JP2008014754A - Navigation apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To surely display a guide point in three-dimensional map display. <P>SOLUTION: A navigation apparatus includes a means for storing a solid object on a map together with a position on the map, a means for setting the guide point for a route guide, an eye point setting means for setting an eye point, and a display means for displaying a state in viewing a direction of the guide point from the eye point, while removing the solid object blocking a sight line from the eye point to the guide point, when the solid object is arranged on the map. The navigation apparatus may be provided with a means for regulating a height of the eye point to eliminate an obstacle on the sight line. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a navigation device, and more particularly to an in-vehicle navigation device.

  Search the recommended route to the destination, display the recommended route along with the current location on the map, and display guidance information such as "Turn right after 50m" at the intersection where a right or left turn is required (guided intersection) There is a navigation device.

  In addition, in a map display, a landscape (a building, a landmark, etc.) that a user (driver) will actually see is displayed as a pseudo-stereoscopic image so that the user (driver) can actually see it. .

JP 2005-156247 A

  By the way, the displayed stereoscopic image is obtained by setting a viewpoint at a certain position (for example, the position of the driver's eyes or above) and reproducing a landscape in a predetermined direction that would be visible from the viewpoint. At this time, in order to faithfully reproduce, depending on the position of the viewpoint, the guidance intersection in the back may be hidden by a signboard or a crossover in front. Since the guidance intersection is an important point that the user must grasp, it is inconvenient if it is hidden.

  The present invention has been made to solve the above problems, and an object of the present invention is to ensure that important points (such as guidance intersections) are displayed in a three-dimensional map display.

  In order to solve the above-described problem, a first aspect of the present invention is a navigation device, which stores a solid object on a map together with a position on the map, a means for setting a guidance point for performing route guidance, A viewpoint setting means for setting a viewpoint, and a state when the direction of the guidance point is viewed from the viewpoint when the solid object is arranged on the map, the line of sight from the viewpoint to the guidance point is blocked Display means for eliminating the three-dimensional object and displaying it.

  The second aspect of the present invention is a navigation device, which stores a solid object on a map together with a position on the map, a means for setting a guidance point for performing route guidance, and a viewpoint for setting a viewpoint. When the three-dimensional object is placed on the map with the setting means, the state when the direction of the guidance point is viewed from the viewpoint is half of the three-dimensional object that blocks the line of sight from the viewpoint to the guidance point. Display means for transparent display.

  A third aspect of the present invention is a navigation device, which stores a solid object on a map together with a position on the map, a means for setting a guidance point for performing route guidance, and a viewpoint for setting a viewpoint. The setting means and the position of the three-dimensional object that blocks the line of sight from the viewpoint to the guidance point when the three-dimensional object is arranged on the map, when the direction of the guidance point is viewed from the viewpoint. Display means for shifting and displaying.

  According to a fourth aspect of the present invention, there is provided a navigation device for storing a three-dimensional object on a map together with a position on the map, a means for setting a guidance point for performing route guidance, and a viewpoint for setting a viewpoint. A setting unit; and a display unit configured to display a state when the direction of the guidance point is viewed from the viewpoint when the three-dimensional object is arranged on the map. The viewpoint setting means adjusts the height of the viewpoint so that there is no solid object that blocks the line of sight from the viewpoint to the guidance point.

  A fifth aspect of the present invention is a navigation device, which stores means for storing a three-dimensional object on a map together with a position on the map, means for setting a guidance point for performing route guidance, and a viewpoint for setting a viewpoint. A setting unit; and a display unit configured to display a state when the direction of the guidance point is viewed from the viewpoint when the three-dimensional object is arranged on the map. Then, when the viewpoint setting means increases the altitude according to a predetermined rule so that the altitude increases as the distance between the current position and the guidance point approaches, the viewpoint setting means displays the line of sight from the viewpoint to the guidance point. When there is a three-dimensional object to be blocked, the altitude of the viewpoint is adjusted so that there is no three-dimensional object that blocks the guidance point.

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

  FIG. 1 is a schematic configuration diagram of an in-vehicle navigation device 100 to which an embodiment of the present invention is applied. As shown in the figure, the in-vehicle navigation device 100 includes an arithmetic processing unit 1, a display 2, a storage device 3, a voice input / output device 4, an input device 5, a wheel speed sensor 6, a gyro sensor 7, And a GPS (Global Positioning System) receiver 8.

