WO2007088915A1

WO2007088915A1 - Route guidance device, route guidance method, route guidance program, and recording medium

Info

Publication number: WO2007088915A1
Application number: PCT/JP2007/051658
Authority: WO
Inventors: Hiroaki Shibasaki
Original assignee: Pioneer Corporation
Priority date: 2006-02-02
Filing date: 2007-02-01
Publication date: 2007-08-09

Abstract

A route guidance device (100) is constructed from an image acquisition section (101), a map acquisition section (102), an identification section (103), a creation section (104), and an output section (105). The image acquisition section (101) acquires an image that is in the direction of movement of a mobile body and is taken from the vicinity of a driver’s seat of the mobile body. The map acquisition section (102) acquires map information about the periphery of the current position of the mobile body. The identification section (103) identifies a ground object (hereinafter referred to as the visible ground object) visually recognizable by the driver of the moving body based on the image acquired by the image acquisition section (101) and on the map information acquired by the map acquisition section (102). The creation section (104) creates, by using information on the visible ground object identified by the identification section (103), guidance information on a route on which the moving body moves. The output section (105) outputs the guidance information created by the creation section (104).

Description

Specification

Route guidance device, route guidance method, route guidance program, and recording medium

The present invention relates to a route guidance device, a route guidance method, a route guidance program, and a recording medium for guiding a route along which a moving body moves using information on features on the route. However, the use of the present invention is not limited to the above-described route guidance device, route guidance method, route guidance program, and recording medium.

Background art

Conventionally, a navigation device mounted on a vehicle or the like searches for a route to a destination point and performs route guidance along the searched route. Route guidance is mainly performed by outputting guidance voices, but at major points on the route such as intersections, guidance is provided based on landmarks (features) around the point so that the user can easily recognize the same point. May generate audio.

[0003] Such a navigation device includes, for example, a landmark detection unit that detects a landmark near a branch point, and a land that determines the position of the branch point by detecting the driver's power. A landmark priority ranking table that is displayed with priorities for landmarks that can be checked in the time required to perform voice guidance and the mark position determination section is stored and detected by the landmark detection section. The optimal landmark determination unit that determines which landmarks are to be voice-guided based on the landmark priority / effective time table, and provides route guidance to the driver while performing voice guidance on the landmarks along with the location information. (For example, refer to Patent Document 1 below.)

[0004] Patent Document 1: Japanese Unexamined Patent Publication No. 2000-131084

Disclosure of the invention

Problems to be solved by the invention

[0005] However, according to the above-described prior art, if the landmark used for voice guidance (voice guidance) is likely to enter the user's field of view at the time of voice guidance output! The problem is an example. For example, if an obstacle such as a street signboard is installed between the landmark and the vehicle on which the user is boarding, or if the field of view is blocked by a slope or curve, the user uses it for voice guidance. The displayed landmark cannot be seen.

[0006] In such guidance, the user may be confused without knowing which direction to proceed, and the route cannot be properly guided. Another example is the problem of reducing the reliability of information provided by the navigation device when it is determined that the guidance of the navigation device is incorrect.

Means for solving the problem

In order to solve the above-described problems and achieve the object, the route guidance device according to the invention of claim 1 is an image acquisition unit that acquires an image obtained by capturing the moving direction in the vicinity of the driver's seat of the moving body. Based on map acquisition means for acquiring map information around the current location of the mobile body, images acquired by the image acquisition means, and map information acquired by the map acquisition means. A means for identifying a feature (hereinafter referred to as a visible feature) that can be visually recognized by a driver of the vehicle, and guidance of a route along which the moving body moves using information on the visible feature identified by the identification device It is characterized by comprising generating means for generating information and output means for outputting the guidance information generated by the generating means.

[0008] Further, the route guidance method according to the invention of claim 6 includes an image acquisition step of acquiring an image around the current location of the moving object, and a map acquisition step of acquiring map information around the current location of the moving object. And a feature (hereinafter referred to as a visible feature) that can be seen by a passenger of the mobile body based on the image obtained by the image obtaining step and the map information obtained by the map obtaining step. ) Identifying step), generating step for generating guidance information of a route along which the moving body moves using information on visible features identified by the identification step, and guidance information generated by the generation step. And an output process for outputting.

