Guidance device, guidance method, and guidance program

Abstract

For example, even if a driver makes a mistake and deviates from the route at a guidance point such as an intersection, the present invention provides a guidance device that can safely guide the driver without causing them to panic. [Solution] The system includes: a detection unit 1 that detects a mismatch between a first movement state, which is the vehicle's movement state at a guidance point on a route set for the vehicle that includes guidance points such as intersections, and a second movement state, which is the predicted vehicle's movement state after passing the guidance point before reaching the guidance point; a voice guidance unit 2 that, when it is detected that the two states are mismatched, provides an audible notification urging the vehicle to maintain the second movement state; a route search unit 3 that, when it is detected that the two states are mismatched, obtains a corrected route for the vehicle to move after passing the guidance point based on the second movement state and the original route; and a guidance control unit 4 that, after providing the audible notification urging the vehicle to maintain the state, starts guiding the vehicle based on the corrected route.

Description

Technical Field

[0001] The present application belongs to the technical field of guidance devices, guidance methods, and guidance programs. More specifically, it belongs to the technical field of guidance devices and guidance methods for guiding the movement of moving bodies such as vehicles, and guidance programs used in the guidance devices.

Background Art

[0002] In recent years, navigation devices that are mounted on vehicles and provide voice guidance of the vehicle's movement to the occupants have become widespread. Such navigation devices include not only those mounted on vehicles, but also those implemented as a function of an application (software) installed on a so-called smartphone. When voice guidance by the navigation device is performed, for example, at an intersection where the vehicle is to turn, a voice indicating the direction to turn is output. As a prior art document disclosing an example of such conventional technology, there is, for example, the technology described in Patent Document 1 below.

[0003] This Patent Document 1 discloses a driving support control device intended to execute guidance for making the driver recognize the correct route when it is determined that the driver of the vehicle does not correctly recognize the guided route. The driving support control device disclosed in Patent Document 1 includes a guidance control unit that executes route guidance to a destination, a biometric information acquisition unit that acquires biometric information of the driver indicating the state of the driver of the vehicle, a determination unit that determines whether the driver correctly recognizes the guided route based on the acquired biometric information of the driver, and a notification control unit that uses a notification unit to notify that effect when it is determined that the driver does not correctly recognize the route.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

[0005] However, if the above route includes an intersection that serves as a guidance point, the driver may mistakenly attempt to go straight at that intersection when they should, for example, turn left. In such cases, if the driver is suddenly given a voice guidance such as "Turn left" just before or within the intersection, they may panic or attempt dangerous maneuvers such as a U-turn, which could ultimately compromise safe route guidance.

[0006] Therefore, this application was made in view of the above-mentioned problems, and one example of the problems it addresses is to provide a guidance device and guidance method, as well as a guidance program used in said guidance device, that can safely guide a driver without causing them to panic, even if the driver makes a mistake and deviates from the route at a guidance point such as an intersection. [Means for solving the problem]

[0007] To solve the above problems, the invention described in claim 1 includes: detection means for detecting that a first movement state, which is the movement state of the mobile body at a guide point in a route set for the mobile body that includes the guide point, and a second movement state, which is the movement state of the mobile body after passing the guide point that is predicted before reaching the guide point, are inconsistent; notification means for prompting the maintenance of the second movement state when the inconsistency is detected; acquisition means for acquiring a post-passage route, which the mobile body will travel on after passing the guide point, based on the second movement state and the route, when the inconsistency is detected; and guidance control means for starting guidance of the mobile body based on the acquired post-passage route after the notification prompting the maintenance.

[0008] To solve the above problems, the invention described in claim 5 is a guidance method performed in a guidance device comprising detection means, notification means, acquisition means, and guidance control means, the method comprising: a detection step in which the detection means detects that a first movement state, which is the movement state of the mobile body at a guidance point in a route set for the mobile body including the guidance point, and a second movement state, which is the movement state of the mobile body after passing the guidance point that is predicted before reaching the guidance point, are inconsistent; a notification step in which, when the inconsistency is detected, the notification means notifies that the maintenance of the second movement state should be encouraged; an acquisition step in which, when the inconsistency is detected, the acquisition means acquires a post-passage route on which the mobile body will move after passing the guidance point, based on the second movement state and the route; and a guidance control step in which, after the notification to encourage maintenance, the guidance control means starts guiding the mobile body based on the acquired post-passage route.

