JP2007010544A - Navigation device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a navigation device capable of reducing processing load and improving detection accuracy in detecting a grade separation road. <P>SOLUTION: The navigation device comprises a map DB 10 or the like for storing map data including installation positions of signals and road geometries, a signal detecting section 30 for detecting a signal existing in front of a vehicle during vehicle travel, a signal comparing section 32 for determining whether the road is grade-separated based on the installation positions of signals included in the map data stored in the map DB 10 or the like and the detection result of the signal by the signal detecting section 30, an grade separation determining section 34, and a map data updating section 36 for updating the map data corresponding to the road determined to be grade-separated by the grade separation determining means. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a navigation apparatus that updates map data based on an image taken by a camera while a vehicle is traveling.

Conventionally, a navigation device that recognizes the contents of lane markings, white lines drawn on roads, signboards of various facilities, and the like based on images taken with an in-vehicle camera and updates map data based on the recognition results is known. (For example, refer to Patent Document 1). By using this navigation device, it is possible to automatically update the map data to the contents corresponding to the latest road conditions simply by taking an image around the vehicle while the vehicle is running.
JP 2002-243469 A (page 3-8, FIG. 1-7)

  By the way, in the navigation device disclosed in Patent Document 1 described above, a change in the road shape is detected based on a white line drawn on the road, but when attention is paid to a three-dimensional intersection of the road as a change in the road shape. There is a problem that the processing load is large and the detection accuracy is low. For example, when trying to detect a three-dimensionally crossed road based on a white line drawn on the road, it is necessary to detect the shape of the white line constantly while driving, so processing by a processor with a certain level of processing power is required. It becomes. In addition, since the relationship between the shape of the white line and the road that has been three-dimensionally crossed is not clear, a road that has been three-dimensionally crossed based on the white line is not necessarily detected.

  The present invention has been created in view of the above points, and an object of the present invention is to provide a navigation device that can reduce the processing burden and improve the detection accuracy when detecting a three-dimensional intersection road. There is.

  In order to solve the above-described problems, a navigation device according to the present invention includes a map data storage unit that stores map data including an installation position of a traffic signal and a road shape, and a traffic signal that detects a traffic signal existing in front of the vehicle while the vehicle is traveling. A three-dimensional intersection that determines whether or not a road has been three-dimensionally crossed based on the detection means, the installation position of the traffic signal included in the map data stored in the map data storage means, and the detection result of the traffic signal by the traffic signal detection means Determination means, and map data update means for updating map data corresponding to the road determined to be three-dimensionally crossed by the three-dimensional intersection determination means. In this way, the traffic light on the map is compared with the traffic light actually detected by driving to determine whether the road is crossed, so the comparison is clear and the processing burden is reduced. can do. In addition, when a road is three-dimensionally crossed, the installation status of traffic lights usually changes, so detection accuracy can be improved by determining whether a road has three-dimensional intersection based on this change in the installation status. It becomes.

  In addition, it is preferable that the camera further includes a camera that captures the front of the vehicle, and the traffic signal detection means performs traffic signal detection by extracting a traffic signal image included in an image captured by the camera. Because the traffic lights are standardized according to laws and regulations, it is easy to take a picture with a camera and extract the traffic light image included in the captured image. By doing so, it is possible to reduce the processing burden required for signal detection and improve detection accuracy.

  Further, it is desirable that the above-described three-dimensional intersection determination means determines that the road has been three-dimensionally intersected when there is no actual signal at the traffic signal installation position included in the map data. If the intersection where the traffic signal was installed was converted into a three-dimensional intersection, the traffic signal that had existed until then was removed, and by detecting the change in the installation status of this traffic signal, the three-dimensional intersection of the road was made. It can be detected with high accuracy.

  In addition, the above-described three-dimensional intersection determination means records the intersection where there is no actual traffic signal, and the next time the intersection passes through another road that intersects the current traveling road, It is desirable to perform determination as a three-dimensional intersection. Since there may be no traffic lights even when one of the roads intersecting at the intersection is abolished, after passing through the intersection where the traffic light has disappeared, confirm the existence of another road that intersects this intersection and then this intersection Can be detected with higher accuracy by determining that the road has been crossed.

  In addition, the above-described three-dimensional intersection determination means may be configured such that when passing through an intersection through another road, when at least one of the position and number of traffic lights installed corresponding to the intersection is changed, It is desirable to perform determination as a three-dimensional intersection. If there is no traffic signal on one road where the road is three-dimensionally crossed, the position and number of traffic lights will change on the other roads that intersect at this intersection, so check the changes corresponding to this other road Then, by determining that the intersection is a three-dimensional intersection, the three-dimensional intersection of the road can be detected with higher accuracy.