[0009] Further, the route guidance program according to the invention of claim 7 is the route guidance according to claim 6. The method is characterized by causing a computer to execute the method.

[0010] Further, a recording medium according to the invention of claim 8 is readable by a computer in which the route guidance program according to claim 7 is recorded.

Brief Description of Drawings

[0011] FIG. 1 is a block diagram showing a functional configuration of a route guidance apparatus according to an embodiment.

FIG. 2 is a flowchart showing a procedure of route guidance processing by the route guidance device.

[FIG. 3] FIG. 3 is an explanatory view showing the vicinity of a dashboard of a vehicle in which a navigation device that is effective in the embodiment is installed.

FIG. 4 is a block diagram showing a hardware configuration of the navigation device.

FIG. 5 is a flowchart showing the procedure of route guidance processing based on landmarks extracted from map data power.

FIG. 6 is a flowchart showing a procedure of route guidance processing based on landmarks extracted from image power. Explanation of symbols

[0012] 100 route guidance device

101 Image acquisition unit

102 Map acquisition unit

103 Identification part

103a Selector

103b Judgment part

104 generator

105 Output section

BEST MODE FOR CARRYING OUT THE INVENTION

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

[0014] (Embodiment) First, the functional configuration of the route guidance device 100 that is relevant to the embodiment will be described. FIG. 1 is a block diagram showing a functional configuration of a route guidance apparatus according to an embodiment. The route guidance device 100 is mounted on a moving body, and includes an image acquisition unit 101, a map acquisition unit 102, an identification unit 103, a generation unit 104, and an output unit 105. The identification unit 103 includes a selection unit 103a and a determination unit 103b.

[0015] The image acquisition unit 101 acquires an image obtained by capturing the moving direction from the vicinity of the driver's seat of the moving body. The image acquisition unit 101 is, for example, a moving body dashboard or a video camera installed in the vicinity of the rearview mirror, and picks up a scene color that is almost the same as a scene viewed by the driver of the moving body.

[0016] The map acquisition unit 102 acquires map information around the current location of the mobile object. The area around the current location of the moving object is, for example, a range that is at least visible to the driver of the moving object. The map acquisition unit 102 extracts, for example, map information around the current location of the moving object from map information used for route guidance to the destination location.

[0017] The identification unit 103 is a feature (hereinafter referred to as the following) that is visible to the driver of the mobile object based on the image acquired by the image acquisition unit 101 and the map information acquired by the map acquisition unit 102. Identify visible features). More specifically, the identification unit 103 includes a selection unit 103a and a determination unit 103b.

[0018] The selection unit 103a selects a feature that is a candidate for a visible feature (hereinafter, referred to as a candidate feature) from features whose information is included in the map information. The determination unit 103b determines whether or not the candidate feature selected by the selection unit 103a is captured in the image acquired by the image acquisition unit 101. Then, the identification unit 103 identifies the candidate feature determined to be captured in the image by the determination unit 103b as a visible feature.

Here, the determination unit 103b extracts information on at least one of the name, trademark, and shape of the candidate feature from the map information, and extracts the name, trademark, and shape of the extracted candidate feature. If information about at least one of them is captured in the image, the candidate feature may be captured in the image, and it may be possible to make a semi-IJ decision! /.

[0020] The generation unit 104 generates guidance information of a route along which the moving body moves, using information on the visible features identified by the identification unit 103. Information about visible features is, for example, For example, it is information such as the names of visible features and the distance to traffic lights and intersections on the route along which the moving object moves. In addition, guidance information is information that instructs the driver of a moving body in a direction to proceed or calls attention to movement.

The output unit 105 outputs the guidance information generated by the generation unit 104. The output unit 105 outputs the guidance information by, for example, voice output or image output (message display or superimposed display on map information).

Next, a route guidance process of the route guidance device 100 will be described. FIG. 2 is a flowchart showing a procedure of route guidance processing by the route guidance device. In the flowchart of FIG. 2, the route guidance device 100 first acquires an image of a force near the driver's seat of the moving body by the image acquisition unit 101 (step S 201). Next, the map acquisition unit 102 acquires map information around the current location of the moving object (step S202).

