JP2008145364A - Route guiding device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a route guiding device capable of reducing a feeling of incongruity generated when a driver confirms a vehicle foreground image displayed on an on-vehicle display device and then views directly the foreground. <P>SOLUTION: When performing route guide by displaying a road image on a display 112, the direction of a camera or an enlargement quantity is calculated by an oscillation and enlargement/reduction quantity calculation part 107 to acquire a road image estimated to be viewed by the driver after traveling as long as a prescribed time from the present, and a peripheral image photographing camera 109 is controlled by a camera oscillation and enlargement/reduction mechanism part 108. Route guide is performed by using a camera image after traveling as long as the prescribed time, and thereby, when the driver views a display screen on the display 112 and then views the foreground, the road image displayed on the display 112 becomes the same as the foreground viewed by the driver, and the feeling of incongruity is not generated. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a route guidance device, and more particularly to a device that superimposes and displays a route guidance map on an image taken in front of a vehicle.

Conventionally, an image of the front of the vehicle is captured by a camera mounted on the vehicle, and an image in which road guidance information (intersection traveling direction instruction, lane change instruction, etc.) created by CG is superimposed on the captured actual vehicle front image is displayed on-vehicle 2. Description of the Related Art A vehicle guidance display device that displays on a device is known.
An example of such an apparatus is described in Japanese Patent Application Laid-Open No. 10-281795.
In addition, according to such a vehicle guidance display device, an image that is relatively close to the scenery visually recognized by the driver is displayed on the in-vehicle display device, so that the route is compared with the route guidance display displayed in the plan view (top view). The driver will be easier to understand.
Japanese Patent Laid-Open No. 10-281795

  However, in such a conventional apparatus, since the vehicle is moving while the driver confirms the camera image displayed on the in-vehicle display device, the driver views the image displayed on the in-vehicle display device. When the front of the vehicle is directly visually recognized afterward, there is a problem that the driver feels uncomfortable because a difference occurs between the image of the in-vehicle display device and the visually recognized foreground.

  Therefore, in view of such problems, the present invention provides a route guidance device that can reduce a sense of discomfort when the driver directly views the foreground after confirming the vehicle foreground image displayed on the in-vehicle display device. With the goal.

  The present invention sets a route guidance point where the route setting means performs route guidance to the destination and route guidance based on the current position of the vehicle detected by the vehicle position detection means and the map information stored in the map database, The area creation means estimates the area that the camera that captures the vehicle surrounding image captures after a predetermined time from the current time, creates a captured image after a predetermined time from the image captured by the camera, and creates it by the graphic creation means The route guidance figure made and the captured image after a predetermined time have been superimposed and displayed on the display means.

  According to the present invention, by performing route guidance using a captured image estimated to be visually recognized by the driver after traveling for a predetermined time from the present, the driver views the foreground after viewing the display screen of the display means. The road image displayed on the display means is the same as the foreground visually recognized by the driver, and there is no sense of incongruity.

Next, embodiments of the present invention will be described by way of examples.
First, the first embodiment will be described.
FIG. 1 shows the overall configuration of this embodiment.
Note that the route guidance apparatus 100 according to the present embodiment displays an arrow image indicating the traveling direction on the image captured by the peripheral image capturing camera 109 and displays it on the display 112.
A destination input unit 101 for inputting vehicle destination information, a host vehicle position detection unit 102 for detecting a current position of the host vehicle, a vehicle speed & steering angle sensor 106 for detecting a vehicle speed and a steering angle of the vehicle, A route guidance apparatus 100 is configured by connecting a peripheral video camera 109 having a camera swing & enlargement / reduction mechanism unit 108 and a display 112 for displaying video to an in-vehicle computer 130.
The destination input unit 101 is, for example, a touch panel overlaid on the display 112, and receives input of an input destination address and telephone number.
The own vehicle position detection unit 102 is a GPS receiver, for example, and detects the current position of the own vehicle based on information sent from a satellite.

The vehicle speed & rudder angle sensor 106 includes, for example, a wheel speed sensor of the vehicle and a rudder angle sensor that detects the steering angle, and outputs a value corresponding to the vehicle speed and the rudder angle to the in-vehicle computer 130.
The camera swinging / enlarging / reducing mechanism unit 108 includes, for example, an electric stage and an electric zoom lens, and moves and enlarges / reduces the imaging area of the peripheral video imaging camera 109 based on an instruction from the in-vehicle computer 130.

