JP2011174723A - Guidance apparatus and guidance method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To perform precise and easily understandable enhanced guidance at proper timing. <P>SOLUTION: On the basis of an image pickup result by an image pickup means 710, an extraction means 720 extracts a changed target having a change in position or appearance and/or a non-changed target candidate having no change in position or appearance in a direction of a set movement route from this time of a moving body MV. Continuously, an evaluation means 730 evaluates the visibility and uniqueness of the target candidate by increasing the priority of the changed target candidate. Next, a determination means 740 determines the one having the highest qualification as a guide target is determined as the guide target on the basis of the evaluation result by the evaluation means 730. A generation means 750 generates guidance information using the determined guidance target as a landmark. A presentation means 760 presents the generated guidance information to a user. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a guidance guidance device, a guidance guidance method, a guidance guidance program, and a recording medium on which the guidance guidance program is recorded.

  Conventionally, guidance and guidance devices that guide and guide a route to a destination of a moving body such as a vehicle have been widely used. Regarding such a guidance and guidance device, various techniques have been proposed for accurate and easy-to-understand guidance and guidance.

  As one of these proposed technologies, the moving state of a moving object such as another vehicle traveling on the road is analyzed within the field of view of the driver of the vehicle, and the route to the destination of the vehicle is determined based on the result. There is a technique for guiding and guiding (refer to Patent Document 1: hereinafter referred to as “conventional example”).

  In this conventional technique, the position of an object existing in the moving direction of the vehicle is detected by a radar, and the presence of the moving object is specified based on the detection result, and then the moving state of the specified moving object is analyzed. Thus, an object to be a guide guidance information is determined. Then, when the determined moving object is within the field of view of the driver of the vehicle, guidance guidance information is created using the determined moving object as a landmark at the time when it is determined from the result of the previous shooting. It is designed to guide.

WO2008 / 041284

  In the conventional technology described above, guidance guidance is performed when a moving object exists in the moving direction of the vehicle. For this reason, guidance guidance information cannot be output when there is no moving object in the moving direction of the vehicle.

  Further, in the technology of the conventional example, for example, when a moving object as a mark is another vehicle different from the vehicle, and the other vehicle tries to specify the movement route of the vehicle according to the traveling direction of the other vehicle, Guidance guidance information cannot be created until a certain movement state is reached along the movement route. For this reason, there is a case where the guidance of the other vehicle as a landmark cannot be performed at an appropriate timing for the driver of the vehicle.

  Furthermore, in the conventional technique, the guidance is performed when it is determined from the photographing result ahead that the moving object, which is the guide guidance information based on the position detection result by the position detection unit, has entered the driver's field of view. Create and output guidance information. For this reason, the output of guidance guidance information may be delayed from an appropriate timing.

  For this reason, there is a demand for a technique capable of performing accurate guidance and guidance at an appropriate timing regardless of the presence or absence of a moving object in front. Meeting this problem is one of the problems to be solved by the present invention.

  The present invention has been made in view of the above circumstances, and an object thereof is to provide a new guidance and guidance device and a guidance and guidance method capable of performing accurate and easy-to-understand guidance and guidance at an appropriate timing. And

  The invention according to claim 1 is a guidance and guidance device that is mounted on a moving body and performs guidance and guidance on a moving path of the moving body, and a direction along a future set moving path that is set for the moving body. Imaging means for capturing a moving image in a field of view including: extraction means for extracting a change target candidate whose position or appearance has changed in the direction of the future set movement path based on a result of imaging by the imaging means; Evaluation means for evaluating the visibility and uniqueness of the extracted change target candidate when at least one change target candidate is extracted by the extraction means; guidance based on the evaluation result by the evaluation means; Determining means for determining a target for generation; generating means for generating guidance guidance information for the future set travel route based on the determined guidance target; and the generated plan A guide guiding device, characterized in that it comprises: a presentation means for presenting the guiding information.