  Further, a solid intersection confirmation means for performing a predetermined confirmation notification when the road is determined to be a solid intersection by the solid intersection determination means described above, and an operation means for receiving a confirmation operation for the confirmation notification by the solid intersection confirmation means; Preferably, the map data update means updates the map data when the confirmation operation received by the operation means is affirmative with respect to the determination result by the three-dimensional intersection determination means. As a result, it is possible to prevent the result of erroneously determining that the intersection is a three-dimensional intersection from being reflected in the map data.

  Hereinafter, an in-vehicle navigation device according to an embodiment to which the present invention is applied will be described with reference to the drawings. FIG. 1 is a diagram illustrating a configuration of a navigation device according to an embodiment. The navigation device shown in FIG. 1 includes a navigation controller 1, a vehicle position detection unit 2, a remote control (remote control) unit 3, a display device 4, an audio unit 5, and a camera 6.

  The navigation controller 1 controls the overall operation of the navigation device. The navigation controller 1 realizes its function by executing a predetermined operation program using a CPU, ROM, RAM, or the like. The detailed configuration of the navigation controller 1 will be described later.

  The vehicle position detection unit 2 includes, for example, a GPS receiver, an orientation sensor, a distance sensor, and the like, detects the vehicle position (longitude, latitude) at a predetermined timing, and outputs a detection result. The remote control unit 3 includes a joystick for designating directions such as up, down, left, and right, and various operation keys such as a numeric keypad for inputting numbers and a “decision key” for confirming various settings. A signal is output to the navigation controller 1. Based on the drawing data output from the navigation controller 1, the display device 4 displays various images such as a map image around the vehicle position and a confirmation notification image for confirming the intersection crossing. The audio unit 5 outputs a guidance voice or the like generated based on the voice signal input from the navigation controller 1 into the vehicle interior. The camera 6 is installed in the front part of the vehicle (may be inside the windshield if the front side of the vehicle is included in the visual field range), and takes a picture of a traffic light existing in front of the traveling vehicle. Since the traffic light is characterized by its shape and color, a camera 6 capable of photographing a color image is used.

  Next, a detailed configuration of the navigation controller 1 will be described. A navigation controller 1 shown in FIG. 1 includes a map DB (database) 10, a map data processing unit 12, a map buffer 14, a map drawing unit 16, a vehicle position calculation unit 20, a route search processing unit 22, a guidance route drawing unit 24, voice It includes a guide unit 26, a traffic signal detection unit 30, a traffic signal comparison unit 32, a solid intersection determination unit 34, a map data update unit 36, an input processing unit 40, and a display processing unit 50.

  The map DB 10 stores map data necessary for map display and route search. For example, a hard disk device is used, but a DVD or CD may be loaded into the disk drive device and used as the map DB. The map DB 10 stores map data in units of rectangular figure leaves divided into appropriate sizes by longitude and latitude. The map data of each leaf can be specified and read by designating the leaf number. The map data processing unit 12 reads and writes (updates) the map data stored in the map DB 10. For example, when the vehicle position calculated by the vehicle position calculation unit 20 or the cursor position determined by the operation of the input processing unit 40 is specified, the map data processing unit 12 reads map data in a predetermined range from the map DB 10.

  The map buffer 14 temporarily stores map data read from the map DB 10 by the map data processing unit 12. Based on the map data stored in the map buffer 14, the map drawing unit 16 performs a drawing process necessary for displaying a map image and creates map image drawing data.

  The vehicle position calculation unit 20 calculates the vehicle position based on the detection data output from the vehicle position detection unit 2, and if the calculated vehicle position is not on the road of the map data, the vehicle position calculation unit 20 calculates the vehicle position. Perform map matching processing to correct.

  The route search processing unit 22 searches for a travel route (guidance route) that connects a departure point and a destination (or waypoint) according to a predetermined search condition. The guide route drawing unit 24 generates guide route drawing data for displaying the guide route obtained by the search processing by the route search processing unit 22 on the map. The voice guidance unit 26 generates a voice signal such as intersection guidance necessary for guiding the vehicle along the guidance route obtained by the search process by the route search processing unit 22.