The in-vehicle computer 130 includes a route search unit 103, a map database 104, a route guidance unit 105, a swing & enlargement / reduction amount calculation unit 107, a guidance arrow video creation unit 110, and a video synthesis unit 111.
The route search unit 103 searches for a minimum cost route using, for example, the Dijkstra method based on data input from the destination input unit 101 and the vehicle position detection unit 102. , And a route and a route feature amount of the route are calculated and sent to the route guidance unit 105.
The route guidance unit 105 calculates route guidance information (for example, guidance information for intersections (route guidance points) to be bent) for performing vehicle route guidance based on the route calculated by the route search unit 103 and the vehicle position. To do.

The swing & enlargement / reduction amount calculation unit 107 calculates the enlargement / reduction amount of the peripheral video camera 109 based on the vehicle speed value detected by the vehicle speed & steering angle sensor 106, and the peripheral video camera based on the steering angle value. 109 swing amounts are calculated. The calculation result is output to the camera swing & enlargement / reduction mechanism unit 108 and the guide arrow image creation unit 110.
The head swing & enlargement / reduction amount calculator 107 increases the zoom amount of the peripheral video camera 109 when the vehicle speed increases, and decreases the zoom amount of the peripheral video camera 109 when the vehicle speed decreases.
Also, when the rudder angle turns to the right, the shooting direction of the peripheral video camera 109 is moved to the right according to the rudder angle. When the rudder angle turns to the left, the shooting direction of the peripheral video camera 109 changes to the left according to the rudder angle. Move to.

FIG. 2 shows a shooting range by the peripheral video camera 109.
Note that the peripheral video camera 109 is mounted in the vehicle, and the hood E1 and dashboard E2 of the vehicle are shown below the captured video in a state where the camera faces the front and is not zoomed.
In the normal time when the shooting range of the peripheral video camera 109 is not enlarged or reduced or moved, the peripheral video camera 109 faces the front of the vehicle as shown in the shooting range A of FIG. Shooting a wide range.
For example, when the steering angle of the vehicle is directed to the right and the vehicle speed is high, the image is enlarged as compared with the normal time, and further, the image is shifted to the right as compared with the normal time by tilting the camera to the right.
Therefore, the peripheral video camera 109 captures a range indicated by a shooting range B in FIG.

Note that the shooting area of the peripheral video camera 109 is an area that is estimated to be visually recognized by the driver after a predetermined time has elapsed from the current time.
In other words, when the vehicle speed is high, zoom shooting is performed so that a distant object appears close, and when the vehicle speed is low, the zoom amount is reduced. As a result, when the driver views the foreground after visually recognizing the road image displayed on the display 112, the vehicle has moved between the time after viewing the image displayed on the display 112 and the time when the foreground is viewed. In this case, the road image displayed on the display 112 and the foreground are the same, and a sense of incongruity is prevented.
When the steering wheel is operated, the camera's shooting direction is changed according to the steering angle, so that the driver views the foreground after viewing the road image displayed on the display 112 in the same manner as described above. The road image displayed on the display 112 becomes the same as the foreground, and a sense of incongruity is prevented.

Based on the route guidance information calculated by the route guidance unit 105, the guide arrow image creation unit 110 creates an arrow image to be presented to the driver at the time of route guidance (for example, an arrow bent to the right for prompting a right turn at an intersection). .
Further, the guide arrow video creation unit 110 enlarges / reduces the peripheral video shooting camera 109 calculated by the swing & enlargement / reduction amount calculation unit 107 when the peripheral video shooting camera 109 is swung or enlarged / reduced. An arrow image in which the display position and size are corrected is created based on the amount and the swing amount.
Due to this correction, even when the peripheral video camera 109 swings or enlarges / reduces the shooting range, a deviation occurs between the arrow displayed for route guidance and the road of the video shot by the peripheral video camera 109. This can be prevented.
The video composition unit 111 superimposes the video shot by the peripheral video camera 109 and the arrow video created by the guide arrow video creation unit 110.
The video synthesized by the video synthesis unit 111 is displayed on the display 112.

