Vehicle navigation device

Abstract

To reduce the strange feeling that a passenger of a vehicle will be having, by setting a passing place and stopping a route guidance, when the vehicle is going off an intended route in the middle of an automatic driving.SOLUTION: The present invention includes: a vehicle navigation unit 100; and a route guidance control unit 200. At least one processor 210 of the route guidance control unit 200 determines the driving main body of an owned vehicle, and stops guidance until the vehicle passes by the next passing place to pass by in an intended route when the determined driving main body of the vehicle is a vehicle and the vehicle is going off the intended route.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a navigation device for a vehicle. [Background technology]

[0002] 2. Description of the Related Art In recent years, automatic driving control that automatically controls the driving operation of a vehicle has become known. To achieve such automatic driving control, a vehicle control device is known that sets a driving route to a destination using map information and controls the vehicle's driving operation along this driving route based on detection information from on-board sensors (see, for example, Patent Document 1).

[0003] For example, the device described in Patent Document 1 uses map information stored inside the device to set a driving route to a destination, and performs automatic driving control of the vehicle based on that driving route and detection information about the surroundings of the vehicle detected by on-board sensors. The ECU of the vehicle then determines whether the map information stored in the device matches the measurement point information, which is the detection information from the on-board sensor, and if it determines that the map information and the measurement point information do not match while autonomous driving control is being executed, the technology discloses that changes the control mode of the autonomous driving control depending on the determination result. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2019-20782 A Summary of the Invention [Problem to be solved by the invention]

[0005] On the other hand, one way to utilize input information into a vehicle navigation device for autonomous driving is to set the destination on the vehicle navigation device and determine the autonomous driving route based on the route generated by the navigation map. However, with the above-mentioned navigation maps, the update process takes time and costs money, so updates are performed at set intervals. In other words, the high-resolution maps used for autonomous driving control are updated less frequently than the navigation maps, and this difference in update frequency causes a discrepancy in the route information between the two maps. Therefore, if there is a route that does not exist in the route generated in the navigation map, the route displayed on the vehicle navigation device will differ from the actual driving route, and the navigation map will be displayed as if the vehicle is traveling through a point on the route that does not exist, which may cause discomfort to the occupants of the vehicle. Similar issues also exist in the case of driving assistance control.

[0006] Therefore, the present invention has been made in consideration of the above-mentioned problems, and aims to provide a vehicle navigation device that reduces the discomfort felt by the occupants of the vehicle by setting an intermediate destination and stopping guidance when the vehicle deviates from the route while traveling in automatic driving mode or driving assistance mode. [Means for solving the problem]

[0007] Mode 1: One or more embodiments of the present invention relate to a vehicle navigation unit including: a storage unit that stores first map information; a position information acquisition unit that acquires a position of a vehicle; a route setting unit that sets a route to a destination including intermediate points to be passed by the vehicle based on the position information of the vehicle, destination information set by a user, and the first map information; a display unit that displays at least the first map information, the route, and the position information of the vehicle to an occupant of the vehicle; and a navigation control unit that executes guidance to guide the user to the destination along the set route and controls a display mode on the display unit; and an internal control unit, wherein the route guidance control unit has one or more processors and one or more memories communicatively connected to the one or more processors, and the one or more processors determine the driving entity of the vehicle, and if the determined driving entity of the vehicle is a vehicle and the vehicle deviates from the route, stop guidance including display of the set route by the navigation control unit, voice route guidance, text route guidance, direction of travel instructions, and provision of road information on the route to the next waypoint that the vehicle will pass on the route.

[0008] Form 2: One or more embodiments of the present invention propose a vehicle navigation device as described in claim 1, characterized in that the one or more processors resume the guidance based on the first map information by the navigation control unit after the next intermediate destination is reached.