  The arithmetic processing unit 1 is a central unit that performs various processes. For example, the current position is detected based on information output from the various sensors 6 and 7 and the GPS receiver 8. In addition, graphics information is generated to display an image on the display 2.

  The display 2 includes a liquid crystal display device and the like, and is a unit that displays graphics information generated by the arithmetic processing unit 1.

  The storage device 3 includes a storage medium such as a CD-ROM, DVD-ROM, HDD, or IC card. This storage medium stores map data. The map data includes link data (link data) that constitutes a road on the map. In the link data, for each code (link ID) for identifying a link, coordinates of a start node and an end node, a road type, a link length, information on a link to be connected, and the like are stored.

  Further, the storage device 3 stores solid object data 300 for stereoscopic display of the constituents on the map. As shown in FIG. 2, the three-dimensional object data 300 includes a code (three-dimensional object ID) 301 for identifying a three-dimensional object on the map, a name 302, an arrangement coordinate 303 on the map, and a polygon that defines the three-dimensional object. Data 304. In addition to roads such as buildings and facilities, solid objects on the map include those related to roads such as overpasses, signboards, and signs. Moreover, since the road has various shapes, it is registered as a three-dimensional object on the map. The registered road is associated with the link ID. Therefore, when a link ID is specified, polygon data 304 representing a road corresponding to the link can be searched.

  The polygon data 304 is a set of three-dimensional coordinates of vertices of a simple polygon such as a triangle. The polygon data 304 also includes the positions of representative points that are used as a reference when placing a three-dimensional object on a map. The arrangement coordinates 303 store the coordinates at which such representative points should be arranged when the three-dimensional object is arranged on the map. Note that the orientation of the three-dimensional object on the map is determined in advance. That is, when the three-dimensional object defined by the polygon data 304 is arranged in a predetermined direction so that the representative point thereof coincides with the arrangement coordinates 303, the actual arrangement of the building can be reproduced.

  Returning to FIG.

  The voice input / output device 4 includes a microphone, acquires voice spoken by the user, and transmits the voice to the arithmetic processing unit 1. Further, the message to the user generated by the arithmetic processing unit 1 is converted into an audio signal and output.

  The input device 5 is a unit that receives instructions from the user. The input device 5 includes a hard switch such as a scroll key and a scale change key, a joystick, a touch panel pasted on a display, and the like.

  The sensors 6 and 7 and the GPS receiver 8 are used for detecting the current location (vehicle position) by the vehicle-mounted navigation device 100.

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

  As illustrated, the arithmetic processing unit 1 includes a user operation analysis unit 41, a current position calculation unit 42, a route search unit 43, a route guidance unit 44, and a display processing unit 45.

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

  The current position calculation unit 42 obtains the current position by map matching using the outputs from the sensors 6 and 7 and the GPS receiver 8 and the map data.

  The route search unit 43 uses a map data to search for a recommended route connecting two designated points (current location, destination) by the Dijkstra method or the like.

  The route guidance unit 44 generates guidance information for route guidance using the recommended route searched by the route search unit 43, and performs route guidance via the display 2 and the voice input / output device 4. For example, the recommended route is displayed on the map and a message such as “100m ahead, turn right” is output.

  The display processing unit 45 generates a drawing command for the display 2. For example, a map drawing command is generated so as to draw marks such as roads, other map components, current location, destination, and arrows for recommended routes with a specified scale and drawing method.

  FIG. 4 is a diagram illustrating a hardware configuration example of the arithmetic processing unit 1.

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

  The components and functions shown in FIG. 3 are achieved by the CPU 21 executing a predetermined program.

  [Description of Operation] Next, an operation related to the three-dimensional map display, which is a characteristic operation of the vehicle-mounted navigation device 100 of the present embodiment, will be described.

  FIG. 5 is a flowchart of a display process performed during route guidance.

  Usually, the route guiding unit 44 displays a planar map around the current position on the display 2, and displays the car mark indicating the current position and the recommended route searched by the route searching unit 43 on the map (S110). ). The route guiding unit 44 updates the display every time the current position is updated.

