JP2009264835A - Navigation device, navigation method and navigation program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a navigation device that enables a user to recognize a guidance route from a branched point on a road by seeing a guide image, even immediately prior to a vehicle advancing to a branched point. <P>SOLUTION: The navigation device includes: a master image display control unit for displaying an actual scenery image captured by an imaging unit in a real time on a master screen of a display unit, and superposed displaying a first route object to be indicated to the user obtained from the guide route on the actual scenery image; and a slave screen display controlling unit for displaying a cumulative actual scenery image, which is an actual scenery image having been captured in advance, on a slave screen of the display unit, and superposed displaying a second route object to be indicated to the user obtained from the guide route on the cumulative actual scenery image. The cumulative actual scenery image is an image that has been captured, in advance, at a position located advanced from the current position of a moving object. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a navigation device, method, and program, and more specifically, to a navigation device, method, and program for displaying a route object superimposed on a photographed image or the like.

Conventionally, when a video in front of the vehicle is acquired by an imaging means such as a video camera, and a route guidance target point such as a branch point of a road is approached, a route object that is an arrow image indicating the course of the vehicle in the acquired forward video A vehicle-mounted navigation device that superimposes and displays is proposed (see, for example, Patent Document 1). In this way, according to the in-vehicle navigation device that displays the guidance image in which the route object is superimposed on the actual scenery image, the user can easily compare the actual scenery and the guidance image. Can be done.
JP-A-7-63572

  However, the above-described conventional vehicle-mounted navigation device has the problems described below.

  Imaging means such as a video camera that captures a front image of a vehicle has a viewing angle (viewing angle), and the size of this viewing angle is limited. This is because if the viewing angle of the image pickup unit is too large, the distance sensation (perspective) of the user may be compared between the case where the front landscape is viewed with the naked eye and the case where the real landscape image captured by the image pickup unit is viewed. This is because. That is, it is difficult for the user to compare the actual landscape and the guide image because the actual depth is difficult to appear in the actual landscape image captured at a wide angle.

  For this reason, the viewing angle of the imaging means cannot be a wide angle. For this reason, there are many cases where the branch destination road does not appear in the guide image immediately before the vehicle enters the road branch point. As a result, since the user cannot recognize the branch destination road even when viewing the guidance image, the conventional in-vehicle navigation device has a problem that route guidance becomes difficult.

  Below, the problem which the conventional vehicle-mounted navigation apparatus has is concretely demonstrated using FIG.14 and FIG.15. FIG. 14 is a schematic view of the intersection C1 where the roads R1 to R5 intersect viewed from the sky. In FIG. 14, the vehicle equipped with the camera (only the camera is shown) is in a state immediately before entering the intersection C1 from the road R1. In FIG. 14, the guide route for guiding the vehicle to the destination is a route that continues from the road R1 to the road R3. FIG. 14 shows the viewing angle of the camera. FIG. 14 is created in accordance with an actual road. FIG. 15 is a diagram illustrating a guide image in which a route object is superimposed on a real-time real landscape image at the camera position in FIG. Here, the real-time real landscape image is an image showing a real-time real landscape captured by the camera. In FIG. 15, the route object is a band-shaped part, and shows a guide route from the road R1 to the road R3 (see FIG. 14). As shown in FIG. 15, the user can recognize that the intersection approaching immediately is a branch point by looking at the guide image, but cannot recognize the branch destination road. More specifically, the user can recognize the right turn at the intersection by viewing the guide image, but cannot recognize which of the road R2 and road R3 shown in FIG. 14 is the guide route.

  Therefore, an object of the present invention is to solve the above-described problem, and the user branches while viewing the guidance image even before the vehicle enters the branch point of the road without widening the viewing angle of the imaging means. To provide a navigation device, method and program capable of recognizing a previous guide route.

  The present invention is directed to a navigation device that displays a real landscape image captured by an imaging unit installed in a moving body on a display unit in real time and displays a route object indicating a guide route superimposed on the real landscape image. . In order to achieve the above object, the navigation device of the present invention displays the real landscape image captured by the imaging unit on the main screen of the display unit in real time, and is obtained from the guidance route to the user on the real landscape image. A main screen display control unit that superimposes and displays the first route object to be presented on the real landscape image, and an accumulated real landscape image that is a pre-captured real landscape image is displayed on a sub-screen of the display unit, And a sub-screen display control unit that superimposes and displays the second route object to be presented to the user on the accumulated actual scenery image. The accumulated actual scenery image includes a moving object from the current position. The image is pre-captured at an advanced position.

  Preferably, the accumulated actual landscape image is an image when the vehicle exits from the next branch point existing in the traveling direction of the moving body on the guide route.

  Also, an actual landscape image storage unit that stores the stored actual landscape image, and an accumulation that stores the actual landscape image captured by the imaging unit as the stored actual landscape image in the actual landscape image storage unit every time the moving body passes through the branch point. And a control unit.

  The stored actual landscape image is a still image or a moving image.

  Preferably, the child screen display control unit arranges the child screen at a position on the parent screen that does not overlap the first path object.

  Preferably, the child screen display control unit arranges the child screen on the parent screen at a position opposite to the bending destination position of the first path object.

  Preferably, the sub-screen display control unit further detects a distance from the moving body to a next branch point existing in the traveling direction of the moving body on the guide route, and at a timing according to the detected distance. The sub-screen is displayed, and the display size of the sub-screen is changed according to the detected distance.

  Preferably, the sub-screen display control unit further detects a traveling state of the moving body, and the sub-screen display control unit stores either a still image or a moving image on the sub screen according to the traveling state. Display an image.

  Here, the traveling state indicates whether the moving body is stopped or moving.

  Preferably, the main screen display control unit further superimposes and displays an imaging position mark indicating a position where the accumulated actual scenery image is captured on the actual scenery image.

  Preferably, the parent screen display control unit further draws a leader line for associating the imaging position mark with the child screen in the actual landscape image.

  Preferably, the visual effect of each part of the first route object and the second route object is changed stepwise in accordance with the distance from the moving body to each position on the guide route.

  The present invention is also directed to a navigation method in which a real landscape image captured by an imaging unit installed on a moving body is displayed on a display unit in real time, and a route object indicating a guide route is superimposed on the real landscape image. It has been. And in order to achieve the said objective, the navigation method of this invention displays the real scenery image which an imaging part images on a main screen of a display part in real time, and a user on a real scenery image obtained from a guidance route | route A first route object to be presented on the real scenery image is superimposed on the real scenery image, an accumulated real scenery image that is a pre-captured real scenery image is displayed on a sub-screen of the display unit, and the guidance route is obtained. And a second route object to be presented to the user on the stored actual scenery image is superimposed on the stored actual scenery image, and the stored actual scenery image is stored in advance at a position where the moving body has advanced from the current position. This is a captured image.

  Further, the present invention is used in a navigation device that displays a real landscape image captured by an imaging unit installed on a moving body on a display unit in real time, and superimposes and displays a route object indicating a guide route on the real landscape image. It is also directed to the program. And in order to achieve the said objective, the program of this invention displays the real scenery image which an imaging part images on a main screen of a display part in real time, and a user is obtained on a real scenery image obtained from a guidance path | route. The first route object to be presented is superimposed on the actual scenery image, the stored actual scenery image that is a pre-captured actual scenery image is displayed on the sub-screen of the display unit, and the guidance route is obtained. And causing the navigation device to execute a step of superimposing and displaying the second route object to be presented to the user on the accumulated actual scenery image, and the accumulated actual scenery image is obtained by moving the moving body ahead of the current position. It is the image previously imaged at the position.

