JP2005127996A - Route guidance system, method, and program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a route guidance system or the like which improves safety by reducing a number of movements of a driver's line of sight and enables the driver to reliably recognize a travel route to follow without a sense of incongruity by an image of a virtual guidance vehicle. <P>SOLUTION: The route guidance system is used for guiding a vehicle to a set destination and includes both a guidance vehicle display means for superposing and displaying the virtual guidance vehicle 46, which travels ahead of the vehicle for guiding the vehicle to the destination, on an actual landscape being visually recognized by the vehicle's driver and a display altering means for altering a display location and/or display form of the virtual guidance vehicle on the basis of prescribed conditions. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a route guidance device, a route guidance method, and a route guidance program. More specifically, the present invention relates to a route guidance device and route guidance for providing driving information to a driver with respect to a travel route on which the vehicle should travel. The present invention relates to a method and a route guidance program.

  There is known a route guidance device (car navigation device) that provides route information on a travel route to a set destination and supports driving of the vehicle (see Patent Document 1).

  In a conventional route guidance device, route information is displayed on a monitor screen arranged in the vicinity of the center console, and information on this screen is visually recognized by the driver to assist driving of the vehicle.

  Therefore, in the conventional route guidance device, after the driver visually recognizes the route information displayed on the monitor screen, the information displayed on the monitor screen shows the actual scenery such as roads, buildings, signs, etc. seen in front of the vehicle. To determine the route to travel and the intersection to turn.

For this reason, the information displayed by the driver cannot be matched with the actual landscape, the route to be traveled is wrong, or the intersection is passed while judging which intersection should be turned, etc. You may make a mistake.
In addition, in order to obtain route information from the monitor screen, the driver needs to move the line of sight from the front of the vehicle to the center console, which increases the movement of the line of sight and may hinder safe driving.

Japanese Patent Laid-Open No. 11-101653

  On the other hand, when a plurality of vehicles head for a certain destination, the same group of vehicles traveling in front may be used as a guide vehicle, and the following vehicle may follow the vehicle. In such a situation, the driver of the succeeding vehicle does not need to determine a road or the like to travel by matching the information displayed on the monitor screen with the actual scenery, so the burden on the driver is extremely small. Furthermore, since it is not necessary to move the line of sight from the front of the vehicle toward the center console, safety is also improved.

  Therefore, the present inventors, when guiding the travel route with the route guidance device, display an image of the guided vehicle heading for the same purpose superimposed on the scenery in front of the vehicle instead of the actual preceding vehicle described above. If it is possible to do so, it is not necessary to determine the road to be traveled and the line-of-sight movement is reduced, and it is found that the same merit as when heading to the destination by following the actual preceding vehicle can be obtained. It was.

  However, when a virtual guidance vehicle based on an image is virtually displayed in front of the host vehicle by the route guidance device, an object (obstacle, road sign, etc.) that needs to be visually recognized for safe travel overlaps with the virtual guidance vehicle. As a result, the driver may not be able to visually recognize these objects. As a result, a new problem arises that the driver cannot follow the virtual guided vehicle with peace of mind.

  There is also a problem that the driver may feel uncomfortable because the virtual guided vehicle overlaps the actual preceding vehicle.

  Therefore, the present invention has been made to solve such a new problem, and since the driver's line of sight movement is small, the safety is improved and the driving route on which the driver should travel according to the image of the virtual guidance vehicle It is an object of the present invention to provide a route guidance device, a route guidance method, and a vehicle route guidance program capable of reliably recognizing the vehicle.

  In addition, the present invention provides a route guidance device, a route guidance method, and a route guidance program that can drive a vehicle with almost the same feeling as when a driver travels along a travel route that should follow an actual guided vehicle. The purpose is to do.

  According to the present invention, there is provided a route guidance device for guiding a vehicle to a set destination, wherein a virtual guidance vehicle that travels in front of the vehicle and guides the vehicle to the destination is provided to the driver of the vehicle. Guidance vehicle display means that superimposes and displays on the actual scenery that is visually recognized, and display change means that changes the display position and / or display form of the virtual guidance vehicle based on a predetermined condition A route guidance device is provided.

  In the present invention configured as described above, when the vehicle is being routed toward the set destination, the virtual guided vehicle is along the route that should travel in the front landscape that the driver visually recognizes. Since the vehicle travels, the driver only needs to drive following the virtual guided vehicle. For this reason, while being able to drive | work reliably the driving | running route which should drive | work, a driver | operator's eyes | visual_axis movement decreases and safety improves. Further, according to the present invention, when a predetermined condition is satisfied, the display position of the virtual guided vehicle is changed, so that the virtual guided vehicle becomes an obstacle to visually recognizing an object that needs to be visually recognized. Or giving the driver an uncomfortable feeling.

According to another preferred aspect of the present invention, the guided vehicle display means displays the virtual guided vehicle with a transmittance such that a real landscape can be seen through.
According to such a configuration, since the driver can always visually recognize the actual scenery through the virtual guided vehicle, safety is improved.

According to another preferred aspect of the present invention, the apparatus further comprises detection means for detecting an obstacle ahead of the vehicle, and the display changing means visually recognizes the obstacle when the obstacle is detected. The display position and / or display form of the virtual guided vehicle is changed so as to be possible.
According to such a configuration, when an obstacle such as a vehicle parked on the shoulder of the road or a fallen object on the road is detected, the display of the virtual guidance vehicle is changed, and the obstacle can be visually recognized. Secured.

According to another preferred aspect of the present invention, the display changing means increases the transmittance of the virtual guided vehicle without changing the horizontal display position of the virtual guided vehicle when the obstacle is detected. Enlarge.
According to such a configuration, the driver can surely see the obstacle through the virtual guidance vehicle. Further, the display position of the virtual guidance vehicle does not move and the driver does not feel uncomfortable.

According to another preferred aspect of the present invention, the display changing means increases the transmittance of both sides of the virtual guided vehicle when the obstacle is detected.
According to such a configuration, a vehicle parked on the shoulder, a bicycle traveling on the shoulder, an oncoming vehicle that protrudes from the opposite lane, and the like are easily visible.

According to another preferred aspect of the present invention, the display changing means increases the transmittance of the side portion on the roadside of the virtual guided vehicle when the obstacle is detected.
According to such a configuration, a vehicle parked on the shoulder, a bicycle traveling on the shoulder, a pedestrian on the shoulder, and the like are easily visible.

  According to another preferable aspect of the present invention, when the obstacle is detected, the display changing means has a transmittance at a peripheral portion of the virtual guided vehicle larger than a transmittance at a central portion of the virtual guided vehicle. To do.

According to another preferred aspect of the present invention, when the obstacle is detected, the display changing means can visually recognize the obstacle without changing the display position in the left-right direction of the virtual guided vehicle. Thus, the size of the virtual guided vehicle is reduced.
According to such a configuration, since the apparent travel route of the virtual guided vehicle does not change, the driver does not feel uncomfortable by changing the display mode.

According to another preferred aspect of the present invention, when the obstacle is detected, the display changing means displays the virtual guided vehicle in a reduced size around the center point of the virtual guided vehicle.
According to such a configuration, the travel route drawn by the central portion of the virtual guided vehicle does not change, so that the driver does not feel uncomfortable by changing the display mode.

