JP2008026007A - Navigation device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide information to be a hint for running to a user even in case the vehicle is running on a road which doesn't exist in the road data held now. <P>SOLUTION: When the navigation device is determined, running on the road not exist on the road map and when the operation of turning direction indicator is detected, the front view of the vehicle is photographed and registered together with the photographed position. If the present position is equivalent to the photographed position of the photographed image, the registered image is displayed. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a navigation device.

  In Patent Literature 1, a captured image of a camera is registered in association with a link node constituting a road on a map, and when the current position approaches the node or link next time, the captured image is displayed. For example, techniques that are useful for route guidance are described.

JP 2000-304559 A

  By the way, a vehicle may travel on a newly established road that is not included in the map data. In such a case, in the conventional technique, since there is no road to be associated, the captured image is not registered. Therefore, even when the vehicle travels again on a road that is not in the map data, it is not possible to give the user information that is a clue to travel.

  In order to solve such a problem, an object of the present invention is to give information to the user as a clue to travel even when the vehicle travels on a road that does not exist in the road data held in advance.

In order to solve the above problems, the first aspect of the present invention is:
A navigation device that stores road data that is data relating to roads on a map, a current position acquisition unit that acquires a current position, and an image that acquires a captured image around a vehicle on which the navigation device is mounted An image acquisition means, an operation detection means for detecting an operation on the direction indicator of the vehicle, and a current position other than on the road included in the map data by the current position calculation means, and When an operation to the direction indicator is detected by the operation detection unit, a captured image registration unit that registers the captured image together with an imaging position, and a current position acquired by the current position calculation unit are the captured image. And a captured image display means for displaying the captured image registered by the captured image registration means.

According to a second aspect of the present invention, there is provided a navigation device for storing road data, which is data relating to roads on a map, a current position acquisition unit for acquiring a current position, and a vehicle equipped with the navigation device. A captured image acquisition means for acquiring a captured image around the vehicle, an operation detection means for detecting an operation to the direction indicator of the vehicle, and a current position other than on the road included in the map data by the current position calculation means While is required
(1) When an operation to the direction indicator is detected by the operation detection unit,
(2) When the turning of the vehicle is detected,
(3) Every time the vehicle travels a predetermined distance,
(4) Every time a predetermined time elapses,
Captured image registration means for registering the captured image together with an imaging position;
When the current position acquired by the current position calculating unit corresponds to the imaging position of the captured image, the captured image display unit displays the captured image registered by the captured image registration unit.

  An embodiment of the present invention will be described below with reference to the drawings.

  FIG. 1 is a schematic configuration diagram of an in-vehicle navigation device 100. As shown in the figure, the in-vehicle navigation device 100 includes an arithmetic processing unit 1, a display 2, a storage device 3, a voice input / output device 4, an input device 5, a wheel speed sensor 6, a gyro sensor 7, A GPS (Global Positioning System) receiver 8, a camera 9, and a direction indicator sensor 10 are provided.

  The arithmetic processing unit 1 is a central unit that performs various processes. For example, the present location is detected based on information output from the various sensors 6 and 7 and the GPS receiver 8. Further, map data necessary for display is read out from the storage device 3 based on the obtained current location information. Further, the read map data is developed in graphics, and a mark indicating the current location is superimposed on the map data and displayed on the display 2. In addition, the map data stored in the storage device 3 is used to search for an optimum route (recommended route) connecting the destination instructed by the user and the current location (departure location). Further, the user is guided using the voice input / output device 4 and the display 2.

  The display 2 is a unit that displays graphics information generated by the arithmetic processing unit 1. The display 2 is composed of a CRT, a liquid crystal display, or the like. The signal S1 between the arithmetic processing unit 1 and the display 2 is generally connected by an RGB signal or an NTSC (National Television System Committee) signal.

  The storage device 3 includes a storage medium such as a CD-ROM, DVD-ROM, HDD, or IC card. This storage medium stores map data.