  The present invention is also directed to a navigation device that displays a route object indicating a guide route in a superimposed manner on a transmission surface of a display unit that transmits a real scene viewed by a driver of a moving body. And in order to achieve the said objective, the navigation apparatus of this invention is the main-screen display control part which superimposes and displays the 1st path | route object which should be shown to a driver | operator on a transparent surface obtained from a guidance path | route. And a second route object that is displayed in a partial area of the transmission surface and is to be presented to the driver on the stored actual landscape image. And a sub-screen display control unit that superimposes the image on the stored actual scene image, and the stored actual scene image is an image captured in advance at a position where the moving body is advanced from the current position.

  Preferably, the small-screen display control unit arranges a partial region of the transmissive surface at a position that does not overlap the first path object.

  Preferably, the small-screen display control unit arranges a partial region of the transmissive surface at a position opposite to the position where the first path object is bent.

  The present invention is also directed to a navigation device that displays a route object indicating a guide route in a superimposed manner on a transmission surface of a first display unit that transmits a real scene viewed by a driver of a moving body. And in order to achieve the said objective, the navigation apparatus of this invention is the main-screen display control part which superimposes and displays the 1st path | route object which should be shown to a driver | operator on a transparent surface obtained from a guidance path | route. A stored real landscape image that is a real landscape image captured in advance is displayed on the second display unit, and a second route object obtained from the guidance route and to be presented to the driver on the stored real landscape image A sub-screen display control unit that superimposes and displays on the accumulated actual scenery image, and the accumulated actual scenery image is an image captured in advance at a position where the moving body is advanced from the current position.

  As described above, according to the navigation apparatus, method, and program of the present invention, the guide image that is captured in advance at the position where the vehicle will travel in the main screen on which the real-time guide image (parent image) is displayed. (Child image) is displayed as a child screen. Thus, according to the navigation apparatus, method, and program of the present invention, the user can view the guidance image even before the vehicle enters the branch point of the road without making the viewing angle of the imaging unit wide, and the branch destination Can be recognized. As a result, according to the navigation device, method, and program of the present invention, it is possible to easily provide a safe route guidance for the user that makes it easy to compare the actual scenery and the guidance screen.

  Further, according to the navigation device, method and program of the present invention, when the display unit is a windshield display or the like, a guide image (child image) pre-captured at a position where the vehicle travels in the transmission surface of the display unit. ) Is displayed as a sub-screen. Thus, according to the navigation apparatus, method, and program of the present invention, the user can recognize the guidance route at the branch destination by viewing the guidance image before the vehicle enters the branch point of the road.

  Further, since the arrangement position of the child screen is arranged at a position that does not interfere with the parent screen (or the transmission surface), route guidance with excellent visibility is possible.

  In addition, since the size of the child screen is changed depending on the traveling state (distance to the branch point, road width of the guidance route), it is possible to suppress a decrease in the visibility of the parent screen when the necessity for route guidance using the child screen is low.

  In addition, since the image displayed on the sub-screen is switched to a still image or a moving image according to the driving state (whether or not the vehicle is stopped), route guidance according to the driving load of the driver is possible, and the visibility and safety of the guidance route are improved. It is possible to achieve compatibility with sex.

  In addition, an imaging position mark at the time of capturing the accumulated real landscape image is superimposed on the main screen (or transmission surface). Furthermore, a leader line for associating the accumulated actual landscape image displayed on the main screen (or transmission surface) with the imaging position mark is displayed. This makes it easier to understand the correspondence between the parent screen (or the actual landscape that has passed through the transmission surface) and the child screen.

  The navigation device of the present invention will be described below with reference to the drawings. In each drawing, components not related to the present invention are omitted in principle.

(One embodiment of the present invention)
FIG. 1 is a block diagram illustrating a configuration example of a navigation device 100 according to an embodiment of the present invention. As shown in FIG. 1, the navigation apparatus 100 includes an imaging unit 101, a positioning unit 102, a map information storage unit 103, an input unit 104, a control unit 105, a route search unit 106, and a real landscape image storage unit. 107, a storage control unit 108, a parent screen display control unit 109, a child screen display control unit 110, and a display unit 111.

  The imaging unit 101 is, for example, a video camera, and images a landscape in front of a moving body such as a vehicle (hereinafter simply referred to as a vehicle). The imaging unit 101 is installed in the vicinity of the windshield on the rear surface of the rearview mirror or in the vehicle ceiling.

  The positioning unit 102 measures the position, speed, direction, etc. of the vehicle. The positioning unit 102 is, for example, one or more GNSS (Global Navigation Satellite System) receivers, a vehicle speed sensor, one or more gyro (angular velocity) sensors, and one or more acceleration sensors. The GNSS receiver is, for example, a GPS receiver, receives radio waves from a plurality of satellites, and demodulates the received radio waves to measure the absolute position of the GPS receiver. Note that the GNSS receiver may use a positioning method using a carrier phase (kinematic positioning). In addition, positioning calculations such as the current position, speed, and direction are performed using a GNSS receiver and various sensors alone or in combination. Further, based on the vehicle position measured by the positioning unit 102, map matching processing can be performed on a map information link (road) described later.

  The map information storage unit 103 stores map information such as data on roads and intersections. The map information storage unit 103 is, for example, an HDD, a DVD, a flash memory, or the like. Note that the map information storage unit 103 may appropriately download map information from a center facility (not shown) by a communication means (a mobile phone, mobile WiMAX, etc., not shown).

  An instruction from the user is input to the input unit 104. The input unit 104 is, for example, an input device in which push switches are arranged, a touch panel, a remote controller, a voice recognition engine that converts user's voice into input information, and the like. User instructions include facility and destination search, waypoint setting, destination setting, route search condition (highway priority, etc.) setting, route search execution, guidance start, scale change (enlargement / reduction), display mode Is set to switch to the map mode or the live-action mode. The map mode is a display mode that is similar to the map mode of a general navigation device, and displays route information and the like superimposed on map information. The live-action mode is a display mode in which route information or the like is superimposed and displayed on a landscape image. The live-action mode may always be used, or the display mode may be switched automatically.

  The control unit 105 controls the overall operation of the navigation device 100. The control unit 105 includes, for example, a CPU or MPU, a ROM (Read Only Memory), and a RAM (Random Access Memory). The CPU or MPU implements mutual cooperation among the functional blocks shown in FIG. 1 by executing a program stored in the ROM. The CPU or MPU uses the RAM as a work area during execution of the program.

  Based on the map information stored in the map information storage unit 103 and the position information of the host vehicle measured by the positioning unit 102, the route search unit 106 selects an optimum route (guide route) to the destination input to the input unit 104. ). Such an operation of the route search unit 106 is preferably realized by an arithmetic circuit executing a program. The searched optimum route includes several intersections to be guided. Here, the determination of whether or not the intersection is a guidance target is made based on, for example, the angle of the link exiting from the node relative to the link entering the node. In addition, a known method such as Dijkstra method or horizontal search method can be used for searching for the optimum route, and the optimum route is typically expressed as a link data string. If stored as a link data string, node data and link shape data constituting the link can be acquired. Nodes and links will be described later. Note that the present invention is not limited to this, and the route searching unit 106 may be configured to appropriately download route information from the center facility or the like using a communication unit (not shown) (for example, a mobile phone, mobile WiMAX, or the like).