  The invention according to claim 7 is provided with imaging means for imaging a moving image in an imaging field of view including a direction along a future set movement path set for the moving body, and the guidance and guidance device mounted on the moving body An extraction step for extracting a change target candidate whose position or appearance has changed in the direction of the future set movement route based on a result of photographing by the photographing means; An evaluation step for evaluating the visibility and uniqueness of the extracted change target candidate when at least one change target candidate is extracted in the step; and a guidance target based on the evaluation result in the evaluation step A generating step of generating guidance guidance information for the future set travel route based on the determined guidance target; and the generated guidance guidance information A guide inductive method characterized by comprising a; a presentation step of presenting.

  According to an eighth aspect of the present invention, there is provided a guidance / instruction program that causes a calculation means to execute the guidance / induction method according to the seventh aspect.

  A ninth aspect of the present invention is a recording medium in which the guidance guidance program according to the eighth aspect is recorded so as to be readable by a calculation means.

It is a block diagram for demonstrating the structure of the guidance guidance apparatus which concerns on one Embodiment of this invention. It is a block diagram for demonstrating the structure of the navigation apparatus which concerns on one Example of this invention. It is a figure for demonstrating the data memorize | stored in the memory | storage part of FIG. It is a flowchart for demonstrating the guidance guidance process by the apparatus of FIG. 5 is a flowchart for explaining the analysis processing of the captured moving image in FIG. 4.

  Hereinafter, an embodiment of the present invention will be described with reference to FIG. In the following description, the same or equivalent elements are denoted by the same reference numerals, and redundant description is omitted.

[Constitution]
FIG. 1 shows a schematic configuration of a guidance and guidance device 700 according to an embodiment. As shown in FIG. 1, the guidance and guidance device 700 is mounted on the moving body MV.

  The guide guidance apparatus 700 includes an imaging unit 710, an extraction unit 720, an evaluation unit 730, and a determination unit 740. In addition, the guidance and guidance device 700 includes a generation unit 750 and a presentation unit 760.

  The imaging unit 710 captures a moving image in a field of view including a direction along a future set movement path set for the moving body MV. For example, the photographing unit 710 includes a wide viewing angle camera installed in a front portion of the moving body MV. A moving image captured by the imaging unit 710 is sent to the extraction unit 720 and the evaluation unit 730.

  The extraction unit 720 receives the captured moving image sent from the imaging unit 710. When the moving body MV approaches the position where guidance guidance is to be performed, the extraction unit 720 first extracts a change target object candidate whose position or appearance has changed in the direction of the set moving path in the future from the captured moving image. To do. In addition, when the extraction target candidate cannot be extracted and when a re-extraction instruction sent from the evaluation unit 730 is received as described later, the extraction unit 720 is positioned in the direction of the set movement path in the future. And, the unchanged target candidate whose appearance has not changed is extracted. Then, the extraction unit 720 sends information on the extracted target candidate (changed target candidate or unchanged target candidate) to the evaluation unit 730.

  Here, examples of the change target candidate include a running vehicle, a walking person, a blinking signboard, and a flag fluttering in the wind. In addition, examples of the unchanged target candidate include a stopped vehicle, a facility, a traffic sign, and the like.

  The evaluation unit 730 receives the captured moving image sent from the shooting unit 710 and the extraction result sent from the extraction unit 720. When the evaluation unit 730 receives the information on the target candidate sent from the extraction unit 720, the evaluation unit 730 evaluates the visibility and uniqueness of each target candidate. Then, the evaluation means 730 calculates the guidance target candidate evaluated as having visibility and uniqueness that can be used for guidance guidance, and the visibility evaluation result and uniqueness evaluation result of each guidance target candidate. The evaluation result by the evaluation means 730 is sent to the determination means 740. Details of the evaluation process by the evaluation unit 730 will be described later.

  The determination unit 740 receives the evaluation result sent from the evaluation unit 730. Then, the determining means 740 selects the guidance target candidate optimum for guidance guidance as the guidance target based on the visibility evaluation result and the uniqueness evaluation result of each guidance target candidate included in the evaluation result. decide. The guidance target specific information thus determined is sent to the generating means 750.

  The generation unit 750 receives the guidance target specific information sent from the determination unit 740. Then, the generation unit 750 generates guidance information related to the movement route with the guidance target as a landmark. The guidance information generated in this way is sent to the presentation means 760. In addition, as guidance guidance information, audio | voice information is employable, for example.

