JP2002062148A - On vehicle navigation system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To support operation at an intersection of low visibility. SOLUTION: An object position calculating means 106 calculates the position, moving speed and moving direction of an object based on stereo videos from image pickup means 104 and 105 and inputs them to a control mean 107. The control mean 107 generates the video of navigation by reading out a map in the vicinity of its own vehicle calculated by a position calculating means 101 and delivers the navigation video to a video synthesizing means 109. When presence of the object is detected, the navigation video is emphasized. A display means 110 displays the left and right forward videos of its own vehicle along with the navigation video or displays the navigation video while emphasizing when presence of the object is detected.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an improvement of an on-vehicle navigation device having a function of displaying a current position and a traveling direction of a vehicle and a function of supporting driving.

[0002]

2. Description of the Related Art Conventionally, a navigation device displays a map of a current position of a vehicle on a monitor. Driving assistance using the monitor of the navigation device, that is,
2. Description of the Related Art Manually displaying an image of a camera on a monitor at an intersection with poor visibility or displaying an image of the rear of a car on a monitor has been performed to assist parking.

[0003]

However, in the conventional navigation system, the driver makes all the judgments as to whether or not the vehicle collides with another object (another vehicle or a pedestrian) at an intersection with poor visibility. There was a problem that had to be.

Further, in the conventional navigation device, the navigation function and the driving support function are manually switched.

An object of the present invention is to solve the above-mentioned conventional problems, and an object of the present invention is to provide an excellent in-vehicle navigation device for assisting driving at an intersection with poor visibility.

Another object of the present invention is to provide an excellent in-vehicle navigation device for automatically switching between a navigation function and a driving support function.

[0007]

According to the present invention, there is provided an on-vehicle navigation device comprising: a position calculating means for calculating a position of a vehicle;
Map information storage means for storing map information; object position calculation means for calculating an object position; imaging means for capturing an image of the vicinity of the vehicle; output of the position calculation means and output of the map information storage means; Control means for generating and outputting a navigation image based on the output of the object position calculation means, presentation method determining means for determining a method of presenting the image captured by the imaging means and the navigation image, and the presentation method Video synthesizing means for synthesizing a plurality of videos by the presentation method determined by the determining means. With this configuration, it is possible to perform driving support at an intersection with poor visibility and automatically switch between the navigation function and the driving support function.

[0008]

Embodiments of the present invention will be described below in detail with reference to the drawings.

(First Embodiment) FIG. 1 is a block diagram showing a configuration of a vehicle-mounted navigation device according to a first embodiment of the present invention. This in-vehicle navigation device includes a position calculating unit 101 that calculates the current position of the vehicle using a GPS or the like, and a map information storing unit 1 that stores map information.
02, operation means 103 such as a remote controller, imaging means 104 and 105 such as a CCD camera, and a plurality of imaging means 104 and 1
Object position calculating means 106 for calculating the position, moving speed and moving direction of the object from the stereo image from 05, a map near the own vehicle position is read from the map information storing means 102, and a navigation image is output, A control unit 107 for processing a navigation image based on the position of the object calculated by the calculation unit 106 and a command input from the operation unit 103; and a presentation method determination for determining a presentation method according to an input from the operation unit 103 Means 108 and presentation method determining means 1
The video synthesizing unit 109 includes a video synthesizing unit 109 for synthesizing a plurality of videos by the determined synthesizing method, and a display unit 110 for displaying the video synthesized by the video synthesizing unit 109.

The operation of the navigation device having the above-described structure will be described with reference to FIGS.

The vehicle position calculated by the position calculating means 101 is input to the control means 107. Also, the imaging means 104 and 105
The image near the own vehicle acquired by the object position calculating means 10
6 and to the video synthesizing means 109.
The object position calculating means 106 calculates the position, the moving speed, and the moving direction of the object based on the stereo images from the imaging means 104 and 105, and inputs them to the control means 107. The control means 107
The map near the vehicle position calculated by the position calculation means 101 is read from the map information storage means 102 to generate a navigation image, and output to the image synthesis means 109. Further, as described later, the display state of the navigation image is changed according to the position calculated by the object position calculation unit 106.

The operating means 103 instructs the presentation method determining means 108 which of the video of the imaging means 104, the video of the imaging means 105, and the video of navigation is to be displayed. The video synthesizing unit 109 synthesizes the video according to the determination of the presentation method determining unit 108, and outputs the synthesized video to the display unit 110.

FIG. 2 is a view of an intersection with poor visibility seen from above. In this figure, arrows indicate the moving directions of the vehicle and the object. It is assumed that the imaging means 104 and 105 are installed, for example, as shown in FIG.

