JP2009020089A - System, method, and program for navigation - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a navigation system capable of preventing a sign object from protruding from a photographed image and making a background part of the photographed image less obscured by the sign object even if a current position has approached an arrangement point of a road sign. <P>SOLUTION: The navigation system is provided with a sign object generating and arranging part for generating a sign object through the use of data held in a map database and arranging the sign object in a three-dimensional map space; a sign object control part for controlling the orientation of a sign object; and a display control part for displaying a sign object on a display part in such a way that the sign object may be superposed on a photographed image acquired by an image acquisition part. The sign object control part turns the front orientation of the sign object close to a photographing viewpoint of the photographed image when the sign object is arranged at a far distance from a current position of a moving body and turns the front orientation of the sign object more out of the photographing viewpoint of the photographed image when the sign object is arranged more closely to the current position of the moving body. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a navigation device, a navigation method, and a navigation program. More specifically, the present invention superimposes and displays a signboard object representing information that contributes to the guidance of a moving object on a live-action image or a real landscape that is a three-dimensional space image. The present invention relates to a navigation device, a navigation method, and a navigation program.

  2. Description of the Related Art Navigation devices that perform a route search from a current position of a moving body to a destination set by a user and display a route that is determined to be preferable as a result of the search on a two-dimensional or three-dimensional map are widely used.

  In such a navigation device, information on guidance points serving as guidance guidance points, that is, information on intersections and branch points on the route (for example, information such as intersection names and the number of lanes) can be displayed on the screen (for example, non-patented). Reference 1).

  In addition, a navigation apparatus that acquires a front image of a vehicle as a real image by an imaging unit such as a video camera and displays an arrow indicating the course of the vehicle as a guide object superimposed on the real image when approaching a guide point (for example, Patent Document 1). Have been proposed).

  In addition, a live-action image in front of the vehicle imaged by an imaging means such as a video camera is acquired, a signboard object indicating destination guidance or a road sign is created by CG (computer graphics), and the signboard object is created in accordance with the user's viewpoint. A navigation device (for example, refer to Patent Document 2) for displaying in a superimposed manner has been proposed.

  As described above, the navigation device that superimposes and displays the guidance object indicating the course on the live-action image described in Patent Document 1 includes the actual scenery viewed through the front windshield by the user (driver) and the guidance screen of the navigation device. Since the association is easy, intuitive route guidance for the driver can be performed. However, if the performance of the camera is low, the driver may not be able to read the characters written on the road sign in the photographed image. In addition, the road sign may be confused with information that is not directly related to the guidance on the road in the photographed image, and the driver may not be able to immediately recognize the road sign on the screen.

On the other hand, in the navigation device described in Patent Document 2, since the signboard object is generated in the navigation device, its display is not affected by the performance of the camera, and the driver does not provide road guidance such as street trees. It is easy to distinguish information that is not directly related to signboard objects. Therefore, the driver can immediately recognize the display content of the signboard object on the screen regardless of the performance of the camera.
Car navigation system user interface, JPO standard technology collection, 2001 JP-A-7-63572 Japanese Patent No. 3876972

  However, a conventional navigation device that displays a signboard object superimposed on a live-action image has the following problems.

  That is, the signboard object is displayed so as to have the same position, size, orientation, and the like as the guidance contribution information such as a traffic sign and a destination guidance signboard present on the photographed image acquired by the imaging means such as a video camera. For this reason, depending on the position where the guidance contribution information exists, there is a problem that the visibility of the signboard object is impaired or the background image is largely hidden by the signboard object. For example, when a moving object approaches a signboard object near the position where the signboard object is located, a part of the signboard object protrudes from the live-action image as shown in FIG. The contents cannot be confirmed. In addition, when the distance from the current position of the moving object to the signboard object is far away, the signboard object is buried in the photographed image that is the actual scenery in the background, and visibility decreases.

  Also, as shown in FIG. 19, when the distance between the current position of the moving object and the arrangement point of the signboard object is very close, there is a problem that a wide range of the photographed image is hidden by the signboard object. In this way, if a wide range of the live-action image is hidden, it becomes difficult for the user to associate the background portion in the live-action image (the portion other than the road sign of the live-action image) with the real scene that can be seen through the windshield. Therefore, it becomes difficult for the navigation device to perform intuitive route guidance for the user.

  The present invention has been made in view of such a situation, and a navigation device and navigation capable of presenting guidance contribution information to a user in an easy-to-understand manner by controlling the direction of a signboard object superimposed and displayed on a live-action image It is an object to provide a method and a program for navigation.

  A first aspect of a navigation device according to the present invention is a navigation device that displays a signboard object representing information that contributes to guidance of a moving object on a display unit in a superimposed manner on a live-action image, and the current position of the moving object is displayed. A positioning unit to acquire, an image acquisition unit to acquire a live-action image that captures the surroundings of the moving body, and the signboard object are generated using data stored in a map database, and the signboard object is arranged in a three-dimensional map space A signboard object generation / arrangement section, a signboard object control section that controls the direction of the signboard object, and a display control section that displays the signboard object on the display section so as to be superimposed on the real image acquired by the image acquisition section. When the signboard object is located far from the current position of the moving object, the control unit The direction of the screen is controlled so that the front direction of the signboard object is removed from the shooting direction of the live-action image as the signboard object is arranged near the current position of the moving object with the surface direction being close to the shooting viewpoint of the live-action image. .

  According to this configuration, by controlling the direction of the signboard object, the range that the signboard object occupies in the display unit can be reduced as the signboard object approaches the moving body. Therefore, in a navigation apparatus that displays a signboard object on a live-action image around a moving object, the background area of the live-action image is hidden by the signboard object even when the moving object is close to the arrangement point of the signboard object. can do. In addition, the fact that the moving body is approaching the signboard object can be notified by a change in the direction of the signboard object, and the user can intuitively recognize the distance between the guidance contribution information and the current position of the moving object.

  Here, the signboard object control unit may control the direction of the signboard object based on the distance between the current position of the moving object in the three-dimensional map space and the arrangement position of the signboard object. In this way, the signboard object can be displayed in a superimposed manner even when the position of the signboard object cannot be determined from the live-action image, such as when the shooting state of the live-action image is not good or when a real landscape is used instead of the live-action image. it can.

