JP2011137728A - Navigation device and guidance method thereof - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To perform more accurate determination as to whether a lane is an HOV lane, and to provide guidance on the HOV lane in a navigation system. <P>SOLUTION: A navigation system includes a storage means which stores lane information, including the installation time of a lane (hereinafter, to be referred to as "conditional lane") made passable by prescribed conditions being satisfied, and a guiding means which provides entrance guidance on the conditional lane. Using the lane information, the guiding means specifies a road, wherein the conditional lane is installed at a prescribed time and performs entrance guidance on the conditional lane for the specified road. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a navigation apparatus and a guidance method therefor.

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

JP 2000-131085 A

  Some of these HOV lanes are switched to a normal lane (a lane in which normal vehicles that are not subject to the HOV lane can also travel) at a predetermined time. In other words, depending on the section, the normal lane is switched to the HOV lane at a predetermined time.

  However, the conventional navigation apparatus does not consider switching between the HOV lane and the normal lane according to the time zone. As a result, there is a problem that even if it is a time zone after switching from the HOV lane to the normal lane, it is guided as the HOV lane. On the other hand, there is a problem that although the normal lane is switched to the HOV lane, it cannot be guided as the HOV lane.

  The present invention has been made in view of the above problems, and an object of the present invention is to guide a HOV lane more accurately by determining whether or not it is a HOV lane in a navigation device.

  In order to solve the above-mentioned problem, the navigation device according to the present invention includes storage means for storing lane information including the installation time of a lane (hereinafter referred to as “conditional lane”) that can pass when a predetermined condition is satisfied. And guidance means for performing entrance guidance for the conditional lane. And the said guidance means specifies the road where the said conditional lane is installed in the predetermined time using the said lane information, The structure of performing the entrance guidance of the said conditional lane with respect to the specified road is comprised. I have.

It is a schematic block diagram of a navigation apparatus. It is a figure which shows the structure of a link table. It is a figure which shows the structure of a guidance object link table. It is a figure which shows the mounting position of a camera. It is a figure which shows a mode that a captured image is projected on the ground surface. It is a functional block diagram of the arithmetic processing part which concerns on 1st embodiment of this invention. It is a flowchart of an object link extraction process. It is a flowchart of a HOV entrance guidance process. It is a flowchart of the object link extraction process which concerns on 2nd embodiment of this invention.

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

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

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

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

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

  Further, as will be described later, the arithmetic processing unit 1 can give priority to a route traveling on the HOV lane when performing route search. Note that the HOV lane is defined such that only vehicles having a specified number of passengers (for example, two people including the driver) or more and vehicles satisfying a specific standard (low fuel consumption or low pollution) can travel. Lane.

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

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

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

  In this storage medium, a guidance object for registering a link table 200 which is map data (including link data of links constituting a road on the map) necessary for a normal route search device, and a link specified as an HOV lane A link table 250 is stored.

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

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

  The HOV lane information 228 includes HOV attribute detailed data 230 indicating whether or not the link can become a HOV lane. In the HOV attribute detail data 230, an attribute 231 indicating whether or not an HOV lane is installed on the link and a time zone 232 when the HOV lane is installed are registered in association with each other. Specifically, when a HOV lane is installed on the link, “present” is registered in the attribute 231. Each time zone in which the link is the HOV lane (for example, 6:00 to 10:00, 15: 00 to 17:00, etc.) is registered in association with each attribute 231 indicating “present”. Yes.

  FIG. 3 is a diagram showing the configuration of the guidance target link table 250. The guidance target link table 250 is a table for registering links extracted in the HOV target link extraction process described later. In the guidance target link table 250, a link ID 251 of the extracted link, a “start node / end node” 252 and a “start connection link, end connection link” 253 of the link are registered. For these link IDs 251, “start node / end node” 252, and “start connection link, end connection link” 253, the same ID numbers and coordinate information registered in the link table 200 are used. It is done.