[0009] To solve the above problems, the invention described in claim 6 makes the computer function as a detection means for detecting that a first movement state, which is the movement state of the mobile body at a guide point on a route set for the mobile body including the guide point, and a second movement state, which is the movement state of the mobile body after passing the guide point that is predicted before reaching the guide point, are inconsistent; a notification means for notifying that the maintenance of the second movement state should be encouraged when the inconsistency is detected; an acquisition means for acquiring a post-passage route on which the mobile body will move after passing the guide point, based on the second movement state and the route, when the inconsistency is detected; and a guidance control means for initiating guidance of the mobile body based on the acquired post-passage route after the notification to encourage maintenance is given. [Brief explanation of the drawing]

[0010] [Figure 1] This is a block diagram showing the schematic configuration of the guidance device according to the embodiment. [Figure 2] This is a block diagram illustrating the schematic configuration of the navigation device in the embodiment. [Figure 3]This is a flowchart showing the guidance process for the example. [Figure 4] This is a conceptual diagram (I) showing the guidance process of the embodiment. [Figure 5] This is a conceptual diagram (II) showing the guidance process of the embodiment. [Modes for carrying out the invention]

[0011] Next, an embodiment for carrying out the present invention will be described with reference to Figure 1. Figure 1 is a block diagram showing the schematic configuration of the guidance device of the embodiment.

[0012] As shown in Figure 1, the guidance device S of the embodiment is configured to include a detection means 1, a notification means 2, an acquisition means 3, and a guidance control means 4.

[0013] In this configuration, the detection means 1 detects that the first movement state, which is the movement state of the mobile body at the guide point in a route set for the mobile body that includes the guide point, and the second movement state, which is the actual movement state of the mobile body before reaching the guide point or after passing the guide point, are not consistent.

[0014] When the detection means 1 detects that the above-mentioned inconsistency is present, the notification means 2 notifies the system to encourage the maintenance of the second movement state.

[0015] On the other hand, when the detection means 1 detects that the above-mentioned inconsistency is present, the acquisition means 3 acquires the post-passage route on which the moving body moves after passing the guide point, based on the second movement state and the route.

[0016] Then, after the notification prompting the maintenance of the above-mentioned structure, the guidance control means 4 starts guiding the moving object based on the route it has passed, which has been acquired by the acquisition means 3.

[0017] As described above, according to the operation of the guidance device S of the embodiment, when it is detected that the first movement state and the second movement state are not consistent, a notification prompting to maintain the second movement state is issued, a post-passage route is acquired based on the second movement state and the original route, and guidance based on the post-passage route is started after the notification prompting the maintenance is issued.

[0018] Accordingly, even if the second movement state that is inconsistent with the first movement state on the original route is entered at the guidance point, the guidance based on the post-passage route can be safely started without making the occupant of the mobile unit panic. [Examples]

[0019] Next, specific examples corresponding to the above-described embodiment will be described with reference to Figures 2 to 5. Note that the examples described below are examples in which the present application is applied to the guidance processing in a navigation device that guides the movement of a vehicle as an example of the mobile unit of the embodiment along a route set in advance as the route along which the vehicle should travel. At this time, the route is assumed to be a route including at least an intersection or the like as an example of the guidance point of the embodiment.

[0020] Figure 2 is a block diagram showing the schematic configuration of the navigation device of the example, Figure 3 is a flowchart showing the guidance processing of the example, and Figures 4 and 5 are conceptual diagrams showing the guidance processing. At this time, in Figure 2, the same reference numerals as those used for the respective constituent members in the guidance device S of the embodiment shown in Figure 1 are used for the respective constituent members of the example corresponding to the respective constituent members in the guidance device S.

[0021] As shown in Figure 2, the navigation device T of the embodiment mounted on the vehicle described above is constituted by a processing unit 10 including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory) and the like, a non-volatile recording unit 11 including an HDD (Hard Disc Drive), an SSD (Solid State Drive) or the like, an operation unit 12 including operation buttons, a remote controller or the like, a camera 13 including a CCD (Charge Coupled Device), a CMOS (Complementary Metal-Oxide-Semiconductor) image sensor or the like, a sensor unit 14 constituting a GNSS (Global Navigation Satellite System) system, a self-contained navigation system or the like, a display 15 including a liquid crystal display or the like, a speaker 16, and an interface 17.

