JP2011007755A - Navigation device and navigation method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To form a three-dimensional footbridge displayable on a bird's eye view by simple processing from a two-dimensional map having a small information amount.SOLUTION: This navigation device 100 includes: an information acquisition part 130 for acquiring coordinate information and connection information of a two-dimensional plane interpolation point 168; a three-dimensional plane generation part 132 for generating a three-dimensional plane interpolation point 174 based on the coordinate information, and on information showing a footbridge thickness and information showing a footbridge height which are set beforehand; a two-dimensional step generation part 134 for adopting as a two-dimensional step interpolation point 182, an end point elongated as long as a step length from an optional two-dimensional plane interpolation point based on the connection information and the step length set beforehand; a three-dimensional step generation part 136 for generating a three-dimensional step interpolation point 186 based on the three-dimensional plane interpolation point, the two-dimensional step interpolation point, and information showing the footbridge thickness and information showing the footbridge height; and a bird's eye view generation part 140 for generating a bird's eye view by subjecting the three-dimensional plane interpolation point and the three-dimensional step interpolation point to projection transformation.

Description

  The present invention relates to a navigation apparatus and a navigation method for guiding a moving route of a vehicle to a destination.

  In recent years, the number of vehicles equipped with navigation devices has increased rapidly. The navigation device uses the two-dimensional map to reach the current position and destination of the vehicle based on two-dimensional map data stored in advance and position information derived by wireless communication with a GPS (Global Positioning System) satellite. Is notified to the passenger. The passenger can quickly and safely reach the destination by moving according to the instructions of the navigation device.

  In navigation devices, in order to make it easier to grasp not only the route to the destination but also the intersection that requires a right or left turn and the current position of the vehicle, a two-dimensional map is used for indicators such as road signs, signals, intersection names, and prominent buildings. Is superimposed. There is also a navigation device that displays a bird's-eye view simulating the scenery seen in the traveling direction from the sky behind the vehicle.

  The above bird's-eye view is a view that is shown so that the width of a road or a building located in front is visible based on perspective. The bird's-eye view is formed by, for example, coordinate-converting a road map in the conversion area when the conversion area is set by a position on the map corresponding to each vertex of the display frame (for example, Patent Document 1). . In addition, a relatively large object such as a mountain or a building is three-dimensionally displayed according to a predetermined height information for the attribute or a product of a predetermined average height information per floor and an individual floor number. A navigation device for displaying is also disclosed (for example, Patent Document 2).

JP-A-8-160852 JP-A-5-027677

  In the conventional navigation device described above, a three-dimensional shape of a prismatic or columnar building extending in the vertical direction can be displayed using the outer shape and height information shown in the two-dimensional map. Viaducts and footbridges formed with special structures cannot be displayed. In particular, the pedestrian bridge is not regarded as important because the vehicle is not an object that can be directly used, and the processing load is too high for strict three-dimensionalization because the structure is complicated.

  However, pedestrian bridges are effective as landmarks because they are more frequent and distinctive than a group of buildings juxtaposed in a similar appearance when driving, and can be easily seen without changing the viewpoint during driving. It has the advantage of functioning. Therefore, there is a demand for adding a pedestrian bridge as an index of the navigation device.

  In view of such a problem, the present invention provides a navigation device and a navigation method capable of forming a three-dimensional pedestrian bridge to be superimposed on a bird's-eye view from a two-dimensional map with a small amount of information with a simple process. It is aimed.

