(12) INTERNATIONAL APPLICATION PUBLISHED UNDER THE PATENT COOPERATION TREATY (PCT)
`
`(19) World Intellectual Property Organization
`International Bureau
`
`(10) International Publication Number
`(43) International Publication Date
`WO 2008/053945 Al
`8 May 2008 (08.05.2008)
`
` 'IWWMMWWWWWMWWWWWWMWW
`
`(51) International Patent Classification:
`GOIC 21/36 (2006.01)
`GOIC 21/34 (2006.01)
`
`(74) Agent: KAWAI,Makoto; thono Bldg, 7-10, Kandami—
`toshirocho, Chiyoda-ku, Tokyo 101-0053 (JP).
`
`(21) International Application Number:
`PCT/JP2007/071272
`
`(22) International Filing Date: 25 October 2007 (25.10.2007)
`
`(25) Filing Language:
`
`(26) Publication Language:
`
`English
`
`English
`
`(30) Priority Data:
`2006-296660
`
`31 October 2006 (31.10.2006)
`
`JP
`
`(71) Applicant (for all designated States except US): AISIN
`AW CO., LTD. [JP/JP]; 10, Takane, Fujii-cho, Anjo-shi,
`Aichi 444-1 192 (JP).
`
`(81) Designated States (unless otherwise indicated, for every
`kind f nationalprotection available): AE, AG, AL, AM,
`AT, AU, AZ, BA, BB, BG, BH, BR, BW, BY, BZ, CA, CH,
`CN, CO, CR, CU, CZ, DE, DK, DM, DO, DZ, EC, EE, EG,
`ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL,
`IN, IS, KE, KG, KM, KN, KP, KR, KZ, LA, LC, LK, LR,
`LS, LT, LU, LY,MA, MD, ME, MG, MK, MN, MW, MX,
`MY, MZ, NA, NG, NI, NO, NZ, OM, PG, PH, PL, PT, Ro,
`RS, RU, SC, SD, SE, SG, SK, SL, SM, SV, SY, TJ, TM,
`TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
`
`(84)
`
`Designated States (unless otherwise indicated, for every
`kind f regionalprotection available): ARIPO (BW, GH,
`GM, KE, LS, MW, MZ, NA, SD, SL, SZ, TZ, UG, ZM,
`ZW), Eurasian (AM, AZ, BY, KG, KZ, MD, RU, TJ, TM),
`European (AT,BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI,
`FR, GB, GR, HU, IE, IS, IT, LT, LU, LV,MC, MT, NL, PL,
`PT, Ro, SE, SI, SK, TR), OAPI 03F,BJ, CF, CG, CI, CM,
`GA, GN, GQ, GW, ML, MR, NE, SN, TD, TG).
`Published:
`
`(72) Inventors; and
`OONISHI,
`only):
`(for US
`(75) Inventors/Applicants
`Shino [JP/JP];
`c/o AISIN AW CO., LTD.,
`6-18,
`with international search report
`Harayama, Oka-cho, Okazaki—shi, Aichi,
`444-8564
`before the expiration f the time limitfor amending the
`(JP). NAKAYAMA, Takaaki [JP/JP]; c/o AISIN AW
`claims and to be republished in the event f receipt f
`CO., LTD., 6-18, Harayama, Oka-cho, Okazaki—shi, Aichi,
`444-8564 (JP).
`amendments
`
`
`(54) Title: ROUTE GUIDANCE SYSTEM AND PROGRAM
`
`
`L51 1
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`8/053945A1|||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
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`(57) Abstract: It is possible to display a lane guide map that takes into consideration connections between each of the lanes (ml
`to m.8) and reduction in the visibility of the lane guide map is prevented. The invention includes a current position detecting unit;
`c
`C a lane list setting processing means that produces a lane list (LsI 1) that takes into consideration connections between each of the
`N lanes for lane groups (LkI 1 to LkI 3) in road links that are present in a lane list display section; a rendering range determination
`processing means that determines whether or not the number of lanes in the lane list (LsI 1) is larger than the number of lanes that
`has been set in a display unit (35); and a display range adjustment processing means that selects predetermined lanes in the lane list
`(LsI 1) and displays only the selected lanes. Lanes that have a low display necessity can be removed.