FIG. 3 shows that the presentation method determining means 108 sends the navigation image and the imaging means 1 to the image synthesizing means 109.
This shows a case where an instruction is given to combine the images of the left front and right front of the vehicle acquired at 04 and 105, and the combined image is displayed on the display means 110.

FIG. 4 shows an example of a process for changing the display method of the navigation image according to the position calculated by the object position calculating means 106, and FIG. 5 shows the screen display.

Normally, it is assumed that a navigation image is displayed. In FIG. 4, at the start of the flow, first, in step (denoted by St. in the figure, the same applies hereinafter) 101, the object position information is acquired from the object position calculating means 106. If the position of the object is calculated in step 101, that is, if the object exists in the field of view of the imaging means 104 and 105 and the position is calculated, the process proceeds to step 102. In step 102, the driver is alerted by highlighting such as blinking or changing the color of the screen.

FIG. 5 shows an example in which the screen is blinking. In this figure, the arrows indicate the passage of time. In other words, a screen with low luminance shown in the middle is displayed next to the screen with high luminance shown in the upper part, and a screen with high luminance shown in the lower part is displayed next.

As described above, according to the first embodiment of the present invention, the images of the left front and the right front of the own vehicle are acquired by the imaging means 104 and 105, and these images are displayed together with the navigation image. In addition, when the presence of an object is detected based on the image, the navigation image is highlighted, so that driving assistance at an intersection with poor visibility can be performed.

Although the example in which the navigation image and the left front and right front images are combined and displayed has been described, only the left front image and the right front image may be combined and displayed. Alternatively, only the left front image or the right front image may be displayed. Further, a navigation image and a left front image or a navigation image and a right front image may be displayed.

The object position calculating means calculates the position, the moving speed and the moving direction of the object on the basis of the stereo images from the plurality of image pickup means.
Although the example in which the imaging units are installed on the left front and the right front is shown, a plurality of imaging units such as the left rear and the right rear may be installed.

(Second Embodiment) In a second embodiment of the present invention, attention is given to the driver by highlighting the navigation image when an object is present within a certain distance from the own vehicle position. Was configured to prompt.

The on-vehicle navigation device according to the second embodiment of the present invention is the same as the on-vehicle navigation device according to the first embodiment except for the processing executed by the control means 107.

Next, the operation of the vehicle-mounted navigation device according to the second embodiment of the present invention will be described with reference to the flowchart of FIG. In the flowchart of FIG. 6, steps denoted by the same reference numerals as those in FIG. 4 execute the same processing as the steps in FIG.

Normally, it is assumed that a navigation image is displayed. In FIG. 6, at the start of the flow, first, in step 201, the position of the object is obtained from the object position calculating means 106. If the position of the object is within a certain distance from the own vehicle position in step 201, the process proceeds to step 102. In step 102, the driver is alerted by highlighting such as blinking or changing the color of the screen.

As described above, according to the second embodiment of the present invention, the image pickup means 104 and 105 acquire the images of the left front and the right front of the vehicle and display those images together with the navigation image. Or, when the presence of an object is detected within a certain distance from the own vehicle position based on the image, the navigation image is highlighted, thereby enabling driving assistance at an intersection with poor visibility. .

Even when the object is located at a certain distance or less from the position of the own vehicle, highlighting may not be performed when the object is far from the position of the own vehicle.

Further, a modified example of the synthesizing display method in the video synthesizing means 109, a modified example of the configuration of the object position detecting means 106, and a modified example of the installation position of the image pickup means are the same as the respective modified examples in the first embodiment. The same is true.

(Third Embodiment) In a third embodiment of the present invention, when the presence of an object is detected, a mark indicating the object is superimposed on the navigation image to alert the driver. It was configured as follows.

The on-vehicle navigation device according to the third embodiment of the present invention is the same as the on-vehicle navigation device according to the first embodiment except for the processing executed by the control means 107.

Next, the operation of the in-vehicle navigation device according to the third embodiment of the present invention will be described with reference to the flowchart of FIG. In the flowchart of FIG. 7, steps denoted by the same reference numerals as those in FIG. 4 execute the same processing as the steps in FIG.

First, in step 101, the position of the object is obtained from the object position calculating means 106. When the position of the object is calculated in step 101, the process proceeds to step 301. In step 301, the driver is alerted by displaying a mark representing the object at the position where the object is present, superimposed on the navigation image.

FIG. 8 shows an example in which an object mark is displayed on a navigation image. In this case, the advancing direction of the object is indicated by the vertices of a triangle disposed in the circle, and the color of the circle is changed from the own vehicle to facilitate identification.