[0022] Further, the processing unit 10 is constituted by a detection unit 1, a voice guidance unit 2, a route search unit 3, and a guidance control unit 4. At this time, the detection unit 1, the voice guidance unit 2, the route search unit 3, and the guidance control unit 4 may be realized by a hardware logic circuit constituting the processing unit 10, or may be realized in software by reading a program corresponding to the flowchart showing the guidance processing of the embodiment described later from the recording unit 11 and executing the program. The processing unit 10 corresponds to an example of the guidance device S of the embodiment, and the detection unit 1 corresponds to an example of the detection means 1 of the embodiment, as well as an example of the "passage detection means", an example of the "movement state prediction means", and an example of the "mismatch detection means" of the present application, respectively. The voice guidance unit 2 and the speaker 16 correspond to an example of the notification means 2 of the embodiment, the route search unit 3 corresponds to an example of the acquisition means 3 of the embodiment and an example of the "route information acquisition means" of the present application, respectively, and the guidance control unit 4 corresponds to an example of the guidance control means 4 of the embodiment.

[0023] In the above configuration, the recording unit 11 non-volatilely records the above-mentioned program, map data, or audio data necessary for the guidance processing of the embodiment, and reads it out by the processing unit 10 as needed. The camera 13, under the control of the processing unit 10, sets the imaging range to the front or rear of the vehicle on which the navigation device T is installed, and outputs image data corresponding to the imaging result to the processing unit 10. Furthermore, the sensor unit 14, under the control of the processing unit 10, uses the above-mentioned GNSS or the like to detect the current position, speed, and direction of travel of the vehicle on which the navigation device T is installed, as well as the operating status of the turn signals equipped on the vehicle, and generates detection data indicating the detection result and outputs it to the processing unit 10.

[0024] Meanwhile, the speaker 16, under the control of the processing unit 10, emits audio such as the guidance voice of the embodiment into the vehicle in which the navigation device T is installed, and the display 15, under the control of the processing unit 10, displays maps and the like necessary for the guidance processing of the embodiment. Furthermore, the interface 17, under the control of the processing unit 10, controls the exchange of data such as traffic congestion information necessary for the guidance processing of the embodiment with an external network such as the Internet. In this way, the processing unit 10 controls each component of the navigation device T, such as the recording unit 11, and comprehensively executes the processing of the navigation device T, including the guidance processing of the embodiment.

[0025] In this embodiment, the guidance process is a guidance process in which a route to a destination desired by the vehicle's occupants is pre-set. The processing unit 10 and its guidance control unit 4 control the camera 13 and the sensor unit 14, etc., to guide the vehicle along the route using voice guidance from the speaker 16 or a display on the display 15. At this time, the detection unit 1 of the processing unit 10 detects, for example, whether the vehicle's movement state (i.e., the vehicle's speed and direction of movement, etc.) deviates from the route due to an error in the driver's operation (i.e., whether the vehicle's movement state as the route matches the vehicle's actual movement state), based on detection data from the sensor unit 14 or image data from the camera 13. When the voice guidance unit 2 detects a deviation of the vehicle's movement state from the route, it emits a voice prompting the driver, etc., to maintain the deviated movement state for the time being (hereinafter, the voice prompting the vehicle to maintain the position of the movement state will be referred to as the "maintain voice") through the speaker 16. Simultaneously, the guidance control unit 3 temporarily suspends guidance using the route before the deviation. Meanwhile, the route search unit 3, in parallel with emitting the maintenance voice, searches again for a corrected route to reach the destination from the position after the deviation, based on the vehicle's movement status after the deviation and the original location of the destination, etc. (This search for a corrected route is hereinafter referred to as "rerouting"). This corrected route corresponds to an example of the "post-passage route" in this application. After the guidance control unit 4 has finished emitting the maintenance voice, it resumes guiding the vehicle based on the corrected route.

[0026] Next, the guidance process related to the embodiment centered on the processing unit 10 will be specifically explained with reference to Figures 2 to 5.

[0027] As shown in Figure 3, the flowchart corresponding to the embodiment, the guidance process according to the embodiment is started when a route to the destination is set and the vehicle begins moving toward the destination. During the guidance, the detection unit 1 monitors whether the vehicle is approaching a guidance point on the route, for example, based on detection data from the sensor unit 14 or image data from the camera 13 (step S1, step S1:NO). Here, the guidance points in the embodiment are, for example, intersections or stops included in the route toward the destination.