  Meanwhile, the route guidance unit 44 checks the distance L0 from the current position to the intersection to be guided (referred to as “guidance intersection”), and determines whether or not the distance L0 is equal to or less than a predetermined distance L1 (for example, 200 m) ( S120). The route guidance unit 44 sets an intersection that needs to turn left and right as the guidance intersection when the vehicle is about to travel along the route.

  When the distance L0 from the current position to the guidance intersection is equal to or less than the predetermined distance L1 (Y in S120), the route guidance unit 44 starts displaying a three-dimensional map (S130).

  The reason why the 3D map is displayed in front of the guidance intersection is that, even if the shape of the guidance intersection is complicated and difficult to understand in the planar map display, it is easier to understand if it is displayed in 3D.

  The route guiding unit 44 may delete the planar map that has been displayed so far and display a screen for displaying a three-dimensional map. Moreover, you may superimpose on a planar map. In addition, the planar map and the three-dimensional map may be displayed side by side on the two screens.

  In order to display a three-dimensional map, the route guidance unit 44 first determines the position of the viewpoint. At this time, in order to display a bird's eye view including the car mark of the host vehicle, a position behind the current position and slightly higher than the altitude of the current position is set as the viewpoint. Specifically, first, the current position (x, y) on the map is acquired from the current position calculation unit 42. Further, a three-dimensional object representing a road corresponding to the link ID whose current position is matched is searched from the three-dimensional object data 300. Then, a point on the road surface of the three-dimensional object representing the road at the current position (x, y) is obtained. That is, a point on the road surface that intersects a perpendicular passing through the current position (x, y) is obtained. Then, the height of the point is set as the altitude of the current position (x, y). A point on the three-dimensional object (on the road) at the current position (x, y) can be obtained by collision determination with respect to the polygon.

  In addition, when the altitude of the current position can be acquired from the GPS receiver 8 or the like, the route guidance unit 44 may acquire the altitude. Further, when the altitude for each coordinate on the map is stored in the storage device 3, the altitude may be acquired.

  When the route guidance unit 44 obtains the altitude of the current position (x, y), the vehicle traveling direction when traveling along the route is used as a reference (forward direction), and a current distance is 10 m behind the current position. A position that is higher than the position altitude by a predetermined amount (for example, 5 m) is set as the viewpoint position.

  Then, when a three-dimensional object is arranged on the map, an image showing a state when the direction of the guidance intersection is viewed from the set viewpoint is generated and displayed. Note that an image expressed in three dimensions needs to be converted into a two-dimensional image to be displayed on the display 2, and the image conversion uses an existing method (for example, a method of projecting on a projection surface). be able to.

  Next, the route guidance unit 44 determines whether or not the distance L0 from the current position to the guidance intersection is equal to or less than a predetermined distance L2 (for example, 100 m) (S140).

  When the distance L0 from the current position to the guidance intersection is equal to or less than the predetermined distance L2 (Y in S140), the route guidance unit 44 performs a process of changing the viewpoint altitude (S150).

  FIG. 6 is a diagram showing a relationship between the distance L0 from the current position to the guidance intersection and the accompanying viewpoint altitude.

  As shown in the drawing, a rule for changing the altitude of the viewpoint according to the distance L0 from the current position to the guidance intersection is determined in advance. Therefore, the route guiding unit 44 increases the altitude by adding a predetermined value according to the distance L0 to the altitude of the current viewpoint according to the rule (S150).

  Next, the route guidance unit 44 determines whether there is an obstacle on the line of sight from the viewpoint to the guidance intersection (S160).

  As shown in FIG. 6, when the direction of the guidance intersection C is viewed from the set viewpoint p2 when the current position is at the position P2, an obstacle B such as a signboard or a crossover exists in front of the guidance intersection C. There is a case. In this case, the obstacle B is displayed on the three-dimensional map when the direction of the guidance intersection C is viewed from the viewpoint p2, and the guidance intersection C existing in the back is not displayed. This makes it impossible to provide necessary information to the user. Therefore, in the present embodiment, when there is an obstacle B that blocks the guidance intersection C on the line of sight, the obstacle B is excluded and a three-dimensional map is generated.

  Whether or not there is an obstacle on the line of sight can be determined by whether or not the vector v of the line of sight collides with any three-dimensional object stored in the three-dimensional object data 300.