As described above, according to the third embodiment of the present invention, the imaging means 104 and 105 acquire the images of the left front and the right front of the vehicle and display these images together with the navigation image. Or, when the presence of an object is detected based on the image, the mark indicating the object is superimposed on the navigation image and displayed, so that driving assistance at an intersection with poor visibility can be performed.

Note that a mark representing an object may be displayed only when the object is present at a distance equal to or less than a predetermined distance from the own vehicle position. When the object moves away from the own vehicle position, the mark indicating the object does not have to be displayed. Further, a modified example of the combining display method in the video combining means 109, a modified example of the configuration of the object position detecting means 106, and a modified example of the installation position of the imaging means are the same as the respective modified examples in the first embodiment. .

(Fourth Embodiment) In the fourth embodiment of the present invention, when an object is detected, a voice is output to alert the driver.

FIG. 9 is a block diagram showing a configuration of a vehicle-mounted navigation device according to a fourth embodiment of the present invention. In this figure, blocks denoted by the same reference numerals as in FIG. 1 have the same configuration and the same functions as the blocks in FIG.

This vehicle-mounted navigation device is different from the vehicle-mounted navigation device shown in FIG.
The control means 201 has a function of controlling the output of the sound to the sound output means 202 in addition to the addition of the control unit 201.

The operation of the on-vehicle navigation device having the above configuration will be described with reference to the flowchart of FIG. In the flowchart of FIG. 10, steps denoted by the same reference numerals as those in FIG. 4 execute the same processing as the steps in FIG.

First, in step 101, the position of the object is obtained from the object position calculating means 106. When the position of the object is calculated in step 101, the process proceeds to step 401. Step 4
In 01, the voice output means 202 alerts the driver by outputting a synthesized voice or sounding a buzzer.

As described above, according to the fourth embodiment of the present invention, the imaging means 104 and 105 acquire the images of the left front and the right front of the vehicle and display these images together with the navigation image. Or, it can provide driving support at intersections with poor visibility by acquiring images of the left front and right front of the vehicle and outputting audio when the presence of an object is detected based on those images. it can.

Note that sound output may be performed only when the object is present at a distance equal to or less than a certain distance from the position of the host vehicle. When the object moves away from the own vehicle position, the sound output may not be performed. Further, a modified example of the configuration of the object position detecting means 106 and a modified example of the installation position of the imaging means are the same as the respective modified examples in the first embodiment.

(Fifth Embodiment) In the fifth embodiment of the present invention, when an object is detected, an image in the direction in which the object exists is displayed together with the navigation image.

FIG. 11 is a block diagram showing a configuration of a vehicle-mounted navigation device according to a fifth embodiment of the present invention. In this figure, blocks denoted by the same reference numerals as in FIG. 9 have the same configuration as the blocks in FIG.

The feature of this embodiment in comparison with the on-vehicle navigation device shown in FIG.
Output method and the output of the control means 301
Is that you have entered

The operation of the on-vehicle navigation device configured as described above will be described with reference to the flowchart of FIG. In the flowchart of FIG. 12, steps denoted by the same reference numerals as those in FIG. 4 execute the same processing as the steps in FIG.

Normally, it is assumed that a navigation image is displayed. In FIG. 12, with the start of the flow,
First, in step 101, the position of the object is obtained from the object position calculation means 106.

If the position of the object is not calculated in step 101, the flow advances to step 502 to display a navigation image.

When the position of the object is calculated in step 101, the process proceeds to step 501, and it is determined whether the object exists only on the left side of the own vehicle, the object exists only on the right side of the own vehicle, or the other.

If there is an object only on the left side of the vehicle, the process proceeds to step 503, where the image of the imaging means at the front left is displayed on the left side, and the image of the navigation is displayed on the right side. If the object exists only on the right side of the host vehicle, the process proceeds to step 504, where the image of the imaging means on the right front is displayed on the right side, and the image of navigation is displayed on the left side. Otherwise, the process proceeds to step 505, where an image of the left front imaging unit is displayed on the left side, an image of the right front imaging unit is displayed on the right side, and a navigation image is displayed at the center. FIG. 13 shows a video output in step 504 as a display example.

As described above, according to the fifth embodiment of the present invention, the imaging means 104 and 105 acquire the images of the left front and the right front of the own vehicle, and based on those images, the object is obtained. By obtaining the relationship between the position and the position of the own vehicle, and displaying an image of the direction in which the object is present together with the navigation image when an object is present, it is possible to assist driving at an intersection with poor visibility, Navigation function and driving support function can be switched automatically.