  The real scenery image storage unit 107 is an HDD, a DVD, a flash memory, or the like, and accumulates an actual scenery image in front of the vehicle imaged by the imaging unit 101 as a still image or a moving image. A detailed data storage record format and the like will be described later. Note that the present invention is not limited to this, and the actual landscape image storage unit 107 uses a communication unit (not shown) (for example, a mobile phone, a mobile WiMAX, etc.) to capture a still image or a moving image in front of the vehicle that has been captured in advance as a center facility or the like. May be downloaded as appropriate. Thereby, the navigation apparatus 100 can accumulate | store and use not only the image which the own vehicle imaged and accumulate | stored but the image which other vehicles imaged.

  The accumulation control unit 108 controls the real landscape image accumulation unit 107 to accumulate a still image or a moving image in the real landscape image accumulation unit 107. Such an operation of the accumulation control unit 108 is preferably realized by an arithmetic circuit executing a program. The detailed operation of the accumulation control unit 108 will be described later. The accumulation control unit 108 may upload a still image or a moving image in front of the vehicle captured by the imaging unit 101 to a center facility or the like by a communication unit (not shown). Thereby, the navigation apparatus 100 can make another vehicle use the image which the own vehicle imaged.

  The main screen display control unit 109 displays a real-time real landscape image captured by the imaging unit 101 (hereinafter referred to as a real-time real landscape image) on the main screen of the display unit 111 as a parent image in the live-action mode. Further, the main screen display control unit 109 sets the first visual field space based on the shooting conditions of the real-time real landscape image, and uses the first visual field space to add the first path object to the real-time real landscape image. Perform superimposition. Such an operation of the main screen display control unit 109 is preferably realized by an arithmetic circuit executing a program. In addition, the main screen display control unit 109 displays an imaging position mark indicating a shooting position of a real scenery still image or a moving image displayed on a child screen described later on a real-time real landscape image (parent image) displayed on the main screen. It has a function to display in a superimposed manner. The detailed operation of the parent screen display control unit 109 will be described later.

  The sub-screen display control unit 110 displays the still image or the moving image accumulated by the real landscape image accumulation unit 107 (hereinafter sometimes referred to as an accumulated real landscape image) as a sub-image on the sub-screen in the real shooting mode. In addition, the sub-screen display control unit 110 sets the second visual field space based on the imaging condition of the accumulated real landscape image, and uses the second visual field space to set the second path to the accumulated real landscape image (child image). Superimpose objects. Such operation of the small-screen display control unit 110 is preferably realized by an arithmetic circuit executing a program. Further, the child screen display control unit 110 has a function of arranging the child screen at a position in the parent screen that does not hinder the visual recognition of the first path object displayed on the parent screen. The sub-screen display control unit 110 has a function of changing the timing for displaying the sub-screen according to the traveling state of the vehicle. The sub-screen display control unit 110 has a function of determining whether to display a still image or a moving image on the sub-screen according to the traveling state of the vehicle. Detailed operation of the sub-screen display control unit 110 will be described later.

  The display unit 111 is a display device such as a liquid crystal display or an organic EL display. In the map mode, the main screen display control unit 109 and the sub screen display control unit 110 display a map image around the own vehicle position on the display unit 111 together with the own vehicle position mark, the optimum route information, and the like as necessary. It has a function to make it.

  FIG. 2 is a schematic diagram illustrating an example of a road network expressed using map information stored in the map information storage unit 103. The map information stored in the map information storage unit 103 is composed of node, link, and shape node data. Here, the node is a point indicating a point where a road such as an intersection or a junction is branched. A link is a line indicating a road connecting nodes. A shape node is a point that represents a bent position of a link in order to express a curved road shape with a link. As shown in FIG. 2, three or more links are connected to each node, and the nodes are connected by the link. A link L100 indicates a curved road connecting the node N100 and the node N101 by the shape nodes SN1 to SN3. Note that a shape node may not exist on a link indicating a straight road. A node may also serve as a shape node. In this case, one or more links are connected to each node, and the nodes are arranged with high density at intervals of 5 m, for example. In the following description, nodes and shape nodes may be collectively referred to as road shape points. Note that the map information stored in the map information storage unit 103 is not only the information described above, but also, for example, background information (position information on rivers, green spaces, etc.) and information on facility positions such as family restaurants and gas stations. POI (Point of Interest) information and the like are also included.

  FIG. 3 is a diagram for explaining an example of a recording format of node data, link data, and shape node data, which are map information stored in the map information storage unit 103. 3A shows node data, FIG. 3B shows link data, and FIG. 3C shows shape node data. Below, with reference to FIG. 3, the map information stored in the map information storage part 103 is demonstrated.

  As shown in FIG. 3A, the node data is composed of position information such as the latitude and longitude of the node, the number of links connected to the node, the ID of the link to be connected, and the like. The position information may be expressed in normalized coordinates starting from any one of the four corners of the map mesh (an area having a certain latitude width and longitude width).

  As shown in FIG. 3B, the link data includes the start point node that is the node to which the link start point is connected, the end point node that is the node to which the end point of the link is connected, the link cost (for example, the link distance, meter, (Expressed in kilometers, feet, etc.), link width (road width, expressed in meters, feet, etc.), road type, number of shape nodes present on the link, and shape present on the link Consists of node IDs and the like. The link cost is used for cost calculation when the route search unit 106 performs route search. The road type data is information indicating the type of road such as an expressway or a general road. The route search unit 106 can execute route search according to route search conditions (such as general road priority and expressway priority) specified by the user by using road type data. FIG. 4 shows an example of road type data.

  As shown in FIG. 3C, the shape node data is composed of position information such as the latitude and longitude of the node, the ID of the link where the node exists, and the like. The position information may be expressed in normalized coordinates starting from any one of the four corners of the map mesh.

  FIG. 5 is a flowchart for explaining the operation of the navigation device 100 according to the embodiment of the present invention. Below, with reference to FIG. 5, operation | movement of the navigation apparatus 100 at the time of real shooting mode is demonstrated. In addition, description of operation | movement of the navigation apparatus 100 at the time of map mode is abbreviate | omitted.

  First, in step S101, the control unit 105 stands by until route guidance is started, and when route guidance is started, the process proceeds to step S102.

  In step S102, the imaging unit 101 captures a real landscape in front of the vehicle and acquires a real-time real landscape image that is a real-time real landscape image.

  Next, in step S103, the main screen display control unit 109 determines the coordinate space based on the current imaging condition of the imaging unit 101 (when capturing real-time landscape images) (hereinafter, sometimes referred to as real-time imaging condition). In addition, the current visual field space of the imaging unit 101 is reproduced as the first visual field space. Here, the imaging conditions of the current imaging unit 101 are the focal length, the captured image size, the installation height, and the mounting orientation (parameters that determine the current position, imaging orientation, and imaging range (view angle) of the imaging unit 101). Horizontal angle, elevation angle, etc.). In the following description, it is assumed that the imaging unit 101 is attached to the vehicle in a posture in which the mounting posture is a horizontal angle.