According to the other preferable aspect of this invention, the said display change means makes the transmittance | permeability of the said virtual guidance vehicle large, or makes a size small, so that the vehicle speed of the said vehicle is high.
According to such a configuration, as the speed increases, the virtual guided vehicle does not stand out in the driver's field of view, and the driver's line of sight can be directed farther.

According to another preferred aspect of the present invention, the display changing means changes the transmittance and size of the virtual guided vehicle when the vehicle speed of the vehicle is low, and transmits the virtual guided vehicle when the vehicle speed of the vehicle is high. Change only the rate.
According to such a configuration, the driver's uncomfortable feeling is suppressed only by increasing the transmittance of the virtual guiding vehicle during high-speed driving in which the driver can easily feel uncomfortable due to the change of the virtual guiding vehicle.

According to another preferred aspect of the present invention, the display changing means determines a timing at which the driver should visually recognize the obstacle, and the driver can visually recognize the obstacle according to the timing. The display position of the virtual guided vehicle is changed.
According to such a configuration, the obstacle can be surely visually recognized by the driver by changing the display position of the virtual guided vehicle, that is, by shifting the position of the virtual guided vehicle.

According to another preferred aspect of the present invention, the display changing means reduces the size of the virtual guided vehicle in accordance with the change of the display position of the virtual guided vehicle.
According to such a configuration, since the virtual guided vehicle moves while being reduced, the amount of movement of the virtual guided vehicle and the driver's uncomfortable feeling associated with the movement can be suppressed.

According to another preferred aspect of the present invention, the display changing means increases the transmittance of the virtual guided vehicle in accordance with the change of the display position of the virtual guided vehicle.
According to such a configuration, since the virtual guided vehicle moves while being thinned, it is possible to suppress the driver's uncomfortable feeling accompanying the movement of the virtual guided vehicle.

According to another preferred aspect of the present invention, the display changing means increases the transmittance of the virtual guided vehicle faster than the size reduction.
According to such a configuration, since the virtual guided vehicle moves after being thinned, the driver's uncomfortable feeling accompanying the movement of the virtual guided vehicle can be suppressed.

According to another preferred aspect of the present invention, the display changing means limits the change in the display position of the virtual guided vehicle so that the virtual guided vehicle does not protrude from the lane in which the vehicle is traveling.
According to such a configuration, it is suppressed that the driver follows the virtual guided vehicle that protrudes into the oncoming lane or the like and enters the oncoming lane or the like.

According to another preferred aspect of the present invention, the apparatus further comprises second route guidance means for performing route guidance when the display form is changed.
According to such a configuration, reliable route guidance is performed by route means instead of the virtual guidance vehicle whose route guidance function is reduced due to a change in display form or the like.

According to the other preferable aspect of this invention, the said display change means continues the change of the display position or display form of the said virtual guidance vehicle for a predetermined period.
According to such a configuration, it is possible to prevent the driver from feeling uncomfortable because the display position is frequently changed.

According to another preferred aspect of the present invention, the vehicle further comprises a preceding vehicle preceding the vehicle and a preceding vehicle detecting means for detecting a distance from the preceding vehicle, wherein the display changing means is configured to detect when the preceding vehicle is detected. The display position and / or display form of the virtual guide vehicle is changed so that the driver can visually recognize the preceding vehicle at a predetermined timing.
According to such a configuration, it is possible to prevent the virtual guided vehicle from obstructing the visual recognition of the vehicle that actually travels ahead.

According to another preferred aspect of the present invention, the display changing means displays the virtual guided vehicle between the vehicle and the preceding vehicle when the preceding vehicle is detected.
According to such a configuration, the virtual guide vehicle is virtually displayed so as to overlap the actual preceding vehicle, and the driver is prevented from feeling uncomfortable.

According to another preferred aspect of the present invention, the display changing means reduces and displays the virtual guided vehicle when the distance from the preceding vehicle is a predetermined value or less.
According to such a configuration, when the inter-vehicle distance from the actual preceding vehicle is small, it is possible to virtually display the virtual guide vehicle with the preceding vehicle without a sense of incongruity.

According to another preferred aspect of the present invention, there is provided third route guidance means for displaying the guidance information superimposed on the obstacle or the preceding vehicle.
According to such a configuration, essential information for route guidance can be reliably transmitted to the driver.
According to another preferred aspect of the present invention, the third route guiding means displays a road display to travel and a direction indication display to travel.

According to another preferred aspect of the present invention, it is possible to select whether or not to change the display position and / or the display form of the virtual guided vehicle by the display changing means.
According to such a configuration, the function of changing the display position of the virtual guided vehicle, etc. in an area where the traffic volume is extremely high and the display position of the virtual guided vehicle is frequently changed and the driver feels uncomfortable. Can be stopped.

According to the other preferable aspect of this invention, the display state of the said virtual guidance vehicle by the said guidance vehicle display means can be set. The display state of the virtual guided vehicle means the size of the virtual guided vehicle, the transmittance, the inter-vehicle distance from the host vehicle, and the like.
According to such a configuration, the display state of the virtual guided vehicle by the guided vehicle display means, that is, the display state of the virtual guided vehicle in the steady state can be arbitrarily set, so the display state of the virtual guided vehicle according to the traveling environment can be set. Can be obtained.

  According to another aspect of the present invention, there is provided a route guidance method for guiding a vehicle to a set destination, wherein the virtual guidance vehicle that travels in front of the vehicle and guides the vehicle to the destination, A step of superimposing and displaying on a real landscape visually recognized by a driver of the vehicle, and a step of changing a display position and / or a display form of the virtual guide vehicle based on a predetermined condition. A route guidance method is provided.

  According to another aspect of the present invention, there is provided a route guidance program for a computer for guiding a vehicle to a set destination, wherein the program guides the vehicle to the destination by traveling in front of the vehicle. The guided vehicle is displayed so as to be superimposed on the actual landscape visually recognized by the driver of the vehicle, and the computer is controlled to change the display position and / or display form of the virtual guided vehicle based on a predetermined condition. A route guidance program is provided.

  According to the route guidance device, the route guidance method, and the route guidance program of the present invention, since the driver's line-of-sight movement is small, safety is improved, and the driving route that the driver should take on the virtual guided vehicle image is ensured without a sense of incompatibility. Can be recognized.

  Furthermore, according to the route guidance device, the route guidance method, and the route guidance program of the present invention, the vehicle can be driven with almost the same feeling as when the driver travels on the travel route to follow the actual guided vehicle. I can do it.

Hereinafter, a route guidance device according to a preferred embodiment of the present invention will be described with reference to the accompanying drawings.
FIG. 1 is a block diagram showing a configuration of a route guidance device according to an embodiment of the present invention. The route guidance device according to the present embodiment provides a driver with route information by superimposing and displaying an image of a virtual guidance vehicle on an actual landscape, and assists in driving the vehicle.

  As shown in FIG. 1, the code | symbol 1 has shown the route guidance apparatus mounted in a vehicle. The route guidance device 1 includes a CPU 2 that provides route information to a set destination and executes a navigation function and the like for assisting the driver.

