direction before reaching the guidance intersection, while the vehicle turns right at the next guidance intersection. When the vehicle is to be operated, it is necessary for the vehicle to travel on the lane divided in the right turn direction before reaching the guidance intersection. However, even if the guidance for turning left or right is given just before the guidance intersection without guiding the lane, the vehicle does not always travel in the lane corresponding to the passing direction, so the guidance cannot be made without making a right or left turn. There is a possibility of deviating from the route. Therefore, it is desirable to guide the guide lane in advance. In addition to the guidance intersection, for example, in a lane reduction section due to construction or an accident, it may be necessary to perform guidance for causing the vehicle to travel in a specific guidance lane in the same manner.

  Therefore, for example, in Japanese Patent Application Laid-Open No. 7-129898, for example, when it is determined that guidance of a lane to be traveled is necessary for a vehicle entering a guidance intersection, a predetermined distance (for example, 300 m) from the guidance intersection. There has been proposed a technique for guiding a lane in which a vehicle should travel at a timing when the vehicle is positioned in front.

Japanese Patent Laid-Open No. 7-1229889 (page 3-4, FIG. 7)

  Here, in the technique of Patent Document 1, it is determined whether or not to perform guidance based on the distance from the vehicle to the guidance intersection regardless of the lane in which the vehicle currently travels. The lane guidance was also provided even when it was. In addition, the timing at which the guidance is performed is the same regardless of the number of lane changes necessary for the vehicle to move to the lane to travel, so depending on the lane in which the vehicle is traveling, the guidance is performed at an earlier timing than necessary. There was also a problem that the timing of guidance was delayed. Furthermore, since the guidance content is the same regardless of the lane in which the vehicle is currently traveling, there is a problem that it is difficult for the user to grasp how the vehicle can move to the lane to travel. there were.

  The present invention has been made to solve the above-described conventional problems, and a driving support system and a driving support capable of performing guidance guidance for guiding a vehicle to a guide lane at an optimal timing and content for the vehicle. It is an object to provide a method and a computer program.

  In order to achieve the above object, the driving support system according to the present invention includes a guide lane specifying means for specifying a guide lane for guiding a vehicle, and a lane movement end point where the lane movement of the vehicle to the guide lane needs to be completed. Lane movement end point specifying means for specifying the vehicle and a guidance area for guiding the vehicle to the guide lane are included in the road on which the vehicle travels based on the guide lane and the lane movement end point Guidance area setting means that is set for the lane to be set, and for each of the guidance areas set by the guidance area setting means, the guidance content of the guidance guidance according to the positional relationship between the guidance lane and the lane movement end point Guidance content setting means for setting the guidance guidance means for performing the guidance guidance with the guidance content set for the guidance area when the vehicle is located in the guidance area It has a.

  In addition, the driving support method according to the present invention is a method of supporting the traveling of the vehicle by guiding the vehicle to the lane where the vehicle should travel. Specifically, the guide lane specifying means specifies the guide lane to guide the vehicle, and the lane movement end point specifying means needs to complete the lane movement of the vehicle to the guide lane. A road on which the vehicle travels based on the guidance lane and the lane movement end point in a guidance area in which the guidance area setting means guides the vehicle to the guidance lane And the guidance content setting means for each of the guidance areas set by the guidance area setting means according to the positional relationship between the guidance lane and the lane movement end point. A step of setting the guidance content of the guidance guidance, and when the vehicle is located in the guidance area, the guidance guidance means uses the guidance content set for the guidance area to guide the guidance. Having a step of performing an inner, a.

  Furthermore, the computer program according to the present invention is a program that supports the traveling of the vehicle by guiding the vehicle to the lane in which the vehicle should travel. Specifically, guidance lane identification means for identifying a guidance lane for guiding a vehicle, lane movement termination point identification means for identifying a lane movement termination point where the lane movement of the vehicle to the guidance lane needs to be completed, and A guidance area setting for setting a guidance area for performing guidance guidance for guiding the vehicle to the guidance lane with respect to a lane included in a road on which the vehicle travels is based on the guidance lane and the lane movement end point. A guidance content setting means for setting guidance content of the guidance guidance according to a positional relationship between the guidance lane and the lane movement end point for each guidance area set by the guidance area setting means, When the vehicle is located within the guidance area, the vehicle functions as guidance guidance means for performing the guidance guidance with the guidance content set for the guidance area.

  According to the driving support system, the driving support method, and the computer program according to the present invention having the above-described configuration, the guide lane and the lane movement end point are provided for each guidance area set for the lane included in the road on which the vehicle is traveling. The guidance content of the guidance guidance is set according to the positional relationship, and when the vehicle is located in the guidance area, guidance guidance is performed with the guidance content set for the guidance area. It is possible to perform guidance for guiding the vehicle to the guide lane at an optimal timing and content. Therefore, it is possible to prevent unnecessary guidance for the user. In addition, it is possible to provide guidance for clarifying a necessary operation corresponding to the current lane position at an optimal timing for a user who performs a lane movement operation.