Next, the candidate feature is selected from the features whose information is included in the map information acquired in step S202 by the selection unit 103a (step S203). Then, the determination unit 103b determines whether or not the candidate feature is a visible feature (step S204). Specifically, it is determined whether the candidate feature selected by the selection unit 103a is captured in the image acquired by the image acquisition unit 101.

[0024] If the candidate feature is a visible feature (step S204: Yes), the generation unit 104 generates guidance information using information on the visible feature (step S205), and the output unit 105 performs guidance. Information is output (step S206), and the processing according to this flowchart is terminated. On the other hand, if the candidate feature is not a visible feature (step S204: No), the process returns to step S203, and the subsequent processing is repeated. In other words, the candidate feature is selected again and the visible feature is identified.

[0025] As described above, in addition to selecting candidate features one by one, a plurality of candidate features may be selected in step S203. In this case, in step S204, it is determined whether or not each selected candidate feature is a visible feature. When multiple candidate features are determined to be visible features, for example, the closest visible feature to the point to be guided (such as an intersection), the largest visible range V, and the feature (from the driver) The guidance information may be generated using the most visible! /, Feature). [0026] In the present embodiment, the selection unit 103a selects a candidate feature from features whose information is included in the map information, and the determination unit 103b applies the selection unit 103a to the image acquired by the image acquisition unit 101. It is determined whether or not the candidate feature selected by is picked up. On the other hand, for example, the selection unit 103a selects a candidate feature from the features captured in the image, and the determination unit 103b selects the candidate feature selected by the selection unit 103a in the map information acquired by the map acquisition unit 102. It is also possible to determine whether or not the information related to is included.

[0027] In this case, for example, the determination unit 103b extracts information on at least one of the name, trademark, and shape of the candidate feature from the image, and extracts the name, trademark, and shape of the extracted candidate feature. If the map information contains information on at least one of these, it is determined that the map information contains information on the candidate feature.

[0028] As described above, according to the route guidance device 100, the route on which the moving body moves is guided using the information on the feature visible to the driver. Accordingly, the driver can actually visually recognize the features used for the guidance information, and the route guidance can be performed more easily for the driver.

[0029] Especially in urban areas with many obstacles and mountain roads with many ups and downs and curves, the features used for guidance are often not visible. For this reason, even if the guidance information is output, the travel route may be wrong. On the other hand, it is often difficult to correct the trajectory if the route is wrong in such urban areas and mountain roads. According to the route guidance device 100, since the route guidance is performed using the features that can be visually recognized, the possibility of erroneous routes can be reduced. Furthermore, since the driver can easily understand the contents of the guidance, he / she can afford to drive and can drive safe driving.

[0030] Next, an example of the route guidance device 100 that works on the above-described embodiment will be described. In the following embodiment, a case where the route guidance device 100 is applied to a navigation device 300 mounted on a vehicle will be described.

[0031] (Configuration of peripheral device of navigation device 300)

First, the peripheral device configuration of the navigation device 300 will be described. Figure 3 shows the actual FIG. 4 is an explanatory diagram showing the vicinity of a dashboard of a vehicle in which a navigation device that is powerful in an embodiment is installed. The navigation device 300 is installed on the dashboard of the vehicle. The navigation apparatus 300 includes a main body M and a display unit (display) D. The display unit D displays the current location of the vehicle, map information, current time, and the like.

In addition, the navigation apparatus 300 is connected to an in-vehicle camera 311 installed on the dashboard. The in-vehicle camera 311 can change the direction of the lens and can take images inside and outside the vehicle. In Fig. 3, for convenience of explanation, the lens of the in-vehicle camera 311 is facing the inside of the car. When the vehicle is running, the lens is facing the outside of the car, and shooting is performed at an angle and orientation that assumes the driver's front vision. . As a result, the in-vehicle power camera 311 captures the same scenery as the driver's field of view in the driver's seat.

[0033] (Hardware configuration of navigation device 300)

Next, the hardware configuration of the navigation device 300 will be described. FIG. 4 is a block diagram showing the hardware configuration of the navigation device.

In FIG. 4, a navigation device 300 includes a CPU 401, a ROM 402, a RAM (memory) 403, a magnetic disk drive 404, a magnetic disk 405, an optical disk drive 406, an optical disk 407, and an audio I / F. (Interface) 408, microphone 409, speaker 410, input device 411, video IZF412, camera 413, display 414, communication iZF 415, GPS unit 416, and various sensors 417! / Speak. In addition, the components 咅 401 to 417 are connected by a bus 420.