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`C V
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`V
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`WO 2008/053945
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`PCT/JP2007/071272
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`1
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`DESCRIPTION
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`ROUTE GUIDANCE SYSTEM AND PROGRAM
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`TECHNICAL FIELD
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`The present invention relates to route guidance systems and programs.
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`BACKGROUND ART
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`Conventionally, in navigation apparatuses, when a driver inputs a destination
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`and sets search conditions, route search processing is carried out based on the search
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`conditions, and based on map data, a route from an origin, which is indicated by the
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`position of the guided vehicle, to a destination, is retrieved.
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`In addition, the route that
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`has been retrieved, that is, the retrieved route, is displayed along with the position of
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`the guided vehicle on a map screen that is formed in a display unit, and guidance
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`about the retrieved route, that is, route guidance, is carried out. Thereby, it is possible
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`for the driver to drive the vehicle along the displayed retrieved route.
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`However, when passing through an intersection on the retrieved route, in the
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`case in which the road that forms the retrieved route has a plurality of lanes, a lane
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`list, which serves as a lane guide map, is displayed in a predetermined screen that is
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`formed in the display unit (refer, for example, to Patent Document 1).
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`FIG. 1 is a drawing that shows an example of a display of a conventional lane
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`list, and FIG. 2 is a drawing that shows an example of a display of a lane list that
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`takes into account the connections between each of the lanes.
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`In this case, a section within a range that is apredetermined distance ahead of
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`the position ofthe guided vehicle is set as a lane list display section, and a lane list
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`LsI is formed for each of the intersections in the lane list display section that have a
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`traffic signal. Reference numeral rl denotes a road, LkI denotes the lane group that
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`contains the road link from the position of the guided vehicle to the
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`"Umedashinmichi" intersection, Lk2 denotes the lane group that contains the road link
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`from the "Umedashinmichi" intersection to the "Oebashi Minamizume", Lk3 denotes
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`the lane group that contains the road link from the "Oebashi Minamizume"
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`intersection to the "Yodovabashi Kitazume" intersection. and Lk4 denotes the lane
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`group that contains the road link from the "Yodoyabashi Kitazume" intersection to the
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`"Yodoyabashi" intersection.
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`Lane group LkI includes lanes kl to k5, lane group Lk2 includes lanes kl l to
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`kl8 5lane group Lk3 includes lanes k21 to k28, and lane group Lk4 includes lanes k31
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`to k3 8, and in each of the lane groups LkI to Lk4, the lanes k2, kll, k21, and k31 are
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`displayed as recommended lanes, in which travel is recommended, for each road link.
`In addition, in the lane list LsI, traffic sections that indicate the forward
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`direction are determined for each of the lanes kl to k5, kll
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`to kl8, k21 to k28, and
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`k31 to k38, and for each traffic section, arrows are appended that show the traffic
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`10
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`direction, that is, the exit direction, at each of the intersections.
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`Specifically, the lanes kl and k31 are left turn lanes, and arrows are
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`appended that show that these lanes are left turn lanes. The lanes k2, kl 1, and k32 are
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`left turn and through traffic lanes, and arrows are appended that show that these lanes
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`are left turn and through traffic lanes. The lanes k3, k4, klZ to kl6, k21 to k28, and
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`k33 to k36 are through traffic lanes, and arrows are appended that show that these
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`30
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`lanes are through traffic lanes. Lanes k5 and k37 are right turn and through traffic
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`lanes, and arrows are appended that show that these lanes are right turn and through
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`traffic lanes. Lanes kl7, kl 8, and k38 are right turn lanes, and arrows placed showing
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`that these lanes are right turn lanes.
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`In addition, because lanes k2, kl 1, k21, and k31 are recommended lanes,
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`they are shown by making the color of the background that surrounds the arrows
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`different so that they can be distinguished from the other lanes.
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`Therefore, on the retrieved route, in the case in which a left turn is made at
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`the "Yodoyabashi" intersection after the vehicle has traveled forward along the road
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`rl up to the "Yodoyabashi" intersection, lane guidance is carried out so that the
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`vehicle will pass through, in order, lanes k2, kl l, k21, and k31. Note that the
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`"Yodoyabashi" intersection is a retrieved route and a guided intersection at which
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`guidance about the vehicle turning left, right, or travelling forward, is provided.
