JP2008151752A - Route guidance display device and route guidance method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To reduce a driver's stress caused by route guidance in driving a vehicle. <P>SOLUTION: This route guidance display device: searches for a recommendation route which is a route in units of cruising lanes and is the most recommendable under prescribed conditions, and a suggestion route which is a route other than the recommendation route; generates a recommendation route guidance diagram IM for performing guidance to the recommendation route searched for; generates a suggestion route guidance diagram SIM for performing guidance to the suggestion route searched for; causes the guidance diagram IM generated and the guidance diagram SIM generated to be superposed on an image for route guidance at a prescribed time; and displays the image for route guidance with the guidance diagrams IM and SIM superposed thereon, thus materializing this route guidance display device. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a route guidance display device and a route guidance method for performing route guidance to a searched destination while displaying route guidance information.

  2. Description of the Related Art A navigation device has been devised and implemented that searches for a route to a set desired destination and provides route guidance for the searched route. In such a navigation device, for example, route guidance to a desired destination is performed while a map corresponding to the current position of the vehicle drawn from the map data is displayed on the in-vehicle monitor.

  At this time, the navigation device displays the route guidance information for guiding the route on the map, thereby driving the vehicle so that the vehicle can surely travel on the searched route. The route guidance information is, for example, an arrow-shaped figure, and is superimposed on an appropriate position with an appropriate size on a map to be displayed on the in-vehicle monitor so that the traveling direction of the route to be guided, the right / left turn point on the route It is possible to accurately indicate the direction of turning left and right at the corner.

  In addition, in such a navigation device, instead of the method of performing route guidance while displaying a map on the in-vehicle monitor, a landscape image in front of the vehicle actually taken from the vehicle traveling by the in-vehicle camera mounted on the vehicle is monitored. A method of guiding the route while displaying the image on the screen has also been devised (for example, see Patent Document 1).

In this way, a method for superimposing route guidance information on a map, a method for superimposing route guidance information on a landscape image in front of a vehicle photographed by an in-vehicle camera, and deviating from a route guided by the route guidance information in any method. If this happens, a so-called reroute is performed in which a route to the destination is searched based on the current position of the vehicle.
JP-A-10-339646

  By the way, as disclosed in Patent Document 1, only the information corresponding to one recommended route is displayed as route guidance information such as an arrow graphic displayed when performing route guidance. Therefore, as described above, when a reroute that searches for a new route that deviates from the route guided by the route guidance information is executed, the route guidance information is not displayed while the new route is being searched. As a result, the route guidance is temporarily interrupted.

  In this way, if the route guidance is interrupted, the driver who has been driving to follow the route guidance information until now loses the pointer to drive the vehicle temporarily, but also to the destination There is a possibility of stress due to anxiety that the driver has failed to drive the optimal route.

  Therefore, the present invention has been proposed in view of the above-described circumstances, and displays a route guidance figure that is route guidance information that guides the searched route from the current position of the vehicle to the destination. To provide a route guidance display device and a route guidance method capable of reducing stress during driving of a vehicle by continuously continuing route guidance without interruption until arrival at a destination when guiding. Objective.

  The present invention searches for a recommended route that is the most recommended route under a predetermined condition and a proposed route that is a route other than the recommended route, which is a route in a traveling lane unit. Then, a recommended route guidance graphic for guiding to the searched recommended route is generated, a proposed route guidance graphic for guiding to the searched proposed route is generated, and the generated recommended route guidance graphic is generated. The proposed route guidance graphic is superimposed on a route guidance image, and a route guidance image in which the recommended route guidance graphic and the proposed route guidance graphic are superimposed is displayed. At this time, the above-mentioned problem is solved by controlling the timing at which the recommended route guidance graphic and the proposed route guidance graphic are superimposed on the route guidance image.

  According to the present invention, it is possible to always continue route guidance without interruption until arrival at the destination, so that it is possible to greatly reduce the driver's stress when driving the vehicle.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[First Embodiment]
First, the route guidance display device 1 shown as the first embodiment of the present invention will be described with reference to FIG. As shown in FIG. 1, the route guidance display device 1 includes a vehicle position calculation unit 10, a map database 11, a route calculation unit 12, a recommended route guidance graphic generation unit 13, a proposed route guidance graphic generation unit 14, A vehicle speed detection device 15, a blinker detection device 16, a control unit 17, and a display device 18 are provided. Such a route guidance display device 1 is mounted on a vehicle.

  The vehicle position calculation unit 10 calculates the current position of the host vehicle in units of traveling lanes. The vehicle position calculation unit 10 uses GPS (Global Positioning System), DGPS (Differential GPS) that uses FM radio waves transmitted from a reference station to correct errors in GPS measurement results, and further improves accuracy. Information provided from infrastructure prepared for detecting high-accuracy GPS information and travel lanes is acquired, and the current position of the host vehicle is calculated in units of travel lanes. Further, the vehicle position calculation unit 10 may calculate position information by combining autonomous navigation. Furthermore, the vehicle position calculation unit 10 can calculate the current position of the vehicle with high accuracy by using position information provided via an optical beacon or a radio beacon, or by performing correction by map matching.

  The map database 11 stores various data necessary for route guidance, such as map data used for map matching and route guidance, road data, and icon data to be displayed on the map. The road data stored in the map database 11 includes the number of road lanes, road width information, and road undulation information. As such a map database 11, for example, an optical disk that is a removable storage medium, an HD (Hard Disk) that is fixedly installed, or the like can be used. Further, as the map database 11, various removable media equipped with a semiconductor memory such as a flash memory may be used.

  The route calculation unit 12 uses the current position of the host vehicle calculated by the vehicle position calculation unit 10 as a departure point, the route stored in the map database 11 to the route set by the user to the destination. Use it to calculate and search for routes.

  The route calculation unit 12 calculates a recommended route that is most recommended under a predetermined condition and a suggested route that is a route other than the recommended route. The route calculation unit 12 calculates, as a predetermined condition, for example, a route that can travel in the shortest time or the shortest distance as a recommended route, and a route other than the recommended route that satisfies the above-described conditions to some extent. Is calculated as a proposed route. Therefore, there may be a plurality of proposed routes. Further, the predetermined condition can be specified by the user such as avoiding traffic jams. In addition, the route calculation unit 12 can calculate the recommended route and the proposed route with high accuracy by acquiring traffic information that is information indicating a traffic jam provided from a traffic information center or the like.

  The recommended route and the proposed route calculated by the route calculation unit 12 are output to the recommended route guidance graphic generation unit 13 and the proposed route guidance graphic generation unit 14 as route information.

  The recommended route guidance graphic generation unit 13 generates a recommended route guidance graphic for guiding the vehicle to the recommended route in units of traveling lanes based on the route information of the recommended route output from the route calculation unit 12.

  The proposed route guidance graphic generation unit 14 generates a proposed route guidance graphic for guiding the vehicle to the proposed route for each traveling lane based on the route information of the proposed route output from the route calculation unit 12.

  The vehicle speed detection device 15 is a vehicle speed sensor, and detects the vehicle speed by measuring the number of rotations on the output side of the transmission and the number of rotations of wheels, for example. The vehicle speed detection device 15 outputs the detected vehicle speed to the control unit 17 as a vehicle speed signal.

  The blinker detection device 16 is a sensor that detects whether or not the blinker (turn signal lamp) for notifying the outside of the moving direction of the vehicle mounted on the vehicle is instructed to blink. The blinker detection device 16 outputs a blink instruction to the control unit 17 as a blinker switch signal.