In order to solve the above problems, the present invention provides the following apparatus.
(1) A navigation device that guides a moving route of a vehicle to a destination, the coordinate information of four or more two-dimensional plane interpolation points that can specify a planar outline of a pedestrian bridge plane part that is a plane part of the pedestrian bridge, An information acquisition unit for acquiring connection information indicating which one of the four or more two-dimensional plane interpolation points corresponds to a connection point with a pedestrian bridge staircase that is a staircase portion of the pedestrian bridge, and the coordinate information is set in advance Based on information indicating the thickness of the pedestrian bridge and information indicating the height of the pedestrian bridge, a three-dimensional plane generation unit that generates a three-dimensional plane interpolation point for displaying the pedestrian bridge plane portion in three dimensions, and the connection information and the presetting When all the two-dimensional plane interpolation points are connected based on the information indicating the staircase length, two two-dimensional plane interpolation points connected to an arbitrary two-dimensional plane interpolation point corresponding to the connection point are calculated. home, A connection between a two-dimensional plane interpolation point that is different from the two-dimensional plane interpolation point connected to one pedestrian bridge staircase section and the arbitrary two-dimensional plane interpolation point from the arbitrary two-dimensional plane interpolation point to the stair length A two-dimensional staircase generation unit that uses the extended end point as a two-dimensional staircase interpolation point that can specify the planar outline of the pedestrian bridge staircase unit, the three-dimensional plane interpolation point, the two-dimensional stairway interpolation point, and the footbridge thickness. A three-dimensional staircase generation unit for generating a three-dimensional staircase interpolation point for three-dimensionally indicating the pedestrian bridge staircase, based on the information indicating and the information indicating the height of the pedestrian bridge, the three-dimensional plane interpolation point and the three-dimensional staircase A navigation apparatus comprising: a bird's eye view generation unit that performs projective conversion of an interpolation point and generates a bird's eye view that looks down on a two-dimensional map from a viewpoint at a predetermined height behind a vehicle position.
(2) The two-dimensional plane interpolation point is assigned a number indicating the order in which the two-dimensional plane interpolation points are connected, and the two-dimensional step generation unit identifies a two-dimensional plane interpolation point extending by the step length according to the number. The navigation device according to (1) above, wherein
(3) 3D plane interpolation points and 3D stair interpolation points located on the side surfaces of the pedestrian bridge plane part and the pedestrian bridge staircase part are defined as three-dimensional fence interpolation points obtained by extending the end points in the vertical direction by a set fence height. The navigation device according to (1) or (2), further including a three-dimensional fence generation unit that performs the above-described operation.
(4) The navigation device according to any one of (1) to (3), wherein the bird's-eye view generation unit performs a transparent process on the projection-converted polygon of the pedestrian bridge and superimposes the polygon on the bird's-eye view.
(5) The navigation device according to any one of (1) to (4), wherein the bird's eye view generation unit further superimposes an image representing a staircase on the polygon of the pedestrian bridge staircase portion that has undergone projective transformation. .
(6) A navigation method for guiding a moving route of a vehicle to a destination, the coordinate information of four or more two-dimensional plane interpolation points capable of specifying a planar outline of a pedestrian bridge plane part which is a planar part of the pedestrian bridge, Connection information indicating which of the four or more two-dimensional plane interpolation points corresponds to a connection point with a pedestrian bridge staircase that is a stairs part of a pedestrian bridge, and the coordinate information and a preset pedestrian bridge thickness are indicated. Based on the information and the information indicating the height of the pedestrian bridge, a three-dimensional plane interpolation point for displaying the plane portion of the pedestrian bridge in three dimensions is generated, and the connection information and information indicating the preset staircase length are generated. Based on the above, when all of the two-dimensional plane interpolation points are connected, it is connected to the same pedestrian bridge staircase portion of two two-dimensional plane interpolation points connected to any two-dimensional plane interpolation point corresponding to the connection point. 2 An end point obtained by extending a connection between the two-dimensional plane interpolation point different from the original plane interpolation point and the arbitrary two-dimensional plane interpolation point from the arbitrary two-dimensional plane interpolation point by the staircase length is used as the pedestrian bridge staircase portion. A two-dimensional stair interpolation point that can specify a planar outer shape of the pedestrian bridge, and based on the three-dimensional plane interpolation point, the two-dimensional stair interpolation point, the information indicating the thickness of the pedestrian bridge, and the information indicating the height of the pedestrian bridge, A three-dimensional stair interpolation point for three-dimensionally showing the three-dimensional step interpolation point is generated, and the three-dimensional plane interpolation point and the three-dimensional stair interpolation point are projectively transformed to generate a two-dimensional map from a viewpoint at a predetermined height behind the vehicle position. A navigation method characterized by generating a bird's eye view looking down.

  By using the present invention, it is possible to form a three-dimensional pedestrian bridge to be superimposed on a bird's eye view with a simple process from a two-dimensional map with a small amount of information.

It is the functional block diagram which showed the schematic function of the navigation apparatus. It is explanatory drawing which showed the external view of the front view of the navigation apparatus. It is explanatory drawing for demonstrating pedestrian bridge information. It is explanatory drawing for demonstrating the process of a three-dimensional plane production | generation part. It is explanatory drawing for demonstrating the process of a two-dimensional staircase production | generation part. It is explanatory drawing for demonstrating the process of a three-dimensional staircase production | generation part. It is explanatory drawing for demonstrating the process of a three-dimensional fence production | generation part. It is explanatory drawing for demonstrating the screen formation process in the case of displaying a bird's-eye view on a display part. It is explanatory drawing for demonstrating expansion | deployment of a polygon. It is explanatory drawing for demonstrating the permeation | transmission process of a bird's-eye view production | generation part. It is explanatory drawing for demonstrating the drawing process of a bird's-eye view production | generation part. It is the flowchart which showed the whole flow of the navigation display method.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. The dimensions, materials, and other specific numerical values shown in the embodiments are merely examples for facilitating the understanding of the invention, and do not limit the present invention unless otherwise specified. In the present specification and drawings, elements having substantially the same function and configuration are denoted by the same reference numerals, and redundant description is omitted, and elements not directly related to the present invention are not illustrated. To do.

(Navigation device 100)
FIG. 1 is a functional block diagram illustrating schematic functions of the navigation device 100, and FIG. 2 is an explanatory diagram illustrating an external appearance of the navigation device 100 in a front view. The navigation device 100 includes an operation unit 110, a display unit 112, a voice input / output unit 114, a position acquisition unit 116, a storage unit 118, and a central control unit 120.

  The operation unit 110 receives a passenger's operation input to the navigation device 100. The display unit 112 includes a liquid crystal display, an organic EL (Electro Luminescence) display, or the like. A two-dimensional map as shown in FIG. 2A and a bird's-eye view as shown in FIG. 2B are displayed on the display unit 112 in accordance with the viewpoint switching input by the passenger. For example, in the two-dimensional map of FIG. 2A, the current position 152 of the vehicle 150 on which the vehicle is boarded and the movement route 154 to the destination are displayed.

  The voice input / output unit 114 guides the destination direction of the vehicle 150 by voice and receives instructions from the passenger's voice. The position acquisition unit 116 derives position information (for example, longitude, latitude, and altitude information) of the vehicle 150 on which the navigation device 100 is mounted through the GPS satellite 156 and the gyro sensor, and transmits the position information to the central control unit 120.