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

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

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

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

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

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

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

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

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

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

  FIG. 4 shows the camera 12 attached to the rear of the vehicle 300. The camera 12 faces slightly downward, and images the ground surface behind the vehicle using an imaging element such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor) image sensor. In addition, there is no restriction | limiting in the position to which the camera 12 is attached, For example, the camera 12 may be attached to the front of the vehicle 300 and may image the ground surface ahead of the vehicle.

  FIG. 5 is a diagram for explaining a method of generating a ground projection image using an image captured by the camera 12 of FIG. The camera control unit 104 to be described later obtains the position of the viewpoint P of the camera 12 (coordinate position in a three-dimensional space with a predetermined position in the vehicle as the origin) and the imaging direction (gaze direction) K. Then, the camera control unit 104 projects the captured image 510 onto the ground surface 520 from the position of the viewpoint P of the camera 12 in the imaging direction K, and generates a ground projection image 530. Note that the imaging direction K intersects the center of the captured image 510 perpendicularly. The distance from the viewpoint P of the camera 12 to the captured image 510 is determined in advance. The ground projection image 530 generated in this way is an image that looks like a bird's-eye view of the vehicle periphery from above the vehicle.

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

  FIG. 6 is a functional block diagram of the arithmetic processing unit 1. As shown in the figure, the arithmetic processing unit 1 includes a main control unit 101, an input receiving unit 102, an output processing unit 103, a camera control unit 104, a lane recognition unit 105, an HOV travel availability determination unit 106, a route The search unit 107, the branch guide unit 108, and the HOV entrance guide unit 109 are included.

  The main control unit 101 is a central functional unit that performs various processes, and controls other processing units according to the processing content. Further, the main control unit 101 acquires information on various sensors, the GPS receiver 9 and the like, and performs a map matching process and the like to specify the current location. Further, the main control unit 101 outputs the current time in response to a request from each processing unit. The main control unit 101 manages various setting information included in the navigation device 100. For example, the main control unit 101 receives various setting information from the user via each function unit, and stores it in the storage device 3. Note that the various setting information includes information related to the use of the HOV lane (for example, which information is set to be true or false for actively using the HOV lane). When the main control unit 101 receives a request for provision of various types of setting information from another function unit, the main control unit 101 transfers the information to the requesting function unit.

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

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

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

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

  The HOV traveling availability determination unit 106 determines whether or not the host vehicle 300 can travel on the HOV lane. In the determination of the propriety of traveling, the HOV traveling propriety determining unit 106 determines the vehicle type of the own vehicle 300 based on communication information flowing through the in-vehicle network of the own vehicle 300 via the in-vehicle network communication device 13, and the HOV lane It is determined whether the vehicle type is capable of traveling. Of course, the determination process for determining whether or not the vehicle can travel on the HOV lane is not limited to this, and the HOV vehicle traveling determination unit 106 identifies the number of passengers from a load sensor (not shown) attached to the vehicle seat or wears a seat belt. The number of passengers may be specified via a sensor, and it may be determined whether or not the number of passengers that can travel on the HOV lane has been reached.

  The route search unit 107 searches for an optimum route (recommended route) that connects the starting point (current location) and the destination specified by the user. In the route search, a route is searched based on a link cost set in advance for a predetermined section (link) of a road using a route search logic such as Dijkstra method. In this process, the HOV driving availability determination unit 106 is requested to determine whether or not the vehicle is in a state where it can travel on the HOV lane, and the determination result that the vehicle is in a state where it can travel is obtained. When it is obtained, the recommended route is searched with priority on the route using the HOV lane.

  If the vehicle is not in a state where it can travel, the route search unit 107 searches for a route with the lowest link cost without considering the HOV lane. Note that even if the route search unit 107 determines that the HOV lane is not available in the processing, if the vehicle is already traveling on the HOV lane, the route search unit 107 selects a route that uses the HOV lane. Search for recommended routes with priority. The route search unit 107 refers to the HOV lane information 228 of the link to which the current position belongs when determining whether or not the vehicle has already traveled in the HOV lane. If “present” is registered in the attribute 231 and the current time is included in the time zone associated with the “present”, it is determined that the vehicle is traveling in the HOV lane. On the other hand, in other cases (when “present” is not registered in the attribute 231 of the HOV lane information 228 of the link to which the current position belongs, or the time zone 232 associated with the registered “present” In the case where the current time is not included), it is determined that the vehicle is not traveling on the HOV lane.