Here, FIG. 3 shows an example of an image displayed on the display 112.
Note that FIG. 3 is an image in which an arrow image for prompting a right turn is superimposed on the image of the imaging range B in FIG. 2 (image when the vehicle speed is fast and the steering angle is right).
By correcting the display position and size of the arrow in the guide arrow image creation unit 110, the peripheral image capturing camera 109 captures a range shifted to the right from the normal time, and further enlarges the camera. Even so, there is no deviation between the position of the arrow and the captured image.
In this embodiment, the host vehicle position detection unit 102 constitutes a vehicle position detection unit in the present invention, and the route search unit 103 and the route guidance unit 105 constitute a route setting unit in the present invention. The peripheral video camera 109 constitutes the camera of the present invention, and the swing & enlargement / reduction amount calculation unit 107 constitutes the area creating means. The display 112 constitutes display means in the present invention, and the guide arrow image creation unit 110 constitutes graphic creation means in the present invention.

The present embodiment is configured as described above. When a road image is displayed on the display 112 and route guidance is performed, a road image (hereinafter referred to as a prefetched image) that is estimated to be visually recognized by the driver after traveling for a predetermined time from the present time. The road image displayed on the display 112 and the foreground visually recognized by the driver when the driver views the foreground after viewing the display screen of the display 112. Are the same, and there is no sense of incongruity.
Further, since the zoom amount and shooting direction of the peripheral video camera 109 are changed based on the vehicle speed and the steering angle detected by the vehicle speed & steering angle sensor 106, the vehicle speed changes even if the vehicle speed changes. Accordingly, prefetched video can be obtained accurately.

In this embodiment, the zoom amount is changed according to the change in the speed of the vehicle. However, when the vehicle is running, a road image estimated to be visually recognized by the driver after running for a predetermined time is displayed. It is also possible to change the peripheral video camera 109 to a predetermined zoom amount or shooting direction so that the shooting range is reached.
In this case, fine control according to the vehicle speed is unnecessary, and control of the peripheral video camera 109 becomes easy.

Next, a second embodiment will be described.
FIG. 4 shows the overall configuration of this embodiment.
In addition, the same number is attached | subjected about the same structure as a 1st Example, and description is abbreviate | omitted.
A destination input unit 101 for inputting vehicle destination information, a host vehicle position detection unit 102 for detecting a current position of the host vehicle, a vehicle speed & steering angle sensor 106 for detecting a vehicle speed and a steering angle of the vehicle, A route guidance apparatus 200 is configured by connecting a peripheral video photographing camera 109A for photographing a vehicle foreground and a display 112 for displaying a video to an in-vehicle computer 230.
In this embodiment, the peripheral video camera 109A is fixed to the vehicle so as to capture a predetermined range of the foreground of the vehicle.

The in-vehicle computer 230 includes a route searching unit 103, a map database 104, and a route guiding unit 105.
Further, the in-vehicle computer 230 includes a coordinate conversion type storage unit 208, a video conversion unit 209, a guide arrow video creation unit 210, and a video synthesis unit 211.
The coordinate conversion formula storage unit 208 stores a coordinate conversion formula for converting a video shot by the peripheral video shooting camera 109A so that a foreground can be seen from the position of the vehicle after a predetermined time has elapsed.

The video conversion unit 209 was photographed by the peripheral video photographing camera 109 </ b> A using the coordinate conversion formula stored in the coordinate conversion formula storage unit 208 based on the vehicle speed and the steering angle detected by the vehicle speed & steering angle sensor 106. Perform coordinate conversion of video.
By this coordinate conversion, a display screen after a predetermined time has elapsed can be created.
The guide arrow video creation unit 210 creates an arrow video to be presented to the driver based on the route guidance information calculated by the route guidance unit 105.
In addition, the guide arrow image creation unit 210 creates an arrow image whose display position and size are corrected based on the coordinate conversion formula calculated by the coordinate conversion formula storage unit 208.

The video composition unit 211 superimposes the video coordinate-converted by the video conversion unit 209 and the arrow video created by the guide arrow video creation unit 210.
The video synthesized by the video synthesis unit 211 is displayed on the display 112.