[0028] In the monitoring in step S1, for example, as illustrated in Figure 4, there is an intersection P1 which is a guidance point on the route R leading to the destination, and when vehicle C reaches a position a predetermined distance before intersection P1, approach to intersection P1 is detected (step S1: YES). If approach to intersection P1 is detected in step S1, the detection unit 1 then predicts the movement state of vehicle C after passing intersection P1 based on, for example, detection data from sensor unit 14 or image data from camera 13 (step S2), and determines whether the predicted movement state will deviate from route R (step S3). In the determination in step S3, if the predicted movement state will not deviate from route R (step S3: NO), the detection unit 1 proceeds to step S11, which will be described later.

[0029] On the other hand, in the prediction in step S2, for example, if vehicle C is about to enter the right-turn lane RL at timing t11 just before intersection P1 as illustrated in Figure 4, or if the vehicle's right-turn signal is activated at timing t11, then a right turn by vehicle C at intersection P1 (i.e., a right turn as a movement state that deviates from the original route R) is predicted / determined (steps S2, S3: YES). In this case, the guidance control unit 4 temporarily suspends the guidance based on the original route R (step S4). Subsequently, the route search unit 3 searches again for a corrected route MR to be used for guiding vehicle C after turning right at intersection P1, based on the movement state of vehicle C after turning right at intersection P1 and the location of the original destination, etc. (i.e., reroutes (step S6). See Figure 4). On the other hand, in parallel with step S6, the voice guidance unit 2 emits a sustained voice message through speaker 16 corresponding to the fact that vehicle C is about to turn right at intersection P1, deviating from route R (i.e., mistakenly) (step S5). In step S5, as illustrated in Figure 4, the maintenance voice message is emitted in parallel with the right turn of vehicle C at intersection P1. The maintenance voice message emitted at this time preferably includes content that calms (prevents panic) the driver of vehicle C who is about to mistakenly deviate from route R, such as "It's okay to turn right now. We will guide you again after you turn right, so please don't worry," and is delivered in a calm tone or speaking speed. The voice data for emitting the maintenance voice message in this case can be those that have been previously recorded in the recording unit 11. In response to this maintenance voice message, the driver of vehicle C can drive with confidence as they turn right at intersection P1 (see Figure 4).

[0030] Subsequently, the voice guidance unit 2 determines whether the emission of the maintenance voice has finished (step S7, step S7: NO). If the emission of the maintenance voice has finished (step S7: YES), the route search unit 3 then determines whether the rerouting of the corrected route MR has finished (step S8, step S8: NO). In the determination in step S8, for example, if the rerouting of the corrected route MR has finished at timing t12 as illustrated in Figure 4 (step S8: YES), the guidance control unit 4 resumes guiding vehicle C based on the rerouted corrected route MR from that timing t12 (step S9, see Figure 4). Subsequently, the guidance control unit 4 determines whether vehicle C has arrived at the original destination, etc. (step S10). If vehicle C has arrived at the destination, etc. (step S10: YES), the processing unit 10 terminates the guidance process of the embodiment. On the other hand, in the determination in step S10, if vehicle C has not arrived at the destination, etc. (step S10: NO), the processing unit 10 returns to step S1 and continues the series of guidance processes described above.

[0031] On the other hand, if, in the determination in step S3, the predicted movement state of vehicle C corresponding to intersection P1 is not a movement state that deviates from the original route (step S3: NO), the detection unit 1 then monitors whether the vehicle has passed a guidance point on the route, for example, based on detection data from the sensor unit 14 or image data from the camera 13 (step S11, step S11: NO). In the monitoring in step S11, for example, as illustrated in Figure 5, suppose there is an intersection P2 which is a guidance point on the route R leading to a destination, and it is detected that the vehicle has passed intersection P2 (step S11: YES). If the passage of intersection P2 is detected in step S11, the detection unit 1 then determines whether the movement state of vehicle C after passing intersection P2 is a movement state that deviates from route R (step S12, step S12: NO). Subsequently, the detection unit 1 detects the movement state of vehicle C after passing intersection P2 based on detection data from the sensor unit 14 or image data from the camera 13, similar to step S2 (step S13).

