JP2007193652A - Navigation apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To simply guide the advancing direction of own vehicle, even when road information cannot be detected stably, or when specifying a target vehicle is difficult. <P>SOLUTION: Surrounding information on the surrounding of own vehicle is received and one or more photographed images, in which a plurality of objects present on the outside of the own vehicle are included are input. One or more input photographed images are analyzed to discriminate each object included in one or more photographed images and its attribute. Which object from among a plurality of discriminated objects is to be a target object is decided, on the basis of the received surrounding information and the analytical results of one or more photographed images. A photographed image that has the photographed target object included is displayed, and the target object in the photographed image is displayed in an enhanced manner. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a navigation device that can be mounted on a vehicle.

  Vehicle navigation devices that can calculate the current position and speed using position information received from a GPS (Global Positioning System) satellite have become widespread. The navigation device generally has a function of displaying the current vehicle position on an electronic map. Further, the navigation device searches for and presents a plurality of routes to the destination input by the user, and when a user-desired route is selected from the presented routes, the navigation device is based on the route. It also has a guidance function to guide the direction of the route.

  In particular, recent navigation devices display a magnified view of road structures such as intersections and overpasses using a 3D animation when approaching a guidance point while driving along a recommended route, There is also a system that displays the facilities existing in the site and guides the location of the facility as a landmark.

  However, the three-dimensional animation as described above is often different from the scenery that the driver actually sees, and it may be difficult to recognize the direction to travel. In addition, when the data on the electronic map is not updated, there is a possibility that information about actual surrounding facilities may have changed, and there may be a case where a facility that does not actually exist is guided as a landmark. Furthermore, if there is no landmark building around the guidance point, guidance guidance using the landmark may not be possible.

  Patent Document 1 describes a method of detecting road information in a photographed photographed image and displaying the photographed image and the guidance image in a superimposed manner when the information on the guide point matches the road information.

  Patent Document 2 describes that guidance is provided by associating the traveling direction of the host vehicle with other vehicle information using other vehicle information such as position, direction, and feature information received from another vehicle by inter-vehicle communication. ing.

JP 2005-214857 A JP 2005-207999 A

  However, with the technique disclosed in Patent Document 1, it is difficult to always stably detect road information from a photographed image when another vehicle is traveling around the host vehicle.

  Moreover, in the said patent document 2, although a vehicle type, a vehicle category, a vehicle color, etc. are received as characteristic information of other vehicles other than position information and information on a traveling direction, a target vehicle is notified in association with those information. When there are a plurality of similar vehicles in the vicinity, it is difficult to identify the target vehicle.

  The present invention has been devised to solve these problems, and the host vehicle should proceed even when road information cannot be detected stably or when it is difficult to identify a target vehicle. The purpose is to be able to guide directions easily.

  Other objects of the present invention will become clear from the following description.

  The navigation device according to the present invention includes a communication unit that receives peripheral information about the periphery of the vehicle, a captured image input unit that inputs one or a plurality of captured images of a plurality of objects existing outside the vehicle, By analyzing one or more input captured images, image processing means for discriminating each object shown in the one or more captured images and attributes of the objects, the received peripheral information, Based on the result of analysis of one or a plurality of captured images, target object determination means for determining which of the plurality of determined objects is a target object; and the object that is the target object Display means for displaying a captured image, and highlighting the target object on the captured image; Obtain.

  According to the navigation device of the present invention, even when road information cannot be detected stably or when it is difficult to specify a target vehicle, it is possible to easily guide the direction in which the host vehicle should travel.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

  FIG. 1 shows a configuration example of a vehicle unit and a navigation device according to an embodiment of the present invention.

  The vehicle unit 1 refers to a vehicle on which the navigation unit 2 is installed. At least one of the communication unit 11 and the photographing unit 12 can be mounted on the vehicle unit 1 or the navigation unit 2.

  The communication unit 11 is a device that can communicate with another communication unit mounted on an object (for example, a vehicle unit or a building) different from the vehicle unit 1. One or a plurality of communication units 11 can be mounted. The number to be installed can be determined based on, for example, the number of communication partners or the communication protocol.

  The photographing unit 12 is a photographing device (for example, a digital video camera) that photographs the periphery of the vehicle unit 1. One or a plurality of imaging units 12 can be mounted. The number to be mounted can be determined based on, for example, the shooting direction and the shooting range.