It is to be noted that the image of the image pickup means may be combined with the image of the navigation and displayed only when the object exists at a distance equal to or less than a predetermined distance from the position of the own vehicle. When the object moves away from the own vehicle position, the composition need not be performed. Further, a modified example of the configuration of the object position detecting means 106 and a modified example of the installation position of the imaging means are the same as the respective modified examples in the first embodiment.

(Sixth Embodiment) In the sixth embodiment of the present invention, when the own vehicle is traveling at a certain speed or less, the navigation image and the image captured by the image pickup means are displayed in a combined manner. Configured.

FIG. 14 is a block diagram showing a configuration of a vehicle-mounted navigation device according to a sixth embodiment of the present invention. In this figure, blocks denoted by the same reference numerals as in FIG. 11 have the same configuration as the blocks in FIG.

The feature of this embodiment in comparison with the on-vehicle navigation device shown in FIG.
1 means that the output is input to the presentation method determining means 402.

The operation of the in-vehicle navigation device configured as described above will be described with reference to the flowchart of FIG. Normally, it is assumed that a navigation image is displayed. In FIG. 15, with the start of the flow,
First, in step 601, the speed of the own vehicle is acquired from the own vehicle speed calculating means 401. If it is determined in step 601 that the speed of the own vehicle is equal to or lower than the predetermined speed, the process proceeds to step 602. In step 602, the image of the navigation and the image of the imaging means are combined and displayed. The display method may use the method shown in FIG. 3 or FIG.

As described above, according to the sixth embodiment of the present invention, a navigation image is normally displayed, and when the speed of the vehicle is equal to or less than a certain value, the navigation image and the image captured by the imaging means are displayed. Is displayed, the driving support at the intersection with poor visibility can be performed, and the navigation function and the driving support function can be automatically switched.

It is to be noted that the image of the image pickup means may be displayed in combination with the image of the navigation only when the own vehicle is at a certain speed or less and an object is present. Further, only when the own vehicle is at a certain speed or less and the object is at a certain distance or less from the own vehicle position, the image of the image pickup means may be combined with the navigation image and displayed. Further, when the object moves away from the own vehicle position, the composition need not be performed. Further, a modified example of the configuration of the object position detecting means 106 and a modified example of the installation position of the imaging means are the same as the respective modified examples in the first embodiment.

(Seventh Embodiment) In a seventh embodiment of the present invention, when the current position of the own vehicle is within a certain distance from a position registered in advance, the navigation image and the image of the image pickup means are displayed. It was configured to be synthesized and displayed.

FIG. 16 is a block diagram showing a configuration of a vehicle-mounted navigation device according to a seventh embodiment of the present invention. In this figure, the blocks denoted by the same reference numerals as in FIG. 14 have the same configuration and the same functions as the blocks in FIG.

The feature of the present embodiment in comparison with the on-vehicle navigation device shown in FIG.
And registration position reading means 502.
The position at which the image captured by the imaging unit is displayed is registered in the position registration unit 501 by the operation unit 103. The registered position reading means 502 compares the current position of the vehicle calculated by the position calculating means 101 with the registered position read from the position registering means 501, and presents the result to the presentation method determining means 40.
Give to 2.

The operation of the in-vehicle navigation device configured as described above will be described with reference to the flowchart of FIG. In the flowchart of FIG. 17, steps denoted by the same reference numerals as those in FIG. 15 execute the same processing as the steps in FIG.

Normally, it is assumed that a navigation image is displayed. In FIG. 17, with the start of the flow,
First, in step 701, the position of the own vehicle is acquired from the own vehicle position calculating means 101. Further, the position information registered in the position registering means 501 is read by the registered position reading means 502 and compared with the position of the own vehicle. If the position of the own vehicle approaches within a certain distance from the registered position, the process proceeds to step 602.
In step 602, the image of the navigation and the image of the imaging means are combined and displayed.

As described above, according to the seventh embodiment of the present invention, the navigation image is normally displayed, and the navigation image is displayed when the current position of the own vehicle is within a certain distance from the position registered in advance. By synthesizing and displaying the image and the image of the imaging means, it is possible to perform driving support at an intersection with poor visibility and automatically switch between the navigation function and the driving support function.

It should be noted that composite display may be performed only when the object exists at a distance equal to or less than a predetermined distance from the position of the own vehicle. When the object moves away from the own vehicle position, the composition need not be performed. Further, not only the position but also the traveling direction of the vehicle and the link information of the map information are registered in the position registering means 501, so that not only the position of the own vehicle but also the traveling direction of the own vehicle and the link information of the own vehicle are included. It may be determined whether or not it matches the registered position, traveling direction, or link information. Further, a modified example of the configuration of the object position detecting means 106 and a modified example of the installation position of the imaging means are the same as the respective modified examples in the first embodiment.