  The storage unit 118 includes a flash memory, an HDD, and the like, and holds information necessary for displaying 2D map data, a 2D map, and a bird's eye view. Note that the HDD corresponds to a device precisely, but for the sake of convenience of explanation, it is treated as synonymous with a storage medium in this description. In addition, 2D map data is associated with interpolation points, road regulations, backgrounds, icons, names of buildings, etc. for specifying the planar outline of the building (the outline seen from directly above). Based on the points, polygons constituting a simple prismatic or columnar building extending in the vertical direction can be formed. Here, the polygon is a polygon (mainly a triangle or a quadrangle) used to represent a three-dimensional shape in 3DCG (3 Dimensional Computer Graphics). In the present embodiment, the storage unit 118 further includes a footbridge thickness D (for example, about 0.3 m), a footbridge height H (for example, about 4.7 m), a staircase length L (for example, about 5 m), and a fence height Z (for example, About 1.2 m), information indicating each is held in advance. In the following, the values indicated by these pieces of information are simply expressed as pedestrian bridge thickness D, pedestrian bridge height H, stairs length L, and fence height Z.

  The central control unit 120 controls the entire navigation apparatus 100 by a semiconductor integrated circuit including a central processing unit (CPU), a ROM storing programs, a RAM as a work area, and the like, and includes an operation unit 110, a display unit 112, It performs an interface with the voice input / output unit 114, the position acquisition unit 116, the storage unit 118, and the like, and executes various arithmetic processes for displaying a two-dimensional map and a bird's eye view. In addition, the central control unit 120 cooperates with the ROM and the RAM to obtain the information acquisition unit 130, the three-dimensional plane generation unit 132, the two-dimensional staircase generation unit 134, the three-dimensional staircase generation unit 136, and the three-dimensional fence. It also functions as the generation unit 138, the bird's eye view generation unit 140, and the image / audio processing unit 142. When the information acquisition unit 130, the 3D plane generation unit 132, the 2D staircase generation unit 134, the 3D staircase generation unit 136, and the 3D fence generation unit 138 receive an operation input for displaying a bird's eye view through the operation unit 110, In parallel with the process of extracting the interpolation points for forming the building lines and polygons, each interpolation point for forming the pedestrian bridge polygons is generated.

  The information acquisition unit 130 determines whether or not a pedestrian bridge is included in the geographical region corresponding to the field of view of the bird's eye view, and acquires the pedestrian bridge information 160 from the storage unit 118 when the pedestrian bridge is included.

  FIG. 3 is an explanatory diagram for explaining the pedestrian bridge information 160. The pedestrian bridge information 160 includes coordinate information of a plurality of two-dimensional plane interpolation points 168 that can specify the planar outline of the pedestrian bridge plane portion 164 that is a plane portion of the pedestrian bridge 162 shown in FIG. 3A, and the plurality of two-dimensional planes. The interpolation point 168 includes connection information indicating which one of the interpolation points 168 corresponds to the connection point 172 with the pedestrian bridge staircase portion 170 which is the staircase portion of the pedestrian bridge 162. The two-dimensional plane interpolation point 168 is composed of four or more points as shown by circles in FIGS. 3B and 3C. The connection point indicates a point arranged at a connection portion with the pedestrian bridge staircase portion 170 among the two-dimensional plane interpolation points 168, as indicated by black circles in FIGS. 3B and 3C. Here, when there is no connection information indicating the connection point 172, it is also possible to regard the point corresponding to the sidewalk of the two-dimensional map among the two-dimensional plane interpolation points 168 as the connection point 172 and execute the processing described later. is there.

  In addition, as shown in FIG. 3B, the two-dimensional plane interpolation points 168 represent the planar outline of the pedestrian bridge plane portion 164, whereas in FIG. 3C, six two-dimensional plane interpolation points 168 are used. When the planar outline of the pedestrian bridge plane part 164 is represented, as shown in FIG. 3D, it is possible to deal with a curved pedestrian bridge plane part 164. Therefore, the number of two-dimensional plane interpolation points 168 is preferably set according to the planar outline of the pedestrian bridge plane portion 164.

  Based on the coordinate information of the two-dimensional plane interpolation point 168 and the information indicating the preset pedestrian bridge thickness D and the information indicating the pedestrian bridge height H, the three-dimensional plane generation unit 132 three-dimensionally converts the pedestrian bridge plane unit 164. A three-dimensional plane interpolation point 174 for display is generated. Hereinafter, detailed processing of the three-dimensional plane generation unit 132 will be described.

  FIG. 4 is an explanatory diagram for explaining processing of the three-dimensional plane generation unit 132. Here, an example in which the planar outline of the pedestrian bridge plane part 164 shown in FIG. 4A is specified by six two-dimensional plane interpolation points 168 will be described.

  The three-dimensional plane generation unit 132 displays all the two-dimensional plane interpolation points 168 included in the pedestrian bridge information 160 acquired by the information acquisition unit 130 (hereinafter, expressions P1 to P6 that can identify individual points for easy understanding). And the information indicating the pedestrian bridge thickness D and the information indicating the pedestrian bridge height H, which are stored in the storage unit 118 in advance, are read out. Then, the three-dimensional plane generation unit 132 uses the two-dimensional plane interpolation points 168 (P1 to P6) to form a three-dimensional pedestrian bridge plane unit 164 having a pedestrian bridge thickness D at the position of the pedestrian bridge height H.