  The navigation unit 2 includes an input unit 20, a guidance control unit 21, a storage unit 22, an imaging control unit 23, an image processing unit 24, a target vehicle determination unit 25, a voice control unit 26, a voice output unit 27, and a display unit 28. . Of these components, the audio control means 26 and the audio output unit 27 may be omitted. Each unit and each means can be realized by hardware (for example, a circuit), a computer program, or a combination thereof (for example, one or a plurality of CPUs that read and execute a computer program). Each computer program can be read from a storage resource (for example, memory) provided in the computer machine. The storage resource can be installed via a recording medium such as a CD-ROM or DVD (Digital Versatile Disk), or can be downloaded via a communication network such as the Internet or a LAN.

  The input unit 20 is an input device for the user of the navigation unit 2 to set a destination or set a route.

  The guidance control means 21 executes processing related to guidance control. For example, the guidance control means 21 calculates the guidance point 221 and the target direction 222 for the route selected by the user, and creates guidance information. Further, for example, the guidance control means 21 reads the data of the vehicle position 220 in the storage unit 22 while the vehicle unit 1 is traveling, and determines whether or not the vehicle has approached the guide point 221. When it is determined that the vehicle unit 1 has approached the guide point 222, the guidance control unit 1 instructs the shooting control unit 23 to transfer the actual captured image to the image processing unit 24. Further, for example, the guidance control unit 1 passes the target direction 222 to the image processing unit 24 and instructs to synthesize it with the photographed image. Further, for example, the guidance control unit 1 passes the target direction 222 to the target vehicle determination unit 25 and requests a determination as to whether or not it becomes a mark when the guidance is displayed.

  The storage unit 22 is a storage device such as a hard disk or a DVD (Digital Versatile Disk). The storage unit 22 stores electronic information. Specifically, the storage unit 22 can store the host vehicle position 220, the guide point 221, and the target direction 222. The storage unit 22 can also store the audio data 223 in association with the guide point 221 and the target direction 222. As information (dynamic information) 224 that dynamically changes among the vehicle information, the storage unit 22 stores the current vehicle speed 2241, acceleration 2242, and traveling direction 2243 in addition to the vehicle position 220 described above. You can also. Further, as the static information (static information) 225 of the own vehicle information, the storage unit 22 can also store the own color 2251, shape 2252, and automobile registration number 2253.

  The own vehicle position 220 includes information on a current position acquired from a GPS (Global Positioning System) satellite, and position information in which a difference is reflected by a three-dimensional gyro, vehicle speed information, or the like with respect to a position based on an initial setting. Can be. The guide point 221 can be a set of points that require guidance on the route connecting the destination and the vehicle position 220 by the input unit 20. The target direction 222 can be stored in combination with the guide point 221 (for example, when the guide point 221 is an intersection, the target direction 222 is a relative angle of the road to escape with respect to the road entering the intersection. Can do). The voice data 223 can include a spot name unique to the guide spot 221, voice data related to the angle corresponding to the target direction 222, and the entire voice data constituting the guide information.

  The imaging control unit 23 can control the start and end of imaging in the imaging unit 12 based on the request of the guidance control unit 21, and can further transfer the captured video to the image processing unit 24.

  The image processing unit 24 can execute various processes such as target vehicle extraction and highlighting processing, guidance information composition processing, and live-action guidance display transfer processing based on the live-action video received from the imaging control unit 23. it can. In the target vehicle extraction and highlighting processing, the target vehicle is specified from the live-action image using information on the target vehicle received from the target vehicle determination unit 25. In the guidance information synthesizing process, an image corresponding to the target direction 222 is superimposed on the photographed video. In the live-action guide display transfer process, a real-image image including the highlighted vehicle and a real-life guide video obtained by superimposing the guide display are transferred to the display unit 28 and displayed.