  The map data includes, for each mesh identification code (mesh ID), which is a partitioned area on the map, link data of each link constituting a road included in the mesh area. The link data includes, for each link ID, coordinate information of two nodes (start node and end node) constituting the link, road type information including the link, link length information indicating the link length, link travel time, 2 It includes the link ID (connection link ID) of the link connected to each node.

  The voice input / output device 4 converts the message to the user generated by the arithmetic processing unit 1 into a voice signal and outputs it. Also, a process of recognizing the voice uttered by the user and transferring the contents to the arithmetic processing unit 1 is performed.

  The input device 5 is a unit that receives instructions from the user. The input device 5 may include hardware switches such as a scroll key and a scale change key, a joystick, a touch panel, and the like.

  The sensors 6 and 7 and the GPS receiver 8 are used for detecting the current location (vehicle position) by the vehicle-mounted navigation device 100. The wheel speed sensor 6 measures the distance from the product of the wheel circumference and the measured number of rotations of the wheel, and further measures the angle at which the moving body is bent from the difference in the number of rotations of the paired wheels. The gyro 7 is configured by an optical fiber gyro, a vibration gyro, or the like, and detects an angle at which the moving body rotates. The GPS receiver 8 receives a signal from a GPS satellite and measures the distance between the moving body and the GPS satellite and the rate of change of the distance with respect to three or more satellites, thereby moving the current position, traveling speed, and traveling of the moving body. Measure orientation.

  The camera 9 is an imaging device for imaging (photographing) a landscape around a vehicle on which the vehicle-mounted navigation device 100 is mounted. The camera 9 is a small camera such as a CCD camera. In the camera 9, the lens faces the front of the vehicle so that a user who has boarded the vehicle can view a direction, that is, a landscape in front of the vehicle.

  The direction indicator sensor 10 detects a user operation on the vehicle direction indicator (blinker) and sends the detected operation to the arithmetic processing unit 1. Specifically, when the right direction indicator is turned on, it is detected and the fact that the right direction indicator is turned on is sent to the arithmetic processing unit 1. Further, when the left direction indicator is turned on, it is detected and the fact that the left direction indicator is turned on is sent to the arithmetic processing unit 1.

  FIG. 2 is a diagram illustrating a hardware configuration example of the arithmetic processing unit 1.

  As shown in the figure, the arithmetic processing unit 1 has a configuration in which devices are connected by a bus 33. The arithmetic processing unit 1 includes a CPU (Central Processing Unit) 21 that executes various processes such as numerical calculation and control of each device, and a RAM (Random Access Memory) that stores map data, arithmetic data, and the like read from the storage device 3. ) 22, a ROM (Read Only Memory) 23 for storing programs and data, a DMA (Direct Memory Access) 24 for transferring data between the memories and between the memory and each device, and graphics drawing. In addition, a drawing controller 25 that performs display control, a video random access memory (VRAM) 26 that stores graphics image data, a color palette 27 that converts image data into RGB signals, and an A / D that converts analog signals into digital signals. Converter 28 and an SCI (Serial Communication Interface) that converts the serial signal into a parallel signal synchronized with the bus. ace) 29, a PIO (Parallel Input / Output) 30 that puts a parallel signal on the bus in synchronization with the bus, a counter 31 that integrates a pulse signal, and a stepping motor of the camera 10 to send a control command and image it A camera control device 32 that controls the direction and converts an analog signal obtained by imaging into image data.

  FIG. 3 is a functional block diagram of the arithmetic processing unit 1.

  As shown in the figure, the calculation processing unit 1 includes a user operation analysis unit 41, a current position calculation unit 42, a route search unit 43, a route guidance unit 44, a captured image processing unit 45, and a display processing unit 46. I have.

  The user operation analysis unit 41 receives a request from the user input to the input device 5, analyzes the request content, and controls each unit of the arithmetic processing unit 1 so that processing corresponding to the request content is executed. To do.