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`However, as shown in FIG. 2, in the actual road rl, because lane k2 and lane
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`kl4 are connected, lane kl l and lane k23 are connected, and lane k21 and lane k31
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`are connected, when the guided vehicle attempts to travel along lanes k2, kl 1, k21,
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`and k31, which are the recommended lanes, the guided vehicle travels along lane k2
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`in the road link from the position of the guided vehicle to the "Umedashinmichi"
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`intersection, enters lane kl4 at the "Umedabashimichi" intersection, moves from lane
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`kl4 to lane kl 1 in the road link between the "Umedashinmichi" intersection and the
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`"Oebashi Minamizume" intersection, enters lane k23 at the "Oebashi Minamizume"
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`intersection, moves from lane k23 to k21 in the road link between the "Oebashi
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`Minamizume" intersection and the "Yodoyabashi Kitazume" intersection, enters the
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`lane k31 at the "Yodoyabashi Kitazume" intersection, travels along lane 3 1 in the road
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`link between the "Yodoyabashi Kitazume" intersection and the "Yodoyabashi"
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`intersection, and turns left at the "Yodoyabashi" intersection.
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`Thus, it is possible to consider displaying the lane list by taking into
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`consideration the connections between each of the lanes between the lane groups LkI
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`to Lk4 for each of the road links such that it is possible for the driver to recognize
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`whether it is necessary move between lanes in each of the road links, and how the
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`movement between lanes in each of the road links needs to be carried out, and such
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`that, at each of the intersections such as those that are shown in FIG. 2, the road links
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`at which an intersection is entered, that is, an entrance road, and a road at which an
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`intersection is exited, that is, an exit road, are connected.
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`[Patent Document 1] Japanese Patent Application Publication No. JP-A-2005-214630
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`DISCLOSURE OF THE INVENTION
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`[Problems to be Solved by the Invention]
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`25
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`30
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`However, in conventional navigation apparatuses, because of, for example,
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`restrictions on the dimensions of the display unit, the maximum number of lanes that
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`can be displayed together is arbitrarily determined, and for example, in the case in
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`which a lane list such as the one that is shown in FIG. 2 is displayed, there are 10
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`lanes arranged between the leftmost lanes k21 and k3 1 and the rightmost lane kl 8
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`among all ofthe lanes kl to k5, kll
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`to kl8, k21 to k28, and k31 to k38, and the size
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`of the lane list exceeds the maximum rendering range'of the lane display unit.
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`Thus, when rendering each of the lanes kl to k5, kl 1 to kl8, k21 to k28, and
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`k31 to k3 8, reducing the size, that is, the width in the transverse direction, can be
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`considered, but in this case, the visibility of the lane list is reduced.
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`It is an object of the present invention to provide a route guidance system and
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`programs that solve the problems of the conventional navigation apparatus, can
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`display lane guide maps that take into consideration the connections between each of
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`the lanes, and prevent the visibility of the lane guide maps from being reduced.
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`WO 2008/053945
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`PCT/JP2007/071272
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`[Means for Solving the Problem]
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`In order to solve the problems described above, the route guidance system of
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`the present invention includes a current position detecting unit that detects the current
`
`position of the vehicle as the position of the guided vehicle; a lane list setting
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`processing means that produces a lane list that takes into account the connections
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`between each of the lanes for a lane group of a road link that are present in a lane list
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`display section that has been set ahead of the position of the guided vehicle; a
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`rendering range determination processing means that determines whether or not the
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`number of lanes in the lane list is larger than the number of lanes that has been set in
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`the display unit; and a display range adjustment processing means that selects
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`predetermined lanes in the lane list and displays only the selected lanes in the case in
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`which the number of lanes in the lane list is larger than the number of lanes that has
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`been set in the display unit.
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`[Effects of the Invention]
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`According to the present invention, in the case in which the number of lanes in
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`a lane list that takes into consideration the connections between each of the lanes is
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`larger than the number of lanes that has been set in the display unit, predetermined
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`20
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`lanes in the lane list are selected, and only the selected lanes are displayed. Thus,
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`lanes that have a low display necessity can be removed from the display range.
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`Therefore, it is possible to display reliably the main portion of a lane list that takes
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`into account the connections between each of the lanes.