  When there is an obstacle (Y in S160), the route guiding unit 44 excludes the obstacle from the three-dimensional map (S170). Thereby, the guidance intersection is displayed on the three-dimensional map without being hidden.

  Thereafter, the route guidance unit 44 determines whether or not the current position has passed the guidance intersection (S180). If it has not passed (N in S180), the process returns to S130 to continue the process. That is, with the movement of the current position, the altitude of the viewpoint rises, and finally, a state where a bird's-eye view of the guidance intersection from above is displayed.

  On the other hand, when the current position passes the guidance intersection (Y in S180), the route guidance unit 44 deletes the three-dimensional map display, returns to S110, and performs the planar map display until the next guidance intersection appears.

  The flow of FIG. 5 has been described above.

  FIG. 7 shows a transition diagram of the display screen when the flow of FIG. 5 is performed. The display screens 211 to 214 correspond to the case where the current position has moved from P1 to P4 in FIG.

When the current position is at P1 in FIG. 6, there is no obstacle on the line of sight from the viewpoint p1 toward the guidance intersection C. Therefore, the display screen 211 displays the state in the direction of the guidance intersection C viewed from the viewpoint p1 as it is. On the display screen 211, the building 50, the overpass b, and the like are three-dimensionally displayed. A route R and a car mark M indicating the current position are also displayed. The guidance intersection C is displayed in the back of the overpass b. When the current position is P2 in FIG. 6, the overpass b exists as an obstacle B in the line-of-sight direction viewed from the viewpoint p2. Therefore, the overpass b is excluded from the display screen 212. Then, the guidance intersection C is displayed on the display screen 212 without being hidden.

  When the current position is at P3 in FIG. 6, since the current position passes through the overpass b, there is no obstacle in the line-of-sight direction. Therefore, the state of the direction of the guidance intersection C viewed from the viewpoint p3 is displayed on the display screen 213 as it is. Further, as compared with the display screens 211 and 212, the figure is a bird's eye view from a higher position.

  When the current position is at P4 in FIG. 6, the viewpoint p4 is almost directly above the guidance intersection. Therefore, the display screen 214 displays a view of the guidance intersection C as viewed from directly above. Thereby, the user can clearly understand the shape of the guidance intersection C.

  The embodiment of the present invention has been described above.

  According to the said embodiment, in a three-dimensional map display, an important point (guidance intersection) is displayed without being hidden.

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

  For example, instead of removing the obstacle, the obstacle may be displayed semi-transparently so that the guidance intersection behind the obstacle can be seen through.

  FIG. 8 shows an example of screen transition in such a case. The display screens 221 to 224 correspond to the case where the current position has moved from P1 to P4 in FIG.

  When the current position is P2, the guidance intersection C in the line-of-sight direction from the viewpoint p1 is blocked by the crossover b in front. Therefore, the overpass b is displayed semi-transparently. And it displays so that the existence of the guidance intersection C in the back may be understood.

  Further, until the distance L0 between the current position and the obstacle approaches a predetermined distance L3 (<L2, for example, 50 m), the obstacle is displayed as it is, and when it is within the predetermined distance, it is excluded from the display target. You may do it. Alternatively, semi-transparent display may be performed.

  Also, signs and signboards should be displayed because they are useful information even if they become obstacles when displaying guided intersections. Therefore, the display position may be changed and displayed at a position that does not interfere with the guidance intersection display. For example, it is determined from the name 302 of the three-dimensional object data 300 whether or not the obstacle is a component attached to a predetermined road (for example, a signboard or a sign). If so, the display of the guidance intersection C is obstructed. It is moved to the position where it does not become (for example, the bottom of the screen, the right corner, the left corner, etc.) and displayed. On the other hand, when the obstacle is not a component attached to a predetermined road (for example, a signboard or a sign), the obstacle is excluded from the display target (or displayed semi-transparently).

  At this time, a message may be displayed so that it can be seen that the position of the obstacle has been changed. Further, the display mode may be changed by changing the color before and after changing the position.