  Specifically, the three-dimensional plane generation unit 132 has two sets (12 pieces) of three-dimensional plane interpolation points P1 to P6 having the same latitude and longitude in the coordinate information and different in height by the footbridge thickness D. 174 (P11 to P16) and (P21 to P26) are formed. Thus, for example, the 3D plane interpolation point P26 has the same latitude and longitude as the 2D plane interpolation point P6, the height is the footbridge height H, and the 3D plane interpolation point P16 has the 2D plane interpolation of latitude and longitude. It is equal to the point P6, and the height is the sum of the footbridge height H and footbridge thickness D. Similarly, the other three-dimensional plane interpolation points P11 to P15 and the three-dimensional plane interpolation points P21 to P25 have the same latitude and longitude as the two-dimensional plane interpolation points P1 to 5, and the height is the footbridge height H or the footbridge height H. And pedestrian bridge thickness D. The three-dimensional plane generation unit 132 temporarily stores the generated three-dimensional plane interpolation point 174 in the storage unit 118.

  The two-dimensional staircase generation unit 134 generates a two-dimensional stair interpolation point 182 that can specify the planar outline of the pedestrian bridge staircase unit 170 based on the connection information and information indicating the preset staircase length L.

  FIG. 5 is an explanatory diagram for explaining the processing of the two-dimensional staircase generation unit 134. Here, an example in which the pedestrian bridge information 160 shown in FIG. 4A is formed from six two-dimensional plane interpolation points 168 will be described.

  The two-dimensional staircase generation unit 134 reads information indicating the staircase length L stored in advance in the storage unit 118 and connects all the two-dimensional plane interpolation points 168 as shown in FIG. Here, the connection means that all the points are connected to the other two points without the connection between the two points intersecting with the other connections. Then, the two-dimensional staircase generation unit 134 uses the connection information of the pedestrian bridge information 160 to stair from the two-dimensional plane interpolation point 168 (here, P2, P3, P5, P6) corresponding to the connection point 172 with the pedestrian bridge staircase unit 170. An end point extended by the length L is derived, and the end point is set as a two-dimensional step interpolation point 182.

  Specifically, the two-dimensional plane interpolation points 168 connected to the pedestrian bridge staircase 170 (here, P2 and P3 connected to the pedestrian bridge staircase 170a and P5 and P6 connected to the pedestrian bridge staircase 170b). Of the two-dimensional plane interpolation points 168 connected to each of them (for example, P1 and P3 connected to P2 in the case of P2), the two-dimensional connected to the same pedestrian bridge staircase 170 (170a in this case). A two-dimensional plane interpolation point 168 different from the plane interpolation point 168 (here, P3), that is, P1 is specified.

  Then, the connection line 184 between the identified two-dimensional plane interpolation point 168, P1, and the target two-dimensional plane interpolation point 168, P2, as indicated by an arrow in FIG. 4, is the target two-dimensional plane. A step length L is extended from P2 which is the interpolation point 168, and F2 which is a two-dimensional step interpolation point 182 is generated. Such processing is executed for all the two-dimensional plane interpolation points 168 connected to the pedestrian bridge staircase portion 170, here, P2, P3, P5, and P6. Thus, as shown in FIG. 5, F2, F3, F5, and F6 are arranged as the two-dimensional staircase interpolation point 182.

  Here, the two-dimensional staircase generation unit 134 generates the two-dimensional staircase interpolation point 182 based on the positional relationship between the two-dimensional plane interpolation points 168, particularly the positional relationship between the connection point 172 and another two-dimensional plane interpolation point 168. However, it is possible to generate the two-dimensional staircase interpolation point 182 more easily by providing numbering for specifying each of the two-dimensional plane interpolation points 168. This will be described with reference to FIG. 5 as in the above example.

  The two-dimensional staircase generation unit 134 assigns a number indicating the order of connection to the two-dimensional plane interpolation point 168. For example, as shown in FIG. 5, six two-dimensional plane interpolation points 168 are numbered in a predetermined order, here, P1 → P2 → P3 → P4 → P5 → P6 in a counterclockwise direction. The two-dimensional staircase generation unit 134 specifies a two-dimensional plane interpolation point 168 extending by the staircase length L according to the number assigned to the two-dimensional plane interpolation point 168.

  For example, consider a case where the connection points 172 with the pedestrian bridge staircase portion 170a are P2 and P3, and the connection points with the pedestrian bridge staircase portion 170b are P5 and P6. In this case, the two-dimensional staircase generation unit 134 has a connection point 172 having a smaller number among the connection points P2 and P3 with the pedestrian bridge staircase portion 170a and a two-dimensional plane interpolation point 168 having a smaller number (here, P1). ) Are calculated, and a point F2 that is separated from the connection point 172 (here P2) by the set step length L in the calculated vector / (P1P2) direction is derived. 2D stair interpolation point 182.

  Subsequently, the two-dimensional staircase generation unit 134, among the connection points P2 and P3 with the pedestrian bridge staircase portion 170a, P3 which is a two-dimensional plane interpolation point 168 having a large number and a two-dimensional plane interpolation point 168 having one large number. A vector / (P4P3) connecting (here P4) is calculated, and a point separated from the two-dimensional plane interpolation point 168 (here P3) by the step length L in the calculated vector / (P4P3) direction. F3 is derived and set as a two-dimensional stair interpolation point 182.

  For P5 and P6 connected to the pedestrian bridge staircase 170b, vectors / (P4P5) and / (P1P6) are calculated based on the same rule, and points F5 and F6 separated by the staircase length L in the calculated vector direction. Is derived as a two-dimensional stair interpolation point 182. However, P1 with respect to P6 is considered as P7 based on its continuity. The two-dimensional staircase generation unit 134 temporarily stores the generated two-dimensional staircase interpolation point 182 in the storage unit 118. Here, the case where there are six two-dimensional plane interpolation points 168 has been described as an example using FIG. 5, but the two-dimensional plane interpolation point 168 is four or more as long as the connection point 172 of the two-dimensional plane interpolation point 168 can be specified. The present embodiment can be applied to any number.