  The current position calculation unit 42 uses distance data and angle data obtained as a result of integrating the distance pulse data S5 measured by the wheel speed sensor 6 and the angular acceleration data S6 measured by the gyro 7, respectively. Is integrated periodically to calculate the virtual current location (X ′, Y ′) that is the position after the vehicle travels from the initial position (X, Y). Further, the virtual current position (X ′, Y ′) is periodically corrected by the latitude / longitude output from the GPS receiver 8. Further, by performing map matching on the virtual current position using map data, a display candidate point (position displayed by a car mark) of the current position is obtained on a road (link) having the highest shape correlation. However, if the correlation of the shape by map matching is equal to or smaller than a predetermined value, the virtual current position is set as the display candidate point of the current position without obtaining the display candidate point of the current position on the road (link).

  In addition, when the display candidate point of the current position is obtained on the road (link) registered in the map data, the candidate point is referred to as a matching candidate point. On the other hand, if a display candidate point of the current position is not found on the road (link) registered in the map data, the candidate point is referred to as a free candidate point in the sense that it does not match the road (unmatch). .

  The route search unit 43 uses a Dijkstra method or the like to search for a route that minimizes the cost (for example, travel time) of a route connecting two designated points (current location, destination).

  The route guidance unit 44 performs route guidance using the route searched by the route search unit 43.

  The captured image processing unit 45 performs processing for registering an image captured by the camera 9 in the captured image data 300. Moreover, the process which displays the image imaged on the display 2 on the predetermined conditions is performed.

  The display processing unit 46 generates a drawing command for information to be displayed on the display 2 and transmits the generated command to the display 2.

  [Description of Operation] Next, the operation of the in-vehicle navigation device 100 having the above-described configuration will be described.

  FIG. 4 is a flowchart showing a flow of processing performed when the vehicle-mounted navigation device 100 is powered on. This flow may be started when route guidance is performed according to the route searched for. Alternatively, it may be started when the vehicle deviates from the route. Alternatively, it may be started when a request for starting this flow is received from the user via the input device 5.

  The captured image processing unit 45 acquires a display candidate point at the current position from the current position calculation unit 42. Then, it is determined whether the acquired display candidate point is a matching candidate point or a free candidate point (S110).

  When the display candidate point is a free candidate point (No in S110), the captured image processing unit 45 performs a captured image registration process (S120).

  FIG. 5 is a flowchart showing a flow of registration processing of captured images.

  First, the captured image processing unit 45 activates the camera 9 and acquires a captured image. Then, a process of registering the captured image in the captured image data 300 is performed.

  FIG. 6 is a diagram illustrating the configuration of the captured image data 300. The captured image data includes a field for storing an imaging position 301, a captured image 302, an imaging date / time 303, an imaging basis 304, and additional information 305 in one record.

  The captured image processing unit 45 stores the coordinate position of the display candidate point at the current position in the imaging position 301. The captured image acquired from the camera 9 is stored in the captured image 302. Further, the date and time when the captured image is acquired by the camera 9 is stored in the imaging date and time 303. Further, the basis for storing the captured image in the captured image data 300 is stored in the imaging basis 304. When information to be added to the captured image is received from the user, it is stored in the additional information 305 (details will be described later).

  In S121, since the display candidate point at the current position is changed from the matching candidate point to the free candidate point (No in S110 of FIG. 4), the captured image is registered. Accordingly, in S121, the captured image processing unit 45 registers in the imaging basis 304 that the matching candidate point has changed to a free candidate point (“unmatch”).

  Next, the captured image processing unit 45 determines whether or not the direction indicator has been operated by the user via the direction indicator sensor 10 (S122).

  When the direction indicator is not operated (No in S122), the captured image processing unit 45 proceeds to S124.

  On the other hand, when the direction indicator is operated (Yes in S122), the captured image processing unit 45 acquires an image captured by the camera 9 and registers the captured image data 300 in the same manner as in S121 ( S123). In this case, since the direction indicator is operated, the captured image is registered. Therefore, in S123, the captured image processing unit 45 registers that the direction indicator has been operated (such as “right blinker” and “left blinker”) in the imaging basis 304. Then, the process proceeds to S124.