  Said presentation means 760 is comprised provided with an audio | voice output means, for example. The presenting means 760 receives the guidance guidance information sent from the generating means 750. Then, the presentation unit 760 presents the guidance guidance information to the user. For example, when the guidance guidance information is voice information, the presentation unit 760 presents the guidance guidance information to the user by outputting the guidance guidance voice.

[Operation]
Next, the operation of the guidance and guidance device 700 configured as described above will be described.

  In the guidance apparatus 700, the imaging unit 710 captures a moving image in a field of view including a direction along a future set movement path set for the moving body MV. Then, the photographing unit 710 sends a photographed moving image that is a photographing result to the extracting unit 720 and the evaluating unit 730.

  Further, in the guidance and guidance device 700, the extraction unit 720 determines whether or not the moving body MV has approached the position where guidance guidance should be performed. If the result of this determination is affirmative, the extraction means 720 captures the captured moving image sent from the imaging means 710. Subsequently, the extraction unit 720 extracts a change target candidate whose position or appearance has changed in the direction of the set moving route in the future from the captured moving image. When the change target candidate is extracted by the extraction process of the change target candidate, the extraction unit 720 sends information on all the extracted change target candidates to the evaluation unit 730.

  On the other hand, if the change target candidate is not extracted by the change target candidate extraction process, the extraction unit 720 determines that the position and appearance of the target object remains unchanged in the direction of the set travel path in the future. To extract. Then, the extraction unit 720 sends information on all the extracted unchanged target candidates to the evaluation unit 730.

  Upon receiving the change target candidate sent from the extraction means 720, the evaluation means 730 evaluates the visibility of each change target candidate. When evaluating the visibility, the evaluation unit 730 evaluates the visibility of each of the change target candidates based on the change degree, size, and color of the position or appearance of each change target candidate.

  As a result of the evaluation of the visibility of the change target candidate, the change target candidate evaluated as a change target candidate having visibility that can be used for guidance and guidance (hereinafter referred to as a “high visibility change target candidate”). ) Exists, the evaluation means 730 evaluates each uniqueness of the high visibility change target candidate. In the evaluation of the uniqueness, the evaluation unit 730 determines whether there is a similar change object in a direction other than the direction of the set travel path in the future and a similar change object exists for each high visibility change target candidate. Evaluates the uniqueness of each of the high visibility change target candidates based on the similarity between the high visibility change target candidate and the similar change object. As a result of the evaluation of uniqueness, when there is a change target candidate having uniqueness that can be used for guidance and guidance, the evaluation means 730 displays the visibility evaluation result and uniqueness for all of the change target candidates having uniqueness. Information including the sex evaluation result is sent to the determination means 740 as information on the target for guidance.

  If it is determined that there is no change target that can be used for guidance by evaluating the visibility or uniqueness of the change target candidate described above, the evaluation unit 730 re-extracts the extraction unit 720 as described above. Send a command. Upon receiving this re-extraction command, the extraction means 720 extracts the unchanged target candidate. Then, the extraction unit 720 sends information on all the extracted unchanged target candidates to the evaluation unit 730.

  As described above, when the change target candidate is not extracted, and when the re-extraction command is received, when the information on the unchanged target candidate extracted by the extraction unit 720 is received, the evaluation unit 730 The visibility of each unchanged target candidate is evaluated. When evaluating the visibility, the evaluation unit 730 evaluates the visibility of each unchanged target candidate based on the size and color of each unchanged target candidate.

  As a result of evaluating the visibility of the unchanged target candidate, there is an unchanged target candidate that is evaluated as having visibility that can be used for guidance (hereinafter referred to as a “high visibility unchanged target candidate”). When doing so, the evaluation means 730 evaluates the uniqueness of each of the high-visibility unchanged target candidates. In evaluating the uniqueness of the high-visibility unchanged target object, the evaluation unit 730 determines, for each high-visibility unchanged target candidate, the similarity unchanged object in a direction other than the direction of the set travel route in the future. If there is presence / absence and a similar unchanged object, each of the high-visibility unchanged target candidates is based on the similarity between the high-visibility unchanged target candidate and the non-similar changed object. Assess uniqueness. As a result of the evaluation of uniqueness, when there is a non-changeable target candidate having uniqueness that can be used for guidance, the evaluation means 730 determines the visibility evaluation result regarding all of the non-changeable target candidates having uniqueness. And the information including the uniqueness evaluation result is sent to the determining means 740 as information on the guidance target candidate.