  The route guidance device 1 further includes a DVD-ROM 4 for storing main map information and building information, an HDD storage device 6 for storing detailed map information and information on images of the virtual guidance vehicle, and various map information and the like. A monitor screen 8 for displaying information and an operation switch 10 for performing destination setting and the like are provided.

  As shown in FIG. 2, the HDD storage device 6 includes detailed map data 6a, which is detailed map information, facility-related data 6b, which is information related to facilities on the map, and display of a virtual guided vehicle. The virtual guided vehicle data 6c for performing is stored. The virtual guided vehicle data 6c includes user setting data 6d in which items set by the user regarding the display of the virtual guided vehicle are stored, and virtual guided vehicle display program data 6e that is a program for displaying the virtual guided vehicle. Etc. are included.

In addition, the route guidance device 1 includes a transmission / reception device 12, and by this transmission / reception device 12, various types of information including the latest map information, detailed local road information, and information on the image of the virtual guidance vehicle are transmitted via the Internet. Information is configured to be able to be transmitted to and received from an information center (not shown) outside the vehicle. Information obtained by the transmission / reception device 12 is stored in the HDD storage device 6.
The route guidance device 1 further includes a GPS receiver 14, a vehicle speed sensor 16, and a gyro sensor 18 for detecting the current position of the vehicle.

  The route guidance device 1 further detects the position and line of sight of the driver's eyes, and based on these, the eye camera 20 displays an image of the virtual guidance vehicle in the actual scenery that the driver is viewing. The virtual image display device 22 and the CCD camera 24 are provided.

  The eye camera 20 is for detecting the position of the occupant's pupil, the direction of the line of sight, the distance to the visual recognition object, and the like by photographing the occupant's pupil and the like. Various techniques such as EOG (P-EOG) method, corneal reflection method, first and fourth Purkinje image detection methods, contact lens method, search coil method, infrared fundus camera method, and the like are applied.

  Under the control of the CPU 2, the virtual image display device 22 includes a hologram or the like in an actual scene that the driver is viewing through the windshield based on the position of the pupil of the driver and the current position and orientation of the vehicle. By this method, an image of the virtual guided vehicle is displayed, and the driver is made to recognize that the virtual guided vehicle is traveling several to several tens of meters ahead of the host vehicle.

  The CCD camera 24 is attached to the upper part of the vehicle toward the front of the vehicle, captures the scenery in front of the vehicle, and from the image data of the scenery, another preceding vehicle that travels in front of the vehicle and the blinker of the preceding vehicle. Blinking and lighting of brake lamps, parked vehicles, various obstacles on the route, curve conditions, lanes, traffic lights, intersections, road signs, road signs, pedestrians, brightness outside the vehicle, fog conditions, visibility conditions, etc. Detects weather conditions including

  The route guidance device 1 further includes a laser radar device 26 and a road surface μ sensor 28. The laser radar device 26 is attached to the front end portion of the vehicle toward the front of the vehicle, and detects a preceding vehicle, an obstacle on the road, and the like, and detects a relative distance and a relative speed between the own vehicle and the preceding vehicle. Is. The road surface μ sensor 28 detects a road surface state or a road surface friction coefficient.

The route guidance device 1 further includes a voice interaction device 30. The voice interaction device 30 includes a speaker 30a and a microphone 30b, provides voice information to the driver, and accepts voice instructions from the driver.
The route guidance device 1 further includes an alarm device 32 for issuing an alarm to the driver when the host vehicle needs to decelerate (brake operation or the like).

  FIG. 3 is a view showing the periphery of the driver's seat of the vehicle on which the route guidance device according to the present embodiment is mounted. As shown in FIG. 3, a speaker 30a and a microphone 30b, which are voice interaction devices 30, are attached to an A-pillar 34 near the driver's seat.

  The operation switch 10 is provided on the instrument panel 36, and the monitor screen 8 is attached in the vicinity of the operation switch 10. The eye camera 20 is incorporated in the room mirror 38. The transmission / reception device 12 is attached between the driver seat 40 and the passenger seat 42. Furthermore, the virtual image display device 22 is attached to the upper part of the instrument panel 36.

Next, the basic operation of the route guidance device 1 will be described with reference to FIG. FIG. 3 is a flowchart showing the basic control of the route guidance device 1. In FIG. 4, S indicates a step.
As shown in FIG. 4, the route guidance device 1 performs initial setting in S <b> 1. This initial setting is performed by the driver operating the operation switch 10 in accordance with the display on the monitor screen 8. Details of the initial setting will be described later.

  Next, in S2, the destination is set, and in S3, the current position of the vehicle is detected. In step S4, a travel route to be traveled from the current position to the destination is set based on the map data in the DVD-ROM 4 and the HDD storage device 6. Then, it progresses to S5 and calculates a display position and a display form of a virtual guidance vehicle. The display position and display form of the virtual guided vehicle are calculated based on initial settings and the like. Next, it progresses to S6 and route guidance is performed so that the vehicle can drive | work the driving | running route which should go.

Next, the initial setting by the route guidance device of this embodiment will be described with reference to FIGS. 5 and 6 are diagrams showing a monitor screen at the time of initial setting by the route guidance device of this embodiment.
As shown in FIG. 5, in the initial setting, an initial setting (1) screen for performing verification / registration related to visual acuity is first displayed on the monitor screen 8. By selecting the item "Verification of visual acuity and verification of visual recognition level", a screen (not shown) for inspecting visual acuity / moving body visual acuity, etc. is displayed, and the visual acuity of the user is inspected by this inspection screen. The result is recorded in the HDD storage device 6 as data relating to the user's visual acuity and the like.

  Next, when the item “eye position registration” is selected, the position of the pupil of the driver seated in the driver's seat is calculated from the image data photographed by the eye camera 20 and stored in the HDD storage device 6. The position of the driver's eyes may be estimated from the position of the driver's seat and the angle of the rearview mirror.

Next, the initial setting (2) screen shown in FIG. 6 is displayed on the monitor screen 8.
On the initial setting (2) screen, first, “ON” or “OFF” is selected in the “guided vehicle display” section to set whether or not to display an image of the virtual guided vehicle. When “OFF” is selected, route guidance by the virtual guidance vehicle is not performed. On the other hand, when “ON” is selected, the virtual guidance vehicle leading to the set destination is virtually displayed in the scenery in front of the vehicle. Driving assistance is provided.

  Select either “ON” or “OFF” in the “Marker display” section, and set whether or not to superimpose an object that serves as a mark for route guidance on the actual landscape. . When “ON” is selected, a virtual image of the gas station is displayed, for example, superimposed on the gas station at the corner of the intersection where the vehicle should turn left, and the driver is notified that the vehicle should turn left at the corner of the gas station. To do. Such a display is not performed when “OFF” is selected.

  In the “destination display” section, either “ON” or “OFF” is selected, and whether or not the destination is virtually displayed on the real landscape is set. When “ON” is selected, when the set destination approaches, a virtual display arrow or the like pointing to the destination is displayed so as to be superimposed on the actual scenery, and the position of the destination is notified to the driver. Such a display is not performed when “OFF” is selected.