FIG. 6 is a diagram for explaining the visual field space of the imaging unit 101 reproduced in the coordinate space. Hereinafter, a description will be given with reference to FIG. First, as shown in FIG. 6, a line-of-sight coordinate system (Xe, Ye, −Ze) with O as the origin is defined. The line-of-sight coordinate system (Xe, Ye, −Ze) is a right-handed coordinate system. In addition, an object coordinate system (Xo, Yo) is defined in which the origin is a point O ₁ shifted by a distance −h from the origin O of the line-of-sight coordinate system in the Ye-axis direction. The Yo axis of the object coordinate system is parallel to the −Ze axis of the line-of-sight coordinate system and faces the same direction as the −Ze axis of the line-of-sight coordinate system. The Xo axis of the object coordinate system is parallel to the Xe axis of the line-of-sight coordinate system and faces the same direction as the Xe axis of the line-of-sight coordinate system.

Map information (road shape points) stored in the map information storage unit 103 is attached to the object coordinate system (Xo, Yo). At this time, the map information is pasted so that the origin O ₁ of the object coordinate system is always located at the coordinates corresponding to the current position of the imaging unit 101 based on the current position of the host vehicle being measured by the positioning unit 102. . For convenience of explanation, the pasted map information is not shown in FIG. At the origin O of the line-of-sight coordinate system (Xe, Ye, −Ze), a virtual camera corresponding to the imaging unit 101 is arranged in the coordinate space. The distance h from the origin O _{1 of} the object coordinate system (Xo, Yo) to the origin O of the line-of-sight coordinate system (Xe, Ye, −Ze) corresponds to the distance (height) from the ground to the imaging unit 101. . The −Ze axis direction of the line-of-sight coordinate system is the imaging direction of the virtual camera. Then, the map information is attached to the object coordinate system in such a direction that the imaging orientation of the virtual camera and the imaging orientation of the imaging unit 101 match. As described above, the main screen display control unit 109 reproduces the positional relationship between the road around the host vehicle and the imaging unit 101 in the coordinate space.

  Next, a window coordinate system (Xw, Yw) is defined with a point F moved by a distance f in the −Ze axis direction from the origin O of the line-of-sight coordinate system (Xe, Ye, −Ze). The window coordinate system (Xw, Yw) sets a window WD1 that is a plane that is always orthogonal to the −Ze axis. The size of the window WD1 is equal to the size of the real-time real landscape image (parent image) captured by the imaging unit 101. That is, the size of the window WD1 is equal to the size of the parent screen. Therefore, the distance f is a distance at which the angle of view of the virtual camera determined by looking into the window WD1 with the origin O as the viewpoint is equal to the angle of view of the imaging unit 101 capturing the real-time real landscape image. is there. As described above, the main screen display control unit 109 reproduces the plane cut out by the real-time real landscape image captured by the imaging unit 101 as the window WD1 in the coordinate space. As a result, the visual field space (hereinafter referred to as the first visual field space) when looking into the window WD1 with the origin O as the viewpoint in the coordinate space is equal to the real-time visual field space of the imaging unit 101. In FIG. 6, a plane including the window WD1 may be called a projection plane.

  As described above, in step S103, the main screen display control unit 109 reproduces the real-time visual field space of the imaging unit 101 as the first visual field space in the coordinate space.

  Next, in step S104, the main screen display control unit 109 extracts road shape points on the guide route existing in the first visual field space, and as shown in FIG. 6, the first route object is displayed in the coordinate space. Is generated. FIG. 7 is a diagram for explaining an example of a state where the coordinate space of FIG. 6 is looked down from above. The road shape shown in FIG. 7 is the same as the road shape shown in FIG. In FIG. 7, the projection plane and the window WD1 are omitted for convenience of explanation. As shown in FIG. 7, in the object coordinate system, road shape points (nodes or shape nodes described with reference to FIG. 2) constituting the map information are indicated by circles. Further, road shape points on the guide route searched by the route search unit 106 are indicated by black circles, and other road shape points are indicated by white circles. In FIG. 7, the guidance route is a route that goes straight on the road R1, turns right at the intersection C1, and enters the road R3.

  In step S104, the main screen display control unit 109 extracts road shape points (black circles) on the guide route searched by the route search unit 106 that exist in the first visual field space. Thereafter, as shown in FIG. 7, the main screen display control unit 109 generates a first route object having an arrow shape that overlaps with the extracted road shape point and has a predetermined width. The predetermined width of the first route object may be determined based on the link width information of the link data stored in the map information storage unit 103. The shape of the first route object is not limited to an arrow graphic, and may be a band shape excluding the triangle at the tip or a band shape having a certain thickness, and any shape can be used as long as the guide route can be shown. It may be. In addition, by adding the position of the host vehicle on the map-matched guide route as a road shape point, it is possible to generate a first route object starting from the host vehicle position. Note that road shape points in the first visual field space are extracted each time the vehicle moves.

  Next, in step S105, the main screen display control unit 109 centrally projects the first path object on the window WD1 using the origin O as a viewpoint in the coordinate space of FIG. After that, the main screen display control unit 109 superimposes the window WD1 on which the first path object is projected onto the real-time real landscape video acquired by the imaging unit 101. Hereinafter, step S105 will be described in detail.

In step S105, first, the main screen display control unit 109 moves the first path object from the object coordinate system (Xo, Yo) to the line-of-sight coordinate system (Xe, Ye, -Ze) in the coordinate space of FIG. Convert using Equation 1.
[Equation 1]
Xe = Xo, Ye = −h, −Ze = Yo (1)

Next, the main screen display control unit 109 shows the first path object expressed in the line-of-sight coordinate system (Xe, Ye, −Ze) in the window coordinate system (Xw, Yw) using Expression 2. Center projection onto the window WD1.
[Equation 2]
Xw = fXe / −Ze, Yw = fYe / −Ze (2)

  By performing the above processing, the main screen display control unit 109 acquires the window WD1 on which the first path object is projected. Thereafter, the main screen display control unit 109 superimposes the acquired window WD1 on the real-time real landscape image acquired by the imaging unit 101, and creates a guide image on which the first route object is superimposed. The guide image on which the first route object is superimposed is the parent image, and the screen on which the parent image is displayed is the parent screen. In addition, said Formula 1 and Formula 2 are examples, and what is necessary is just to use the calculation formula according to the definition format of a coordinate system, the parameter peculiar to the imaging part 101, etc. FIG.

  Next, in step S106, the sub-screen display control unit 110 determines whether or not the distance from the host vehicle to the branch point is equal to or less than a predetermined value. The branch point mentioned here is a branch point on the guide route from which the host vehicle will enter. Further, the sub-screen display control unit 110 is based on the position of the host vehicle positioned by the positioning unit 102, the map information stored in the map information storage unit 103, the information on the guide route searched by the route search unit 106, and the like. Get the distance to the above branch point. Moreover, the above-mentioned predetermined value can be set to 700 m, for example. In step S106, when the distance to the branch point is not less than the predetermined value, the process returns to step S102. In step S106, when the distance to the branch point is equal to or smaller than the predetermined value, the process proceeds to step S107. That is, the processing from step S102 to S105 is repeated until the distance to the branch point becomes equal to or less than a predetermined value.

