WO2010050065A1 - Guide information outputting device, guide information outputting method, guide information outputting program, and recording medium - Google Patents

Abstract

First, position-related information relating to the position of a mobile body is acquired by an acquiring section (103). The acquiring section (103) acquires, for instance, positioning information transmitted from a satellite and information outputted from a sensor which detects mobile state of the mobile body, as position-related information. Then, a calculating section (105) calculates position information of a current location of the mobile body, based on the position-related information. Then, a judging section (106) judges accuracy of the position information. Then, a control section (107) outputs guide information corresponding to the position information accuracy to an outputting section (102).

Description

GUIDANCE INFORMATION OUTPUT DEVICE, GUIDANCE INFORMATION OUTPUT METHOD, GUIDANCE INFORMATION OUTPUT PROGRAM, AND RECORDING MEDIUM

The present invention relates to a guide information output device, a guide information output method, a guide information output program, and a recording medium that output guide information according to the accuracy of position information of the current location of a mobile object.

Conventionally, a navigation device has a function of displaying map information recorded on a recording medium, position information of the current location of the vehicle calculated based on the traveling speed and traveling direction of the vehicle, and a guidance route to the destination location. have. Then, when it is detected that the distance from the current point of the vehicle to the guide point or destination point that is the target of the guide information has become a predetermined distance, voice guidance information is output. In addition, the navigation device calculates the time to reach the guidance point or the destination point based on the average speed of the vehicle calculated from the traveling speed of the vehicle and the road to the guidance point or the destination point. There is also one that outputs guidance information by voice a predetermined time before the time (for example, see Patent Document 1 below). This navigation device predicts the time to reach the guidance point according to the traveling speed of the vehicle and the traffic congestion state of the guidance route, and outputs voice guidance information.

Japanese Patent Laid-Open No. 9-311049

However, in the technique of Patent Document 1 described above, if the accuracy of the position information of the current location of the vehicle is poor, an error occurs in the time to reach the guidance location. For example, the guidance information of the guidance location that has already passed is actually obtained. May be output. Further, for example, guidance information may be output even though the user is actually away from the guidance point. For this reason, there exists a problem that a user cannot be correctly guide | induced to a guidance route. There is also a problem that the user is confused and the user is prevented from driving the vehicle safely.

In order to solve the above-described problem and achieve the object, a guidance information output device according to the invention of claim 1 is based on acquisition means for acquiring position-related information related to the position of a moving body, and the position-related information. A calculation unit that calculates position information of a current location of the mobile body, a determination unit that determines the accuracy of the position information, and a control unit that outputs guidance information according to the accuracy of the position information to an output unit. It is characterized by.

According to an eleventh aspect of the present invention, there is provided a guide information output method that obtains position-related information related to a position of a moving body, and calculates position information of a current location of the moving body based on the position-related information. It includes a calculation step, a determination step for determining the accuracy of the position information, and a control step for outputting guide information according to the accuracy of the position information to the output unit.

The guide information output program according to the invention of claim 12 causes a computer to execute the guide information output method according to claim 11.

Further, the recording medium according to the invention of claim 13 is characterized in that the guide information output program according to claim 12 is recorded in a computer-readable state.

FIG. 1 is a block diagram showing a functional configuration of the guidance information output apparatus according to the present embodiment. FIG. 2 is a flowchart showing a guide information output processing procedure of the guide information output device. FIG. 3 is a block diagram of a hardware configuration of the navigation device according to the present embodiment. FIG. 4 is a flowchart showing the contents of processing of the navigation device. FIG. 5 is an explanatory diagram showing an example of the content of processing for determining the accuracy of position information. FIG. 6 is an explanatory diagram illustrating an example of a distance unit and the number of times of guidance according to the accuracy of position information. FIG. 7 is an explanatory diagram showing an example of the content of guidance information output in units of distances and the number of times of guidance shown in FIG. FIG. 8 is an explanatory diagram illustrating an example of display of guidance information. FIG. 9 is an explanatory diagram showing an example of the content of the continuous guidance information.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Guide information output device 101 Memory | storage part 102 Output part 103 Acquisition part 104 Setting part 105 Calculation part 106 Judgment part 107 Control part

DETAILED DESCRIPTION Exemplary embodiments of a guidance information output device, a guidance information output method, a guidance information output program, and a recording medium according to the present invention will be described below in detail with reference to the accompanying drawings.

(Embodiment)
(Functional configuration of guidance information output device)
First, a functional configuration of the guidance information output device 100 according to the embodiment of the present invention will be described. FIG. 1 is a block diagram showing a functional configuration of the guidance information output apparatus according to the present embodiment. In FIG. 1, the guidance information output device 100 includes a storage unit 101, an output unit 102, an acquisition unit 103, a setting unit 104, a calculation unit 105, a determination unit 106, and a control unit 107. .

In the storage unit 101, for example, map information is stored. The map information includes road network data composed of nodes and links, and image data drawn using features relating to facilities, roads, and other terrain (mountains, rivers, land). The map information may include character information, information such as facility names and addresses, road and facility images, and the like. The output unit 102 includes a display screen that displays map information. The output unit 102 may include a speaker that outputs audio information.

The acquisition unit 103 acquires position related information related to the position of the moving object. Specifically, the acquisition unit 103 acquires positioning information transmitted from a satellite as position related information. Specifically, the positioning information transmitted from the satellite is, for example, positioning information transmitted from a plurality of GPS (Global Positioning System) satellites.

Further, the acquisition unit 103 may acquire output information of a sensor that detects a moving state of the moving body as position related information. Examples of the sensor include a gyro sensor, an acceleration sensor, a vehicle speed pulse, and a reverse line.

The setting unit 104 sets the mounting angle of the guidance information output device 100. Specifically, the setting unit 104 calculates the pitch direction / yaw direction / roll direction with respect to a predetermined reference based on, for example, output information of a sensor that detects the moving state of the moving body acquired by the acquisition unit 103 or the like. Then, the mounting angle of the guidance information output device 100 is set. Moreover, the setting part 104 may set the guidance information output device 100 to the attachment angle input by the user.

The calculation unit 105 calculates the position information of the current location of the mobile object based on the position related information acquired by the acquisition unit 103. The calculation unit 105 may calculate the position information of the current position of the moving object using the positioning information and the output information of the sensor, or may use only the positioning information or the output information of the sensor to determine the current position of the moving object. May be calculated.