[0009] Mode 3: One or more embodiments of the present invention further include a map information acquisition unit that acquires second map information for performing driving assistance control or automatic driving control, When the route guidance based on the first map information is stopped, the one or more processors The proposed vehicle navigation device is characterized in that it extracts a predicted driving route from the current location of the vehicle to the next intermediate point based on the second map information, and outputs display control information with a changed display mode to the navigation control unit. [Effects of the Invention]

[0010] According to one or more embodiments of the present invention, when a vehicle in autonomous driving mode or driving assistance mode deviates from a route while traveling, an intermediate destination is set and guidance is stopped, thereby reducing the discomfort felt by the vehicle's occupants. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a diagram showing a configuration of a vehicle navigation device according to a first embodiment of the present invention. [Figure 2] FIG. 2 is a diagram showing a processing flow of the vehicle navigation device according to the first embodiment of the present invention. [Figure 3] 1 is a diagram illustrating an example of the display content of a route to a destination in a vehicle navigation device according to a first embodiment of the present invention. FIG. [Figure 4] 2 is a diagram illustrating an example of a display when the vehicle deviates from the route in the vehicle navigation device according to the first embodiment of the present invention. FIG. [Figure 5] 3 is a diagram illustrating an example of a display when route guidance is stopped in the vehicle navigation device according to the first embodiment of the present invention. FIG. [Figure 6] FIG. 2 is a diagram illustrating an example of a display when the next route destination is reached in the vehicle navigation unit according to the first embodiment of the present invention. [Figure 7] FIG. 4 is a diagram showing the configuration of a vehicle navigation device according to a second embodiment of the present invention. [Figure 8] FIG. 10 is a diagram illustrating an example of a display of a predicted driving route in a vehicle navigation unit according to a second embodiment of the present invention. [Figure 9] FIG. 10 is a diagram showing a processing flow of a vehicle navigation device according to a second embodiment of the present invention. [Figure 10] FIG. 10 is a diagram showing a processing flow of a predicted driving route display process in a vehicle navigation device according to a second embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, an embodiment of the present invention will be described with reference to FIGS.

[0013] First Embodiment A vehicle navigation device 1 according to this embodiment will be described with reference to FIGS.

[0014] <Configuration of Vehicle Navigation Device 1> As shown in FIG. 1, the vehicle navigation device 1 according to this embodiment includes a vehicle navigation unit 100 and a route guidance control unit 200.

[0015] The vehicle navigation unit 100 searches for a route to the destination set by the user based on the position information of the vehicle, the destination information, and the first map information, and sets a route to the destination including intermediate points that the vehicle will pass through. The vehicle navigation unit 100 also receives information about road conditions, such as traffic information, and displays information about congestion on surrounding roads including the set route, thereby providing route guidance to the user. In this embodiment, when the driver of the vehicle is the vehicle itself, the vehicle navigation unit 100 stops or resumes guidance including displaying the set route, audio route guidance, text route guidance, direction of travel instructions, and provision of road information along the route, based on control information output from the route guidance control unit 200 (described later) until the next waypoint that the vehicle will pass along the route. The vehicle navigation unit 100 will be described in detail later.

[0016] The route guidance control unit 200 determines whether the vehicle has deviated from the route based on driving subject information indicating whether the vehicle is in automatic driving mode, driving assistance mode (vehicle-based driving) or manual driving mode (driver-based driving), first map information, route, etc. In addition, when the vehicle is in automatic driving mode or driving assistance mode and deviates from the route, the route guidance control unit 200 outputs control information to the vehicle navigation unit 100 to stop or resume guidance including display of the route set by the navigation control unit to the next waypoint that the vehicle will pass on the route, voice route guidance, text route guidance, direction of travel instructions, and provision of road information on the route. The route guidance control unit 200 will be described in detail later.

[0017] <Configuration of Vehicle Navigation Unit 100> As shown in FIG. 1, the vehicle navigation unit 100 includes a storage unit 110, a location information acquisition unit 120, a route setting unit 130, a navigation control unit 140, and a display unit 150.

