JP2009085628A - Vehicle-mounted processing apparatus, navigation apparatus, and vehicle travel direction correction program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle-mounted processing apparatus, a navigation apparatus, and so forth which can, even when the direction of one's own vehicle is changed by a direction changing apparatus during the power off state during which the travel direction of one's own vehicle cannot be detected, acquire travel direction information which appropriately indicates the travel direction of one's own vehicle, and does not require storing image information during the power off state. <P>SOLUTION: The vehicle-mounted processing apparatus comprises: a direction information acquisition means 16 for acquiring the travel direction information D of one's own vehicle; a mirror-image determination means 35 which performs image recognition processing on image information G in the vicinity of one's own vehicle and determines whether or not a mirror image of one's own vehicle has been imaged; a power supply operation detection means 31 for detecting on or off of a power supply 33; and travel direction correction means 39 which, when the mirror-image determination means 35 determines that a mirror image of one's own vehicle has been imaged within a predetermined determination period on the basis of the detection of power-on or power-off by the power supply operation detection means 31, corrects the travel direction information D so that the travel direction of one's own vehicle is reversed. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to an in-vehicle processing device and a navigation device that are mounted on a host vehicle and can acquire traveling direction information that represents the traveling direction of the host vehicle, and a vehicle traveling direction correction program that can be used for them.

  For example, in an in-vehicle navigation device or the like, traveling direction information that represents the traveling direction of the host vehicle based on the output of a direction sensor such as a gyroscope or a change in position information acquired by a GPS (Global Positioning System) receiver The configuration for obtaining the is already known. In such a navigation device, using the acquired traveling direction information, the vehicle mark indicating the position and traveling direction of the host vehicle is displayed on the display device together with the map, or an appropriate route to the destination is guided, etc. Is performed.

  By the way, in general, when the accessory (ACC) power of the host vehicle is off, the power of the navigation device is also turned off in conjunction with that, and the traveling direction of the host vehicle cannot be detected. Therefore, in the conventional navigation device, when the direction of the host vehicle is changed by a direction changing device such as a turntable installed in a multilevel parking lot while the power is off, It was not possible to detect a change in the traveling direction of the vehicle. Therefore, after the power is turned on, the traveling direction held by the navigation device is different from the actual traveling direction of the host vehicle, and the correct host vehicle position cannot be recognized after the host vehicle starts to travel. was there.

  In order to solve such a problem, the following patent document 1 discloses a technique for an in-vehicle processing apparatus as follows. That is, this in-vehicle processing device includes, for example, a back camera that captures an image of the rear of the host vehicle, and image information acquired by the back camera every predetermined time during an on state before the accessory power source of the host vehicle is turned off. Is stored in the first memory. Then, the image information acquired by the back camera when the accessory power source is changed from the off state to the on state is stored in the second memory, and the image information in the first memory and the second memory is matched. As a result of this matching, if the matching rate does not exceed a predetermined threshold value, it is determined that the host vehicle has rotated, and correction for reversing the traveling direction by 180 degrees is performed. By performing the above processing, even when the direction of the host vehicle is rotated by a turntable or the like, the traveling direction of the host vehicle can be corrected accordingly.

JP 2002-188931 (pages 7-8, FIG. 10)

  However, the on-vehicle processing device described in Patent Document 1 is configured to compare image information captured before the power is turned off with image information captured after the power is turned off. Therefore, it is necessary to store image information captured before the power is turned off in the first memory throughout the power-off state. Therefore, it is necessary to take measures such as a configuration in which backup power is supplied to the first memory, or a configuration in which a nonvolatile memory such as an EEPROM is used as the first memory, resulting in a problem that the apparatus configuration is complicated. In order to omit such a configuration, it is necessary to store image information in an existing storage medium such as a hard disk drive that also serves as a map database. In that case, since the access to the storage medium is increased in order to store the image information acquired every predetermined time while the power is on, other processing operations of the apparatus are slowed down, and arithmetic processing is performed. Problems such as an increase in load occur. Furthermore, the in-vehicle processing device described in Patent Document 1 performs matching determination on the entire image information stored in the first memory or the second memory. Therefore, there is a possibility that the content of the image to be determined may be various, and the content of the determination process becomes complicated, and it is difficult to increase the determination accuracy.

  The present invention has been made in view of the above-described problems, and its object is to use a turn-changing device such as a turntable during the power-off state in which the traveling direction of the own vehicle cannot be detected. Even when the direction is changed, it is possible to obtain the traveling direction information that appropriately represents the traveling direction of the host vehicle, and in order to make it possible to obtain the image information during the power-off state. It is an object to provide an in-vehicle processing device and a navigation device that do not need to be stored, and a vehicle traveling direction correction program that can be used for them.

  In order to achieve the above object, the in-vehicle processing apparatus according to the present invention has a characteristic configuration obtained by azimuth information obtaining means for obtaining traveling azimuth information representing the traveling azimuth of the host vehicle and an imaging device for imaging the periphery of the host vehicle. A mirror image determination unit that performs image recognition processing on the image information and determines whether a mirror image of the host vehicle has been captured, a power source operation detection unit that detects whether the power source that operates the azimuth information acquisition unit is on or off, The traveling direction of the host vehicle is reversed when it is determined that the mirror image determining unit has captured a mirror image of the host vehicle within a determination period based on the time when the power source operation detecting unit detects power on or power off. And a traveling direction correction means for correcting the traveling direction information.

  By the way, as a place where there is a direction changing device in which the direction of the vehicle is changed with the power off, there is a turntable built-in mechanical solid body that can rotate the carrier for carrying the vehicle itself. Parking is typical. In such a parking lot, the vehicle moves forward and enters the transporter, and then stops, and the direction of the vehicle is changed while the power is turned off. Thereby, when leaving the parking lot, the vehicle can move forward and leave the carrier. On the other hand, in other multi-story parking lots and the like, the direction changing device is arranged outside the carrier, and stops on the direction changing device while the vehicle is moving, so that the vehicle is turned on. In most cases, the direction of is reversed. In most cases, such as a mechanical multistory parking lot with a built-in turntable as described above, it is viewed from the entrance to the carrier to facilitate the operation of the driver by reflecting the vehicle entering the carrier. A mirror is provided on the back wall located in front. In such a place, at least a predetermined period during or after entering the transporter of the own vehicle and before turning off the power, or before or after leaving the transporter of the own vehicle and after turning on the power. In any case, a mirror image of the host vehicle should be captured by the imaging device. In the case where a mirror image of the host vehicle is captured during a predetermined period before the power is turned off, the host vehicle is turned after the power is turned off, and when a mirror image of the host vehicle is captured during the predetermined period after the power is turned on. The host vehicle is turned in the power-off state before the power-on.

  According to this characteristic configuration, when it is determined that a mirror image of the host vehicle is captured within a determination period based on the detection of power on or off, the above-described turntable built-in mechanical multistory parking lot or the like It is determined that the direction of the host vehicle has been changed in a place where the power source is off at a place where a direction change device such as to correct. This makes it possible to accurately determine that the direction of the host vehicle has been changed by a direction changing device such as a turntable while the power is off, and appropriately correct the traveling direction of the host vehicle accordingly. Can do. Accordingly, after the power is turned on, it is possible to acquire traveling direction information representing the correct traveling direction.

  Further, according to this feature configuration, it is possible to perform mirror image determination using only image information before power-off detection or after power-on detection, and correct traveling direction information. Therefore, it is not necessary to store the image information captured before the power-off detection during the power-off state. Therefore, it is possible to suppress the complexity of the configuration of the in-vehicle processing apparatus for storing the image information, or it is possible to suppress a delay in processing operation and an increase in calculation load due to an increase in access to the storage medium. Furthermore, according to this feature configuration, since the determination process specialized in the mirror image of the host vehicle is performed as the process for the image information, the determination process can be simplified and the determination accuracy can be increased.

  Here, when the imaging device is a back camera that captures an image of the rear of the host vehicle, it is preferable that the determination period is a predetermined period after the power-on detection is detected by the power operation detection unit.

  As mentioned above, in mechanical multilevel parking lots with built-in turntables, in most cases, in order to facilitate the operation of the driver when the vehicle enters the transporter, it is located in front of the transporter. A mirror that reflects the vehicle entering the carrier is provided on the back wall. Therefore, this mirror is in front of the host vehicle when entering the carrier, and is behind the host vehicle when leaving the carrier after the direction change. Therefore, when a back camera is used as the imaging device as in this configuration, the power is turned off by performing a mirror image determination with a predetermined period after detection of power-on corresponding to the exit from the carrier as a determination period. Thus, it is possible to appropriately determine that the direction of the host vehicle has been changed. Moreover, according to this structure, the image information imaged with the back camera mounted in comparatively many vehicles can be used effectively for correction | amendment of the advancing direction information of the own vehicle.

  In the case where the imaging device is a front camera that images the front of the host vehicle, it is preferable that the determination period is a predetermined period before detection of power-off by the power-operation detecting means.

  As described above, the mirror provided in the turntable built-in mechanical multistory parking lot must be in front of the host vehicle when entering the transporter and behind the host vehicle when exiting the transporter after changing direction. become. Therefore, when a front camera is used as the imaging device as in this configuration, the power is turned off by performing a mirror image determination with a predetermined period before the detection of power off corresponding to the time of entering the carrier as a determination period. Thus, it is possible to appropriately determine that the direction of the own vehicle will be changed.

  The mirror image determination means recognizes an image of the vehicle included in the image information, and when the speed at which the vehicle moves away from or approaches the host vehicle is twice the vehicle speed of the host vehicle. A configuration in which it is determined that a mirror image of the vehicle has been captured is preferable.

  When a back camera is used as the imaging device, if a mirror image of the host vehicle is captured by the imaging device when exiting the transporter after the power is turned on, the mirror image of the host vehicle included in the acquired image information is It should move away from the vehicle at twice the vehicle speed. Further, when a front camera is used as the imaging device, if a mirror image of the host vehicle is captured by the imaging device when entering the transporter before the power is turned off, the mirror image of the host vehicle included in the acquired image information is The vehicle should approach the host vehicle at twice the vehicle speed. According to this configuration, by recognizing these events and using them for mirror image determination, it is possible to suppress erroneous determination of an image of another vehicle as a mirror image of the host vehicle, and a mirror image of the host vehicle is captured by the imaging device. It can be determined with high accuracy.

  Further, the mirror image determination means recognizes an image of a vehicle license plate included in the image information, and captures a mirror image of the host vehicle when a left-right asymmetric character included in the vehicle license plate is mirror-inverted. It is preferable to adopt a configuration for determining that it has been performed.

  When a back camera or a front camera is used as the imaging device, if a mirror image of the host vehicle is captured by the imaging device, the mirror image of the host vehicle included in the acquired image information is attached before and after the host vehicle. A mirror image of the license plate should be included. In addition, such a mirror image of the license plate should include an image in which asymmetrical characters are mirror-inverted. According to this configuration, by recognizing such an event and using it for mirror image determination, it is possible to suppress erroneous determination of an image of another vehicle as a mirror image of the own vehicle, and a mirror image of the own vehicle is captured by the imaging device. It can be determined with high accuracy whether or not it has been done. The characters included in the license plate include, for example, Arabic numerals, Roman numerals, hiragana, kanji, katakana, alphabets, various symbols, and the like.

  Further, the mirror image determination means recognizes an image of a vehicle lighting device included in the image information, and when one or both of lighting and extinguishing of the lighting device is interlocked with the operation of the lighting device of the own vehicle. A configuration in which it is determined that a mirror image of the host vehicle is captured is preferable.

  If a mirror image of the host vehicle is captured by the imaging device, the timing of one or both of lighting and extinguishing of the lamp included in the acquired image information should be linked to the operation of the lamp of the host vehicle. is there. Such lighting devices include, for example, brake lamps, headlights, turn signal lamps (direction indicators), fog lamps, backup lights (lights that are turned on during reverse travel), and the like. For example, when a back camera is used as the imaging device, if a mirror image of the host vehicle is captured by the imaging device, a brake lamp is included in the acquired image information, and one or both of lighting and extinguishing is performed. It should be linked to the braking operation of the host vehicle. For example, when a front camera is used as the imaging device, the acquired image information includes a headlight, and one or both of lighting and extinguishing should be linked to the operation of the headlight of the host vehicle. In addition, regardless of which imaging device is used, the acquired image information includes a turn signal lamp, and one or both of lighting and extinguishing should be linked to the operation of the turn signal lamp of the host vehicle. According to this configuration, by recognizing these events and using them for mirror image determination, it is possible to suppress erroneous determination of an image of another vehicle as a mirror image of the host vehicle, and a mirror image of the host vehicle is captured by the imaging device. It can be determined with high accuracy.