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`In addition, because the size of each of the rendered lanes does not need to be
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`25
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`made small, it is possible to prevent the visibility of the lane list from being reduced.
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`BRIEF DESCRIPTION OF THE DRAWINGS
`
`[FIG. 1]
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`30
`
`FIG.
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`1 is a drawing that shows an example of the display of a conventional
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`lane list.
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`[FIG. 2]
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`FIG. 2 is a drawing that shows an example of the display of a lane list that
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`takes into account the connections between each of the lanes.
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`[FIG. 3]
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`FIG. 3 is a drawing that shows the navigation system in a first embodiment
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`of the present invention.
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`[FIG. 4]
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`FIG. 4 is a flowchart that shows the operation of the lane display processing
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`means in the first embodiment of the present invention.
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`[FIG. 5]
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`FIG. 5 is a drawing that shows an example of a lane list that takes into account
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`the connections between lanes in the first embodiment of the present invention.
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`10
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`[FIG. 6]
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`FIG. 6 is a first drawing that shows the recommended lane position
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`determining process method in the first embodiment of the present invention.
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`[FIG. 7]
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`FIG. 7 is a second drawing that shows the recommended lane position
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`15
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`determining process method in the first embodiment of the present invention.
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`[FIG. 8]
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`FIG. 8 is a third drawing that shows the recommended lane position
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`determining process method in the first embodiment of the present invention.
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`[FIG. 9]
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`20
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`FIG. 9 is a fourth drawing that shows the recommended lane position
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`determining process method in the first embodiment of the present invention.
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`[FIG. 10]
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`FIG. 10 is a fifth drawing that shows the recommended lane position
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`determining process method in the first embodiment of the present invention.
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`[FIG. 11]
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`FIG. 11 is a sixth drawing that shows the recommended lane position
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`determining process method in the first embodiment of the present invention.
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`[FIG. 12]
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`FIG. 12 is a seventh drawing that shows the recommended lane position
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`determining process method in the first embodiment of the present invention.
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`[FIG. 13]
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`FIG. 13 is a eighth drawing that shows the recommended lane position
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`determining process method in the first embodiment of the present invention.
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`[FIG. 14]
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`6
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`FIG. 14 is a ninth drawing that shows the recommended lane position
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`determining process method in the first embodiment of the present invention.
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`[FIG. 15]
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`FIG. 15 is a first drawing that shows an example of the display of the lane list
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`5
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`in the first embodiment of the present invention.
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`[FIG. 16]
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`FIG. 16 is a second drawing that shows an example of the display of the lane
`list in the first embodiment ofthe present invention.
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`[FIG. 17]
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`10
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`FIG. 17 is a flowchart that shows the operation of the lane display processing
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`means in a second embodiment of the present invention.
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`[FIG. 18]
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`FIG. 18 is a drawing that shows an example of a display of the lane list that
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`takes into account the connections between lanes in the second embodiment of the
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`1 5
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`present invention.
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`[FIG. 19]
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`FIG. 19 is a first drawing that shows an example of the display of the lane list
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`in the second embodiment of the present invention.
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`[FIG. 20]
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`20
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`FIG. 20 is a second drawing that shows an example of the display of the lane
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`list in the second embodiment of the present invention.
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`[FIG. 21]
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`FIG. 21 is a third drawing that shows an example of the display of the lane
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`list in the second embodiment of the present invention.
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`[Brief Explanation of the Symbols]
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`10
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`14
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`15
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`51
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`63
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`automatic transmission control unit
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`navigation apparatus
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`GPS sensor
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`information center
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`network
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`LsI 5LsIl
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`lane lists
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`LkI - 4, LkIl
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`- 13
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`lane groups
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`7
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`BEST MODES FOR CARRYING OUT THE INVENTION
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`Below, embodiments of the present invention will be explained in detail with
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`reference to the figures. Note that a navigation apparatus that serves as a route
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`guidance system will be explained.
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`FIG. 3 is a drawing that shows the navigation system in a first embodiment of
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`the present invention.
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`In the figure, reference numeral 10 denotes an automatic transmission control
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`unit, and this automatic transmission control unit 10 carries out control of the
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`10
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`automatic transmission.