It is the block diagram which showed the navigation apparatus which concerns on this embodiment. It is a flowchart of the driving assistance processing program concerning this embodiment. It is a flowchart of the sub process program of the guidance area | region setting process which concerns on this embodiment. It is the figure which showed an example of the guidance intersection. It is the figure which showed an example of the guidance intersection. It is the figure which showed an example of the guidance area | region set with respect to a guide road. It is the figure which showed an example of the guidance content of the guidance guidance set with respect to each guidance area | region. It is a flowchart of the sub process program of the guidance guidance process which concerns on this embodiment. It is the figure which showed the guidance area | region. It is the figure which showed the driving | running | working aspect of the vehicle when guidance guidance is not performed. It is the figure which showed the driving | running | working aspect of the vehicle in case guidance guidance is performed. It is the figure which showed the guidance screen of guidance guidance.

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

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

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

  The data recording unit 12 is also a hard disk (not shown) as an external storage device and a recording medium, and a driver for reading the map information DB 31 and a predetermined program recorded on the hard disk and writing predetermined data on the hard disk And a recording head (not shown). The data recording unit 12 may be constituted by a flash memory, a memory card, an optical disk such as a CD or a DVD, instead of the hard disk. Further, the map information DB 31 may be stored in an external server, and the navigation device 1 may be configured to acquire by communication.

  Here, the map information DB 31 includes, for example, link data 32 relating to roads (links), node data 33 relating to node points, intersection data 34 relating to each intersection, point data relating to points such as facilities, and map display data for displaying a map. The storage means stores search data for searching for routes, search data for searching for points, and the like.

  Here, as the link data 32, for example, a link ID for identifying the link, end node information for specifying a node located at the end of the link, the road type of the road constituting the link, the number of lanes, the road The width, the direction of travel for each lane, and the like are stored. The node data 33 stores a node ID for identifying the node, position coordinates of the node, connection destination node information for specifying a connection destination node to which the node is connected through a link, and the like. Further, as the intersection data 34, relevant node information for identifying nodes forming the intersection, connection link information for identifying a link connected to the intersection (hereinafter referred to as a connection link), and a stop line provided at the intersection Is stored.

  On the other hand, the navigation ECU (Electronic Control Unit) 13 is an electronic control unit that controls the entire navigation device 1. The CPU 41 as an arithmetic device and a control device, and a working memory when the CPU 41 performs various arithmetic processes. Read out from the ROM 43 and the ROM 43 in which a RAM 42 that stores route data when the route is searched, a control program, a driving support processing program (FIG. 2) described later, and the like are recorded. An internal storage device such as a flash memory 44 for storing the program is provided. The navigation ECU 13 has various means as processing algorithms. For example, the guide lane specifying means specifies the guide lane for guiding the vehicle. The lane movement end point specifying means specifies a lane movement end point where the lane movement of the vehicle to the guide lane needs to be completed. The guidance area setting means sets a guidance area for performing guidance guidance for guiding the vehicle to the guidance lane for the lane included in the road on which the vehicle travels based on the guidance lane and the lane movement end point. The guidance content setting means sets guidance content for guidance guidance according to the positional relationship between the guidance lane and the lane movement end point for each guidance area. When the vehicle is located within the guidance area, the guidance guidance means performs guidance guidance with the guidance content set for the guidance area.

  The operation unit 14 is operated when inputting a starting point as a travel start point and a destination as a travel end point, and has a plurality of operation switches (not shown) such as various keys and buttons. Then, the navigation ECU 13 performs control to execute various corresponding operations based on switch signals output by pressing the switches. The operation unit 14 can also be configured by a touch panel provided on the front surface of the liquid crystal display 15. Moreover, it can also be comprised with a microphone and a speech recognition apparatus.

  The liquid crystal display 15 includes a map image including a road, traffic information, operation guidance, operation menu, key guidance, guidance route from the departure point to the destination, guidance information along the guidance route, news, weather forecast, Time, mail, TV program, etc. are displayed. In particular, in the present embodiment, when traveling on a road composed of a plurality of lanes, guidance for guiding the vehicle to the lane in which the vehicle should travel is displayed. In place of the liquid crystal display 15, HUD or HMD may be used. Moreover, it is good also as a structure which has HUD or HMD as a means to display guidance information in addition to the liquid crystal display 15. FIG.

  The speaker 16 outputs voice guidance for guiding traveling along the guidance route based on an instruction from the navigation ECU 13 and traffic information guidance. In particular, in the present embodiment, when traveling on a road composed of a plurality of lanes, voice guidance for guiding the vehicle to the lane in which the vehicle should travel is output.

  The DVD drive 17 is a drive that can read data recorded on a recording medium such as a DVD or a CD. Based on the read data, music and video are reproduced, the map information DB 31 is updated, and the like. A card slot for reading / writing a memory card may be provided instead of the DVD drive 17.