Next, the details of the coordinate conversion formula stored in the coordinate conversion formula storage unit 208 will be described.
The coordinates on the screen displayed on the display 112 are referred to as display coordinates, and the coordinates when the foreground road surface is viewed from above are referred to as ground coordinates.
FIG. 5A shows a display image taken by a camera, and FIG. 5B shows an arbitrary point on the display image on the ground coordinates. FIG. Represents the display coordinates that can be seen from the vehicle position after a predetermined time.
Further, as shown in FIGS. 5A and 5C, the display coordinates have the vanishing point of the video as the origin.
6 is a view of the ground and the camera as viewed from the side, and FIG. 7 is a view of the ground and the camera as viewed from above.
In FIG. 6, the ground 150 is ground coordinates, and the light receiving element 109B of the peripheral video camera 109A is display coordinates.

Light from the ground 150 enters the light receiving element 109B via the lens 109C of the peripheral video camera 109A.
A predetermined distance DS is set between the lens 109C and the light receiving element 109B.
The light receiving element 109B is disposed so as to be perpendicular to a line indicating the direction of the lens 109C.
The height from the ground 150 to the central position of the lens 109C of the peripheral video camera 109A is h, and the angle between a line passing through the central position of the lens 109C and perpendicular to the light receiving element 109B and the ground 150 is θ.

An angle between an arbitrary point Y on the ground coordinate and a line passing through the center position of the lens 109C and a line passing through the center position of the lens 109C and perpendicular to the light receiving element 109B is represented by ω.
A distance c is defined between a point C where a line passing through the center of the lens 109C and perpendicular to the direction of the lens intersects the ground 150 and the ground coordinate origin.
The point where the display coordinate and the line passing through the center of the lens 109C and parallel to the ground coordinate intersect is the origin of the display coordinate in the y-axis direction.
The light from the point Y on the ground coordinates passes through the lens 109C and is irradiated as the point y on the display coordinates.
In FIG. 7, the light from the point X on the ground coordinates passes through the lens 109C and is irradiated as the point x on the display coordinates.
It is assumed that the origin of the ground coordinates in the X-axis direction and the origin of the display coordinates in the x-axis direction are at the same position.
Note that the angle θ, the height h, the interval DS, and the distance c are values determined by the attachment position, direction, and the like of the peripheral video camera 109A.

A procedure for calculating the coordinate transformation formula stored in the coordinate transformation formula storage unit 208 will be described.
As shown in FIG. 6, with respect to the Y direction on the ground coordinates, an arbitrary point y on the display coordinates is
y = −DS · tan θ−DS tan ω = −DS (tan θ + tan ω)
It becomes.
Also, any point on the ground coordinates is
Y = [h / sin (θ + ω)] · (cos ω / sin θ) + c
It becomes. Organize
Y = [h / (tan θ + tan ω)] · (1 / cos 2θ) + c
Meet.

Therefore,
Y = (− h · DS / cos 2θ) · (1 / y) + c
Holds. here,
b = h · DS / cos 2θ
If you
Y = (− b / y) + c (1)
Holds.

Further, as shown in FIG. 7, with respect to the X direction on the ground coordinates, an arbitrary point x on the display coordinates is
X / [(Yc) · cos θ] = x / DS
It becomes. Organize
X = (cos θ / DS) · x · (Y−c)
And when converted using the above equation (1),
X = (cos θ · DS) · x · (−b / y)
X = −b · (cos θ / DS) · (x / y)
It becomes.

here,
a = b · (cos θ / DS)
If you
X = −a · (x / y) (2)
Holds.
Therefore, the display coordinates shown in FIG. 5A can be converted into the ground coordinates shown in FIG. 5B by using the equations (1) and (2).

For example, a point z in the display coordinates shown in FIG. 5A becomes a point Z in the ground coordinates shown in FIG. 5B by performing coordinate conversion.
Here, on the ground coordinates, the position of the host vehicle after t seconds calculated from the vehicle speed and the steering angle is defined as (Xt, Yt).
When the display coordinates when the host vehicle moves to the point (Xt, Yt) is (x ′, y ′), using the equations (1) and (2),
Y−Yt = (− b / y ′) + c
X−Xt = −a · (x ′, y ′)
It can be expressed as

Furthermore, when formulas (1) and (2) are substituted and arranged,
b / y ′ = b / y + Yt (3)
x ′ / y ′ = x / y + Xt / a (4)
It becomes.
Expressions (3) and (4) are stored in the coordinate conversion expression storage unit 208.