  The signboard object generation / arrangement unit arranges a signboard object indicating guidance contribution information of the guide point in the vicinity of the road surface in the three-dimensional map space where the guide point searched by the route search unit exists, and the signboard object control unit The guide points may be used as the arrangement positions of the signboard objects. In this way, it is possible to reduce the protrusion of the signboard object from the live-action image even when the distance between the signboard object and the current position of the moving object is very close without hiding the actual scenery such as surrounding buildings. .

  In addition, the signboard object generation and arrangement unit generates a signboard object created from an icon image having latitude and longitude information held in the map database, and the signboard object is positioned in the latitude and longitude in the three-dimensional map space, And it can also arrange | position to the position of predetermined | prescribed height from a road surface.

  Further, the direction control by the signboard object control unit may be control of the angle between the normal line indicating the front direction of the signboard object in the three-dimensional map space and the traveling direction of the moving object. According to this configuration, the orientation of the signboard object can be controlled even when the position of the signboard object cannot be determined from the live-action image, such as when the shooting state of the live-action image is not good or when a real landscape is used instead of the live-action image. Can do.

  In addition, the direction control by the signboard object control unit may be control in which the signboard object gradually lies on the road surface from a state perpendicular to the road surface as the distance between the current position of the moving object and the arrangement position of the signboard object becomes closer. preferable.

  Also, the direction control by the signboard object control unit gradually changes the normal of the signboard object in the direction of bending at the next guide point as the distance between the current position of the moving object and the arrangement position of the signboard object becomes shorter. Control is preferred. In this way, it is possible to display the signboard object without hiding the moving direction and the actual photographed image or actual scenery on the side to bend.

  The direction control by the signboard object control unit is preferably control in which the front direction of the signboard object is always directed to the shooting viewpoint of the photographed image. In this way, the direction of the signboard object can be controlled without using the distance between the current position of the moving object and the signboard object. Furthermore, the direction of the signboard object, which is the guidance contribution information, changes every moment with respect to the background live-action image and the actual landscape, so it is easy for the user to understand the difference between the background live-action image and the actual landscape and the signboard object. These can be intuitively distinguished. Therefore, guidance contribution information can be presented in an easy-to-understand manner to the user.

  The direction control by the signboard object control unit is preferably control in which the current position of the moving object exists on the normal line indicating the front direction of the signboard object in the three-dimensional map space.

  The direction control by the signboard object control unit is preferably control in which a position slightly advanced from the current position of the moving object always exists on the normal line indicating the front direction of the signboard object in the three-dimensional map space.

  Moreover, it is preferable that a display control part superimposes a signboard object on the real image which imaged the back of a moving body, and to display it on a display part. In this way, it is possible to grasp the contents of the guidance contribution information that the user overlooked or wanted to confirm again by looking at the signboard object superimposed on the live-action image that captured the back of the moving object. Become.

The present invention can be applied not only to a navigation apparatus that acquires a photographed image but also to a navigation apparatus that does not acquire a photographed image.
For example, a navigation device that displays a signboard object representing information that contributes to guidance of a moving object superimposed on a real landscape, a positioning unit that acquires the current position of the moving object, and data held in a map database A signboard object generation / arrangement unit that generates the signboard object using the generated object and places the signboard object in a three-dimensional map space; a signboard object control unit that controls the direction of the signboard object; a windshield display, a head-up display, or a head mount A display control unit that displays the signboard object superimposed on a real landscape using any display unit of the display;
When the signboard object is placed at a position far from the current position of the moving object, the signboard object control section directs the front direction of the signboard object to the vicinity of the user's viewpoint with respect to the display section, and the signboard object is positioned at the current position of the moving object. Is controlled so that the front direction of the signboard object is removed from the line of sight of the user with respect to the display unit.

Further, the present invention provides a navigation device that displays a signboard object representing information that contributes to guidance of a moving object in a superimposed manner on a real landscape, and includes a positioning unit that acquires the current position of the moving object, and a map database. The signboard object is generated using the stored data, the signboard object generating and arranging section for arranging the signboard object in the three-dimensional map space, the signboard object control section for controlling the direction of the signboard object, a windshield display, Using a display unit of either a head-up display or a head-mounted display, and a display control unit that displays the signboard object superimposed on the real landscape,
The signboard object control unit controls the direction of the signboard object so that the front direction of the signboard object is always directed to the vicinity of the user's viewpoint with respect to the display unit.

  As described above, when a windshield display, a head-up display, or a head-mounted display is used as the display unit, it is not necessary to display a real image on the screen of the display. This is because the actual scenery can be seen through the display.

  In the case of using these displays, there has been a possibility that the actual scenery is largely hidden by the signboard object. However, in the present invention, since the direction of the signboard object is controlled so that the range occupied by the display area of the signboard object becomes small, the range in which the actual landscape is hidden by the signboard object can be reduced.

  The second aspect of the present invention is directed to a navigation method in which a signboard object representing information that contributes to guidance of a moving object is superimposed on a live-action image and displayed on a display unit. A positioning step for acquiring the current position of the moving body, an image acquisition step for acquiring a live-action image that captures the periphery of the moving body, and a signboard object are generated using data stored in the map database, and the signboard object is tertiary A signboard object generation / placement step to be placed in the original map space, a signboard object control step to control the orientation of the signboard object, and a display control step to superimpose the signboard object on the photographed image acquired by the image acquisition unit and display it on the display unit And when the signboard object is arranged at a position far from the current position of the moving object, the signboard object is moved to the vicinity of the imaging viewpoint in the live-action image. As the signboard object is placed near the current position of Controlling the direction to disengage the direction from the imaging direction of the photographed image.

  The third aspect of the present invention is directed to a navigation program that causes a computer to execute the following steps in order to display a signboard object representing information that contributes to guidance of a moving object on a display unit in a superimposed manner. ing. A positioning step for acquiring the current position of the moving body, an image acquisition step for acquiring a live-action image that captures the periphery of the moving body, and a signboard object are generated using data stored in the map database, and the signboard object is tertiary A signboard object generation / placement step to be placed in the original map space, a signboard object control step to control the direction of the signboard object, and a display control step to display the signboard object on the display unit superimposed on the real image acquired by the image acquisition unit; In the signboard object control step, when the signboard object is located far from the current position of the moving object, the front direction of the signboard object is directed to the imaging viewpoint in the live-action image, and the signboard object is The front of the signboard object as it is placed near the current position Controlling the direction to disengage the direction from the imaging direction of the photographed image.