  In the configuration in which the two-dimensional step interpolation point 182 is derived by assigning the number to the two-dimensional plane interpolation point 168, complicated determinations other than the size relationship are not required, and the two-dimensional step interpolation point 182 is quickly and lightly loaded. Can be generated.

  The three-dimensional staircase generation unit 136 is based on the three-dimensional plane interpolation point 174, the two-dimensional step interpolation point 182, the information indicating the pedestrian bridge thickness D and the information indicating the pedestrian bridge height H, and the pedestrian bridge staircase unit 170. A three-dimensional staircase interpolation point 186 for three-dimensionally showing is generated. Hereinafter, detailed processing of the three-dimensional staircase generation unit 136 will be described.

  First, the three-dimensional staircase generation unit 136 includes connection points 172 of the three-dimensional plane interpolation points 174 generated by the three-dimensional plane generation unit 132 (P12, P13, P15, P16, P22, P23 shown in FIG. 4B). P25, P26), and the coordinate information of the two-dimensional stair interpolation point 182 (F2, F3, F5, F6 shown in FIG. 5) generated by the two-dimensional stair generation unit 134 are extracted and stored in the storage unit 118 in advance. The information indicating the pedestrian bridge thickness D and the information indicating the pedestrian bridge height H are read out.

  FIG. 6 is an explanatory diagram for explaining the processing of the three-dimensional staircase generation unit 136. As shown in FIG. 6A, the three-dimensional staircase generation unit 136 has the same latitude / longitude as the two-dimensional stair interpolation point 182 (F2, F3, F5, F6) and has a height of 0. Point 186 (F22, F23, F25, F26) is generated. At this time, diagonal lines connecting the three-dimensional stair interpolation point 186 (F22, F23, F25, F26) and the connection point 172 (P22, P23, P25, P26) of the three-dimensional plane interpolation point 174 are the inclinations of the pedestrian bridge staircase 170 ( H / L).

  Subsequently, as shown in FIG. 6B, the three-dimensional staircase generation unit 136 connects the three-dimensional step interpolation point 186 (F22, F23, F25, F26) and the connection point 172 (P22, F2) of the three-dimensional plane interpolation point 174. The vectors (/ (P22F22), / (P23F23), / (P25F25), / (P26F26)) connecting the P23, P25, and P26) are the three-dimensional plane interpolation points 174 (P12, P13, P15, and P16), respectively. The intersection point with the zero-height plane when passing through is defined as a three-dimensional step interpolation point 186 (F22, F23, F25, F26). The three-dimensional staircase generation unit 136 temporarily stores the generated three-dimensional staircase interpolation point 186 in the storage unit 118.

  The three-dimensional fence generation unit 138 causes the three-dimensional plane interpolation point 174 and the three-dimensional step interpolation point 186 located on the side surface of the pedestrian bridge plane unit 164 and the side surface of the pedestrian bridge staircase unit 170 to vertically extend by the set fence height Z. The extended end point is derived and set as a three-dimensional fence interpolation point 190.

  FIG. 7 is an explanatory diagram for explaining processing of the three-dimensional fence generation unit 138. The three-dimensional fence generation unit 138 includes points (P11, P12, P13, P14, P15, P16) located on the upper surface of the three-dimensional plane interpolation point 174 generated by the three-dimensional plane generation unit 132, and a three-dimensional staircase generation unit 136. The coordinate information of the points (F12, F13, F15, F16) located on the upper surface of the generated three-dimensional staircase interpolation point 186 is extracted, and information indicating the fence height Z held in advance in the storage unit 118 is read. Then, the three-dimensional fence generation unit 138 has a point (P11, P12, P13, P14, P15, P16) located on the upper surface of the three-dimensional plane interpolation point 174 and a point (F12) located on the upper surface of the three-dimensional step interpolation point 186. , F13, F15, F16) to form a three-dimensional fence having a fence height Z.

  Specifically, as shown in FIG. 7B, the three-dimensional fence generation unit 138 includes points (P11, P12, P13, P14, P15, P16) located on the upper surface of the three-dimensional plane interpolation point 174 and a three-dimensional staircase. The three-dimensional fence interpolation points 190 (C1 to C10) having the same latitude and longitude as the points (F12, F13, F15, and F16) located on the upper surface of the interpolation point 186 and the height being higher than the respective interpolation points by the fence height Z. Generate. Accordingly, the height of the three-dimensional fence interpolation point 190 on the pedestrian bridge plane 164 is the sum of the pedestrian bridge height H, the pedestrian bridge thickness D, and the fence height Z. The three-dimensional fence generation unit 138 temporarily stores the generated three-dimensional fence interpolation point 190 in the storage unit 118.

  By providing such a three-dimensional fence generation unit 138, it is possible to display a three-dimensional object in a shape that is closer to reality, so that the passenger can confirm that the pedestrian bridge 162 is displayed on the display unit 112. It is possible to grasp the information more quickly and reliably, and the convenience of the navigation device 100 can be improved.

  The bird's-eye view generation unit 140 acquires the map information of the two-dimensional map data and each interpolation point held in the storage unit 118, forms a line or a polygon, and generates a two-dimensional view from a viewpoint at a predetermined height behind the vehicle position. Generate a bird's-eye view overlooking the map.

  FIG. 8 is an explanatory diagram for explaining a screen forming process when a bird's eye view is displayed on the display unit 112. First, the bird's eye view generation unit 140 acquires map information from the two-dimensional map data, executes line drawing based on the interpolation point of the road in the traveling direction, and the vehicle 150 and the road 192 as shown in FIG. Only a bird's eye view is generated. Here, the road information includes node information such as roads, rivers, and railroads, and each node information has a plurality of interpolation points. For example, in the case of a road, an interpolation point is composed of two-dimensional coordinates of latitude and longitude and road attributes such as the number of lanes.