  The control unit 17 is a control unit that comprehensively controls the route guidance display device 1. The control unit 17 generates a route guidance image to be displayed on the display device 18. For example, the control unit 17 reads map data, road data, and the like from the map database 11, generates a navigation map as an image for route guidance, and displays the map on the display device 18. At this time, the control unit 17 superimposes the recommended route guidance graphic generated by the recommended route guidance graphic generation unit 13 and the proposed route guidance graphic generated by the proposed route guidance graphic generation unit 14 on the generated route guidance image. Then, it is displayed via the display device 18.

  The control unit 17 includes vehicle information such as a vehicle speed detected by the vehicle speed detection device 15, a driver's intention display for moving the vehicle detected by the turn signal detection device 16 in the right or left direction, and a traffic jam situation of the searched route. In accordance with the above, display, non-display, and real-time shape deformation of the recommended route guidance graphic and the proposed route guidance graphic displayed on the display device 18 by being superimposed on the route guidance image are controlled.

  The display device 18 is an in-vehicle monitor that is mounted on a vehicle and displays a display image generated by the control unit 17. The display device 18 is, for example, a liquid crystal display or the like, and is installed at a position that is easily visible to a user who is mainly a driver. Further, the display panel of the display device 18 may be a touch panel.

[Recommended route guidance figure and proposed route guidance figure display control processing]
(1-1) Display of Recommended Route Guidance Graphic and Suggested Route Guidance Graphic The recommended route guidance graphic IM for each lane generated by the recommended route guidance graphic generation unit 13 under the control of the control unit 17 is shown in FIG. , (B), together with the proposed route guidance graphics SIM1 and SIM2 for each travel lane generated by the proposed route guidance graphic generation unit 14, the display device 18 is superimposed on a map image which is an image for route guidance. Is displayed. 2A is a map image visually recognized by a line of sight as seen from above, and FIG. 2B is a map image visually recognized by a line of sight from the windshield of the vehicle. It is the figure which superimposed IM and the proposed route guidance figure SIM1, SIM2 respectively.

  As shown in FIGS. 2A and 2B, there may be a plurality of proposed route guidance graphics SIM1 and SIM2 depending on the number of driving lanes on the road to be route-guided. As described above, there may be a plurality of proposed route guidance graphics. However, in the following description, when the proposed route guidance graphics are generically referred to, they are simply referred to as a proposed route guidance graphic SIM.

  For example, as shown in FIGS. 3A and 3B, when only the recommended route guidance graphic IM for each traveling lane generated by the recommended route guidance graphic generation unit 13 is superimposed on the map image, the host vehicle makes this recommendation. There is no problem if the recommended route can be traveled following the route guidance graphic IM, but if the vehicle deviates from the recommended route, a reroute in which a new recommended route is searched based on the current position of the vehicle is executed. This leads to temporary interruption of route guidance. 3A is a map image that is visually recognized by a line of sight as seen from above, and FIG. 3B is a map image that is visually recognized by a line of sight from the windshield of the vehicle. It is the figure which superimposed IM, respectively.

  In particular, when driving on a road with a heavy traffic volume having a plurality of driving lanes, it is often difficult to select only a recommended route for driving. For example, at a branch point such as an intersection, the recommended route may indicate that a right turn direction is instructed, but the vehicle cannot enter the right turn lane and must travel in a straight lane.

  Therefore, the control unit 17 controls the route calculation unit 12 to calculate a recommended route and a suggested route that can be proposed in addition to the recommended route, and further, a recommended route, a recommended route guidance graphic corresponding to the proposed route, The recommended route guidance graphic generation unit 13 and the proposed route guidance graphic generation unit 14 are caused to generate the proposed route guidance graphic. Then, in response to the distance between the host vehicle and the branch point being within a predetermined distance (first threshold), for example, the distance at which the travel lane can be easily changed while being near the branch point. As shown in FIGS. 2A and 2B, the recommended route guidance graphic IM and the proposed route guidance graphic SIM (SIM1, SIM2) are superimposed on the map image.

  In addition, when superimposing the proposed route guidance graphic SIM on the map image, the control unit 17 first proposes that the recommended route guidance graphic IM is superimposed on the map image to travel on the recommended route. Then, the control unit 17 determines whether or not the recommended route guided by the recommended route guidance graphic IM has deviated based on the current position of the host vehicle calculated by the vehicle position calculating unit 10, and the deviation of the recommended route is determined. In response to this, the proposed route guidance graphic SIM may be superimposed on the map image. Thereby, since the proposed route guidance figure SIM is superimposed on the map image as necessary, the route guidance can be executed with high visibility for the driver.

  The recommended route guidance graphic IM and the proposed route guidance graphic SIM are different from each other in color, shading, pattern, shape, and the like so that they can be understood at a glance when the user visually recognizes them. The recommended route guidance graphic IM to be guided to the recommended route has a particularly conspicuous color, shading, pattern, shape, etc., and has a color, shading, pattern, shape, etc. that the proposed route guidance graphic SIM conforms to.

  In addition, when there are a plurality of proposed route guidance graphics SIM, the colors, shades, patterns, shapes, etc. of the proposed route guidance graphics SIM are changed so that they can be understood at a glance when viewed by the user. . At this time, the proposed route guidance graphic SIM corresponding to the proposed route that matches the conditions of the route search has a conspicuous color, shading, pattern, shape, and the like.

  As described above, the driver who visually recognizes the map image in which the recommended route guidance graphic IM and the proposed route guidance graphic SIM are simultaneously superimposed first takes a driving action according to the recommended route guidance graphic IM that leads to the recommended route. . At this time, if the driver deviates from the recommended route guided by the recommended route guidance graphic IM, it is desirable that the driver take a driving action to return to the recommended route again. There is no problem even if the driving action according to the proposed route guidance graphic SIM for guiding the vehicle to the currently traveling lane is taken.

  The proposed route calculated by the route calculation unit 12 together with the recommended route is one of the routes from the current position of the host vehicle to the destination calculated by the vehicle position calculation unit 10, and therefore a proposal corresponding to the proposed route. Even if the driving action according to the route guidance graphic SIM is taken, the destination can be reached without fail. Specifically, the proposed route calculated by the route calculation unit 12 is a route that is different from the recommended route to the destination, or a route that is connected to the recommended route again. For example, the recommended route guidance graphic IM and the proposed route guidance graphics SIM1 and SIM2 shown in FIG. 2A actually indicate routes as shown in FIG.

  As shown in FIG. 4, the proposed route guidance graphic SIM1 is a guidance graphic for guiding to a proposed route calculated as a route different from the recommended route guided by the recommended route guidance graphic IM, and the proposed route guidance graphic SIM2 is This is a guide graphic for guiding to a route reconnected to the recommended route guided by the recommended route guide graphic IM.

(1-2) Route Guidance Graphic Display Control Accompanying Traveling Lane Change The control unit 17 proposes when the vehicle is following a recommended route with a traveling lane change, or with a traveling lane change. When moving from the route so as to approach the recommended route, the display of the proposed route guidance graphic superimposed on the travel lane of the map image before the travel lane change is deleted.

  For example, as shown in FIGS. 5A and 5B, the recommended route guidance graphic IM and the proposed route guidance graphics SIM1 and SIM2 are superimposed on a map image, and the vehicle 30 that is the host vehicle has a recommended route. It is assumed that the vehicle is traveling on a part of the traveling lane R1. At this time, it is assumed that the vehicle 30 changes the lane from the travel lane R1 to the travel lane R2 following the recommended route guidance pattern IM as the vehicle travels.