  The branch guidance unit 108 guides the driver of the presence and position of a junction with another road, a branch point to another road, and the like using video and audio. For example, a display notifying that the merging point is near and an approximate distance to the merging point is output to the display 2 via the output processing unit 103 from the position before the merging position between the branch line of the expressway and the main line. Alternatively, the driver is informed by voice through the speaker 42 which lane should be driven at the branch point from the main road to the ramp road.

  The HOV entrance guide unit 109 is a functional unit that extracts link information of the link corresponding to the HOV lane and registers it in the guidance target link table 250. Specifically, the HOV entrance guide unit 109 refers to the HOV lane information 228 of a link within a predetermined range (for example, within 5 km) from the vehicle position at the current time, and identifies a link corresponding to the HOV lane. Then, the HOV entrance guide 109 extracts information about the identified link and registers it in the guidance target link table 250. The HOV entrance guide 109 is a functional unit that guides the entrance of the HOV lane. Specifically, the HOV entrance guidance unit 109 starts guidance for the entrance of the HOV lane when the host vehicle approaches a link registered in the guidance target link table 250 up to a predetermined distance (for example, 500 m).

  Each functional unit of the arithmetic processing unit 1 described above, that is, the main control unit 101, the input reception unit 102, the output processing unit 103, the camera control unit 104, the lane recognition unit 105, the HOV travel availability determination unit 106, the route search unit 107, and the branch The guide unit 108 and the HOV entrance guide unit 109 are constructed by the CPU 21 reading and executing a predetermined program. Therefore, the RAM 22 stores a program for realizing the processing of each functional unit.

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

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

  Next, the operation | movement of the object link extraction process which the navigation apparatus 100 implements is demonstrated. FIG. 7 is a flowchart showing target link extraction processing performed by the navigation device 100. This flow starts when the navigation device 100 is activated.

  First, the HOV entrance guide unit 109 determines whether or not the HOV lane can be used (step S001). That is, the HOV entrance guide unit 109 determines whether or not the navigation device 100 is set to use the HOV lane (step S001). Specifically, the HOV entrance guidance unit 109 sets information regarding the use of the HOV lane (for example, information about whether to use the HOV lane is true or false among various setting information included in the navigation device 100). Is acquired from the main control unit 101. Then, the HOV entrance guide unit 109 refers to the information and determines whether the setting is to use the HOV lane.

  When it is set to use the HOV lane (Yes in step S001), the HOV entrance guide unit 109 determines whether or not the own vehicle can travel on the HOV lane (step S002). Specifically, the HOV entrance guide unit 109 requests the HOV travel availability determination unit 106 to determine whether the host vehicle can travel on the HOV lane. On the other hand, when it is not set to use the HOV lane (No in step S001), the HOV entrance guide unit 109 ends the target link extraction process.

  In step S002, the HOV travel availability determination unit 106 determines whether or not the host vehicle can travel on the HOV lane. Specifically, the HOV traveling availability determination unit 106 identifies the vehicle type or the number of passengers based on information acquired from the vehicle type of the host vehicle, a load sensor, or a seat belt wearing sensor. Then, the HOV traveling availability determination unit 106 determines whether or not the specified vehicle type or number of passengers satisfies a predetermined condition for using the HOV lane, and outputs the determination result to the HOV entrance guide unit 109.

  When the host vehicle can travel on the HOV lane (Yes in step S002), the HOV entrance guide unit 109 sets the HOV attribute corresponding to the current time for the link within the predetermined range connected to the link where the host vehicle is located. Investigation is performed (step S003). Specifically, the HOV entrance guide 109 identifies the link where the vehicle is located based on the information registered in the link table 200. Next, the HOV entrance guide unit 109 investigates the HOV attribute of a link connected to the link where the vehicle is located, for example, within 5 km from the vehicle position. At this time, the HOV entrance guide 109 checks the attribute 231 of each link at the current time. On the other hand, if the host vehicle is not capable of traveling on the HOV lane (No in step S002), the HOV entrance guide unit 109 ends the target link extraction process.