Also, the calculation unit 105 may calculate position information indicating the current location of the mobile object based on the position related information acquired by the acquisition unit 103 and the map information stored in the storage unit 101. That is, the map matching process using the map information may be performed on the position information indicating the current location of the moving object calculated based on the position related information. The map matching process is, for example, a road where the current position of the moving object on the map information indicates a point other than a road, but the moving object is likely to be actually located if a predetermined condition is met. This is a process to correct the current location.

The determination unit 106 determines the accuracy of the position information. The determination unit 106 determines the accuracy of the position information based on, for example, the positioning information acquisition state by the acquisition unit 103. Specifically, the acquisition state of the positioning information includes, for example, the positioning dimension of the GPS satellite, the reception intensity of the radio wave from the GPS satellite, the elevation angle and the number of captured satellites regarding the GPS satellite, the presence / absence of multipath, and the like. The determination unit 106 determines the accuracy of the position information using at least one of these positioning information acquisition states. Here, the number of captured satellites is the number of satellites that can receive radio waves by the acquisition unit 103. In order for the calculation unit 105 to calculate the position information, the positioning information received from the four satellites by the acquisition unit 103 is necessary. When the number of acquisition satellites by the acquisition unit 103 is more than that, the combination of the four satellites is a combination with less error in the positioning information, so that the accuracy of the position information calculated by the calculation unit 105 is improved. In addition, even when the number of captured satellites is less than 4, the accuracy of the position information is reduced, but the position is calculated by the calculation unit 105 by correcting the error by using a not-shown time measuring unit or map information for measuring an accurate time. Information can be calculated.

Also, multipath refers to a multi-wave transmission path, and for example, a radio wave from a GPS satellite is reflected or diffracted by a feature such as a mountain or a building, and the same radio wave is received from a plurality of paths. At this time, there is a time difference between the direct wave that connects the shortest distance straight from the GPS satellite, and the reflected wave or diffracted wave, or the strength of the radio wave decreases, and the accuracy of the positioning information deteriorates. For this reason, the determination part 106 determines with the accuracy of position information being bad, when the multipath has arisen in the positioning information by the acquisition part 103. FIG.

Further, the determination unit 106 determines the accuracy of the position information based on the acquisition state of the output information by the acquisition unit 103. Specifically, the output state acquisition state includes, for example, the presence / absence of an output from a gyro sensor, the presence / absence of an output from an acceleration sensor, the presence / absence of a vehicle speed pulse, the presence / absence of a reverse signal, and the learning status of these sensors. The determination unit 106 determines the accuracy of the position information using at least one of these output information acquisition states. That is, for example, the determination unit 106 determines that the accuracy of the position information is higher as the type of output information from the acquisition unit 103 is larger. The determination unit 106 may determine the accuracy of the position information by combining the acquisition state of the positioning information and the acquisition state of the output information.

Further, the determination unit 106 may determine the accuracy of the position information based on the mounting angle by the setting unit 104. For example, when the attachment angle by the setting unit 104 is equal to or greater than a predetermined value, the determination unit 106 determines that the accuracy of the position information is poor because the output error of the output information from the sensor increases.

Further, the determination unit 106 may determine the accuracy of the position information based on the attribute of the map information around the current location indicated by the position information. Specific attributes of map information are, for example, inside tunnels and around exits, inside and around multi-story parking lots or underground parking lots, underpasses, buildings that are likely to cause multipath, and mountainous areas. Etc. For example, the determination unit 106 determines that the position accuracy is poor when the vicinity of the current point indicated by the position information on the map information has these attributes.

The control unit 107 outputs guidance information according to the accuracy of the position information determined by the determination unit 106 to the output unit 102. For example, the control unit 107 outputs the guidance information to the output unit 102 at a timing corresponding to the accuracy of the position information. Specifically, the control unit 107 changes the timing for outputting the guidance information (particularly, voice guidance information) immediately before the guidance point that is the target of the guidance information according to the accuracy of the position information. More specifically, when the accuracy of the position information is high, the control unit 107 outputs the immediately preceding guide information at a relatively close distance (for example, a point of 30 m), for example, and the position information is not accurate. In this case, for example, the immediately preceding guidance information is output at a relatively far distance (for example, a 200 m point) from the guidance point.

Further, the control unit 107 outputs the guidance information to the output unit 102 with the number of times of guidance according to the accuracy of the position information, for example. Specifically, the control unit 107 reduces the number of times of guidance when the accuracy of the position information is poorer than when the accuracy of the position information is good.

Further, for example, the control unit 107 sets a distance unit according to the accuracy of the position information, and outputs guidance information using this distance unit to the output unit 102. Specifically, the control unit 107 sets the distance unit longer when the positional information accuracy is lower than when the positional information accuracy is higher. More specifically, the control unit 107 sets the distance unit in units of 10 m, for example, when the accuracy of the position information is good, and sets the distance unit in units of 100 m, for example, when the accuracy of the position information is poor.

Further, the control unit 107 may continue outputting the guidance information to the output unit 102 for a period according to the accuracy of the position information after the current location of the mobile object passes the guidance point that is the target of the guidance information. . The reason is that, even if the position information calculated by the calculation unit 105 indicates a point that has passed the guide point, if the accuracy of the position information is poor, the mobile object may not actually pass the guide point. Because. Specifically, if the output of guidance information (especially guidance information by image display) is stopped immediately after passing the guidance point, the guidance information is actually stopped even though it has not yet reached the guidance point. This is because the user cannot receive the necessary guidance when the guide point is reached. The period corresponding to the accuracy of the position information is set to be longer as the accuracy of the position information is worse, for example.

When the distance between the first guidance point to be guided next and the second guidance point to be guided next is shorter than the distance according to the accuracy of the position information, the control unit 107 determines the first guidance point and the second guidance point. The continuous guidance information combined with the guidance point is output to the output unit 102. The continuous guidance information is a combination of the guidance information corresponding to the first guidance point and the guidance information corresponding to the second guidance point, and the first guidance point and the second guidance during the output of one guidance information. It is information that guides the point continuously. Specifically, it is guidance information such as “Soon, it will be in the right direction (first guidance point). After that, it will be in the left direction (second guidance point)”. In addition, the control unit 107 determines whether the third guidance point to be guided next to the second guidance point, the fourth guidance point to be guided next to the third guidance point, etc. When the distance is shorter than the distance according to the accuracy of the position information, continuous guidance information combining guidance information corresponding to more than two guidance points may be output to the output unit 102.