  Subsequently, the bird's-eye view generation unit 140 draws a polygon that forms a simple building 194 formed in a prismatic or columnar shape extending in the vertical direction, and as shown in FIG. Add buildings to the bird's eye view of 192 only.

  Finally, the bird's eye view generation unit 140 projects the pedestrian bridge 162 constituted by the 3D plane interpolation point 174, the 3D step interpolation point 186, and the 3D fence interpolation point 190 into a 3D window coordinate system, and converts the 3D window The polygons are developed by connecting the interpolation points of the coordinate system, and the pedestrian bridge 162 is superimposed on the bird's eye view as shown in FIG.

  FIG. 9 is an explanatory diagram for explaining the development of a polygon. The bird's eye view generation unit 140 performs projective transformation on the 12 three-dimensional plane interpolation points P11 to P16 and P21 to P26 (three-dimensional objects) generated by the three-dimensional plane generation unit 132 shown in FIG. Dimension window coordinates are calculated. The three-dimensional plane generation unit 132 expands the three-dimensional object of the footbridge plane unit 164 in the calculated three-dimensional window coordinates into a plurality of polygons.

  Here, as shown in FIG. 9B, the bird's eye view generation unit 140 converts the three-dimensional object into two upper and lower quadrilaterals 176 (P11-P12-P13-P14-P15-P16, P21-P22-P23-P24-). P25-P26), two squares 178 (P12-P13-P23-P22, P15-P16-P26-P25) connected to the pedestrian bridge staircase 170, and four squares 180 (P11-P12- corresponding to the side surfaces) P22-P21, P13-P14-P24-P23, P14-P15-P25-P24, and P16-P11-P21-P26).

  Similarly, the bird's eye view generation unit 140 includes twelve three-dimensional step interpolation points 186 (P12, P13, P22, P23, F12, F13, F22, F23) generated by the three-dimensional plane generation unit 132, (P15, P16, P25). , P26, F15, F16, F25, and F26), the three-dimensional window coordinates are calculated by projective transformation. The bird's eye view generation unit 140 expands the two 3D objects of the pedestrian bridge staircase unit 170 in the calculated 3D window coordinates into a plurality of polygons (see FIG. 6B).

  Specifically, the bird's eye view generation unit 140 converts one three-dimensional object into two rectangles (P12-P13-F13-F12, P22-P23-F23-F22), and a quadrilateral ( P12-P13-P23-P22), a square connected to the ground (F12-F13-F23-F22), and two squares corresponding to the side (P12-F12-F22-P22, P13-F13-F23-P23) Expand to 6 polygons. For the other three-dimensional object, the bird's-eye view generation unit 140 also includes a quadrilateral (P15-P16-F16-F15, P25-P26-F26-F25) and a quadrilateral (P15-) connected to the pedestrian bridge plane 164. P16-P26-P25), a square connected to the ground (F15-F16-F26-F25), two squares corresponding to the side (P15-F15-F25-P25, P16-F16-F26-P26) Expand to polygon.

  Subsequently, the bird's eye view generation unit 140 performs projective conversion on the three-dimensional objects of the ten three-dimensional fence interpolation points 190 (C1 to C10) generated by the three-dimensional fence generation unit 138, and calculates three-dimensional window coordinates. The bird's eye view generation unit 140 expands the three-dimensional object of the fence in the calculated three-dimensional window coordinates into a plurality of polygons (see FIG. 7B).

  Specifically, the bird's-eye view generation unit 140 includes a quadrilateral corresponding to the side of the pedestrian bridge plane 164, that is, four lines that do not include the line segments P12-P13 and P15-P16 that connect the pedestrian bridge plane 164. Quadrilateral (C1-C2-P12-P11, C3-C4-P14-P13, C4-C5-P15-P14, C6-C1-P11-P16), four squares (C2- C7-F12-P12, C3-C8-F13-P13, C5-C9-F15-P15, and C6-C10-F16-P16).

  In the present embodiment, a pedestrian bridge 162 having a complicated structure can be displayed in three dimensions only by acquiring pedestrian bridge information 160 that can specify the planar outline from a two-dimensional map configured by two-dimensional coordinates. Therefore, when the pedestrian bridge 162 is present in the traveling direction, the passenger can surely grasp the position and distance of the pedestrian bridge as a landmark only by looking at the display unit 112.

  Further, the bird's-eye view generation unit 140 may perform transparent processing on the polygon of the pedestrian bridge 162 that has undergone the projective transformation and superimpose it on the bird's-eye view.

  FIG. 10 is an explanatory diagram for explaining the transmission processing of the bird's eye view generation unit 140. Originally, as shown in FIG. 10A, the bird's eye view generation unit 140 colors the polygon of the pedestrian bridge 162 in the same manner as other buildings. However, the pedestrian bridge 162 may cover the road 192 in the traveling direction of the vehicle 150 as shown in FIG. 10A for that purpose, which may make it difficult to grasp the shape of the road 192.

  Here, the bird's-eye view generation unit 140 transmits the polygon of the pedestrian bridge 162 with a predetermined transparency so that the function as a landmark of the pedestrian bridge 162 is not impaired as shown in FIG. 192 can be made visible to the passenger.

  Further, the bird's eye view generation unit 140 may further superimpose an image representing the stairs on the polygon of the pedestrian bridge staircase unit 170 that has undergone the projective transformation.