  According to the present invention, by controlling the direction of the signboard object, a navigation apparatus, a navigation method, and a display apparatus that are compatible with the visibility of the signboard object at a position far from the moving body and the visibility of the background image immediately adjacent to the moving body, And a navigation program can be provided.

(First embodiment)
Hereinafter, a case where the navigation apparatus 100 according to the first embodiment of the present invention is mounted and used in an automobile which is an example of a moving body will be described with reference to the drawings. In each drawing, components that are not directly related to the present invention are not shown.

  FIG. 1 is a block diagram showing a functional configuration of a navigation device 100 according to the first embodiment of the present invention.

  The navigation device 100 includes an image acquisition unit 101, a positioning unit 102, a map database 103, an input unit 104, a control unit 105, a route search unit 106, a guidance object generation and arrangement unit 107, and a signboard object generation and arrangement unit. 108, a signboard object control unit 109, a display control unit 110, and a display unit 111.

  The image acquisition unit 101 is a part that captures a live-action image (including a moving image) obtained by capturing the surroundings of the vehicle such as the front of the vehicle. For example, the real-image image is captured by a digital camera. For example, the digital camera can be arranged on the back side of the rearview mirror toward the front of the vehicle. Or a digital camera can be arrange | positioned toward the vehicle forward on the outdoor side of a vehicle ceiling part. Note that the digital camera may be composed of two or more cameras that capture an image around the vehicle. For example, when the camera is composed of two cameras that capture the front and rear of the vehicle, the captured images can be switched and displayed or combined. Note that the image acquisition unit 101 does not need to store data in advance, and may capture a photographed image by appropriately downloading from the center facility by a communication unit (not shown) such as a mobile phone.

  The positioning unit 102 is for calculating the current position, speed, and traveling direction of the moving object, and uses, for example, a GNSS (Global Navigation Satellite System) receiver, a vehicle speed sensor, a gyro (angular velocity) sensor, an acceleration sensor, or the like. To calculate. The GNSS receiver is a GPS receiver, for example, which receives radio waves from a plurality of satellites and demodulates them to measure the absolute position of the receiver. Note that the current position, speed, and direction of travel of the moving object can be measured using a GNSS receiver and various sensors alone or in combination. Further, the map matching process may be performed in which the moving body position obtained by the GNSS receiver or various sensors is corrected on the road of the map to obtain the current position.

  If a sensor capable of detecting three-axis directions is used as a self-supporting sensor such as a gyro (angular velocity) sensor or an acceleration sensor, a three-dimensional position can be used as the current position. If the height information of roads and signboard objects is stored in the map database 103 described later, it is possible to calculate the moving body position more accurately including the height direction.

  The map database 103 stores map information including data on roads and intersections, and is, for example, an HDD, a DVD, or a flash memory. Note that the map database 103 does not have to store data in advance, and may appropriately download map information from the center facility by communication means (not shown) such as a mobile phone.

  2 and 3 are diagrams showing a record format of information related to the present embodiment in the map information held in the map database 103. FIG. 2 and 3, the map database 103 includes (A) node data, (B) link data, (C) road type data, (D) shape node data, (E) intersection name data, ( F) POI (Point of Interest) information can be stored.

  Node data is data of points where roads branch in several directions, such as intersections and junctions. The node data includes position information such as latitude and longitude for each node, the number of links to be connected to the node, and a link ID, which will be described later.

  The link data represents a road connecting nodes. The link data includes the start and end nodes that are the end points of the link, the link cost (for example, the distance of the link, the unit is meters, kilometers, etc.), the link width (the road width, the unit is meters, etc.) The road type, the number of shape nodes to be described later, and the ID of each node are included. Here, the link cost is used for cost calculation when the route search unit 106 described later performs route search.

  The road type data is data for identifying the road type of the link data, and has a value indicating the type of road such as an expressway or a general road. By this road type data, the route search unit 106 described later can set search conditions such as general road priority and expressway priority.

  The shape node data exists on the link described above, and represents a bending point for expressing the shape when the link is curved or the like and is not linear. The shape node data includes position information such as latitude and longitude, and the ID of the link where the shape node is located.

  The intersection name data represents the name of the intersection and includes an ID of a node corresponding to the intersection and an intersection name character string. Note that an intersection name does not necessarily exist in a node.

  POI (Point of Interest) information is digital content that contributes to guidance linked to location information such as latitude and longitude (may include height information from the road surface) such as facility information, spot information, traffic signs, etc. is there. It is preferable that the digital content includes icons of still images and moving images and retains normal vector data indicating at least the front direction. In addition, it is good also as a structure which produces an icon with a polygon. In this case, the normal vector data may not be held in the map database 103, and if each vertex coordinate of the polygon is determined, the surface normal obtained by the calculation process can be used as the normal vector.

  FIG. 4 is a schematic diagram showing a road network made up of nodes and links restored based on the map information stored in the map DB 103. Each node is connected to two or more links, and each node is connected to another node via the link. A shape node for representing the shape of the link exists on some links (for example, link L6). In addition, when a link is linear, a shape node does not necessarily exist on the link. In addition, when node data is stored at a high density (for example, the node interval is 5 m or less), the shape node does not necessarily exist.

  The map database 103 is not only road information for restoring such a road network, but also information such as background data (rivers, green spaces, etc.), facility information (for example, information for managing the locations of family restaurants and gas stations). Can also be stored.

  The input unit 104 is for a user to input an instruction. Examples of the input unit 104 include, for example, a switch in which a predetermined number of push switches are arranged, a touch panel type, a remote control type, or a microphone that recognizes a user's voice and converts it into input information to the navigation device 100. And a speech recognition engine. Examples of instruction contents from the user include destination search, waypoint setting, destination setting, route search condition setting, route search execution, scale change (enlargement / reduction), and instruction to switch the display mode between the map mode and the live-action mode. Etc.

  The control unit 105 controls the operation of the entire navigation device 100. The control unit 105 includes a CPU or MPU, a ROM (Read Only Memory), a RAM (Random Access Memory), and the like. When the CPU or MPU executes a program stored in the ROM, the operation of each functional block shown in FIG. 1 is controlled. The CPU and MPU use the RAM as a work area during execution of the program.