[0018] The memory unit 110 stores various programs including a control program required for the operation of the vehicle navigation unit 100, first map information, and probe traffic information as driving history information of the vehicle generated using information such as location information indicating the current driving position of the vehicle and vehicle speed. The storage unit 110 is configured by, for example, a hard disk drive (HDD), a solid state drive (SDD), or the like.

[0019] The position information acquisition unit 120 acquires, for example, vehicle position information (latitude data, longitude data) from a GPS receiver and various information from a direction sensor, a distance sensor, an acceleration sensor, etc., detects vehicle position information (longitude information, latitude information) based on the information obtained from the GPS receiver at a predetermined timing, and outputs the vehicle position information to the navigation control unit 140 described later.

[0020] The route setting unit 130 sets a route to the destination including intermediate points that the vehicle will pass through. Specifically, the route setting unit 130 performs a route search process based on the first map information, and searches for and sets a route (guided route) that connects the departure point and the destination set by the user in accordance with predetermined search conditions. Here, an example of a waypoint is a point where a route (road) in the first map information and a route (road) in the second map information intersect. The route, waypoints, etc. set by the route setting unit 130 are stored in the storage unit 110 via the navigation control unit 140 and are also transmitted to the route guidance control unit 200, which will be described later.

[0021] The navigation control unit 140 receives the vehicle's position information from the position information acquisition unit 120, the first map information from the storage unit 110, and the route and waypoint information from the route setting unit 130, and provides guidance to guide the user to the destination. Here, guidance refers to guidance for guiding the user to the destination along a set route, and specific examples include displaying the set route, audio route guidance, text route guidance, indications of the direction of travel, and provision of road information along the route. In addition, the navigation control unit 140 generates a video signal based on the first map information, the vehicle's position information, the route, the waypoints, or control information received from the route guidance control unit 200 described later, and outputs the video signal to the display unit 150 described later.

[0022] The display unit 150 is configured, for example, by an LCD (liquid crystal display device) or the like, and displays, based on the video signal input from the navigation control unit 140, first map information, a route, the vehicle's position information, intermediate points, map images and intersection guide images around the vehicle's position, or search result images including detailed information on facilities obtained by a facility search.

[0023] <Configuration of route guidance control unit 200> As shown in FIG. 1, the route guidance control unit 200 according to this embodiment includes a processor 210 and a memory 220.

[0024] The processor 210 controls the entire route guidance control unit 200 in accordance with a control program stored in the memory 220, which will be described later. In this embodiment, the processor 210 particularly executes the functions of a driving subject determination unit 211, a vehicle position determination unit 212, a route guidance control unit 213, and the like, which will be described later.

[0025] The memory 220 includes a ROM (Read Only Memory), a RAM (Random Access Memory), etc., and the ROM stores the above-mentioned control programs, etc., and the RAM stores various data, etc. In this embodiment, the processor 210 stores information such as the route input from the vehicle navigation unit 100, the vehicle's position information, and the first map information in the RAM.

[0026] <Processor 210 Configuration> As shown in FIG. 1, the processor 210 includes a driving subject determining unit 211, a vehicle position determining unit 212, and a route guidance control unit 213.

[0027] The driving subject determination unit 211 receives, for example, information from a vehicle control device installed in the vehicle that the vehicle is in automatic driving mode, driving assistance mode (vehicle-based), or manual driving mode (driver-based), determines the driving subject of the vehicle, and outputs the determination result to the route guidance control unit 213 described later.

[0028] The vehicle position determination unit 212 determines whether the vehicle has deviated from the route based on the first map information, the vehicle's position information, the route, the waypoints, etc. that the route guidance control unit 213 described later receives from the vehicle navigation unit 100 and stores in the memory 220, and outputs the determination result to the route guidance control unit 213.

