| 摘要 |
PROBLEM TO BE SOLVED: To enable changing a course at an intersection with margin by changing a guidance route when the residual distance as far as the intersection is greater than the distance necessary for course change at the next intersection in the case of guidance route change. SOLUTION: When a dynamic guidance route is obtained during traveling on this side of an intersection along a guidance route, and course change becomes necessary on account of guidance route change, firstly the change lane number N is obtained on the basis of the lane number of present traveling and the number of lanes and the lane number to be selected at the next intersection, the necessary distance L0 of lane change a lane is obtained according to the car velocity, and the necessary distance L for course change as far as the next intersection is obtained by using a formula of L=N.L0 +α(αis a specified margin distance). Secondly, the residual distance M as far as the intersection is operated, and the guidance route is changed to a new dynamic guidance route in the case of M>L, i.e., the case that margin is present. In the case of M<L, the guidance route is not changed but guidance is continued along the present guidance route. |