(Eighth Embodiment) In an eighth embodiment of the present invention, when the position of the own vehicle approaches within a certain distance from the destination, the image of the navigation and the image of the imaging means are combined. It was configured to display.

FIG. 18 is a block diagram showing a configuration of a vehicle-mounted navigation device according to an eighth embodiment of the present invention. In this figure, blocks denoted by the same reference numerals as in FIG. 16 have the same configuration as the blocks in FIG.

The feature of this embodiment as compared with the on-vehicle navigation device shown in FIG. 16 is that a route search means 601 for calculating a route to a destination when a destination is set is added, and the destination is added. That is, control means 602 having a function of guiding a route to the vehicle is provided.

The operation of the on-vehicle navigation device configured as described above will be described with reference to the flowchart of FIG. In the flowchart of FIG. 19, steps denoted by the same reference numerals as those in FIG. 17 execute the same processing as the steps in FIG.

Normally, it is assumed that a navigation image is displayed. In FIG. 19, with the start of the flow,
First, in step 801, the position of the own vehicle is acquired from the own vehicle position calculating means 101. The destination set by the route search means 601 is compared with the position of the own vehicle. If the position of the own vehicle approaches within a certain distance from the destination, the process proceeds to step 602. In step 602, the image of the navigation and the image of the imaging means are combined and displayed. If the position of the own vehicle has not approached within a certain distance from the destination, the process ends with the normal navigation display.

As described above, according to the eighth embodiment of the present invention, since a parking lot or the like is often within a certain distance from the destination, a navigation image is normally displayed and the position of the vehicle is displayed. When the vehicle approaches within a certain distance from the destination, the image of the navigation and the image of the imaging means are combined and displayed, so that driving assistance in a parking lot or the like can be performed, and the navigation function and the driving assistance function are provided. Can be switched automatically.

It should be noted that the composite display may be performed only when the object exists at a distance equal to or less than a certain distance from the position of the own vehicle. When the object moves away from the own vehicle position, the composition need not be performed. Further, it was determined whether or not to display only the position of the own vehicle and the registered position, but the position registering means registers not only the position but also the traveling direction of the vehicle and link information of map information, and the position of the own vehicle is registered. Alternatively, it may be determined whether or not the traveling direction of the own vehicle or the link information of the traveling line of the own vehicle matches the registered position, traveling direction, or link information. Further, a modified example of the configuration of the object position detecting means 106 and a modified example of the installation position of the imaging means are the same as the respective modified examples in the first embodiment.

(Ninth Embodiment) In a ninth embodiment of the present invention, an image viewed from above the own vehicle is created by combining images captured from a plurality of image pickup means, and an image for navigation is created. It is configured to display by combining with

FIG. 20 is a block diagram showing a configuration of a vehicle-mounted navigation device according to the ninth embodiment of the present invention. In this figure, blocks denoted by the same reference numerals as those in FIG. 18 have the same configurations and functions as the blocks in FIG.

The feature of the present embodiment in comparison with the on-vehicle navigation device shown in FIG.
The image conversion means 701 for converting the image near the own vehicle acquired in 05 into an image viewed from above the own vehicle is added, and the output of the image conversion means 701 is supplied to the image synthesis means 702. It is.

The image conversion means 701 takes in a plurality of images near the own vehicle and combines the plurality of images to create an image viewed from above the own vehicle. The image obtained by rotating the image of the image pickup means in FIG. 3 (front left) by 90 degrees counterclockwise and the image obtained by rotating the image of the image pickup means in FIG. 3 (front right) by 90 degrees clockwise are pasted together. Thus, an image viewed from above the own vehicle can be created. FIG. 21 shows a video synthesizing means 70 for combining the navigation video and the video viewed from above the own vehicle.
This is an example in which the images are combined in 2 and displayed on the display unit 110.

As described above, according to the ninth embodiment of the present invention, an image viewed from above the own vehicle is created by combining the images captured by the imaging means 106 and 107,
By synthesizing and displaying the image of the navigation,
Driving assistance at intersections with poor visibility can be provided.

Instead of creating an image viewed from above the own vehicle by combining images captured from a plurality of image pickup means by the image conversion means, a fisheye lens is used as the image pickup means and viewed from above the own vehicle. You can create a video. Further, a modified example of the configuration of the object position calculating unit 108 and a modified example of the installation position of the imaging unit are the same as the modified example in the first embodiment.