[0029] The route guidance control unit 213 generates control information based on the determination result of whether the vehicle has deviated from the route received from the vehicle position determination unit 212 and the determination result of the driver received from the driver determination unit 211, and outputs the generated control information to the navigation control unit 140. Here, specific examples of control information include stopping and resuming route guidance set by the vehicle navigation unit 100, stopping and resuming voice route guidance, stopping and resuming text route guidance, stopping and resuming direction instructions, and stopping and resuming the provision of road information including congestion information on the route. For example, when the route guidance control unit 213 determines that the guidance status is "route guidance in progress" and the vehicle has deviated from the route, it outputs control information to the vehicle navigation unit 100 instructing it to "stop guidance." On the other hand, when the route guidance control unit 213 determines that the vehicle has reached the next waypoint to be passed, it outputs control information to the vehicle navigation unit 100 to instruct it to resume guidance based on the first map information. In addition, the route guidance control unit 213 stores in the memory 220 the first map information received from the vehicle navigation unit 100, the vehicle's position information received from the navigation control unit 140, the searched route and route point information, etc.

[0030] <Processing of Vehicle Navigation Device 1> The processing of the vehicle navigation device 1 according to this embodiment will be described with reference to FIGS.

[0031] As shown in FIG. 2, when a destination setting process is performed by a user such as a driver, the route setting unit 130 sets a route and outputs it to the navigation control unit 140. The navigation control unit 140 starts route guidance to the destination. Furthermore, the navigation control unit 140 generates a video signal showing the route on the first map information, and causes the display unit 150 to display the route to the destination (step S110). Specifically, when route guidance to the destination begins, as shown in FIG. 3, the navigation control unit 140 sets the departure point (SP), waypoints (WP) (e.g., point A (WPA) to point E (WPE)), destination (DP), route (e.g., bold solid line portion), and the position of the vehicle (MC) (e.g., triangle mark portion), converts them into video signals, and displays them on the display unit 150.

[0032] The driver determining unit 211 determines the driver of the vehicle based on, for example, information obtained from a vehicle control device indicating whether the vehicle is in an automatic driving mode, a driving assistance mode, or a manual driving mode (step S120). If driving subject determination unit 211 determines that the driving subject of the subject vehicle is not the vehicle itself ("NO" in step S120), processor 210 returns the process to step S120.

[0033] On the other hand, if the driving subject determination unit 211 determines that the driving subject of the vehicle is the vehicle ("YES" in step S120), the vehicle position determination unit 212 determines whether the vehicle has deviated from the route based on the route and vehicle position information, etc. (step S130).

[0034] If host vehicle position determination unit 212 determines that the host vehicle is located on the route and has not deviated from the route ("YES" in step S130), processor 210 returns the process to step S120.

[0035] On the other hand, if host vehicle position determination unit 212 determines that the host vehicle has deviated from the route ("NO" in step S130), processor 210 transitions the process to step S140. For example, as shown in FIG. 4, if the position (triangle mark) of the host vehicle (MC) is not located on the route (bold solid line), the host vehicle position determination unit 212 determines that the host vehicle (MC) is off the route.

[0036] Based on the determination result of the vehicle position determination unit 212, the route guidance control unit 213 generates control information to stop the provision of route guidance set by the vehicle navigation unit 100, audio route guidance, text route guidance, direction of travel instructions, road information including traffic congestion information on the route, etc., and outputs the control information to the navigation control unit 140. Navigation control unit 140 stops the guidance (step S140), and processor 210 transitions to step S150. In this case, for example, as shown in FIG. 5, a display image in which the route has been changed from the previous thick solid line to a thin solid line is displayed on the display unit 150 together with the position (△ part) of the vehicle (MC).

[0037] Then, the vehicle position determination unit 212 monitors the position information of the vehicle itself and the position information of the waypoints set on the route, and determines whether the position of the vehicle itself has reached the next waypoint to be passed (step S150). If host vehicle position determination unit 212 determines that the host vehicle has not yet reached the next waypoint to pass through ("NO" in step S150), processor 210 returns the process to step S140.