  Further, the mirror image determination means recognizes a vehicle included in the image information by using own vehicle mirror image information representing a feature of a mirror image of the own vehicle, and the feature of the vehicle matches the own vehicle mirror image information. In addition, it is preferable to determine that a mirror image of the host vehicle has been captured.

  If a mirror image of the host vehicle is captured by the imaging device, the characteristics of the vehicle included in the acquired image information should match the characteristics of the mirror image of the host vehicle. According to this configuration, such a morphological feature of the vehicle is image-recognized, and the image of the other vehicle is erroneously determined as the mirror image of the own vehicle by performing a mirror image determination in comparison with the vehicle image information prepared in advance. This can be suppressed, and it can be determined with high accuracy whether or not a mirror image of the host vehicle has been captured by the imaging device.

  In addition, within a predetermined period based on the correction of the traveling direction information by the traveling direction correction unit, the vehicle information is acquired based on the traveling direction information acquired by the direction information acquisition unit while the vehicle speed of the host vehicle is zero. It is preferable to further include a correction cancel processing unit that performs a process of canceling the correction of the traveling direction information by the traveling direction correcting unit when it is determined that the direction change for reversing the traveling direction of the vehicle has been performed.

  Generally, when a vehicle is parked in a multi-story parking lot, the number of times of direction change by a direction change device such as a turntable is only once, and the direction change is not performed a plurality of times. Therefore, when the direction change device reverses the traveling direction of the host vehicle while the power is on, it is determined that the traveling direction correction means should not correct the traveling direction information. be able to. According to this configuration, it is possible to prevent the traveling azimuth information from being erroneously corrected by the traveling azimuth correcting means, and it is possible to further improve the accuracy of the traveling azimuth information.

  Here, the correction cancellation processing unit is configured to acquire the traveling direction acquired by the direction information acquiring unit in a predetermined period after the correction of the traveling direction information by the traveling direction correcting unit in a state where the vehicle speed of the host vehicle is zero. When it is determined that a direction change that reverses the traveling direction of the host vehicle is performed based on the information, it is preferable that the correction performed by the traveling direction correction unit is canceled.

  As described above, when a vehicle is parked in a multi-story parking lot, the number of times the direction is changed by a direction changing device such as a turntable is only once, and the direction is hardly changed a plurality of times. Accordingly, even if it is determined that the direction of the host vehicle has been changed by the direction changing device while the power is off, and the direction of travel correction of the host vehicle is reversed by the direction of travel correction means, If the direction change device reverses the traveling direction of the host vehicle while the power is on within the period, it can be determined that the possibility that the previous correction was erroneous is very high. . According to this configuration, it is possible to appropriately detect such an event and cancel the erroneous correction performed by the traveling direction correction unit. Therefore, it is possible to further improve the accuracy of the traveling direction information.

  In addition, the correction cancellation processing unit determines that a direction change has been performed to reverse the traveling direction of the host vehicle based on the traveling direction information acquired by the direction information acquiring unit when the vehicle speed of the host vehicle is zero. In this case, it is preferable that the traveling direction information correction process by the traveling direction correction unit is stopped within a predetermined period after the determination.

  As described above, when a vehicle is parked in a multi-story parking lot, the number of times the direction is changed by a direction changing device such as a turntable is only once, and the direction is hardly changed a plurality of times. Therefore, when the direction change that reverses the traveling direction of the host vehicle is performed by the direction change device while the power is on, it is very unlikely that the direction change will be performed again within a predetermined period thereafter. I can judge. According to this configuration, it is possible to appropriately detect such an event, stop the correction process by the traveling direction correction unit within a predetermined period after the direction of the host vehicle is changed, and perform an incorrect correction. Can be prevented. Therefore, it is possible to further improve the accuracy of the traveling direction information.

  Further, own vehicle position information acquisition means for acquiring own vehicle position information indicating the current position of the own vehicle, and direction change apparatus information acquisition means for acquiring direction change apparatus information indicating a position where the direction change apparatus exists The traveling direction correction means corrects the traveling direction information when the position of the host vehicle indicated by the host vehicle position information matches the position where the direction changing device indicated by the direction changing device information exists. It is preferable to adopt a configuration for performing the above.

  According to this configuration, when the turntable information prepared in advance is acquired from a map database or the like and compared with the turntable information, the current position of the host vehicle matches the position where the turntable exists. It can be set as the structure which correct | amends by an azimuth | direction correction means. Therefore, it is possible to prevent the traveling direction information from being erroneously corrected at a position where there is no turntable.

  In addition, the vehicle position information acquisition means for acquiring the vehicle position information representing the current position of the vehicle, and the region classification for acquiring the region classification information representing the region classification in which the vehicle is present based on the vehicle position information An information acquisition means, and the traveling direction correction means is configured in advance when there is a possibility that a parking lot having a direction changing device exists in the area where the host vehicle is indicated in the area classification information. In the case where the area is defined, it is preferable that the traveling direction information is corrected.

  According to this configuration, area information representing an area where the own vehicle exists is acquired from a map database or the like, and the area where the own vehicle indicated in the area information exists is a dense area of a building such as an urban area. Thus, when there is a possibility that there is a possibility that a parking lot with a turntable exists, it is possible to adopt a configuration in which correction by the traveling direction correction means is performed. Therefore, it is possible to prevent erroneous correction of the traveling direction information in an area where there is almost no possibility of the turntable.

  Here, it is preferable to turn on or off the power source for operating the azimuth information acquisition unit in conjunction with a power switch of the host vehicle in order to suppress power consumption of a power storage device such as a battery of the host vehicle.

  In addition, the determination period defines a period during which a mirror image of the host vehicle may be captured by the imaging device in a place where a direction changing device such as a turntable is provided, with reference to the time when the power is turned on or off. To do. Therefore, the determination period may be a period defined by one of the travel distance and time of the host vehicle, or may be a period defined by both the travel distance and time of the host vehicle.

  A characteristic configuration of the navigation device according to the present invention is a guide information output that outputs predetermined guide information using the in-vehicle processing device having the above-described configurations and the traveling direction information acquired by the in-vehicle processing device. And means.

  According to this characteristic configuration, it is possible to output predetermined guide information based on the traveling direction information corrected by the traveling direction correction unit. Therefore, even after the vehicle is turned in a state where the power is turned off in the above-described turntable built-in mechanical multistory parking lot, etc., for example, guidance information for displaying the vehicle position, route guidance, etc. Can be appropriately performed.

  According to the present invention, a characteristic configuration of a vehicle traveling direction correction program executed by a computer that controls an in-vehicle processing device provided with direction information acquisition means for acquiring traveling direction information representing a traveling direction of the host vehicle is the direction information A power supply operation detecting step for detecting on / off of a power supply for operating the acquisition means, and an image pickup for picking up an image of the periphery of the host vehicle within a determination period based on detection of power on / off in the power supply operation detecting step When the image recognition process is performed on the image information acquired by the apparatus and a mirror image determination step for determining whether or not a mirror image of the host vehicle is captured, and when it is determined that the mirror image of the host vehicle is captured by the mirror image determination step, A traveling azimuth correcting step for correcting the traveling azimuth information so as to reverse the traveling azimuth of the vehicle. .

  According to this characteristic configuration, when it is determined that a mirror image of the host vehicle is captured within a determination period based on the detection of power on or off, the above-described turntable built-in mechanical multistory parking lot or the like It is determined that the direction change of the host vehicle has been performed in a place where the direction change device as described above is present and the power is off, and the traveling direction information is corrected so as to reverse the direction of the own vehicle. This makes it possible to accurately determine that the direction of the host vehicle has been changed by a direction changing device such as a turntable while the power is off, and to appropriately correct the traveling direction of the host vehicle accordingly. it can. Accordingly, after the power is turned on, it is possible to acquire traveling direction information representing the correct traveling direction.

  Further, according to this feature configuration, it is possible to perform mirror image determination using only image information before power-off detection or after power-on detection, and correct traveling direction information. For this reason, it is not necessary to store the image information captured before the power-off is detected during the power-off. Therefore, it is possible to suppress the complexity of the configuration of the in-vehicle processing apparatus for storing the image information, or it is possible to suppress a delay in processing operation and an increase in calculation load due to an increase in access to the storage medium. Furthermore, according to this feature configuration, since the determination process specialized for the mirror image of the host vehicle is performed as the process for the image information, the determination process can be simplified and the determination accuracy can be improved.

  Further, the vehicle travel direction correction program is acquired by the direction information acquisition means in a state where the vehicle speed of the host vehicle is zero within a predetermined period based on the correction time of the travel direction information in the travel direction correction step. A correction cancellation processing step for performing a process of canceling the correction of the traveling azimuth information by the traveling azimuth correction step when it is determined that the direction change for reversing the traveling azimuth of the host vehicle has been performed based on the traveling azimuth information; It is suitable when it is set as the structure provided.

  Generally, when a vehicle is parked in a multi-story parking lot, the number of times of direction change by a direction change device such as a turntable is only once, and the direction change is not performed a plurality of times. Therefore, when the direction change device reverses the traveling direction of the host vehicle while the power is on, it is determined that the traveling direction information should not be corrected by the traveling direction correction step. be able to. According to this configuration, it is possible to suppress erroneous correction of the traveling direction information in the traveling direction correction step, and it is possible to further improve the accuracy of the traveling direction information.

1. First Embodiment First, a first embodiment of the present invention will be described with reference to the drawings. In this embodiment, a case where the in-vehicle processing device 2 according to the present invention is applied to the navigation device 1 will be described as an example. Moreover, in this embodiment, the example in the case of using the back camera which images the back of the own vehicle C as the imaging device 11 is demonstrated. FIG. 1 is a block diagram showing a schematic configuration of a navigation device 1 according to the present embodiment. The navigation device 1 acquires own vehicle position information P representing the current position of the own vehicle C and travel direction information D representing the travel direction, and also acquires map information M from the map database 26, and based on the information. , Guidance processing such as display of the vehicle position, route search from the departure point to the destination, route guidance to the destination, and the like are performed. And this navigation apparatus 1 is the state of the own vehicle C by direction change apparatuses, such as a turntable (henceforth only "turntable 8". Refer FIG. 4), while the power supply 33 which cannot acquire the traveling direction information D is OFF. It has a function of detecting that the traveling direction is reversed and correcting traveling direction information D. The in-vehicle processing apparatus 2 according to the present invention has a function unit that acquires the traveling direction information D of the host vehicle C and performs a process of correcting the traveling direction information D according to the presence or absence of such a turn by the turntable 8. Composed.

  Each function part of the navigation apparatus 1 shown in FIG. 1, specifically, the image information acquisition part 12, the own vehicle position information acquisition part 16, the calculation part 17 for navigation, the power supply operation | movement detection part 31, the mirror image determination part 35, vehicle information The acquisition unit 38, the traveling direction correction unit 39, and the correction cancellation unit 40 are functions for performing various processes on input data using a common processing unit such as a CPU or the like as a core member. The unit is implemented by hardware and / or software (program) or both. Each of these functional units is configured to exchange information with each other. The map database D26 is a device having a recording medium capable of storing information and its driving means, such as a hard disk drive, a DVD drive equipped with a DVD-ROM, a CD drive equipped with a CD-ROM, and the like. It is provided as a hardware configuration. Hereinafter, the configuration of each part of the navigation device 1 according to the present embodiment will be described in detail.

1-1. Map Database The map database 26 functions as a map information storage means in which map information M divided for each predetermined section is stored. FIG. 2 is a diagram illustrating an example of the configuration of the map information M stored in the map database 26. As shown in this figure, the map information M has road information Ra representing a road network by connection relations between a large number of nodes n corresponding to intersections and links k corresponding to roads connecting the intersections. . Each node n has information on the position (coordinates) on the map expressed by latitude and longitude. Each link k is connected via a node n. Each link k has information such as a road type, a link length, a road width, and a shape interpolation point for expressing a link shape as attribute information. Here, the road type information is information on the road type when the road is divided into a plurality of types such as an expressway, a national road, a prefectural road, a general road, a narrow street, and an introduction road. In FIG. 2, only the road information Ra of one section is illustrated, and the road information Ra of other sections is omitted.