  On the other hand, if it is evaluated that there is no unchanged target candidate that can be used for guidance by evaluating the visibility or uniqueness of the unchanged target candidate, the evaluation unit 730 ends the process as it is. . As a result, the current guidance guiding process based on the photographing result by the photographing unit 710 is completed.

  For example, when the moving body is a vehicle, various high-visibility objects exist in the direction along the set movement route, that is, the set travel route, and among the high-visibility objects, Since there are often things that do not exist in the route direction other than the set travel route, the evaluation means 730 provides guidance that can be used for guidance guidance, except for exceptional cases. It will be evaluated as a target candidate. For this reason, the evaluation means 730 sends information on at least one guidance target candidate to the determination means 740 except in exceptional cases.

  In addition, the extraction and evaluation of the change target candidates prior to the unchanged target candidates is generally easier to understand because the change target can be a more prominent landmark than the unchanged target. This is because guidance is possible.

  The determination unit 740 that has received the evaluation result sent from the evaluation unit 730, that is, the information on the guidance target, based on the visibility evaluation result and the uniqueness evaluation result of each of the guidance target candidates included in the evaluation result. Thus, the guidance target candidate optimum for guidance is determined as the guidance target. Then, the determination unit 740 sends the specific information of the determined guidance target to the generation unit 750.

  Receiving the guidance target specific information sent from the determining means 740, the generating means 750 generates guidance guidance information relating to the movement route using the guidance target as a landmark. Then, the generation unit 750 sends the generated guidance information to the presentation unit 760. As a result, the presenting means 760 presents the guidance guidance information to the user as voice information or the like.

  As described above, in the present embodiment, based on the imaging result of the imaging unit 710, the extraction unit 720 selects a change target candidate whose position or appearance has changed in the direction of the future set movement path of the moving object MV. Extract. And when a change target candidate is extracted, the evaluation means 730 evaluates each visibility and uniqueness of a change target candidate from a viewpoint of the availability at the time of guidance guidance. As a result of the evaluation of the change target candidates, if there is a change target candidate that is eligible for guidance, the determination means 740 has the highest eligibility among the change targets having the eligibility. A thing is determined as a guidance target.

  On the other hand, if the change target cannot be extracted, and if there are no change target candidates that are eligible for guidance, there is no need for the extraction means 720 in the direction of the future set movement route of the mobile MV. A non-change target candidate whose position or appearance has not changed is extracted. Subsequently, the evaluation means 730 evaluates the visibility and uniqueness of each unchanged target candidate from the viewpoint of availability at the time of guidance guidance. As a result of the evaluation of the unchanged target candidate, if there is an unchanged target candidate that is eligible for guidance, the determining means 740 determines the most qualified target from among the unchanged target candidates. A highly specific object is determined as a guidance target.

  Next, the generation unit 750 generates guidance information that uses the determined guidance target as a landmark. Then, the presentation unit 760 presents the generated guidance information to the user.

  Therefore, according to the present embodiment, accurate and easy-to-understand guidance guidance can be performed at an appropriate timing.

  In the above embodiment, voice information is exemplified as the guidance guidance information, but image information may be used in combination.

  In the above embodiment, when evaluating the target candidate by the evaluation unit 730, the evaluation of the uniqueness is performed after the evaluation of the visibility. However, the evaluation of the visibility is performed after the evaluation of the uniqueness is performed. May be performed.

  Further, the guidance and guidance device of the above embodiment is configured as a computer device having a computer as a calculation means, and the functions of the extraction means, the evaluation means, the determination means, and the generation means described above are realized by executing a program. To be able to. These programs may be acquired in a form recorded on a portable recording medium such as a CD-ROM or DVD, or may be acquired in a form distributed via a network such as the Internet. Can do.