The video conversion unit 209 calculates the position (Xt, Yt) of the host vehicle after a predetermined time on the ground coordinates based on the vehicle speed and the steering angle detected by the vehicle speed & steering angle sensor 106, and a coordinate conversion formula storage unit By performing calculations using equations (3) and (4) stored in 208, the foreground of the host vehicle after a predetermined time represented by the display coordinates can be obtained.
At this time, x ′ and y ′ are obtained by substituting specific numerical values (values corresponding to the viewpoint, display range, etc.) into the constants a, b, and c in the equations (3) and (4). .
Thus, for example, when the position of the host vehicle after t seconds calculated from the vehicle speed and the steering angle is the point Z (Xt, Yt) on the ground coordinates shown in FIG. By performing coordinate conversion using (4), it is possible to perform video conversion so that the foreground can be seen when the vehicle is at point Z as shown in FIG.

  In this embodiment, the host vehicle position detection unit 102 constitutes a vehicle position detection unit in the present invention, and the route search unit 103 and the route guidance unit 105 constitute a route setting unit in the present invention. The peripheral video camera 109A constitutes the camera according to the present invention, and the video conversion unit 209 constitutes the area creating means according to the present invention. The guide arrow image creation unit 210 constitutes the figure creation means in the present invention, and the display 112 constitutes the display means in the present invention.

This embodiment is configured as described above, and the image captured by the peripheral image capturing camera 109A is compressed or enlarged and trimmed in the vertical direction using a coordinate conversion formula, and converted into an image that can be seen from a position after traveling for a predetermined time. This eliminates the need for a mechanism such as swinging and enlarging / reducing the peripheral video shooting camera 109A, and simplifies the structure of the peripheral video shooting camera 109A.
Further, by converting the image using a coordinate conversion formula calculated based on the vehicle speed and the steering angle detected by the vehicle speed & steering angle sensor 106, the vehicle speed and the steering angle that change even if the vehicle speed and the steering angle change. Accordingly, it is possible to accurately obtain a road image estimated to be visually recognized by the driver after traveling for a predetermined time from the present.

Next, a third embodiment will be described.
FIG. 8 shows the overall configuration of this embodiment.
The route guidance apparatus 200A in this embodiment is obtained by replacing the coordinate conversion formula storage unit 208 in the second embodiment with a conversion table storage unit 208A.
A destination input unit 101 for inputting vehicle destination information, a host vehicle position detection unit 102 for detecting a current position of the host vehicle, a vehicle speed & steering angle sensor 106 for detecting a vehicle speed and a steering angle of the vehicle, A route guidance device 200A is configured by connecting a peripheral video camera 109A that captures the vehicle foreground and a display 112 that displays video to the in-vehicle computer 230A.

The in-vehicle computer 230A includes a route search unit 103, a map database 104, a route guidance unit 105, a conversion table storage unit 208A, a video conversion unit 209, a guidance arrow video creation unit 210, and a video synthesis unit 211.
The conversion table storage unit 208A stores a plurality of conversion tables.
The video conversion unit 209 selects an optimal conversion table from a plurality of conversion tables provided in the conversion table storage unit 208A based on the vehicle speed and the steering angle detected by the vehicle speed & steering angle sensor 106, and based on the conversion table. Then, coordinate conversion of the video shot by the peripheral video shooting camera 109A is performed.

The guide arrow image creation unit 210 performs coordinate conversion of the arrow image based on the conversion table stored in the conversion table storage unit 208A.
The video synthesis unit 211 synthesizes the coordinate-converted video and the arrow video output from the guide arrow video creation unit 210 and the video conversion unit 209 and outputs them to the display 112.
Other configurations are the same as those of the second embodiment, and the same numbers are given and the description thereof is omitted.