  The route search unit 106 searches for the optimum route to the destination based on the destination information input from the input unit 104, the current position information acquired from the positioning unit 102, and the contents of the map database 103. The searched route includes several guide points (intersections to be guided). Whether or not a node is a guide point is determined by detecting an angle between two links that are included in the optimum route and are connected to the node. The search for the optimum route can be performed by a known method such as the Dijkstra method. The optimum route is typically expressed as a link data string.

  The guidance object generation / arrangement unit 107 generates a guidance object having a shape along the road corresponding to the optimum route searched by the route search unit 106 among roads detected by road detection processing described later, and generates the generated guidance object. Is arranged in a map coordinate system (local coordinate system) (not shown). The map coordinates are a coordinate system of map data stored in the map database 103. The guide object generation / arrangement unit 107 determines the display width of the guide object with reference to the link width of the link data. The guide object can take an arbitrary size, and can be displayed with a sense of perspective by a projection process to be described later when superimposed on a live-action image. For example, the guidance object is gradually displayed larger as the distance from the current position to the guidance point becomes smaller.

  The signboard object generation / arrangement unit 108 has a function of generating a signboard object imitating a signboard of guidance contribution information such as a road sign and arranging the generated signboard object in a map coordinate system (local coordinate system) (not shown). . The map coordinates are the coordinate system of the map data stored in the map database 103 as described above. The signboard object can take an arbitrary size, and can be displayed with a sense of perspective by a projection process to be described later when superimposed on a live-action image. For example, as the distance from the current position to the guide point decreases, the signboard object is gradually displayed larger. In the present embodiment, the signboard object is generated based on the intersection name data stored in the map database 103 that is arranged at the position of the node indicating the guide point and indicates the intersection name. The arrangement of the signboard object is not limited to that using the map coordinate system as described above. For example, the signboard object may be arranged based on the position of the signboard extracted from the live-action image acquired by the image acquisition unit 101. good.

  Note that the signboard object may be generated for all intersections existing on the optimum route searched by the route search unit 106, or may be generated only for intersections that are guide points. “Only generated for intersections that are guide points” means that, for example, a signboard object may not be generated for an intersection that passes straight, and a signboard object may be generated only for an intersection that turns right or left. means.

  In addition, the signboard object is not generated from the character string stored in the (E) intersection name data of the map database 103 but (F) an icon image (not only a still image) including the signboard stored in the POI information. , Including moving images and polygons). Also, a plurality of signboard objects may be generated in order to display a plurality of signboard objects simultaneously on the screen. In this case, for example, the plurality of signboard objects are arranged on or along the course of the moving body based on the latitude and longitude stored in the (F) POI information. FIG. 5 shows an example of a signboard object generated by the signboard object generation / arrangement unit 108. The signboard object is not limited to the intersection name signboard as shown in FIG. 5, but may be a direction name signboard, a lane number signboard, a facility signboard, a traffic sign, or the like. In the present embodiment, the front direction of the signboard object is the side on which guidance information such as characters is displayed, that is, the side where characters can be viewed from the imaging viewpoint of a live-action image.

  When the signboard object is arranged at a position far from the current position of the moving object (own vehicle), the signboard object control unit 109 directs the front direction of the signboard object to the shooting viewpoint of the live-action image, and the signboard object is the moving object. Is controlled so that the front direction of the signboard object is removed from the shooting direction of the photographed image. For example, the direction of the signboard object is controlled based on the distance from the current position obtained from the positioning unit 102 to the next guide point searched by the route search unit 106. Note that the direction of the signboard object may be controlled based on the position (distance, normal direction, etc.) where the signboard object is arranged from the current position.

  However, in the present embodiment, description will be made assuming that the direction of the signboard object is controlled based on the distance from the current position to the guide point. “Control of the direction of the signboard object” corresponds to control of the angle formed by the front direction of the signboard object in the three-dimensional space and the traveling direction of the moving object.

  Specifically, if the distance between the current position of the moving object and the next guide point is large (for example, 200 m or more), the angle between the normal to the signboard object and the moving object traveling direction is set to 0 degree. As the moving body travels and the distance from the current position to the next guide point decreases, the angle gradually increases. When the distance from the current position to the next guide point is reduced to a certain extent (for example, 20 m or less), the angle becomes 90 degrees.

  The direction of the signboard object may be controlled to any one of the lower side, the right side, and the left side. By controlling the direction downward, the angle formed by the signboard object and the road surface is controlled.

  The display control unit 110 has a function of superimposing and displaying the guidance object and the signboard object obtained by the control of the signboard object control unit 109 on the screen of the display unit 111 in the live-action image (in the real-shot mode). Further, it has a function of displaying a map image around the current position on the screen of the display unit 111 together with a current position mark, an optimum route, and the like as necessary (in map mode).

  The display unit 111 is a display device such as a liquid crystal display, a windshield display, or a head-up display. Note that when a windshield display or a head-up display is used, the photographed image does not have to be displayed on the screen of the display as described above. This is because the actual scenery can be seen through the windshield. In addition, it is safe because the movement of the driver's line of sight can be minimized. In addition to the above, a head mounted display (HMD) that is shaped like goggles or a helmet and is mounted on the head and the screen is set in front of the left and right eyes may be used. Also in this case, as long as the real scenery can be seen through the display, the real image need not be displayed on the screen of the display. By changing the image to be displayed according to the movement of the wearer's head (the movement of the line of sight), it is possible to display a guide object or a signboard object that exists in the direction in which the user (driver) is looking.

  Next, the operation of the navigation device 100 according to the embodiment of the present invention will be described with reference to FIG. Here, the operation in the live-action mode related to the present embodiment will be described. FIG. 6 is a flowchart showing the operation of the navigation device 100 according to the present embodiment.

  First, the control unit 105 determines whether or not a destination is set from the input unit 104 (step S601). If the destination is not set in step S601, the control unit 105 returns the process to S601. On the other hand, when the destination is set in step S601, the route search unit 106 searches the route to the destination with reference to the map database 103 based on the current position information acquired by the positioning unit 102 (step S601). S602). When the route to the destination is searched, the control unit 105 starts guidance (step S603).

  Next, the control unit 105 stores the three-dimensional map stored in the map database 103, the imaging direction of the real image acquired by the image acquisition unit 101, the camera position that is a parameter for determining the imaging range, and the camera angle (horizontal angle, elevation angle). Based on the focal length and the image size, the visual field space of the camera in the three-dimensional map space is calculated (step S604). Here, in the three-dimensional map, position information is represented based on latitude, longitude, and altitude.