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

  Next, a driving support processing program executed by the navigation ECU 13 in the navigation device 1 having the above configuration will be described with reference to FIG. FIG. 2 is a flowchart of the driving support processing program according to this embodiment. Here, the driving support processing program is a program that is executed after the ACC power supply (accessory power supply) of the vehicle is turned on and guides the vehicle to the lane in which the vehicle is to travel to guide the vehicle to travel. . In the following description, guidance for guiding a vehicle to a lane in which the vehicle should travel is defined as “guidance guidance”, and a lane that ultimately guides the vehicle by guidance guidance is defined as “guidance lane”. The programs shown in the flowcharts of FIGS. 2, 3 and 8 below are stored in the RAM 42 and the ROM 43 provided in the navigation device 1 and are executed by the CPU 41.

  First, in step (hereinafter abbreviated as S) 1 in the driving support processing program, the CPU 41 obtains a guide route (a user's scheduled driving route) currently set in the navigation device 1. The guide route is a recommended route from the starting point to the destination set by the navigation device 1, and is searched using, for example, a known Dijkstra method. The navigation route 1 may be configured to search for the guidance route, or may be configured to be searched by an external server. Further, the departure point may be the current position of the user or an arbitrary point selected by the user (for example, home). On the other hand, the destination is set based on, for example, a user operation (for example, a registration point reading operation, facility search or selection operation) received in the operation unit 14.

  Next, in S2, the CPU 41 specifies a guidance intersection included in the guidance route acquired in S1. When a plurality of guidance intersections are included, all guidance intersections included in the guidance route may be specified, or only the guidance intersection nearest to the current position of the vehicle may be specified. Here, the guidance intersection is an intersection to which guidance such as a right / left turn instruction is given when guidance for traveling of the vehicle is performed according to the guidance route.

  Then, the processing of S3 and S4 below is performed for each guidance intersection specified in S2, and the processing proceeds to S5 after executing the processing of S3 and S4 for all the guidance intersections specified in S2. To do.

  First, in S3, the CPU 41 executes a guide area setting process (FIG. 3) described later. In the guidance area setting process, an area for guidance guidance (hereinafter referred to as a guidance area) is set for a lane included in the road on which the vehicle travels when entering the guidance intersection to be processed as described later. It is processing.

  Next, in S4, the CPU 41 sets the guidance content of the guidance guidance according to the positional relationship with the guidance lane and the guidance intersection for each guidance area set in S3. The details of the guidance information set for the guidance area will be described later.

  Thereafter, in S5, the CPU 41 executes a guidance and guidance process (FIG. 8) described later. The guidance and guidance process is a process of performing guidance and guidance with the guidance content set for the guidance area when the vehicle is located in any of the guidance areas set in S3 as described later. .

  Next, the sub-process of the guidance area setting process executed in S3 will be described with reference to FIG. FIG. 3 is a flowchart of a sub-processing program for the guidance area setting process.

  First, in S <b> 11, the CPU 41 acquires information about the guidance intersection to be processed from the map information DB 31. Specifically, the road shape of the road connected to the guidance intersection, the number of lanes, the traffic classification in the traveling direction for each lane, the position of the stop line, and the like.

  Next, in S12, the CPU 41, among roads connected to the guidance intersection to be processed, especially a road on which a vehicle entering the guidance intersection travels (that is, a road connected to the front side of the guidance intersection along the guidance route). The number N of lanes of the guide road) is specified. In addition, when it is a road where the number of lanes increases or decreases (for example, when a right-turn exclusive lane is added), the maximum number of lanes is acquired.

  Subsequently, in S13, the CPU 41 determines whether or not the number N of lanes of the guide road acquired in S12 is 1.

  When it is determined that the number N of lanes on the guide road is 1 (S13: YES), that is, when the guide road is composed of only one lane, guidance guidance is provided for the guide intersection to be processed. Therefore, the process proceeds to S4 without setting a guide area for the guide road. On the other hand, if it is determined that the number N of lanes on the guide road is 2 or more (S13: NO), that is, if the guide road includes a plurality of lanes, the process proceeds to S14.

  In S14, the CPU 41 assigns a lane number to each lane included in the guide road acquired in S12. Specifically, as shown in FIG. 4, numbers are assigned in order from the right in the traveling direction of the vehicle. Therefore, when the guide road includes N lanes, lane numbers from 1 to N are given.

  Subsequently, in S15, the CPU 41 identifies the guide lane by the lane number among the lanes included in the guide road acquired in S12. Let M be the lane number of the identified guide lane. The guide lane is a lane that finally guides the vehicle by the guidance guidance as described above, and is the lane to which the vehicle should travel when the vehicle travels along the guide route. That is, the traffic lane corresponding to the traveling direction of the guidance intersection is set as the guide lane. For example, when a guidance route for turning the vehicle to the right is set at the guidance intersection 50 shown in FIG. 4, the guidance lane for the guidance intersection 50 is the rightmost lane (lane number “1”) divided in the right turn direction. Lane). On the other hand, when a guidance route is set for the vehicle to turn left at the guidance intersection 50 shown in FIG. 4, the guidance lane for the guidance intersection 50 is the leftmost lane (lane number “4”) divided in the left turn direction. Lane).