[0032] In the determination in step S12 and the detection in step S13, for example, if vehicle C deviates from route R at timing t21 when passing through intersection P2 as illustrated in Figure 5 (see step S12: YES) and proceeds straight (see step S13: YES), the guidance control unit 4 temporarily suspends guidance based on the original route R (step S4). Subsequently, the route search unit 3 of the processing unit 10 reroutes a corrected route MR to be used for guiding vehicle C after passing through intersection P2, based on the movement state of vehicle C after passing through intersection P2 and the position of the original destination, etc. (step S6; see Figure 5), and in parallel with this rerouting, emits a maintenance voice through speaker 16 corresponding to vehicle C's straight-ahead movement at intersection P2 after deviating from route R (step S5). As a result of step S5, in the example shown in Figure 5, the maintenance voice is emitted in parallel with vehicle C's straight-ahead movement at intersection P2. The maintenance voice message emitted at this time should preferably include content that calms the driver of vehicle C, which is about to deviate from route R, and should be spoken in a calm tone or at a calm speaking speed, such as, "It's okay to continue straight. We will give you further instructions after you have gone straight, so please don't worry." In response to this maintenance voice message, the driver of vehicle C will be able to drive straight through intersection P2 with confidence (see Figure 5).

[0033] Subsequently, the voice guidance unit 2 of the processing unit 10 performs the same processing as in steps S7 and S8 above on the vehicle C that is traveling straight, at a timing t21 or later as illustrated in Figure 5. Furthermore, the guidance control unit 4 then performs the same processing as in steps S9 and S10 above using the corrected route MR at a timing t22 or later as illustrated in Figure 5.

[0034] As explained above, according to the guidance processing of the navigation device T of the embodiment, when it is detected that the movement state of vehicle C deviates from the movement state of the original route R before reaching intersection P1 (see Figure 4) or after passing intersection P2 (see Figure 5) (i.e., the two movement states are not consistent) (see Figure 3 step S3 or step S12), a maintenance voice is emitted from speaker 16. Then, the corrected route MR is rerouted based on the deviated movement state of vehicle C and the original route R (see Figure 3 steps S6 and S8), and guidance based on the corrected route MR is resumed (i.e., started again) after the above maintenance voice is emitted. Therefore, even if the movement state at intersection P1 or intersection P2 is not consistent with the movement state on the original route R, guidance based on the corrected route MR can be safely started without causing panic to the driver or other passengers of the vehicle (hereinafter simply referred to as "driver, etc.").

[0035] Furthermore, in the case illustrated in Figure 5, based on the route R originally set for vehicle C, it is detected that vehicle C has passed through intersection P2, and it is detected that the movement state of vehicle C after passing through intersection P2 deviates from the movement state at intersection P2 on the original route R (i.e., the two are inconsistent) (see steps S11 and S12 in Figure 3). Thus, it is possible to reliably detect the inconsistency in the movement state of vehicle C after passing through intersection P2.

[0036] Furthermore, in the case illustrated in Figure 5, if it is detected that the movement state of vehicle C deviates from the movement state at intersection P2 on the original route R after passing intersection P2, a maintenance sound corresponding to the movement state detected after passing the intersection is emitted (see step S5 in Figure 3), thereby effectively calming the driver of vehicle C.

[0037] Furthermore, as illustrated in Figure 4, the system detects that the predicted movement state of vehicle C after passing intersection P1 (see step S2 in Figure 3), based on the vehicle's movement state before reaching intersection P1, deviates from the movement state at intersection P1 on the original route R (i.e., the two are inconsistent) (see steps S2 and S3 in Figure 3). Thus, the inconsistency in the vehicle's movement state after passing intersection P1 can be reliably detected before reaching intersection P1.

[0038] Furthermore, in the case illustrated in Figure 4, if it is predicted that the movement state of vehicle C will deviate from the movement state at intersection P1 on the original route R before reaching intersection P1, a maintenance sound corresponding to the movement state after passing the intersection will be emitted (see step S5 in Figure 3), thereby effectively calming the driver of vehicle C.

[0039] Furthermore, when it is detected that the actual movement state of vehicle C before or after intersection P1 or intersection P2 deviates from the movement state at intersection P1 or intersection P2 on the original route R, a corrected route MR is searched in parallel with the emission of maintenance voice signals corresponding to each movement state (see steps S6 and S8 in Figure 3), so that guidance using the corrected route MR can be started quickly and safely after the maintenance voice signal is emitted.