  The target vehicle determination unit 25 includes at least one of the other vehicle information received by the communication unit 11 or the live-action image transferred from the image processing unit 24, the dynamic information 224 stored in the storage unit 22, and the static information 225. Then, at least one of the target directions 222 is compared, and a target vehicle group is extracted from the live-action video. Here, when there is no other vehicle information received from the communication unit 11 and only the live-action image can be used, the target vehicle determination unit 25 extracts the other-vehicle information from the live-action image and stores it in the storage unit 22. The target vehicle group can be extracted from the actual image by comparing at least one of the target information 224, the static information 225, and the target direction 222. Then, after extracting the target vehicle group, the target vehicle determining means 25 can identify a vehicle closer to the host vehicle (vehicle unit 1) from the target vehicle group and determine the target vehicle for guidance. Thereafter, the target vehicle determination unit 25 can request the image processing unit 24 to perform the emphasis display of the target vehicle and the synthesis of the image data corresponding to the target direction 222. Moreover, the target vehicle determination means 25 can request the voice control means 26 to output a guidance voice.

  The voice control unit 26 synthesizes the target vehicle information received from the target vehicle determination unit 26 and, if necessary, the voice data 223, and outputs a guidance voice by the voice output unit 27.

  The voice output unit 27 is a device such as a speaker or an earphone that is installed to output guidance voice or the like. The voice output unit 27 outputs a guidance voice from the voice control unit 27.

  The display unit 28 is a device such as a liquid crystal display for selecting a destination, displaying a search route, displaying a photographed image, and displaying a photographed guide for a user. The display unit 28 can display the image transferred from the image processing unit 24.

  FIG. 2 shows an example of the flow of processing for performing live-action guidance display in the present embodiment.

  In step S <b> 1, the user inputs a destination using the input unit 20.

  In S2, the guidance control means 21 searches for a route connecting the own vehicle position 220 (for example, the current position obtained based on a signal from a GPS satellite) and the destination input by the user (for example, an electronic not shown). A search is performed using a simple map), and the searched one or more routes are transmitted to the image processing unit 24 and displayed on the display unit 28 by the image processing unit 24.

  In S <b> 3, when the guidance control unit 21 receives a route selection from the user via the input unit 20, the set of the guidance point 221 and the target direction 222 is calculated for the selected route. In S4, the guidance control means 21 detects the current position of the host vehicle (vehicle unit 1) based on a signal from a GPS satellite.

  In S5, the guidance control means 21 determines whether or not the detected vehicle position has approached any of the guide points 221 calculated in S3. If it is determined that the vehicle is not approaching, the process returns to S4. If it is determined that the vehicle is approaching, the guidance control unit 21 notifies the target vehicle determination unit 27 to that effect.

  In S6, the target vehicle determination means 27 detects whether or not the communication unit 11 has received surrounding information. If the peripheral information is received, the process proceeds to S7. If not received, the process proceeds to S13. The peripheral information is, for example, information related to at least one of other vehicles around the host vehicle, peripheral roads, peripheral facilities, and the like.

  In S7, the target vehicle determination unit 27 starts analyzing the received surrounding information. Note that Yes communication may be started in S5, or analysis may be started at this time by always communicating.

  In S <b> 8, the target vehicle determination unit 27 determines whether the route of the other vehicle of the transmission source is the same as the route of the own vehicle in the received peripheral information with respect to the guidance point 221. If it is the same route, the process proceeds to S9. If it is not the same route, the process returns to S7 in order to analyze the peripheral information received for the other vehicle. However, the same route is not limited to the same direction, and other vehicles that have traveled in the direction opposite to the host vehicle from the destination direction may be regarded as traveling on the same route.

  In S9, the target vehicle determining means 27 determines a set of target vehicles having the same route. This set is hereinafter referred to as a target vehicle group.

  In S <b> 10, the target vehicle determination unit 27 analyzes information related to other vehicles (other vehicle information) other than the received route for the target vehicle group. The other vehicle information here is at least one of position information, speed, acceleration, traveling direction, and steering angle of each target vehicle group, and the target vehicle determination means 27 compares these with the own vehicle information. .

  Specifically, for example, since the target vehicle is suitable for a vehicle close to the own vehicle, the target vehicle determining means 27 compares the position information of the own vehicle and each of the target vehicle group and is within a predetermined range from the own vehicle. Vehicles belonging to (that is, nearby vehicles) are extracted. Furthermore, the target vehicle determination means 27 determines whether each vehicle in the target vehicle group is on the route of the own vehicle based on the traveling direction and the steering angle of the own vehicle. In addition, it is possible to determine whether or not the vehicle is suitable for the target vehicle by using information on the speed and acceleration.