  In addition, a plurality of lanes may correspond to the guide lane candidates. For example, when a guidance route for turning the vehicle to the right is set at the guidance intersection 51 shown in FIG. 5, the rightmost lane (lane with lane number “1”) divided in the right turn direction and the second from the right Two lanes of the lane (lane of lane number “2”) are candidates for the guide lane. In this case, all the lanes that are candidates for the guide lane may be specified as the guide lane, or only one of them may be specified as the guide lane. When only one of them is specified as the guide lane, it is preferable to specify the guide lane with priority on the lane at the end (the lane with the lane number “1” in the example shown in FIG. 5).

  Thereafter, in S16, the CPU 41 first sets a guidance area for the guidance lane identified in S14 among the lanes included in the guide road. In the present embodiment, the guide area is rectangular in shape along the lane, and is set so that the left and right boundaries of the guide area are positioned on the lane boundary (division line). For a guide lane, as shown in FIG. 6, within a guide lane within a distance A with a point where the lane movement of the vehicle to the guide lane needs to be completed (hereinafter referred to as a lane movement end point) as an end point. Is set as the guide area 55. The lane movement end point is the position of the stop line 52, but may be a position a predetermined distance (for example, 30 m) from the stop line 52. Further, when there is no stop line, it is assumed that there is a stop line before a predetermined distance (for example, 1 m) from the entry start point to the intersection. The distance A is a distance necessary for the vehicle to prepare for a left / right turn (for example, turning on a direction indicator, decelerating operation, etc.), and is set in consideration of the road regulation speed and the degree of traffic congestion. In particular, when the guidance area is set for a guidance intersection near the current position of the vehicle, the distance A may be set in consideration of the current vehicle speed of the vehicle. The distance A is 100 m, for example. The guidance area set in S16 will be described below as the first guidance area.

  Thereafter, in S <b> 17, the CPU 41 substitutes 1 as an initial value for the parameter n used in the subsequent processing. The parameter n is stored in a memory such as the flash memory 44.

  Next, in S18, the CPU 41 sets a guidance area for the lanes of the lane number M-n and the lane number M + n among the lanes included in the guide road. Specifically, as shown in FIG. 6, a region within a distance B with a point separated by a distance corresponding to the number of lanes between the lane movement end point and the guide lane (ie, n−1) as an end point is guided. Set as areas 56-58. More specifically, as the number of lanes between the guide lanes increases, the guide area is set at a position away from the lane movement end point, for example, a lane adjacent to the guide lane (lane number M-1 or M + 1). For the first lane), an area within the distance B with the point adjacent to the start point of the first guide area 55 as the end point is set as the guide area 56. For a lane that separates one lane between guide lanes (lane with lane number M-2 or M + 2), the lane adjacent to the guide lane (lane with lane number M-1 or M + 1) is set. An area within the distance B with the end point being a point adjacent to the start point of the guide area is set as the guide area 57. For the lane separating the two lanes between the guide lanes (lane with lane number M-3 or M + 3), the lane adjacent to the guide lane (lane with lane number M-2 or M + 3) is set. An area within the distance B with the end point being a point adjacent to the start point of the guide area is set as the guide area 58. As a result, the guide area is set in a step shape as shown in FIG. The distance B is set as a distance required from the start of the operation for moving the lane to the adjacent lane to the completion of the lane movement, and is set in consideration of the road regulation speed and the degree of congestion. In particular, when the guidance area is set for a guidance intersection near the current position of the vehicle, the distance B may be set in consideration of the current vehicle speed of the vehicle. The distance B is 70 m, for example. Basically, the distance B is set to be shorter than the distance A. The guidance area set in S18 will be described below as a second guidance area.

  Next, in S19, the CPU 41 reads the parameter n and adds one.

  Thereafter, in S20, the CPU 41 determines whether or not a guidance area has been set in S16 or S18 for all lanes included in the guidance road.

  And when it determines with having set the guidance area | region by said S16 or said S18 targeting all the lanes contained in a guide road (S20: YES), it transfers to S21. On the other hand, if it is determined in S16 or S18 that no guidance area has been set for all lanes included in the guide road (S20: NO), the process returns to S18 and guidance for the remaining lanes is made. Continue setting the area.

  In S21, the CPU 41 additionally sets a guidance area for all lanes included in the guidance road. Specifically, as shown in FIG. 6, guide areas 59 to 62 are newly set at positions farther from the lane movement end point than the second guide areas 56 to 58. For example, among the second guide areas 56 to 58, areas within the distance B with the end point being the point adjacent to the start point of the second guide area 58 that is farthest from the lane movement end point are set as the guide areas 59 to 62. To do. In the example shown in FIG. 6, the distance from the lane movement end point of the guide areas 59 to 62 set for each lane is the same distance, but may be a different distance for each lane. In that case, it is desirable to set the guide area in a lane distance away from the guide lane and a position away from the lane movement end point. The guidance area set in S21 will be described below as a third guidance area.