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`In addition, reference numeral 14 denotes a data terminal, for
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`example, a navigation apparatus, which is a mounted apparatus that is installed on a
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`vehicle, 63 denotes a network, and 51 denotes an information center that serves as an
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`information provider. The navigation system is structured by the automatic
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`transmission control unit 10, the navigation apparatus 14, the network 63, the
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`15
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`information center 51 and the like.
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`The navigation apparatus 14 is provided with a GPS sensor 15 that serves as a
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`current position detecting unit that detects the current position of the vehicle as the
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`position of the guided vehicle; a data recording unit 16 that serves as an information
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`recording unit in which, in addition to map data, various types of information are
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`recorded; a navigation processing unit 17 that carries out various types of arithmetic
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`processing such as navigation processing; a direction sensor 18 that serves as a
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`direction detecting unit that detects the direction of the vehicle as the direction of the
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`guided vehicle; an operating unit 34 that serves as a first input unit, and the driver,
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`who is the operator, makes prescribed inputs by operating the same; a display unit 35
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`that serves as a first output unit for carrying out various types of display by using
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`images that are rendered on a screen (not illustrated) and providing notifications to the
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`driver; an audio input unit 36 that serves as a second input unit, and the driver makes
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`prescribed inputs by using audio; an audio output unit 37 that serves as a second
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`output unit for carrying out various types of display by using audio and providing
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`notifications to the driver; and a communication unit 38 that serves as a transceiving
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`unit that functions as a communication terminal; and the GPS sensor 15, the data
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`recording unit 16, the direction sensor 18, the operating unit 34, the display unit 35,
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`the audio input unit 36, the audio output unit 37, and the communication unit 38 are
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`connected to the navigation processing unit 17.
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`In addition, the following are connected to the navigation processing unit 17 : a
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`frontward monitoring apparatus 48 that monitors the area in the front of the vehicle; a
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`back camera (a rearward monitor camera) 49 that serves as an image capturing
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`apparatus that photographs the area to the rear ofthe vehicle and serves as a rearward
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`direction monitoring apparatus; an accelerator pedal sensor 42 that serves as an engine
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`load detecting unit, which detects the operation of the accelerator pedal (not
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`illustrated) by the driver according to the accelerator pedal open angle; a brake pedal
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`sensor 43 that serves as a braking detecting unit, which detects the operation of the
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`brake pedal (not illustrated) by the driver according to the brake pedal depression
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`amount; and a vehicle speed sensor 44 that serves as a vehicle speed detecting unit
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`that detects the vehicle speed,.
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`Note that the accelerator pedal sensor 42, the brake pedal sensor 43 and the
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`like structure the operation detecting unit for detecting the operation of the vehicle by
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`the driver. Specifically, the accelerator pedal sensor 42 structures an acceleration
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`operation detecting unit that detects an operation in which the driver intends to
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`accelerate the vehicle, and the brake pedal sensor 43 structures a deceleration
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`operation detecting unit that detects an operation in which the driver intends to
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`decelerate the vehicle.
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`The GPS sensor 15 detects the current position of the vehicle on the surface of
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`the earth, along with the time.
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`The data recording unit 16 is provided with a map database (not illustrated)
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`that includes map data files, and the map data is recorded in this map database. This
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`map data includes feature data related to features on the road, in addition to including
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`intersection data that is related to intersections (branches), node data that is related to
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`nodes, road data that is related to road links, search data that is prepared for retrieval,
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`and facility data that is related to facilities.
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`The features are indicators that are disposed or formed on the road for
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`providing various types of information for travel and carrying out various types of
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`guidance for travel to the driver. These indicators include, for example, traffic display
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`lines, road signs, crosswalks, manholes, signals and the like. The lane marks include,
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`for example, stop lines for stopping a vehicle, vehicle traffic boundary lines that
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`divide each of the lanes, section lines that indicate parking spaces, and the like, and
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`the road signs include traffic section signs that indicate the forward direction in each
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`of the lanes by using an arrow and guidance signs such as "stop", and the like, that
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`9
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`provide warnings about temporary stopping locations.
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`In addition, the feature data
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`includes, for example, position data that indicates the position of each of the features
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`by using coordinates and image information that shows each of the features by using
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`images. Note that a temporary stopping location includes an entrance location from a
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`non-prefectural road to a prefectural road, rail crossings, intersections at which red
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`signals are flashing, and the like.