(Guidance information output processing procedure of the guidance information output device)
Next, a guide information output processing procedure of the guide information output device 100 will be described. FIG. 2 is a flowchart showing a guide information output processing procedure of the guide information output device. In the flowchart of FIG. 2, first, the acquisition unit 103 acquires position related information related to the position of the moving object (step S201). In step S201, for example, the positioning information transmitted from the satellite and the output information of the sensor that detects the moving state of the moving body are acquired as the position related information.

Next, the position information of the current location of the moving object is calculated by the calculation unit 105 based on the position related information acquired in step S201 (step S202). In step S202, the position information of the current location of the mobile object may be calculated based on the position related information acquired in step S201 and the map information stored in the storage unit 101.

Next, the determination unit 106 determines the accuracy of the position information calculated in step S202 (step S203). In step S203, the accuracy of the position information is determined based on the positioning information acquisition state and output information acquisition state acquired in step S201. In step S203, when the position information of the current location of the mobile object is calculated based on the position related information and the map information in step S202, the map information around the current location indicated by the calculated location information is displayed. The accuracy of the position information may be determined based on the attribute.

Next, the control unit 107 outputs guidance information corresponding to the accuracy of the position information determined in step S203 to the output unit 102 (step S204), and the series of processes is terminated. In step S204, for example, the guide information is output at a timing corresponding to the accuracy of the position information, or the guide information is output at the number of times of guidance corresponding to the accuracy of the position information. Further, in step S204, after the current location of the moving body passes the guidance location that is the target of the guidance information, the output of the guidance information to the output unit 102 may be continued for a period according to the accuracy of the location information. .

In the flowchart of FIG. 2, after the position related information is acquired in step S <b> 201, the attachment angle of the guide information output device 100 may be set by the setting unit 104. In this case, in step S203, the accuracy of the position information may be determined based on the attachment angle set by the setting unit 104.

In the flowchart of FIG. 2, in step S <b> 204, the control unit 107 may set a distance unit according to the accuracy of the position information and output guidance information using this distance unit to the output unit 102. Furthermore, in step S204, the distance between the first guidance point to be guided next and the second guidance point to be guided next is detected, and the distance between the first guidance point and the second guidance point is detected. Is shorter than the distance corresponding to the accuracy of the position information, continuous guidance information combining the first guidance point and the second guidance point may be output to the output unit 102.

As described above, according to the guidance information output device 100 of the present embodiment, based on the position related information acquired by the acquisition unit 103, the calculation unit 105 calculates the position information of the current location of the moving object, and the determination The accuracy of position information can be determined by the unit 106. The control unit 107 can output guide information corresponding to the accuracy of the position information to the output unit 102. Therefore, when the accuracy of the position information is relatively good, accurate guidance can be provided, and when the accuracy of the position information is relatively poor, erroneous guidance can be prevented. In addition, even when the same software (navigation program) is used for hardware (navigation device or the like) with different position information accuracy, it is possible to perform optimum performance according to the performance of the hardware. Thereby, the user can receive the optimum guidance information according to his / her device, and can prevent the wrong guide point.

Further, according to the guidance information output device 100 of the present embodiment, the acquisition unit 103 acquires the positioning information transmitted from the satellite as position related information, and the determination unit 106 acquires the positioning information acquisition state. The accuracy of the position information can be determined based on the above. Therefore, the accuracy of the position information can be determined based on the positioning dimension of the GPS satellite, the reception intensity from the satellite, the number of captured satellites, and the presence / absence of multipath. For this reason, it is possible to accurately determine the accuracy of the position information.

Moreover, according to the guidance information output device 100 of the present embodiment, the acquisition unit 103 acquires the output information of the sensor that detects the moving state of the moving object as position related information, and the determination unit 106 uses the acquisition unit 103 to The accuracy of the position information can be determined based on the output information acquisition state. Therefore, based on the presence / absence of output information from the gyro sensor, the presence / absence of output information from the acceleration sensor, the presence / absence of output information from the vehicle speed sensor, the presence / absence of output information from the reverse line, and the learning state of each sensor, Accuracy can be determined. Thus, it can be determined that the more types of sensors that have acquired the output information, the better the accuracy of the position information. For this reason, it is possible to accurately determine the accuracy of the position information.

Further, according to the guidance information output device 100 of the present embodiment, the accuracy of the position information can be determined by the determination unit 106 based on the mounting angle of the guidance information output device 100 set by the setting unit 104. Therefore, when the mounting angle is greater than or equal to a predetermined value, the output error from the sensor becomes large, so it can be determined that the accuracy of the position information is poor. For this reason, it is possible to accurately determine the accuracy of the position information.

Further, according to the guidance information output device 100 of the present embodiment, the calculation unit 105 calculates the position information indicating the current location of the mobile object based on the position related information and the map information, and the determination unit 106 Based on the attribute of the map information around the current location indicated by the information, the accuracy of the position information can be determined. Therefore, the map matching process can be performed to correct the error in the position information calculated based on the position related information. Also, if the location of the current location indicated by the location information is inside a tunnel or around an exit, inside a multi-story parking lot or underground parking lot, around an exit, under an overpass, or in a building district or mountainous area where multipath is likely to occur It can be determined that the accuracy of the position information is poor. For this reason, for example, even when output information from a plurality of sensors is acquired and it is determined that the accuracy of the position information is good, the accuracy of the position information is poor in a section where it is difficult to receive radio waves from GPS satellites. Can be determined. Therefore, it is possible to accurately determine the accuracy of the position information.

Also, according to the guidance information output device 100 of the present embodiment, the control unit 107 can output the guidance information to the output unit 102 at a timing according to the accuracy of the position information. Therefore, when it is determined that the accuracy of the position information is relatively poor, the guidance information immediately before the guidance point is output at a point far from the guidance point, compared to the case where the accuracy of the position information is determined to be relatively good. be able to. For this reason, even when the accuracy of the position information is relatively poor, it is possible to prevent the guidance information of the past guidance point from being output after the guidance point has passed. Thus, even if a user uses a device with poor position information accuracy, incorrect guidance information is not output, so that the user can travel safely without getting lost during driving of the vehicle, for example.

Further, according to the guidance information output device 100 of the present embodiment, the control unit 107 can output the guidance information to the output unit 102 with the number of times of guidance according to the accuracy of the position information. Therefore, when it is determined that the accuracy of the position information is relatively poor, the number of times of guidance can be reduced compared to the case where the accuracy of the position information is determined to be relatively good. For this reason, the better the accuracy of the position information, the more the number of times of guidance can be increased and the user can be accurately guided. In addition, when it is determined that the accuracy of the position information is poor, the possibility that wrong guidance information is output is reduced, so that the user can not feel bothered.