  Thereafter, in S4, the CPU 41 sets the guidance content of guidance guidance according to the positional relationship with the guidance lane and the lane movement end point for each guidance area set in S16, S18, and S21. Specifically, as shown in FIG. 7, for the first guidance area 55 set in the guidance lane, guidance content that suggests maintaining the traveling lane is set. For example, the guidance content “Please drive on this lane” is set. On the other hand, for the second guidance areas 56 to 58 set in a lane other than the guide lane, guidance content for urging lane movement is set in the lane on the guide lane side. For example, the guidance content “Please move to the lane 1 (2, 3,...) Right (left)” is set. For the third guidance areas 59 to 62 set on the foremost side, guidance contents suggesting a relative position with respect to the guide lane are set. For example, the guidance content “Please move 1 (2, 3,...) Lane to the right (left) side by the intersection” is set.

  Next, sub-processing of the guidance guidance process executed in S5 will be described with reference to FIG. FIG. 8 is a flowchart of a sub-processing program for guidance guidance processing.

  First, in S31, the CPU 41 acquires the current position of the vehicle based on the detection result of the current position detection unit 11. A map matching process for specifying the current position of the vehicle on the map data is also performed. Furthermore, it is desirable to specify the current position of the vehicle in detail using high-precision location technology. Here, the high-accuracy location technology detects the white line and road surface paint information captured from the camera behind the vehicle by image recognition, and further compares the white line and road surface paint information with a previously stored map information DB, thereby driving the vehicle. This is a technology that makes it possible to detect lanes and highly accurate vehicle positions. The details of the high-accuracy location technology are already known and will be omitted.

  Subsequently, in S32, the CPU 41 determines whether or not the current position of the vehicle is located in any of the guidance areas set in the guidance area setting process (FIG. 3) in S3.

  If it is determined that the current position of the vehicle is located in any of the guidance areas (S32: YES), the process proceeds to S33. On the other hand, when it is determined that the current position of the vehicle is not located in any of the guide areas (S32: NO), the process proceeds to S36.

  In S33, the CPU 41 compares the travel locus of the vehicle with the guide area determined to be located, and in the boundary where the guide area is set, in the direction where the guide lane is located with respect to the lane where the guide area is set. It is determined whether or not the vehicle passes through a certain boundary d (second boundary) and is located in the guide area.

  Here, FIG. 9 is a diagram showing an example of the guidance area. As described above, the guide area 56 has a rectangular shape along the lane. Therefore, as shown in FIG. 9, the guide area 56 is an area surrounded by four linear boundaries a to d. However, when the lane to which the guide area 56 is set is not a straight line shape, the guide area 56 does not necessarily have an accurate rectangular shape, but has a shape along the lane.

  In S33, it is determined whether or not the vehicle is positioned in the guide area through the boundary d in the direction where the guide lane is located, among the boundaries a to d forming the guide area 56. As a result, when it is determined that the vehicle 65 is positioned within the guidance area after passing through the boundary d as shown in FIG. 10 (S33: YES), the driver of the vehicle 65 intends other than the movement to the guide lane. It is determined that the vehicle has entered the guidance area, and the process proceeds to S36 without performing guidance guidance. The intention other than the movement to the guide lane is, for example, when the guide intersection is intentionally traveled in a direction other than the guide direction (for example, a straight traveling direction), or there is an obstacle on the road surface temporarily. There are cases where the lane is changed. On the other hand, if it is determined that the vehicle is located in the guidance area through a boundary other than the boundary d (S33: NO), the process proceeds to S34.

  In S <b> 34, the CPU 41 compares the travel locus of the vehicle and the guide area determined to be located, and in particular, a boundary a (first boundary) that is opposite to the traveling direction of the vehicle among the boundaries that form the guide area. Alternatively, it is determined whether or not the vehicle is positioned in the guidance area by passing through a boundary b (second boundary) that is opposite to the direction of the guide lane with respect to the lane in which the guidance area is set.

  Then, when it is determined that the vehicle is located in the guide area after passing through the boundary a or b as shown in FIG. 11 (S34: YES), the process proceeds to S35. On the other hand, if it is determined that the vehicle is located in the guidance area through the boundary other than the boundary a or b (S34: NO), the process proceeds to S36 without performing guidance guidance.

  In S <b> 35, the CPU 41 performs guidance guidance with the guidance content set for the guidance area where the vehicle is determined to be located. For example, in the case where the vehicle enters the second guide area 56 through the boundary a or b in the guide area shown in FIG. 7, the voice “Please move to the right lane” The guidance is output from the speaker 16. Further, as shown in FIG. 12, a guidance screen 71 for instructing movement of the lane is displayed on the liquid crystal display 15. For example, in the guidance screen 71 shown in FIG. 12, an own vehicle position mark 72 that indicates the current position of the vehicle and an arrow 73 that indicates the direction of lane movement are superimposed on the enlarged view near the guidance intersection. The guidance guidance output starts at the timing when the vehicle passes (strides) the boundary forming the guidance area.