  As shown in FIGS. 5A and 5B, the recommended route guided by the recommended route guidance graphic IM is a route that turns right at a branching point that is an intersection through the traveling lane R1, the traveling lane R2, and the traveling lane R3. It has become. Therefore, when the vehicle 30 changes the lane from the travel lane R1 to the travel lane R2, it can be considered that the probability of returning to the travel lane R1, which is the left lane, is extremely low. Therefore, when the lane change from the traveling lane R1 to the traveling lane R2 is recognized from the position of the host vehicle calculated by the vehicle position calculating unit 10 based on the recommended route guidance graphic IM, the control unit 17 displays a useless display. The display of the proposed route guidance figure SIM1 is deleted.

  As a result, as shown in FIGS. 6A and 6B, on the map image visually recognized by the user via the display device 18, the driving lane R2 to the driving lane R3 with a high possibility that the vehicle 30 will travel. Only the recommended guidance route graphic IM for guiding to the road and the proposed route guidance graphic SIM2 for continuously guiding on the currently traveling lane R2 will be displayed, and each route guidance graphic is highly visible to the driver. Can be presented by sex.

  In the example shown in FIG. 5 and FIG. 6, the case where there is a lane change in the travel on the recommended route guided by the recommended route guidance graphic IM is shown, but the recommended route guided by the proposed route guidance graphic SIM is recommended. Even when there is a lane change when moving closer to the route, each route guidance graphic is also highly visible to the driver by erasing the display of the proposed route guidance graphic SIM before the driving lane change. Can be presented.

(1-3) Change Display of Recommended Route Guidance Graphic In addition, the control unit 17 indicates that the vehicle is approaching a branch point such as an intersection existing on the recommended route to within a predetermined distance (second threshold). In spite of this, if the user cannot travel on the recommended route proposed by the recommended route guidance graphic IM, he will give up guidance to the route that has been proposed as the recommended route so far, and the current driving lane will be the recommended route. The display of the recommended route guidance graphic IM is switched so that The predetermined distance to the branch point of the vehicle is, for example, a distance defined by whether the lane can be changed when the vehicle approaches the branch point.

  For example, as shown in FIGS. 6 (a) and 6 (b), a recommended route guidance figure IM for guiding in the right turn direction is displayed at the traveling lane R2, the traveling lane R3, and the intersection BP, which is an intersection. It is assumed that the vehicle 30 is traveling on the lane R2. 6A is a map image visually recognized by a line of sight as seen from above, and FIG. 6B is a map image visually recognized by a line of sight from the windshield of the vehicle. It is the figure which superimposed IM and the proposal route guidance figure SIM2, respectively.

  At this time, as the vehicle 30 travels, the control unit 17 sets the travel lane even though the distance between the current position calculated by the vehicle position calculation unit 10 and the branch point BP is within a predetermined distance. In response to the fact that the lane has not been changed from R2 to the driving lane R3, as shown in FIGS. 7A and 7B, the proposed route of the currently traveling lane R2 is changed to the recommended route, The display of the proposed route guidance graphic SIM2 is changed to the display of the recommended route guidance graphic IM (SIM2). Conversely, the travel lane R3 that has been the recommended route up to now is changed to the proposed route, and the display of the recommended route guidance graphic IM is changed to the proposed route guidance graphic SIM3 (IM).

  At this time, for example, the proposed route guidance graphic SIM3 (IM) shown in FIG. 7 is devised such as following the color of the recommended route guidance graphic IM as it is to clearly indicate that it is a change from the recommended route guidance graphic IM. Is made.

  As a result, when the vehicle 30 moves closer to the branch point BP so that the lane change is difficult when the vehicle 30 can move to the recommended route by changing the lane, the guidance to the recommended route is not continued forcibly. Changing the proposed route including the driving lane during travel to the recommended route, and changing the proposed route guidance graphic SIM2 to the recommended route guidance graphic IM (SIM2) to display the lane change that may cause stress to the driver Rather than prompting, it is possible to propose a route that realizes extremely natural and reliable driving.

  Further, the control unit 17 intends to move to the recommended route based on the winker switch signal instructing blinking from the winker detection device 16 even when the vehicle is approaching the branch point within a predetermined distance. If it is determined that the recommended route is not changed, the display of the recommended route guidance graphic IM is continuously displayed in the same manner without being changed.

(1-4) Display Control of Recommended Route Guidance Graphic and Proposed Route Guidance Graphic by Split Screen Further, as shown in FIG. 8A, the control unit 17 performs the recommended route guidance graphic IM and the proposed route guidance graphic SIM (SIM1). , SIM2) are simultaneously displayed on the display device 18 for a route guidance image including a wide area map image A and an enlarged map image B in which the vicinity of a branch point is enlarged and only the recommended route guidance graphic IM is superimposed. Let

  Thereby, when the recommended route can be surely followed, if the enlarged map image B displayed on the right side of the display device 18 is appropriately referred to as shown in FIG. Since it is displayed, it is possible to easily grasp the subsequent driving behavior.

  Further, if the recommended route is deviated, the proposed route guidance graphics SIM1 and SIM2 can be used by appropriately referring to the wide area map image A displayed on the left side of the display device 18 as shown in FIG. 8A. It is possible to easily understand that the proposed route that is currently traveling is connected to the recommended route due to the deviation. As a result, the driver can travel on the proposed route guided by the proposed route guidance graphic SIM with peace of mind.

  However, since the wide area map image A has a limit of display capability based on the size of the display screen of the display device 18, it is complicated if the number of suggested route guidance figures SIM to be displayed is increased according to the number of traveling lanes. There is a problem that visibility becomes worse. Therefore, the proposed route guidance figure SIM is displayed by thinning out in a flexible manner according to the traveling lane in which the vehicle is currently traveling.

  For example, as shown in FIG. 8A, when the proposed route guidance graphics SIM1 and SIM2 are superimposed on the wide area map image A, the right turn is instructed in the same manner as the recommended route guided by the recommended route proposal graphics IM. When driving along a proposed route guided by the proposed route guidance graphic SIM2, the lane is changed to the proposed route guided by the proposed route guidance graphic SIM1 indicating the left turn direction opposite to the recommended route. There is very little to do. Therefore, as shown in FIG. 8B, the control unit 17 does not display the proposed route guidance graphic SIM1.

  As a result, when the proposed route guidance graphic SIM is superimposed on the wide area map image A on a road having a plurality of driving lanes, the recommended route guidance graphic IM and the minimum required route guidance graphic SIM are eliminated while eliminating complexity. It can be displayed simultaneously.

[Processing Operation of Route Guidance Display Device 1]
Next, the processing operation of the route guidance display device 1 will be described using the flowchart shown in FIG.

  In step S <b> 1, the control unit 17 sets a desired destination input by the user to the route calculation unit 12. In addition to the destination, the user may set a waypoint. In the following description, it is assumed that the waypoint is not set and only the destination is set.

  In step S <b> 2, the control unit 17 controls the route calculation unit 12 to recommend a recommended route that is an optimum route from the current position of the host vehicle calculated by the vehicle position calculation unit 10 to the set destination, and a recommended route. A route search is executed by calculating a proposed route which is a route other than the route. For example, the route calculation unit 12 calculates a route that can travel in the shortest time or the shortest distance as a recommended route, and calculates a route corresponding to the recommended route as a suggested route. At this time, the route calculation unit 12 may calculate a recommended route and a suggested route using traffic information provided from a traffic information center or the like.