  The HOV entrance guidance unit 109 checks the attribute 231 of each link (step S003), extracts a link in which “present” is registered in the attribute 231 corresponding to the time zone 232 including the current time, and provides a guidance target link table. The data is stored in 250 (step S004).

  After executing step S004, the HOV entrance guidance unit 109 moves the process to step S001 (R001). In this way, the HOV entrance guide unit 109 repeatedly executes the processing from step S001 to step S004.

  Note that the HOV entrance guide unit 109 may transfer the process to step S003 (R002) after executing step S004. In this case, for example, after the HOV entrance guide unit 109 executes the processing of step S001 and step S002, the processing of step S003 and step S004 is repeatedly executed (R002), and the processing shifts to step S001 at a predetermined timing (R001). ). Specifically, the HOV entrance guide unit 109 may repeatedly execute the processes of steps S003 and S004, and the process may be shifted to step S001 (R001) at a timing of once every 10 minutes, for example.

  Next, the HOV entrance guidance process will be described with reference to FIG. FIG. 8 is a flowchart showing the HOV entrance guidance process.

  The HOV entrance guidance unit 109 determines whether there is a link stored in the guidance target link table 250 by the target link extraction process and within a predetermined range from the vehicle position (step S021). Specifically, the HOV entrance guide unit 109 confirms the presence or absence of a link stored in the guidance target link table 250 that is within a distance of, for example, 500 m from the vehicle position. If there is such a link (Yes in step S021), the HOV entrance guide unit 109 starts guidance for entering the HOV lane (S022). Specifically, the HOV entrance guide unit 109 displays the required time and distance to the HOV lane, the lane position of the HOV lane, and the like on the display 2 and provides voice guidance through the speaker 42.

  On the other hand, when there is no link within the predetermined range from the vehicle position (No in step S021), the HOV entrance guide unit 109 moves the process to step S033.

  In step S <b> 023, the HOV entrance guide unit 109 deletes a link for which a predetermined time has elapsed since it was stored in the guidance target link table 250. Specifically, information on links that have passed one hour or more from the stored time among the links stored in the guidance target link table 250 is deleted. The elapsed time may be set as appropriate. Further, the elapse of a predetermined time is not set as a link deletion requirement. For example, when the vehicle position is more than a predetermined distance from a registered link, the link may be deleted. The predetermined distance may be set as appropriate. Note that the HOV entrance guidance process shown in FIG. 8 repeatedly executes the processes in steps S021 to S023 while the target link extraction process is being executed.

  The flow of the target link extraction process and the HOV entrance guidance process has been described above.

  In such a navigation apparatus according to the first embodiment of the present invention, the HOV attribute that switches according to the time zone is taken into consideration when determining whether or not the HOV lane. As a result, according to the navigation device according to the first embodiment of the present invention, it is possible to more accurately determine whether or not the vehicle is an HOV lane and guide the HOV lane.

  In addition, although the navigation apparatus 100 according to the first embodiment described above identifies the HOV attribute 231 of the peripheral link according to the current time, the present invention is not limited to this. The navigation device 100 according to the second embodiment of the present invention specifies the HOV attribute 231 corresponding to the estimated arrival time at each of the surrounding links. The operation of the navigation device 100 according to the second embodiment will be described with reference to FIG.

  FIG. 9 is a flowchart showing target link extraction processing performed by the navigation device 100 according to the second embodiment. In the second embodiment, only steps S033 and S034 are executed differently from the first embodiment. Therefore, the description of the same processing contents as in the first embodiment is omitted. Also, the flow shown in FIG. 9 is started when the navigation device 100 is activated.

  In step S033 of FIG. 9, when the own vehicle can travel on the HOV lane (Yes in step S032), the HOV entrance guide unit 109 arrives for a link within a predetermined range connected to the link where the own vehicle is located. The HOV attribute 231 corresponding to the expected time is investigated (step S033). Specifically, the HOV entrance guide unit 109 refers to the link travel time 225 of the link table 200 and is a link connected to the link where the host vehicle is located, and each link within, for example, 5 km from the host vehicle position. Calculate the estimated arrival time. Then, the HOV entrance guidance unit 109 checks the attribute 231 of each link at the calculated estimated arrival time at each link. On the other hand, if the host vehicle is not capable of traveling on the HOV lane (No in step S002), the HOV entrance guide unit 109 ends the target link extraction process.