1-2. Image Information Acquisition Unit The image information acquisition unit 12 functions as an image information acquisition unit that acquires image information G around the host vehicle captured by the imaging device 11. Here, the image pickup apparatus 11 is an in-vehicle camera provided with an image pickup device, and is installed outward from the own vehicle C so as to pick up an image of at least a specific direction around the own vehicle C. As described above, in this embodiment, a back camera is used as the imaging device 11. As illustrated in FIG. 3, the imaging device 11 that is a back camera images a predetermined area behind the host vehicle C. The image information acquisition unit 12 captures imaging information captured by the imaging device 11 at predetermined time intervals via a frame memory (not shown). The time interval for capturing the image information G at this time can be set to, for example, about 10 to 50 ms. Thereby, the image information acquisition unit 12 can continuously acquire the image information G of a plurality of frames captured by the imaging device 11. The acquired image information G is output to a mirror image determination unit 35 described later.

1-3. Own vehicle position information acquisition unit The own vehicle position information acquisition unit 16 functions as own vehicle position information acquisition means for acquiring own vehicle position information P representing the current position of the own vehicle C, and represents the traveling direction of the own vehicle C. It functions as a direction information acquisition unit that acquires the traveling direction information D. The vehicle position information acquisition unit 16 is connected to the GPS receiver 13, the direction sensor 14, and the distance sensor 15. The GPS receiver 13 is a device that receives GPS signals from GPS (Global Positioning System) satellites. This GPS signal is normally received every second and is output to the vehicle position information acquisition unit 16. The own vehicle position information acquisition unit 16 can analyze a signal from a GPS satellite received by the GPS receiver 13 and acquire information such as a current position (coordinates), a traveling direction, and a moving speed of the own vehicle C. . The direction sensor 14 is a sensor that detects the traveling direction of the host vehicle C or a change in the traveling direction. The azimuth sensor 14 is constituted by, for example, a gyroscope, a geomagnetic sensor, or the like. Then, the direction sensor 14 outputs the detection result to the vehicle position information acquisition unit 16. The distance sensor 15 is a sensor that detects the vehicle speed and the moving distance of the host vehicle C. The distance sensor 15 is, for example, a vehicle speed pulse sensor that outputs a pulse signal every time a drive shaft or wheel of the vehicle rotates by a certain amount, a yaw / G sensor that detects the acceleration of the host vehicle C, and an integration of the detected acceleration. Configured by a circuit or the like. Then, the distance sensor 15 outputs information on the vehicle speed and movement distance as the detection result to the vehicle position information acquisition unit 16.

  The own vehicle position information acquisition unit 16 performs an operation of specifying the current position and the traveling direction of the own vehicle C based on the outputs from the GPS receiver 13, the direction sensor 14, and the distance sensor 15. In addition, the host vehicle position information acquisition unit 16 acquires map information M around the host vehicle position from the map database 26 and performs known map matching based on the map information M to indicate the current position of the host vehicle C in the map information M. The vehicle C is adjusted to the direction along the road. Further, in the present embodiment, the traveling direction information D acquired by the own vehicle position information acquisition unit 16 supplies power for operating the own vehicle position information acquisition unit 16 by the traveling direction correction unit 39 described later. When the traveling direction of the host vehicle C is reversed by the turntable 8 (see FIG. 4) while the power source 33 is off, the traveling direction of the host vehicle C is corrected accordingly. . Such a configuration related to the correction processing of the most characteristic traveling direction information D in the present embodiment will be described in detail later. In this way, the host vehicle position information acquisition unit 16 includes the host vehicle position information P that represents the current position of the host vehicle C represented by coordinates (latitude and longitude), and the traveling direction information that represents the traveling direction of the host vehicle C. Get D.

1-4. Navigation Calculation Unit The navigation calculation unit 17 operates according to the application program 18 in order to execute navigation functions such as display of the vehicle position, route search from the departure place to the destination, route guidance to the destination, and destination search. Arithmetic processing means. Here, the application program 18 refers to the vehicle position information P, the traveling direction information D, the map information M, and the like, and causes the navigation calculation unit 17 to execute various navigation functions. For example, the navigation calculation unit 17 acquires the map information M around the host vehicle C from the map database 26 based on the host vehicle position information P, displays a map image on the display screen of the display input device 19, and Based on the vehicle position information P and the traveling direction information D, a process of displaying the vehicle position mark representing the current position and traveling direction of the host vehicle C on the map image is performed. In addition, the navigation calculation unit 17 performs a route search from a predetermined departure place to a destination based on the map information M stored in the map database 26. Further, the navigation calculation unit 17 selects one or both of the display input device 19 and the voice output device 20 based on the searched route from the departure point to the destination, the own vehicle position information P, and the traveling direction information D. Used to provide route guidance to the driver. The display input device 19 is a combination of a display device such as a liquid crystal display device and an input device such as a touch panel and operation switches. The audio output device 20 includes a speaker and the like. In the present embodiment, the navigation calculation unit 17, the display input device 19, and the voice output device 20 function as guide information output means 21 that outputs predetermined guide information.

1-5. Power Supply Operation Detection Unit The power supply operation detection unit 31 functions as a power supply operation detection unit that detects on or off of the power supply 33 that operates the host vehicle position information acquisition unit 16 serving as a direction information acquisition unit. In the present embodiment, the power source 33 not only supplies power to the vehicle position information acquisition unit 16 but also supplies power to the entire navigation device 1 including the in-vehicle processing device 2 to operate it. As the power source 33, for example, a power storage device such as a battery provided in the host vehicle C is used. The power supply 33 is turned on or off by the main power switch 32 of the navigation device 1. In the present embodiment, the operation of the main power switch 32 is interlocked with a vehicle power switch 34 such as an accessory switch (ACC) that switches on / off power supply from the power source 33 to each electric device included in the host vehicle C. ing. Then, the power supply operation detection unit 31 detects whether the state of the main power switch 32 is an on state in which power is supplied to the navigation device 1 or an off state in which such power supply is cut off. As a result, the on / off of the power supply 33 is detected.

1-6. Basic concept for detecting direction change In this navigation device 1, the direction change that reverses the traveling direction of the host vehicle C was performed by the turntable 8 (see FIG. 4) while the power supply 33 was off. And a function of correcting the traveling direction information D accordingly. Below, although the structure of the principal part of the vehicle-mounted processing apparatus 2 which bears the function of such a navigation apparatus 1 is demonstrated in detail, before that, the fundamental for detecting the turn of the own vehicle C in this invention This concept will be described with reference to FIGS. 4 to 6 as an example in which a back camera is used as the imaging device 11.

  A mechanical parking lot 4 is a typical place where a direction changing device such as a turntable 8 for reversing the traveling direction of the host vehicle C is provided. As such a multilevel parking garage 4, for example, as shown in FIG. 6, there are many configurations in which a turntable 8 is arranged outside a transporter 6 on which the host vehicle C is placed. In this case, as shown in FIG. 6A, the host vehicle C stops on the turntable 8 and changes direction while moving to enter the transporter 6. Therefore, in most cases, the direction of the own vehicle C is changed while the vehicle power switch 34 of the own vehicle C is kept in an on state (while the engine is operating). Therefore, in such a multilevel parking lot 4, the direction of the host vehicle C is changed while the power source 33 is on. In this case, the host vehicle position information acquisition unit 16 can acquire the correct traveling direction information D corresponding to the direction change of the host vehicle C based on the output of the direction sensor 14 or the like.

  On the other hand, as a place where there is a direction changing device such as the turntable 8 in which the direction of the host vehicle C is changed while the power supply 33 of the navigation device 1 is off, for example, as shown in FIG. A typical example is a mechanical multilevel parking lot 4 with a built-in turntable capable of rotating the carrier 6 itself on which the vehicle C is placed. In such a parking lot 4, as shown in FIG. 4A, the host vehicle C moves forward and enters the carrier 6 equipped with the turntable 8. After placing the host vehicle C on the transporter 6, the driver turns off the vehicle power switch 34 of the host vehicle C in order to exit the host vehicle C. As a result, the main power switch 32 of the navigation device 1 interlocked with the vehicle power switch 34 is also turned off, and the power supply 33 is turned off. Thereafter, the transporter 6 provided with the turntable 8 is rotated, and the direction is changed so as to reverse the traveling direction of the host vehicle C. As a result, as shown in FIG. 4B, the host vehicle C moves forward and leaves the transporter 6.

  By the way, in such a built-in turntable type mechanical multistory parking lot 4 or the like, in most cases, in order to facilitate the operation of the driver by reflecting the own vehicle C entering the transporter 6, A mirror 5 is provided on the back wall 7 located in front of the entrance. As shown in FIG. 4A, the mirror 5 is in front of the host vehicle C when entering the transporter 6, and is behind the host vehicle C when leaving the transporter 6 after the direction change. Therefore, when a back camera is used as the imaging device 11, as shown in FIG. 4B, the mirror 5 positioned behind the host vehicle C is located before or during the exit of the host vehicle C from the transporter 6. It will be within the imaging area of the imaging device 11, and a mirror image of the host vehicle C can be taken by the imaging device 11 which is a back camera. Therefore, by using this event, a mirror image of the host vehicle C is captured by the imaging device 11 within a predetermined determination period after the power source 33 is turned on. When the direction change of C is not detected, it is possible to determine that the direction change for reversing the traveling direction of the host vehicle C is performed in the OFF state of the power source 33.

  Therefore, in the present embodiment, the navigation device 1 is assumed that the mirror image determination unit 35 captures a mirror image of the host vehicle C in the mirror image determination unit 35 within a predetermined determination period after the power-on detection by the power operation detection unit 31. If it is determined, it is determined that the turn of the host vehicle C has been changed by the turntable 8 while the power source 33 is off. Then, the navigation device 1 corrects the traveling direction information D by the traveling direction correction unit 39 so as to reverse the traveling direction of the host vehicle C. Further, the navigation apparatus 1 is configured such that the power supply 33 is on and the vehicle speed is zero within a predetermined period before and after the correction of the traveling direction information D by the traveling direction correction unit 39 by the correction cancellation unit 40. In the state, when it is determined that the direction change for determining the traveling direction of the host vehicle C is performed based on the traveling direction information D acquired by the host vehicle position information acquisition unit 16, the correction of the traveling direction information D is stopped. Alternatively, cancel the process. As described above, while the power supply 33 is in the off state, it is determined with high accuracy that the traveling direction of the host vehicle C has been reversed by the turntable 8, and the traveling direction of the host vehicle C is appropriately corrected accordingly. It becomes possible to acquire traveling direction information D representing the correct traveling direction.

1-7. Mirror Image Determination Unit The mirror image determination unit 35 performs image recognition processing on the image information G acquired by the imaging device 11 that images the periphery of the host vehicle C, and determines whether or not the mirror image of the host vehicle C has been captured. Function as. Therefore, the mirror image determination unit 35 performs an image recognition process on the image information G acquired by the imaging device 11, and whether or not a mirror image of the host vehicle C is captured based on the recognition result by the image recognition unit 36. And a determination processing unit 37 that performs processing for determining whether or not. Hereinafter, the function of the mirror image determination unit 35 will be described in detail separately for the function of the image recognition unit 36 and the function of the determination processing unit 37.

  Further, in the present embodiment, the mirror image determination unit 35 determines whether or not the mirror image of the host vehicle C has been captured within a predetermined determination period based on the time when the power operation detection unit 31 detects power on or power off. Make a decision. This determination period is determined in advance according to the imaging direction of the imaging device 11. As described above, in this embodiment, a back camera that captures an image of the rear side of the host vehicle C is used as the imaging device 11. In this case, the determination period is defined as a predetermined period after the power-on detection by the power operation detector 31 is detected. Moreover, this determination period is a period prescribed | regulated by the one or both of the moving distance of the own vehicle C, and time. In the present embodiment, as shown in FIG. 4B, the determination period L is defined by the moving distance of the host vehicle C after the power-on detection by the power operation detector 31 is detected. The length of the determination period L is to determine whether the image information acquisition unit 12 acquires the image information G after the power source 33 is turned on and the mirror image determination unit 35 captures a mirror image of the host vehicle C. Usually, it is preferable that the necessary period is determined in consideration of both the time and the moving distance, and the length is determined by adding a predetermined margin to the determined period. For example, the determination period L is defined as a period from when the power source operation detection unit 31 detects power-on until the host vehicle C moves 5 [m]. At this time, the moving distance of the host vehicle C is detected by the distance sensor 15 or the like. If the mirror image determination unit 35 determines that a mirror image of the host vehicle C has been captured within the determination period, the mirror image determination unit 35 outputs a signal indicating this to the traveling direction correction unit 39.