[0038] On the other hand, if the vehicle position determination unit 212 determines that the vehicle has reached the next waypoint to be passed through ("YES" in step S150), the route guidance control unit 213 generates control information to resume the provision of route guidance set by the vehicle navigation unit 100, audio route guidance, text route guidance, direction of travel instructions, road information including congestion information on the route, etc., and outputs the control information to the navigation control unit 140. Specifically, for example, as shown in FIG. 6, when the vehicle position (triangle mark) is located on the next waypoint (point D (WPD)) to be passed, the vehicle position determination unit 212 determines that the vehicle (MC) has reached the next waypoint (WP), and a display image in which the route has been changed from the previous thin solid line to a thick solid line is displayed on the display unit 150 together with the vehicle position (triangle mark) overlapping point D (WPD). Then, processor 210 transitions the process to step S160.

[0039] Based on the control information received from the route guidance control unit 213, the navigation control unit 140 resumes guidance to the set destination from the point where the position information of the vehicle reaches the next waypoint (step S160).

[0040] If the guidance to the set destination is to be continued (“YES” in step S170), processor 210 returns the process to step S120 (step S170).

[0041] On the other hand, if the driver or other person decides not to continue guidance by canceling guidance to the destination, resetting guidance to the destination, or arriving at the destination ("NO" in step 170), processor 210 ends guidance to the destination.

[0042] <Actions and Effects> As explained above, the vehicle navigation device 1 according to this embodiment includes the vehicle navigation unit 100 and the route guidance control unit 200. The route guidance control unit 200 determines who is driving the vehicle, and if the determined driver is the vehicle and the vehicle deviates from the route, stops guidance including display of the route set by the navigation control unit 140 to the next waypoint that the vehicle will pass on the route, voice route guidance, text route guidance, direction of travel instructions, and provision of road information along the route. In other words, if there is a discrepancy between the vehicle's position when the vehicle is driving based on high-precision map information and the route to the destination based on the first map information built into the vehicle navigation unit 100, guidance including display of the route based on the first map information, audio route guidance, text route guidance, direction of travel instructions, and provision of road information along the route will be stopped until the next waypoint is reached. Therefore, if the vehicle deviates from the route and is displayed as traveling on a route that does not exist on the first map information, the guidance can be stopped to alleviate any discomfort felt by the vehicle occupants. Furthermore, in the vehicle navigation device 1 according to this embodiment, after the vehicle has reached the next waypoint, the processor 210 causes the vehicle navigation unit 100 to resume guidance based on the first map information. In other words, if the vehicle's position deviates from the route to the destination set by the user and guidance is stopped, and the vehicle reaches the next waypoint that is located on the searched route, guidance to the destination based on the first map information is resumed. Therefore, when the vehicle reaches a waypoint and is traveling on the route on the first map information, the navigation system can resume guidance, thereby alleviating any discomfort felt by the vehicle occupants. <Second embodiment> A vehicle navigation device 1A according to this embodiment will be described with reference to FIGS. Note that components with the same reference numerals as those in the first embodiment have the same functions, and therefore detailed description thereof will be omitted.

[0043] <Configuration of Vehicle Navigation Device 1A> As shown in FIG. 7, a vehicle navigation device 1A according to this embodiment includes a vehicle navigation unit 100A and a route guidance control unit 200A.

[0044] The vehicle navigation unit 100A searches for a route to the destination set by the user based on the position information of the vehicle, the destination information, and the first map information, and sets a route to the destination including intermediate points that the vehicle will pass through. Furthermore, the vehicle navigation unit 100A acquires second map information for performing driving assistance control or automatic driving control. In addition, in the vehicle navigation unit 100A of this embodiment, the route guidance control unit 200A described later extracts a predicted driving route from the current position of the vehicle to the next waypoint based on second map information, receives display control information generated by changing the display mode, and displays the predicted driving route based on the second map information from the current position of the vehicle to the next waypoint on the display unit 150.