Further, according to the guidance information output device 100 of the present embodiment, the control unit 107 sets a distance unit corresponding to the accuracy of the position information, and outputs the guidance information using this distance unit to the output unit 102. Can do. Therefore, when it is determined that the accuracy of the position information is relatively poor, the distance unit used for the guidance information can be made longer than when it is determined that the accuracy of the position information is relatively good. For this reason, if the position information error is within a range that does not exceed the distance unit, almost accurate guidance information can be output.

Further, according to the guidance information output device 100 of the present embodiment, the control unit 107 outputs the period of time corresponding to the accuracy of the position information after the current location of the moving object has passed the guidance location that is the target of the guidance information. The output of guidance information to the unit 102 can be continued. Therefore, if the position information is relatively inaccurate and the current location of the moving object is shifted in the direction of travel, the guidance information is output even though the current location of the moving object has not reached the guidance location. Can be prevented from ending. Accordingly, the user can prevent the display of the guidance information from disappearing before reaching the guidance point, and can receive necessary guidance information when reaching the guidance point.

Also, according to the guidance information output device 100 of the present embodiment, the distance between the first guidance point to be guided next and the second guidance point to be guided next is calculated by the control unit 107 as the position information. When the distance is shorter than the distance according to accuracy, continuous guidance information combining the first guidance point and the second guidance point can be output to the output unit 102. Therefore, the upper limit of the distance between the first guidance point and the second guidance point, which is a condition for performing continuous guidance information, can be changed according to the accuracy of the position information. For this reason, when it is determined that the accuracy of the position information is relatively poor, the continuous guidance information can be obtained even if the distance between the first guidance point and the second guidance point is relatively long. Therefore, when the user is actually in front of the first guide point, the guide information of the second guide point is output, or the second guide point is not the second guide point although the first guide point is actually passed. It is possible to prevent the output of the guide information for one guide point. This prevents the user from wondering whether the output guide information is the first guide point or the second guide point.

Hereinafter, examples of the present invention will be described. In the present embodiment, an example in which the guidance information output device of the present invention is implemented by a navigation device mounted on a moving body such as a vehicle (including a four-wheeled vehicle and a two-wheeled vehicle) will be described.

(Hardware configuration of navigation device)
Next, a hardware configuration of the navigation device 300 according to the present embodiment will be described. FIG. 3 is a block diagram of a hardware configuration of the navigation device according to the present embodiment. In FIG. 3, the navigation device 300 includes a CPU 301, a ROM 302, a RAM 303, a magnetic disk drive 304, a magnetic disk 305, an optical disk drive 306, an optical disk 307, an audio I / F (interface) 308, and a microphone 309. A speaker 310, an input device 311, a video I / F 312, a display 313, a communication I / F 314, a GPS unit 315, various sensors 316, and a camera 317. Each component 301 to 317 is connected by a bus 320.

First, the CPU 301 governs overall control of the navigation device 300. The ROM 302 stores programs such as a boot program, a data update program, a mounting angle setting program, a position information calculation program, a map matching processing program, a position accuracy determination program, and a guidance information output control program. The RAM 303 is used as a work area for the CPU 301. That is, the CPU 301 controls the entire navigation device 300 by executing various programs recorded in the ROM 302 while using the RAM 303 as a work area.

The installation angle setting program sets the installation angle of the navigation device 300. The mounting angle setting program calculates the pitch direction / yaw direction / roll direction with respect to a predetermined reference based on output information from the GPS unit 315 and various sensors 316 described later, and sets the mounting angle of the guidance information output device 100. Let Further, the attachment angle setting program may cause the guide information output device 100 to be set to the attachment angle input by the user.

The position information calculation program calculates position information of the current location of the vehicle using output information from the GPS unit 315 described later and output values from the various sensors 316. The position information calculation program may calculate position information using output information from the GPS unit 315 and output values from the various sensors 316, output information from the GPS unit 315, or output values from the various sensors 316. The position information may be calculated using only.

The map matching processing program is based on the position information calculated by the position information calculation program and the map information recorded on the magnetic disk 305 or the optical disk 307, which will be described later, on the road where the vehicle is likely to be actually located. The position of is specified. Thereby, the error of the position information calculated by the position information calculation program is corrected. In addition, the map matching processing program may display a mark representing the current location of the vehicle at a position on the road where the vehicle in the map information is likely to be actually located.

The position accuracy determination program determines the accuracy of the position information calculated by the position information calculation program or the position information whose error is corrected by the map matching processing program. Although details will be described later, the position accuracy determination program determines the accuracy of the position information based on, for example, the positioning information acquisition state by the GPS unit 315 and the output value acquisition states by the various sensors 316. In addition, when the position accuracy calculation program calculates the position information by the position information calculation program, for example, the calculation based on the output information from the GPS unit 315 and the output values from the various sensors 316 is based on the GPS unit 315. It is determined that the accuracy of the position information is better than the calculation based on only the output information. Further, it is determined that the accuracy of the position information is higher as the types of output values from the various sensors 316 are larger.

In addition, the position accuracy determination program determines that the position accuracy is worse than other attributes when the position on the map indicating the current location of the vehicle specified by the map matching processing program is a predetermined attribute. The predetermined attributes include, for example, the inside of the tunnel and the vicinity of the exit, the interior and the vicinity of the exit of the three-dimensional parking lot or the underground parking lot, the underpass, a building district where a multipath is likely to occur, and a mountain area.

The guidance information output control program causes the display 313 and the speaker 310 to output guidance information according to the accuracy of the position information determined by the position accuracy determination program. Although details will be described later, the guidance information output control program outputs the guidance information at, for example, the timing and the number of times of guidance according to the accuracy of the position information. Further, the guidance information output control program may continue outputting the guidance information to the display 313 for a period according to the accuracy of the position information after the current location of the vehicle passes the guidance location that is the target of the guidance information. . Further, the guidance information output control program sets a distance unit according to the accuracy of the position information, and outputs guidance information using this distance unit. Further, when the distance between the first guide point to be guided next and the second guide point to be guided next is shorter than the distance according to the accuracy of the position information, the first guide point and the second guide point Continuous guidance information combining the above and the like may be output.