  The traffic signal detection unit 30 performs traffic signal detection by extracting a traffic signal image included in an image captured by the camera 6. For example, since an operating traffic light always has one of red, yellow, and green, it is high with a small processing burden by cutting out a predetermined area including any of the colors and performing a match determination with the traffic light shape. It becomes possible to perform signal detection with high accuracy.

  The traffic light comparison unit 32 is actually detected by this traffic signal included in the map data and the traffic signal detection unit 30 when it is determined from the vehicle position and the map data that the intersection where the traffic signal is set is approaching. Compare with the traffic light. In this comparison, not only the presence / absence of a traffic light but also the installation position is considered.

  Based on the comparison result by the traffic light comparison unit 32, the solid intersection determination unit 34 determines whether or not the intersection corresponding to the traffic signal serving as the comparison reference has been solidified. Further, the solid intersection determination unit 34 generates confirmation notification image data for requesting the user to confirm the solid intersection of the intersection. The map data update unit 36 updates the map data corresponding to the road including the intersection when the intersection is converted into a three-dimensional intersection. However, the update of the map data is performed when a positive confirmation operation is performed by the user with respect to the confirmation notification made by the three-dimensional intersection determination unit 34.

  The input processing unit 40 outputs commands for performing operations corresponding to various operation instructions input from the remote control unit 3 to each unit in the navigation controller 1. The display processing unit 50 receives the map image drawing data generated by the map drawing unit 16 and displays a predetermined range of map images on the screen of the display device 4 based on the drawing data. When the guidance route drawing data generated by the guidance route drawing unit 24 or the confirmation notification image data generated by the solid intersection determination unit 34 is input, the display processing unit 50 converts these drawing data into a map image. The images are displayed on the screen of the display device 4 in a superimposed manner.

  The map DB 10, the map data processing unit 12, and the map buffer 14 described above are used as map data storage means, the traffic signal detection unit 30 is used as traffic signal detection means, the traffic signal comparison unit 32, and the three-dimensional intersection determination unit 34 is used as three-dimensional intersection determination means. The update unit 36 corresponds to the map data update means and the solid intersection confirmation means, and the remote control unit 3 corresponds to the operation means.

  The navigation device of this embodiment has such a configuration, and the operation thereof will be described next. FIG. 2 is a flowchart showing a series of operation procedures from the detection of the absence of traffic lights to the update of map data for reflecting the intersection crossing. When an intersection approaches the front of the vehicle while the vehicle is traveling, the traffic light comparison unit 32 determines whether a traffic signal is installed at the intersection based on the map data stored in the map buffer 14 (step 100). If no traffic signal is installed at the approaching intersection, a negative determination is made and this determination is repeated.

  If a traffic signal is installed at the approaching intersection, an affirmative determination is made in the determination of step 100, and then the traffic signal detection unit 30 performs a traffic signal detection operation based on the image taken by the camera 6. Start (step 101) and determine whether a traffic light is actually installed at the approaching intersection (step 102). When the traffic signal is actually installed, an affirmative determination is made, and after the traffic signal detection operation by the traffic signal detection unit 30 is finished (step 103), the process returns to step 100 to install the traffic signal corresponding to the next approaching intersection. The processes after the determination are repeated.

  If there is no traffic signal at the approaching intersection, a negative determination is made in the determination of step 102. The traffic light comparison unit 32 determines whether or not the passing of the approaching intersection has ended (step 104). A negative determination is made until the vehicle passes through the intersection, and the traffic light detection unit 30 repeats the determination of the presence / absence of the traffic light in step 102. If the vehicle passes the intersection, an affirmative determination is made in the determination in step 104, and the traffic signal detection operation by the traffic signal detection unit 30 is terminated (step 105). As described above, when the traffic light is lost at the intersection where the traffic signal has been installed, the solid intersection determination unit 34 determines that the intersection has been converted into a solid intersection (step 106), and performs predetermined confirmation. Image data for displaying a notification image is generated, and this image is displayed on the display device 4 from the display processing unit 50 so as to notify the user of confirmation (step 107). For example, in this confirmation notice, the text “The intersection that has just passed has been determined to be a three-dimensional intersection. If it is correct, the map data will be updated. Please press the“ Enter ”key on the remote control.” The user who has confirmed the contents of the confirmation notification, presses the “Enter” key to allow the map data to be updated within a predetermined time if the determination of the intersection at the intersection is correct. To do.