[0045] The route guidance control unit 200A determines whether the vehicle has deviated from the route based on driving subject information indicating whether the vehicle is in automatic driving mode, driving assistance mode (vehicle-based driving) or manual driving mode (driver-based driving), first map information, route, etc. In addition, when the vehicle is in automatic driving mode or driving assistance mode and deviates from the route, the route guidance control unit 200A extracts a predicted driving route from the current position of the vehicle to the next intermediate point to be passed based on the second map information, and outputs display control information with a changed display mode to the vehicle navigation unit 100A.

[0046] <Configuration of Vehicle Navigation Unit 100A> As shown in FIG. 7, the vehicle navigation unit 100A includes a memory unit 110A, a location information acquisition unit 120, a route setting unit 130, a navigation control unit 140A, a display unit 150, and a map information acquisition unit 160.

[0047] The storage unit 110A stores various programs, first map information, second map information, probe traffic information, and the like, which are required for the operation of the vehicle navigation unit 100A.

[0048] Navigation control unit 140A receives the vehicle's position information from position information acquisition unit 120, the first map information from storage unit 110A, and route and waypoint information from route setting unit 130, and performs guidance to guide the user to the destination. In addition, the navigation control unit 140A generates a video signal based on the first map information, the vehicle position information, the route, the waypoints, or display control information received from the route guidance control unit 200A described later, and outputs the video signal to the display unit 150. Furthermore, when the vehicle is the main driver and guidance is being executed, and the vehicle deviates from the route, the navigation control unit 140A extracts a predicted driving route from the current position of the vehicle to the next intermediate point to be passed based on display control information generated by the route guidance control unit 200A described later, and displays the predicted driving route with a changed display mode on the display unit 150. Here, the display information regarding the predicted driving route with the display mode changed is display information that is generated by converting the display control information generated in the route guidance control unit 200A into a video signal, generating a video signal that is combined with the video signal currently being played, and displaying it on the display unit 150. For example, the navigation control unit 140A stops the display of the route set based on the first map information, and the route guidance control unit 200A extracts a predicted driving route from the current position of the vehicle to the next waypoint to be passed based on the second map information from the video signal in which only the vehicle's position is displayed, and generates display control information by adding display information of the predicted driving route with a changed display mode, and outputs it to the navigation control unit 140A.

[0049] The map information acquisition unit 160 acquires, for example, second map information of the required area from a map information storage device that stores second map information for performing driving assistance control or automatic driving control installed in the vehicle, and stores the second map information in the storage unit 110A.

[0050] <Configuration of route guidance control unit 200A> As shown in FIG. 7, the route guidance control unit 200A according to this embodiment includes a processor 210A and a memory 220A.

[0051] The processor 210A controls the entire route guidance control unit 200A in accordance with a control program stored in a memory 220A, which will be described later. In this embodiment, the processor 210A particularly executes the functions of a driving subject determination unit 211, a vehicle position determination unit 212, a route guidance control unit 213A, and the like, which will be described later.

[0052] The memory 220A stores in RAM, for example, information such as the route, vehicle position information, and first map information input from the vehicle navigation unit 100A, as well as second map information input via the route guidance control unit 213A described later.

[0053] <Processor 210A Configuration> As shown in FIG. 7, the processor 210A includes a driving subject determining unit 211, a vehicle position determining unit 212, and a route guidance control unit 213A.

[0054] When the subject of driving of the vehicle is the vehicle and the vehicle deviates from the route, the route guidance control unit 213A sets the next waypoint to be passed as a waypoint on the second map information, extracts a predicted driving route from the current position of the vehicle to the next waypoint to be passed, and outputs display control information that changes the display format of the predicted driving route, for example, to the navigation control unit 140A. Specifically, as shown in Figure 8, for example, display control information is generated that displays, among the routes from point B (WPB) to point D (WPD) present in the second map information, the predicted driving route from the current location of the vehicle (MC) to point D (WPD), which is the next intermediate point to be passed, as a dotted line, the route from point B (WPB), which has already been traveled, to the current location of the vehicle as a thin solid line, and the route based on the first map information as a similar thin solid line.