The magnetic disk drive 304 controls the reading / writing of the data with respect to the magnetic disk 305 according to control of CPU301. The magnetic disk 305 records data written under the control of the magnetic disk drive 304. As the magnetic disk 305, for example, an HD (hard disk) or an FD (flexible disk) can be used.

The optical disk drive 306 controls reading / writing of data with respect to the optical disk 307 according to the control of the CPU 301. The optical disk 307 is a detachable recording medium from which data is read according to the control of the optical disk drive 306. As the optical disc 307, a writable recording medium can be used. As a removable recording medium, in addition to the optical disk 307, an MO, a memory card, or the like may be used.

Examples of information recorded on the magnetic disk 305 and the optical disk 307 include map information and function information. The map information includes background data that represents features (features) such as buildings, rivers, and the ground surface, and road shape data that represents the shape of the road, and is composed of multiple data files divided by district. ing.

The road shape data further has traffic condition data. Traffic condition data includes, for example, the presence or absence of traffic lights or pedestrian crossings for each node, the presence or absence of entrances and junctions on highways, the length (distance) for each link, road width, direction of travel, road type (highway, Such as toll roads and general roads).

The function information is 3D data representing the shape of the facility on the map, character data representing the description of the facility, and other various data other than the map information. Map information and function information are recorded in blocks divided into districts or functions. Specifically, for example, the map information is recorded in such a state that each map can be divided into blocks so that each map represents a predetermined district on the map displayed on the display screen. Further, for example, the function information is recorded in a state where each function can be divided into a plurality of blocks so as to realize one function.

In addition to the above-described three-dimensional data and character data, the function information is data for realizing functions such as program data for realizing route search, calculation of required time, route guidance, and the like. Each of the map information and the function information is composed of a plurality of data files divided for each district or for each function.

The voice I / F 308 is connected to a microphone 309 for voice input and a speaker 310 for voice output. The sound received by the microphone 309 is A / D converted in the sound I / F 308. For example, the microphone 309 may be installed near the sun visor of the vehicle, and the number thereof may be one or more. From the speaker 310, a sound obtained by D / A converting a predetermined sound signal in the sound I / F 308 is output. Note that the sound input from the microphone 309 can be recorded on the magnetic disk 305 or the optical disk 307 as sound data.

The input device 311 includes a remote controller, a keyboard, a touch panel, and the like provided with a plurality of keys for inputting characters, numerical values, various instructions, and the like. The input device 311 may be realized by any one form of a remote control, a keyboard, and a touch panel, but may be realized by a plurality of forms.

The video I / F 312 is connected to the display 313. Specifically, the video I / F 312 is output from, for example, a graphic controller that controls the entire display 313, a buffer memory such as a VRAM (Video RAM) that temporarily records image information that can be displayed immediately, and a graphic controller. And a control IC for controlling the display 313 based on the image data to be processed.

The display 313 displays icons, cursors, menus, windows, or various data such as characters and images. On the display 313, the above-described map information is drawn two-dimensionally or three-dimensionally. The map information displayed on the display 313 can be displayed with a mark representing the current location of the vehicle on which the navigation device 300 is mounted. The current location of the vehicle is calculated by the CPU 301.

As the display 313, for example, a CRT, a TFT liquid crystal display, a plasma display, or the like can be used. The display 313 is installed near the dashboard of the vehicle, for example. A plurality of displays 313 may be installed in the vehicle, for example, in the vicinity of the dashboard of the vehicle or in the vicinity of the rear seat of the vehicle.

The communication I / F 314 is connected to the network via wireless and functions as an interface between the navigation device 300 and the CPU 301. The communication I / F 314 is further connected to a communication network such as the Internet via wireless, and also functions as an interface between the communication network and the CPU 301.

Communication networks include LAN, WAN, public line network and mobile phone network. Specifically, the communication I / F 314 includes, for example, an FM tuner, a VICS (Vehicle Information and Communication System) / beacon receiver, a radio navigation device, and other navigation devices. Get road traffic information such as regulations. VICS is a registered trademark. The communication I / F 314 is configured by an in-vehicle wireless device that performs two-way wireless communication with a wireless device installed on the roadside when using, for example, DSRC (Dedicated Short Range Communication), and traffic information and map information Get various information. A specific example of DSRC is ETC (non-stop automatic fee payment system).

The GPS unit 315 receives radio waves from GPS satellites and outputs positioning information related to the position of the vehicle. The output information of the GPS unit 315 is used when the position information of the current location of the vehicle is calculated by the CPU 301 together with output values of various sensors 316 described later. The information indicating the current location is information for specifying one point on the map information such as latitude / longitude and altitude. The GPS unit 315 normally receives radio waves from four GPS satellites, but when the number of captured satellites is more than four, the combination of the four GPS satellites is set to the combination with the smallest positioning information error. Further, the GPS unit 315 can output positioning information even when the number of captured satellites is less than four. In this case, when the position information of the current location of the vehicle is calculated by the CPU 301, positioning information in which an error is corrected by using a timing unit (not shown), map information, or the like that measures an accurate time is used.

The various sensors 316 output information for determining the position and behavior of the vehicle, such as a vehicle speed sensor, an acceleration sensor, and an angular velocity sensor. The output values of the various sensors 316 are used by the CPU 301 to calculate the position information of the current location of the vehicle and to calculate the amount of change in speed and direction. Various sensors 316 may output information for judging whether the vehicle is moving forward or backward from the reverse line. As the types of output values output from the various sensors 316 increase, the accuracy of the position information of the current location of the vehicle calculated by the CPU 301 improves. The navigation device 300 may not include the various sensors 316. In this case, the position information of the current location of the vehicle is calculated using only the output information of the GPS unit 315.

The camera 317 captures images inside or outside the vehicle. The image may be either a still image or a moving image. For example, the behavior of the passenger inside the vehicle is photographed by the camera 317, and the photographed image is output to a recording medium such as the magnetic disk 305 or the optical disk 307 via the video I / F 312. To do. The camera 317 captures a situation outside the vehicle, and outputs the captured video to a recording medium such as the magnetic disk 305 or the optical disk 307 via the video I / F 312. Further, the camera 317 has an infrared camera function, and the surface temperature distributions of objects existing inside the vehicle can be relatively compared based on video information captured using the infrared camera function. The video output to the recording medium is overwritten and stored.