  In step S107, the accumulation control unit 108 determines whether or not the actual scenery image (accumulated actual scenery image) at the branch point in step S106 is accumulated in the actual scenery image accumulation unit 107. If there is no accumulated real landscape image, the process proceeds to step S113. If there is an accumulated real landscape image, the process proceeds to step S108. Here, the accumulated real landscape image is a still image or a moving image. The accumulated actual landscape image will be described in detail in the description of step S110.

  In step S <b> 108, the small-screen display control unit 110 acquires the accumulated actual landscape image from the actual landscape image accumulation unit 107.

  Next, in step S109, the small-screen display control unit 110 determines the coordinates based on the imaging condition of the imaging unit 101 at the time when the accumulated real landscape image is captured (hereinafter referred to as the imaging condition at the time of capturing the accumulated real landscape image). The visual field space of the imaging unit 101 at the time when the accumulated real landscape image is captured in the space is reproduced as the second visual field space. Here, the imaging conditions at the time of capturing an accumulated real landscape image are the focal length and the captured image size, which are parameters that determine the position, imaging orientation, and imaging range (view angle) of the imaging unit 101 at the time of capturing the accumulated actual landscape image. , Installation height, installation posture (horizontal angle, elevation angle, etc.). The small-screen display control unit 110 captures the accumulated real landscape image using a method similar to the method (see step S103 and FIG. 6) in which the main-screen display control unit 109 reproduces the first visual field space in the coordinate space. The visual field space of the imaging unit 101 at the time of the reproduction is reproduced as the second visual field space. Therefore, in the following, the method for reproducing the second visual field space will be described with reference to FIG. Note that the description of the same contents as those described in step S103 is omitted in principle.

First, the line-of-sight coordinate system (Xe, Ye, −Ze) and the object coordinate system (Xo, Yo) are defined as in step S103. Map information (road shape points) stored in the map information storage unit 103 is attached to the object coordinate system (Xo, Yo). At this time, the map information is pasted so that the origin O ₁ of the object coordinate system is always located at the coordinates corresponding to the position of the imaging unit 101 at the time of capturing the accumulated real landscape image. At the origin O of the line-of-sight coordinate system (Xe, Ye, −Ze), a virtual camera corresponding to the imaging unit 101 at the time of capturing the accumulated real landscape image is arranged in the coordinate space. As described above, the small-screen display control unit 110 reproduces the positional relationship between the imaging unit 101 and roads around the imaging unit 101 in the coordinate space at the time when the accumulated real landscape image is captured.

  Next, the window coordinate system (Xw, Yw) is defined in the same manner as in step S103, and the window WD2 is set. Here, the size of the window WD2 is equal to the size of the accumulated actual landscape image. That is, the size of the window WD2 is equal to the size of the child screen. Therefore, the distance f in FIG. 6 is a distance at which the angle of view of the virtual camera determined by looking into the window WD2 with the origin O as the viewpoint is equal to the angle of view of the imaging unit 101 that captured the accumulated real landscape image. is there. As described above, the small-screen display control unit 110 reproduces the plane cut out by the accumulated real landscape image captured by the imaging unit 101 in the coordinate space as the window WD2. As a result, the visual field space (hereinafter referred to as the second visual field space) when looking into the window WD2 with the origin O as the viewpoint in the coordinate space and the visual field space when the imaging unit 101 captures the accumulated real landscape image , Become equal.

  As described above, in step S109, the small-screen display control unit 110 reproduces the visual field space at the time when the imaging unit 101 captures the accumulated real landscape image as the second visual field space in the coordinate space.

  Next, in step S110, the small-screen display control unit 110 extracts road shape points on the guide route existing in the second visual field space, and reproduces the second visual field space, as shown in FIG. A second path object is generated in the coordinate space.

  FIG. 8 is a diagram for explaining an example of a state in which the coordinate space of FIG. 6 reproducing the second visual field space is looked down from above. The road shown in FIG. 8 and the road shown in FIG. 7 are the same road. That is, FIG. 8 shows the road shape at the time when the accumulated real landscape image was captured (past time), and FIG. 7 shows the current road shape. Here, the position of the camera at the time of capturing the accumulated real landscape image is a position where the guide route to escape from the branch point enters the second visual field space. Specifically, as shown in FIG. 8, the position of the camera at the time of capturing the accumulated real landscape image is a position where the road R <b> 3 that is a guide route to escape from the intersection C <b> 1 enters the second visual field space. From this, the camera at the time of capturing the accumulated real landscape image shown in FIG. 8 is positioned ahead of the vehicle than the real-time camera shown in FIG. 7, and images the road R3 that is the guide route. In FIG. 8, the projection plane and the window WD2 are omitted for convenience of explanation. Further, as shown in FIG. 8, in the object coordinate system, road shape points (nodes or shape nodes described with reference to FIG. 2) constituting the map information are indicated by circles. Further, road shape points on the guide route searched by the route search unit 106 are indicated by black circles, and other road shape points are indicated by white circles.

  In step S110, the sub-screen display control unit 110 extracts the road shape points (black circles) on the guidance route searched by the route search unit 106 that exist in the second visual field space. Then, as shown in FIG. 8, the small-screen display control unit 110 generates a second route object having an arrow shape that overlaps with the extracted road shape point and has a predetermined width. The predetermined width of the second route object may be determined based on the link width information of the link data stored in the map information storage unit 103. The shape of the second route object is not limited to the arrow graphic, and may be a belt shape excluding the triangle at the tip or a belt shape having a certain thickness, and any shape can be used as long as the guide route can be shown. It may be. Further, by adding the vehicle position on the map-matched guide route as a road shape point, it is possible to generate a second route object starting from the vehicle position.

  Next, in step S111, the small-screen display control unit 110 uses (Equation 1) and (Equation 2) as in the process in step S105, and in the coordinate space of FIG. Using the origin O as a viewpoint, the second path object is centrally projected onto the window WD2. As a result, the sub-screen display control unit 110 acquires the window WD2 on which the second path object is projected. Thereafter, the sub-screen display control unit 110 superimposes the window WD2 on which the second route object is projected on the accumulated real landscape image, and creates a guide image on which the second route object is superimposed. A guide image on which the second route object is superimposed is a child image, and a screen on which the child image is displayed is a child screen. The sub-screen display control unit 110 displays the generated sub-image on the display unit 111.

  Next, in step S112, the control unit 105 determines whether or not to end the route guidance because the own vehicle has reached the vicinity of the destination. If it is determined that the route guidance is to be ended, the navigation device 100 ends the route guidance. If it is determined that the route guidance is not terminated, the process returns to step S102 and the route guidance process continues.