  The map data update unit 36 determines whether or not there is a map data update permission operation (pressing the “decision” key) (step 108). If no operation is performed, a negative determination is made, and then a predetermined time has elapsed. Whether or not (step 109). If the predetermined time has not elapsed, a negative determination is made, and the determination in step 108 is repeated. If the predetermined time has elapsed, an affirmative determination is made in the determination of step 109. In this case, the user is not permitted to update the map data, and the process returns to step 100 and the processing after the determination of the installation of the traffic light corresponding to the next approaching intersection is repeated.

  If the map data update permission operation is performed within the predetermined time, an affirmative determination is made in the determination of step 108, and then the map data update unit 36 updates the map data regarding the passing intersection (step 110). . Thereafter, the process returns to step 100 and the processing after the installation determination of the traffic light corresponding to the next approaching intersection is repeated.

  In this way, in the navigation device of the present embodiment, the traffic light on the map and the traffic light actually detected by running are compared to determine whether or not the road is three-dimensionally crossed. Thus, the processing burden can be reduced. In addition, when a road is three-dimensionally crossed, the installation status of traffic lights usually changes, so detection accuracy can be improved by determining whether a road has three-dimensional intersection based on this change in the installation status. It becomes.

  In particular, since the shape and color of the traffic light are standardized according to laws and regulations, it is easy to take a picture with the camera 6 and extract the traffic light image included in the captured image. By detecting this, it is possible to reduce the processing burden required for signal detection and improve detection accuracy.

  Moreover, in this embodiment, when there is no actual traffic signal at the installation position of the traffic signal included in the map data, it is determined that the road (intersection) is a three-dimensional intersection. If the intersection where the traffic signal was installed was converted into a three-dimensional intersection, the traffic signal that had existed until then was removed, and by detecting the change in the installation status of this traffic signal, the three-dimensional intersection of the road was made. It can be detected with high accuracy.

  Also, when it is determined that the road has been crossed, a predetermined confirmation notification is given, and the map data is updated when the confirmation operation performed by the user is positive for the solid crossing Therefore, it is possible to prevent the result of erroneously determining that the intersection is a three-dimensional intersection from being reflected in the map data.

  FIG. 3 is a flowchart showing another example of a series of operation procedures from when it is detected that there is no traffic signal to when map data is updated to reflect the intersection at the intersection. In the flowchart shown in FIG. 2, it is determined that the intersection is a three-dimensional intersection when an intersection with no traffic signal is detected. However, in the flowchart shown in FIG. 3, after an intersection with no traffic signal is detected, The difference is that when this intersection is passed again through another road that intersects at this intersection, the intersection is determined to be a three-dimensional intersection. Steps 111 and 112 are added to the flowchart shown in FIG. Below, it demonstrates paying attention to a difference.

  After passing through the intersection where there is no traffic signal and the traffic signal detection operation is completed (step 105), the three-dimensional intersection determination unit 34 records this passing intersection and another road that intersects at this intersection (step 111). For example, the number of a node corresponding to a passing intersection and the number of two links on another road that are nodes at one end are recorded. This recorded content is performed using a non-volatile name memory (not shown) so that it can be maintained even when the navigation device is turned off.

  Further, once it is determined that the intersection has no traffic signal, it is treated as an intersection where no traffic signal is installed when the approaching intersection is detected in the next step 100. Accordingly, when the intersection is approached again through another road through another road, a negative determination is made in the determination of step 100. Next, the three-dimensional intersection determination unit 34 determines whether or not it has passed through another road and passed an intersection recorded with no traffic signal (referred to as “confirmation intersection” in FIG. 3 and the following description). (Step 112). The case where the negative determination is made in the determination of step 100 includes the case of passing through an intersection where there is no traffic light from the beginning. In such a case, a negative determination is made in the determination of step 112. The determination in step 100 is repeated. If the vehicle has actually passed through the confirmed intersection, an affirmative determination is made in the determination in step 112, and the process proceeds to the solid intersection determination operation in step 106.

  Since there may be no traffic lights even when one of the roads intersecting at the intersection is abolished, as described above, after passing through the intersection where there is no traffic light, confirm the existence of another road that intersects this intersection Then, by determining that the intersection is a three-dimensional intersection, the three-dimensional intersection of the road can be detected with higher accuracy.

  FIG. 4 is a diagram illustrating an outline of a determination procedure for intersection crossing. Assume that the intersection C where the traffic signal is set as shown in FIG. 4A is a three-dimensional intersection as shown in FIG. 4D. FIG. 4B shows the relationship between the intersection node and the link before the three-dimensional intersection. That is, there are four links L1 to L4 having the intersection node N0 as one end (the nodes at the other end are referred to as N1 to N4), and these pieces of information are stored as map data.