(Tenth Embodiment) In the tenth embodiment of the present invention, when the distance between the vehicle and the object approaches within a certain distance, the highlighting is performed.

FIG. 22 is a block diagram showing a configuration of a vehicle-mounted navigation device according to the tenth embodiment of the present invention. In this figure, blocks denoted by the same reference numerals as in FIG. 20 have the same configuration as the blocks in FIG.

This embodiment is different from the car navigation system shown in FIG. 20 in that a video converting means 802 is provided instead of the video converting means 701 and a control means 801 is provided.
To control the video conversion means 802.

The image conversion means 802 takes in a plurality of images near the own vehicle and combines the plurality of images to create an image viewed from above the own vehicle. When the position of the object is close to the position of the vehicle under the control of the control means 801, the screen is highlighted.

The operation of the in-vehicle navigation device configured as described above will be described with reference to the flowchart of FIG. In the flowchart of FIG. 23, steps denoted by the same reference numerals as those in FIG. 6 execute the same processing as the steps in FIG.

Normally, it is assumed that a navigation image is displayed. In FIG. 23, with the start of the flow,
First, in step 201, it is determined whether or not the distance between the vehicle and the object has approached within a certain distance. Then, when approaching within a certain distance, the process proceeds to step 901. In step 901, the screen obtained by the video conversion means 802 is highlighted such as blinking or changing colors to call the driver's attention.

As described above, according to the tenth embodiment of the present invention, when the distance between the host vehicle and the object approaches within a certain value, the highlight is displayed, so that the intersection with poor visibility can be obtained. Can provide driving assistance.

When the object moves away from the own vehicle position, the highlighting may not be performed. Alternatively, a fisheye lens may be used as the imaging means, and an image viewed from above the vehicle may be created. Further, a modified example of the configuration of the object position calculating means 108 and a modified example of the installation position of the imaging means are the same as the modified example in the first embodiment.

(Eleventh Embodiment) In an eleventh embodiment of the present invention, an image viewed from above the own vehicle is created by performing three-dimensional computer graphics processing on images captured from a plurality of imaging means. Then, it is configured to be displayed in combination with the navigation image.

FIG. 24 is a block diagram showing a configuration of a vehicle-mounted navigation device according to an eleventh embodiment of the present invention. In this figure, blocks denoted by the same reference numerals as in FIG. 22 have the same configuration as the blocks in FIG.

The feature of the present embodiment when compared with the on-vehicle navigation device shown in FIG.
901 is added, and the output is given to the video synthesizing means 902.

The image creating means 901 is composed of the imaging means 104 and 105
A plurality of images near the own vehicle obtained from the vehicle are taken in, and a three-dimensional image viewed from above the own vehicle is created by three-dimensional computer graphics processing. The video synthesizing unit 902 selectively synthesizes and displays the navigation video, the video of the imaging units 104 and 105, the video of the video conversion unit 802, and the video of the video creation unit 901. For example, first, an object and a road are detected from the video viewed from above the own vehicle described in the ninth embodiment (the object can be detected by motion detection, and the road can be detected by white line detection). By drawing a model of the object and a model of the road that have been created in advance by three-dimensional computer graphics processing instead of the detected object and the road, it is possible to create an image viewed from above the own vehicle. it can. FIG. 25 shows an example in which the navigation image and the image of the image creating means 901 are combined and displayed.

As described above, according to the tenth embodiment of the present invention, the three-dimensional computer graphics processing is used to view the image captured by the imaging means 104 and 105 from above the own vehicle. By creating the combined image and displaying the combined image with the navigation image, it is possible to support driving at an intersection with poor visibility.

(Twelfth Embodiment) In the twelfth embodiment of the present invention, when an object is detected, a sound is output from a speaker in the direction in which the object exists.

FIG. 26 is a block diagram showing a configuration of a vehicle-mounted navigation device according to a twelfth embodiment of the present invention. 24, blocks denoted by the same reference numerals as those in FIG. 24 have the same configuration as the blocks in FIG.

The feature of this embodiment when compared with the on-vehicle navigation device shown in FIG.
The control means 10 having a stereo sound output means 1001 in place of 202 and having a function of controlling the output of sound from the left and right speakers with respect to the stereo sound output means 1001
02.

The operation of the in-vehicle navigation device configured as described above will be described with reference to the flowchart of FIG. In the flowchart of FIG. 27, steps denoted by the same reference numerals as in FIG. 4 execute the same processing as the steps in FIG.