  FIG. 9 is a diagram illustrating an example of a guidance image displayed on the display unit 111. As shown in FIG. 9, the parent image created by the parent screen display control unit 109 is displayed as the parent screen on the entire display screen of the display unit 111, and the child image created by the child screen display control unit 110 is superimposed on the parent image. And displayed as a sub-screen. Further, as described above, the parent image is a guide image in which the first route object is superimposed on the real-time real landscape image. Further, the parent image shown in FIG. 9 is taken under exactly the same conditions as the conventional guidance image shown in FIG. More specifically, the parent image shown in FIG. 9 has the same imaging conditions and the same imaging conditions (camera position, direction, angle of view, etc.) as the conventional guidance image shown in FIG. 15 on the road shown in FIG. Is a guide image in the case of a guide route (route following road R1 to road R3) (see FIGS. 7 and 14). Further, as described above, the child image is a guide image in which the second route object is superimposed on the accumulated real landscape image. Further, as shown in FIG. 8, the child image shown in FIG. 9 is a real landscape image obtained by imaging the road R3 as the guide route from inside the intersection C1. As described above, the second route object is superimposed on the actual landscape image of the road R3 that is the branch destination guidance route that cannot be confirmed in the parent image, and is displayed as a child image on the guidance image displayed by the display unit 111. The As a result, according to the navigation device 100, the user can recognize the guidance route at the branch destination by viewing the guidance image immediately before the vehicle enters the branch point of the road without widening the viewing angle of the imaging unit 101. can do.

  Hereinafter, the operation performed by the accumulation control unit 108 in step S113 in FIG. 5 will be described with reference to FIG. FIG. 10 is a flowchart for explaining in detail the accumulation control process in step S113 of FIG.

  First, in step S201, the accumulation control unit 108 waits until the difference between the exit direction of the branch point in step S106 and the direction of the host vehicle (equivalent to the imaging direction of the imaging unit 101) is equal to or less than a predetermined angle. This predetermined angle is an angle at which at least a guide route for escaping from the branch point enters the visual field space of the imaging unit 101, and specifically, an angle that becomes a situation of the camera shown in FIG. The predetermined angle may be arbitrarily set within a range of about 0 to 20 degrees, for example. Furthermore, this predetermined angle may be variable depending on the complexity of the branch point (the number of intersecting roads, etc.). When the angle is equal to or smaller than the predetermined angle, the process proceeds to step S202.

  In step S202, the accumulation control unit 108 acquires the actual landscape image captured by the imaging unit 101 as a still image or a moving image.

  Next, in step S <b> 203, the accumulation control unit 108 refers to the imaging condition, imaging environment, and imaging date / time of the real landscape image captured by the imaging unit 101. Here, the imaging conditions include the position of the imaging unit 101, the imaging orientation, the focal length, which is a parameter that determines the imaging range (field angle), the captured image size, the installation height, the mounting posture (horizontal angle, elevation angle, etc.), and the like. is there. As described above, this imaging condition is used when the second visual field space is reproduced in the coordinate space in step S109 in FIG. The imaging environment is the weather at the time of imaging, the traffic jam situation on the road, and the like, and is acquired via communication means, sensors, etc. (not shown). The imaging date and time is obtained from a GPS receiver (positioning unit 102) or the like. Note that the position of the imaging unit 101 that is the imaging condition may be associated with map information (node or link).

  Next, in step S204, the accumulation control unit 108 accumulates the actual landscape image acquired in step S202 in the actual landscape image accumulation unit 107 in association with the imaging condition, the imaging environment, and the imaging date and time referred to in step S203.

  FIG. 11 is a diagram showing the imaging condition, imaging environment, imaging date / time data record format, and the like referred to by the accumulation control unit 108. For example, these data may be stored in the accumulation control unit 108 or may be stored in the actual landscape image accumulation unit 107. Of these data, data that is not directly related to reproducing the second visual field space may be omitted. The image ID shown in FIG. 11 is a file name or the like for identifying the accumulated image. Further, the image head address shown in FIG. 11 is address information indicating the physical position where the image is stored in the storage means (memory or the like). By accumulating the actual scenery image in this way, the small-screen display control unit 110 can acquire the optimum accumulated actual scenery image close to the imaging environment of the parent image and / or the imaging date and time in step S108 of FIG. It becomes possible. For example, if the parent image is a daytime image because the vehicle is running in the daytime, a daytime accumulated landscape image can be selected and acquired. Further, for example, when a road is congested, it is possible to select and acquire an accumulated landscape image when the road is congested. As a result, a child image that does not give the user a sense of incongruity can be displayed on the child screen. Further, by accumulating the actual scenery image in this way, the sub-screen display control unit 110 accurately reproduces the second visual field space using the imaging conditions at the time of imaging the accumulated actual scenery image in step S109 of FIG. Therefore, the second route object can be accurately superimposed on the accumulated real landscape image in step S111 of FIG.

  As described above, in the navigation device 100 of the present invention, a guide image (child image) captured in advance at a position where the vehicle will travel is displayed in a parent screen on which a real-time guide image (parent image) is displayed. Displayed as a sub-screen. As a result, according to the navigation device 100 of the present invention, the user can view the guidance image even before the vehicle enters the branch point of the road without making the viewing angle of the imaging unit 101 wide, and guide the branch destination. The route can be recognized. As a result, according to the navigation device 100 of the present invention, it is easy to compare the actual scenery and the guidance screen, and it is possible to perform safe route guidance.

  In the above description, the route object is superimposed on the actual landscape image using the projection process (see steps S103 to S105, S109 to S111 in FIG. 5 and FIG. 6). However, the method of superimposing the route object on the actual landscape image is not limited to this, and other methods may be used.

  In the above description, the first and second path objects have been described as having no pattern and the same color as a whole (see FIG. 9). However, the visual effect of each part of the first and second route objects may be changed stepwise in accordance with the distance from the host vehicle to each position on the guide route. For example, the darkness of the colors of the first and second route objects may be increased step by step in correspondence with the distance from the host vehicle to each position on the guide route. As a result, the color of the portion corresponding to the position near the guide route in the first route object is light, the color of the portion corresponding to the position far from the guide route is dark, and the portion far from the guide route is located. The color of the corresponding part of the second path object becomes darker. As a result, the user can intuitively recognize the continuity between the first route object and the second route object. Further, the visual effect that is changed stepwise is not limited to color shading, but may be a color, a pattern, a motion of a pattern, or the like.

  Further, as shown in FIG. 12, the main screen display control unit 109 superimposes an imaging position mark indicating the shooting position of the accumulated real scenery still image displayed on the child screen on the real time real scenery image displayed on the main screen. Can be displayed. FIG. 12 is a diagram illustrating another example of the guide image displayed on the display unit 111. In FIG. 12, the marks indicated by diamonds are imaging position marks. The imaging position mark is not limited to a rhombus, and an arbitrary one can be used. Further, as shown in FIG. 13, the main screen display control unit 109 may display a leader line that associates the imaging position mark and the sub screen on the main screen. FIG. 13 is a diagram illustrating another example of the guidance image displayed on the display unit 111. Thus, by performing the display as shown in FIGS. 12 and 13, the user can more intuitively recognize the correspondence between the parent screen and the child screen.

  Moreover, it is preferable that the child screen display control unit 110 arranges the arrangement position of the child screen at a position that does not hinder the visual recognition of the first route object on the parent screen. In other words, the child screen is preferably arranged at a position that does not overlap the first path object. More specifically, as shown in FIG. 9, when the branch destination of the guide route is rightward, the child screen is arranged on the left side on the parent screen. Conversely, when the branch destination of the guide route is in the left direction, the child screen is arranged on the right side on the parent screen. Thereby, route guidance excellent in visibility is attained.