  In addition, when the position of the target vehicle cannot be specified only by the other vehicle information described above, the target vehicle determination unit 27 receives a live-action image taken by the photographing unit of the target vehicle, and uses the own-vehicle information to obtain a real-action image. The vehicle may be extracted from the vehicle, and the positional relationship between the vehicle and the target vehicle may be calculated relatively. This process can be performed in cooperation with the image processing means 24. The own vehicle information here is a color, shape (for example, sedan, wagon, etc.), an automobile registration number, and the like related to the own vehicle.

  In this way, when one vehicle in the target vehicle group is on the same route as the own vehicle or can be predicted to be on the route of the own vehicle, the target vehicle determination means 27 The other vehicle is set as one candidate for the target vehicle, and the process proceeds to S11.

  On the other hand, if the vehicles of all the target vehicle groups cannot satisfy these conditions, the object on the road or on the side of the road (for example, at least one of information, a building, and a facility) among the live-action images acquired from the imaging unit May be used to determine a static target object around the vehicle. The information on the road means, for example, a sign, a sign, or a lane. A building on the road refers to a lane, a median, a pedestrian crossing, and the like. In addition, roadside structures refer to traffic lights, viaducts, overpasses, telephone poles, posts, and the like. After extracting these static target objects from the live-action video, recognizing the distance between the vehicle and the static target object, it is used as a guide point marker, and thereafter, the static target object is used as a substitute for the target vehicle. May be used.

  In S <b> 11, the target vehicle determination unit 27 compares the position information of the other vehicle with the own vehicle position 220. If there is no target vehicle closer to the subject vehicle in the target vehicle group, the process proceeds to S12. If there is still another vehicle closer to the subject vehicle in the target vehicle group currently being analyzed, the process returns to S10.

  In S12, the target vehicle determination means 27 determines the target vehicle from the target vehicle group. After confirmation, the process proceeds to S13. Basically, guidance is provided using this target vehicle as a landmark. Information regarding the determined target vehicle is notified to the image processing means 24.

  In S <b> 13, the target vehicle determined in S <b> 12 is extracted from the live-action image captured by the imaging unit 12, or peripheral information other than the vehicle is extracted.

  First, target vehicle extraction will be described. If there is no surrounding information received in S6, the target vehicle determination means 27 sets the vehicle distance, position, vehicle speed, acceleration, blinking state of the direction indicator, shape, vehicle registration number for the surrounding vehicles in the captured range. Then, information on at least one of the steering angle and the traveling direction is calculated or extracted from the live-action video, and the target vehicle is determined using these information. For example, when the same route as the host vehicle is a right turn at the guidance point, the direction of the tire linked to the blinking of the right direction indicator or the steering angle is detected, and the calculated and extracted information such as the position and shape is used. To identify the target vehicle.

  On the other hand, when there is the peripheral information received in S6, the target vehicle determination means 27 specifies the target vehicle from the photographed video using the information such as the position and speed of the target vehicle already received. Specifically, the relative speed of the target vehicle displayed as a live-action image may be calculated by subtracting the speed of the host vehicle from the received absolute speed of the target vehicle.

  In S14, the image processing unit 24 determines whether the target vehicle has been extracted from the live-action video. If it can be extracted, the process proceeds to S15. If it cannot be extracted, the process proceeds to S20.

  In S15, as in S6, if there is received peripheral information, it is determined whether or not it matches the target vehicle extracted in S14. If they match, the process proceeds to S16.

  In S16, the image processing means 24 highlights the target vehicle in the live-action video. In S17, the image processing unit 24 combines the image and character data corresponding to the target direction 222 with the highlighted live-action video created in S16. In S18, the image processing unit 24 displays the shooting guide created in S17 on the display unit 28 to guide the user. At this time, using the information on the target vehicle, for example, a voice guidance such as “Please come on a white sedan scheduled to turn right 10m ahead” may be output.

  In S19, after the last guidance point 221 ends, the guidance control means 21 ends the guidance if there is no further guidance point. If the guide point still remains, the process proceeds to S4.

  In S20, threshold values are compared to determine whether to reset the target vehicle again. As the threshold value, at least one of a distance and a time relatively away from the position at which the vehicle position is finally detected in S4 is used. As a result of the determination, the transition can be made to any one of S4, S6, S8, S11, and S13, but the transition can be arbitrary.