  Further, only a part of the obstacle may be displayed semi-transparently. For example, when an obstacle is present in the direction of the guidance intersection, only the portion that overlaps the guidance intersection C of the obstacle may be semi-transmitted so that the guidance guidance C in the back is displayed. By doing so, an obstacle (such as a crossover) is partially displayed, so that the user can grasp the guidance intersection C while notifying the presence of the obstacle.

<Modification 2>
Further, the altitude of the viewpoint may be adjusted so that there are no obstacles blocking the guidance intersection in the line-of-sight direction.

  For example, as shown in FIGS. 9 to 11, the altitude of the viewpoint is set so as to pass through the obstacle B.

  In FIG. 9, when the distance L0 from the current position to the guidance intersection becomes a predetermined distance L2 (viewpoint height change open viewpoint), when the altitude is increased according to a predetermined rule (dotted line in the figure), the obstacle Check if B will be present. That is, before raising the viewpoint altitude, it is determined whether there is an obstacle B that hides the guidance intersection C. When such an obstacle B exists, the altitude of the viewpoint is set so as to pass through the lowermost part of the obstacle B. It is assumed that the three-dimensional object data 300 stores the lowest altitude of the three-dimensional object.

  For example, as shown in FIG. 9, at first, the altitude of the viewpoint is increased according to a predetermined rule. Then, the elevation of the viewpoint is stopped at an altitude lower than the lowermost part of the obstacle B (for example, 1 m below the lowermost part).

  FIG. 12 is a transition example of the display screen in such a case. The display screens 231 to 234 correspond to the case where the current position is moved to P1 to P4 in FIG. When the current position is P2 immediately before the overpass b, as shown in the display screen 232, an image is displayed in which the car mark M passes through the overpass b.

  As shown in FIG. 9, when the viewpoint height is changed, the viewpoint height remains low even near the guidance intersection C. In such a case, if the state where the guidance intersection C is viewed from directly above is displayed, the guidance intersection C is enlarged too much. Therefore, as shown on the display screen 234, it is possible to display a state in which a point slightly ahead (for example, 20 meters ahead) of the guidance intersection C is viewed from the viewpoint p4.

  FIG. 10 shows a mode in which the altitude of the viewpoint is raised smoothly to an altitude that is less than the altitude at the bottom of the obstacle B. In this way, if the altitude of the viewpoint is changed smoothly, the sense of incongruity of the change in altitude is reduced.

  Further, as shown in FIG. 11, the altitude of the viewpoint is increased according to a predetermined rule, and the altitude of the viewpoint is lowered to the lowest altitude of the obstacle B just before the guidance intersection C is hidden by the obstacle B. It may be.

<Modification 3>
In the second modification, the altitude may be increased after the current position passes the position of the obstacle B.

  FIG. 13 shows a change in the altitude of the viewpoint in such a case. As shown in the drawing, by the time when the current position comes to the position of the obstacle B, the altitude of the viewpoint is lowered to the lowest part of the obstacle B, and after passing through the position of the obstacle B, the altitude is increased. Then, by the time the current position comes to the position of the guidance intersection C, the altitude of the viewpoint is raised to the altitude of a predetermined rule.

  FIG. 14 shows display screens 241 to 244 when the current position is changed from P1 to P4 in FIG.

  As shown in the display screen 242, when the current position is P2, an image that passes through the overpass b is displayed. Further, as shown in the display screen 244, in the vicinity of the guidance intersection P4, since the altitude of the viewpoint is rising, a figure in which the guidance intersection C is viewed from above is displayed at an appropriate altitude.

  In the above embodiment, the case where the obstacle is a crossover has been mainly described, but the obstacle may be a signboard, a sign, a signal, an elevated, a building, or the like.

  In addition, the present embodiment is not limited to the guidance intersection, but can be applied to the case where important points (for example, registered points, destinations, etc.) are displayed in the three-dimensional map display.

FIG. 1 is a schematic configuration diagram of an in-vehicle navigation device to which an embodiment of the present invention is applied. FIG. 2 is a configuration example of the three-dimensional object data. FIG. 3 is a diagram illustrating a functional configuration of the arithmetic processing unit 1. FIG. 4 is a diagram illustrating a hardware configuration of the arithmetic processing unit 1. FIG. 5 is a flowchart of the display process. FIG. 6 is a diagram illustrating a change in viewpoint altitude. FIG. 7 is a transition example of the display screen. FIG. 8 is a transition example of the display screen. FIG. 9 is a diagram showing a change in viewpoint altitude. FIG. 10 is a diagram illustrating a change in viewpoint altitude. FIG. 11 is a diagram showing a change in viewpoint altitude. FIG. 12 is a transition example of the display screen. FIG. 13 is a diagram showing a change in the altitude of the viewpoint. FIG. 14 is a transition example of the display screen.