  Further, the sub-screen display control unit 110 may change the size of the sub-screen displayed on the main screen according to the running state. Here, the traveling state is a distance from the host vehicle to the next branch point on the guide route. For example, the child screen display control unit 110 may gradually increase the size of the child screen as the next branch point on the guidance route is approached. More specifically, when the distance to the next branch point on the guidance route is 700 m, the size of the child screen is set to about 1/9 that of the parent screen, and the child screen size is continuously changed to change the guidance route. When the distance to the upper next branch point is 0 m, the size of the child screen may be about 1/4 of the parent screen. Thereby, when the necessity of route guidance by the child screen is low, the child screen is made small, and thus the visibility reduction of the parent screen due to displaying the child screen can be suppressed. Note that, as an exception, the child screen size can be reduced as it approaches the next branch point on the guide route.

  Further, the sub-screen display control unit 110 may change the size of the sub-screen displayed on the main screen according to the road width of the guide route. Specifically, the child screen display control unit 110 may reduce the size of the child screen when the road width of the guide route is large, and may increase the size of the child screen when the road width of the guide route is small. Thereby, the visibility fall of a main screen can be suppressed.

  Further, the sub-screen display control unit 110 may switch the accumulated real landscape image displayed on the sub-screen between a still image and a moving image according to the traveling state. Here, the traveling state is a state in which the host vehicle is stopped or traveling. For example, when the host vehicle is stopped waiting for a traffic signal at an intersection, the sub-screen display control unit 110 uses the accumulated actual landscape image displayed on the sub-screen as a moving image. In this case, the moving image is reproduced repeatedly. Conversely, when the host vehicle enters the intersection without stopping, the sub-screen display control unit 110 sets the accumulated real landscape image displayed on the sub-screen as a still image. Thereby, route guidance according to the driving load of the user is possible, and compatibility between route guidance recognizability and safety can be achieved.

  In the above description, the case where the own vehicle picks up an actual landscape image and stores it in the actual landscape image storage unit 107 and uses the stored actual landscape image later will be mainly described with reference to FIG. However, for example, the accumulation control unit 108 may acquire an accumulated actual landscape image from a center facility or the like outside the host vehicle using a communication unit and accumulate it in the actual landscape image accumulation unit 107. Furthermore, the accumulation control unit 108 converts the actual scenery image captured by the imaging unit 101 of the own vehicle into an accumulated actual scenery image used by another vehicle including the navigation device 100 using a communication unit. You may transmit to center facilities. As a result, the navigation device 100 can use the actual landscape image captured by the imaging unit 101 of another vehicle as the accumulated actual landscape image in addition to the actual landscape image captured by the imaging unit 101 of the own vehicle.

  Further, as described above with reference to FIG. 5, the accumulation control unit 108 causes the imaging unit 101 to capture the actual landscape image and stores the actual landscape image as the accumulated actual landscape image only when the route guidance is performed. Accumulated in part 107. However, even when the route guidance is not performed, the accumulation control unit 108 causes the imaging unit 101 to capture the actual landscape image every time it passes through a branch point where the accumulated actual landscape image is not accumulated. You may accumulate | store in the real scenery image storage part 107 as an image. In this case, the map information includes shooting point (branch point) information, and the accumulation control unit 108 automatically acquires the accumulated actual landscape image with reference to the information of the shooting point. .

  In the above description, the first and second route objects, which are objects indicating the guidance route, are displayed on the parent screen and the child screen. However, in addition to the first and second route objects, an object for guiding the POI or the like may be displayed on the parent screen and the child screen.

  In the above description, the case where one child screen is displayed on the parent screen has been described. However, two or more child screens may be displayed on the parent screen. Thus, for example, when the distance between the next branch point on the guide route and the next branch point is close, a guidance image for the next branch point is displayed on the first sub-screen, and two A guidance image for the next branch point can be displayed on the child screen of the eye. As a result, the user can accurately recognize the state of the continuous branch even when the guide route is continuously branched. In this case, the route object may be displayed only on the guide image on the first sub-screen.

  In addition, a message or the like indicating that the image displayed on the child screen is an accumulated real landscape image may be notified to the user by voice notification. Accordingly, the user can more easily recognize which image is a real-time real landscape image and which image is an accumulated real landscape image.

  In the above description, the case where the display unit 111 is a liquid crystal display, an organic EL display, or the like has been described. However, the display unit 111 may be a windshield display, a head-up display, or the like that has a transmission surface that transmits the actual scenery and allows the driver to visually observe the actual scenery through the transmission surface. In this case, the parent screen shown in FIG. 9 becomes a transmissive surface such as a head-up display, and the child screen is displayed in a partial region of the transmissive surface as shown in FIG. In this case, the navigation device 100 does not need to acquire a real-time real landscape image, and thus step S102 in FIG. 5 is not necessary. Further, the main screen display control unit 109 does not reproduce the visual field space of the imaging unit 101 in the coordinate space, but reproduces the driver's visual field space in the coordinate space in step S103 of FIG. Specifically, in the coordinate space of FIG. 6, the origin O is set to coordinates corresponding to the position of the driver's eyes. In the coordinate space of FIG. 6, the window WD <b> 1 is set as a surface having the same shape and the same size as the transmission surface of the display unit 111, and the driver views the actual scenery through the transmission surface of the display unit 111. And the visual field space when the window WD1 is viewed from the origin O (viewpoint) are set to the same position. Further, the main screen display control unit 109 does not superimpose the window WD1 on the real-time real landscape image in step S105 of FIG. 5, but the window in which the first path object is projected on the transmission surface of the display unit 111. WD1 is superimposed and displayed. The imaging unit 101 is used to execute the accumulation control process in step S113 of FIG. By doing in this way, even if it is a case where the display part 111 is a windshield display, a head-up display, etc., the navigation apparatus 100 can acquire an above-described effect.

  In addition, as described above, when the display unit 111 is a windshield display, a head-up display, or the like, a new display unit such as a liquid crystal display or an organic EL display is provided separately, and the new display unit has a child display. An image (accumulated actual landscape image on which the second route object is superimposed) may be displayed. In this case, a child screen (child image) is not displayed on a transmission surface such as a head-up display.

  The navigation device 100 described in the embodiment of the present invention described above can be realized by an information processing device such as a general computer system. In this case, a program for causing a computer to execute the above-described processing is stored in a predetermined information recording medium, and the program stored in the information recording medium is read out and executed by the computer according to an embodiment of the present invention. The described navigation device 100 is realized. The information recording medium for storing the program is, for example, a nonvolatile semiconductor memory such as a ROM or a flash memory, a CD-ROM, a DVD, or an optical disk-like recording medium similar to them. The program may be supplied to the information processing apparatus through another medium or a communication line.

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

  The present invention can be used for a navigation device or the like, and is particularly useful when it is desired to greatly improve the recognizability of a branch destination guide route.