  Further, when the vehicle passes through the boundary b and is located in the guidance area, the time for the vehicle to be located in the guidance area is shorter than when the vehicle passes through the boundary a and is located in the guidance area. It is desirable to shorten the phrase of the guidance guidance that is output. For example, when the vehicle passes through the boundary a and is located within the guidance area, a voice guidance “Please move to the right lane” is output from the speaker 16, and the guidance area passes through the boundary b. When the vehicle is located inside, the speaker 16 outputs a voice guidance saying “Please move to the right” with a simplified phrase. Thereby, it is possible to complete the guidance guidance set in the guidance area while the vehicle is positioned in the guidance area.

  Thereafter, in S36, the CPU 41 determines whether or not the vehicle has reached the destination.

  And when it determines with the vehicle having reached | attained the destination (S36: YES), the said driving assistance processing program is complete | finished. On the other hand, if it is determined that the vehicle has not reached the destination (S36: NO), the process returns to S31 and guidance is continuously provided. If the guidance area setting process in S3 and S4 and the guidance content setting process for the guidance area are performed only on the nearest guidance intersection of the vehicle, whether the vehicle has passed the nearest guidance intersection in S36. Determine whether or not. And when it determines with having passed the guidance intersection, it returns to S1, and it is set as the structure which performs the setting process of the guidance area | region with respect to the next guidance intersection, and the setting process of the guidance content with respect to a guidance area | region.

  As described above in detail, according to the navigation device 1, the driving support method using the navigation device 1, and the computer program executed by the navigation device 1 according to the present embodiment, the guide lane for guiding the vehicle is specified (S15). ), The lane movement end point where the lane movement of the vehicle to the guide lane needs to be completed is identified (S11), and the guidance area for guiding the vehicle to the guide lane is set as the guide lane and the lane movement end point. Is set for the lane included in the road on which the vehicle travels (S16, S18, S21), the guidance content of the guidance guidance is set for each set guidance area (S4), and the vehicle is within the guidance area. Guidance is performed with the guidance content set for the guidance area (S5), so at the optimum timing and content according to the travel position of the vehicle To guide the lane and it is possible to perform the guidance for guiding the vehicle. Therefore, it is possible to prevent unnecessary guidance for the user. In addition, it is possible to provide guidance for clarifying a necessary operation corresponding to the current lane position at an optimal timing for a user who performs a lane movement operation.

Note that the present invention is not limited to the above-described embodiment, and various improvements and modifications can be made without departing from the scope of the present invention.
For example, in this embodiment, the guide lane for guiding the vehicle to the guidance intersection included in the guidance route and the guidance area for performing guidance guidance are set. However, there are guidance lanes other than the guidance intersection. If it is a road, it is good also as a structure which sets the guidance lane and guidance area | region mentioned above, and performs guidance guidance. For example, there are lane reduction sections due to construction and accidents.

  In the present embodiment, the guide area is rectangular, but it is not necessarily required to be rectangular. For example, it may be elliptical or trapezoidal. In addition, a guidance area may be set across a plurality of lanes.

  In the present embodiment, three types of guide areas, the first guide area, the second guide area, and the third guide area, are set as the guide areas. However, the first guide area, the second guide area, and the third guide area are not necessarily provided. It is not necessary to set all the guide areas of the guide area. For example, only the first guide area and the second guide area may be set.

  In the present embodiment, the guidance guidance is not performed when the lane in which the vehicle travels is a lane composed of only one lane, but the first guidance area is set for the lane in which the vehicle travels, It is good also as a structure which implements guidance guidance.

  In the present embodiment, the guidance guidance is not performed when the vehicle is positioned in the guidance area through the boundary d in the direction of the guidance lane among the boundaries a to d forming the guidance area. However, it may be configured to perform guidance guidance.

  In addition to the navigation device, the present invention can be applied to various devices having a function of performing route guidance based on a guidance route. For example, the present invention can be applied to a mobile terminal such as a mobile phone or a smartphone, a personal computer, a tablet terminal (hereinafter referred to as a mobile terminal or the like). Further, the present invention can be applied to a system including a server and a mobile terminal. In that case, each step of the above-mentioned driving support processing program (FIG. 2) may be configured to be implemented by either a server or a mobile terminal.

  Moreover, although the embodiment which actualized the driving support system according to the present invention has been described above, the driving support system can also have the following configuration, and in that case, the following effects can be obtained.