  In step S3, the control unit 17 determines whether or not a branch point exists in the searched recommended route. When there is a branch point, the control unit 17 proceeds to step S4. On the other hand, when there is no branch point, the control unit 17 proceeds to step S14.

  In step S4, the control unit 17 controls the recommended route guidance graphic generation unit 13 and the proposed route guidance graphic generation unit 14, and the recommended route guidance graphic at the nearest branch point based on the recommended route and the proposed route calculated in step S2. IM and a proposed route guidance figure SIM are generated for each lane.

  In step S5, the control unit 17 determines whether the distance from the current position of the vehicle calculated by the vehicle position calculation unit 10 to the branch point is within the first threshold. When the distance to the branch point is within the first threshold, the control unit 17 proceeds to step S6. On the other hand, when the distance to the branch point is longer than the first threshold, the controller 17 is within the first threshold. It will be in the standby state which waits to become.

  In step S6, the control unit 17 generates a predetermined position of the map image in the vicinity of the current position of the vehicle calculated by the vehicle position calculation unit 10 that is generated based on the map data, road data, and the like stored in the map database 11. The recommended route guidance graphic IM and the proposed route guidance graphic SIM calculated in step S4 are superimposed and displayed on the display device 18.

  In step S <b> 7, the control unit 17 determines whether or not the vehicle has changed the driving lane based on the current position of the vehicle calculated by the vehicle position calculation unit 10. When it is determined that the lane change has been made, the control unit 17 proceeds to step S8. When it is determined that the lane change has not been made, the control unit 17 proceeds to step S10.

  In step S8, the control unit 17 determines whether the lane change made in step S7 is a lane change following the recommended route guided by the recommended route guidance graphic IM or a lane change approaching the recommended route. If the lane change follows the recommended route or the lane change approaches the recommended route, the control unit 17 proceeds to step S9. If not, the control unit 17 proceeds to step S10. Proceed.

  In step S9, the control unit 17 erases the display of the proposed route guidance graphic SIM superimposed on the map image of the traveling lane that was traveling before the lane change.

  In step S10, the control unit 17 determines whether the distance from the current position of the vehicle calculated by the vehicle position calculation unit 10 to the branch point is within the second threshold. When the distance to the branch point is within the second threshold, the control unit 17 proceeds to step S11. On the other hand, when the distance to the branch point is longer than the second threshold, the control unit 17 is within the second threshold. Wait to become. The second threshold value is shorter than the first threshold value described above. When the distance from the current position of the vehicle to the branch point is within the second threshold value, it is difficult to change the lane of the traveling lane.

  In step S <b> 11, the control unit 17 determines whether the vehicle is currently traveling on the recommended route based on the current position of the vehicle calculated by the vehicle position calculation unit 10. If the controller 17 is currently traveling on the recommended route, the process proceeds to step S14. If the controller 17 is currently traveling on the proposed route that is a route other than the recommended route, the process proceeds to step S12.

  In step S <b> 12, the control unit 17 determines whether there is an intention to change the lane to the recommended route based on the winker switch signal output from the winker detection device 16. The control unit 17 determines whether the lane change toward the recommended route is to be made from the current position of the vehicle calculated by the vehicle position calculation unit 10 and the direction indicated by the turn signal switch signal.

  When it is determined that there is an intention to change the lane to the recommended route, the control unit 17 proceeds to step S14, and when it is determined that there is no intention to change the lane to the recommended route, the process proceeds to step S13. .

  In step S13, the control unit 17 changes the travel lane that is the proposed route guided by the currently proposed route guidance graphic SIM to the recommended route, and changes the proposed route guidance graphic SIM to the recommended route guidance graphic IM. Change the display. Accordingly, the recommended route so far is changed to the proposed route, and the recommended route guidance graphic IM is changed to the proposed route guidance graphic SIM.

  In step S14, the control unit 17 determines whether the destination set in step S1 or the vicinity of the destination has been reached. The control unit 17 returns the process to step S3 when the destination or the vicinity of the destination has not been reached yet, and ends the route guidance when the destination or the vicinity of the destination is reached.

[Effect of the first embodiment]
As described above, the route guidance display device 1 shown as the first embodiment of the present invention includes the recommended route guidance graphic IM for guiding to the recommended route generated by the recommended route guidance graphic generation unit 13, and the proposed route guidance graphic. Even if there is a deviation from the recommended route, the proposed route guidance graphic SIM guided to the proposed route generated by the generation unit 14 is displayed superimposed on the route guidance image. It is not necessary to perform re-route because it only needs to follow the driving, and the route guidance can be continued without interruption until it arrives at the destination, so the driver's vehicle driving due to the loss of the following route Time stress can be greatly reduced.

  Further, the control unit 17 controls the recommended route guidance graphic IM and the proposed route guidance graphic SIM in response to the distance between the current position of the vehicle and the branch point existing on the recommended route being within the first threshold. Is superimposed on the route guidance image at the same time, especially at a branching point with multiple lanes that are difficult to change during congestion, even if it is not possible to change lanes, the route is not disturbed. Guidance can be continued.

  In addition, when the vehicle is determined to deviate from the recommended route based on the current position of the vehicle, the proposed route guidance graphic SIM is superimposed on the route guidance image on which the recommended route guidance graphic IM is superimposed. Since the proposed route guidance graphic SIM is superimposed on the map image as necessary, the route guidance can be executed with high visibility for the driver.

  Further, the recommended route guidance graphic IM and the proposed route guidance graphic SIM are visually distinguished by any one of the color, shading, pattern, or shape displayed via the display device 18, so the user takes a glance. You can understand the recommended route and the proposed route.

  Moreover, the control part 17 was driving | running before the change of a driving lane, when the change of a driving lane was a change which approaches the recommended route guided by the recommended route guidance figure IM, or a change to a recommended route. By deleting the proposed route guidance graphic SIM superimposed on the travel lane, each route guidance graphic can be presented to the driver with high visibility.

  In addition, the control unit 17 determines that the proposed route is based on the fact that the currently traveling lane is the proposed route and the distance between the current position of the vehicle and the branch point existing on the recommended route is within the second threshold. Is changed to the recommended route, and the recommended route guidance figure SIM that guides to the changed recommended route is superposed on the image for route guidance, thereby encouraging an unreasonable lane change that stresses the driver. Instead, it is possible to propose a route that realizes extremely natural and reliable driving.

  At this time, if there is an intention to change from the travel lane that is currently being traveled as the proposed route to the recommended route by the driver, the distance between the current position of the vehicle and the branch point existing on the recommended route is within the second threshold. Even if it becomes, the route guidance figure according to the driver's intention to change the lane can be presented by controlling the proposed route so as not to be changed to the recommended route.

  Further, the control unit 17 simultaneously superimposes the recommended route guidance graphic IM and the proposed route guidance graphic SIM on the wide area map image A formed in a partial area of the route guidance image, and separates the route guidance images. Control is performed so that the recommended route guidance graphic IM is superimposed on the enlarged map image B formed in the area.

  As a result, when the recommended route can be reliably followed, if the enlarged map image B is referred to as appropriate, only the recommended route guidance graphic IM is displayed, so that the subsequent driving behavior can be easily grasped. If the departure from the recommended route is made, if the wide-area map image A is referred to as appropriate, the proposed route guidance graphic SIM indicates that the currently proposed route is connected to the recommended route due to the departure. Since it can be easily understood, the driver can travel on the proposed route guided by the proposed route guidance graphic SIM with peace of mind.