The storage unit 101, the output unit 102, the acquisition unit 103, the setting unit 104, the calculation unit 105, the determination unit 106, and the control unit 107 included in the guidance information output device 100 illustrated in FIG. 1 are included in the navigation device 300 illustrated in FIG. The CPU 301 executes a predetermined program using programs and data recorded in the ROM 302, the RAM 303, the magnetic disk 305, the optical disk 307, etc., and controls each part in the navigation device 300, thereby realizing its function.

That is, the navigation device 300 according to the embodiment executes functions of the guidance information output device 100 shown in FIG. 1 by executing a guidance information output program recorded in the ROM 302 as a recording medium in the navigation device 300. The guidance information output processing procedure shown in FIG.

(Contents of navigation device processing)
Next, the contents of the processing of the navigation device will be described. FIG. 4 is a flowchart showing the contents of processing of the navigation device. In the flowchart of FIG. 4, first, it is determined whether or not the positioning information transmitted from the GPS satellite is acquired (step S401), and when the positioning information is acquired (step S401: Yes), the positioning information acquisition state is changed. It detects (step S402) and progresses to step S403.

If positioning information has not been acquired in step S401 (step S401: No), the process proceeds to step S403 as it is, and it is determined whether or not output values from the various sensors 316 have been acquired (step S403). When an output value is acquired in step S403 (step S403: Yes), an output value acquisition state is detected (step S404). And the attachment angle of the navigation apparatus 300 set by executing the attachment angle setting program is detected (step S405), and the process proceeds to step S406.

If the output value is not acquired in step S403 (step S403: No), the process proceeds to step S406 as it is, and the position information calculation program is executed to calculate the position information of the current point of the vehicle (step S406). Further, the map matching processing program is executed to perform map matching processing (step S407). Then, the attribute of the map information around the current point indicated by the position information specified in step S407 is detected (step S408).

Next, the position accuracy determination program is executed to determine the accuracy of the position information calculated in step S406 or the position information after the map matching process is performed in step S407 (step S409). In step S409, information on whether or not positioning information has been acquired in step S401, information on whether or not an output value has been acquired in step S403, and information detected in steps S402, S404, S405, and S408 are used. The accuracy of the position information is determined.

Next, a distance unit corresponding to the accuracy of the position information determined in step S409 is set (step S410). In addition, the number of times of guidance according to the accuracy of the position information determined in step S409 is set (step S411). Further, it is determined whether or not the distance between the first guidance point to be guided next and the second guidance point to be guided next is shorter than the distance according to the accuracy of the position information (step S412). If the distance is shorter than the distance according to the accuracy of the position information in step S412 (step S412: Yes), the guidance information is changed to continuous guidance information (step S413), and the process proceeds to step S414.

If the distance is longer than the distance according to the accuracy of the position information in step S412 (step S412: No), the process proceeds to step S414 without changing the guidance information to the continuous guidance information until the guidance timing according to the accuracy of the position information is reached. Wait (step S414: No loop). If it is the guidance timing according to the accuracy of the position information in step S414 (step S414: Yes), the guidance information is output (step S415). In step S415, the guidance information includes, for example, display information displayed on the display 313 and audio information output from the speaker 310.

Next, it is determined whether or not the guidance information output in step S415 is the guidance information immediately before the guidance point that is the target of this guidance information (step S416). When it is not the guidance information immediately before the guidance point in step S416 (step S416: No), the process returns to step S414, and the subsequent processing is repeated.

On the other hand, in the case of the guide information immediately before the guide point in step S416 (step S416: Yes), the display of the guide information on the display 313 is continued (step S417), and the process waits until the current point of the vehicle passes the guide point (step S417). Step S418: No loop). When it is determined that the current point of the vehicle has passed the guide point (step S418: Yes), the process waits until a period corresponding to the accuracy of the position information has passed (step S419: No loop). When the period according to the accuracy of the position information has elapsed in step S419 (step S419: Yes), the display of the guidance information continued in step S417 is terminated (step S420), and the series of processes is terminated.

In the flowchart of FIG. 4, when the guidance information is changed to the continuous guidance information in step S413, it is determined in step S416 whether or not the guidance information is immediately before the first guidance information. In step S418, the second guidance information is obtained. Determine whether the information has passed. In step S419, it may be determined whether or not a period corresponding to the accuracy of the position information has passed since the second guidance information has passed.

In the flowchart of FIG. 4, if the accuracy of the position information is larger than the predetermined value in step S409, if it is determined in step S418: Yes that the guidance point has been passed, the process of step S419 is omitted, and the process proceeds to step S420. The display of guidance information may be terminated.

(About an example of the contents of processing for determining the accuracy of position information)
Next, the contents of the process for determining the accuracy of the position information in step S409 in the flowchart of FIG. 4 will be described with reference to FIG. FIG. 5 is an explanatory diagram showing an example of the content of processing for determining the accuracy of position information. As shown in FIG. 5, for example, “state” 502 is detected for each item of “position related information” 501, and “−” 511 or “+” 512 “evaluation” is detected for each “state” 502. "510" to determine accuracy.

Specifically, for example, when “position-related information” 501 is an attachment angle, it is determined as “state” 502 whether the attachment angle is a predetermined value or more. When the mounting angle is greater than or equal to a predetermined value, the output error of the output information from the GPS unit 315 or various sensors 316 increases, so “−” 511 is set, and when the mounting angle is less than the predetermined value, “+” 512 is set.

Further, when the “position related information” 501 is the GPS unit 315, as the “state” 502, whether the positioning dimension is equal to or greater than a predetermined value, whether the reception intensity is equal to or greater than a predetermined value, and whether the number of captured satellites is equal to or greater than a predetermined value Or whether a multipath has occurred. Then, for each “state” 502, the “−” 511 or “+” 512 “evaluation” 510 is judged to determine the accuracy.

Here, whether the number of captured satellites is equal to or greater than a predetermined value is determined by determining whether the number of satellites that can receive radio waves by the GPS unit 315 is four or more. In general, in order to calculate position information by GPS, positioning information received from four satellites by the GPS unit 315 is required. Therefore, when the number of captured satellites is four or more, “+” 512 is set. Also, even if the number of captured satellites is less than 4, the accuracy of the position information is reduced, but the position information is calculated by correcting the error using a timekeeping unit (not shown) or map information that measures the exact time. be able to. However, if the number of captured satellites is less than 4, the accuracy of the position information deteriorates, so “−” 511 is set. When the number of satellites captured by the GPS unit 315 is greater than 4, the accuracy of the position information is further improved by making the combination of the four satellites a combination with less positioning information error.