CPU 401 governs overall control of navigation device 300. ROM 402 records programs such as a boot program, a communication program, a database creation program, and a data analysis program. The RAM 403 is used as a work area for the CPU 401.

The magnetic disk drive 404 controls reading and writing of data to the magnetic disk 405 according to the control of the CPU 401. The magnetic disk 405 records data written under the control of the magnetic disk drive 404. As the magnetic disk 405, for example, HD (node disk) or FD (flexible disk) can be used.

[0037] The optical disk drive 406 performs data transfer to the optical disk 407 in accordance with the control of the CPU 401. Control reading and writing. The optical disk 407 is a detachable recording medium from which data is read according to the control of the optical disk drive 406. The optical disc 407 can also use a writable recording medium. Further, the removable recording medium may be a power MO of the optical disc 407, a memory card, or the like.

[0038] Another example of information recorded on the magnetic disk 405 and the optical disk 407 is route search and map data used for route guidance. The map data 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. Two-dimensional or three-dimensional data is displayed on the display screen of the display 414. Rendered on When the navigation apparatus 300 is guiding a route, the map data and the current vehicle location acquired by the CPU 401 are displayed in an overlapping manner.

Here, the background data further includes background shape data representing the shape of the background and background type data representing the type of the background. The background shape data includes, for example, the feature representative point 'polyline' polygon 'feature' coordinates. The background type data includes, for example, text data representing the name, address, and telephone number of the feature, and type data of the feature such as a building, a river, and the ground surface.

[0040] Further, regarding major facilities (POI: Point of Interest) in the map, information such as business hours and the presence / absence of a parking lot is included as facility information. Furthermore, among the features, facilities provided for a predetermined purpose, such as “gas station” and “convenience store”, are classified according to their types. Then, the representative point and coordinate data of the feature and the facility information “genre information” are associated with each other. The genre into which the facilities are classified at this time includes, for example, parking lots, train stations, etc., in addition to the above gas stations and convenience stores.

[0041] The road shape data further includes traffic condition data. The traffic condition data includes, for example, the presence or absence of traffic lights and pedestrian crossings for each node, the presence or absence of highway entrances and junctions, the length (distance) for each link, road width, traveling direction, road type (highway , Toll roads, general roads, etc.).

[0042] The traffic condition data stores past congestion information obtained by statistically processing past congestion information based on the season 'day of the week, large holidays, and time. The navigation device 300 will be described later. Information on traffic congestion that currently occurs is obtained from road traffic information received by IZF415, but it is possible to predict traffic conditions at a specified time using past traffic information.

The audio IZF 408 is connected to a microphone 409 for audio input and a speaker 410 for audio output. The sound received by the microphone 409 is AZD converted in the sound IZF 408. In addition, sound is output from the speaker 410. Note that the voice input from the microphone 409 can be recorded on the magnetic disk 405 or the optical disk 407 as voice data.

[0044] Examples of the input device 411 include a remote controller, a keyboard, a mouse, and a touch panel that are provided with a plurality of keys for inputting characters, numerical values, various instructions, and the like. Further, the input device 411 can be connected to another information processing terminal such as a digital camera or a mobile phone terminal to input / output data.

Video IZF 412 is connected to video input camera 413 (for example, in-vehicle camera 311 in FIG. 3) and video output display 414. Specifically, the video IZF412 includes, for example, a graphic controller that controls the entire display 414, a buffer memory such as VRAM (Video RAM) that temporarily records image information that can be displayed immediately, and a graphic controller. It is composed of a control IC that controls the display of the display 414 based on the output image data.

[0046] The camera 413 (vehicle camera 311) captures images inside and outside the vehicle and outputs them as image data. An image captured by the camera 413 can be recorded on the magnetic disk 405 or the optical disk 407 as image data. The display 414 displays icons, cursors, menus, windows, or various data such as characters and images. As this display 414, for example, a CRT, a TFT liquid crystal display, a plasma display, or the like can be adopted.

Communication IZF 415 is connected to a network via radio and functions as an interface between navigation device 300 and CPU 401. The communication I / F 415 is further connected to a communication network such as the Internet via wireless, and functions as an interface between the communication network and the CPU 401.