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`In addition, for each of the road links, the road data that is related to lanes
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`includes lane data, which serves as lane information, consisting, for example, of the
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`number of lanes, a lane number that is appended to each of the lanes of the road, the
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`positions of the lanes, and the exit direction at an intersection for each of the lanes.
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`The data for outputting predetermined information by using the audio output unit 37
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`is also recorded in the data recording unit 16.
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`Furthermore, a statistics database (not illustrated) that includes a statistics data
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`file and a travel history database (not illustrated) that includes atravel history data file
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`are formed in the data recording unit 16, and the statistical data is recorded in the
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`statistics data file as cumulative data and travel history data is recorded in the travel
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`history data file as cumulative data.
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`Additionally, in order to record various types of data, in addition to being
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`provided with a disk (not illustrated) such as a hard disk, a CD, a DVD, or an optical
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`disk or the like, the data recording unit 16 is provided with head (not illustrated) such
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`as a read/write head for reading and writing the various types of data.
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`In addition, it is
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`possible to use a memory card or the like in the data recording unit 16. Note that the
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`external storage apparatus is structured by the above disk, memory card, and the like.
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`In the present embodiment, the map database, the statistics database, the travel
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`history database and the like are produced in the data recording unit 16. However, it
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`is possible to produce the map database, statistics database, and the travel history
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`database and the like at the information center 51.
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`In addition, the navigation processing unit 17 is provided, for example, with a
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`CPU 31 that serves as a control apparatus for carrying out overall control of the
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`navigation apparatus 14 and that serves as an arithmetic apparatus; a RAM 32 that is
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`used as a working memory when the CPU 31 carries out various types of arithmetic
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`processing; a ROM 33 on which, in addition to control programs, various types of
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`programs for retrieving a route to a destination, carrying out route guidance, and the
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`like, are recorded; and a flash memory (not illustrated) and the like that is used in
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`order to record the various types of data, programs, and the like. Note that the
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`internal memory apparatus is structured, for example, by the RAM 32, ROM 33, and
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`the flash memory.
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`It is possible to use a keyboard or a mouse or the like (not illustrated) as an
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`operation unit 34 that is installed separately from the display unit 35.
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`In addition, as
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`an operating unit 34, it is possible to use a touch panel that enables the carrying out of
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`prescribed input operations by touching or clicking an image operating unit such as
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`various types of keys, switches, or buttons, or the like, that are displayed as an image
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`on the screen that is formed by the display unit 35 .
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`A display is used as the display unit 35, and in the various types of screen that
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`are produced on the display unit 35 , the current position of the vehicle can be
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`displayed as the position of the guided vehicle, the direction of the vehicle can be
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`displayed as the direction of the guided vehicle, the maps, retrieved routes, the
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`guidance information along the retrieved routes, traffic information and the like can
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`be displayed, and the distance to the next intersection in the retrieved route and the
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`forward direction at the next intersection can be displayed.
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`In addition, the audio input unit 36 is structured by a microphone or the like
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`(not illustrated), and can input necessary information by voice. Furthermore, the
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`audio output unit 37 is provided with a voice synthesizing apparatus (not illustrated)
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`and a speaker, and the retrieved routes, the guidance information, the traffic
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`information and the like are output from the audio output unit 37, for example, by a
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`voice that has been synthesized by the voice synthesizing apparatus.
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`The communication unit 3 8 is provided with a beacon receiver (not illustrated)
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`in order to receive various types of information such as the present traffic information,
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`general information and the like that has been broadcast from a road traffic
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`information center and an FM receiver (not illustrated) or the like in order to receive
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`the above information as an FM multiplex broadcast via a FM broadcast station (not
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`illustrated). Additionally, in addition to data such as the map data, statistics data,
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`travel history data, and the like that are received from the information center 51, the
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`communication unit 38 can receive various types of information such as traffic
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`information, general information, and the like, via the network 63.
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`Thus, the information center 51 is provided, for example, with a server 53, a
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`communication unit 57 that is connected to the server 53, and a database (DB) 58 that
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`serves as an information recording unit, and the server 53 is provided, for example,
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`with a CPU 54 that serves as a control apparatus and an arithmetic apparatus, a RAM
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`55, and a ROM 56. In addition, data that is similar to the various types of data that is
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`stored in the data recording unit 16 is recorded in the database 58.