  According to the flowchart shown in FIG. 2, as shown in FIG. 4C, when there is no traffic signal installed so far, it is determined that the intersection has been converted into a three-dimensional intersection when passing through this intersection. (Operation of step 106 in FIG. 2). On the other hand, according to the flowchart shown in FIG. 3, at the stage shown in FIG. 4 (C), it is not determined that the intersection is a three-dimensional intersection, and this intersection is recognized as a confirmed intersection at the end, and the intersection node N0 and the two links L3 and L4 are recorded. Then, as shown in FIG. 4D, it is determined that the intersection is converted into a three-dimensional intersection when it passes through the next confirmed intersection (operation of step 106 in FIG. 3). Further, when the three-dimensional intersection determination is performed according to the flowchart shown in FIG. 2 or FIG. 3, as shown in FIG. 4E, for example, the contents of the map data relating to the three-dimensional intersection are updated.

  In addition, this invention is not limited to the said embodiment, A various deformation | transformation implementation is possible within the range of the summary of this invention. In the above-described embodiment, it is determined that the intersection is a three-dimensional intersection when the intersection is passed again through another road that intersects at the intersection after detecting the intersection where there is no traffic signal. When passing through this intersection again, when it is confirmed that the position and number (or at least one) of the traffic lights on other roads have been changed, it is determined that this intersection is a three-dimensional intersection. You may do it. This determination may be performed at the same time as the intersection passage determination in step 112 of FIG.

  If there is no traffic signal on one road where the road is three-dimensionally crossed, the position and number of traffic lights will change on the other roads that intersect at this intersection, so check the changes corresponding to this other road Then, by determining that the intersection is a three-dimensional intersection, the three-dimensional intersection of the road can be detected with higher accuracy.

It is a figure which shows the structure of the navigation apparatus of one Embodiment. It is a flowchart which shows a series of operation | movement procedures until it updates the map data for reflecting the solid intersection of an intersection after detecting that there is no traffic signal. It is a flowchart which shows the other example of a series of operation | movement procedures from detecting that there is no traffic signal to performing the map data update for reflecting the solid intersection of an intersection. It is a figure which shows the outline | summary of the determination procedure of the three-dimensional intersection of an intersection.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Navigation controller 2 Vehicle position detection part 3 Remote control unit 4 Display apparatus 5 Audio part 6 Camera 10 Map DB (database)
DESCRIPTION OF SYMBOLS 12 Map data processing part 14 Map buffer 16 Map drawing part 20 Vehicle position calculation part 30 Traffic signal detection part 32 Traffic signal comparison part 34 Intersection determination part 36 Map data update part 40 Input processing part 50 Display processing part

Claims (6)

Map data storage means for storing map data including traffic signal installation positions and road shapes;
A traffic light detection means for detecting a traffic light present in front of the vehicle during traveling of the vehicle;
A solid intersection judging means for judging whether or not a road has been three-dimensionally crossed based on an installation position of a traffic light included in the map data stored in the map data storage means and a detection result of the traffic light by the traffic light detecting means. When,
Map data updating means for updating the map data corresponding to the road determined to be three-dimensionally crossed by the three-dimensional intersection determining means;
A navigation device comprising: In claim 1,
A camera for photographing the front of the vehicle,
The navigation apparatus according to claim 1, wherein the traffic signal detection means performs traffic signal detection by extracting a traffic signal image included in an image photographed by the camera. In claim 1 or 2,
3. The navigation apparatus according to claim 1, wherein the three-dimensional intersection determination means determines that a road has been three-dimensionally crossed when there is no actual traffic signal at a traffic signal installation position included in the map data. In claim 3,
The three-dimensional intersection determination means records an intersection where there is no actual traffic signal, and the next time the intersection passes through another road that intersects the current traveling road, the road becomes a three-dimensional intersection. A navigation device characterized in that determination is made as being performed. In claim 4,
When the three-dimensional intersection determination means passes through the other road and passes through the intersection, the road is solid when at least one of the position and the number of traffic lights installed corresponding to the intersection is changed. A navigation device characterized in that the determination is made as crossed. In any one of Claims 1-5,
A solid intersection confirmation means for performing a predetermined confirmation notification when the road is determined to be a solid intersection by the solid intersection determination means;
Operation means for accepting a confirmation operation for confirmation notification by the three-dimensional intersection confirmation means;
The map data update means updates the map data when the confirmation operation received by the operation means is affirmative with respect to the determination result by the solid intersection determination means. A navigation device.

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