[0048] Communication networks include LANs, WANs, public line networks and mobile phone networks. In particular, Communication IZF415 is composed of, for example, FM tuner, VICS (Vehicle Information and Communication System) Z beacon Resino, wireless navigation equipment, and other navigation equipment. Get traffic information. VICS is a registered trademark.

[0049] 0-3 Boot 416 receives radio waves from GPS satellites and calculates information indicating the current position of the vehicle (current position of navigation device 300). The output information of the GPS unit 416 is used when the CPU 401 calculates the current position of the vehicle together with output values of various sensors 417 described later. The information indicating the current location is information specifying one point on the map data, for example, latitude'longitude and altitude.

[0050] Various sensors 417 output information that can determine 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 417 are used to calculate the current position of the vehicle by the CPU 401 and to measure the amount of change in speed and direction. The navigation device 300 may use the output values of the various sensors 417 as data to be recorded by the drive recorder function.

[0051] Here, in the configuration of the route guidance device 100 according to the embodiment, the image acquisition unit 101 is the camera 413, the map acquisition unit 102 is the magnetic disk drive 404 and the magnetic disk 405, or the optical disk drive 406 and The function is realized by the optical disc 407, the identification unit 103 and the generation unit 104 by the CPU 401, and the output unit 105 by the speaker 410 and the display 414.

[0052] (Route guidance processing of navigation device 300)

Next, route guidance processing of the navigation device 300 will be described. The navigation device 300 searches for a route to the destination point set by the user and performs route guidance along the searched route. At this time, guidance information is output as appropriate on the traveling route to instruct the driver on the direction of travel. Guidance information is based on the current location of the vehicle, for example, “Turn right at the intersection 200m ahead”, or based on landmarks (features) around the road, such as “Turn left at the bank crossing”. It may be. Thereby, the user can grasp the route to be visually advanced.

[0053] On the other hand, in urban areas with many obstacles and mountain roads with many ups and downs and curves, In many cases, the features used for guiding cannot be visually recognized. For this reason, there is a case where the travel route is wrong even though the guidance information is output. On the other hand, it is often difficult to correct the trajectory if the route is wrong in such urban areas and mountain roads. For this reason, the navigation device 300 performs route guidance using landmarks that are actually visible to the driver. As a result, the driver can easily understand the contents of the guidance, and the possibility of making a mistake in the route can be reduced.

[0054] First, the map data power will be described when determining landmarks used for route information. Fig. 5 is a flowchart showing the route guidance process based on the landmarks extracted from the map data. In the flowchart of FIG. 5, the navigation apparatus 300 first determines a travel route to the destination point (step S501). The travel route is determined by, for example, an input by the user via the input device 411. For example, the navigation device 300 searches for a route to the destination point input by the user via the input device 411. The user determines the route that best matches the user's preference and demand as the travel route from the searched routes.

Next, navigation device 300 stands by until the vehicle on which the device is installed starts to travel (step S 502: No loop). Whether or not the force has started running is determined by, for example, whether or not the current position of the device has changed. When the vehicle starts to travel (step S502: Yes), the in-vehicle camera 311 captures a scene in the traveling direction of the vehicle viewed from the driver's seat (step S503). The in-vehicle camera 311 captures the scenery that the driver of the vehicle sees.

[0056] The navigation device 300 returns to step S503 and continues to capture the scenery in the traveling direction until the predetermined distance is reached to the guide point set in the traveling direction (step S504: No). A guidance point is a point set on the travel route for route guidance (sound output or screen display). For example, it is set a short distance from the intersection where a right or left turn should be made.

[0057] Further, the order of step S503 and step S504 may be reversed. That is, when a predetermined distance has been reached to the guidance point (step S504: Yes), shooting of the scenery in the traveling direction of the vehicle may be started (step S503). In this case, the in-vehicle camera 311 You can stop until you reach a certain distance to the camera, or take a picture of the inside of the car or the rear of the car (if it is a movable camera, etc.).

[0058] When the predetermined distance is reached to the guide point (step S504: Yes), the navigation apparatus 300 also extracts the landmark from the map data force recorded on the magnetic disk 405 or the optical disk 407 (step S505). A landmark is a land target such as a mountain or a high-rise building. Here, a landmark is extracted according to the matter to be guided at a guide point.