Next, details of the conversion table provided in the conversion table storage unit 208A will be described.
9A shows the arrangement of pixels before coordinate conversion on the display screen, and FIG. 9B shows the arrangement of pixels after coordinate conversion on the display screen.
The conversion table storage unit 208A stores a plurality of positional relationships between the base video (video captured by the peripheral video camera 109A) and pixel data of the converted video as a conversion table by calculating a coordinate conversion formula in advance.
The video conversion unit 209 selects a conversion table based on the vehicle speed and the steering angle detected by the vehicle speed & steering angle sensor 106, and performs video conversion by the table lookup method using the selected conversion table.
Similarly, the guidance arrow image creation unit 210 selects a conversion table based on the vehicle speed and the rudder angle detected by the vehicle speed & rudder angle sensor 106, and performs an image conversion of the arrow image using the selected conversion table.
Note that FIG. 9B is an enlarged view of the video in the frame W of FIG. 9A.

The present embodiment is configured as described above, and the amount of calculation of the in-vehicle computer 230 at the time of video conversion is changed by converting the display position and size of the video shot by the peripheral video camera 109A using the conversion table. This can be reduced and the processing speed can be increased.
Further, by selecting a conversion table based on the vehicle speed and the steering angle detected by the vehicle speed & steering angle sensor 106 and converting the video using the selected conversion table, the vehicle speed and the steering angle change. In addition, it is possible to accurately obtain a prefetched video corresponding to the changing vehicle speed and steering angle while reducing the amount of computation of the in-vehicle computer 230.

Next, a fourth embodiment will be described.
FIG. 10 shows the overall configuration of this embodiment.
The route guidance device 400 in the present embodiment is a route guidance unit in which the voice notification device 306 is newly connected to the in-vehicle computer 230 in the second example and the processing content of the route guidance unit 105 in the in-vehicle computer 230 is changed. 105A is provided.
A destination input unit 101 for inputting vehicle destination information, a host vehicle position detection unit 102 for detecting a current position of the host vehicle, a vehicle speed & steering angle sensor 106 for detecting a vehicle speed and a steering angle of the vehicle, A route guidance device 400 is configured by connecting a peripheral video photographing camera 109 </ b> A for photographing a vehicle foreground, a display 112 for displaying a video, and a voice notification device 306 to an in-vehicle computer 330.

The in-vehicle computer 330 includes a route search unit 103, a map database 104, a route guidance unit 105A, a coordinate conversion formula storage unit 208, a video conversion unit 209, a guidance arrow video creation unit 210, and a video synthesis unit 211.
Based on the route searched by the route searching unit 103 and the own vehicle position detected by the own vehicle position detecting unit 102, the route guiding unit 105A determines that the route guidance point (intersection or the like) has approached (for example, 100 m). If so, the voice notification data is sent to the voice notification device 306.
The configuration other than the route guiding unit 105A is the same as that of the second embodiment, and a description thereof will be omitted.

When the voice notification device 306 receives the voice notification data, the voice notification device 306 notifies the driver by voice.
This voice notification data notifies the display 112 that a pre-reading video (a road video estimated to be visually recognized by the driver after traveling for a predetermined time from now) is displayed.
That is, when the route guidance is performed and the driver is highly likely to visually recognize the screen of the display 112, a notification that the pre-read video is displayed is given.
In this embodiment, when the vehicle is traveling in a place other than the point where the route guidance is performed, either the pre-read video or the normal video that is not the pre-read video may be displayed.

  In the present embodiment, the host vehicle position detection unit 102 constitutes the vehicle position detection unit in the present invention, and the route search unit 103 and the route guidance unit 105A constitute the route setting unit in the present invention. The peripheral video camera 109A constitutes the camera according to the present invention, and the video conversion unit 209 constitutes the area creating means according to the present invention. The guide arrow image creation unit 210 constitutes the figure creation means in the present invention, and the display 112 constitutes the display means in the present invention. Furthermore, the voice notification device 306 constitutes notification means in the present invention.

  Since the present embodiment is configured as described above and the voice notification is performed when the pre-read video is displayed and the route guidance point is approached, the driver is highly likely to visually recognize the screen of the display 112. The driver is able to recognize that the video displayed on the display 112 is a pre-read video, and even if the driver views the display 112 from the state of looking at the foreground, Can reduce the sense of incongruity.

Next, a fifth embodiment will be described.
FIG. 11 shows the overall configuration of this embodiment.
In addition, the route guidance apparatus 500 in a present Example adds the CG preparation part 411 and the city map database 412 to the vehicle-mounted computer 330 in a 4th Example.
A destination input unit 101 for inputting vehicle destination information, a host vehicle position detection unit 102 for detecting a current position of the host vehicle, a vehicle speed & steering angle sensor 106 for detecting a vehicle speed and a steering angle of the vehicle, A route guidance device 500 is configured by connecting a peripheral video photographing camera 109A for photographing a vehicle foreground, a display 112 for displaying a video, and a voice notification device 306 to an in-vehicle computer 430.