[Second Embodiment]
Next, the route guidance display device 2 shown as the second embodiment of the present invention will be described with reference to FIG.

  As shown in FIG. 10, the route guidance display device 2 shown as the second embodiment of the present invention has a camera device 20 and an image composition in the configuration of the route guidance display device 1 shown as the first embodiment described above. Only the part 21 and the rudder angle detection device 22 are added. Therefore, the functional units that are the same as those of the route guidance display device 1 are denoted by the same reference numerals, description thereof is omitted, and description is appropriately made as necessary.

  The camera device 20 is an in-vehicle camera mounted on a vehicle, and is installed so as to be able to photograph a landscape in front of the vehicle. The camera device 20 uses, for example, a CCD (Charge Coupled Devices) that can capture a small and high-quality image as an image sensor. The vehicle front image captured by the camera device 20 is output to the image composition unit 21 as an electrical signal.

  The image synthesizing unit 21 has a recommended route guidance graphic generated by the recommended route guidance graphic generation unit 13 and a proposal generated by the proposed route guidance graphic generation unit 14 at a predetermined position of the vehicle front image taken by the camera device 20. A composition process for superimposing a route guidance figure is performed. The image synthesized by the image synthesis unit 21 is output to the display device 18.

  The steering angle detection device 22 is a steering angle sensor, and detects the current steering situation (current steering angle) of the driver. Specifically, the steering angle detection device 22 amplifies the rotational displacement of the steering shaft that rotates integrally with the steering wheel of the vehicle directly or by a gear mechanism or the like, and then uses an angle detection mechanism such as a rotary encoder or a potentiometer to The steering angle is detected as a steering angle detection signal. The steering angle detection device 22 outputs the detected steering angle to the control unit 17 as a steering angle signal.

[Recommended route guidance figure and proposed route guidance figure display control processing]
(2-1) Display of Recommended Route Guidance Graphic and Proposed Route Guidance Graphic The route guidance display device 2 shown as the second embodiment of the present invention is the route guidance display shown as the above-described first embodiment of the present invention. In the device 1, instead of superimposing the recommended route guidance graphic and the proposed route guidance graphic on the map image generated based on the information stored in the map database 11, the vehicle photographed by the camera device 20 is used. The image is superimposed on the front image.

  When the camera device 20 provides route guidance while displaying a front image of a vehicle actually captured from a traveling vehicle on the display device 18, the vehicle displayed on the display device 18 without associating the map image with the landscape. The optimum route can be grasped only by visually recognizing the front image. Moreover, since the scenery visually recognized through the windshield of the vehicle and the vehicle front image displayed on the display device 18 are substantially the same, even when the user shifts his / her line of sight to the display device 18, the vehicle is not uncomfortable. Can be grasped by the display device 18.

  FIG. 11 is a diagram illustrating a state in which the recommended route guidance graphic IM is superimposed on the traveling lanes R2 and R3 of the vehicle front image captured by the camera device 20 before the branch point. As illustrated in FIG. 11, the vehicle front image captured by the camera device 20 includes an image captured of an actual building in addition to the traveling lanes R1, R2, and R3 of the vehicle.

  As described above, when the route guidance is performed using the vehicle front image photographed by the camera device 20, it is visually recognized as compared with the case where the route guidance is performed using the map image generated based on various information stored in the map database 11. There is an advantage that the route guidance can be executed by using a very natural image having a good feeling and no sense of incongruity.

  As shown in FIG. 12, the control unit 17 proposes the recommended route guidance graphic IM generated by the recommended route guidance graphic generation unit 13 for each travel lane generated by the proposed route guidance graphic generation unit 14. Along with the route guidance figure SIM2, it is superimposed on the vehicle front image and displayed via the display device 18.

  The control unit 17 controls the route calculation unit 12 to calculate a recommended route and a suggested route that can be proposed in addition to the recommended route, and further recommends a recommended route, a recommended route guidance graphic IM corresponding to the proposed route, a proposal The route guidance graphic SIM is generated by the recommended route guidance graphic generation unit 13 and the proposed route guidance graphic generation unit 14.

  Then, in response to the distance between the host vehicle and the branch point being within a predetermined distance (first threshold), for example, the distance at which the travel lane can be easily changed while being near the branch point. As shown in FIG. 12, the recommended route guidance graphic IM and the proposed route guidance graphic SIM (SIM2) are superimposed on the vehicle front image.

  In addition, when superimposing the proposed route guidance graphic SIM on the vehicle front image, the control unit 17 first proposes that the recommended route guidance graphic IM is superimposed on the map image to travel on the recommended route. Then, the control unit 17 determines whether or not the recommended route guided by the recommended route guidance graphic IM has deviated based on the current position of the host vehicle calculated by the vehicle position calculating unit 10, and the deviation of the recommended route is determined. In response to this, the proposed route guidance graphic SIM may be superimposed on the vehicle front image. Thereby, since the proposed route guidance figure SIM is superimposed on the map image as necessary, the route guidance can be executed with high visibility for the driver.

  In the route guidance display device 2 shown as the second embodiment of the present invention, the recommended route guidance graphic IM and the recommended route guidance graphic SIM generated by the recommended route guidance graphic generation unit 13 and the proposed route guidance graphic generation unit 14 are: These are the same as the recommended route guidance graphic IM and the proposed route guidance graphic SIM generated by the route guidance display device 1 shown as the first embodiment of the present invention described above, and each has color, shading, pattern, shape, etc. Are different so that they can be understood at a glance when the user visually recognizes them. The recommended route guidance graphic IM to be guided to the recommended route has a particularly conspicuous color, shading, pattern, and shape, and has a color, shading, pattern, shape, and the like that the proposed route guidance graphic SIM conforms to.

  In addition, when there are a plurality of proposed route guidance graphics SIM, the colors, shades, patterns, shapes, etc. of the proposed route guidance graphics SIM are changed so that they can be understood at a glance when viewed by the user. . At this time, the proposed route guidance graphic SIM corresponding to the proposed route that matches the conditions of the route search has a conspicuous color, shading, pattern, shape, and the like.

As described above, the route guidance display device 2 shown as the second embodiment of the present invention includes the recommended route guidance graphic IM and the proposed route on the vehicle front image highly visible to the user taken by the camera device 20. The guidance figure SIM can be displayed. (2-2) Display control of the route guidance figure accompanying the change of the driving lane When the vehicle follows the recommended route with the change of the driving lane, Alternatively, when moving so as to approach the recommended route from the proposed route along with the change of the travel lane, the display of the proposed route guidance graphic superimposed on the travel lane of the vehicle front image before the change of the travel lane is deleted.

  For example, as shown in FIG. 13A, the recommended route guidance graphic IM and the proposed route guidance graphics SIM1 and SIM2 are superimposed on the vehicle front image, and a travel lane R1 in which the vehicle is a part of the recommended route is displayed. Suppose you are traveling. At this time, it is assumed that the vehicle changes the lane from the travel lane R1 to the travel lane R2 following the recommended route guidance pattern IM as the vehicle travels.