  The visual field space of the camera is obtained by a method as shown in FIG. 7, for example. In the three-dimensional map space, a point (point F) advanced from the camera position (viewpoint) E by the focal length f in the camera angle direction is obtained. Next, a horizontal x and vertical y plane (camera screen) corresponding to the image size is set to be perpendicular to a vector connecting the viewpoint E and the point F. Next, the control unit 105 creates a half line connecting the four corner points of the camera screen from the viewpoint E, and obtains a space region surrounded by these four half lines. This space region theoretically extends to infinity, but is cut off at a suitable distance from the viewpoint E to be a visual field space. Note that the control unit 105 may calculate a visual field space of the camera in the two-dimensional map space using a two-dimensional map obtained by removing altitude information from the three-dimensional map instead of the three-dimensional map. The parameters for determining the imaging direction and the imaging range are not limited to those described above, and may be calculated using other optical conditions (such as viewing angle) as long as the imaging direction and the imaging range are determined. The camera position may be slightly lower than the horizontal. In this case, the projection plane of FIG. 7 may be tilted so as to be perpendicular to the camera optical axis.

  Next, the control unit 105 determines whether or not the mobile object has reached the destination (step S605). If the destination is reached in step S605, the control unit 105 ends the process. On the other hand, if the destination has not been reached in step S605, the control unit 105 performs road detection processing for detecting a road and its position in the field of view of the camera in the three-dimensional map space (step S605). S606).

  In the road detection process, the control unit 105 obtains an overlap between the camera view space and the road area in the three-dimensional map space.

  FIG. 8 shows a road detected by the road detection process. FIG. 8 is a view of the three-dimensional map space and the camera view space as viewed from above (above the vehicle). A camera visual field space exists as an area indicated by a triangular broken line in the three-dimensional map space. In the road detection process, the shape and width of the road near the moving body are extracted based on the node data, shape node data, and link data described above. Then, as shown in FIG. 8, a road (shaded portion) in the camera view space is detected.

  Next, the guidance object generation / arrangement unit 107 selects a guidance object having a shape along the road corresponding to the guidance route searched by the route search unit 106 among the roads detected by the road detection process in the three-dimensional map space. The generated guidance object is placed on the road (step S607).

  FIG. 9 is a diagram for explaining the guidance objects arranged by the guidance object generation / arrangement unit 107. The shape of the guide object is not limited to the polygonal line figure shown in FIG. 9, and an arrow figure having a triangle drawn at the tip may be used.

  Next, the signboard object generation / arrangement unit 108 generates a signboard object (step S608).

  Furthermore, the signboard object control unit 109 calculates the distance from the current position of the moving object to the guide point (step S609). When using the position where the signboard object is arranged, the distance to the signboard object, the direction, and the like are calculated.

The signboard object generating and arranging unit 108 arranges signboard objects in the vicinity of the road surface of the guide point or in the vicinity of the road surface near the guide point in the three-dimensional map space. The angle θ formed by the normal to the signboard object and the moving body traveling direction is an angle corresponding to the distance from the current position of the moving body to the guide point. In the first embodiment, the angle θ is controlled in the direction in which the signboard object lies on the road surface (that is, downward). By controlling the angle θ, the angle formed by the signboard object and the road surface also changes (step S610). Specifically, as shown in FIG. 10, the signboard object has an angle θ that gradually increases as the distance D (unit: meters) from the current position of the moving object to the guide point decreases (guide object). Is arranged so that it gradually changes from standing to sleeping. For example, it arrange | positions so that angle (theta) may satisfy | fill (Formula 1).
(Formula 1)
θ = 0 (D> 200)
θ = −D / 2 + 100 (20 ≦ D ≦ 200)
θ = 90 (0 ≦ D <20)
Note that the distance D from the current position of the moving body to the guide point is continuously calculated until there is no guide point between the current position of the moving body and the destination point.

  FIG. 11 is a diagram illustrating a state when a signboard object is arranged on a road surface.

  As shown in FIG. 11, when the distance D from the current position to the guide point is 200 m or more, the angle θ is set to 0 degrees as shown in FIG. 10, and the signboard object stands perpendicular to the road surface. It arrange | positions in a state (refer Fig.11 (a)). As the distance D from the current position to the guidance point becomes smaller, the signboard object gradually changes from standing vertically to sleeping, for example, when the distance D from the current position to the guidance point is 100 m, the angle θ is set to 50 degrees (see FIG. 11B). When the distance D from the current position to the guide point is 20 m, the angle θ is 90 degrees, and the signboard object is placed in a completely laid state (overlapping in parallel with the road surface) (see FIG. 11C).

  Next, the display control unit 110 performs projection processing of the guide object and the signboard object using the camera screen shown in FIG. 7 as a projection plane (step S611), and guides the display unit 111 as shown in FIGS. The object and the signboard object are displayed superimposed on the photographed image (step S612). In this projection processing, the projection plane on which the guidance object and the signboard object are projected coincides with the camera screen in the image acquisition unit 101. Therefore, the guidance object and the signboard object are displayed on the live-action image as shown in FIGS. It is displayed superimposed on the road (corresponding to the guide route).

  As shown in FIG. 12, at a point where the current position of the moving body is far from the intersection (for example, 200 m before the intersection), the signboard object is displayed in a state of standing vertically on the road surface at the guide point. At this time, the signboard object is displayed in a size that allows the display content to be easily visually recognized from a distance.

  Also, as shown in FIG. 13, at the point where the current position is close to the intersection (for example, 20 m before the intersection), the signboard object is displayed on the road surface in a sleeping state. Therefore, the signboard object does not hide the background image as shown in FIG. In addition, since the signboard object is displayed larger as the moving body approaches the intersection, the visibility of the characters described in the object is sufficiently ensured even when the signboard object is in the sleeping state.

  Thus, in the present embodiment, the direction of the signboard object is controlled based on the distance from the current position to the guide point or the position where the signboard object is placed. Therefore, when the distance from the current position to the guide point or signboard object is large, the signboard object is placed vertically on the road surface to improve visibility, and when the distance from the current position to the guide point or signboard object is small The navigation apparatus 100 can be provided that reduces the range in which the background image is hidden by laying the signboard object.