  Hereinafter, an embodiment of the guidance and guidance device of the present invention will be described with reference to FIGS. In the following description and drawings, the same or equivalent elements are denoted by the same reference numerals, and redundant description is omitted.

[Constitution]
FIG. 2 shows a schematic configuration of a navigation device 100 as a guidance and guidance device according to an embodiment. The navigation device 100 is an aspect of the guidance and guidance device 700 (see FIG. 1) of the above-described embodiment.

  The navigation device 100 is mounted on a vehicle CR that travels on a road as a moving body. A vehicle speed sensor 200 connected to the navigation device 100 is mounted on the vehicle CR.

  As shown in FIG. 2, the navigation device 100 includes a control unit 110, a storage unit 120, a photographing unit 130 as a photographing unit 710, and a sound output unit 140 as a presentation unit 760. The navigation device 100 further includes a display unit 150, an operation input unit 160, a travel information acquisition unit 170, and a GPS reception unit 180.

  The control unit 110 performs overall control of the entire navigation device 100. The control unit 110 will be described later.

  The storage unit 120 includes a hard disk device that is a nonvolatile storage device. The storage unit 120 stores various data used in the navigation device 100. The storage unit 120 can be accessed by the control unit 110. The data stored in the storage unit 120 will be described later.

  The photographing unit 130 includes a wide viewing angle camera installed in a front portion of the vehicle CR. This camera captures a moving image in a field of view including a direction along a future set travel route set for the vehicle CR. The result of photographing by the photographing unit 130 is sent to the control unit 110 as moving image data.

  The sound output unit 140 includes a speaker and outputs sound corresponding to the sound data received from the control unit 110. Under the control of the control unit 110, the sound output unit 140 outputs sound for guiding guidance such as a change in the traveling direction of the vehicle CR, a traveling state, a traffic state, and a planned traveling route.

  The display unit 150 includes a display device such as a liquid crystal panel, and displays an image corresponding to the display data received from the control unit 110. The display unit 150 displays map information, images such as route information, guidance information, and the like under the control of the control unit 110.

  The operation input unit 160 includes a key unit provided in the main body of the navigation device 100 and / or a remote input device including the key unit. Here, as a key part provided in the main body part, a touch panel provided in a display device of the display unit 150 can be used. In addition, it can replace with the structure which has a key part, or can also employ | adopt the structure input with a sound using a voice recognition technique in combination.

  When the user operates this operation input unit 160, setting of operation contents and operation commands of the navigation device 100 are performed. For example, the user uses the operation input unit 160 to make settings such as designation of a destination and selection of a travel route in the searched route. Such input contents are sent from the operation input unit 160 to the control unit 110 as operation input data.

  The traveling information acquisition unit 170 includes an acceleration sensor, an angular velocity sensor, and the like, and detects acceleration and angular velocity acting on the vehicle CR. The travel information acquisition unit 170 is used for data exchange between the navigation device 100 and the vehicle speed sensor 200 mounted on the vehicle CR, and acquires speed data that is a detection result of the vehicle speed sensor 200. Each data thus obtained is sent to the control unit 110 as travel data.

  The GPS receiving unit 180 calculates the current position of the vehicle CR based on reception results of radio waves from a plurality of GPS satellites. The GPS receiving unit 180 counts the current time based on the date / time information transmitted from the GPS satellite. Information regarding these current position and current time is sent to the control unit 110 as GPS data.

  Next, data stored in the storage unit 120 will be described. The storage unit 120 stores various data used by the navigation device 100 as described above. As shown in FIG. 3, such data includes map data MPD, POI (Points Of Interest) data POD, set route data RTD, object feature data OCD, and guidance guidance voice template data STD.

  The map data MPD includes road network data on the map. The POI data POD includes data such as the location of the facility on the map and the name of the facility.

  The set route data RTD is data on the travel route set at the present time. When the travel route is not set, the set route data RTD is a value indicating a state where the travel route is not set.

  The object feature data OCD includes feature data of various objects observed while the vehicle CR is traveling. For example, vehicle shape feature data, human shape feature data, and the like are registered. The object feature data OCD is used by the control unit 110 to specify the type of object in the captured moving image.