  As shown in FIG. 13 (a), the recommended route guided by the recommended route guidance graphic IM is a route that turns right at a branching point that is an intersection through the traveling lane R1, the traveling lane R2, and the traveling lane R3. . Therefore, when the vehicle changes lanes from the travel lane R1 to the travel lane R2, it can be considered that the probability of returning to the travel lane R1, which is the left lane, is extremely low. Therefore, when the lane change from the traveling lane R1 to the traveling lane R2 is recognized from the position of the host vehicle calculated by the vehicle position calculating unit 10 on the basis of the recommended route guidance graphic IM, the control unit 17 recognizes FIG. As shown in b), the display of the proposed route guidance figure SIM1 which is a useless display is deleted.

  As a result, as shown in FIG. 13C, on the vehicle front image visually recognized by the user via the display device 18, the vehicle is guided from the travel lane R2 where the vehicle is likely to travel to the travel lane R1. Only the recommended guidance route graphic IM and the proposed route guidance graphic SIM2 for continuously guiding on the currently traveling lane R2 are displayed, and each route guidance graphic is presented to the driver with high visibility. be able to.

  Furthermore, when the lane change from the travel lane R2 to the travel lane R3 is recognized from the position of the host vehicle calculated by the vehicle position calculation unit 10 based on the recommended route guidance graphic IM, the control unit 17 is changed to FIG. As shown in c), the display of the proposed route guidance figure SIM2 which is a useless display is deleted.

  As a result, as shown in FIG. 13D, on the vehicle front image visually recognized by the user via the display device 18, the vehicle is guided from the travel lane R2 where the vehicle is likely to travel to the travel lane R3. Only the recommended guide route graphic IM is displayed, and the recommended route guide graphic IM can be presented to the driver with high visibility.

  In the example shown in FIG. 13, the case where there is a lane change in the travel on the recommended route guided by the recommended route guidance graphic IM is shown, but the proposed route guided by the proposed route guidance graphic SIM (SIM1, SIM2). Even if there is a lane change when moving closer to the recommended route from, each route guidance figure is higher than the driver by erasing the display of the proposed route guidance figure SIM before the driving lane change It can be presented with visibility.

(2-3) Recommended Route Guidance Graphic Change Display In addition, the control unit 17 indicates that the vehicle is approaching a branching point such as an intersection existing on the recommended route within a predetermined distance (second threshold). In spite of this, if the user cannot travel on the recommended route proposed by the recommended route guidance graphic IM, he will give up guidance to the route that has been proposed as the recommended route so far, and the current driving lane will be the recommended route. The display of the recommended route guidance graphic IM is switched so that The predetermined distance to the branch point of the vehicle is, for example, a distance defined by whether or not the lane can be changed when the vehicle approaches the branch point.

  For example, as shown in FIG. 14 (a), a recommended route guidance figure IM for guiding a right turn direction at a traveling lane R2, a traveling lane R3, and a branch point BP which is an intersection is displayed. Is running. At this time, as the vehicle travels, the control unit 17 sets the travel lane R2 even though the distance between the current position calculated by the vehicle position calculation unit 10 and the branch point BP is within a predetermined distance. As shown in FIG. 14 (b), the proposed route of the currently traveling lane R2 is changed to the recommended route according to the fact that the lane has not been changed from the vehicle lane R3 to the recommended lane R3. Is changed to the display of the recommended route guidance graphic IM (SIM2). Conversely, the travel lane R3 that has been the recommended route up to now is changed to the proposed route, and the display of the recommended route guidance graphic IM is changed to the proposed route guidance graphic SIM3 (IM).

  As a result, when it is possible to move to the recommended route by changing the lane, if the vehicle approaches the branch point BP so that the lane change is difficult, the current driving is not continued forcibly. By changing the proposed route including the driving lane in the recommended route to the recommended route, and changing the suggested route guidance graphic SIM2 to the recommended route guidance graphic IM (SIM2) and displaying it, it is impossible to change the lane in such a way that stresses the driver. Instead of prompting, it is possible to propose a route that realizes extremely natural and reliable driving.

  Further, the control unit 17 intends to move to the recommended route based on the winker switch signal instructing blinking from the winker detection device 16 even when the vehicle is approaching the branch point within a predetermined distance. If it is determined that the recommended route is not changed, the display of the recommended route guidance graphic IM is continuously displayed in the same manner without being changed.

(2-4) Superimposition of Proposed Route Guidance Graphic to Another Region As described above, the proposed route guidance graphic SIM is on the travel lane of the vehicle front image photographed by the camera device 20 as with the recommended route guidance graphic IM. It was superimposed on. On the other hand, as shown in FIG. 15, the vehicle front image displayed via the display device 18 includes a lower area D that is an image area in which mainly a driving lane, a building, and the like are photographed, and a sky or the like. In this way, the image is divided into an upper region U, which is an image region in which the background is photographed, and the recommended route guidance graphic IM is directly superimposed on the image of the corresponding travel lane in the lower region D, and the proposed route guidance graphic SIM is superimposed on the upper region U. Superimpose.

  At this time, as shown in FIG. 16 (a), the proposed route guidance figure SIM (SIM1, SIM2) has travel lanes R1, R2, R3 with the dividing line T dividing the upper region U and the lower region D as the symmetry axis. Are symmetrically superimposed on the traveling lane mirror images MR1, MR2, MR3 drawn in the upper region U. The traveling lane mirror images MR1, MR2, MR3 may be images obtained by symmetrically converting the map images corresponding to the traveling lanes R1, R2, R3 in the lower region D, or mirror images of the traveling lanes R1, R2, R3 themselves. May be.

  For example, when the vehicle traveling on the travel lane R1 that is the recommended route changes to the travel lane R2 following the recommended route guidance figure IM, the travel symmetric with respect to the travel lane R1 in FIG. The proposed route guidance figure SIM1 superimposed on the lane mirror image MR1 is erased as shown in FIGS.

  Further, when the current position of the vehicle calculated by the vehicle position calculation unit 10 approaches a branch point so that it is difficult to change the traveling lane, the vehicle is calculated with a recommended route guidance graphic IM as shown in FIG. 17B, the proposed route guidance graphic SIM2 superimposed on the traveling lane mirror image MR2 in the upper region U is changed to the recommended route guidance graphic IM (SIM2). In this way, it is superimposed on the travel lane R2 of the lower region D. Further, as shown in FIG. 17A, the recommended route guidance graphic IM superimposed on the travel lane R3 in the lower region D is changed to the proposed route guidance graphic SIM3 (IM) and is shown in FIG. 17B. In this way, it is superimposed on the traveling lane mirror image MR3 in the upper region U.

  At this time, the control unit 17 is willing to move to the recommended route on the basis of the blinker switch signal instructing blinking from the blinker detection device 16 even when the vehicle approaches the branch point within a predetermined distance. If it is determined that there is, the recommended route guidance graphic IM is continuously displayed in the same manner without changing the recommended route guidance graphic IM without changing the recommended route.

  In this way, the recommended route guidance graphic IM that guides to the recommended route by superimposing the recommended route guidance graphic IM on the lower region D of the vehicle forward image and superimposing the suggested route guidance graphic SIM on the upper region U of the vehicle forward image. It is possible to clearly distinguish between IM and the proposed route guidance graphic SIM that guides to the proposed route.

  In addition, it becomes very easy to understand when the display of the proposed route guidance graphic SIM is deleted in accordance with the change of the driving lane of the vehicle. Furthermore, when the display of the recommended route guidance graphic IM and the proposed route guidance graphic SIM is switched as the vehicle approaches the branch point, the display is switched between the upper region U and the lower region D. You can understand the change at a glance.