In FIG. 27, at the start of the flow, first, in step 101, the position of the object is obtained from the object position calculating means 106.

If the position of the object is calculated in step 101, the process proceeds to step 1001, and it is determined whether the object exists only on the left side of the own vehicle, the object exists only on the right side of the own vehicle, or the other. If the object exists only on the left side of the own vehicle, the process proceeds to step 1002, and a sound is output from the speaker only on the left side. If there is an object only on the right side of the vehicle, the process proceeds to step 1003, and a sound is output from the speaker on the right side only. Otherwise, the process proceeds to step 1004, and audio is output from the left and right speakers. If the position of the object is not calculated in step 101, the process ends.

As described above, according to the twelfth embodiment of the present invention, the imaging means 104 and 105 acquire the images of the left front and the right front of the own vehicle, and based on these images, the object is obtained. By obtaining the relationship between the position and the position of the vehicle and outputting sound from the speaker in the direction where the object exists when there is an object, it is possible to provide driving assistance at intersections with poor visibility and navigation. The function and the driving support function can be switched automatically.

It is to be noted that sound output may be performed only when the object exists at a distance equal to or less than a predetermined distance from the position of the own vehicle. When the object moves away from the own vehicle position, the sound output may not be performed.

[0099]

As described above, according to the present invention, it is possible to provide driving assistance at intersections with poor visibility, etc.
The navigation function and the driving support function can be automatically switched.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of a vehicle-mounted navigation device according to a first embodiment of the present invention;

FIG. 2 is a diagram for explaining an intersection with poor visibility;

FIG. 3 is a diagram for explaining an operation of the vehicle-mounted navigation device according to the first embodiment of the present invention;

FIG. 4 is a flowchart showing the operation of the vehicle-mounted navigation device according to the first embodiment of the present invention;

FIG. 5 is a diagram for explaining the operation of the vehicle-mounted navigation device according to the second embodiment of the present invention;

FIG. 6 is a flowchart showing an operation of the vehicle-mounted navigation device according to the second embodiment of the present invention;

FIG. 7 is a flowchart showing the operation of the vehicle-mounted navigation device according to the third embodiment of the present invention;

FIG. 8 is a diagram for explaining the operation of the vehicle-mounted navigation device according to the third embodiment of the present invention;

FIG. 9 is a block diagram illustrating a configuration of a vehicle-mounted navigation device according to a fourth embodiment of the present invention;

FIG. 10 is a flowchart showing an operation of the vehicle-mounted navigation device according to the fourth embodiment of the present invention;

FIG. 11 is a block diagram showing a configuration of an on-vehicle navigation device according to a fifth embodiment of the present invention;

FIG. 12 is a flowchart showing an operation of the vehicle-mounted navigation device according to the fifth embodiment of the present invention;

FIG. 13 is a diagram for explaining an operation of a vehicle-mounted navigation device according to a fifth embodiment of the present invention;

FIG. 14 is a block diagram showing a configuration of a vehicle-mounted navigation device according to a sixth embodiment of the present invention;

FIG. 15 is a flowchart showing the operation of the vehicle-mounted navigation device according to the sixth embodiment of the present invention;

FIG. 16 is a block diagram showing a configuration of a vehicle-mounted navigation device according to a seventh embodiment of the present invention;

FIG. 17 is a flowchart showing the operation of the vehicle-mounted navigation device according to the seventh embodiment of the present invention;

FIG. 18 is a block diagram illustrating a configuration of a vehicle-mounted navigation device according to an eighth embodiment of the present invention;

FIG. 19 is a flowchart showing the operation of the vehicle-mounted navigation device according to the eighth embodiment of the present invention;

FIG. 20 is a block diagram showing a configuration of a vehicle-mounted navigation device according to a ninth embodiment of the present invention;

FIG. 21 is a diagram for explaining an operation of a vehicle-mounted navigation device according to a ninth embodiment of the present invention;

FIG. 22 is a block diagram showing a configuration of a vehicle-mounted navigation device according to a tenth embodiment of the present invention;

FIG. 23 is a flowchart showing the operation of the vehicle-mounted navigation device according to the tenth embodiment of the present invention;

FIG. 24 is a block diagram showing a configuration of a vehicle-mounted navigation device according to an eleventh embodiment of the present invention;

FIG. 25 is a diagram for explaining an operation of the vehicle-mounted navigation device according to the eleventh embodiment of the present invention;

FIG. 26 is a block diagram showing a configuration of a vehicle-mounted navigation device according to a twelfth embodiment of the present invention;

FIG. 27 is a flowchart illustrating an operation of the vehicle-mounted navigation device according to the twelfth embodiment of the present invention.