The in-vehicle computer 430 includes a route search unit 103A, a map database 104, a route guidance unit 105A, a guide arrow video creation unit 210, a video composition unit 211A, a coordinate conversion formula storage unit 208B, and a video conversion unit 209, and further creates a CG. A section 411 and a city map database 412.
The route search unit 103A searches for a travel route of the vehicle based on the data input from the destination input unit 101 and the own vehicle position detection unit 102 and the map data in the map database 104, and the search result is obtained as a route guidance unit. 105A and the CG creation unit 411.

The CG creation unit 411 uses the coordinate conversion formula stored in the coordinate conversion formula storage unit 208B based on the vehicle speed and the steering angle detected by the vehicle speed & steering angle sensor 106, and the video shot by the peripheral video camera 109A. Is converted, it is determined whether or not there is an area that must be displayed on the display 112 beyond the range imaged by the peripheral video camera 109A.
Specifically, for example, when the rudder angle of the vehicle is rightward as much as possible, the right end portion of the range displayed on the display 112 exceeds the right end of the image captured by the peripheral image capturing camera 109A. The right end portion of the range displayed on the display 112 is blank (a portion exceeding the range photographed by the peripheral video photographing camera 109A).

Based on the data stored in the city map database 412, the CG creation unit 411 creates a blank CG video in which the display range of the display 112 exceeds the shooting range of the peripheral video shooting camera 109A, and the video synthesis unit 211A Send to.
The city map database 412 includes data such as the shape of a building, and the building can be displayed in three dimensions from the data.

The video composition unit 211A synthesizes the arrow video created by the guide arrow video creation unit 210, the video of the peripheral video shooting camera 109A converted by the video conversion unit 209, and the CG video created by the CG creation unit 411. To do.
As a result, even if the video to be displayed on the display 112 exceeds the shooting range of the peripheral video camera 109A, the CG creation unit 411 creates a portion exceeding the shooting range of the peripheral video camera 109A as shown in FIG. By synthesizing the created CG video, no blank or the like is generated on the display 112.
In FIG. 12, a region F is a CG image created by the CG creation unit 411.
Other configurations are the same as those of the fourth embodiment, and a description thereof will be omitted.

  In the present embodiment, the host vehicle position detection unit 102 constitutes the vehicle position detection unit in the present invention, and the route search unit 103 and the route guidance unit 105A constitute the route setting unit in the present invention. The peripheral video camera 109A constitutes the camera according to the present invention, and the video conversion unit 209 constitutes the area creating means according to the present invention. The guide arrow image creation unit 210 constitutes the figure creation means in the present invention, and the display 112 constitutes the display means in the present invention. Furthermore, the voice notification device 306 constitutes notification means in the present invention, and the CG creation unit 411 constitutes video creation means in the present invention.

  This embodiment is configured as described above, and when the range of the video displayed as the pre-read video on the display 112 exceeds the range shot by the peripheral video camera 109A, there is a shortage of the video shot by the peripheral video camera 109A. By supplementing the portion with the CG video created by the CG creation unit 411, it is possible to prevent a blank portion from being generated by exceeding the shooting range of the peripheral video shooting camera 109A on the display screen of the display 112, and always read ahead video. Can be displayed.

It is a figure which shows the whole structure of a 1st Example. It is a figure which shows the imaging | photography range by a peripheral video imaging camera. It is a figure which shows the example of a display image which accumulated the arrow image | video. It is a figure which shows the whole structure of a 2nd Example. It is a figure which shows a ground coordinate and a display coordinate. It is the figure which looked at the ground and the camera from the side. It is the figure which looked at the ground and the camera from the top. It is a figure which shows the whole structure of a 3rd Example. It is a figure which shows arrangement | positioning of the pixel converted using the conversion table. It is a figure which shows the whole structure of a 4th Example. It is a figure which shows the whole structure of the 5th Example. It is a figure which shows the example of a display image which added the CG image | video.