  In S124, the captured image processing unit 45 acquires the display candidate point of the current position updated from the current position calculation unit 42, and whether the acquired display candidate point is a matching candidate point or a free candidate point. Is determined (S124).

  If the display candidate point at the current position is still a free candidate point (No in S124), the captured image processing unit 45 returns to S122 and continues the processing.

  On the other hand, when the candidate point at the current position becomes a matching candidate point (Yes in S124), the captured image processing unit 45 ends the captured image registration process illustrated in FIG. 5 and performs the process illustrated in the flow in FIG. Is restarted from the beginning (S110).

  The flow in FIGS. 4 and 5 has been described above. According to the flow shown in FIGS. 4 and 5, the captured image processing unit 45 acquires and registers a captured image once when the display candidate point at the current position no longer matches the road (link). Further, while the candidate point at the current position is a free candidate point, an operation on the direction indicator is monitored, and if there is an operation, a captured image is acquired and registered.

  As shown in FIG. 7, when registering a captured image, the captured image processing unit 45 may display information notifying that effect on the display 2.

  As shown in the figure, a map 601 around the current position and a car mark 602 indicating candidate points of the current position are displayed on the display screen 600. The captured image processing unit 45 displays the captured image 603 acquired from the camera 9 on the display screen 600 when registering the captured image (S121 and S123 in FIG. 5). For example, the screen is divided into two, a map 601 is displayed on one side, and a captured image 603 is displayed on the other side. Furthermore, the captured image processing unit 45 may receive an instruction from the user via the input device 5 as to whether or not to register the captured image, or an instruction to delete the registered captured image (cancel registration). In the display screen 600 of FIG. 7, a button 604 for accepting registration cancellation is displayed in order to accept an instruction from the user via the touch panel.

  Next, use of the captured image data 300 registered as described above will be described.

  FIG. 8 is a flowchart of captured image utilization processing. This flow is started when the vehicle-mounted navigation device 100 is turned on. Further, when a route search is performed and the guidance process is started using the searched route, the route search may be started at the same time. Moreover, you may start when the start request | requirement is received via the input device 5 from the user.

  The captured image processing unit 45 acquires a display candidate point at the current position from the current position calculation unit 42. Then, it is determined whether or not the captured image 302 in which the captured position 301 matches or is close to the coordinate position of the acquired display candidate point is registered in the captured image data 300 (S200). The coordinate position of the display candidate point and the imaging position 301 may not completely match. The captured image processing unit 45 may determine whether or not a captured image 302 whose imaging position 301 is within a predetermined distance (for example, within 50 m) from the display candidate point is registered.

  When the captured image 302 of the imaging position 301 that matches or is close to the coordinate position of the display candidate point is registered in the captured image data 300 (Yes in S200), the captured image processing unit 45 is displayed on the display 2. The captured image 302 is displayed.

  According to the flow of FIG. 8, when the car mark approaches the imaging position of the captured image registered in the past, the captured image processing unit 45 displays the captured image at the imaging position.

  FIG. 9 is a diagram showing a display screen 600. On the display screen 600, a map 601 around the current position and a car mark 602 indicating the current position are displayed. The car mark 602 is displayed at the coordinate position of the display candidate point. When such a display is made and there is an image captured in the past in the vicinity of the car mark 602 (Yes in S200 in FIG. 8), the captured image processing unit 45 displays the captured image 611 on the display screen 600. indicate. For example, the screen is divided into two, a map 601 is displayed on one side, and a captured image 611 is displayed on the other side. Further, the captured image processing unit 45 acquires the imaging date and time 303 and the imaging basis 304 of the captured image 611 from the captured image data 300 and displays them as the imaging date and time 612 and the imaging basis 613 as illustrated.

  The embodiment of the present invention has been described above.