  Next, in the section “Supplementary guidance when restricting guided vehicle display”, it is set whether or not supplementary guidance is executed when restricting guided vehicle display. In the route guidance device of the present embodiment, display regulation is performed such that display of the virtual guidance vehicle is stopped under predetermined conditions. In this section, when such display restriction is performed, it is determined whether or not supplementary guidance such as voice guidance is executed. Accordingly, when “ON” is selected, the supplementary guidance specifically set in the subsequent section is executed, and when “OFF” is selected, such guidance is not executed.

  When “ON” is set in the “Supplemental guidance when guiding vehicle display is restricted” section, select at least one of the following “arrow”, “voice” and “interference prevention display” Set whether to provide supplementary guidance. When “Arrow” is selected, when display restrictions such as stopping the display of the virtual guided vehicle are performed, a direction display such as an arrow indicating the direction to proceed to the actual scenery that the driver is viewing is virtually displayed. Is done. When “voice” is selected, route guidance is executed by voice such as “Please turn right at the next intersection” at the time of display restriction.

Further, in the “interference prevention display” section, when the virtual guided vehicle is about to interfere with an obstacle on the shoulder, for example, the interference prevention is executed to change the display form of the virtual guided vehicle to prevent the interference. To select whether or not. In the present embodiment, changing the display form includes changing the display position, size, and transmittance.
Furthermore, in this embodiment, the moving direction of the virtual guide vehicle when the display position of the virtual guide vehicle is moved to prevent interference is selected from “upward” and “horizontal”. If the “interference prevention display” item is set to “ON” and “horizontal” is selected, when the virtual guided vehicle is likely to interfere with an obstacle on the shoulder, for example, the display position of the virtual guided vehicle is set in the horizontal direction. Move to prevent interference with roadside obstacles.

  Further, the basic display form of the virtual guided vehicle is set in the “Basic Guided Vehicle Setting” section. In this section, “the distance between vehicles” that sets how far the displayed virtual guided vehicle is displayed ahead of the host vehicle, “the size” that sets the size of the virtual guided vehicle, and the virtual guided vehicle For each of the three items of “Transmittance” indicating the degree of transmittance, “Standard”, “Slightly (or“ Small ”)”, or “Large (or“ Large ”) ) Is set.

  Next, the route guidance device according to the present embodiment is configured to advance the virtual guided vehicle ahead of the intersection to be turned right and left by increasing the traveling speed of the virtual guided vehicle when the route to be displayed, that is, turn right or left is approaching. The vehicle is provided with a function of visually notifying the driver of the position of an intersection to be turned right or left at an early stage. In the “display setting at the time of intersection guidance”, first, it is selected whether or not to change the display form in which the virtual guided vehicle is advanced in advance when approaching the intersection and the distance between the vehicle and the host vehicle is increased.

Furthermore, in the present embodiment, when the own vehicle approaches an intersection to be turned left or right, and the inter-vehicle distance between the virtual guided vehicle that has reached the intersection first and the own vehicle becomes smaller than a predetermined distance, the virtual guided vehicle travels. It is configured to restart and turn right or left at the intersection.
In the section “Display settings when guiding an intersection,” the next step is to determine the distance between the virtual guided vehicle that has reached the intersection and the host vehicle, and restart the virtual guided vehicle. Set. In the present embodiment, a default value “10 m” is initially set as the inter-vehicle distance, and the default value is changed.

  Next, in the “display setting when there is a preceding vehicle” section, the display form of the virtual guided vehicle is set when the preceding vehicle exists. First, “ON” or “OFF” is selected in the section of “Close the inter-vehicle distance if there is a preceding vehicle”. When “ON” is selected in this section, when a preceding vehicle exists, the display position of the virtual guiding vehicle is moved to the own vehicle side so that the virtual guiding vehicle does not overlap the preceding vehicle. If “NO” is selected, the display position of the virtual guided vehicle is not moved. As a result, the virtual guided vehicle may be displayed so as to overlap the preceding vehicle.

Furthermore, “The distance between the vehicle and the vehicle In the section “Erase when m”, set how far the inter-vehicle distance from the preceding vehicle will stop displaying the virtual guided vehicle. In this embodiment, this item is also configured so that a default value “5 m” is initially set as the inter-vehicle distance, and this default value is changed.

  Next, in the section “Display settings when detecting obstacles on the road”, when an obstacle such as a vehicle stopped on the shoulder is detected, how to change the display of the virtual guided vehicle Set whether to make it visible. Specifically, a coping method is set by selecting at least one of the items of “transmissivity up”, “reduction”, and “avoid by shifting horizontally”.

  Furthermore, in the present embodiment, the distance between the virtual guided vehicle and the virtual guided vehicle is controlled so as to be limited to a range that can be visually recognized by the driver. The inter-vehicle distance from the virtual guided vehicle is clogged, and the driver feels uncomfortable. On the other hand, on mountain roads with few branch roads and little route guidance, there is little need to always display a virtual guided vehicle. Therefore, in the present embodiment, a “mountain road driving mode” that does not reduce the distance between the virtual guided vehicle and a curve with poor visibility is provided in the “brand curve / mountain road display setting”, and the “ON” “OFF” can be selected.

Here, FIG. 7 is a diagram showing an actual scenery through the front window glass of the host vehicle, and FIG. 8 is a diagram showing a scenery including an image of the virtual guided vehicle that the driver visually recognizes through the windshield. is there.
Actually, when the preceding vehicle 48 and the pedestrian 50 exist in the actual scenery through the front window glass 44 of the own vehicle, as shown in FIG. When “ON” is selected in FIG. 8 and the route guidance is performed, as shown in FIG. 8, the virtual guidance vehicle 46 is superimposed on the actual scenery including the preceding vehicle 48 and the pedestrian 50, as if It is displayed virtually as if it is traveling several meters ahead of the vehicle.

  Further, as shown in FIG. 8, the image of the virtual guide vehicle 46 also includes a brake lamp 52 and a blinker 54. In the present embodiment, the brake lamp 52 is lit when the virtual guide vehicle 46 is decelerated, and the blinker 54 is configured to flash when the virtual guide vehicle 46 turns right or left.

  Thus, in this embodiment, the image of the virtual guide vehicle 46 is displayed in the real scenery recognized by the driver. The route along which the virtual guide vehicle 46 travels is a travel route to the set destination, and the brake lamp 52 and the turn signal 54 are also lit. Accordingly, the driver is guided by following the virtual guide vehicle 46 as a guide vehicle, and can reach the destination through a predetermined travel route.

  Further, as schematically shown in FIG. 9, the virtual guide vehicle 46 is displayed in a translucent state. The transmittance of this virtual guided vehicle 46 is normally the transmittance determined in the “Transmittance” section of “Basic display setting of guided vehicle” in the initial setting (2). When an object is detected, all or part of the transmittance is increased.

  The route guidance device of the present embodiment changes the display position or display mode of the virtual guidance vehicle when the obstacle to be visually recognized cannot be seen behind the virtual guidance vehicle, and the driver It is comprised so that an obstruction can be visually recognized. Furthermore, the route guidance device of the present embodiment is configured such that the display position of the virtual guidance vehicle can be changed according to the vehicle speed or the like.