  As described above, when the recommended route guidance graphic IM and the suggested route guidance graphic SIM are exchanged, the exchange processing can be executed very smoothly by performing image processing such as the control unit 17, fade-in, and fade-out.

  As described above, the method of superimposing the recommended route guidance graphic IM and the proposed route guidance graphic SIM on the image divided into the lower region D and the upper region U is the first embodiment of the present invention. In the route guidance display device 1 shown, the present invention can also be applied to the case where the recommended route guidance graphic IM and the proposed route guidance graphic SIM are superimposed on the map image visually recognized by the line of sight from the vehicle windshield.

(2-5) Avoidance of Proposed Route that Makes a Detour Further, as described above, the recommended route or the proposed route is set for all travel lanes. A mark for urging not to travel on this route is superimposed on a very detour route.

  For example, as shown in FIG. 18, the proposed route guided by the proposed route guidance graphic SIM1 superimposed on the travel lane R1 becomes a very detour until reaching the destination. A U-turn mark FM1 that prompts to avoid guidance by the proposed route guidance graphic SIM1, a non-guidance mark FM2 marked “x”, and the like are superimposed on the vehicle front image.

  The U-turn mark FM1 and the non-guide mark FM2 are not superimposed on the vehicle front image photographed by the camera device 20 in the route guidance display device 2 described above, but the first embodiment of the present invention described above. It can display on the map image produced | generated by control of the control part 17 of the route guidance display apparatus 1 shown as embodiment. Also in this case, it is possible not to guide to a route that makes a detour until reaching the destination.

(2-6) Superimposition of Proposed Routes According to Congestion Conditions The route guidance display device 2 can acquire traffic information for each traveling lane provided from a traffic information center or the like. Based on the acquired traffic information, the control unit 17 grasps the traffic congestion status of the recommended route and the proposed route, and determines whether or not to display the proposed route guidance graphic SIM superimposed on the vehicle front image according to the traffic congestion status. Specifically, the control unit 17 takes into consideration the traffic congestion status of the proposed route, and when connecting to the recommended route, the required time to connect or the required time to the destination Is calculated. The control unit 17 compares the calculated required time with the predetermined time, and when the required time is within the predetermined time, the proposed route guidance graphic SIM is displayed superimposed on the vehicle front image.

  Thereby, it is possible to avoid the useless guidance of the vehicle by displaying the proposed route guidance graphic SIM for guiding to the proposed route which takes a long time.

  Similarly, in the route guidance display apparatus 1 shown as the first embodiment of the present invention described above, a traffic jam situation is acquired and a proposed route guidance graphic SIM is superimposed on a map image according to the acquired traffic jam situation. It can also be made.

  Further, in the processing operation of the route guidance display device 2 shown as the second embodiment of the present invention, an image in which the recommended route guidance graphic IM and the proposed route guidance graphic SIM are superimposed is a vehicle front image taken by the camera device 20. However, the other processing operations are the same as the processing operations of the route guidance display device 1 shown as the first embodiment of the present invention described with reference to the flowchart shown in FIG. To do.

[Effect of the second embodiment]
As described above, the route guidance display device 2 shown as the second embodiment of the present invention includes the recommended route guidance graphic IM for guiding to the recommended route generated by the recommended route guidance graphic generation unit 13, and the proposed route guidance graphic. For example, the recommended route is displayed by superimposing the proposed route guidance graphic SIM that is guided to the proposed route generated by the generation unit 14 on the vehicle front image that is an image for route guidance captured by the camera device 20. Even if there is a deviation from, there is no need to reroute because it is only necessary to follow the proposed route, and route guidance can be continued without interruption until arrival at the destination. It is possible to greatly reduce the driver's driving stress due to the loss of the route to be performed.

  Further, the control unit 17 controls the recommended route guidance graphic IM and the proposed route guidance graphic SIM in response to the distance between the current position of the vehicle and the branch point existing on the recommended route being within the first threshold. Is superimposed on the front image of the vehicle at the same time, so it is possible to provide route guidance without making the driver uneasy even if the lane cannot be changed, particularly at a branching point having multiple lanes that are difficult to change when crowded. Can continue.

  In addition, by superimposing the proposed route guidance graphic SIM on the vehicle front image on which the recommended route guidance graphic IM is superimposed in response to the determination that the vehicle has deviated from the recommended route based on the current position of the vehicle, Since the proposed route guidance graphic SIM is superimposed on the map image as necessary, the route guidance can be executed with high visibility for the driver.

  Further, the recommended route guidance graphic IM and the proposed route guidance graphic SIM are visually distinguished by any one of the color, shading, pattern, or shape displayed via the display device 18, so the user takes a glance. You can understand the recommended route and the proposed route.

  Moreover, the control part 17 was driving | running before the change of a driving lane, when the change of a driving lane was a change which approaches the recommended route guided by the recommended route guidance figure IM, or a change to a recommended route. By deleting the proposed route guidance graphic SIM superimposed on the travel lane, each route guidance graphic can be presented to the driver with high visibility.

  In addition, the control unit 17 determines that the proposed route is based on the fact that the currently traveling lane is the proposed route and the distance between the current position of the vehicle and the branch point existing on the recommended route is within the second threshold. Instead of encouraging an unreasonable lane change that puts stress on the driver by controlling the recommended route guidance graphic SIM to be superposed on the vehicle forward image. It is possible to propose a route that realizes extremely natural and reliable driving.

  At this time, if there is an intention to change from the travel lane that is currently being traveled as the proposed route to the recommended route, the distance between the current position of the vehicle and the branch point existing on the recommended route is within the second threshold. Even so, by controlling the proposed route so as not to be changed to the recommended route, it is possible to present a route guidance graphic according to the driver's intention to change lanes.

  Further, the control unit 17 determines the time required to reach the destination via the proposed route guided by the proposed route guidance graphic SIM as the time required to reach the destination via the recommended route guided by the recommended route guidance graphic IM. When it is determined that the time exceeds the predetermined time, the information that prompts the user to avoid the guidance to the proposed route by the proposed route guidance graphic SIM is superimposed on the vehicle forward image, so that it becomes a very detour until the destination is reached. It is possible to guide to a route that can travel well without guiding to the route.

  Further, the control unit 17 displays the proposed route guidance graphic SIM that guides to the proposed route that requires a significant amount of time by superimposing the proposed route guidance graphic SIM on the vehicle forward image based on the traffic jam situation of the proposed route. Thus, it is possible to avoid unnecessary guidance of the vehicle.

  Further, the control unit 17 performs control so that the recommended route guidance graphic IM is superimposed on the front image of the vehicle and the proposed route guidance graphic SIM is superimposed on the proposed route mirror-displayed on the upper region U of the vehicle front image. The recommended route guidance graphic IM for guiding the driver to the recommended route can be clearly distinguished from the proposed route guidance graphic SIM for guiding to the proposed route.

  The above-described embodiment is an example of the present invention. For this reason, the present invention is not limited to the above-described embodiment, and various modifications can be made depending on the design and the like as long as the technical idea according to the present invention is not deviated from this embodiment. Of course, it is possible to change.