[Explanation of symbols]

 101 position calculation means 102 map information storage means 103 operation means 104, 105 imaging means 106 object position calculation means 107, 201, 301, 602, 801, 1002 control means 108, 302, 402 presentation method determination means 109 video synthesis means 110 display Means 202 Sound output means 401 Own vehicle speed calculation means 501 Position registration means 502 Registered position reading means 601 Route search means 701, 802 Video conversion means 702, 902 Video synthesis means 901 Video creation means 1001 Stereo voice output means

Continued on front page F term (reference) 2F029 AA02 AB07 AC02 AC03 AC14 AC18 5B057 AA16 BA11 BA24 CB13 CE08 CH01 CH11 DA07 DA15 DA16 DB03 5H180 CC04 FF05 FF22 FF24 FF27 LL04 LL07 LL15

Claims (19)

[Claims] 1. A position calculating means for calculating a position of an own vehicle,
Map information storage means for storing map information, object position calculation means for calculating an object position, imaging means for capturing an image of the vicinity of the vehicle, output of the position calculation means, output of the map information storage means, and the object Control means for generating and outputting a navigation image based on the output of the position calculating means, and a presentation method determining means for determining a method of presenting the image captured by the imaging means and the navigation image,
An in-vehicle navigation device, comprising: a video synthesizing unit that synthesizes a plurality of videos using the presentation method determined by the presentation method determining unit; and a display unit that displays the video synthesized by the video synthesizing unit. 2. An in-vehicle navigation device according to claim 1, wherein there are a plurality of image pickup means, and the object position calculation means calculates the position of the object from the images taken by the plurality of image pickup means. . 3. The in-vehicle navigation device according to claim 1, wherein the screen is highlighted according to the position of the object. 4. The in-vehicle navigation device according to claim 3, wherein the screen is highlighted when the position of the object is within a predetermined distance from the position of the own vehicle. 5. The in-vehicle navigation according to claim 1, wherein a mark representing the object is displayed on the navigation image at the position of the object calculated by the object position calculation means. apparatus. 6. The on-vehicle navigation device according to claim 1, further comprising a voice output unit, which outputs a voice for calling attention to a driver depending on a position of the object. 7. The on-vehicle navigation device according to claim 6, wherein a sound is output when the position of the object is within a predetermined distance from the position of the own vehicle. 8. The method according to claim 1, wherein the presentation method determining means determines a method of presenting an image according to a relative positional relationship between the position of the object and the position of the own vehicle. In-vehicle navigation device. 9. The vehicle according to claim 1, further comprising a host vehicle speed calculating means for calculating a host vehicle speed, wherein the presenting method determining means determines an image presenting method according to the own vehicle speed. The vehicle-mounted navigation device according to any one of the above. 10. The in-vehicle navigation device according to claim 1, further comprising an operation unit for setting a presentation method to the presentation method determination unit. 11. The in-vehicle navigation device according to claim 1, further comprising a position registration unit that registers a position where the presentation method is set to the presentation method determination unit. 12. A registered position reading means for reading a position registered in the position registering means, wherein the presentation method determining means determines a presentation method according to a relationship between the registered position and the position of the own vehicle. The in-vehicle navigation device according to claim 11, wherein: 13. A method according to claim 1, further comprising a route search unit for searching for a route to the destination, wherein the presentation method determination unit determines a presentation method according to a relationship between the destination and the position of the vehicle. 13. The in-vehicle navigation device according to any one of claims to 12. 14. The image processing apparatus according to claim 1, further comprising an image conversion unit configured to process an image near the own vehicle obtained from the imaging unit and convert the image into an image viewed from above from above. In-vehicle navigation device. 15. The on-vehicle navigation device according to claim 14, wherein the image conversion means converts an image near the own vehicle obtained from the plurality of imaging means into an image viewed from above the own vehicle. 16. The in-vehicle navigation device according to claim 14, wherein the image conversion means emphasizes a screen according to a position of the object. 17. The in-vehicle navigation device according to claim 16, wherein the image conversion means emphasizes the screen when the position of the object is within a predetermined distance from the position of the own vehicle. 18. The on-vehicle vehicle according to claim 1, further comprising an image creating means for displaying an image of the vicinity of the vehicle obtained from the imaging means in three dimensions by three-dimensional computer graphics. Navigation device. 19. A stereo sound output means for outputting sound in stereo, wherein the control means determines the sound output in accordance with a relative positional relationship between the position of the object and the position of the own vehicle. An in-vehicle navigation device according to any one of claims 1 to 18.