  The guidance guidance voice template data STD includes various guidance guidance voice template data. By changing a part of the data of the template in accordance with a target for guidance (target for guidance), guidance guidance voice information corresponding to the type of the target for guidance can be generated.

  Next, the control unit 110 will be described. The control unit 110 includes a central processing unit (CPU) and its peripheral circuits. When the control unit 110 executes various programs, the functions as the extraction unit 720, the evaluation unit 730, the determination unit 740, and the generation unit 750 described above are realized.

  Based on the moving image data sent from the imaging unit 130, the running data sent from the running information acquisition unit 170, and the GPS data sent from the GPS receiving unit 180, the control unit 110 stores data in the storage unit 120. The navigation information is provided to the user by appropriately referring to. The navigation information providing process includes (a) a map display for displaying a map of an area designated by the user on the display device of the display unit 150, (b) where the vehicle CR is located on the map, The display unit is used to calculate which direction it is heading and display it on the display device of the display unit 150 and present it to the user. The processing includes control for displaying guidance guidance on 150 display devices, control for outputting voice for guidance guidance from the speaker of the sound output unit 140, and the like.

  In the present embodiment, guidance guidance based on moving image data sent from the photographing unit 130 is performed by sound output from the sound output unit 140. The guidance guidance process based on the moving image data will be described later.

[Operation]
The operation of the navigation device 100 configured as described above will be described mainly focusing on the processing by the control unit 110 in guidance guidance based on a captured moving image.

  At the time of guidance guidance based on a captured moving image, as shown in FIG. 4, first, in step S11, the control unit 110 determines whether or not the travel route of the vehicle CR is being set. Such determination is performed by the control unit 110 referring to the value of the set route data RTD in the storage unit 120.

  If the result of the determination in step S11 is negative (step S11: N), the process of step S11 is repeated. When the travel route to the destination is set and the result of determination in step S11 is affirmative (step S11: Y), the process proceeds to step S12.

  In step S12, the control unit 110 specifies the current position of the vehicle CR based on the map matching result described above. Subsequently, in step S13, the control unit 110 compares the current position of the identified vehicle CR with the destination position in the set route data RTD to determine whether or not the destination has been reached. If the result of this determination is affirmative (step S13: Y), the process returns to step S11.

  If the result of the determination in step S13 is negative (step S13: N), the process proceeds to step S14. In step S14, the control unit 110 determines whether or not the vehicle has approached a guidance point where guidance guidance information should be presented. In making this determination, the control unit 110 should make a right turn or left turn on the road branch position on the travel route being set based on the identified current position, the map data MPD in the storage unit 120 and the set route data RTD. It is determined whether or not the vehicle has approached a guidance point where guidance guidance such as an intersection position should be performed. If the result of this determination is negative (step S14: N), the process returns to step S12.

  If vehicle CR approaches the guidance point and the result of determination in step S14 is affirmative (step S14: Y), the process proceeds to step S15. In step S <b> 15, the control unit 110 performs an analysis process on the moving image captured by the imaging unit 120 to determine a guidance target. Details of the processing in step S15 will be described later.

  Next, in step S16, the control unit 110 performs voice information generation processing for guidance guidance corresponding to the determined guidance target. During the voice information generation process, the control unit 110 reads the voice template data associated with the determined guidance target type in the guidance guidance voice template data STD in the storage unit 120. Then, the control unit 110 changes part of the read voice template data in accordance with the attribute such as the color of the guidance target, and generates voice information for guidance.

  In step S16, if the guidance target is not determined by the process in step S15, the control unit 110 does not provide guidance information corresponding to the guidance target, but instead provides voice information for normal guidance guidance ( For example, a generation process such as “turn right at this intersection” is performed.

  Next, in step S <b> 17, the control unit 110 sends the generated guidance guidance voice information to the sound output unit 140. As a result, a guidance guidance voice is output from the sound output unit 140. When the process of step S17 ends, the process returns to step S12.