  FIG. 11 is an explanatory diagram for explaining the drawing process of the bird's eye view generation unit 140. The bird's eye view generation unit 140 planarly colors the polygons constituting the pedestrian bridge staircase unit 170 as shown in FIG. However, the pedestrian bridge staircase 170 is usually provided with uneven stairs, and the planar coloring may give a sense of incongruity.

  Here, the bird's-eye view generation unit 140 shows the upper polygons (P12-P13-F13-F12, P15-P16-F16-F15 in FIG. 6B) of the pedestrian bridge staircase 170 of the pedestrian bridge 162, as shown in FIG. By superimposing images (texture information) representing stairs like this, it is possible to display a three-dimensional object with a shape that is closer to the actual shape. 162 can be grasped more quickly and reliably, and the convenience of the navigation device 100 can be improved.

  The image / audio processing unit 142 analyzes and processes the instructions by the passenger's voice input through the voice input / output unit 114 and causes the display unit 112 and the voice input / output unit 114 to display or output the destination direction of the vehicle 150.

  As described above, in the navigation device 100 according to the present embodiment, when the bird's-eye view is displayed on the display unit 112, the pedestrian bridge 162 is also displayed in a three-dimensional display. The pedestrian bridge 162 has a similar appearance and a lower appearance frequency and a characteristic than a plurality of juxtaposed buildings, and can be easily seen without changing the viewpoint during travel, so that it can function effectively as a landmark. However, there is a problem that the processing load is too high to perform strict three-dimensionalization because the structure is too complicated.

  In the present embodiment, the pedestrian bridge thickness D, pedestrian bridge height H, stairs length L, and fence height Z have values close to predetermined values due to vehicle height restrictions and the like. However, paying attention to the fact that it does not differ from the actual shape of the pedestrian bridge 162, two-dimensional information with a small amount of information using preset pedestrian bridge thickness D, pedestrian bridge height H, stairs length L, and fence height Z From the map, the general appearance of the three-dimensional pedestrian bridge 162 that can be displayed in a bird's-eye view is simulated by simple processing. Here, although it is a simple shape, by including the pedestrian bridge 162 in the bird's-eye view, it is possible to dramatically improve the convenience of the passenger.

(Navigation method)
Next, a navigation method for guiding the moving route of the vehicle 150 using the navigation device 100 described above will be specifically described.

  FIG. 12 is a flowchart showing the overall flow of the navigation display method. When interrupt processing occurs (YES in S200), the information acquisition unit 130 of the navigation device 100 coordinates four or more two-dimensional plane interpolation points 168 that can specify the planar outline of the pedestrian bridge plane unit 164, which is a plane part of the pedestrian bridge 162. The pedestrian bridge information 160 including information and connection information indicating which of the four or more two-dimensional plane interpolation points 168 corresponds to the connection point 172 with the pedestrian bridge staircase portion 170 which is the stairs portion of the pedestrian bridge 162 is acquired ( S202).

  Then, the three-dimensional plane generation unit 132 is a three-dimensional display for stereoscopically displaying the pedestrian bridge plane unit 164 based on the coordinate information, information indicating the pedestrian bridge thickness D and information indicating the pedestrian bridge height H. A plane interpolation point 174 is generated (S204).

  The two-dimensional staircase generating unit 134 connects the two-dimensional plane interpolation points 168 corresponding to the connection points 172 when all the two-dimensional plane interpolation points 168 are connected based on the connection information and the information indicating the preset step length L. 2D plane interpolation points 168 that are different from the 2D plane interpolation points 168 connected to the same pedestrian bridge staircase 170 among the two 2D plane interpolation points 168 connected to the 2D plane, and the 2D corresponding to the connection point 172 An end point obtained by extending the connection line 184 with the plane interpolation point 168 by the staircase length L from the two-dimensional plane interpolation point 168 corresponding to the connection point 172 is generated as a two-dimensional step interpolation point 182 that can specify the planar outline of the pedestrian bridge staircase 170. (S206) The three-dimensional staircase generation unit 136 performs the three-dimensional staircase based on the two-dimensional stair interpolation point 182 and the information indicating the footbridge thickness D and the information indicating the footbridge height H. Generating between point 186 (S208).

  The three-dimensional fence generation unit 138 extends the three-dimensional plane interpolation point 174 and the three-dimensional step interpolation point 186 located on the side surfaces of the pedestrian bridge plane unit 164 and the pedestrian bridge step unit 170 in the vertical direction by the set fence height Z. The generated three-dimensional fence interpolation point 190 is generated (S210).

  The bird's-eye view generation unit 140 performs projective transformation on the three-dimensional plane interpolation point 174 and the three-dimensional step interpolation point 186 to generate a bird's-eye view (S212). At this time, the bird's eye view generation unit 140 transmits the polygon of the pedestrian bridge 162 that has undergone the projection conversion and superimposes it on the bird's eye view, or further superimposes the image representing the stairs on the pedestrian bridge staircase 170 of the polygon of the pedestrian bridge 162 that has undergone the projection conversion. Can be.

  Finally, the image and sound processing unit 142 causes the display unit 112 to display the bird's eye view generated by the bird's eye view generation unit 140 (S214).

  As mentioned above, although preferred embodiment of this invention was described referring an accompanying drawing, it cannot be overemphasized that this invention is not limited to this embodiment. It will be apparent to those skilled in the art that various changes and modifications can be made within the scope of the claims, and these are naturally within the technical scope of the present invention. Understood.