  In particular, the signage object improves the quality of the road guidance while taking advantage of the display method of superimposing the guidance object on the live-action image, that is, by comparing it with the actual scenery so that you can intuitively know which intersection and which direction should be changed. Can be increased.

  In the above-described embodiment, the example in which the angle θ is changed according to (Equation 1) has been described. However, the present invention is not limited to this, and the angle θ increases as the distance D from the current position to the guide point decreases. Any expression can be used. Further, the angle θ can be controlled by referring not only to the distance to the guide point but also to the speed of the moving body.

  In the present embodiment, an example is described in which a live-action image captured by a camera facing the front of the vehicle is used. However, a guide object is displayed on a live-action image stored in advance in a storage medium or on a live-action image acquired by communication. Alternatively, a signboard object may be superimposed and displayed.

  In addition, the position of guidance contribution information such as a road sign or a destination guidance signboard is extracted from the photographed image, and a signboard object created by CG (computer graphics) based on the position is superimposed on the photographed image. Good.

  Furthermore, when using any of a windshield display, a head-up display, and a head-mounted display as the display unit, the viewpoint of the display unit is the user's viewpoint instead of the camera position (viewpoint) in the three-dimensional map space, and The display direction of the display unit uses the user's line of sight instead of the camera angle direction. The user's viewpoint and line of sight can be dynamically changed by using fixed values or by separately providing a camera that detects the user's viewpoint and line of sight.

  The configuration described in the above embodiment is merely a specific example and does not limit the technical scope of the present invention. Any configuration can be employed within the scope of the effects of the present application.

(Second Embodiment)
Next, a second embodiment of the present invention will be described with reference to the drawings.

  FIG. 14 is a diagram illustrating a state in which the direction of the signboard object changes in the horizontal direction (right direction or left direction) according to the distance between the moving body and the guide point in the second embodiment. Similar to the first embodiment, the direction of the signboard object may be controlled based on the position (distance, direction, etc.) where the signboard object is arranged from the current position. However, in the present embodiment, description will be made assuming that the direction of the signboard object is controlled based on the distance from the current position to the guide point. Note that FIG. 14 does not show the graphic displayed on the live-action image, but shows the signboard object in the view of the 3D map space and the camera view space from above (above the vehicle), as in FIGS. Show. FIG. 15 is a diagram illustrating a state in which the signboard object is superimposed and displayed on the live-action image when the current position of the moving body (own vehicle) is close to the guide point in the second embodiment.

  In the first embodiment, the direction of the signboard object changes downward according to the distance between the current position and the guide point, and the angle between the signboard object and the road surface changes accordingly. On the other hand, in the second embodiment, the horizontal direction of the signboard object gradually changes according to the distance between the current position and the guide point. Other points are the same as in the first embodiment.

  For example, as shown in FIG. 14A, when the current position of the moving object is far from the guide point, the signboard object faces the front with respect to the moving object. Assuming that the horizontal angle between the normal to the signboard object and the vehicle traveling direction is θ, θ = 0 degrees in this state.

  Further, as shown in FIG. 14B, when the current position approaches the guide point to some extent, the signboard object turns to the direction of 45 degrees diagonally to the left with respect to the moving object. In this state, θ = 45 degrees.

  Further, as shown in FIG. 14C, when the current position approaches to the position closest to the guide point, the signboard object turns to the left direction with respect to the moving object. In this state, θ = 90 degrees.

  When the signboard object is superimposed and displayed on the photographed image in the state shown in FIG. 14C, the image shown in FIG. 15 is displayed on the screen of the display unit 111.

  As shown in FIG. 14C, when the guide point is turned to the left, the signboard object is arranged on the right side of the guide object. In addition, the left side of the signboard object is displayed so as to be gradually smaller than the right side, and the depth is expressed so that the left side of the signboard object is located in the back.

  Conversely, when turning right at a guide point, the signboard object is placed on the left side of the guide object. Further, the right side of the signboard object is displayed so as to be gradually smaller than the left side, and the depth is expressed so that the right side of the signboard object is located in the back.

  Also in the second embodiment, when the distance from the current position to the guide point or the signboard object is large, the signboard object is directed to the front with respect to the moving body to improve the visibility, and from the current position to the guidepoint. When the distance is small, it is possible to provide a navigation device that reduces the area where the background image is concealed by directing the signboard object leftward or rightward.

(Third embodiment)
Next, a third embodiment of the present invention will be described with reference to the drawings.

  FIG. 16 is a diagram illustrating how the direction of the signboard object changes in the third embodiment. In the third embodiment, the direction of the normal line indicating the front direction of the signboard object changes so as to always face the current position direction of the moving object, and other configurations are the same as in the first embodiment. The signboard object illustrated in FIG. 16 is an icon image stored in (F) POI information of the map database 103 (see FIG. 3). Note that FIG. 16 does not show the graphic displayed on the live-action image, but shows the signboard object in the view of the 3D map space and the camera view space from above (above the vehicle), as in FIGS. Show. FIG. 17 is a diagram illustrating a state in which a signboard object is superimposed and displayed on a live-action image in the third embodiment.

  In the first embodiment, the signboard object generation / arrangement unit 108 is arranged in the vicinity of the road surface of the guide point in the 3D map space or in the vicinity of the road surface in the vicinity of the guide point, and puts it on the road surface according to the distance between the current position and the guide point The signboard object is changed (that is, downward). In the second embodiment, the signboard object is changed in the horizontal direction with respect to the road surface. As a result, the angle formed by the traveling direction of the moving object and the normal line of the signboard object changes. On the other hand, in the third embodiment, the signboard object generation / arrangement unit 108 arranges the signboard object at a position in the three-dimensional map space according to the latitude / longitude stored in the (F) POI information of the map database 103, The normal direction indicating the front direction of the signboard object is gradually changed so as to always face the imaging viewpoint of the photographed image. Before the projection process, the normal direction indicating the front direction of the signboard object is changed so as to always face the current position of the moving object. Other points are the same as in the first embodiment. In addition, when arrange | positioning in a three-dimensional map space, the height information from a road surface is memorize | stored in the (F) POI information of the map database 103, and you may arrange | position to the position which considered the said height information. In this case, the current position of the moving body is a three-dimensional position including the height.