The determination of the basic display position and display form of the virtual guided vehicle and the change thereof are performed in “Calculation of display position / display form of guided vehicle” in S5 of the flowchart of FIG.
Next, the processing content in “Calculation of display position / display form of guided vehicle” in S5 of the flowchart of FIG. 4 will be described along the flowchart of FIG.

  First, a traveling environment is detected in S10. The driving environment is various states. Specifically, the road condition in front of the vehicle detected by the CCD camera 24, the relative distance and relative speed with respect to the obstacle and the preceding vehicle detected by the laser radar device 26, the own vehicle Traveling speed, acceleration / deceleration, etc.

  In S11, it is determined whether the guidance vehicle display is ON. When “ON” is selected in the “Guided vehicle display” section of the initial setting (2) shown in FIG. 6, YES is obtained in S11 and the process proceeds to S12.

  In S12, the inter-vehicle distance between the virtual guide vehicle and the host vehicle is set, and this is set as the basic inter-vehicle distance. This basic inter-vehicle distance is calculated based on the selection in the “inter-vehicle distance” section of “basic display setting of guided vehicle” in the initial setting (2) shown in FIG. A specific calculation method will be described later.

  Furthermore, it progresses to S13 and the correction control with respect to the basic inter-vehicle distance calculated by S12 is performed. This correction control is used to guide the route with a virtual guided vehicle without giving a sense of incongruity to the driver when approaching an intersection to be turned left or right, when a preceding vehicle exists, or when passing through a curve with poor visibility. It is executed to ensure that it is done. Details of this correction control will also be described later.

  Furthermore, it progresses to S14 and the display form of a virtual guidance vehicle is calculated. The calculation of this display mode is performed to change the display mode of the virtual guided vehicle for the purpose of ensuring that the driver visually recognizes an obstacle that the driver should visually recognize, although the virtual guided vehicle is translucent. It is what is said. Details of the calculation in this display form will also be described later.

  In the present embodiment, as a change in the display mode of the virtual guided vehicle, the size of the virtual guided vehicle is reduced and the transmittance is increased (the image of the virtual guided vehicle is thinned). As shown in FIGS. 11 and 12, the reduction of the virtual guided vehicle and the increase of the transmittance are set so that the changing speed of the transmittance is larger than the reducing speed. With such a configuration, when the reduction of the virtual guided vehicle and the increase of the transmittance are performed at the same time, the image of the thinned virtual guided vehicle appears to be reduced, and even if the image of the virtual guided vehicle is reduced , Drivers are less likely to remember.

  Finally, display of the virtual guided vehicle is executed in S15. When the change of the display position and the display form is set, the change is executed at a timing suitable for the change. In the present embodiment, the display of the executed virtual guided vehicle is continued for a predetermined time, and the display state of the virtual guided vehicle is frequently changed to prevent the driver from feeling uncomfortable.

  Next, the processing contents of the basic inter-vehicle distance calculation executed in S12 of the flowchart of FIG. 10 will be described with reference to FIG. FIG. 13 is a flowchart showing the processing contents of the basic inter-vehicle distance calculation.

  When the calculation process is started, first, an inter-vehicle distance Lv corresponding to the vehicle speed is set in S20. The inter-vehicle distance Lv is set by reading a value corresponding to the vehicle speed from the map shown in FIG. As shown in FIG. 14, the inter-vehicle distance Lv is set so as to increase as the vehicle speed of the host vehicle increases. Further, the inter-vehicle distance Lv differs between the suburbs and the urban areas. Whether it is a suburb or an urban area is determined based on the traveling position of the host vehicle and map data.

  Next, in S21, the inter-vehicle distance Lv is corrected according to the road surface condition. That is, when the vehicle is in a low μ state due to rain / snow or the like, a correction coefficient of 1.2 is applied to increase the inter-vehicle distance. When traveling at night, in S22, the correction coefficient 1.2 is applied to the value corrected in S21 to increase the inter-vehicle distance.

Further, when traveling on a curve having a curvature larger than a predetermined value, the correction coefficient 0.8 is applied to the value corrected in S22 to reduce the inter-vehicle distance. This is to make the driver visually recognize the virtual guidance vehicle. The curvature of the running curve is determined based on the map data. Further, as the curvature of the curve increases, the correction coefficient may be decreased to shorten the inter-vehicle distance from the virtual guided vehicle.
Finally, in S24, the corrected value is determined as the basic inter-vehicle distance L.

  Next, the processing content of the correction control for the basic inter-vehicle distance executed in S13 of the processing shown in the flowchart of FIG. 10 will be described with reference to FIG. FIG. 15 is a flowchart showing the processing content of the correction control for the basic inter-vehicle distance.

  When the calculation process is started, first, a traveling environment is detected in S30. The traveling environment is various states, and specifically, road conditions in front of the vehicle detected by the CCD camera 24 and the laser radar device 26, relative distances and relative speeds with obstacles and preceding vehicles, and traveling speed of the host vehicle. And acceleration / deceleration.

  Next, in S31, it is determined whether or not a condition for correcting the basic inter-vehicle distance L is satisfied. In this embodiment, three conditions are set as this condition: an intersection approaching a route for turning right or left is approaching, a preceding vehicle is present, and an attempt is made to pass a curve with poor visibility. If any of these conditions is satisfied, it is necessary to correct the basic inter-vehicle distance L, and thus the process proceeds to S32 and subsequent steps to execute the correction process. When none of these conditions is satisfied, the routine returns because there is no need to correct the basic inter-vehicle distance L. Note that a curve with a poor view means a curve that is the same distance as the basic inter-vehicle distance L and cannot be seen through.

  Next, in S32, it is determined which of the above three conditions is met. If the predetermined intersection is approaching, the process proceeds to S33, and if there is a preceding vehicle, the process proceeds to S34, where the curve with poor visibility is displayed. Sometimes the process proceeds to S35. These conditions are prioritized in the order of “intersection”, “preceding vehicle”, “curve”, and when two or more conditions are satisfied at the same time, it is determined that the condition with higher priority is satisfied. Done. That is, when both the “intersection” and “preceding vehicle” conditions are satisfied, the process proceeds to S33, which is a process when the “intersection” condition is satisfied.

  In S33, it is determined whether or not the intersection where the route guidance is performed is visible. This determination is performed based on data such as map data and a driver's line of sight detected by the eye camera 20. If YES in S33, the process proceeds to S36, and a notification is made by voice or the like indicating that the distance from the virtual guided vehicle to which the intersection to be guided is approaching is changed. This is because the virtual guided vehicle suddenly increases its speed and moves away from the host vehicle to prevent the driver from shaking.

  Next, the process proceeds to S37, where the virtual guidance vehicle is accelerated to advance to the intersection to be route-guided, and further, the display form is set so as to inform the driver of the intersection to be turned by stopping at that corner. In such a display mode, the inter-vehicle distance between the virtual guide vehicle and the host vehicle is reduced at the corner.

In the present embodiment, when the virtual guide vehicle 46 is accelerated to precede the intersection to be routed, the virtual guide vehicle 46 is configured to go to the intersection while blinking the blinker 54 indicating the direction to be turned.
With such a display form, the field of view is opened by the virtual guided vehicle leading, and an intersection to be bent can be visually recognized at an early stage.