[0055] <Processing of the Vehicle Navigation Device 1A> The processing of the vehicle navigation device 1A according to this embodiment will be described with reference to FIG.

[0056] As shown in FIG. 9, when the passenger of the vehicle sets a destination, the route setting unit 130 sets a route and outputs it to the navigation control unit 140A. Furthermore, the navigation control unit 140A generates a video signal showing the route on the first map information, and causes the display unit 150 to display the route to the destination (step S110).

[0057] The driver determining unit 211 receives information indicating whether the vehicle is in an automatic driving mode, a driving assistance mode, or a manual driving mode, and determines the driver of the vehicle (step S120). If driving subject determination unit 211 determines that the driving subject of the subject vehicle is not the vehicle itself ("NO" in step S120), processor 210A returns the process to step S120.

[0058] On the other hand, if the driving subject determination unit 211 determines that the driving subject of the vehicle is the vehicle ("YES" in step S110), the vehicle position determination unit 212 determines whether the vehicle has deviated from the route based on the route and the vehicle's position information, etc. (step S130).

[0059] If host vehicle position determination unit 212 determines that the host vehicle is located on the route and has not deviated from the route ("YES" in step S130), processor 210A returns the process to step S120.

[0060] On the other hand, if host vehicle position determination unit 212 determines that the host vehicle has deviated from the route ("NO" in step S130), processor 210A transitions the process to step S140.

[0061] Based on the determination result of the vehicle position determination unit 212, the route guidance control unit 213A generates display control information for stopping the guidance, and outputs it to the navigation control unit 140A. Then, navigation control unit 140 stops the guidance, and processor 210A transitions the process to the predicted driving route display process (step S200) (step S140). In the predicted driving route display process (step S200), the route guidance control unit 213A extracts a predicted driving route from the current location of the vehicle to the next waypoint based on the second map information, and outputs display control information with a changed display mode to the navigation control unit 140A. The details of the process will be described later.

[0062] Then, the vehicle position determination unit 212 monitors the position information of the vehicle itself and the position information of the waypoints set on the route, and determines whether the vehicle has reached the next waypoint to be passed (step S150). If host vehicle position determination unit 212 determines that the host vehicle has not yet reached the next waypoint to pass through ("NO" in step S150), processor 210 returns the process to step S140.

[0063] On the other hand, if the vehicle position determination unit 212 determines that the vehicle has reached the next waypoint to be passed through ("YES" in step S150), the route guidance control unit 213A generates display control information to resume guidance and outputs it to the navigation control unit 140A. Then, processor 210A transitions the process to step S160.

[0064] The navigation control unit 140A resumes route guidance to the set destination from the point where the vehicle position information indicates that the vehicle has reached the next waypoint (step S160).

[0065] If route guidance to the set destination is to be continued (“YES” in step S170), processor 210A returns the process to step S120 (step S170).

[0066] On the other hand, if the vehicle occupant decides not to continue guidance by canceling guidance to the destination, resetting guidance to the destination, or arriving at the destination ("NO" in step 170), processor 210A terminates guidance to the destination.

[0067] <Predicted driving route display processing> The predicted driving route display process will be described with reference to FIG.

[0068] The route guidance control unit 213A switches the map information from the first map information to the second map information (step S210).

[0069] The route guidance control unit 213A extracts a predicted driving route from the current location of the vehicle to the next waypoint, outputs display control information that changes the display mode of the predicted driving route to, for example, a dotted line display, to the navigation control unit 140A, and displays the predicted driving route on the display unit 150 (step S220).