[0040] In addition, the above-described embodiment explains a case in which the driver is calmed by emitting a maintenance voice from the speaker 16. However, the system may also be configured to provide guidance by displaying information on the display 15 that is equivalent in meaning to the maintenance voice.

[0041] Furthermore, although the above-described embodiment described the case where the moving object of the embodiment is a vehicle C (four-wheeled automobile), it is also possible to apply the guidance processing of the embodiment to guidance processing for the movement of a motorcycle or bicycle by a navigation device mounted on the motorcycle or bicycle, or to guidance processing for walking movement of a person by a portable terminal device carried by the person.

[0042] Furthermore, the guidance processing performed by the processing unit 10 and recording unit 11 in the above-described embodiment may be executed on a server device connected to the navigation device installed in each vehicle via a network such as the Internet. In this case, it is preferable to transmit the detection data from the sensor unit provided in the navigation device of each vehicle to the server device for the guidance processing, and to configure the server device to emit a sustained voice based on control from the server device.

[0043] Furthermore, it is also possible to record a program corresponding to the flowchart shown in Figure 3 on a recording medium such as an optical disc or hard disk, or to obtain it via a network such as the Internet, and then read and execute it on a general-purpose microcomputer, thereby making the microcomputer function as the processing unit 10 according to the embodiment. [Explanation of symbols]

[0044] 1. Detection means (detection unit) 2. Notification methods (Notification Department) 3. Acquisition method (route search unit) 4. Guidance control means (guidance control unit) 10 Processing Unit 16 speakers S Guide Device T Navigation System C Vehicle P1, P2 Intersection R Route MR Correction Route RL Right-turn lane

Claims

1. A detection means for detecting that a first movement state, which is the movement state of the mobile body at a guide point in a route set for the mobile body that includes the guide point, and a second movement state, which is the movement state of the mobile body after passing the guide point as predicted before reaching the guide point, are inconsistent. When the aforementioned mismatch is detected, a notification means provides a notification to encourage the maintenance of the second movement state, When the aforementioned inconsistency is detected, an acquisition means obtains a post-passage route on which the moving body moves after passing the guide point, based on the second movement state and the route. A guidance control means that, after the notification to encourage maintenance, starts guiding the moving object based on the acquired route after passing, A guide device characterized by comprising:

2. In the guide device according to claim 1, The notification means is characterized by providing a notification to encourage the maintenance of the aforementioned maintenance by sound.

3. In the guide device according to claim 1 or claim 2, The detection means is Route information acquisition means for acquiring route information indicating the aforementioned route, A movement state prediction means for predicting the second movement state, A mismatch detection means for detecting that the first movement state corresponding to the acquired route information and the predicted second movement state are not consistent, A guide device characterized by comprising:

4. In the guide device according to any one of claims 1 to 3, The guidance device is characterized in that, when the aforementioned inconsistency is detected, the acquisition means acquires post-passage route information indicating the route after passing, in parallel with the notification prompting the maintenance of the route.

5. A guidance method performed in a guidance device comprising detection means, notification means, acquisition means, and guidance control means, A detection step in which the detection means detects that a first movement state, which is the movement state of the mobile body at a guide point in a route set for the mobile body that includes the guide point, and a second movement state, which is the movement state of the mobile body after passing the guide point that is predicted before reaching the guide point, are inconsistent. When the aforementioned mismatch is detected, the notification means provides notification to encourage the maintenance of the second movement state, When the aforementioned inconsistency is detected, the acquisition step involves acquiring the post-passage route, which the moving body travels after passing the guide point, based on the second movement state and the route, using the acquisition means. A guidance control step is performed in which, after the notification to encourage maintenance, the guidance of the moving object based on the acquired route after passing is initiated by the guidance control means, A guidance method characterized by including

6. Computers, Detection means for detecting that a first movement state, which is the movement state of the mobile body at a guide point in a route set for the mobile body that includes the guide point, and a second movement state, which is the movement state of the mobile body after passing the guide point as predicted before reaching the guide point, are inconsistent. When the aforementioned inconsistency is detected, a notification means provides a notification to encourage the maintenance of the second movement state. When the aforementioned inconsistency is detected, an acquisition means is provided to acquire the post-passage route, which the moving object will travel after passing the guide point, based on the second movement state and the route, and A guidance control means that, after the notification to encourage maintenance, starts guiding the moving object based on the acquired route after passing. A guidance program characterized by functioning as such.

Images