  For example, in the above-described embodiment, the navigation device 100 that is fixedly mounted on the vehicle 150 has been described. However, the present invention is not limited to such a case, and can be applied to, for example, a portable navigation device that can be carried independently. is there.

  Note that each step in the navigation method of the present specification does not necessarily have to be processed in time series in the order described in the flowchart, and may include parallel or subroutine processing.

  INDUSTRIAL APPLICABILITY The present invention can be used for a navigation device and a navigation method for guiding a moving route of a vehicle to a destination.

DESCRIPTION OF SYMBOLS 100 ... Navigation apparatus 130 ... Information acquisition part 132 ... Three-dimensional plane generation part 134 ... Two-dimensional stair generation part 136 ... Three-dimensional stair generation part 138 ... Three-dimensional fence generation part 140 ... Bird's-eye view generation part 142 ... Image sound processing part 160 ... Footbridge information 162 ... footbridge 164 ... footbridge plane part 168 ... 2D plane interpolation point 170 ... footbridge staircase part 172 ... connection point 174 ... 3D plane interpolation point 182 ... 2D step interpolation point 186 ... 3D step interpolation point 190 ... 3 Dimension fence interpolation point

Claims (6)

A navigation device for guiding a moving route of a vehicle to a destination,
Coordinate information of four or more two-dimensional plane interpolation points that can specify the plane outline of the pedestrian bridge plane part, which is a plane part of the pedestrian bridge, and any of the four or more two-dimensional plane interpolation points are pedestrian bridge stairs. An information acquisition unit for acquiring connection information indicating whether it is a connection point with the staircase unit;
A three-dimensional plane generation unit that generates a three-dimensional plane interpolation point for stereoscopically displaying the pedestrian bridge plane part based on the coordinate information, information indicating the thickness of the pedestrian bridge and information indicating the height of the pedestrian bridge When,
Based on the connection information and information indicating a preset staircase length, when all the two-dimensional plane interpolation points are connected, two two-dimensional plane interpolation points corresponding to the connection points are connected. Of the two-dimensional plane interpolation points, a connection between a two-dimensional plane interpolation point different from the two-dimensional plane interpolation points connected to the same pedestrian bridge staircase and the arbitrary two-dimensional plane interpolation point is the arbitrary two-dimensional interpolation point. A two-dimensional staircase generation unit that uses an end point extended from the three-dimensional plane interpolation point by the length of the staircase as a two-dimensional staircase interpolation point that can specify a planar outline of the pedestrian bridge staircase unit;
Based on the three-dimensional plane interpolation point, the two-dimensional step interpolation point, the information indicating the thickness of the pedestrian bridge, and the information indicating the height of the pedestrian bridge, a three-dimensional step interpolation point for three-dimensionally indicating the pedestrian bridge staircase is generated. A three-dimensional staircase generator to
A bird's-eye view generation unit for projectively transforming the three-dimensional plane interpolation point and the three-dimensional stair interpolation point to generate a bird's-eye view overlooking a two-dimensional map from a viewpoint at a predetermined height behind the vehicle position;
A navigation device comprising: The two-dimensional plane interpolation point is given a number indicating the order of connection,
The navigation device according to claim 1, wherein the two-dimensional staircase generation unit specifies a two-dimensional plane interpolation point extending by the staircase length according to the number.   A three-dimensional fence interpolation point having a three-dimensional plane interpolation point and a three-dimensional step interpolation point located on the sides of the pedestrian bridge plane and the side of the pedestrian bridge staircase extending in the vertical direction by a set fence height. The navigation apparatus according to claim 1, further comprising a fence generation unit.   The navigation device according to any one of claims 1 to 3, wherein the bird's-eye view generation unit performs a transparent process on the projection-converted polygon of the pedestrian bridge and superimposes the polygon on the bird's-eye view.   5. The navigation device according to claim 1, wherein the bird's eye view generation unit further superimposes an image representing a stairs on the polygon of the pedestrian bridge stairs that has undergone projective conversion. A navigation method for guiding a vehicle travel route to a destination,
Coordinate information of four or more two-dimensional plane interpolation points that can specify the plane outline of the pedestrian bridge plane part, which is a plane part of the pedestrian bridge, and any of the four or more two-dimensional plane interpolation points are pedestrian bridge stairs. Connection information indicating whether it is a connection point with the staircase, and
Based on the coordinate information and information indicating the preset pedestrian bridge thickness and information indicating the pedestrian bridge height, generating a three-dimensional plane interpolation point for stereoscopically displaying the pedestrian bridge plane portion,
Based on the connection information and information indicating a preset staircase length, when all the two-dimensional plane interpolation points are connected, two two-dimensional plane interpolation points corresponding to the connection points are connected. Of the two-dimensional plane interpolation points, a connection between a two-dimensional plane interpolation point different from the two-dimensional plane interpolation points connected to the same pedestrian bridge staircase and the arbitrary two-dimensional plane interpolation point is the arbitrary two-dimensional interpolation point. An end point extended from the three-dimensional plane interpolation point by the length of the staircase is defined as a two-dimensional staircase interpolation point that can specify the planar outline of the pedestrian bridge staircase,
Based on the three-dimensional plane interpolation point, the two-dimensional step interpolation point, the information indicating the thickness of the pedestrian bridge, and the information indicating the height of the pedestrian bridge, a three-dimensional step interpolation point for three-dimensionally indicating the pedestrian bridge staircase is generated. And
A navigation method characterized by projectively transforming the three-dimensional plane interpolation point and the three-dimensional stair interpolation point to generate a bird's eye view overlooking a two-dimensional map from a viewpoint at a predetermined height behind the vehicle position.

Images