Abstract: A navigation device includes an own vehicle position detecting unit configured to detect position information of own vehicle; a route setting unit configured to set a guidance route that guides the own vehicle to a destination on the basis of a first map including information of a traveling route and the position information of the own vehicle; a matching unit configured to match a position of the own vehicle as a first own position with the traveling route where the own vehicle travels on the first map on the basis of the position information of the own vehicle; a driving lane detecting unit configured to match the position of the own vehicle as a second own position with a driving lane where the own vehicle travels on a second map on the basis of the second map including information of the driving lane in the traveling route and the position information of the own vehicle; and a calculating unit configured to determine whether the second own position is included in the first own position.

Abstract: A navigation device includes an own vehicle position detecting unit configured to detect position information of own vehicle; a route setting unit configured to set a guidance route that guides the own vehicle to a destination on the basis of a first map including information of a traveling route and the position information of the own vehicle; a matching unit configured to match a position of the own vehicle as a first own position with the traveling route where the own vehicle travels on the first map on the basis of the position information of the own vehicle; a driving lane detecting unit configured to match the position of the own vehicle as a second own position with a driving lane where the own vehicle travels on a second map on the basis of the second map including information of the driving lane in the traveling route and the position information of the own vehicle; and a calculating unit configured to determine whether the second own position is included in the first own position.

Abstract: A driving assistance method includes: extracting a point where a travel lane of a host vehicle joins another lane on a planned travel route of the host vehicle, as a high difficulty point where autonomous driving is difficult; and guiding switching of a traveling state of the host vehicle from autonomous driving to manual driving, at a point located at a predetermined distance before the high difficulty point.

Abstract: A driving assistance method and a driving assistance device can lead a vehicle to enter a branch road smoothly. The method and device search map data for a route on a road that the vehicle is presumed to follow, and in the road section in which one of the adjacent two lanes on the main road branches into the branch road through the branch point and the other lane belongs to the main road after passing by the branch point, lead the vehicle traveling in the lane belonging to the main road after passing by the branch point to the lane branching into the branch road through the branch point when the vehicle reaches a point within a predetermined distance from the branch point.

Abstract: A driving assistance method includes: extracting a point where a travel lane of a host vehicle joins another lane on a planned travel route of the host vehicle, as a high difficulty point where autonomous driving is difficult; and guiding switching of a traveling state of the host vehicle from autonomous driving to manual driving, at a point located at a predetermined distance before the high difficulty point.