  FIG. 16 is a display example of the virtual guided vehicle 46 when turning left at the intersection, and FIG. 17 is a display example of the virtual guided vehicle when turning right at the intersection. In the case of a right turn, as shown in FIG. 17, the virtual guide vehicle 46 ′ is stopped at a position where the vehicle starts to turn, and thereafter, after a predetermined time has elapsed or when the host vehicle reaches a predetermined position, the virtual guide vehicle 46 It is also possible to adopt a configuration in which the is entered at a corner.

  Next, the process proceeds to S38, in which it is determined whether or not the distance to the intersection to be route-guided is a predetermined distance A or less. The predetermined distance A is a distance set in the item “display setting at intersection guidance” in the initial setting (2). If NO in S38, the determination in S38 is repeated until YES.

  If YES in S38, that is, if the host vehicle reaches a point within the distance A from the intersection where the vehicle should turn left or right, the process proceeds to S39, and the inter-vehicle distance from the virtual guide vehicle 46 is returned to the basic inter-vehicle distance L. That is, the virtual guide vehicle 46 that has been stopped is restarted so that the apparent inter-vehicle distance with the host vehicle becomes the basic inter-vehicle distance L.

  Further, instead of the processes of S37 to S39, the virtual guided vehicle is stopped at a corner at an intersection where the route after the right or left turn cannot be visually recognized, and the virtual guided vehicle is turned at a low speed at the intersection where the route after the right or left turn is visible. A display mode may be used. Even in such a display form, the inter-vehicle distance between the virtual guide vehicle and the host vehicle is reduced at the corner.

  Further, a display mode may be adopted in which a corner is turned while the virtual guide vehicle is decelerated, the vehicle is further decelerated at a position passing through the corner, and the host vehicle waits for the vehicle to turn the corner.

  On the other hand, if NO in S33, the intersection to be routed cannot be visually recognized, and the driver cannot be notified of the intersection to be turned left or right by the virtual guided vehicle, so the flag F is set to 1 and the process returns.

  When it is determined that there is a preceding vehicle and the process proceeds to S34, it is determined whether or not the virtual guide vehicle displayed at a basic inter-vehicle distance L in front of the host vehicle interferes with the preceding vehicle. This determination is executed based on the detection results of the CCD camera 24 and the laser radar device 26.

  If YES in S34, the process proceeds to S41, and the inter-vehicle distance between the virtual guide vehicle and the host vehicle is corrected so that the virtual guide vehicle is displayed a predetermined distance before the preceding vehicle. As a result, as shown in FIGS. 18 and 19, the virtual distance between the preceding vehicle 48 and the own vehicle is relatively long (FIG. 18) or short (FIG. 19). The guide vehicle 46 is displayed between the preceding vehicle 48 and the host vehicle. Further, the virtual guided vehicle may be displayed in a reduced size.

Next, in S42, it is determined whether the inter-vehicle distance between the preceding vehicle and the host vehicle is equal to or less than a predetermined distance A2. The predetermined distance A2 is the initial distance (2) “Display setting when there is a preceding vehicle”, It is the distance set in the section “Erase when m”.

  If YES in S42, the preceding vehicle is in a very close state, so the flag F is set to 2 in S43 and the process returns. When S34 and S42 are NO, the process returns as it is.

When it is determined that the vehicle passes through a curve with poor visibility and the process proceeds to S35, it is determined in S35 whether or not the vehicle is traveling on a mountain road. This determination is performed based on the position of the host vehicle, map data, and the like.
When NO at S35, the routine proceeds to step 44, where it is determined whether or not the vehicle is a blind curve. When YES in S44, the process proceeds to S45, and a correction process is executed to make the inter-vehicle distance between the virtual guide vehicle and the host vehicle shorter than the basic inter-vehicle distance L (FIG. 20). If NO in S44, the process proceeds to S46, and the basic inter-vehicle distance L is shortened so that the virtual guided vehicle 46 is displayed at the most visible portion of the road surface that can be visually recognized.

  If YES in S35, the process proceeds to S47. If the travel mode is set to “ON” in the initial setting (2), the correction for changing (shortening) the basic inter-vehicle distance L is prohibited. As a result, the virtual guide vehicle 46 is displayed to travel ahead of the host vehicle with a basic inter-vehicle distance L. At this time, when the road beyond the basic inter-vehicle distance L cannot be seen, it is preferable that the display mode is such that the virtual guide vehicle 46 disappears in the shade, as shown in FIG.

  Next, the processing content of the display form calculation of the virtual guided vehicle executed in S14 of the processing shown in the flowchart of FIG. 10 will be described along the flowchart of FIG. This process is a process in the case where “Transmittance up” and “Reduction” are selected in the section “Display setting when detecting an obstacle on the road” in the initial setting (2).

  When the calculation process is started, first, a base transmittance, which is a basic transmittance of the virtual guided vehicle displayed in S50, is set. This base transmittance is shown in the graph of FIG. 24 in “Transmittance” set in the “Transmittance” section of “Basic display setting of guided vehicle” in the initial setting (2) described with reference to FIG. The value is such that the transmittance is increased as the speed of the host vehicle increases.

  Next, the process proceeds to S50, where a base size, which is a basic size of the displayed virtual guided vehicle, is set. The base size is changed by correcting the inter-vehicle distance (FIG. 15) from the size set in the “size” section of “basic display setting of guided vehicle” in the initial setting (2) described with reference to FIG. Furthermore, the value is changed by correction so that the size of the vehicle decreases as the speed of the host vehicle increases as shown in the graph of FIG.

  As is clear from FIGS. 24 and 25, the change in transmittance is completed on the lower speed side than the change in size. Therefore, on the high speed side, the transmittance is not changed and only the size is reduced.

  Next, in S52, it is determined whether there is an obstacle that interferes with the virtual guide vehicle in front of the host vehicle. This determination is made based on detection results by the CCD camera 24 and the laser radar device 26. This determination may be simply a determination as to whether or not an obstacle exists.

  For example, as shown in FIG. 26, when the vehicle C parked on the road shoulder is ahead and the virtual guide vehicle 46 interferes with or is predicted to interfere with the stopped vehicle 56, in S52 Yes.

  When YES is determined in S52, the display form of the virtual guided vehicle is changed. Therefore, in S53, the driver is notified of the change of the display form and the reason thereof by voice or the like. When S52 is YES, it is notified that there is an obstacle ahead. This is to prevent the display form of the virtual guided vehicle from suddenly changing and the driver from feeling uncomfortable.

  If NO in S52, the process proceeds to S54, and it is determined whether there is a traffic sign that interferes with the virtual guide vehicle in front of the host vehicle. This determination is also made based on detection results by the CCD camera 24 and the laser radar device 26. Even in the case of YES in S54, the driver is notified by voice or the like of the change of the display form and the reason in S53. When S54 is YES, it is notified that there is a traffic sign ahead.