  Therefore, in the third embodiment, the distance between the current position and the guide point calculated in step S609 of the flow showing the operation of the navigation device 100 shown in FIG. 6 is not used for the generation and arrangement of the signboard object. Instead, the latitude and longitude of the signboard object stored in (F) POI information of the map database 103 is used. The selection of the signboard object to be displayed is performed by, for example, extracting all or a type of signboard object selected by the user existing in the camera view space obtained in step S604.

  Next, control of the direction of the signboard object will be described. Here, the control of the angle between the normal line of the signboard object and the moving body traveling direction will be described in detail as an example.

  In the third embodiment, the signboard object control unit controls the direction of the signboard object so that the normal direction indicating the front direction of the signboard object always faces the current position of the moving object, as shown in FIG. . As shown in FIG. 16A, when the current position of the moving object is far from the signboard object, the angle θ between the normal line of the signboard object and the moving object traveling direction is small.

  As shown in FIG. 16B, as the current position of the moving object approaches the signboard object, the angle θ between the normal line of the signboard object and the moving object traveling direction gradually increases. In this way, the direction of the signboard object is controlled so that the front direction of the signboard object always faces the direction of the moving object.

  In the third embodiment, as shown in FIG. 16C, the direction of the signboard object is set so that the normal line of the signboard object faces a position slightly ahead of the current position of the moving object, for example, a position 10 m ahead. You may control. In this way, since the angle θ ′ in FIG. 16C is larger than the angle θ in FIGS. 16A and 16B, the signboard object hides the background when the signboard object is superimposed on the live-action image. Since the angle θ ′ when the range is small and the signboard object deviates from the camera visual field space and is no longer displayed is larger than the angle θ in FIGS. 16A and 16B, the user can It is easy to realize that the front direction of is directed toward the moving body.

  When the signboard object is superimposed and displayed on the live-action image in the state shown in FIG. 16B, the image shown in FIG. 17 is displayed on the screen of the display unit 111.

  In the third embodiment, by directing the front direction of the signboard object toward the moving body, the visibility when the distance from the current position of the moving body to the guide point or the signboard object is long is improved. Further, by directing the front direction of the signboard object toward the moving body, the direction of the signboard object is changed to the left and right as the moving body travels. In addition, when the signboard object is arranged at a position having a height from the road surface, the direction of the signboard object is changed in the vertical direction as the moving body travels. Therefore, when the distance from the current position of the moving object to the signboard object is short, the range in which the background image is concealed can be reduced. In addition, since the front direction of the signboard object always faces the moving body, it is possible to provide a navigation device that does not impair visibility even on a road with a large curvature or a road with a difference in height between the top and bottom.

  Furthermore, in the third embodiment, the present invention is not limited to the signboard object indicating the information of the guide point, but is also applicable to digital contents such as facility information, spot information, and traffic signs stored in the (F) POI information of the map database 103. Can do. Further, if a photographed image obtained by capturing the rear of the vehicle is used, the front direction of the signboard object faces the direction of the moving body, so that it is possible to confirm overlooked POI information on the screen even after the vehicle has passed.

  As described above, according to each embodiment, by controlling the direction of the signboard object, the driver's view and the viewpoint altitude by the photographed image are lowered to the height of the vehicle and viewed from the driver's perspective. When using the driver's view display with a three-dimensional map display of the state, it is possible to ensure the visibility of the signboard object at a point away from the moving object, while at the point approaching the moving object (immediately before the guide point) The range in which the object hides the background video can be reduced. That is, it is possible to provide a navigation device, a navigation method, and a navigation program in which the visibility of the signboard object at a position away from the moving body and the visibility of the background image in the immediate vicinity of the moving body are compatible.

  In the present invention, a software program (in the embodiment, a program corresponding to the flowchart shown in the figure) is supplied to the apparatus, and the computer of the apparatus reads the supplied program. And the case where it is achieved by executing. Therefore, in order to implement the functional processing of the present invention on a computer, the program itself installed in the computer also implements the present invention. That is, the present invention also includes a navigation program for realizing the functional processing of the present invention.

  The navigation device of the present invention is useful as a car navigation device installed in a vehicle. It is also useful as a navigation device for mobile phones.

The block diagram which shows the whole structure of the navigation apparatus which concerns on 1st Embodiment of this invention. The figure which shows an example of the information memorize | stored in the map database in 1st Embodiment. The figure which shows an example of the information memorize | stored in the map database in 1st Embodiment. The figure which shows an example of the road network formed by the node data memorize | stored in the map database, shape node data, and link data in 1st Embodiment. The figure which shows an example of the signboard object which a signboard object production | generation arrangement | positioning part produces | generates in 1st Embodiment. The flowchart which shows operation | movement of the navigation apparatus concerning 1st Embodiment. The figure which shows the setting method of the camera visual field space in three-dimensional map space in 1st Embodiment. The figure (local coordinate system) which shows the road detected by road detection processing in a 1st embodiment. The figure which shows an example of the guidance object which a guidance object production | generation arrangement | positioning part produces | generates in 1st Embodiment (local coordinate system) The figure which shows the relationship between the distance (D) from a present position to a guidance point, and angle (theta) showing the direction of a signboard object in 1st Embodiment. The figure which shows a mode that direction of a signboard object changes according to the distance of a present position and a guidance point in 1st Embodiment. The figure which shows a mode that the signboard object is superimposed and displayed on a live-action image when the current position is far from the guide point in the first embodiment. The figure which shows a mode that a signboard object is superimposed and displayed on a live-action image when the present position is close to a guide point in the first embodiment. The figure which shows a mode that direction of a signboard object changes according to the distance of a present position and a guidance point in 2nd Embodiment. The figure which shows a mode that a signboard object is superimposed and displayed on a live-action image when the present position is close to a guide point in the second embodiment. The figure which shows a mode that direction of a signboard object changes according to the distance of a present position and a guidance point in 3rd Embodiment. The figure which shows a mode that the signboard object is superimposed and displayed on the photographed image according to the distance between the current position and the signboard object in the third embodiment. The figure which shows a mode that the signboard object is superimposed and displayed on a live-action image when the current position is close to the guide point in the prior art The figure which shows a mode that a signboard object conceals the background part of a live-action image when a present position is near a guidance point in prior art.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Navigation apparatus 101 Image acquisition part 102 Positioning part 103 Map database (DB)
104 Input unit 105 Control unit 106 Route search unit 107 Guide object generation / arrangement unit 108 Signboard object generation / arrangement unit 109 Signboard object control unit 110 Display control unit 111 Display unit