1-7-1. Image Recognition Unit The image recognition unit 36 functions as an image recognition unit that performs image recognition processing on the image information G acquired by the imaging apparatus 11 via the image information acquisition unit 12. In the present embodiment, as shown in FIG. 5, for example, the image recognition unit 36 includes a mirror image of the host vehicle C included in the image information G (hereinafter referred to as “own vehicle mirror image Cm”) or the host vehicle mirror image Cm. Recognize images such as mirror images L1m to L3m of a lighting device and a mirror image Nm of a license plate. Here, the lighting device included in the own vehicle mirror image Cm includes various lighting devices generally provided in the vehicle, such as a brake lamp, a headlight, a turn signal lamp (direction indicator), a fog lamp, and a backup. Lights (lights that light up when driving backward) are included. Then, the image recognition unit 37 performs, for example, color detection processing and edge extraction processing on the image information G, and includes each of the own vehicle mirror image Cm, the lighting device mirror images L1m to L3m, the license plate mirror image Nm, and the like. Pattern matching is performed with predetermined feature amount information determined in advance according to morphological features. As a result, the image recognition unit 37 recognizes the own vehicle mirror image Cm, the lamp mirror images L1m to L3m, the license plate mirror image Nm, and the like included in the image information G. Then, the image recognition unit 37 outputs such an image recognition result to the determination processing unit 37.

1-7-2. Determination Processing Unit The determination processing unit 37 functions as a determination processing unit that performs processing for determining whether a mirror image of the host vehicle C is captured based on the recognition result by the image recognition unit 36. In the present embodiment, the determination processing unit 37 performs the mirror image determination based on the image recognition result of the mirror images L1m and L2m of the lamp and the license plate mirror image Nm as shown in FIG. 4 types of license plate determination processing performed based on the image recognition result, vehicle speed determination processing performed based on the moving speed or approaching speed of the own vehicle mirror image Cm, and vehicle form determination processing performed based on the form of the own vehicle mirror image Cm The determination process is performed. When the determination processing unit 37 determines that the image of the vehicle included in the image information G is a mirror image of the host vehicle C by any one of these four types of determination processing, a mirror image of the host vehicle C is captured. It is determined that The mirror image determination unit 35 acquires the vehicle information of the host vehicle C by the vehicle information acquisition unit 38 to be used for the determination by the determination processing unit 37. As the vehicle information acquired here, as described below, for example, information indicating the operating state of a lighting device such as a brake lamp, headlight, turn signal lamp, backup light, information indicating the operating state of the brake pedal, Information indicating the range selected by the shift lever, vehicle speed information, and the like are included.

  In the lighting device determination process, the image recognition unit 36 recognizes an image of the vehicle lighting device included in the image information G, and one or both of lighting and extinguishing of the lighting device is interlocked with the operation of the lighting device of the host vehicle C. Is a process for determining that a mirror image of the host vehicle C has been captured. In this example, as the lighting device determination process, the determination processing unit 37 captures a mirror image of the host vehicle C when the blinking timing of the brake lamp recognized as an image is interlocked with the brake operation of the host vehicle C. It is determined that For example, when the image information G as shown in FIG. 5 is acquired by the image information acquisition unit 12, the determination processing unit 37 changes the brightness of the image Lm1 of the vehicle brake lamp recognized by the image recognition unit 37 with time. And based on the information showing the operation state of the brake pedal acquired by the vehicle information acquisition unit 38, it is determined whether or not the blinking timing of the brake lamp coincides with the operation timing of the brake pedal. And when those timings correspond, since it can determine with the image Lm1 of the said brake lamp being a mirror image of the brake lamp of the own vehicle C, the determination process part 37 makes the mirror image of the own vehicle C by the imaging device 11. It is determined that the image has been captured. On the other hand, if the timings do not match, the image of the brake lamp included in the image information G can be determined to be that of another vehicle, so the determination processing unit 37 does not capture a mirror image of the host vehicle C. It is determined that

  By the way, the lighting device to be determined in the lighting device determination process is not limited to the brake lamp, and another lighting device provided at the rear portion of the host vehicle C can be determined. Therefore, for example, the determination processing unit 37 detects the turn signal lamp image Lm2 (see FIG. 5) of the vehicle turn signal lamp recognized by the image recognition unit 37 for the turn signal lamp acquired by the vehicle information acquisition unit 38. It is determined whether or not it coincides with the operation timing. And when those timings correspond, since it can determine with the image Lm2 of the said turn signal lamp being a mirror image of the turn signal lamp of the own vehicle C, the determination process part 37 uses the imaging device 11 of the own vehicle C. It is determined that a mirror image has been captured. Further, for example, in the determination processing unit 37, the vehicle information acquisition unit 38 acquires the timing of turning off (or turning on) the vehicle backup light image Lm3 (see FIG. 5) recognized by the image recognition unit 37. It is determined whether or not it coincides with the timing of lever operation. And when those timings correspond, since it can determine with the image Lm3 of the said backup light being a mirror image of the backup light of the own vehicle C, the determination process part 37 makes the mirror image of the own vehicle C by the imaging device 11. It is determined that the image has been captured. Note that the determination processing unit 37 may be preferably used for mirror image determination by combining a plurality of types of lighting devices such as the brake lamp, the turn signal lamp, and the backup light.

  In the license plate determination process, when the vehicle license plate included in the image information G is image-recognized by the image recognition unit 36, and the left-right asymmetric character included in the vehicle license plate is mirror-inverted, the host vehicle C It is the process which determines with the mirror image of being picked up. Examples of characters included in such a license plate include Arabic numerals, Roman numerals, hiragana, kanji, katakana, alphabets, various symbols, and the like. In this example, as the license plate determination process, the determination processing unit 37, when the image recognition unit 36 can recognize the mirror image of the left and right asymmetrical Arabic numerals existing in the frame of the license plate, It is determined that the image has been captured. For example, when the image information G as shown in FIG. 5 is acquired by the image information acquisition unit 12, the determination processing unit 37 includes “2” included in the license plate image Nm recognized by the image recognition unit 37. When the mirror image of the numeral “3” or “4” can be recognized, it is determined that the mirror image of the host vehicle C has been captured. On the other hand, when the number included in the license plate image Nm has not been mirror-image-determined, it can be determined that the license plate image included in the image information G belongs to another vehicle. Determines that the mirror image of the host vehicle C has not been captured. Note that the characters to be image-recognized are not limited to Arabic numerals, and various characters (including numerals) and symbols can be used as a reference.

  The vehicle speed determination process recognizes a vehicle included in the image information G, and when the speed at which the vehicle moves away from the host vehicle C or the speed at which the vehicle approaches the host vehicle C is twice the vehicle speed of the host vehicle C, This is processing for determining that a mirror image of the vehicle C has been captured. In this example, since the back camera is used as the imaging device 11, the determination processing unit 37 has twice the vehicle speed of the host vehicle C as the vehicle speed determination process. In this case, it is determined that a mirror image of the host vehicle C has been captured. For example, when the image information G as shown in FIG. 5 is acquired by the image information acquisition unit 12, the determination processing unit 37 changes over time that the size of the vehicle image Cm recognized by the image recognition unit 37 gradually decreases. Based on the above, the relative speed between the vehicle in the image information G and the host vehicle C is calculated. And it is determined whether the relative speed calculated | required in this way is twice the vehicle speed of the own vehicle C shown by the vehicle speed information acquired by the distance sensor 15 or the vehicle information acquisition part 38. FIG. When the relative speed between the vehicle in the image information G and the host vehicle C is twice the vehicle speed of the host vehicle C, it can be determined that the image Cm of the host vehicle is a mirror image of the host vehicle C. The unit 37 determines that the mirror image of the host vehicle C has been captured by the imaging device 11. On the other hand, when the relative speed between the vehicle in the image information G and the host vehicle C is not twice the vehicle speed of the host vehicle C, it can be determined that the image of the vehicle included in the image information G belongs to another vehicle. Therefore, the determination processing unit 37 determines that the mirror image of the host vehicle C has not been captured. The condition for determining that the relative speed between the vehicle in the image information G and the host vehicle C is twice the vehicle speed of the host vehicle C is within a predetermined range (for example, the relative speed) Is within a range of 1.8 to 2.2 times the vehicle speed of the host vehicle C), it is preferable to set to determine that the speed is twice.

  The vehicle form determination process uses the own vehicle mirror image information representing the characteristics of the mirror image of the own vehicle C, recognizes the vehicle included in the image information G, and the vehicle characteristics match the own vehicle mirror image information. This is processing for determining that a mirror image of the host vehicle C has been captured. Here, the own vehicle mirror image information is pattern matching template information used to determine whether or not the feature of the vehicle image included in the image information G matches the feature of the mirror image of the own vehicle C. Therefore, the own vehicle mirror image information is generated in advance for each vehicle or each vehicle type, and is stored in a predetermined storage means provided so as to be readable by the determination processing unit 37. In this example, since the back camera is used as the imaging device 11, the determination processing unit 37 uses the own vehicle mirror image information representing the feature of the rear mirror image of the host vehicle C as the vehicle form determination processing, and uses the image information G as the image information G. If the characteristics of the included vehicle coincide with it, it is determined that the mirror image of the host vehicle C has been captured. For example, when image information G as shown in FIG. 5 is acquired by the image information acquisition unit 12, the determination processing unit 37 compares the characteristics of the vehicle image Cm recognized by the image recognition unit 37 with the own vehicle mirror image information. Then, it is determined whether or not the feature of the image Cm of the vehicle matches the feature of the mirror image of the host vehicle C. And when those characteristics correspond, since it can determine with the image Cm of the said vehicle being a mirror image of the own vehicle C, the determination process part 37 determines with the imaging device 11 having imaged the mirror image of the own vehicle C. To do. On the other hand, when those features do not match, it can be determined that the vehicle image included in the image information G is that of another vehicle, so the determination processing unit 37 assumes that a mirror image of the host vehicle C has not been captured. judge.

  As described above, the mirror image determination unit 35 performs a mirror image determination using only the image information G acquired by the imaging device 11 within a predetermined determination period set after the power-on detection by the power operation detection unit 31. It can be determined whether or not the direction change for reversing the traveling direction of the host vehicle C has been performed in the off state of the power source 33. Therefore, it is not necessary to store the image information G captured before the power-off detection during the power-off state. Therefore, it is possible to suppress the complexity of the configuration of the navigation device 1 for storing the image information G, or it is possible to suppress a delay in processing operation and an increase in calculation load due to an increase in access to the storage medium. Furthermore, according to the configuration of the present embodiment, since the determination process specialized for the mirror image of the host vehicle C is performed as the process for the image information G, the determination process can be simplified and the determination accuracy can be improved. Become.

1-8. Traveling Direction Correction Unit The traveling direction correction unit 39 is assumed that a mirror image of the host vehicle C is captured by the mirror image determination unit 35 within a predetermined determination period based on the time when the power supply operation detection unit 31 detects power-on or power-off. When the determination is made, it functions as traveling direction correction means for correcting the traveling direction information D so as to reverse the traveling direction of the host vehicle C. In the present embodiment, as described above, the traveling direction correction unit 39 determines that the mirror image determination unit 35 determines that the mirror image of the host vehicle C has been captured within a predetermined determination period after the power-on detection is detected. The traveling direction information D of C is corrected. In other words, when the traveling direction correction unit 39 receives a signal indicating that the mirror image of the host vehicle C has been captured within the determination period from the mirror image determination unit 35, the traveling direction correction unit 39 acquires the signal from the host vehicle position information acquisition unit 16. The traveling direction information D is corrected by reversing the traveling direction of the host vehicle C by 180 °. Further, along with this, when the host vehicle C is moving after the power-on detection by the power supply operation detecting unit 31, the moving direction is also in the reverse direction. In addition, it is preferable to correct the vehicle position information P together. As a result, the traveling direction of the host vehicle C can be appropriately corrected in accordance with the traveling direction of the host vehicle C being reversed by the turntable 8 while the power source 33 is off. Therefore, after the power source 33 is turned on, it is possible to acquire the traveling direction information D representing the correct traveling direction.