For example, the first configuration is as follows.
Guide lane specifying means (41) for specifying the guide lane for guiding the vehicle (65), and lane movement end for specifying the lane movement end point (53) where the lane movement of the vehicle to the guide lane needs to be completed A road on which the vehicle travels based on the guidance lane and the lane movement end point in the point identification means (41) and the guidance area (55 to 62) for performing guidance guidance for guiding the vehicle to the guidance lane The guide area setting means (41) to be set for the lane included in the vehicle and the guide area set by the guide area setting means, depending on the positional relationship between the guide lane and the lane movement end point Guide content setting means (41) for setting the guide content of the guide guidance, and guidance for performing the guide guidance with the guide content set for the guide area when the vehicle is located in the guide area Having an inner section (41), the.
According to the driving support system having the above configuration, the guidance content of the guidance guidance according to the positional relationship between the guidance lane and the lane movement end point for each guidance area set for the lane included in the road on which the vehicle travels. When the vehicle is located in the guidance area, guidance guidance is performed with the guidance content set for the guidance area. Therefore, the vehicle is moved to the guidance lane at the optimum timing and content according to the traveling position of the vehicle. It is possible to provide guidance for guiding the user. Therefore, it is possible to prevent unnecessary guidance for the user. In addition, it is possible to provide guidance for clarifying a necessary operation corresponding to the current lane position at an optimal timing for a user who performs a lane movement operation.

The second configuration is as follows.
It has a guide route acquisition means (41) for acquiring a guide route for guiding the travel of the vehicle (65), and the guide lane specifying means (41) is located at a guide intersection (50, 51) included in the guide route. On the other hand, the guide lane is specified.
According to the driving support system having the above configuration, it is possible to perform guidance for guiding the vehicle to the guide lane at an optimal timing and content according to the driving position of the vehicle, particularly when the vehicle passes through a guidance intersection. Become. As a result, the vehicle can be turned left or right in the direction along the guidance route without departing from the guidance route at the guidance intersection.

The third configuration is as follows.
The guidance guide means (41) starts outputting the guidance guidance at a timing when the vehicle (65) passes through a boundary forming the guidance area (55-62).
According to the driving support system having the above-described configuration, it is possible to start outputting guidance at an optimal timing according to the current position of the vehicle.

The fourth configuration is as follows.
The guide area (55-62) has a rectangular shape along the lane, and the guide guide means (41) is in a direction opposite to the traveling direction of the vehicle (65) within the boundary forming the guide area. When the vehicle is located in the guide area passing through a first boundary located in the road or a second boundary in a direction opposite to the direction of the guide lane with respect to the lane where the guide area is set Guidance is performed, and the guidance guidance is not performed when the vehicle is located in the guidance area passing through boundaries other than the first boundary and the second boundary among the boundaries forming the guidance area.
According to the driving support system having the above-described configuration, it is possible to prevent unnecessary guidance for the user from being performed by not performing the guidance guidance when the vehicle enters the guidance area with the intention other than the movement to the guidance lane. .

The fifth configuration is as follows.
When the vehicle (65) is located in the guide area (55 to 62) passing through the second boundary and passing through the second boundary, the guidance guide means (41) passes through the first boundary and passes through the guide area. The guidance guidance phrase that is output is shorter than when the vehicle is located inside.
According to the driving support system having the above-described configuration, it is possible to set a guidance guidance phrase according to the time when the vehicle is located in the guidance area. As a result, it is possible to complete the guidance guidance set in the guidance area while the vehicle is located in the guidance area.

The sixth configuration is as follows.
The guide area setting means (41) is a first lane that is within the lane of the guide lane among the lanes included in the road on which the vehicle (65) travels, and has the lane movement end point (52) as an end point. An area within a distance is set as the guidance area in the first guidance area (55), and the guidance content setting means (41) suggests that the lane to travel with respect to the first guidance area is maintained. Set.
According to the driving support system having the above-described configuration, it is possible to perform guidance at an appropriate timing, which suggests that the vehicle already traveling in the guide lane is maintained in the currently traveling lane.

The seventh configuration is as follows.
The guidance area setting means (41) is in a lane of a lane other than the guide lane among lanes included in a road on which the vehicle (65) travels, and is guided from the lane movement end point (52). An area within a second distance with a point separated by a distance corresponding to the number of lanes between the two lanes as an end point is set as the second guidance area (56-58) as the guidance area, and the guidance content setting means (41) sets guidance contents for urging lane movement in the lane on the guide lane side with respect to the second guidance area.
According to the driving support system having the above configuration, for a vehicle traveling in a lane different from the guide lane, guidance that suggests lane movement from the currently traveling lane to the guide lane is provided for each lane. This can be done at the timing.

The eighth configuration is as follows.
The guide area setting means (41) sets the second guide area (56 to 58) at a position farther from the lane movement end point (52) as the number of lanes between the guide lane and the guide lane increases. To do.
According to the driving support system having the above-described configuration, for a vehicle traveling in a lane different from the guide lane, the guidance that suggests moving the lane from the currently traveling lane to the guide lane is moved to the guide lane. Therefore, it is possible to carry out at an appropriate timing according to the distance required.

The ninth configuration is as follows.
The guide area setting means (41) is configured such that the lane movement end point (in the lanes of all lanes included in the road on which the vehicle (65) travels) than the second guide area (56-58) ( 52), a third guidance area (59-62) is set as the guidance area at a position distant from 52), and the guidance content setting means (41) sets the relative position of the guidance lane with respect to the third guidance area. Set the guidance content to suggest.
According to the driving support system having the above-described configuration, it is possible to provide guidance for notifying the existence of the guide lane to a vehicle traveling at a position away from the guidance intersection. As a result, the user's operation related to the subsequent lane movement can be performed more smoothly.