  According to the present embodiment, when a vehicle travels on a road that is not registered in the map data, a landscape around the vehicle (front) is captured at a predetermined point and registered as a captured image. When the vehicle travels again in the same place, the registered captured image is displayed. Therefore, even when the user travels on a road not included in the map data, if the user has passed in the past, a landscape image captured at that time is displayed. That is, even when traveling on a road not included in the map data, information useful for traveling can be given to the user, and the user's anxiety during traveling can be resolved.

  Furthermore, since the imaging date and time are shown together with the captured image, the user can easily remember when he / she drove.

  In addition, since the operation history (right turn signal or left turn signal) for the direction indicator is displayed, the user can easily determine whether to turn right or left at the branch point.

<Modification 1>
The present invention is not limited to the above embodiment. The above embodiment can be variously modified.

  For example, in the above-described embodiment, the captured image is registered when the direction indicator is turned on as in S122 and S123 of FIG. Not limited to this, a captured image may be registered when a turning operation of the vehicle is detected, when a predetermined distance is traveled, or when a predetermined time has elapsed.

  FIG. 10 is a flow chart of the captured image registration process in such a case. A difference from the flow shown in FIG. 5 is that the captured image processing unit 45 detects a turning motion (Yes in S122b) in addition to the case where the turn indicator is detected (Yes in S122a), and a predetermined distance. When the vehicle travels (Yes in S122c), when a predetermined time has elapsed (Yes in S122d), the captured image is registered (S123).

  The captured image processing unit 45 determines that the vehicle has turned when the gyro sensor 7 detects a turn of a predetermined angle (for example, 80 °) or more. In addition, the captured image processing unit 45 calculates a travel distance by the wheel speed sensor 6 while the display candidate point is a free candidate point (No in S124), and each time the vehicle travels a predetermined distance (for example, 100 m), 9 captured images are registered in the captured image data 300. Further, the captured image processing unit 45 measures time while the display candidate point is a free candidate point (No in S124), and each time a predetermined time (for example, 5 minutes) elapses, the captured image of the camera 9 is captured. Is registered in the captured image data 300.

  According to the flow of FIG. 10, points for acquiring captured images increase on roads that are not in the map data. Therefore, when the user travels again, a captured image can be displayed at a key point. That is, it is possible to display information useful for the user to travel smoothly without getting lost.

<Modification 2>
The captured image processing unit 45 may receive information (additional information 305 of the captured image data 300) to be added to the captured image from the user via the input device 5 when registering the captured image. Information received as the additional information 305 includes information on facilities such as convenience stores and parks, information on roads such as intersections and road signs, and information serving as travel guidance such as right turn and right turn prohibition.

  For example, in the process of S123 illustrated in FIG. 5 or FIG. 10, the captured image processing unit 45 receives a voice input from the user via the microphone of the voice input / output device 4. Then, the input voice is recognized, the recognized result is presented to the user and confirmed, and then stored as additional information 305 of the captured image data 300.

  FIG. 11 is a diagram showing a display screen 600 in such a case. The captured image processing unit 45 displays the captured image 603 when registering the captured image. At this time, voice input is waited for through a microphone of the voice input / output device 4 for a predetermined time (for example, 5 seconds). For example, when a voice “convenience store” is acquired from the user, the voice is recognized and output by voice or display, such as “Can I register“ Convenience store ”?”. When the confirmation request is received from the user via the input device 5, the captured image processing unit 45 stores “Convenience Store” in the additional information 305 and then registers “Displayed as Convenience Store” on the display screen 600. The completion message 605 is output by voice or display. That is, the additional information 305 is received in a conversation format between the user and the vehicle-mounted navigation device 100.

  When such additional information 305 is registered, the captured image processing unit 45 also displays the corresponding additional information 305 when displaying the captured image 302 of the captured image utilization processing (S210 in FIG. 8).

  FIG. 12 is a diagram showing a display screen 600 in such a case. As shown in the figure, the captured image processing unit 45 displays the captured image 611, the captured date 612, the captured basis 613, and the additional information 614.