1-9. Correction Canceling Unit The correction canceling unit 40 has the vehicle position information acquisition unit 16 in a state in which the vehicle speed of the host vehicle C is zero within a predetermined period based on the correction of the traveling direction information D by the traveling direction correction unit 39. A correction cancellation process for performing a process of canceling the correction of the traveling direction information D by the traveling direction correction unit 39 when it is determined that the direction change for reversing the traveling direction of the host vehicle C has been performed based on the acquired traveling direction information D Functions as a means. Here, the correction canceling unit 40 uses the turntable 8 based on the vehicle speed information and the traveling direction information D during a predetermined period before and after the correction by the traveling direction correcting unit 39 while the power source 33 is on. When it is determined that the direction change has been performed, correction cancellation processing for stopping or canceling the correction of the traveling direction information D is performed. Whether or not the direction change for reversing the traveling direction of the host vehicle C has been performed is based on whether the traveling direction of the host vehicle C has been rotated by 180 ° based on the traveling direction information D acquired by the host vehicle position information acquisition unit 16 Judge by whether or not. At this time, the condition for determining whether or not the traveling direction of the host vehicle C is rotated by 180 ° is within a predetermined range (for example, within a range of 160 to 200 ° in consideration of a detection error of the direction sensor 14). ), It is preferable to set so as to determine that it has rotated 180 °. The vehicle speed of the host vehicle C is acquired by the distance sensor 15 or the vehicle information acquisition unit 38.

  That is, the correction cancellation unit 40 is acquired by the host vehicle position information acquisition unit 16 in a state in which the vehicle speed of the host vehicle C is zero within a predetermined cancellation period after the correction of the driving direction information D by the driving direction correction unit 39. When it is determined that the direction change that reverses the traveling direction of the host vehicle C is performed based on the traveling direction information D, the correction performed by the traveling direction correction unit 39 is canceled. Specifically, when such a condition is satisfied, the correction canceling unit 40 cancels the correction of the traveling direction information D previously performed by the traveling direction correcting unit 39 and the traveling direction of the host vehicle C is not corrected. Process to return to. Here, the cancellation period is a period defined by one or both of the travel distance and time of the host vehicle C. In the present embodiment, the cancellation period is a period defined by the travel distance of the host vehicle C after correction by the traveling direction correction unit 39. The length of this cancellation period is predetermined with respect to the average travel distance of the host vehicle C from when the correction by the traveling direction correction unit 39 is performed until the turn of the host vehicle C is completed by the turntable 8. It is preferable that the length is added with the extra margin. Note that the length of such a cancellation period is preferably determined by investigating the positional relationship between the transporter 6 and the turntable 8 in a general multilevel parking lot.

  In addition, the correction canceling unit 40 performs a direction change in which the traveling direction of the host vehicle C is reversed based on the traveling direction information D acquired by the host vehicle position information acquisition unit 16 in a state where the vehicle speed of the host vehicle C is zero. If it is determined that the traveling direction information D is corrected by the traveling direction correction unit 39 within a predetermined stop period after the determination, the processing for stopping the traveling direction information D is stopped. Specifically, when such a condition is satisfied, the correction cancellation unit 40 stops one or both of the traveling direction correction unit 39 and the mirror image determination unit 35 until a predetermined stop period elapses, and proceeds. It is assumed that correction processing by the azimuth correction unit 39 is not performed. Here, the stop period is a period defined by one or both of the travel distance and time of the host vehicle C. In the present embodiment, the stop period is a period defined by the travel distance of the host vehicle C after it is determined that the direction change that reverses the traveling direction of the host vehicle C has been performed. The length of this stop period is the average travel distance of the host vehicle C from when it is determined that the direction change that reverses the traveling direction of the host vehicle C is performed until the correction by the traveling direction correction unit 39 is performed. It is preferable that the length is obtained by adding a predetermined margin. Note that the length of such a stop period is preferably determined by examining the positional relationship between the transporter 6 and the turntable 8 in a general multilevel parking lot.

  FIG. 6 is a diagram showing one specific example in which a correction canceling process is performed by the correction canceling unit 40 when a back camera is used as the imaging device 11. In this case, as shown in FIG. 6A, the host vehicle C moves forward and stops on the turntable 8, and after being turned by the turntable 8, the host vehicle C moves backward and carries the carrier 6 in the multistory parking lot 4. Enter. Then, the vehicle power switch 34 of the host vehicle C is turned off in the transporter 6, and the power supply 33 of the navigation device 1 is also turned off. Thereafter, when leaving the parking lot 4, the vehicle power switch 34 is turned on and the power supply 33 of the navigation device 1 is also turned on. Then, as shown in FIG. And exit from the transporter 6. In the case shown in this example, if the correction canceling process by the correction canceling unit 40 is not performed, the navigation device 1 determines that the mirror image of the host vehicle C is captured when the power source 33 is turned on. Correction for reversing the traveling direction is performed. However, in the case of this example, the correction canceling unit 40 determines the direction by the turntable 8 with the vehicle speed of the host vehicle C being zero based on the traveling direction information D acquired by the host vehicle position information acquiring unit 16 and the like. It is determined that the conversion has been performed, and the correction processing of the traveling direction information D by the traveling direction correction unit 39 is stopped within a predetermined stop period. And the predetermined determination period L from the power-on of the navigation apparatus 1 when leaving the parking lot 4 is included in the stop period described above. Therefore, it is possible to prevent the correction of the traveling direction information D that reverses the traveling direction of the host vehicle C by mistake.

1-10. Next, a procedure (vehicle traveling direction correction program) for correcting the traveling direction of the host vehicle C executed in the navigation device 1 including the in-vehicle processing device 2 according to the present embodiment will be described. FIG. 7 is a flowchart illustrating a procedure of the vehicle traveling direction correction process according to the present embodiment. FIG. 8 is a flowchart showing a procedure of correction cancellation processing by the correction cancellation unit 40 according to the present embodiment. The processing procedure described below is executed by hardware and / or software (program) or both of the above-described functional units. When each of the functional units is configured by a program, the arithmetic processing device included in the navigation device 1 controls the in-vehicle processing device and executes a vehicle traveling direction correction program that configures the functional units. Works as. Below, the procedure of the vehicle traveling direction correction process will be described first.

  As shown in FIG. 7, in the vehicle advancing direction correction process, the navigation device 1 first determines whether or not power-on is detected by the power-supply operation detecting unit 31 (step # 01). When the power supply operation detecting unit 31 detects that the power is turned on (step # 01: Yes), measurement of the determination period L by the mirror image determining unit 35 is started (step # 02). Further, the mirror image determination unit 35 performs mirror image determination (step # 03). As described above, this mirror image determination is a process of performing image recognition processing on the image information G acquired by the imaging device 11 that captures the periphery of the host vehicle C and determining whether a mirror image of the host vehicle C has been captured. .

  And when the mirror image of the own vehicle C was imaged (step # 03: Yes), it judges that the advancing direction of the own vehicle C was reversed by the turntable 8 as shown, for example in FIG.4 (b), The traveling direction correction unit 39 corrects the traveling direction information D so as to reverse the traveling direction of the host vehicle C (step # 05). On the other hand, if a mirror image of the host vehicle C is not captured (step # 03: No), an elapsed period from the start of measurement in the determination period L of step # 02 (that is, when power-on is detected) (the host vehicle C in this embodiment). It is determined whether or not the movement distance is within the determination period L (step # 06). If it is within the determination period (step # 06: Yes), the process returns to step # 03 and the mirror image determination process is continued. And when the mirror image of the own vehicle C is not imaged (step # 03: No) and the determination period L has passed (step # 06), the traveling direction information D is not corrected. The process ends here.

  Next, the procedure of correction cancellation processing by the correction cancellation unit 40 according to the present embodiment will be described. As shown in FIG. 8, in the correction cancellation process, the correction cancellation unit 40 first determines whether or not the traveling direction information D of the host vehicle C has been corrected by the traveling direction correction unit 39 (step # 11). When the traveling direction correction unit 39 corrects the traveling direction information D (step # 11: Yes), the correction cancellation unit 40 starts measuring the cancellation period (step # 12). On the other hand, if the traveling direction correction unit 39 does not correct the traveling direction information D (step # 11: No), the measurement of the cancellation period is not started. Note that, as described above, the cancellation period is a period set after the correction of the traveling direction information D by the traveling direction correction unit 39, and the vehicle speed of the host vehicle C is zero during the cancellation period. A period for performing processing to cancel the correction performed by the traveling direction correction unit 39 when it is determined that the direction change for reversing the traveling direction of the host vehicle C has been performed based on the traveling direction information D acquired by the position information acquisition unit 16 Is set as

  Next, the correction cancellation part 40 determines whether the vehicle speed of the own vehicle C is zero (step # 13). And when the vehicle speed of the own vehicle C is zero (step # 13: Yes), it is determined whether or not the direction change that reverses the traveling direction of the own vehicle C by the turntable 8 or the like has been performed (step #). 14). This determination is made based on whether or not the traveling direction of the host vehicle C is rotated by 180 ° based on the traveling direction information D acquired by the host vehicle position information acquisition unit 16. When the vehicle speed of the host vehicle C is not zero (step # 13: No), or the traveling direction is not determined (step # 14: No), that is, the host vehicle is not reversed even when the vehicle speed is zero. When C starts traveling again, the process is terminated without canceling the correction of the traveling direction information D.

  When the vehicle speed of the host vehicle C is zero (step # 13: Yes) and the direction change that reverses the traveling direction of the host vehicle C is performed (step # 14: Yes), the cancellation period of step # 12 It is determined whether or not the elapsed period (in this embodiment, the travel distance of the host vehicle C) from the start of measurement (that is, when the traveling direction information D of the host vehicle C is corrected) is within the cancellation period (step # 15). If it is within the cancellation period that the direction of the host vehicle C has been changed (step # 15: Yes), the traveling direction correction unit 39 corrects the traveling direction information D of the host vehicle C previously performed. Cancel (step # 16).

  On the other hand, when the direction change of the host vehicle C is not within the cancellation period (step # 15: No), that is, within the predetermined cancellation period from the present time to the past, the traveling direction correction unit 39 If the traveling direction information D of the host vehicle C has not been corrected, the correction cancellation unit 40 starts measuring the stop period (step # 17). Note that, as described above, during the stop period, a direction change that reverses the traveling direction of the host vehicle C based on the traveling direction information D acquired by the host vehicle position information acquisition unit 16 while the vehicle speed of the host vehicle C is zero. It is a period set after it is determined that it has been performed, and the correction processing by the traveling direction correction unit 39 is stopped so that the traveling direction information D is not corrected by the traveling direction correction unit 39 within this stop period. It is set as a period. Therefore, the correction cancellation unit 40 stops the correction of the traveling direction information D of the host vehicle C by the traveling direction correction unit 39 (step # 18). The process of stopping the correction of the traveling direction information D is continued during the stop period (step # 19: Yes) and is canceled when the stop period has elapsed (step # 19: No) (step # 20). The process ends here.

2. Second Embodiment Next, a second embodiment of the present invention will be described. In the present embodiment, an example in which a front camera that images the front of the host vehicle C is used as the imaging device 11 will be described. That is, in the navigation device 1 including the in-vehicle processing device 2 according to this embodiment, the imaging direction of the imaging device 11 is changed from the rear to the front of the host vehicle C, and accordingly, in comparison with the first embodiment. The specific configuration of the functional unit that performs the process of correcting the traveling direction information D of the host vehicle C has been changed. Other configurations are basically the same as those in the first embodiment. Therefore, the block diagram showing the schematic configuration of the navigation device 1 according to the present embodiment is the same as FIG. 1 according to the first embodiment. Also in the present embodiment, the flowchart showing the procedure of the correction cancellation process by the correction cancellation unit 40 is the same as that in FIG. 8 according to the first embodiment. Below, the navigation apparatus 1 which concerns on this embodiment is demonstrated centering on difference with said 1st embodiment.

2-1. FIG. 9 is an explanatory diagram for explaining the concept for detecting the direction change of the host vehicle C in the present embodiment. As shown in this figure, in the present embodiment, a front camera is used as the imaging device 11. Therefore, the imaging device 11 images a predetermined area in front of the host vehicle C. As in the first embodiment, the navigation device 1 detects that the turn table 8 has changed the direction in which the traveling direction of the host vehicle C is reversed while the power source 33 is off, and adjusts accordingly. And a function of correcting the traveling direction information D. Therefore, in the following, first, a basic concept for detecting a change in direction of the host vehicle C when a front camera is used as the imaging device 11 will be described with reference to FIGS. 9 to 11.