Also, multipath refers to a multi-wave transmission path, and for example, a radio wave from a GPS satellite is reflected or diffracted by a feature such as a mountain or a building, and the same radio wave is received from a plurality of paths. At this time, there is a time difference between the direct wave that connects the shortest distance straight from the GPS satellite, and the reflected wave or diffracted wave, or the strength of the radio wave decreases, and the accuracy of the positioning information deteriorates. For this reason, when multipath occurs in the positioning information received by the GPS unit 315, “−” 511 is set.

Further, when the “position related information” 501 is the various sensors 316, as the “state” 502, whether the output value from the gyro sensor is acquired, whether the output value from the acceleration sensor is acquired, whether from the vehicle speed sensor Whether or not the output value from the reverse line is acquired, and whether or not the learning state of the sensor is equal to or greater than a predetermined value. Then, for each “state” 502, the “evaluation” 510 of “−” 511 or “+” 512 is determined to determine the accuracy. That is, as the number of types of sensors from which output values are acquired increases, “+” 512 increases in “evaluation” 510, and it is determined that the accuracy of position information is good.

Further, when “location related information” 501 is an attribute of map information, as “state” 502, whether or not the current location of the vehicle is inside the parking lot or around the exit, whether inside the underground parking lot or around the exit It is determined whether it is inside the tunnel or around the exit, whether it is under an overpass, whether it is a building town where a multipath is highly likely to occur, and whether it is a mountainous area. Then, for each “state” 502, the “evaluation” 510 of “−” 511 or “+” 512 is determined to determine the accuracy.

Then, for example, the “evaluation” 510 of each “state” 502 for each “position related information” 501 is added / subtracted, and the accuracy of the position information is determined by the total numerical value. The higher the numerical value, the better the accuracy, and the lower the numerical value, the worse the accuracy. Further, the total numerical values may be ranked, and the accuracy of the position information may be divided into a plurality of ranks for determination. In the present embodiment, the accuracy of the position information is determined as “accuracy A” when the accuracy of the position information is determined to be the best, and “accuracy B” is determined as the accuracy of the position information next. A case where it is determined to be the worst is defined as “accuracy C”. In the present embodiment, the accuracy of position information is determined by dividing the rank into three, but the present invention is not limited to this. There may be two ranks or more than three ranks. Note that the “evaluation” 510 of the predetermined “position-related information” 501 or the predetermined “state” 502 may be weighted. That is, different points may be added / subtracted for each “position related information” 501 and for each “state” 502.

(About examples of distance units and guidance times according to the accuracy of location information)
Next, the distance unit and the number of times of guidance information set in steps S410 and S411 in the flowchart of FIG. 4 will be described with reference to FIG. FIG. 6 is an explanatory diagram illustrating an example of a distance unit and the number of times of guidance according to the accuracy of position information. As shown in FIG. 6, when it is determined that the accuracy of the position information is “accuracy A” 610, for example, the number of times of guidance is four and the distance unit is 10 m. Specifically, for example, when the distance from the guide point is 600 m (first time), 200 m (second time), 100 m (third time), and 30 m (fourth time), the guidance information is output.

If it is determined that the accuracy of the position information is “accuracy B” 620, for example, the number of times of guidance is 3 and the distance unit is 100 m. Specifically, for example, when the distance from the guide point is 600 m (first time), 200 m (second time), and 100 m (third time), the guidance information is output. Further, when it is determined that the accuracy of the position information is “accuracy C” 630, for example, the number of times of guidance is set to 2 and the distance unit is set to 200 m. Specifically, for example, when the distance from the guide point is 600 m (first time) and 200 m (second time), the guide information is output. Thus, the better the accuracy of the position information, the greater the number of times of guidance and the shorter the distance unit.

(About an example of the content of guidance information)
FIG. 7 is an explanatory diagram showing an example of the content of guidance information output in units of distances and the number of times of guidance shown in FIG. In FIG. 7, an example of the content of guidance information by voice output from the speaker 310 is shown, but guidance information by characters displayed on the display 313 may be used.

As shown in FIG. 7, when the accuracy of the position information is “accuracy A” 610, for example, in the guidance information up to the third time, voice information “XXm ahead, right direction” is output, and the guidance point The voice information “It is right” is output in the guidance information for the fourth time immediately before. In the case of “accuracy A” 610, since the accuracy of the position information is good, an accurate distance can be guided to the user. As a result, the user can accurately grasp the guide point, and thus can make a right or left turn at the guide point without hesitation.

In addition, when the accuracy of the position information is “accuracy B” 620, for example, in the guidance information up to the second time, voice information “about OOm ahead, right direction” is output, and in the third guidance information, “ Soon it will turn right. " Thus, since the accuracy of the position information is inferior to the “accuracy A” 610, when information on the distance is included in the guidance information, an adverb such as “approximately” is added before the information on the distance. This prevents the user from being confused even if there is some error in the position information. In addition, when outputting the guidance information immediately before the guidance point, since the point where the guidance information is output is far from the guidance point, an adverb such as “soon” is added before the information indicating an instruction such as turning left or right. To do. This prevents the user from being confused even if there is some error in the position information.

Further, when the accuracy of the position information is “accuracy C” 630, for example, the first guidance information outputs voice information “approx. , Right direction "is output. As described above, the guidance information is expressed in the same manner as in the case of “accuracy B” 620, and the number of times of guidance is less than that of “accuracy B” 620.

(Example of guidance information display)
Next, the display of guidance information continued in steps S417 to S419 in the flowchart of FIG. 4 will be described with reference to FIG. FIG. 8 is an explanatory diagram illustrating an example of display of guidance information. As shown in FIG. 8, the display 313 displays a normal map display 800 and an enlarged display 810 in the vicinity of the guide point. In the normal map display 800, the vehicle current point 801, the guidance point 802, and the guidance route 803 correspond to the vehicle current point 811, the guidance point 812, and the guidance route 813 in the enlarged display 810. As shown in FIG. 8, after the current points 801 and 811 pass the guide points 802 and 812, the enlarged display 810 is continuously displayed for a period according to the accuracy of the position information. And after the period according to the precision of position information passes, the display of the enlarged display 810 is complete | finished and only the normal map display 800 is displayed on the display 313. FIG.