[0059] For example, if the information to be guided at the guidance point instructs to turn left at an intersection 300m away from the guidance point, landmarks such as gas stations, family restaurants, and banks near the intersection are extracted. To do. The neighborhood includes the predetermined distance from the intersection. For example, it is possible to provide guidance such as “turn left at the intersection in front of OO Mart”. Further, a single landmark or a plurality of landmarks may be extracted.

[0060] Then, the image taken in step S503 is collated (step S506), and it is determined whether or not the landmark extracted in step S505 is reflected in the image (step S507). Judgment whether or not a landmark is reflected in the image is based on, for example, the type of landmark (gas station, family restaurant, bank, etc.), name, trademark, and the current position of the vehicle from the map data. Extract distance. If the object shown at a relative distance on the image matches the type, name, or trademark of the landmark, it is determined that the landmark appears in the image.

[0061] More specifically, for example, for the type of landmark, it is determined whether or not the force matches the shape of the building characteristic of the type of landmark (for example, the gas station has a low and flat shape). To do. Names and trademarks are determined by recognizing text and figures such as signs.

[0062] If the landmark appears in the image (step S507: Yes), the vehicle position and the relative position between the guide point and the landmark are acquired (step S508), and the guidance is based on the landmark. Information is output (step S509). Guide information based on landmarks is, for example, “Turn right on the road next to the mart that is visible on the right hand side”, “Look 200m ahead on the left △ △ Turn left on the intersection 50m ahead of the oil”, etc. Landmark that the driver can see This is a guide for instructing a left or right turn based on a track.

[0063] At this time, the display of the display 414 may be changed, for example, by expanding the display of landmarks used for guidance. Also, when multiple landmarks are collated, for example

Alternatively, the landmark having the shortest distance from the guided intersection may be determined as the optimum landmark and used for guidance.

[0064] Until the destination point is reached (Step S510: No), the process returns to Step S503, and the subsequent processing is repeated. When the destination point is reached (Step S510: Yes), the processing according to this flowchart is performed. Exit. If the landmark is not reflected in the image at step S507 (step S507: No), the process returns to step S505 and the subsequent processing is repeated.

[0065] The order of step S507 and step S508 may be reversed! /. In addition, for example, landmarks that are suitable for guidance, such as landmarks with a short distance from the intersection, may be collated one by one with the images in order. In addition, the processing from step S505 to step S508 is always performed, and landmarks that can be visually recognized by the driver are extracted. When the guide point is reached, guidance is based on the latest visible landmarks. It is good to do.

[0066] If there is a time until the guidance information is output after the landmark used for the guidance information is determined, the force that the landmark is on the image (the driver's power is also visible) is continued. May be monitored. If the power on the image disappears in the middle of the determined landmark (when the driver's power is also invisible), the other landmark on the image is used as the landmark for guidance information.

Next, a description will be given of the case where the landmark used for the route information is also determined by the image force captured by the in-vehicle camera 311. FIG. 6 is a flowchart showing the procedure of the route guidance process based on the landmark extracted from the image force. In the flowchart of FIG. 6, the navigation device 300 determines the travel route to the destination point (step S601), and waits until the vehicle on which the device is installed starts traveling, as in the flowchart of FIG. Step S602: No loop).

[0068] When the vehicle starts running (step S602: Yes), the vehicle-mounted camera 311 drives the vehicle. A view of the vehicle traveling direction as seen from the seat is taken (step S603). Then, a visible landmark is extracted from the captured image (step S604). Visible landmarks are landmarks that are visible to the driver. The navigation device 300 holds the text information of the shape and name according to the type and the information of the trade mark (logo, figure, etc.) for the landmark included in the map data. The image is analyzed, and if there is a shape, text, or trademark that matches these, it is extracted as a landmark.

[0069] Subsequently, the navigation device 300 collates the extracted landmarks with the map data, and acquires position information and related information (step S605). Related information is more detailed information about the location and name of the landmark. In addition, even if the corresponding landmark is not described in the map data, the position information is based on the relative distance between the landmark position on the image and the position of the vehicle. The position of may be calculated. Then, until the predetermined distance is reached to the guide point set in the traveling direction (Step S606: No), the process returns to Step S603 to continue shooting the scenery in the traveling direction.