The block diagram which shows the structural example of the navigation apparatus 100 which concerns on one Embodiment of this invention. The schematic diagram which shows an example of the road network expressed using the map information stored in the map information storage part 103 The figure for demonstrating an example of the recording format of the node data which is the map information stored in the map information storage part 103, link data, and shape node data Diagram showing an example of road type data The flowchart for demonstrating operation | movement of the navigation apparatus 100 which concerns on one Embodiment of this invention. The figure for demonstrating the visual field space of the imaging part 101 reproduced in coordinate space The figure for demonstrating an example of a mode that the coordinate space of FIG. 6 which reproduced 1st visual field space of the navigation apparatus 100 which concerns on one Embodiment of this invention was looked down on from the sky. The figure for demonstrating an example of a mode that the coordinate space of FIG. 6 which reproduced 2nd visual field space of the navigation apparatus 100 which concerns on one Embodiment of this invention was looked down on from the sky. The figure which shows an example of the guidance image which the display part 111 of the navigation apparatus 100 concerning one Embodiment of this invention displays. The flowchart for demonstrating in detail the accumulation | storage control processing of FIG.5 S113 of the navigation apparatus 100 which concerns on one Embodiment of this invention. The figure which shows the data record format of the imaging condition, imaging environment, imaging date, etc. which the accumulation | storage control part 108 of the navigation apparatus 100 concerning one Embodiment of this invention refers. The figure which shows another example of the guidance image which the display part 111 of the navigation apparatus 100 concerning one Embodiment of this invention displays. The figure which shows another example of the guidance image which the display part 111 of the navigation apparatus 100 concerning one Embodiment of this invention displays. Schematic view of intersection C1 where roads R1 to R5 intersect from the sky The figure showing the guidance image of the conventional navigation apparatus with which the path | route object was superimposed on the real-time real scenery image in the camera position of FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Navigation apparatus 101 Imaging part 102 Positioning part 103 Map information storage part 104 Input part 105 Control part 106 Path search part 107 Real scenery image storage part 108 Storage control part 109 Parent screen display control part 110 Child screen display control part 111 Display part

Claims (18)

A navigation device that displays a real landscape image captured by an imaging unit installed on a moving body in real time on a display unit, and superimposes and displays a route object indicating a guide route on the real landscape image,
A real landscape image captured by the imaging unit is displayed in real time on the main screen of the display unit, and a first route object obtained from the guide route and to be presented to the user on the real landscape image is displayed as the real landscape image. A main screen display control unit for superimposing display;
An accumulated real landscape image, which is a real landscape image captured in advance, is displayed on a sub-screen of the display unit, and a second route object obtained from the guide route and to be presented to the user on the accumulated real landscape image A sub-screen display control unit that superimposes and displays on the accumulated real landscape image,
The navigation apparatus according to claim 1, wherein the stored actual landscape image is an image captured in advance at a position where the moving body is advanced from a current position.   The navigation apparatus according to claim 1, wherein the stored actual landscape image is an image when the vehicle exits from a next branch point existing in a traveling direction of the moving body on the guide route. An actual scene image storage unit for storing the stored actual scene image;
An accumulation control unit that accumulates the actual scenery image captured by the imaging unit as the accumulated actual scenery image in the actual scenery image accumulation unit each time the moving body passes through a branch point; The navigation device according to claim 2.   The navigation apparatus according to claim 1, wherein the stored actual landscape image is a still image or a moving image.   The navigation device according to claim 1, wherein the sub-screen display control unit arranges the sub-screen at a position on the main screen that does not overlap the first route object.   The said sub-screen display control part arrange | positions the said sub-screen in the position on the said main screen and the other side of the bending destination position of the said 1st path | route object, It is characterized by the above-mentioned. Navigation device.   The child screen display control unit further detects a distance from the moving body to a next branch point existing in the traveling direction of the moving body on the guide route, and the child screen display control unit at a timing according to the detected distance. The navigation device according to claim 1, wherein a screen is displayed, and a display size of the child screen is changed according to the detected distance. The sub-screen display control unit further detects a traveling state of the moving body,
5. The navigation according to claim 4, wherein the sub-screen display control unit displays the accumulated real landscape image of either the still image or the moving image on the sub-screen according to the traveling state. apparatus.   The navigation apparatus according to claim 8, wherein the traveling state indicates whether the moving body is stopped or moving.   The navigation apparatus according to claim 1, wherein the main screen display control unit further displays an imaging position mark indicating a position where the accumulated real landscape image is captured on the real landscape image.   The navigation device according to claim 10, wherein the parent screen display control unit further draws a leader line that associates the imaging position mark with the child screen in the real landscape image.   The visual effect of each part of the first route object and the second route object is changed stepwise according to the distance from the moving body to each position on the guide route. The navigation device according to claim 1. A navigation method for displaying a real landscape image captured by an imaging unit installed on a moving body in real time on a display unit, and displaying a route object indicating a guide route superimposed on the real landscape image,
Displaying a real landscape image captured by the imaging unit on the main screen of the display unit in real time;
Superimposing and displaying a first route object obtained from the guidance route and to be presented to the user on the real landscape image;
Displaying an accumulated real landscape image that is a pre-captured real landscape image on a sub-screen of the display unit;
A second route object obtained from the guidance route and to be presented to the user on the accumulated real scenery image is superimposed on the accumulated real scenery image, and
The navigation method according to claim 1, wherein the stored actual landscape image is an image captured in advance at a position where the moving body is advanced from a current position. A program used in a navigation device that displays a real landscape image captured by an imaging unit installed on a moving body in real time on a display unit and displays a route object indicating a guide route superimposed on the real landscape image,
Displaying a real landscape image captured by the imaging unit in real time on the main screen of the display unit;
Superimposing and displaying a first route object obtained from the guide route and to be presented to the user on the real landscape image;
Displaying an accumulated real landscape image that is a pre-captured real landscape image on a sub-screen of the display unit;
Causing the navigation device to execute a step of superimposing and displaying a second route object obtained from the guide route and to be presented to the user on the accumulated actual scenery image on the accumulated actual scenery image;
The program according to claim 1, wherein the stored actual landscape image is an image captured in advance at a position where the moving body is advanced from a current position. A navigation device that superimposes and displays a route object indicating a guide route on a transmission surface of a display unit that transmits a real scene viewed by a driver of a moving body,
A main screen display control unit that superimposes and displays a first route object obtained from the guide route and to be presented to the driver on the transparent surface;
A second route to be displayed on the accumulated real landscape image obtained from the guide route and displayed to the driver on the accumulated real landscape image, which is a pre-captured real landscape image. A sub-screen display control unit that superimposes and displays an object on the stored actual landscape image,
The navigation apparatus according to claim 1, wherein the stored actual landscape image is an image captured in advance at a position where the moving body is advanced from a current position.   The navigation device according to claim 15, wherein the small-screen display control unit arranges a partial region of the transmissive surface at a position that does not overlap the first route object.   The navigation according to claim 16, wherein the small-screen display control unit arranges a partial region of the transmissive surface at a position opposite to a bending destination position of the first path object. apparatus. A navigation device that superimposes and displays a route object indicating a guide route on a transmission surface of a first display unit that transmits a real scene visually observed by a driver of a moving body,
A main screen display control unit that superimposes and displays a first route object obtained from the guide route and to be presented to the driver on the transparent surface;
An accumulated real landscape image that is a real landscape image captured in advance is displayed on the second display unit, and a second route object obtained from the guide route and to be presented to the driver on the accumulated real landscape image is displayed. A sub-screen display control unit that superimposes and displays on the accumulated real landscape image,
The navigation apparatus according to claim 1, wherein the stored actual landscape image is an image captured in advance at a position where the moving body is advanced from a current position.

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