It is a figure for demonstrating the structure of the route guidance display apparatus shown as the 1st Embodiment of this invention. It is the figure shown about the mode that the recommended route guidance figure and the proposal route guidance figure were superimposed on the map image. It is the figure shown about the mode that only the recommended route guidance figure was superimposed on the map image. It is a figure for demonstrating the detail of the proposal route guidance figure superimposed on the map image. It is the figure which showed the mode before the lane change of the vehicle which superimposed the recommended route guidance figure and the proposal route guidance figure on the map image. It is the figure which showed a mode that the display of the proposal route guidance figure was erase | eliminated with the lane change of the vehicle. It is a figure for demonstrating the method to change the path | route which passes along the driving | running | working lane which is drive | working with the approach to the branch point of a vehicle into a recommended path | route. It is a figure for demonstrating dividing and displaying the image for route guidance. It is a flowchart for demonstrating the processing operation of the said route guidance display apparatus. It is a figure for demonstrating the structure of the route guidance display apparatus shown as the 2nd Embodiment of this invention. It is the figure shown about the mode that the recommended route guidance figure was superimposed on the vehicle front image. It is the figure shown about a mode that the recommended route guidance figure and the proposal route guidance figure were superimposed on the vehicle front image. It is the figure which showed a mode that the display of the proposal route guidance figure was erase | eliminated with the lane change of the vehicle. It is a figure for demonstrating the method to change the path | route which passes along the driving | running | working lane which is drive | working with the approach to the branch point of a vehicle into a recommended path | route. It is a figure for demonstrating displaying a proposal route guidance figure on the upper area of a vehicle forward image. It is the figure which showed a mode that the display of the proposal route guidance figure displayed on the upper area of the vehicle front image was erase | eliminated with the lane change of the vehicle. It is a figure for demonstrating the method to change the path | route which passes along the driving | running | working lane which is drive | working with the approach to the branch point of a vehicle into a recommended path | route. It is a figure for demonstrating the display which prompts | leads not to drive | work the route guided by the proposed route guidance figure which makes a detour significantly.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Route guidance display apparatus 2 Route guidance display apparatus 10 Vehicle position calculation part 11 Map database 12 Route calculation part 13 Recommended route guidance figure generation part 14 Proposed route guidance figure generation part 15 Vehicle speed detection apparatus 16 Turn signal detection apparatus 17 Control part 18 Display Device 20 Camera device 21 Image composition unit 22 Steering angle detection device

Claims (13)

A route guidance display device that provides route guidance by displaying a route guidance graphic for guiding a searched route from a current position of a vehicle to a destination on a route guidance image,
A route search means for searching for a recommended route that is a route in lane units and that is most recommended under a predetermined condition, and a suggested route that is a route other than the recommended route;
Recommended route guidance graphic generation means for generating a recommended route guidance graphic for guiding to the recommended route searched by the route search means;
Proposed route guidance graphic generation means for generating a proposed route guidance graphic for guiding to the proposed route searched by the route search means;
Superimposing means for superimposing the recommended route guidance graphic generated by the recommended route guidance graphic generation unit and the proposed route guidance graphic generated by the proposed route guidance graphic generation unit on an image for route guidance;
Display means for displaying an image for route guidance in which the recommended route guidance graphic and the proposed route guidance graphic are superimposed by the superimposing means;
A route guidance display device comprising: control means for controlling the timing of superimposing the recommended route guidance graphic and the proposed route guidance graphic on the route guidance image by the superimposing means. In response to the distance between the current position of the vehicle and the branch point existing on the recommended route being within a first threshold, the control means determines the recommended route guidance graphic and the proposed route guidance graphic as described above. The route guidance display device according to claim 1, wherein the superimposing means is controlled so as to be superimposed simultaneously on an image for route guidance. A route departure determining means for determining whether the vehicle has deviated from the recommended route based on the current position of the vehicle;
In response to the vehicle departure from the recommended route being determined by the route departure determining unit, the control unit includes the proposed route guidance graphic on the route guidance image on which the recommended route guidance graphic is superimposed. The route guidance display device according to claim 1, wherein the superimposing means is controlled so as to superimpose. The said recommended route guidance figure and the said proposed route guidance figure are visually distinguished by any one of the color displayed on the said display means, a shading, a pattern, or a shape. The route guidance display apparatus of any one of Claim 3. The control means sets a required time to the destination via the recommended route guided by the recommended route guidance graphic to a predetermined time for the required time to the destination via the recommended route guidance graphic. If it is determined that
5. The superimposing unit is controlled to superimpose information prompting to avoid guidance to the proposed route by the proposed route guidance graphic on a route guidance image. 6. The route guidance display device described in 1. Congestion status acquisition means for acquiring the congestion status of the proposed route searched by the route search means,
The said control means controls the said superimposing means to superimpose the said proposed route guidance figure on the image for route guidance based on the traffic condition of the proposed route acquired by the said traffic condition acquisition means. The route guidance display device according to any one of claims 1 to 5. Lane change detection means for detecting whether there has been a change in the driving lane based on the current position of the vehicle;
If the change in the travel lane detected by the lane change detection means is a change approaching the recommended route guided by the recommended route guidance graphic or a change to the recommended route, the vehicle travels before the change of the travel lane. The route guidance display device according to any one of claims 1 to 6, further comprising: an erasing unit that erases the proposed route guidance graphic superimposed on the travel lane. The control means is configured to determine whether the current driving lane is the proposed route and the distance between the current position of the vehicle and a branch point existing on the recommended route is within a second threshold. The route is changed to a recommended route, and control is performed so as to superimpose a recommended route guidance figure for guiding to the changed recommended route on an image for route guidance. The route guidance display device described in 1. When the control means detects a driver's intention to change from the travel lane that is currently traveling as the proposed route to the travel lane that is the recommended route, the current position of the vehicle and a branch that exists on the recommended route The route guidance display device according to claim 8, wherein control is performed so that the proposed route is not changed to a recommended route even if the distance to the point falls within a second threshold value. The control means superimposes the recommended route guidance graphic on the recommended route of the route guidance image, and superimposes the proposed route guidance graphic on the proposed route mirror-displayed in the upper area of the route guidance image. The route guidance display device according to any one of claims 1 to 9, wherein the route guidance display device is controlled. It is mounted on a vehicle and includes a photographing means for photographing a vehicle front image,
The control means controls the superimposing means to superimpose the recommended route guidance graphic and the proposed route guidance graphic on the vehicle forward image, using the vehicle forward image taken by the photographing means as an image for route guidance. The route guidance display device according to any one of claims 1 to 10, wherein: The control means simultaneously superimposes the recommended route guidance graphic and the proposed route guidance graphic on a wide area map image formed in a partial area of the route guidance image,
The superimposing means is controlled to superimpose the recommended route guidance graphic on an enlarged map image formed in another area of the route guidance image. The route guidance display device according to the item. A route guidance method for a route guidance display device that provides route guidance by superimposing a route guidance graphic for guiding a searched route from a current position of a vehicle to a destination on a route guidance image. ,
A route search step of searching for a recommended route that is a route in lane units and that is most recommended under a predetermined condition and a proposed route that is a route other than the recommended route;
A recommended route guidance graphic generation step for generating a recommended route guidance graphic for guiding to the recommended route searched by the route search step;
A proposed route guidance graphic generation step for generating a proposed route guidance graphic for guiding to the proposed route searched by the route search step;
A superimposing step of superimposing the recommended route guidance graphic generated by the recommended route guidance graphic generation step and the proposed route guidance graphic generated by the proposed route guidance graphic generation step on an image for route guidance;
A display step of displaying an image for route guidance in which the recommended route guidance graphic and the proposed route guidance graphic are superimposed by the superimposing step;
A route guidance display method comprising: a control step of controlling the timing of superimposing the recommended route guidance graphic and the proposed route guidance graphic on the route guidance image by the superimposing step.

Images