  FIG. 3 is a display example of the display unit 28 in S18. In this way, in the live-action video, the target vehicle scheduled to travel on the same route as the host vehicle is highlighted, and the guidance that combines the guidance display with the target vehicle is provided, so that the actual scenery can be seen. It is possible to guide the route. The message shown in FIG. 3 can be displayed using, for example, text data stored in the storage unit 22.

  FIG. 4A shows an example of a navigation mode that can be performed by the navigation unit 2 according to the present embodiment.

  Assume that an electronic map (not shown) includes road network data expressed by vector data (link) that connects an intersection as a node and a road between the nodes. In this case, the navigation unit 2 can match the detected current position of the vehicle with the road network data and display it on the screen. When the navigation unit 2 displays the position of the vehicle on a city map that expresses the road shape, house frame shape, etc. in detail, the navigation unit 2 displays the city map image included in the electronic map as road network data. Can be displayed superimposed on each other.

  Now, as illustrated in FIG. 4A, it is assumed that the current position (● mark) of the own vehicle is superimposed on the road network data. Here, the current position is superimposed on a link 801 connecting the nodes 805A and 805B.

  In this FIG. 4A, in the route searched and selected by the user, the host vehicle proceeds from the intersection corresponding to the node 805A to the right as shown by the dotted arrow as shown by the solid arrow. . Hereinafter, the link to which the vehicle currently belongs (801 in FIG. 4A) is referred to as an “entry link”, and the link (803 in FIG. 4A) to which the vehicle is to enter next is referred to as an “exit link”.

  The target vehicle determination means 25 can specify by the inter-vehicle communication by the communication unit 11 that the other vehicle traveling in the same manner as the vehicle exists within the predetermined range of the vehicle position and ahead as indicated by a one-dot chain line arrow. Suppose. In other words, it is now possible to identify another vehicle that is within a predetermined range and ahead of the own vehicle position, exists on the same entry link 801 as the own vehicle, and eventually escapes to the same escape link 803 as the own vehicle. . In this case, the target vehicle determination means 25 can determine other vehicles as target vehicles. The target vehicle determination unit 25 notifies the image processing unit 25 of other vehicle information about other vehicles. The image processing means 25 analyzes the captured image (actual image), and based on the analysis result and the notified other vehicle information, among the plurality of objects (for example, a vehicle or a building) reflected in the captured image. It is possible to determine which is the other vehicle determined as the target vehicle, and to highlight the determined other vehicle. Here, the highlighting means, for example, that the outline of the image of the other vehicle is displayed with a thick line, or a mark (for example, an arrow) that points to the other vehicle is displayed beside the image of the other vehicle. Is to clearly show that they are different. In the analysis of the captured image, for example, a difference in attribute (for example, luminance) between each pixel and the adjacent pixel is determined. If the difference is larger than a certain value, the difference is determined between the object (for example, another vehicle) and the other. It can be determined that this is a boundary with another object (for example, another vehicle, a road, or a building). Further, in the analysis of the captured image, the relative speed with the own vehicle can be obtained from the speed, acceleration, etc. of the other vehicle of the communication partner by inter-vehicle communication with the other vehicle.

  FIG. 4B shows another example of the navigation mode that can be performed by the navigation unit 2 according to the present embodiment.

  For example, the target vehicle determination means 25 is provided when there is no other vehicle as shown in FIG. 4A or when there is another vehicle hidden by another vehicle and is not shown in the photographed image. In this case, the navigation mode of FIG. 4B can be adopted.

  The target vehicle determination means 25 does not exist in the same approach link 801 as the host vehicle, and the traveling direction is completely opposite to that of the host vehicle, as indicated by a one-dot chain line arrow by inter-vehicle communication by the communication unit 11. However, at present, it is assumed that an exit link 803 of the own vehicle exists as an approach link, and that another vehicle having the exit link 801 of the own vehicle as an exit link can be identified. In this case, the target vehicle determination means 25 can determine other vehicles as target vehicles.

  As described above, according to the embodiment described above, the target vehicle is searched using both the information obtained by the inter-vehicle communication and the analysis result of the captured image, and the captured image in which the found target vehicle is reflected is displayed. And the target vehicle is pointed on the photographed image. Even if there are no buildings that are likely to be the target in the vicinity of the own vehicle, or even if there are many vehicles in the vicinity of the own vehicle, it is difficult to know which one to target. The target vehicle can be shown and guided in an easy-to-understand manner.