  The HOV entrance guidance unit 109 checks the attribute 231 of each link (step S033), extracts the link in which “present” is registered in the attribute 231 corresponding to the time zone 232 including the estimated arrival time, and the guidance target link. It stores in the table 250 (step S034).

  In the second embodiment of the present invention, the HOV inlet guidance process is executed as in the first embodiment.

  As described above, in the second embodiment of the present invention, the estimated arrival time at each link is used in determining whether or not the target link is in the HOV lane. And a navigation apparatus determines whether it is a HOV lane based on the HOV attribute of each link specified in this way. Therefore, according to the second embodiment of the present invention, it is possible to determine the HOV lane with higher accuracy and guide the HOV lane.

  In the modification of the present invention, in the first embodiment or the second embodiment described above, the attribute 231 of the link may be determined again based on the time immediately before guiding the HOV lane. Specifically, when the vehicle approaches the position 1 km before the link specified in the HOV lane, the navigation apparatus 100 refers to the time zone 232 included in the attribute 231 of the link again. Then, it is determined whether or not the attribute 231 of the link is an HOV lane at a time point 1 km before the link. As a result, if the link is not in the HOV lane, the navigation device 100 cancels the HOV entrance guidance. On the other hand, when the link is an HOV lane, when the vehicle position approaches 500 m before the link, HOV entrance guidance is started. Note that the attribute 231 is determined again, and links that no longer correspond to the HOV lane may be deleted from the guidance target link table 250.

  According to such a modification, since it is determined again whether or not it is the target of the HOV lane again immediately before the link of the HOV lane once specified, it is possible to determine with higher accuracy and guide the entrance of the HOV lane. it can. For example, the attribute of the link may change before reaching the link initially specified as the target of the HOV lane due to the influence of traffic congestion or the like. However, according to the modification of the present invention, it is possible to review whether or not the HOV lane is immediately before such a link, so that the entrance to the HOV lane can be guided with higher accuracy.

  DESCRIPTION OF SYMBOLS 100 ... Car navigation system, 1 ... Arithmetic processing part, 2 ... Display, 3 ... Memory | storage device, 4 ... Voice input / output device, 5 ... Input device, 6 ... ROM Device: 7 ... Vehicle speed sensor, 8 ... Gyro sensor, 9 ... GPS receiver, 10 ... FM multiplex broadcast receiver, 11 ... Beacon receiver, 12 ... Camera, 13. ..In-vehicle network communication devices

Claims (4)

Storage means for storing lane information including the installation time of a lane (hereinafter referred to as a “conditional lane”) that is allowed to pass by satisfying a predetermined condition;
Guidance means for performing entrance guidance of the conditional lane,
The guiding means includes
A navigation device characterized in that, using the lane information, a road on which the conditional lane is installed at a predetermined time is identified, and the conditional lane entrance guidance is provided for the identified road. The navigation device according to claim 1, wherein
The guiding means includes
After identifying the road on which the conditional lane is installed at the predetermined time, and when approaching the specified road up to a predetermined distance, the conditional lane is also installed at that time using the lane information. And determining whether the conditional lane is not installed, and stopping the entrance guidance of the conditional lane. The navigation device according to claim 1 or 2,
The navigation apparatus according to claim 1, wherein the predetermined time is a current time or an estimated arrival time on the road. A storage step of storing lane information including the installation time of a lane (hereinafter referred to as a “conditional lane”) that is allowed to pass by satisfying a predetermined condition;
A guidance step for guiding the entrance of the conditional lane;
A navigation device guidance method for executing
The guiding step includes
A navigation apparatus guidance method, characterized in that, using the lane information, a road on which the conditional lane is installed at a predetermined time is identified, and the conditional lane entrance guidance is performed on the identified road.

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