Claims (15)

A navigation device that displays a signboard object representing information that contributes to guidance of a moving object, superimposed on a live-action image,
A positioning unit for acquiring a current position of the moving body;
An image acquisition unit for acquiring a real image obtained by imaging the periphery of the moving body;
A signboard object generation / arrangement unit that generates the signboard object using data held in a map database and arranges the signboard object in a three-dimensional map space;
A signboard object control unit for controlling the direction of the signboard object;
A display control unit that causes the display unit to display the signboard object superimposed on the photographed image acquired by the image acquisition unit,
When the signboard object is arranged at a position far from the current position of the moving object, the signboard object control unit directs the front direction of the signboard object to the vicinity of the imaging viewpoint of the live-action image, and the signboard object A navigation device that controls the direction in which the front direction of the signboard object is removed from the imaging direction of the photographed image as it is arranged near the current position of the moving body.   The signboard object control unit controls the direction of the signboard object based on a distance between a current position of the moving object in the three-dimensional map space and an arrangement position of the signboard object. The navigation device described. The signboard object generation / arrangement unit arranges a signboard object indicating guidance contribution information of the guide point in the vicinity of the road surface in the three-dimensional map space where the guide point searched by the route search unit exists,
The navigation apparatus according to claim 1, wherein the signboard object control unit uses the guide point as the arrangement position of the signboard object.   The signboard object generation / arrangement unit generates a signboard object created from an icon image having latitude and longitude information held in a map database, and the signboard object has the latitude and longitude positions in the three-dimensional map space and The navigation device according to claim 1, wherein the navigation device is disposed at a predetermined height from the road surface.   The control of the direction by the signboard object control unit is control of an angle between a normal line indicating a front direction of the signboard object in the three-dimensional map space and a traveling direction of the moving body. The navigation device according to 1.   The direction control by the signboard object control unit is a control in which the signboard object gradually lies on the road surface from a state perpendicular to the road surface as the distance between the current position of the moving object and the arrangement position of the signboard object becomes shorter. The navigation device according to claim 1, wherein the navigation device is provided.   The direction control by the signboard object control unit is a direction in which the normal line of the signboard object is gradually bent at the next guide point as the distance between the current position of the moving object and the arrangement position of the signboard object becomes shorter. The navigation device according to claim 1, wherein the control is a control to be changed.   The navigation apparatus according to claim 1, wherein the direction control by the signboard object control unit is control in which a front direction of the signboard object is always directed to a vicinity of an imaging viewpoint of the photographed image.   9. The direction control by the sign object control unit is control in which the current position of the moving object exists on a normal line indicating a front direction of the sign object in the three-dimensional map space. The navigation device described in 1.   The direction control by the signboard object control unit is a control in which a position slightly advanced from the current position of the moving object always exists on the normal line indicating the front direction of the signboard object in the three-dimensional map space. The navigation device according to claim 1, wherein   The navigation device according to claim 1, wherein the display control unit causes the display unit to display the signboard object superimposed on a live-action image obtained by imaging the rear of the moving body. A navigation device that displays a signboard object representing information that contributes to guidance of a moving object, superimposed on a real landscape,
A positioning unit for acquiring a current position of the moving body;
A signboard object generation / arrangement unit that generates the signboard object using data held in a map database and arranges the signboard object in a three-dimensional map space;
A signboard object control unit for controlling the direction of the signboard object;
Using a display unit of a windshield display, a head-up display or a head-mounted display, and a display control unit for displaying the signboard object superimposed on the real landscape,
When the signboard object is arranged at a position far from the current position of the moving body, the signboard object control unit directs the front direction of the signboard object toward the vicinity of the user's viewpoint with respect to the display unit, and the signboard object The navigation apparatus controls the direction of the front direction of the signboard object so as to be removed from the user's line of sight with respect to the display unit as is arranged near the current position of the moving body. A navigation device that displays a signboard object representing information that contributes to guidance of a moving object, superimposed on a real landscape,
A positioning unit for acquiring a current position of the moving body;
A signboard object generation / arrangement unit that generates the signboard object using data held in a map database and places the signboard object in a three-dimensional map space;
A signboard object control unit for controlling the direction of the signboard object;
Using a display unit of a windshield display, a head-up display or a head-mounted display, and a display control unit for displaying the signboard object superimposed on the real landscape,
The navigation apparatus according to claim 1, wherein the signboard object control unit controls the orientation of the signboard object so that a front direction of the signboard object is always directed to a vicinity of a user's viewpoint with respect to the display unit. A navigation method for displaying a signboard object representing information that contributes to guidance of a moving object superimposed on a live-action image,
A positioning step of acquiring a current position of the moving body;
An image acquisition step of acquiring a real image obtained by imaging the periphery of the moving body;
A signboard object generation and placement step of generating the signboard object using data held in a map database and placing the signboard object in a three-dimensional map space;
A signboard object control step for controlling the direction of the signboard object;
A display control step of superimposing the signboard object on the photographed image acquired by the image acquisition unit and displaying it on a display unit,
In the signboard object control step, when the signboard object is arranged at a position far from the current position of the moving object, the signboard object is directed toward the vicinity of the imaging viewpoint in the live-action image, and the signboard object is A navigation method comprising: controlling the front direction of the signboard object so as to be removed from the shooting direction of the photographed image as being arranged near the current position of the moving body. A navigation program that causes a computer to execute the following steps to display a signboard object representing information that contributes to guidance of a moving object superimposed on a live-action image,
A positioning step of acquiring a current position of the moving body;
An image acquisition step of acquiring a real image obtained by imaging the periphery of the moving body;
A signboard object generation and placement step of generating the signboard object using data held in a map database and placing the signboard object in a three-dimensional map space;
A signboard object control step for controlling the direction of the signboard object;
A display control step of superimposing the signboard object on the photographed image acquired by the image acquisition unit and displaying it on a display unit,
In the signboard object control step, when the signboard object is arranged at a position far from the current position of the moving object, the signboard object is directed toward the vicinity of the imaging viewpoint in the live-action image, and the signboard object is A navigation program characterized by controlling the front direction of the signboard object to be removed from the shooting direction of the photographed image as it is arranged near the current position of the moving body.

Images