  FIG. 11 shows an example of a mechanical multilevel parking garage in which a turntable 8 is disposed outside the transporter 6 for placing the host vehicle C. In the case of the parking lot 4 shown in this example, as shown in FIG. 11 (b), the host vehicle C stops on the turntable 8 and changes direction while moving to leave the transporter 6. Therefore, in most cases, the direction of the own vehicle C is changed while the vehicle power switch 34 of the own vehicle C is kept in an on state (while the engine is operating). Therefore, in such a multilevel parking lot 4, the direction of the host vehicle C is changed while the power source 33 is on. In this case, the host vehicle position information acquisition unit 16 can acquire the correct traveling direction information D corresponding to the direction change of the host vehicle C based on the output of the direction sensor 14 or the like.

  On the other hand, as a place where the direction changing device such as the turntable 8 where the direction of the own vehicle C is to be changed while the power supply 33 of the navigation device 1 is in the off state, for example, as shown in FIG. A typical example is a mechanical multilevel parking lot 4 with a built-in turntable capable of rotating the carrier 6 itself on which the vehicle C is placed. In such a parking lot 4, as shown in FIG. 9A, the host vehicle C moves forward and enters the carrier 6 equipped with the turntable 8. After placing the host vehicle C on the transporter 6, the driver turns off the vehicle power switch 34 of the host vehicle C in order to exit the host vehicle C. As a result, the main power switch 32 of the navigation device 1 interlocked with the vehicle power switch 34 is also turned off, and the power supply 33 is turned off. Thereafter, the transporter 6 provided with the turntable 8 is rotated, and the direction is changed so as to reverse the traveling direction of the host vehicle C. As a result, as shown in FIG. 9B, the host vehicle C moves forward and leaves the transporter 6.

  By the way, in such a built-in turntable type mechanical multistory parking lot 4 or the like, in most cases, in order to facilitate the operation of the driver by reflecting the own vehicle C entering the transporter 6, A mirror 5 is provided on the back wall 7 located in front of the entrance. As shown in FIG. 9A, the mirror 5 is in front of the host vehicle C when entering the transporter 6, and is behind the host vehicle C when leaving the transporter 6 after the direction change. Therefore, when a front camera is used as the imaging device 11, as shown in FIG. 9A, the mirror 5 positioned in front of the host vehicle C captures an image while the host vehicle C enters or after entering the transporter 6. It will be in the imaging area of the device 11, and a mirror image of the host vehicle C can be taken by the imaging device 11 which is a front camera. Therefore, by utilizing this event, the mirror image of the host vehicle C is captured by the imaging device 11 within a predetermined determination period before the power source 33 is turned off. When the direction change of C is not detected, it is possible to determine that the direction change for reversing the traveling direction of the host vehicle C is performed in the OFF state of the power source 33.

  Therefore, in the present embodiment, the navigation device 1 is assumed that the mirror image determination unit 35 captures a mirror image of the host vehicle C in the mirror image determination unit 35 within a predetermined determination period before the power supply operation detection unit 31 detects power-off. When it determines, after that, while the power supply 33 is an OFF state, it determines with the turn table 8 changing the direction of the own vehicle C. Then, the navigation device 1 corrects the traveling direction information D by the traveling direction correction unit 39 so as to reverse the traveling direction of the host vehicle C. Further, the navigation apparatus 1 is configured such that the power supply 33 is on and the vehicle speed is zero within a predetermined period before and after the correction of the traveling direction information D by the traveling direction correction unit 39 by the correction cancellation unit 40. In the state, when it is determined that the direction change for determining the traveling direction of the host vehicle C is performed based on the traveling direction information D acquired by the host vehicle position information acquisition unit 16, the correction of the traveling direction information D is stopped. Alternatively, cancel the process. As described above, while the power supply 33 is in the off state, it is determined with high accuracy that the traveling direction of the host vehicle C has been reversed by the turntable 8, and the traveling direction of the host vehicle C is appropriately corrected accordingly. It becomes possible to acquire traveling direction information D representing the correct traveling direction.

2-2. Mirror Image Determination Unit As described above, in the present embodiment, a front camera that images the front of the host vehicle C is used as the imaging device 11. Therefore, the determination period set for determining whether the mirror image of the host vehicle C is captured by the mirror image determination unit 35 is defined as a predetermined period before the power supply operation detection unit 31 detects the power-off. This determination period is a period defined by one or both of the travel distance and time of the host vehicle C. Here, as shown in FIG. 9A, the determination period L is defined by the travel distance of the host vehicle C before the power-off detection unit 31 detects the power-off. By the way, in the present embodiment, it is necessary to perform mirror image determination by the mirror image determination unit 35 before the power-off detection by the power operation detector 31. However, it is difficult to accurately predict when the power will be turned off. It is. Therefore, the mirror image determination unit 35 can stop the host vehicle C at the parking lot 4 or the like when the vehicle speed of the host vehicle C becomes a predetermined determination threshold value or less (for example, 5 [km / hour] or less). Mirror image determination is started by determining that the characteristics are high. And when it determines with the mirror image determination part 35 having imaged the mirror image of the own vehicle C being detected within the determination period L, it determines with the mirror image of the own vehicle C having been imaged within the determination period L. . The length of this determination period L takes into consideration both the time and the moving distance an average period from when the mirror image determination unit 35 determines that the mirror image of the host vehicle C is captured until the power source 33 is turned off. It is preferable that the length is determined by adding a predetermined margin to the determined period. For example, the determination period L is defined as a period of 5 [m] as the moving distance of the host vehicle C before the power-off detection unit 31 detects power-off. At this time, the moving distance of the host vehicle C is detected by the distance sensor 15 or the like. If the mirror image determination unit 35 determines that a mirror image of the host vehicle C has been captured within the determination period L, the mirror image determination unit 35 outputs a signal indicating this to the traveling direction correction unit 39.

  Also in the present embodiment, the mirror image determination unit 35 includes an image recognition unit 36 that performs image recognition processing on the image information G acquired by the imaging device 11, and a mirror image of the host vehicle C based on the recognition result by the image recognition unit 36. And a determination processing unit 37 that performs a process of determining whether or not an image has been captured. Since the configuration of the image recognition unit 36 is the same as that of the first embodiment, the determination processing unit 37 will be described in detail below.

2-2-1. Determination Processing Unit Also in the present embodiment, as in the first embodiment, the determination processing unit 37 performs mirror image determination based on the image recognition results of the mirror images L4m and L2m of the lamp as shown in FIG. A lamp determination process to be performed, a license plate determination process to be performed based on the image recognition result of the mirror image Nm of the license plate, a vehicle speed determination process to be performed based on the speed at which the vehicle mirror image Cm is moving away or approaching, and Four types of determination processing are performed, including vehicle configuration determination processing performed based on the configuration. When the determination processing unit 37 determines that the image of the vehicle included in the image information G is a mirror image of the host vehicle C by any one of these four types of determination processing, a mirror image of the host vehicle C is captured. It is determined that

  In the lighting device determination process, the image recognition unit 36 recognizes an image of the vehicle lighting device included in the image information G, and one or both of lighting and extinguishing of the lighting device is interlocked with the operation of the lighting device of the host vehicle C. Is a process for determining that a mirror image of the host vehicle C has been captured. In this example, the determination processing unit 37 performs the lighting device determination processing when one or both timings of turning on and off the headlight recognized as an image are linked to the operation timing of the headlight of the host vehicle C. Then, it is determined that a mirror image of the host vehicle C has been captured. For example, when the image information G as shown in FIG. 10 is acquired by the image information acquisition unit 12, the determination processing unit 37 changes the brightness of the image Lm4 of the vehicle headlight recognized by the image recognition unit 37 over time. On the basis of the information indicating the headlight operation timing acquired by the vehicle information acquisition unit 38, it is determined whether one or both of turning on and off the headlight coincide with the headlight operation timing. . And when those timings correspond, since it can determine with the image Lm4 of the said headlight being the mirror image of the headlight of the own vehicle C, the determination process part 37 makes the mirror image of the own vehicle C by the imaging device 11. It is determined that the image has been captured. On the other hand, if the timings do not match, it can be determined that the image of the headlight included in the image information G belongs to another vehicle, and therefore the determination processing unit 37 does not capture a mirror image of the host vehicle C. It is determined that

  By the way, the lighting device to be determined in the lighting device determination processing is not limited to the headlight, and another lighting device provided in the front part of the host vehicle C can be set as the determination target. Therefore, for example, the determination processing unit 37 performs a lighting device determination process for the image Lm2 (see FIG. 10) of the vehicle turn signal lamp recognized by the image recognition unit 37 and other lighting devices such as fog lights. Is also suitable. Note that the determination processing unit 37 is preferably used for mirror image determination by combining a plurality of types of lighting devices such as the headlight, the turn signal lamp, and the fog lamp.

  In the license plate determination process, when the vehicle license plate included in the image information G is image-recognized by the image recognition unit 36, and the left-right asymmetric character included in the vehicle license plate is mirror-inverted, the host vehicle C It is the process which determines with the mirror image of being picked up. Also in this example, as the license plate determination process, when the image recognition unit 36 recognizes the mirror image of the left and right asymmetrical Arabic numerals existing in the license plate frame, the determination processing unit 37 determines that the mirror image of the host vehicle C is It is determined that the image has been captured. For example, when the image information G as shown in FIG. 10 is acquired by the image information acquisition unit 12, the determination processing unit 37 includes “2” included in the license plate image Nm recognized by the image recognition unit 37. When the mirror image of the numeral “3” or “4” can be recognized, it is determined that the mirror image of the host vehicle C has been captured. On the other hand, when the number included in the license plate image Nm has not been mirror-image-determined, it can be determined that the license plate image included in the image information G belongs to another vehicle. Determines that the mirror image of the host vehicle C has not been captured.

  The vehicle speed determination process recognizes a vehicle included in the image information G, and when the speed at which the vehicle moves away from the host vehicle C or the speed at which the vehicle approaches the host vehicle C is twice the vehicle speed of the host vehicle C, This is processing for determining that a mirror image of the vehicle C has been captured. In this example, since the front camera is used as the imaging device 11, the determination processing unit 37 has twice the vehicle speed of the host vehicle C as the vehicle speed determination process. In this case, it is determined that a mirror image of the host vehicle C has been captured. For example, when the image information G as shown in FIG. 10 is acquired by the image information acquisition unit 12, the determination processing unit 37 changes over time that the size of the vehicle image Cm recognized by the image recognition unit 37 gradually increases. Based on the above, the relative speed between the vehicle in the image information G and the host vehicle C is calculated. And it is determined whether the relative speed calculated | required in this way is twice the vehicle speed of the own vehicle C shown by the vehicle speed information acquired by the distance sensor 15 or the vehicle information acquisition part 38. FIG. When the relative speed between the vehicle in the image information G and the host vehicle C is twice the vehicle speed of the host vehicle C, it can be determined that the image Cm of the host vehicle is a mirror image of the host vehicle C. The unit 37 determines that the mirror image of the host vehicle C has been captured by the imaging device 11. On the other hand, when the relative speed between the vehicle in the image information G and the host vehicle C is not twice the vehicle speed of the host vehicle C, it can be determined that the image of the vehicle included in the image information G belongs to another vehicle. Therefore, the determination processing unit 37 determines that the mirror image of the host vehicle C has not been captured.

  The vehicle form determination process uses the own vehicle mirror image information representing the characteristics of the mirror image of the own vehicle C, recognizes the vehicle included in the image information G, and the vehicle characteristics match the own vehicle mirror image information. This is processing for determining that a mirror image of the host vehicle C has been captured. In this example, since the front camera is used as the imaging device 11, the determination processing unit 37 uses the own vehicle mirror image information representing the feature of the mirror image of the front part of the host vehicle C as the vehicle form determination processing, and the image information G It is determined that the mirror image of the host vehicle C has been captured when the characteristics of the vehicle included in the vehicle coincide with it. For example, when image information G as shown in FIG. 10 is acquired by the image information acquisition unit 12, the determination processing unit 37 compares the characteristics of the vehicle image Cm recognized by the image recognition unit 37 with the own vehicle mirror image information. Then, it is determined whether or not the feature of the image Cm of the vehicle matches the feature of the mirror image of the host vehicle C. And when those characteristics correspond, since it can determine with the image Cm of the said vehicle being a mirror image of the own vehicle C, the determination process part 37 determines with the imaging device 11 having imaged the mirror image of the own vehicle C. To do. On the other hand, when those features do not match, it can be determined that the vehicle image included in the image information G is that of another vehicle, so the determination processing unit 37 assumes that a mirror image of the host vehicle C has not been captured. judge.