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`Note that the navigation system, the navigation processing unit 17, the CPUs
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`3 1 and 54, the server 53 and the like function as a computer singly or in a
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`combination of two or more, and carry out arithmetic processing based on the various
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`types ofprogram, data, and the like. In addition, the recording medium is structured
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`by the data recording unit 16, RAMs 32 and 55, ROMs 33 and 56, the database 58, a
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`flash memory, and the like.
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`In addition, it is possible to use an MPU or the like as the
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`arithmetic apparatus instead of the CPUs 31 and 54 as the arithmetic unit.
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`Next, the basic operation of a navigation system having the structure that has
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`been described above will be explained.
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`First, when the operating unit 34 is operated by the driver and the navigation
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`apparatus 14 is activated, the navigation initiation processing means (not illustrated)
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`of the CPU 31 carries out navigation initiation processing, and the position of the
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`guided vehicle that has been detected by the GPS sensor 15 and the direction of the
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`guided vehicle that has been detected by the direction sensor 18 are read, and the
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`various types of data are initialized. Next, a matching processing means (not
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`illustrated) in the CPU 3 1 carries out matching processing, and the position of the
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`guided vehicle is specified by determining whether the guided vehicle is positioned on
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`any road links based on the locus of the position of the guided vehicle that has been
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`read, the contours and arrangement of each of the road links that form the road in the
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`vicinity of the position of the guided vehicle, and the like.
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`In addition, in the present embodiment, the matching processing means further
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`specifies the position of the guided vehicle based on the positions of features that are
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`photographed objects photographed by the back camera 49.
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`Thereby, an image recognition processing means (not illustrated) in the CPU
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`31 carries out image recognition processing, the image data is read from the back
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`camera 49, and the features in the image, which consists of the image data, are
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`recognized.
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`In addition, a distance calculation processing means (not illustrated) in
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`the CPU 31 carries out distance calculation processing, and calculates the actual
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`distance from the back camera 49 to a feature based on the position of the feature in
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`an image.
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`In addition, a guided vehicle position specification processing means in the
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`matching processing means carries out guided vehicle position specification
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`processing, reads the distance, acquires the coordinates of the feature by reading the
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`feature data from the data recording unit 16, and specifies the position of the guided
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`vehicle based on the coordinates and the distance thereof.
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`In addition, the travel lane specification processing means (not illustrated) in
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`the CPU 31 carries out travel lane specification processing, and similarly, specifies
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`the position of the guided vehicle by referring to features that have been recognized
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`based on the image data, and feature data and lane data that have been read from the
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`data recording unit 16, and specifies the travel lane along which the vehicle is
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`travelling based on the position of the specified guided vehicle.
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`Note that the travel lane specification processing means reads the sensor
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`output of the terrestrial magnetism sensor (not illustrated), and based on this sensor
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`output, determines whether or not there are any detected objects that consist of a
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`ferromagnetic material, such as a manhole, in a predetermined lane on the road, and
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`can specify the travel lane based on the results of this determination. Furthermore, the
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`position of the guided vehicle can be detected with high precision by using a high
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`precision GPS sensor, and based on the detected results, it is possible to determine the
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`lane in which the vehicle is travelling. In addition, when necessary, it is possible to
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`specify the travel lane by carrying out image processing on the image data of the lane
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`marks, and simultaneously, combining the sensor output of the terrestrial magnetism
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`sensor and the position of the guided vehicle.
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`Next, the basic information acquisition processing means (not illustrated) in
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`the CPU 31 carries out basic information acquisition processing, and either reads out
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`and acquires the map data from the data recording unit 16, or receives and acquires
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`the map data from the information center 51 via the communication unit 38. Note that
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`in the case in which the map data is acquired, for example, from the information
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`center 51, the basic information acquisition processing means downloads the received
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`map information to flash memory.
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`In addition, the display processing means (not illustrated) in the CPU 31
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`carries out display processing, and forms various types of screens in the display unit
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`35. For example, the map display processing means in the display processing means
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`carries out map display processing, and forms a map screen in the display of the
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`display unit 35, dis