[0070] When the predetermined distance to the guidance point is reached (step S606: Yes), the navigation device 300 outputs guidance information using the latest visible landmark information (step S607). The content of the guidance information is the same as that described in the flowchart of FIG. Until the destination point is reached (step S608: No), the process returns to step S603 and the subsequent processing is repeated. If the destination point is reached (step S608: Yes), the processing by this flow chart is terminated.

[0071] As described above, according to the navigation device 300, route guidance is performed based on landmarks visible to the driver. This makes it easier for the driver to understand V and route guidance.

[0072] Especially in urban areas with many obstacles and mountain roads with many ups and downs and curves, the features used for guidance are often not visible. For this reason, there is a case where the traveling route is wrong even though the guidance information is output. On the other hand, it is often difficult to correct the trajectory if the route is wrong in such urban areas and mountain roads. According to the navigation device 300, since the route guidance is performed using the features that are actually visible, the route is incorrect. The possibility of being reduced can be reduced. In addition, since the driver can easily understand the contents of the guidance, he / she can afford to drive and encourage safe driving.

[0073] Further, by comparing the image captured by the in-vehicle camera 311 with map data, landmarks that can be visually recognized by the driver can be identified with higher accuracy. Furthermore, it is possible to perform route guidance that is easier to understand by selecting an optimum landmark for guidance at the guide point from landmarks that can be identified by the driver.

Note that the route guidance method described in the present embodiment can be realized by executing a program prepared in advance on a computer such as a personal computer or a workstation. 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 when the recording medium force is also read by the computer. The program may be a transmission medium that can be distributed through a network such as the Internet.

Claims

The scope of the claims

[1] An image acquisition unit that acquires an image obtained by capturing a moving direction from the vicinity of a driver's seat of a mobile body, a map acquisition unit that acquires map information around the current location of the mobile body,

On the basis of the image acquired by the image acquisition means and the map information acquired by the map acquisition means, a feature (hereinafter referred to as a visible feature! Identification means for identifying)

Generating means for generating guidance information of a route along which the moving body moves using information on the visible features identified by the identifying means;

Output means for outputting the guidance information generated by the generating means;

A route guidance device comprising:

[2] The identification means includes

A selection means for selecting a feature that is a candidate for the visible feature (hereinafter referred to as a candidate feature!) From features whose information is included in the map information;

Determining means for determining whether or not the candidate feature selected by the selection means is imaged in the image acquired by the image acquisition means;

2. The route guidance device according to claim 1, wherein the candidate feature determined to be captured in the image by the determination unit is identified from the visible feature.

[3] The determination means includes:

Information on at least one of the name, trademark, and shape of the candidate feature is extracted from the map information, and at least one of the extracted name, trademark, and shape of the candidate feature is used. 3. The route guidance device according to claim 2, wherein when the information on the image is captured in the image, it is determined that the candidate feature is captured in the image.

[4] The identification means includes

Selecting means for selecting a feature that is a candidate for the visible feature from the features captured in the image (hereinafter referred to as a candidate feature);

Determining means for determining whether the map information includes information on the candidate feature selected by the selecting means; 2. The route guidance device according to claim 1, wherein candidate features determined by the determining means to include information in the map information are identified as the visible features.

[5] The determination means includes

Information on at least one of the name, trademark, and shape of the candidate feature is extracted from the image, and at least one of the extracted name, trademark, and shape of the candidate feature is extracted. 5. The route guidance device according to claim 4, wherein the information on the candidate feature is determined to be included in the map information when the information on the map is included in the map information.

[6] An image acquisition process for acquiring an image around the current location of the moving object;

Boarding of the mobile body based on a map acquisition step of acquiring map information around the current location of the mobile body, an image acquired by the image acquisition step, and map information acquired by the map acquisition step An identification process for identifying features visible to the user (hereinafter referred to as visible features! / ゝぅ),

A generation step of generating guidance information of a route along which the moving body moves using information on the visible feature identified by the identification step;

An output step of outputting the guidance information generated by the generation step;

A route guidance method comprising:

[7] A route guidance program that causes a computer to execute the route guidance method according to claim 6.

[8] A computer-readable recording medium in which the route guidance program according to claim 7 is recorded.