1 Navigation device 13 Navigation ECU
41 CPU
42 RAM
43 ROM
50, 51 Guide intersection 52 Stop line 55 First guide area 56-58 Second guide area 59-62 Third guide area 65 Vehicle

Claims (11)

Guidance lane identification means for identifying the guidance lane for guiding the vehicle;
Lane movement end point specifying means for specifying a lane movement end point where the lane movement of the vehicle to the guide lane needs to be completed;
Guidance area setting means for setting a guidance area for performing guidance guidance for guiding the vehicle to the guidance lane with respect to a lane included in a road on which the vehicle travels based on the guidance lane and the lane movement end point. When,
Guidance content setting means for setting the guidance content of the guidance guidance according to the positional relationship between the guidance lane and the lane movement end point for each guidance area set by the guidance area setting means;
A driving support system comprising: guidance guidance means for performing the guidance guidance with guidance contents set for the guidance area when the vehicle is located within the guidance area. Having a guide route acquisition means for acquiring a guide route for guiding the traveling of the vehicle;
The driving assistance system according to claim 1, wherein the guidance lane identification unit identifies the guidance lane with respect to a guidance intersection included in the guidance route.   The driving support system according to claim 1 or 2, wherein the guidance guide unit starts outputting the guidance guidance at a timing when the vehicle passes a boundary forming the guidance area. The guide area has a rectangular shape along the lane,
The guidance guide means includes:
Of the boundaries forming the guide area, a first boundary in the direction opposite to the traveling direction of the vehicle, or a second boundary in the direction opposite to the direction in which the guide lane is present with respect to the lane in which the guide area is set When the vehicle is located within the guidance area through the guidance guidance,
The guidance guidance is not performed when the vehicle is located in the guide area passing through boundaries other than the first boundary and the second boundary among the boundaries forming the guide area. Item 4. The driving support system according to item 3.   When the vehicle passes through the second boundary and is located in the guidance area, the guidance guide means outputs more than when the vehicle passes through the first boundary and is located in the guidance area. The travel support system according to claim 4, wherein a phrase of the guidance guidance is shortened. The guidance area setting means includes, as the guidance area, an area within a lane included in the road on which the vehicle travels and within the lane of the guide lane and within the first distance with the lane movement end point as an end point. Set it as the first guide area,
The travel support system according to any one of claims 1 to 5, wherein the guidance content setting means sets guidance content that suggests maintaining a lane in which the vehicle travels with respect to the first guidance area. The guide area setting means is the number of lanes in a lane other than the guide lane among lanes included in the road on which the vehicle travels and between the lane movement end point and the guide lane An area within the second distance with the point separated by a distance according to the end point being set as the second guidance area as the guidance area,
The travel assistance system according to any one of claims 1 to 6, wherein the guidance content setting means sets guidance content for urging lane movement in a lane on the guide lane side with respect to the second guidance area.   The driving assistance system according to claim 7, wherein the guidance area setting unit sets the second guidance area at a position farther from the lane movement end point as the number of lanes between the guidance lane and the guide lane increases. The guidance area setting means provides a third guidance as the guidance area at a position farther from the lane movement end point than the second guidance area in the lanes of all lanes included in the road on which the vehicle is traveling. Set the area
The travel assistance system according to claim 7 or 8, wherein the guidance content setting means sets guidance content suggesting a relative position with respect to the guidance lane with respect to the third guidance area. A guidance lane identifying means identifying a guidance lane for guiding the vehicle;
A lane movement end point specifying means specifying a lane movement end point where the lane movement of the vehicle to the guide lane needs to be completed;
A guidance area setting means performs guidance guidance for guiding the vehicle to the guidance lane, based on the guidance lane and the lane movement end point, with respect to a lane included in a road on which the vehicle travels. Steps to set,
A guidance content setting means, for each guidance area set by the guidance area setting means, to set the guidance content of the guidance guidance according to the positional relationship between the guidance lane and the lane movement end point;
And a guide for guiding the vehicle with the guidance content set for the guidance area when the vehicle is located within the guidance area. Computer
Guidance lane identification means for identifying the guidance lane for guiding the vehicle;
Lane movement end point specifying means for specifying a lane movement end point where the lane movement of the vehicle to the guide lane needs to be completed;
Guidance area setting means for setting a guidance area for performing guidance guidance for guiding the vehicle to the guidance lane with respect to a lane included in a road on which the vehicle travels based on the guidance lane and the lane movement end point. When,
Guidance content setting means for setting the guidance content of the guidance guidance according to the positional relationship between the guidance lane and the lane movement end point for each guidance area set by the guidance area setting means;
Guidance guidance means for performing the guidance guidance with the guidance content set for the guidance area when the vehicle is located in the guidance area;
Computer program to make it function.

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