  If NO in S54, the process proceeds to S55, and it is determined whether there is a pedestrian or two-wheeled vehicle that interferes with the virtual guide vehicle in front of the host vehicle. This determination is also made based on detection results by the CCD camera 24 and the laser radar device 26. Even in the case of YES in S55, the driver is notified by voice or the like of the change of the display form and the reason in S53. When S55 is YES, it is notified that there are pedestrians and motorcycles ahead.

  When the process of S53 ends, the process proceeds to S56, and it is determined whether or not the size of the virtual guided vehicle is equal to or larger than a predetermined value. If the size of the virtual guided vehicle is less than or equal to the predetermined size due to correction, etc., if the size is reduced as a change of the display form, the virtual guided vehicle becomes extremely small and it is difficult for the driver to recognize. This is to prevent such a situation.

  If YES in S56, that is, if the base size set in S51 is equal to or larger than a predetermined size, the process proceeds to S57, and a change in display mode is set to increase the transmittance of the virtual guided vehicle and reduce the size. . That is, as shown in FIG. 27, the transmittance of the displayed virtual guidance vehicle 46 is increased and the size is reduced so that the driver can surely see the vehicle 56 parked on the shoulder. ing. At this time, the virtual guided vehicle is reduced around the center point of the virtual guided vehicle so that the driver does not feel uncomfortable, and the display position of the virtual guided vehicle 46 is not changed.

  If NO in S56, that is, if the base size set in S51 is less than a predetermined size, the process proceeds to S58, and the display mode increases the transmittance without changing the size of the virtual guided vehicle. Set changes.

  In S57 or S58, the display mode is changed so that the transmittance of the peripheral portion of the virtual guide vehicle is larger than the transmittance of the central portion. That is, the image of the peripheral part of the virtual guidance vehicle becomes thinner. However, the display form may be changed so as to increase the transmittance of both sides of the virtual guided vehicle or to increase the transmittance of the side portion on the shoulder side of the virtual guided vehicle.

  When YES in S54, the transmittance of the entire virtual guided vehicle is increased (FIG. 28) or the virtual guided vehicle is reduced (FIG. 29), so that the driver can visually recognize the road sign 58 on the road surface. In this way, the display form may be changed.

  If NO in S55, the process proceeds to S59, and it is determined whether or not the flag F set in S40 of the correction process for the basic inter-vehicle distance (FIG. 15) is 1. If YES at S59, the intersection to be turned right or left cannot be visually recognized. Therefore, the process proceeds to S60, and the virtual arrow 60 indicating the direction to turn along with the voice guidance indicating that the intersection to be turned right or left is near is displayed on the actual landscape. It is set to perform a display form (FIG. 30) that is displayed in a superimposed manner.

  If NO in S59, the process proceeds to S61, and it is determined whether or not the flag F set in S43 of the correction process for the basic inter-vehicle distance (FIG. 15) is 2. If YES in S61, the display mode of the virtual guided vehicle is changed because the preceding vehicle is in a state of being very close to the host vehicle. For this reason, it progresses to S62 and it sets so that a driver | operator may be notified by an audio | voice etc. that the display form is changed and the reason.

  Next, the process proceeds to S63, in which it is determined whether or not the intersection to be routed is within a predetermined distance. If YES in S63, it is considered that the driver cannot visually recognize the intersection to be turned right and left and the nearby road by the approaching preceding vehicle 48, so the virtual guide vehicle 46 is reduced as shown in FIG. The road 62 in the vicinity of the intersection and the arrow 64 indicating the direction to travel are virtually displayed to notify the driver of the direction to travel.

  Further, when NO in S63, there is no need to perform route guidance for the time being, so the display of the virtual guided vehicle is set to be stopped to prevent the driver from feeling uncomfortable with the unnaturally displayed virtual guided vehicle. .

  Further, when NO in S61, the virtual guided vehicle is set to be displayed in the normal display form based on the initial setting, the settings in S50, S51, etc. without changing the display form of the virtual guided vehicle.

  As described above, based on the display mode set in S57, S58, S60, S64, S65, and S66, the virtual guided vehicle is displayed in S15.

  The present invention is not limited to the above-described embodiment, and various changes and modifications can be made within the scope of the matters described in the claims.

  For example, in the above embodiment, in order to make the driver visually recognize an obstacle, the size of the virtual guided vehicle is reduced and the transmittance is increased (S57), or the transmittance of the virtual guided vehicle is increased (S58). It is the structure which changes a form. However, in the initial setting (2), in the “display setting when detecting an obstacle on the road” section, when “displace to the side” is selected, as shown in FIG. 32, the driver The structure which changes the display form which moves the display position of a virtual guidance vehicle so that an obstacle can be visually recognized may be sufficient.

Further, as shown in FIG. 33, a configuration in which the display form for changing the size of the virtual guided vehicle and moving it is also possible. Further, when the display position of the virtual guide vehicle is moved, the display form may be changed to reduce the virtual guide vehicle so that it does not protrude into the adjacent lane (FIG. 34).
Moreover, the structure which changes the display form which moves the display position of a virtual guidance vehicle sideways and enlarges the transmittance | permeability may be sufficient.

It is a block diagram which shows the route guidance apparatus of the preferable embodiment of this invention. It is a block diagram which shows the content of the HDD memory | storage device of the route guidance apparatus of one Embodiment of this invention. It is a figure which shows the circumference | surroundings of the driver's seat of the vehicle by which the route guidance apparatus of one Embodiment of this invention is mounted. It is a flowchart which shows the process of the basic control of the route guidance apparatus of one Embodiment of this invention. It is a figure which shows initial setting (1) which is a monitor screen in the case of initial setting by the route guidance apparatus of this embodiment of this invention. It is a figure which shows initial setting (2) which is a monitor screen at the time of initial setting by the route guidance apparatus of this embodiment of this invention. It is a figure which shows the actual scenery which a driver | operator recognizes through the front window glass of the own vehicle. It is a figure which shows the scenery containing the image of the virtual guidance vehicle which a driver | operator sees through the front window glass of a vehicle. It is a figure explaining a virtual guidance vehicle. It is a flowchart which shows the processing content of the display position and display form calculation of a guidance vehicle performed with the route guidance apparatus of one Embodiment of this invention. It is a graph of the transmittance | permeability change speed used by the processing content of the display position and display form calculation of the guidance vehicle of FIG. It is a graph of the reduction | decrease change speed used by the processing content of the display position and display form calculation of the guidance vehicle of FIG. It is a flowchart which shows the processing content of the calculation of the basic inter-vehicle distance performed by the process of FIG. It is a map for setting the inter-vehicle distance Lv. It is a flowchart which shows the processing content of the correction | amendment control with respect to the basic inter-vehicle distance performed by the process of FIG. It is a display example of the virtual guided vehicle when making a left turn at an intersection. It is an example of a display of the virtual guidance vehicle in the case of making a right turn at an intersection. It is an example of a display of a virtual guidance vehicle when a preceding vehicle exists comparatively far. It is an example of a display of a virtual guidance vehicle when a preceding vehicle exists near. It is an example of a display of the virtual guidance vehicle in a curve with a bad view. It is an example of a display of the virtual guidance vehicle in a curve with a bad view. It is an example of a display of the virtual guidance vehicle in a curve with a bad view. It is a flowchart which shows the processing content of the display form calculation of the virtual guidance vehicle performed by the process of FIG. It is a graph which shows the relationship between the vehicle speed of the own vehicle, and the transmittance | permeability of a virtual guidance vehicle. It is a graph which shows the relationship between the vehicle speed of the own vehicle, and the size of a virtual guidance vehicle. It is a figure which shows the scenery containing the obstruction and virtual guidance vehicle which a driver | operator sees through the windshield of a vehicle. It is a figure which shows the scenery containing the obstruction and virtual guidance vehicle which a driver | operator sees through the windshield of a vehicle. It is a figure which shows the scenery containing the road sign and virtual guidance vehicle which a driver | operator sees through the windshield of a vehicle. It is a figure which shows the scenery containing the road sign and virtual guidance vehicle which a driver | operator sees through the windshield of a vehicle. It is a figure which shows the scenery containing the obstruction and virtual guidance vehicle which a driver | operator sees through the windshield of a vehicle. It is a figure which shows the scenery containing the preceding vehicle and virtual guidance vehicle which a driver | operator sees through the windshield of a vehicle. It is a figure which shows the scenery containing the obstruction and virtual guidance vehicle which a driver | operator sees through the windshield of a vehicle. It is a figure which shows the scenery containing the obstruction and virtual guidance vehicle which a driver | operator sees through the windshield of a vehicle. It is a figure which shows the scenery containing the obstruction and virtual guidance vehicle which a driver | operator sees through the windshield of a vehicle.