[0070] <Actions and Effects> As described above, the vehicle navigation device 1A of this embodiment includes a vehicle navigation unit 100A and a route guidance control unit 200A, and the vehicle navigation unit 100A is equipped with a map information acquisition unit 160, and when the driving subject determination unit 211 determines that the driving subject of the vehicle is the vehicle, and the vehicle position determination unit 212 determines that the vehicle has deviated from the route to the destination set by the occupant of the vehicle, the processor 210A stops route guidance based on the first map information up to the next waypoint that the vehicle will pass through, extracts a predicted driving route from the current position of the vehicle to the next waypoint that the vehicle will pass through based on the second map information, and outputs display control information with a changed display mode to the navigation control unit 140A and displays it on the display unit 150. In other words, if a difference occurs between the route that the vehicle is traveling on based on the second map information, which is high-precision map information centered on the vehicle, and the route based on the first map information built into the vehicle navigation unit 100A, the first map information is switched to the second map information, and a predicted route to the next waypoint is displayed. Therefore, if the vehicle deviates from the route and is traveling on a route that does not exist on the first map information, the predicted traveling route that exists on the second map information can be displayed to alleviate any discomfort felt by the vehicle's occupants.

[0071] The processing of processors 210, 210A can be recorded on a recording medium readable by a computer system, and the program recorded on this recording medium can be read into memories 220, 220A and executed to realize the vehicle navigation device of the present invention. The computer system here includes hardware such as an OS and peripheral devices.

[0072] Furthermore, if a WWW (World Wide Web) system is used, the "computer system" also includes the homepage providing environment (or display environment). The program may also be transmitted from a computer system that stores the program in a storage device or the like to another computer system via a transmission medium or by transmission waves in the transmission medium. Here, the "transmission medium" that transmits the program refers to a medium that has the function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line.

[0073] The program may also be for realizing part of the above-mentioned functions. Furthermore, the above-mentioned functions may be realized in combination with a program already recorded in the computer system, that is, a so-called differential file (differential program).

[0074] The above describes an embodiment of the present invention in detail with reference to the drawings, but the specific configuration is not limited to this embodiment, and includes designs within the scope of the gist of the present invention. [Explanation of symbols]

[0075] 1. Vehicle navigation device 1A: Vehicle navigation device 100;Vehicle navigation unit 100A; Vehicle navigation unit 200: Route guidance control unit 200A: Route guidance control unit 110;Memory part 110A; Storage section 120;Location information acquisition unit 130: Route setting section 130A: Path setting section 140;Navigation control 140A; Navigation control 150;Display section 210;processor 210A; Processor 220;Memory 220A;Memory 211; Driver Judgment Department 212: Vehicle position determination unit 213: Route guidance control unit 213A: Route guidance control unit

Claims

1. a storage unit that stores first map information; a position information acquisition unit that acquires the position of the vehicle; a route setting unit that sets a route to the destination including a route through which the vehicle passes, based on location information of the vehicle, destination information set by a user, and the first map information; a display unit that displays at least the first map information, the route, and location information of the vehicle to a passenger of the vehicle; a navigation control unit that executes guidance to guide the user to the destination along the set route and controls a display mode on the display unit; a vehicle navigation unit including: a route guidance control unit; Including, the route guidance control unit comprises one or more processors and one or more memories communicatively connected to the one or more processors; the one or more processors: A vehicle navigation device that determines a driver of the vehicle, and if the determined driver of the vehicle is a vehicle and the vehicle deviates from the route, stops guidance including display of the route set by the navigation control unit to the next intermediate point that the vehicle will pass on the route, audio route guidance, text route guidance, direction of travel instructions, and provision of road information on the route.

2. 2. The vehicle navigation device according to claim 1, wherein the one or more processors resume the guidance based on the first map information by the navigation control unit after the next intermediate destination is reached.

3. a map information acquisition unit that acquires second map information for performing driving assistance control or automatic driving control; 3. The vehicle navigation device according to claim 1, wherein, when the route guidance based on the first map information is stopped, the one or more processors extract a predicted driving route from the current location of the vehicle to the next intermediate point based on the second map information, and output display control information with a changed display mode to the navigation control unit.

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