  In addition, as an example of the guidance guidance sound corresponding to the guidance target, in the case of the guidance target whose position or appearance has changed, “Now, a blue car has advanced (or comes out). (Turn left on the road), "Turn right now on the road where the person dressed in yellow is crossing", "Turn left. The light on the flashing sign is a landmark." , “Please turn right after this. The red flag is a landmark”. In the case of a guidance target whose position or appearance has not changed, “It is a three-way road. Please go to the road where the black car stops”, “Please turn left to the road where the convenience store is located”, etc. Can be mentioned.

  Next, the process in step S15 will be described. In step S15, as shown in FIG. 5, first, in step S21, the control unit 110 captures the moving image data sent from the photographing unit 130. In this embodiment, the control unit 110 starts the shooting operation of the shooting unit 130 immediately after the start of the process of step S21, and then captures moving image data sent from the shooting unit 130. The control unit 110 then ends the shooting operation of the shooting unit 130 after capturing moving image data over a predetermined time.

  Next, in step S <b> 22, the control unit 110 performs a process of extracting a change target candidate whose position or appearance has changed in the direction of the set travel route from the captured moving image data. Subsequently, in step S23, the control unit 110 determines whether or not the change target candidate has been extracted. If the result of this determination is affirmative (step S23: Y), the process proceeds to step S24.

  In step S24, the control unit 110 performs visibility and uniqueness evaluation processing for each of the extracted change target candidates. In the evaluation process, the control unit 110 first performs a visibility evaluation process. When evaluating the visibility, the control unit 110 evaluates the visibility of each of the change target candidates based on the change degree, size, and color of the position or appearance of each change target candidate. Here, the greater the degree of change in the position or appearance of the change target, the higher the degree of visibility is evaluated. Also, the greater the change target is, the higher the degree of visibility is evaluated. Moreover, the degree of visibility is evaluated higher as the color of the change target is more conspicuous (for example, a color close to the primary color).

  When there is a highly visible change target candidate that is a change target candidate whose degree of visibility evaluated in this way is high enough to be used for guidance, the control unit 110 performs high visibility. The uniqueness evaluation process for each of the sex change target candidates is performed. In the process of evaluating the uniqueness, the control unit 110 includes the presence or absence of a similar change object in a direction other than the direction of the set travel route in the future, and the similar change object for each high visibility change target candidate. In this case, the degree of uniqueness of each of the high visibility change target candidates is evaluated based on the similarity between the high visibility change target candidate and the similar change object. Here, when there is no similar change object in a direction other than the direction of the set travel route in the future, the degree of uniqueness is evaluated most highly. Also, when there is a similar change object, the degree of uniqueness is evaluated as the similarity with the similar change object is higher.

  Next, in step S25, the control unit 110 determines whether there is a change target candidate that satisfies the condition as the guidance target. Upon such determination, the control unit 110 determines that the evaluated degree of visibility is high enough to be used for guidance and the evaluated uniqueness is high enough to be used for guidance. It is determined whether there is a change target candidate having a height. If the result of this determination is affirmative (step S25: Y), the process proceeds to step S29 described later.

  If the result of the determination in step S25 is negative (step S25: N), the process proceeds to step S26. Moreover, also when the result of determination in step S23 described above is negative (step S23: N), the process proceeds to step S26. In this step S26, the control unit 110 performs a process of extracting the unchanged target candidate whose position and appearance have not changed in the direction of the set travel route in the future from the captured moving image data.

  Next, in step S27, the control unit 110 performs a visibility and uniqueness evaluation process for each of the extracted unchanged target candidates. In this evaluation process, the control unit 110 first evaluates the visibility as in the case of the change target candidate. In this visibility evaluation process, the control unit 110 evaluates the visibility of each unchanged target candidate based on the size and color of each unchanged target candidate. Here, the larger the size of the unchanged target, the higher the degree of visibility is evaluated. In addition, the degree of visibility is evaluated higher as the color of the unchanged target is more conspicuous.