  As described above, the mirror image determination unit 35 performs a mirror image determination using only the image information G acquired by the imaging device 11 within a predetermined determination period set before the power-off detection by the power operation detection unit 31. It is possible to determine whether or not the direction change for reversing the traveling direction of the host vehicle C has been performed in the off state of the power source 33. Therefore, it is not necessary to store the image information G captured before the power-off detection during the power-off state. Therefore, it is possible to suppress the complexity of the configuration of the navigation device 1 for storing the image information G, or it is possible to suppress a delay in processing operation and an increase in calculation load due to an increase in access to the storage medium. Furthermore, according to the configuration of the present embodiment, since the determination process specialized for the mirror image of the host vehicle C is performed as the process for the image information G, the determination process can be simplified and the determination accuracy can be improved. Become.

2-3. Traveling Direction Correction Unit In the present embodiment, as described above, the traveling direction correction unit 39 determines that the mirror image determination unit 35 has captured the mirror image of the host vehicle C within a predetermined determination period before detection of power-off. In addition, the traveling direction information D of the host vehicle C is corrected. In other words, when the traveling direction correction unit 39 receives a signal indicating that the mirror image of the host vehicle C has been captured within the determination period from the mirror image determination unit 35, the traveling direction correction unit 39 acquires the signal from the host vehicle position information acquisition unit 16. The traveling direction information D is corrected by reversing the traveling direction of the host vehicle C by 180 °. As described above, in the present embodiment, when the power-off is detected within the determination period L after the mirror image determination unit 35 determines that the mirror image of the host vehicle C has been captured, the host vehicle C within the determination period L is detected. Is determined to have been captured. That is, when the traveling direction correction unit 39 receives a signal indicating that the mirror image of the host vehicle C has been captured within the determination period from the mirror image determination unit 35, the operation of turning off the power source 33 (specifically, the vehicle power switch 34 is performed). Therefore, the traveling direction correction unit 39 first performs a process of delaying the power-off for the main power switch 32, and then performs a process of correcting the traveling direction information D of the host vehicle C. Then, the traveling direction correction unit 39 causes the main power switch 32 to turn off the power after correcting the traveling direction information D. As a result, it is predicted that the traveling direction of the host vehicle C will be reversed by the turntable 8 while the power source 33 is in the off state, and the traveling direction of the host vehicle C can be appropriately corrected accordingly. . Therefore, after the power source 33 is turned on, it is possible to acquire the traveling direction information D representing the correct traveling direction.

2-4. Correction Canceling Unit The correction canceling unit 40 is in a state in which the vehicle speed of the host vehicle C is zero within a predetermined period based on the correction of the traveling direction information D by the traveling direction correcting unit 39, as in the first embodiment. When it is determined that the direction change for reversing the traveling direction of the host vehicle C is performed based on the traveling direction information D acquired by the host vehicle position information acquiring unit 16, the traveling direction information D of the traveling direction correction unit 39 is determined. It functions as correction cancellation processing means for performing processing for canceling correction. FIG. 11 is a diagram showing one specific example in which the correction canceling process by the correction canceling unit 40 is performed when a front camera is used as the imaging device 11. In this case, as shown in FIG. 11A, the host vehicle C moves forward and enters the transporter 6 of the multistory parking lot 4. Then, the vehicle power switch 34 of the host vehicle C is turned off in the transporter 6, and the power source 33 of the navigation device 1 is also turned off. Thereafter, when leaving the parking lot 4, the vehicle power switch 34 is turned on, and the power supply 33 of the navigation device 1 is also turned on. Then, as shown in FIG. 11B, the host vehicle C moves backward. Then, the vehicle exits from the transporter 6 and stops on the turntable 8. After the direction is changed by the turntable 8, the vehicle moves forward and runs away. In the case shown in this example, if the correction canceling process by the correction canceling unit 40 is not performed, the navigation device 1 determines that the mirror image of the host vehicle C has been captured before the power-off is detected. Correction for reversing the azimuth is performed. However, in the case of this example, the correction cancellation unit 40 has the traveling direction information D acquired by the vehicle position information acquisition unit 16 within a predetermined cancellation period after the traveling direction correction unit 39 corrects the traveling direction information D. Based on the above, it is determined that the direction change by the turntable 8 has been performed while the vehicle speed of the host vehicle C is zero, and the correction of the traveling direction information D previously performed by the traveling direction correction unit 39 is canceled, and the host vehicle A process of returning the traveling direction of C before correction is performed. Accordingly, even if the traveling direction information D that reverses the traveling direction of the host vehicle C is erroneously corrected, such correction can be canceled.

2-5. Next, a procedure (vehicle traveling direction correction program) for correcting the traveling direction of the host vehicle C executed in the navigation device 1 including the in-vehicle processing device 2 according to the present embodiment will be described. FIG. 12 is a flowchart illustrating a procedure of the vehicle traveling direction correction process according to the present embodiment. The processing procedure described below is executed by hardware and / or software (program) or both of the above-described functional units. When each of the functional units is configured by a program, the arithmetic processing device included in the navigation device 1 controls the in-vehicle processing device and executes a vehicle traveling direction correction program that configures the functional units. Works as.

  As shown in FIG. 12, in the vehicle advancing direction correction process, the navigation apparatus 1 first determines whether or not the vehicle speed of the host vehicle C is equal to or lower than a predetermined determination threshold value (step # 31). Here, as described above, the determination threshold value is preferably set to a vehicle speed at which it is determined that there is a high possibility that the host vehicle C is stopped, and is set to, for example, about 5 km / hour. And when the vehicle speed of the own vehicle C becomes below a predetermined determination threshold value (step # 31: Yes), the mirror image determination part 35 performs a mirror image determination (step # 32). As described above, this mirror image determination is a process of performing image recognition processing on the image information G acquired by the imaging device 11 that captures the periphery of the host vehicle C and determining whether a mirror image of the host vehicle C has been captured. .

  And when the mirror image of the own vehicle C is imaged (step # 33: Yes), the measurement of the determination period L by the mirror image determination part 35 is started (step # 34). Thereafter, within the determination period L (step # 35), it is determined whether or not power-off is detected by the power supply operation detector 31 (step # 36). If the power-off is detected within the determination period L (step # 35: Yes) (step # 36: Yes), the traveling direction correction unit 39 causes the main power switch 32 to delay the power-off. (Step # 37). Then, the traveling direction correction unit 39 corrects the traveling direction information D so as to reverse the traveling direction of the host vehicle C (step # 38). Thereafter, the traveling direction correction unit 39 causes the main power switch 32 to turn off the power (step # 39).

  On the other hand, when the mirror image determination unit 35 does not capture the mirror image of the host vehicle C (step # 33; No) and the vehicle speed of the host vehicle C becomes higher than the determination threshold (step # 31: No), the process proceeds. The direction information D is not corrected. Further, even when a mirror image of the host vehicle C is captured (step # 33: Yes), when the power source operation detection unit 31 does not detect power off within the determination period L (step # 35: No, step # 36: No), the traveling direction information D is not corrected. The process ends here.

3. Third Embodiment Next, a third embodiment of the present invention will be described. FIG. 13 is a block diagram illustrating a schematic configuration of the navigation device 1 according to the present embodiment. As shown in this figure, in this embodiment, the navigation apparatus 1 includes turntable information T representing the position where the turntable 8 exists in the map database 26. Therefore, the navigation device 1 can acquire the turntable information indicating the position where the turntable 8 exists from the map database 26. In the present embodiment, the traveling direction correction unit 39 is a turntable in which the position of the host vehicle C indicated by the host vehicle position information P acquired by the host vehicle position information acquisition unit 16 is indicated by the turntable information T. Only when the position 8 coincides with the existing position, the traveling direction information D is corrected. Other configurations are basically the same as those in the first embodiment. Below, the navigation apparatus 1 which concerns on this embodiment is demonstrated centering on difference with said 1st embodiment.

  As shown in FIG. 13, in this embodiment, turntable information T is stored in the map database 26 in addition to the map information M similar to that in the first embodiment. FIG. 14 is a diagram illustrating an example of the configuration of the turntable information T stored in the map database 26. As shown in this figure, the turntable information T includes information on turntable links t1 to t3 provided at positions corresponding to positions where the turntable 8 actually exists. The information on the turntable links t1 to t3 includes information on the positions (coordinates) of the nodes n at both ends, link attribute information, and the like, similarly to the information on the link k included in the map information M. The link attribute information of the turntable links t1 to t3 includes information indicating that the link represents a position where the turntable 8 exists. The turntable information T is stored in the map database 26 in association with the map information M. The turntable information T stored in the map database 26 is read by the traveling direction correction unit 39 and used for determining whether or not the traveling direction information D is to be corrected. Therefore, in this embodiment, the turntable information T corresponds to the direction change device information in the present invention, and the traveling direction correction unit 39 that acquires the turntable information T from the map database 26 acquires the direction change device information in the present invention. Corresponds to means.

  As shown in FIG. 13, the navigation device 1 according to this embodiment includes an update information receiving unit 41 that receives update information for updating the turntable information T stored in the map database 26. The update information receiving unit 41 communicates with an external server device (not shown) and periodically receives update information for updating the turntable information T to the latest state. Then, the turntable information T stored in the map database 26 is updated with the received update information. Thereby, based on the turntable information T different from the actual state, it is possible to prevent the traveling direction correction unit 39 from performing erroneous correction of the traveling direction information D.

  In the present embodiment, the traveling direction correction unit 39 has the turntable 8 whose turntable information T indicates the position of the vehicle C indicated by the vehicle position information P acquired by the vehicle position information acquisition unit 16. Only when it coincides with the existing position, the traveling direction information D is corrected. That is, the traveling direction correction unit 39 is a case where the position of the host vehicle C indicated by the host vehicle position information P coincides with the position where the turntable 8 indicated by the turntable information T exists, and the power source operation detection When the mirror image determination unit 35 determines that the mirror image of the host vehicle C has been captured within a predetermined determination period based on the time when the power is turned on or off by the unit 31, the traveling direction of the host vehicle C is reversed. Thus, the traveling direction information D is corrected. Here, whether or not the position of the host vehicle C coincides with the position where the turntable 8 indicated by the turntable information T exists is specifically the position of the host vehicle C indicated by the host vehicle position information P. Is determined by whether or not it is on the turntable links t1 to t3 shown in FIG. That is, when the position of the host vehicle C is on the turntable links t1 to t3, it is determined that the position of the host vehicle C matches the position where the turntable 8 exists.

4). Fourth Embodiment Next, a fourth embodiment of the present invention will be described. In the present embodiment, the navigation device 1 is provided with area division information representing a division of each area as a part of the map information M stored in the map database 26. Then, based on the own vehicle position information P acquired by the own vehicle position information acquisition unit 16, the traveling direction correction unit 39 acquires area classification information that indicates the classification of the area where the own vehicle C exists. Then, the traveling direction correction unit 39 is configured to prescribe that there is a possibility that there is a possibility that a parking lot having the turntable 8 exists in the area where the host vehicle C exists, which is indicated in the acquired area classification information. In the case of the classification, the traveling direction information D is corrected. Other configurations are basically the same as those in the first embodiment. Below, the navigation apparatus 1 which concerns on this embodiment is demonstrated centering on difference with said 1st embodiment.

  The area division information stored in the map database 26 is information representing the division of each area. The division of each area is preferably a division divided according to the characteristics of each predetermined area, particularly according to the dense state of the building. Therefore, the area classification information is classified into information such as urban areas, suburban areas, and mountainous areas for each predetermined area, and only areas classified as “urban areas” are turntables. It is preferable to define an area where a parking lot with 8 may exist. In addition, the regional classification information is information obtained by classifying the density of buildings into, for example, three levels of high, medium, and low for each predetermined area. Among these, the density is “high”. It is also preferable that only the classified area is defined as an area where a parking lot with the turntable 8 may exist. In addition, the area classification information is preferably information that is classified into two classifications for each predetermined area, for example, whether there is a possibility that a parking lot with the turntable 8 exists or not.