  The embodiment of the present invention has been described above, but this is an example for explaining the present invention, and the scope of the present invention is not limited to this embodiment. The present invention can be implemented in various other forms.

  For example, the captured image displayed at the time of guiding the host vehicle is preferably a moving image, but may be a still image when the capability of the navigation unit 2 (for example, image processing capability) is low. Even in the case of a still image, it is considered possible to easily show the target vehicle to the driver. In this case, shooting can be performed at a predetermined timing (for example, when the vehicle changes lanes) or continuously, and the target vehicle can be highlighted on the captured image at each shooting.

  4A and 4B exemplify the case where the current position of the vehicle is displayed over the road network data, but the electronic map form is not limited thereto. For example, the same guidance can be provided for a map drawn with polygons.

  In addition, for example, at night, when a target vehicle is specified, light emitted from the vehicle can be guided to the driver as the target vehicle. This is effective, for example, when the color of the other vehicle suitable for the target vehicle is black and is difficult to analyze at night.

  In addition, for example, when a plurality of search conditions and priorities are assigned to each search condition, when searching for a target vehicle, the search conditions and surrounding information (for example, other vehicle information) match according to the priorities. If it is determined whether or not to match, the object (for example, another vehicle) according to the matched peripheral information can be targeted without comparing with other search conditions. Here, the search condition is a condition for searching for a target object. Specifically, for example, the search condition can be composed of an object type and an object condition. The object type is, for example, a car or a building. The object condition is, for example, if the object type is a car, is located in front of the host vehicle, has the same traveling direction as the host vehicle, is scheduled to escape to the same exit link as the host vehicle, and the relative speed Or the like can be employed. Further, if the object type is a building, for example, passing through the vicinity of the own vehicle within a predetermined second or being positioned in front of the own vehicle can be employed.

  For example, the vehicle information including the same information elements as other vehicle information received from other vehicles may be transmitted from the communication unit 11. As a transmission path of the own vehicle information, for example, the storage unit 11, the guidance control unit 21, the target vehicle determination unit 25, and the communication unit 11 can be set as another vehicle.

  Further, for example, when there is no other vehicle suitable as the target vehicle, the target vehicle determination unit 25 can set another type of object (for example, a building near the own vehicle) as the target object.

  In addition, for example, the communication unit 11 may receive other vehicle information including information indicating a route (a route selected by the user in the other vehicle) held by the navigation device installed in the other vehicle. . In that case, the target vehicle determination means 25 can determine the other vehicle as the target vehicle based on the information indicating the route and the route of the host vehicle.

  In addition, for example, the communication unit 11 may perform communication with a predetermined communication device installed in the vicinity of a building or communication with a predetermined information collection center instead of or in addition to the inter-vehicle communication.

  For example, the communication part 11 can transmit / receive the input one or several picked-up image between other vehicles. The image processing unit 24 uses the captured image received from the other vehicle and the own vehicle information that is information about the own vehicle to extract the own vehicle from the captured image from the other vehicle, and viewed from the other vehicle. The relative positional relationship of the own vehicle can be calculated. The target vehicle determination means 25 identifies the transmission source vehicle of the captured image from which the own vehicle is extracted by extracting the other vehicle from the relative positional relationship on the captured image of the own vehicle, and the identified transmission. The original vehicle can be a target object.

FIG. 1 shows a configuration example of a vehicle unit and a navigation device according to an embodiment of the present invention. FIG. 2 shows an example of the flow of processing for performing live-action guidance display in the present embodiment. FIG. 3 is a display example of the display unit 28 in S18. FIG. 4A shows an example of a navigation mode that can be performed by the navigation unit 2 according to the present embodiment. FIG. 4B shows another example of the navigation mode that can be performed by the navigation unit 2 according to the present embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Vehicle part 2 ... Navigation apparatus 11 ... Communication part 12 ... Imaging | photography part 20 ... Input part 21 ... Guidance control means 22 ... Memory | storage part 23 ... Shooting control means 24 ... Image processing means 25 ... Target vehicle decision means 27 ... Audio | voice output part 28 ... Display section

Claims (12)