Explanation of symbols

1 route guidance device 2 CPU
4 DVD-ROM
6 HDD storage device 8 Monitor screen 10 Operation switch 12 Transmission / reception device 14 GPS receiver 16 Vehicle speed sensor 18 Gyro sensor 20 Eye camera 22 Virtual image display device 24 CCD camera 26 Laser radar device 28 Road surface μ sensor 30 Voice interaction device 32 Alarm device 44 Front window 46 Virtual guided vehicle 48 Leading vehicle 50 Pedestrian 52 Brake lamp 54 Turn signal

Claims (27)

A route guidance device for guiding a vehicle to a set destination,
Guided vehicle display means for displaying a virtual guided vehicle that travels in front of the vehicle and guides the vehicle to the destination in a superimposed manner on an actual landscape that the driver of the vehicle is viewing;
Display changing means for changing a display position and / or a display form of the virtual guided vehicle based on a predetermined condition,
A route guidance device characterized by that. The guided vehicle display means displays the virtual guided vehicle with a transmittance such that a real landscape can be seen through.
The route guidance device according to claim 1. A detecting means for detecting an obstacle ahead of the vehicle;
The display changing means changes a display position and / or a display form of the virtual guided vehicle so that the driver can visually recognize the obstacle when the obstacle is detected.
The route guidance device according to claim 1 or 2. The display changing means increases the transmittance of the virtual guided vehicle without changing the display position of the virtual guided vehicle when the obstacle is detected.
The route guidance device according to claim 3. The display changing means increases the transmittance of both sides of the virtual guided vehicle when the obstacle is detected;
The route guidance device according to claim 4. The display changing means increases the transmittance of a side portion on the shoulder side of the virtual guided vehicle when the obstacle is detected;
The route guidance device according to claim 4. The display changing means, when the obstacle is detected, makes the transmittance of the peripheral portion of the virtual guided vehicle larger than the transmittance of the central portion of the virtual guided vehicle.
The route guidance device according to claim 4. The display changing means reduces the size of the virtual guidance vehicle so that the obstacle can be visually recognized without changing the display position of the virtual guidance vehicle in the left-right direction when the obstacle is detected. ,
The virtual guidance vehicle according to claim 3 or 4. The display changing means, when the obstacle is detected, the virtual guided vehicle is reduced and displayed around the center point of the virtual guided vehicle;
The virtual guided vehicle according to claim 8. The display change means increases the transmittance of the virtual guided vehicle or decreases the size as the vehicle speed of the vehicle is higher.
The route guidance device according to any one of claims 4 to 9. The display changing means changes the transmittance and size of the virtual guided vehicle when the vehicle speed of the vehicle is low, and changes only the transmittance of the virtual guided vehicle when the vehicle speed of the vehicle is high.
The route guidance device according to any one of claims 4 to 10. The display changing means determines a timing at which the driver should visually recognize the obstacle, and changes the display position of the virtual guided vehicle so that the driver can visually recognize the obstacle according to the timing. ,
The route guidance device according to claim 3. The display changing means reduces the size of the virtual guided vehicle in accordance with the change in the display position of the virtual guided vehicle.
The route guidance device according to claim 12. The display changing means increases the transmittance of the virtual guided vehicle in accordance with the change of the display position of the virtual guided vehicle.
The route guidance device according to claim 12 or 13. The display changing means increases the transmittance of the virtual guided vehicle faster than the size reduction;
The route guidance device according to claim 14. The display changing means limits the change in the display position of the virtual guided vehicle so that the virtual guided vehicle does not protrude from the lane in which the vehicle is running.
The route guidance device according to claim 12 or 13. A second route guidance means for performing route guidance when changing the display mode;
The route guidance device according to any one of claims 1 to 16. The display changing means continues changing the display position or display form of the virtual guided vehicle for a predetermined time.
The route guidance device according to any one of claims 1 to 17. A preceding vehicle detecting means for detecting a preceding vehicle preceding the vehicle and a distance from the preceding vehicle;
The display change means changes the display position and / or display form of the virtual guide vehicle so that the driver can visually recognize the preceding vehicle at a predetermined timing when the preceding vehicle is detected. ,
The route guidance device according to any one of claims 1 to 3. The display changing means displays the virtual guided vehicle between the vehicle and the preceding vehicle when the preceding vehicle is detected.
The route guidance device according to claim 19. The display changing means reduces and displays the virtual guided vehicle when the distance from the preceding vehicle is a predetermined value or less.
The route guidance device according to claim 20. Comprising a third route guidance means for displaying the guidance information superimposed on the obstacle or the preceding vehicle,
The route guidance device according to claim 21. The third route guiding means displays a road display to be advanced and a direction indication display to be advanced.
The route guidance device according to claim 22. It is possible to select whether or not to change the display position and / or display form of the virtual guided vehicle by the display changing means.
The route guidance device according to any one of claims 1 to 23. The display state of the virtual guided vehicle by the guided vehicle display means can be set.
The route guidance device according to any one of claims 1 to 24. A route guidance method for guiding a vehicle to a set destination,
Displaying a virtual guided vehicle that travels in front of the vehicle and guides the vehicle to the destination, superimposed on an actual scenery that the driver of the vehicle is viewing;
Changing a display position and / or a display form of the virtual guided vehicle based on a predetermined condition,
A route guidance method characterized by that. A route guidance program for a computer for guiding a vehicle to a set destination,
A virtual guidance vehicle that travels in front of the vehicle and guides the vehicle to the destination is displayed superimposed on an actual landscape visually recognized by the driver of the vehicle, and the virtual guidance vehicle is displayed based on a predetermined condition. Controlling the computer to change the display position and / or display form of the vehicle;
A route guidance program characterized by that.

Images