Explanation of symbols

100: In-vehicle navigation device,
DESCRIPTION OF SYMBOLS 1 ... Arithmetic processing part, 2 ... Display, 3 ... Memory | storage device, 4 ... Audio | voice output / input device, 5 ... Input device, 6 ... Wheel speed sensor, 7 ... Gyro, 8 ... GPS receiver, 21 ... CPU, 22 ... RAM 23 ... ROM, 24 ... DMA, 25 ... drawing controller, 26 ... VRAM, 27 ... color palette, 28 ... A / D converter, 29 ... SCI, 30 ... PIO, 31 ... counter,
41 ... User operation analysis unit, 42 ... Current position calculation unit, 43 ... Route search unit, 44 ... Route guidance unit, 45 ... Display processing unit

Claims (8)

A navigation device,
Means for storing a three-dimensional object on a map together with a position on the map;
Means for setting a guidance point for route guidance;
Viewpoint setting means for setting the viewpoint;
When the three-dimensional object is arranged on the map, the state when the direction of the guidance point is viewed from the viewpoint is displayed by removing the three-dimensional object that blocks the line of sight from the viewpoint to the guidance point. A navigation device comprising display means. A navigation device,
Means for storing a three-dimensional object on a map together with a position on the map;
Means for setting a guidance point for route guidance;
Viewpoint setting means for setting the viewpoint;
When the three-dimensional object is arranged on the map, the state when the direction of the guidance point is viewed from the viewpoint is semi-transparently displayed for the three-dimensional object that blocks the line of sight from the viewpoint to the guidance point. A navigation device comprising display means for displaying. A navigation device,
Means for storing a three-dimensional object on a map together with a position on the map;
Means for setting a guidance point for route guidance;
Viewpoint setting means for setting the viewpoint;
When the three-dimensional object is arranged on the map, the state when the direction of the guidance point is viewed from the viewpoint is displayed by shifting the position of the three-dimensional object that blocks the line of sight from the viewpoint to the guidance point. And a display means for performing navigation. In claim 3,
When the three-dimensional object that blocks the line of sight from the viewpoint to the guidance point is a predetermined signboard / sign, the position of the three-dimensional object is shifted and displayed.
A navigation device, wherein a solid object that blocks a line of sight from the viewpoint to the guidance point is excluded when the solid object is not a predetermined signboard / sign. A navigation device,
Means for storing a three-dimensional object on a map together with a position on the map;
Means for setting a guidance point for route guidance;
Viewpoint setting means for setting the viewpoint;
Display means for displaying a state when the direction of the guidance point is viewed from the viewpoint when the three-dimensional object is arranged on the map;
The viewpoint setting means includes
A navigation apparatus comprising: adjusting an altitude of a viewpoint so that there is no solid object that blocks a line of sight from the viewpoint to the guidance point. A navigation device,
Means for storing a three-dimensional object on a map together with a position on the map;
Means for setting a guidance point for route guidance;
Viewpoint setting means for setting the viewpoint;
Display means for displaying a state when the direction of the guidance point is viewed from the viewpoint when the three-dimensional object is arranged on the map;
The viewpoint setting means includes
There is a three-dimensional object that blocks the line of sight from the viewpoint to the guidance point when the elevation is raised according to a predetermined rule so that the elevation rises as the distance between the current position and the guidance point approaches. In this case, the navigation device is characterized in that the altitude of the viewpoint is adjusted so that there is no three-dimensional object that blocks the guidance point. In claim 6,
The viewpoint setting means includes
A navigation device characterized in that when the current position is near the position of a three-dimensional object that blocks the line of sight, the altitude of the viewpoint is set to be equal to or lower than the lowest altitude of the three-dimensional object. In claim 5,
A navigation apparatus, wherein the altitude of the viewpoint is increased after the current position passes through a position of a three-dimensional object that blocks the line of sight.

Images