  Based on the own vehicle position information P, the traveling direction correction unit 39 acquires area division information representing the area division in which the own vehicle C exists. Therefore, in this embodiment, this advancing direction correction | amendment part 39 is corresponded to the area division information acquisition means in this invention. In addition, the traveling direction correction unit 39 is configured in such a way that the area in which the host vehicle C exists, which is indicated in the acquired area classification information, has a region that is preliminarily defined as having a parking lot with the turntable 8. Only in the case of division, the traveling direction information D is corrected. In other words, the traveling direction correction unit 39 may acquire a parking lot with the turntable 8 based on the area division information obtained based on the own vehicle position information P about the area where the own vehicle C exists. It represents a predetermined region classification, and within a predetermined determination period based on the detection of power-on or power-off by the power operation detector 31, the mirror image determination unit 35 uses the mirror image determination unit 35. When it is determined that a mirror image has been captured, the traveling direction information D is corrected so as to reverse the traveling direction of the host vehicle C.

5). Other Embodiments (1) In each of the above embodiments, as shown in FIG. 4B and the like, the case where the determination period L is a period defined by the moving distance of the host vehicle C has been described as an example. . However, the determination period L is not limited to such a period, and may be a period defined by time or a period defined by both the travel distance and time of the host vehicle C. Therefore, for example, when a back camera is used as the imaging device 11, the determination period L is set to a period defined by an elapsed time (for example, 10 seconds) after the power-on detection by the power-supply operation detecting unit 31 or the power-supply operation detection. It is also specified that the longer period or the shorter period of the period defined by the moving distance of the host vehicle C after the power-on is detected by the unit 31 and the period defined by the elapsed time after the detection. This is one of the preferred embodiments. Similarly, for example, when a front camera is used as the imaging device 11, the determination period L is set to a period defined by a predetermined time (for example, 10 seconds) before the power-off detection by the power-supply operation detection unit 31, or the power-supply operation It is also possible to define the period defined by the moving distance of the host vehicle C before the detection of power-off by the detection unit 31 and the period defined by the time before the detection, whichever is longer or shorter. This is one of the preferred embodiments. Further, the determination period L is not limited to a predetermined fixed period, and may be defined as a variable period that changes according to the operation state of the host vehicle C such as the vehicle speed.

(2) In each of the above-described embodiments, the mirror image determination unit 35 converts the image information G into the image information G by any one of four types of determination processing: lighting device determination processing, license plate determination processing, vehicle speed determination processing, and vehicle form determination processing. The case where it is determined that the mirror image of the host vehicle C is captured when it is determined that the image of the vehicle included is a mirror image of the host vehicle C has been described as an example. However, the mirror image determination method in the present invention is not limited to this. Therefore, for example, when it is determined that the image of the vehicle included in the image information G is a mirror image of the host vehicle C through a plurality of determination processes among the four types of determination processes, a mirror image of the host vehicle C is captured. The determination configuration is also one preferred embodiment of the present invention. Further, the mirror image determination unit 35 may be configured to be able to execute only a part of the four types of determination processes. In that case, when it is determined that the vehicle image included in the image information G is a mirror image of the host vehicle C by one or more of the determination processes executed, a mirror image of the host vehicle C is captured. It is one of the preferred embodiments of the present invention to have a configuration in which it is determined that the condition has been met.

(3) In each of the above embodiments, the main power switch 32 that switches on or off the power supply 33 to the navigation device 1 switches on or off the power supply from the power supply 33 to each electric device of the host vehicle C. The configuration linked to the vehicle power switch 34 has been described as an example. However, the embodiment of the present invention is not limited to this. Therefore, for example, a configuration in which the main power switch 32 that switches on or off the power supply 33 to the navigation device 1 operates independently of the vehicle power switch 34 is also one preferred embodiment of the present invention. It is. In each of the above embodiments, the power source 33 that operates the vehicle position information acquisition unit 16 serving as the direction information acquisition means supplies power to the entire navigation device 1 including the in-vehicle processing device 2 and The case where it is the structure which supplies electric power also to the other electric equipment of the vehicle C demonstrated as an example. However, the embodiment of the present invention is not limited to this. Therefore, for example, the power supply 33 may be configured to supply power only to the navigation device 1, only the in-vehicle processing device 2, or only the own vehicle position information acquisition unit 16 as a direction information acquisition unit.

(4) In each of the above embodiments, an example in which the in-vehicle processing device 2 according to the present invention is applied to the navigation device 1 has been described. However, the embodiment of the present invention is not limited to this, and is applied to various in-vehicle devices that need to acquire the traveling direction information of the host vehicle C. Therefore, the present invention is different from the above-described embodiment, for example, by using the in-vehicle processing device 2 according to the present invention for a vehicle travel control device that operates independently of the navigation device 1. Of course, it is also possible to apply to the configuration.

  The present invention relates to an in-vehicle processing device and a navigation device that are mounted on a host vehicle and can acquire traveling direction information indicating the traveling direction of the host vehicle, and a vehicle traveling direction correction program that can be used for them. It can be suitably used.

The block diagram which shows schematic structure of the navigation apparatus which concerns on 1st embodiment of this invention. The figure which shows the example of a structure of the map information memorize | stored in the map database The figure which shows an example of the arrangement configuration of the imaging device to the own vehicle Explanatory drawing explaining the idea for detecting the direction change of the own vehicle in 1st embodiment. The figure which shows an example of the image information acquired by the imaging device The figure which showed one of the specific examples in which the correction cancellation process by a correction cancellation part is performed The flowchart which shows the procedure of the vehicle advancing direction correction process which concerns on 1st embodiment. The flowchart which shows the procedure of the correction cancellation process which concerns on 1st embodiment. Explanatory drawing explaining the idea for detecting the direction change of the own vehicle in 2nd embodiment of this invention. The figure which shows an example of the image information acquired by the imaging device The figure which showed one of the specific examples in which the correction cancellation process by a correction cancellation part is performed The flowchart which shows the procedure of the vehicle advancing direction correction process which concerns on 2nd embodiment. The block diagram which shows schematic structure of the navigation apparatus which concerns on 3rd embodiment of this invention. The figure which shows the example of a structure of the turntable information memorize | stored in the map database

Explanation of symbols

1: Navigation device 2: In-vehicle processing device 8: Turntable (direction changing device)
11: Imaging device 16: Own vehicle position information acquisition unit (azimuth information acquisition means, own vehicle position information acquisition means)
21: Guidance information output means 31: Power supply operation detection unit (power supply operation detection means)
33: Power supply 34: Vehicle power switch (Power switch of own vehicle)
35: Mirror image determination unit (mirror image determination means)
39: Traveling direction correction unit (traveling direction correction means, direction change device information acquisition means, area division information acquisition means)
40: Correction cancellation unit (correction cancellation processing means)
C: Own vehicle G: Image information P: Own vehicle position information D: traveling direction information L: determination period T: turntable information (direction changing device information)

Claims (17)

Direction information acquisition means for acquiring traveling direction information representing the traveling direction of the host vehicle;
Mirror image determination means for performing image recognition processing on image information acquired by an imaging device that images the periphery of the host vehicle, and determining whether a mirror image of the host vehicle is captured;
Power supply operation detecting means for detecting on or off of a power supply for operating the azimuth information acquiring means;
The traveling direction of the host vehicle is reversed when it is determined that the mirror image determining unit has captured a mirror image of the host vehicle within a determination period based on the time when the power source operation detecting unit detects power on or power off. Traveling azimuth correcting means for correcting the traveling azimuth information;
An in-vehicle processing apparatus. The imaging device is a back camera that images the back of the host vehicle,
The in-vehicle processing apparatus according to claim 1, wherein the determination period is a predetermined period after the power-on detection by the power operation detection unit. The imaging device is a front camera that images the front of the host vehicle,
The in-vehicle processing apparatus according to claim 1, wherein the determination period is a predetermined period before detection of power off by the power operation detection unit.   The mirror image determination means recognizes an image of the vehicle included in the image information, and when the speed at which the vehicle moves away from the host vehicle or the speed at which the vehicle approaches the host vehicle is twice the vehicle speed of the host vehicle, The in-vehicle processing apparatus according to claim 2 or 3, wherein it is determined that a mirror image is captured.   The mirror image determination means recognizes an image of a vehicle license plate included in the image information, and a mirror image of the host vehicle is captured when a left-right asymmetric character included in the vehicle license plate is mirror-inverted. The in-vehicle processing device according to any one of claims 2 to 4 to be determined.   The mirror image determination means recognizes an image of a vehicle lighting device included in the image information, and when one or both of lighting and extinguishing of the lighting device is interlocked with the operation of the lighting device of the own vehicle. The in-vehicle processing apparatus according to any one of claims 1 to 5, wherein it is determined that a mirror image of the vehicle is captured.   The mirror image determination means uses the own vehicle mirror image information representing the characteristics of the mirror image of the host vehicle, recognizes the image of the vehicle included in the image information, and when the feature of the vehicle matches the host vehicle mirror image information, The in-vehicle processing apparatus according to any one of claims 1 to 6, wherein it is determined that a mirror image of the host vehicle has been captured.   Based on the traveling azimuth information acquired by the azimuth information acquisition unit in a state where the vehicle speed of the host vehicle is zero within a predetermined period based on the correction time of the traveling azimuth information by the traveling azimuth correction unit. 8. The apparatus according to claim 1, further comprising a correction cancellation processing unit that performs a process of canceling the correction of the traveling azimuth information by the traveling azimuth correcting unit when it is determined that a direction change that reverses the traveling azimuth is performed. The in-vehicle processing device according to item.   The correction cancellation processing unit is based on the traveling direction information acquired by the direction information acquiring unit while the vehicle speed of the host vehicle is zero within a predetermined period after the correction of the traveling direction information by the traveling direction correction unit. The in-vehicle processing device according to claim 8, wherein when it is determined that a direction change that reverses the traveling direction of the host vehicle is performed, the correction performed by the traveling direction correction unit is canceled.   When the correction cancellation processing unit determines that a direction change that reverses the traveling direction of the host vehicle is performed based on the traveling direction information acquired by the direction information acquiring unit when the vehicle speed of the host vehicle is zero. The in-vehicle processing device according to claim 8 or 9, wherein the correction processing of the traveling direction information by the traveling direction correction unit is stopped within a predetermined period after the determination. Own vehicle position information acquisition means for acquiring own vehicle position information representing the current position of the own vehicle, and direction change device information acquisition means for obtaining direction change device information representing a position where the direction change device exists,
The advancing direction correction means corrects the advancing direction information when the position of the host vehicle indicated by the own vehicle position information matches the position where the direction changing device indicated by the direction changing device information exists. The vehicle-mounted processing apparatus as described in any one of Claims 1-10. Own vehicle position information acquisition means for acquiring own vehicle position information indicating the current position of the own vehicle, and region classification information acquisition for acquiring region classification information indicating a region classification where the own vehicle exists based on the own vehicle position information Means further comprising:
In the case where the traveling direction correcting unit is a region that is preliminarily defined as a region where the vehicle shown in the region classification information is present may have a parking lot equipped with a direction changing device. The vehicle-mounted processing apparatus according to claim 1, wherein the traveling direction information is corrected.   The on-vehicle processing apparatus according to any one of claims 1 to 12, wherein the power is turned on or off in conjunction with a power switch of the host vehicle.   The in-vehicle processing apparatus according to any one of claims 1 to 13, wherein the determination period is a period defined by one or both of a travel distance and a time of the host vehicle. The vehicle-mounted processing apparatus as described in any one of Claims 1-14,
Guidance information output means for outputting predetermined guidance information using the traveling direction information acquired by the in-vehicle processing device;
A navigation device comprising: A program that is executed by a computer that controls an in-vehicle processing device that includes azimuth information acquisition means for acquiring traveling azimuth information representing the traveling azimuth of the host vehicle,
A power source operation detecting step for detecting on or off of a power source for operating the azimuth information acquiring means;
Image recognition processing is performed on image information acquired by an imaging device that captures the periphery of the host vehicle within a determination period based on the detection of power on or off in the power source operation detection step, and a mirror image of the host vehicle is captured. A mirror image determination step for determining whether or not
A traveling azimuth correcting step for correcting the traveling azimuth information so as to reverse the traveling azimuth of the host vehicle when it is determined that the mirror image of the host vehicle is captured in the mirror image determining step;
Is a vehicle traveling direction correction program that causes a computer to execute.   Based on the traveling azimuth information acquired by the azimuth information acquisition means in a state where the vehicle speed of the host vehicle is zero within a predetermined period based on the correction time of the traveling azimuth information by the traveling azimuth correction step. The vehicle traveling azimuth according to claim 16, further comprising a correction cancellation processing step for performing a process of canceling the correction of the traveling azimuth information by the traveling azimuth correction step when it is determined that the direction change for reversing the traveling azimuth is performed. Correction program.

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