Here, for example, even if the accuracy of the position information is determined as “accuracy B” 620 or “accuracy C” 630 and the vehicle current points 801 and 811 in the map information are past the guide points 802 and 812, the vehicle actually However, there is a problem that the guide points 802 and 812 are not reached. In order to solve this problem, as shown in FIG. 8, after the vehicle current points 801 and 811 in the map information pass the guide points 802 and 812, the display of the guide information is continued for a predetermined period. By doing in this way, the user can prevent the display of the guidance information before arriving at the guidance points 802 and 812, and can receive necessary guidance information at the guidance point.

(About an example of the contents of continuous guidance information)
Next, the content of the continuous guidance information changed in step S413 in the flowchart of FIG. 4 will be described with reference to FIG. FIG. 9 is an explanatory diagram showing an example of the content of the continuous guidance information. As shown in FIG. 9, a current point 901, a first guidance point 902, a second guidance point 903, and a guidance route 904 are displayed on the map information 900 on the display 313. Here, if the distance between the first guidance point 902 and the second guidance point 903 is X, continuous guidance information is output when the distance X is within the distance corresponding to the accuracy of the position information.

For example, in the case of the guidance route 904 shown in FIG. 9, the continuous guidance information is “soon to the right (guidance information of the first guidance point 902) and further to the left (guidance information of the second guidance point). The voice information 910 is a combination of the first guidance point 902 and the second guidance point 903 that are output before reaching the first guidance point 902. In this way, for example, when the accuracy of the position information is “accuracy B” 620 or “accuracy C” 630, the guidance information of the second guidance point 903 should be output past the first guidance point 902. It is possible to prevent the guidance information of the first guidance point 902 from being output at the timing or the guidance information of only the second guidance point 903 from being output before reaching the first guidance point 902.

As described above, according to the navigation device 300 of the embodiment, the state of the mounting angle of the navigation device 300, the acquisition state of the positioning information of the GPS unit 315, the acquisition state of the output values of the various sensors 316, the map information around the current location The accuracy of the position information can be ranked by the numerical value obtained by summing the evaluations of the attributes and the like. And the guidance information according to the rank of the accuracy of position information can be output to the display 313 and the speaker 310.

Further, according to the navigation device 300 of the embodiment, when it is determined that the accuracy of the position information is relatively poor, the number of times of guidance can be reduced and the distance unit used for the guidance information can be lengthened. Therefore, even if there is an error in the position information of the current location, for example, it is possible to prevent erroneous guidance information from being output such that the guidance information is output after passing the guidance location. Thus, the user can receive accurate guidance information even if the accuracy of the position information of the navigation device 300 used by the user is relatively poor. Therefore, the guidance point is not confused by erroneous guidance information. Can be recognized.

Further, according to the navigation apparatus 300 of the embodiment, when it is determined that the accuracy of the position information is relatively poor, the expression of the guidance information by voice can be made ambiguous. As a result, even if information about distance is included in the guidance information, for example, the user can determine whether the distance is accurate or ambiguous by simply listening to the guidance information by voice. The guide point can be recognized without being confused.

Further, according to the navigation device 300 of the embodiment, after passing the guide point, the display of the guide information can be continued for a period according to the accuracy of the position information. Therefore, for example, it is possible to prevent the display of the guidance information from being finished even though the accuracy of the position information is relatively poor and the guidance point is not actually reached. Accordingly, the user can receive necessary guidance information at the guidance point even if the accuracy of the position information of the navigation device 300 used by the user is poor.

As described above, according to the guide information output device, the guide information output method, the guide information output program, and the recording medium of the present invention, the guide information corresponding to the accuracy of the position information of the current location of the mobile object is output. Can do.

The guidance information output method described in the present embodiment can be realized by executing a program prepared in advance on a computer such as a personal computer, a workstation, or a mobile terminal device (mobile phone). This program is recorded on a computer-readable recording medium such as a hard disk, a flexible disk, a CD-ROM, an MO, and a DVD, and is executed by being read from the recording medium by the computer. The program may be a transmission medium that can be distributed via a network such as the Internet.

Claims (13)

1. Acquisition means for acquiring position-related information relating to the position of the moving object;
   Based on the position related information, calculating means for calculating position information of the current location of the mobile body;
   Determination means for determining the accuracy of the position information;
   Control means for outputting guidance information according to the accuracy of the position information to the output unit;
   A guide information output device comprising:
2. The acquisition means acquires positioning information transmitted from a satellite as the position related information,
   The guidance information output device according to claim 1, wherein the determination unit determines the accuracy of the position information based on an acquisition state of the positioning information by the acquisition unit.
3. The acquisition means acquires output information of a sensor that detects a moving state of the moving body as the position related information,
   The guidance information output device according to claim 1, wherein the determination unit determines the accuracy of the position information based on an acquisition state of the output information by the acquisition unit.
4. Further comprising setting means for setting the mounting angle of the guidance information output device;
   The guidance information output device according to any one of claims 1 to 3, wherein the determination unit determines the accuracy of the position information based on the attachment angle.
5. The calculation means calculates position information indicating a current location of the mobile body based on the position related information and map information,
   The guidance according to any one of claims 1 to 4, wherein the determination unit determines the accuracy of the position information based on an attribute of the map information around the current location indicated by the position information. Information output device.
6. The guide information output device according to any one of claims 1 to 5, wherein the control means outputs the guide information to the output unit at a timing according to the accuracy of the position information.
7. The guidance information output device according to any one of claims 1 to 6, wherein the control means outputs the guidance information to the output unit at a number of times of guidance according to the accuracy of the position information.
8. The control means sets a distance unit according to the accuracy of the position information, and outputs the guidance information using the distance unit to the output unit. The guidance information output device described in 1.
9. The control means continues outputting the guidance information to the output unit for a period according to the accuracy of the position information after the current location of the mobile object has passed the guidance location that is the target of the guidance information. The guidance information output device according to any one of claims 1 to 8, wherein:
10. When the distance between the first guidance point to be guided next and the second guidance point to be guided next is shorter than the distance according to the accuracy of the position information, the control means The guidance information output apparatus according to any one of claims 1 to 9, wherein continuous guidance information combined with the second guidance point is output to the output unit.
11. An acquisition step of acquiring position-related information regarding the position of the moving object;
    Based on the position related information, a calculation step of calculating position information of the current location of the mobile body,
    A determination step of determining the accuracy of the position information;
    A control step of outputting guidance information according to the accuracy of the position information to the output unit;
    The guidance information output method characterized by including.
12. A guide information output program for causing a computer to execute the guide information output method according to claim 11.
13. A computer-readable recording medium on which the guidance information output program according to claim 12 is recorded.

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