Explanation of symbols

100, 200, 200A, 400, 500 Route guidance device 101 Destination input unit 102 Own vehicle position detection unit 103, 103A Route search unit 104 Map database 105, 105A Route guidance unit 106 Vehicle speed & rudder angle sensor 107 Swing & enlargement / reduction Quantity calculation unit 108 Camera swing & enlargement / reduction mechanism unit 109, 109A Peripheral image capturing camera 110, 210 Guide arrow image creation unit 111, 211, 211A Image composition unit 112 Display 130, 230, 230A, 330, 430 On-board computer 208, 208B Coordinate conversion expression storage unit 208A Conversion table storage unit 209 Video conversion unit 306 Audio notification device 411 CG creation unit 412 City map database

Claims (11)

Vehicle position detection means for detecting the current position of the vehicle;
A map database for storing map information;
A route setting means for setting a route from the current position of the vehicle to the destination based on the map database and setting a route guidance point for performing route guidance;
A camera that captures images around the vehicle;
An area creating means for estimating an area captured by the camera after a predetermined time from the current time, and creating a captured image after a predetermined time from the image captured by the camera;
Based on the route set by the route setting unit and the captured image after a predetermined time created by the region creating unit, a graphic creating unit for creating a route guidance figure for performing route guidance at the route guidance point When,
A route guidance apparatus comprising: a captured image after the predetermined time has elapsed; and display means for displaying the route guidance graphic in a superimposed manner. Informing means for informing the vehicle occupant that the image displayed on the display means is an image after a predetermined time has elapsed,
The said route setting means gives the instruction | indication to alert | report to the said alerting | reporting means when a vehicle approaches a route guidance point to a predetermined distance, The said alerting | reporting means alert | reports, The said alerting | reporting means performs the alerting | reporting. Route guidance device. A drive unit for moving and enlarging / reducing the shooting range of the camera,
3. The route guidance according to claim 1, wherein the area creating unit creates the captured image after the predetermined time by moving and enlarging / reducing the shooting range of the camera by controlling the driving unit. apparatus. A vehicle speed sensor for detecting the speed of the vehicle;
A rudder angle sensor for detecting the rudder angle,
The region creating means creates the captured image after the predetermined time by controlling the drive unit based on the speed and steering angle of the vehicle and moving and enlarging / reducing the photographing range of the camera. The route guidance device according to claim 3, wherein 3. The path according to claim 1, wherein the area creating unit creates a captured image after the predetermined time by cutting out an image captured by the camera and compressing or expanding the image in the vertical direction. Guide device. 6. The route guidance device according to claim 5, wherein the area creating unit creates a captured image after the predetermined time by converting an image captured by the camera using a coordinate conversion formula. . A vehicle speed sensor for detecting the speed of the vehicle;
A rudder angle sensor for detecting the rudder angle,
The route guidance device according to claim 5 or 6, wherein the area creation means creates a captured image after the predetermined time based on a speed and a steering angle of the vehicle. The area creating means creates a captured image after the predetermined time using a table in which a positional relationship between a captured image of a camera and pixel data after image conversion is obtained in advance by a coordinate conversion formula. Item 3. The route guidance device according to Item 1 or 2. A vehicle speed sensor for detecting the speed of the vehicle;
A rudder angle sensor for detecting the rudder angle,
The region creating means selects one from a plurality of the tables based on the speed and steering angle of the vehicle, and creates a captured image after the predetermined time using the selected table. Item 9. The route guidance device according to Item 8. Provided with video creation means for creating landscape images with computer graphics,
When the image created as the captured image after the predetermined time includes a portion that exceeds the range photographed by the camera, the region creating means includes a portion exceeding the range photographed by the camera. The route guidance device according to any one of claims 1 to 9, wherein a captured image after the predetermined time is created by supplementing with an image created by a video creation unit. A route from the current position of the vehicle to the destination is set based on the vehicle position and the map database, a route guidance point for performing route guidance is set on the route, and a camera that captures a vehicle peripheral image is more than the current time. Estimate the area to be imaged after a predetermined time, create a captured image after a predetermined time from the image captured by the camera, based on the image after the predetermined time and the route from the current position to the destination, A route guidance method for creating a route guidance figure for performing route guidance at the route guidance point, and displaying the captured image after the predetermined time has been superimposed with the route guidance figure.

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