  In addition, as illustrated in FIG. 12, the captured image processing unit 45 may display a trajectory 603 that has traveled in the past. Therefore, when the display candidate point at the current position is changed from the matching candidate point to the free candidate point (No in S110 in FIG. 4), the captured image processing unit 45 stores the locus 603 of the display candidate point. When the display candidate point is changed from the matching candidate point to the free candidate point again at the same point, the stored locus 603 is displayed on the map. Note that the start point 604 and the end point 605 of the locus 603 may be displayed. The starting point 604 is a point that no longer matches a road in the map data (a point where a free candidate point is first obtained). The end point 605 is a point that has been re-matched with a road in the map data (a point where the display candidate point of the current position becomes a matching candidate point from a free candidate point).

  Further, as shown in FIG. 12, the captured image processing unit 45 may display the imaging position of the captured image on the map using an icon 606 or the like. For example, the captured image processing unit 45 extracts the imaging position 301 included in the displayed map 601 from the captured image data 300. The extracted imaging position 301 is displayed on the map 601 by an icon 606 or the like. Furthermore, designation of the icon 606 may be received from the user via the input device 5. For example, when the icon 606 is pressed, the captured image processing unit 45 acquires the captured image 302 at the imaging position 301 corresponding to the pressed icon 606 from the captured image data 300 and displays it.

<Other variations>
Instead of setting all captured images registered in the captured image data 300 to be displayed, the captured images to be displayed may be narrowed down. For example, in order to display only a more useful captured image, the captured image processing unit 45 sets only the following captured image as a display target.
(1) Red system image An image in which the red system occupies a predetermined range or more. This is because billboards are often displayed in red.
(2) Blue image An image in which a blue image occupies a predetermined range or more. This is because road signs are often displayed in blue.
(3) Green image An image in which the green image occupies a predetermined range or more. This is because highway signs are often displayed in green. The captured image processing unit 45 determines whether or not the vehicle is traveling on a highway based on the traveling speed. When it is determined that the vehicle is traveling on a highway, only the image of the predetermined color is displayed. It may be.
(4) An image not corresponding to the above (1) to (3) is considered to be an image of a building.

  The captured image processing unit 45 can specify from the user via the input device which of these conditions is used to narrow down the image.

  The captured image may be a still image or a moving image within a predetermined time range.

  Further, when a vehicle is reflected in the captured image, the vehicle may be deleted and registered. For example, the captured image processing unit 45 identifies a vehicle portion from captured images acquired from the camera 9 by a known technique such as pattern matching using a template of a general vehicle. Then, the vehicle part is deleted.

  When the captured image is registered, if a captured image at the same imaging position is already registered in the captured image data 300 when registering the captured image, the captured image processing unit 45 may update the captured image with the newly acquired captured image. In addition, captured images at the same imaging position may be registered in accordance with time. For example, registration may be performed by distinguishing between daytime and nighttime. In such a case, when the captured image is displayed, the captured image acquired at the time corresponding to the time at that time is displayed. If it carries out like this, the image imaged at daytime will be displayed at daytime, and the image imaged at night time will be displayed at nighttime.

FIG. 1 is a schematic configuration diagram of an in-vehicle navigation device. FIG. 2 is a diagram illustrating a hardware configuration of the arithmetic processing unit 1. FIG. 3 is a diagram illustrating a functional configuration of the arithmetic processing unit 1. FIG. 4 is a flowchart of processing of the in-vehicle navigation device. FIG. 5 is a flowchart of the captured image registration process (S120 in FIG. 4). FIG. 6 is a diagram illustrating the configuration of the captured image data 300. FIG. 7 is a diagram illustrating a display screen example. FIG. 8 is a flowchart of captured image utilization processing. FIG. 9 is a diagram illustrating an example of a display screen. FIG. 10 is a flowchart of the captured image registration process (S120 in FIG. 4) according to the modification. FIG. 11 is a diagram illustrating an example of a display screen. FIG. 12 is a diagram illustrating a display screen example.