A communication means for receiving peripheral information about the periphery of the vehicle;
Photographed image input means for inputting one or a plurality of photographed images in which a plurality of objects existing outside the host vehicle are captured;
Image processing means for discriminating each object and attributes of the object shown in the one or more captured images by analyzing the input one or more captured images;
Target object determination means for determining which of the plurality of determined objects is a target object based on the received peripheral information and the result of analysis of the one or more captured images;
A navigation apparatus comprising: a display unit that displays a captured image in which the object that is the target object is displayed, and that highlights the target object on the captured image. The surrounding information is other vehicle information that is information related to other vehicles, and is received from the other vehicles by inter-vehicle communication,
The image processing means determines one or more other vehicles from the one or more captured images,
The target object is another vehicle selected from one or more of the determined other vehicles.
The navigation device according to claim 1. The target object determining means preferentially searches for another vehicle as the target object, and when an appropriate other vehicle is not determined as the target object, another type of object is used as the target object.
The navigation device according to claim 2. The other vehicle information includes at least one information element of the position, traveling direction, speed, acceleration, color and shape of the other vehicle,
The target object determination means is in front of the host vehicle and has the same traveling direction as the host vehicle based on the route searched and selected by the user and a predetermined type of information element included in the received other vehicle information. The other vehicle is determined, and the determined other vehicle is set as the target object.
The navigation device according to claim 2. The other vehicle information includes at least one information element of the position, traveling direction, speed, acceleration, color and shape of the other vehicle,
The target object judging means is different in traveling direction from the own vehicle based on the route searched and selected by the user and a predetermined type of information element included in the received other vehicle information. Then, the other vehicle located in the place where the own vehicle will travel is determined, and the determined other vehicle is set as the target object.
The navigation device according to claim 2. The other vehicle information includes at least one information element of the position, traveling direction, speed, acceleration, color and shape of the other vehicle,
The target object determination means is in front of the host vehicle and has the same traveling direction as the host vehicle based on the route searched and selected by the user and a predetermined type of information element included in the received other vehicle information. If another vehicle is determined, and there is the other vehicle, the other vehicle is set as the target object, and when there is no other vehicle or there is no photographed image showing the other vehicle, the route searched and selected by the user Based on a predetermined type of information element included in the received other vehicle information, the traveling direction is different from the own vehicle, but the vehicle is located in front of the own vehicle and where the own vehicle will travel. And determine the other vehicle to be the target object.
The navigation device according to claim 2. The other vehicle information includes at least the speed of the speed and acceleration of the other vehicle,
The target object determining means determines whether the target vehicle and the other vehicle are based on at least the speed and the acceleration of the own vehicle and at least the speed and the acceleration included in the received other vehicle information. The relative speed is determined, and another vehicle whose relative speed is a predetermined value or less is set as a target object.
The navigation device according to claim 2. In the other vehicle information, the color, shape, vehicle registration number, speed, acceleration, steering angle, inter-vehicle distance, blinking direction indicator, and navigation device installed in the other vehicle are held in the other vehicle. Contains at least one of the routes,
The target object determining means determines an other vehicle as a target object based on information on the own vehicle and the other vehicle information.
The navigation device according to claim 2. The communication means transmits and receives one or more input captured images,
The image processing means uses the captured image received from the other vehicle and the own vehicle information, which is information related to the own vehicle, to extract the own vehicle from the captured image from the other vehicle, thereby viewing the other vehicle. Calculate the relative position of the vehicle
The target object judging means identifies the transmission source vehicle of the photographed image from which the subject vehicle is extracted by extracting the other vehicle from a relative positional relationship on the photographed image of the subject vehicle. The transmission source vehicle as the target object,
The navigation device according to claim 2. It further includes a photographing means for photographing the outside of the own vehicle,
The photographed image input means inputs an image photographed by the photographing means.
The navigation device according to any one of claims 1 to 9. A photographing control means for causing the photographing means to perform photographing at a predetermined timing;
The navigation device according to claim 10. When the target object determining means determines that the target object can be used as a result of comparison with the vehicle information using the surrounding information received by the communication unit, including voice control means and a voice output unit, The voice control means generates voice guides by synthesizing voice data corresponding to peripheral information, and a voice output unit outputs the voice guides;
The navigation device according to any one of claims 1 to 11.

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