Explanation of symbols

100: In-vehicle navigation device,
DESCRIPTION OF SYMBOLS 1 ... Operation processing part, 2 ... Display, 3 ... Memory | storage device, 4 ... Audio | voice output / input device, 5 ... Input device, 6 ... Wheel speed sensor, 7 ... Gyro , 8 ... GPS receiver, 9 ... camera, 10 ... direction indicator sensor 21 ... CPU, 22 ... RAM, 23 ... ROM, 24 ... DMA, 25 ... Drawing controller, 26 ... VRAM, 27 ... color palette, 28 ... A / D converter, 29 ... SCI, 30 ... PIO, 31 ... counter, 32 ... camera Control device 33 ... Bus

Claims (9)

A navigation device,
Means for storing road data, which is data relating to roads on the map;
Current position acquisition means for acquiring the current position;
Captured image acquisition means for acquiring a captured image around a vehicle on which the navigation device is mounted;
Operation detecting means for detecting an operation to the direction indicator of the vehicle;
When the current position is calculated on the road other than the road included in the map data by the current position calculation means, and when an operation to the direction indicator is detected by the operation detection means, the captured image Captured image registration means for registering the captured image acquired by the acquisition means together with the imaging position;
A captured image display unit configured to display the captured image registered by the captured image registration unit when the current position acquired by the current position calculation unit corresponds to an imaging position of the captured image. A navigation device. A navigation device,
Means for storing road data, which is data relating to roads on the map;
Current position acquisition means for acquiring the current position;
Captured image acquisition means for acquiring a captured image around a vehicle on which the navigation device is mounted;
Operation detecting means for detecting an operation to the direction indicator of the vehicle;
While the current position is calculated other than on the road included in the map data by the current position calculation means,
(1) When an operation to the direction indicator is detected by the operation detection unit,
(2) When the turning of the vehicle is detected,
(3) Every time the vehicle travels a predetermined distance,
(4) Every time a predetermined time elapses,
Captured image registration means for registering the captured image acquired by the captured image acquisition means together with the imaging position;
When the current position acquired by the current position calculation unit corresponds to the imaging position of the captured image, the imaging unit includes a captured image display unit that displays the captured image registered by the captured image registration unit. A navigation device. The navigation device according to claim 1,
The captured image registration means includes:
When registering the captured image, register with the imaging date and time,
The captured image display means includes:
A navigation apparatus that displays an imaging date and time when displaying the captured image. The navigation device according to claim 1,
The captured image registration means includes:
When registering the captured image, register with the grounds for imaging,
The captured image display means includes:
A navigation apparatus characterized by displaying a basis for capturing an image when displaying the captured image. The navigation device according to claim 1,
The captured image registration means includes:
When registering the captured image, accept information to be added to the captured image, register the captured image together with the received information,
The captured image display means includes:
A navigation device, wherein when the captured image is displayed, information added to the captured image is displayed. The navigation device according to claim 1,
The captured image display means includes:
A navigation apparatus, wherein an icon indicating an imaging position of a captured image registered by the captured image registration unit is displayed on a map. The navigation device according to claim 6,
The captured image display means includes:
A navigation device that displays a captured image corresponding to an imaging position when the icon is selected. The navigation device according to claim 1,
The captured image display means includes:
A navigation apparatus, wherein a captured image satisfying a predetermined color condition is extracted from the captured images registered by the captured image registration means and displayed. A display method of a navigation device,
The navigation device
Means for storing road data, which is data relating to roads on the map;
Current position acquisition means for acquiring the current position;
A captured image acquisition means for acquiring a captured image around a vehicle on which the navigation device is mounted; and an operation detection means for detecting an operation on the direction indicator of the vehicle,
When the current position is calculated on the road other than on the road included in the map data by the current position calculation means, and when an operation to the direction indicator is detected by the operation detection means, the captured image A captured image registration step for registering together with the imaging position;
A captured image display step of displaying the captured image registered in the captured image registration step when the current position acquired by the current position calculation means corresponds to the captured position of the captured image; A display method for a navigation device.

Images