  In the case where there is a highly visible unchanged target candidate that is a unchanged target candidate whose degree of visibility evaluated in this way is high enough to be used for guidance, the control unit 110 Each uniqueness candidate of the high visibility unchanged target candidate is processed. In the process of evaluating the uniqueness, the control unit 110 performs, for each highly visible unchanged target candidate, similar invariant in a direction other than the direction of the set travel route in the future, as in the case of the changed target candidate. If there is an object and there is a similar unchanged object, the high-visibility unchanged target candidate is determined based on the similarity between the high-visibility unchanged target candidate and the similar unchanged object. Evaluate the degree of uniqueness of each.

  Next, in step S28, the control unit 110 determines whether there is any unchanged target candidate that satisfies the condition as the guidance target. Upon such determination, the control unit 110 determines that the evaluated degree of visibility is high enough to be used for guidance and the evaluated uniqueness is high enough to be used for guidance. It is determined whether or not there is an unchanged target candidate having a height. If the result of this determination is negative (step S28: N), the process of step S15 ends, and the process proceeds to step S16 of FIG.

  If the result of the determination in step S28 is affirmative (step S28: Y), the processing is performed in the same manner as in the case where the result of the determination in step S25 described above is affirmative (step S25: Y). Proceed to S29.

  In step S29, the control unit 110 performs a determination process for determining a guidance target. In this determination process, the control unit 110 selects the optimum guidance target for guidance guidance based on the visibility evaluation result and the uniqueness evaluation result of each guidance target candidate evaluated as usable as the guidance target. Candidates are determined as guidance targets.

  Subsequently, the control unit 110 refers to the object feature data OCD in the storage unit 120 to identify the type of the guidance target. Thereafter, the process of step S15 ends, and the process proceeds to step S16 of FIG.

  As described above, by repeating the processing of steps S11 to S17, the guidance guidance processing based on the moving image photographed by the photographing unit 130 or the normal guidance guidance processing is executed at each guidance point. The

  As described above, in the present embodiment, based on the result of photographing by the photographing unit 130, a change target candidate whose position or appearance has changed in the direction of the future set travel route of the vehicle CR is extracted. And when a change target candidate is extracted, the visibility and uniqueness of each of the change target candidates are evaluated from the viewpoint of availability during guidance guidance. As a result of the evaluation of the change target candidates, if there are change target candidates that are eligible for guidance, there is a change target candidate that has the highest eligibility among the change target candidates that have the eligibility. Decide on things.

  On the other hand, if the change target cannot be extracted, and if there are no change target candidates that are eligible for guidance and guidance, the position or appearance of the vehicle CR changes in the direction of the set travel route in the future. Unchangeable target candidates are extracted. Subsequently, the visibility and uniqueness of each unchanged target candidate are evaluated from the viewpoint of availability during guidance guidance. As a result of the evaluation of the unchanged target candidates, if there are unchanged target candidates that are eligible for guidance, the most qualified target target is selected from the qualified target targets. Determine the target for guidance.

  Next, voice information for guiding guidance is created using the determined guidance target as a mark. And the sound output unit 140 outputs the sound according to the produced | generated audio | voice information, and performs guidance guidance with respect to a user.

  Therefore, according to this embodiment, accurate and easy-to-understand guidance guidance can be performed at an appropriate timing.

[Modification of Example]
The present invention is not limited to the above-described embodiments, and various modifications can be made.

  For example, in the above embodiment, the voice is output at the time of guidance guidance, but the image display by the display unit 150 may be used together.

  Further, in the above embodiment, the control unit 110 controls the start and end of the shooting operation of the image pickup unit 130. On the other hand, the imaging unit 130 may always perform the imaging operation, and the control unit 110 may capture the imaging result sent from the imaging unit 130 as necessary.

  In the above embodiment, when the visibility of the change target candidate is evaluated, the change degree, size, and color of the position or appearance of each change target candidate are considered. Or you may make it evaluate the visibility of a change target candidate in consideration of two.

  In the above embodiment, when evaluating the visibility of the unchanged target candidate, the size and color of each unchanged target candidate are considered, but only one of them is considered. The visibility of the change target candidate may be evaluated.

  Further, in the above embodiment, when evaluating the change target candidate and the unchanged target candidate, the uniqueness is evaluated after the visibility is evaluated, but the visual recognition is performed after the uniqueness is evaluated. You may make it perform sex evaluation.

  In the above embodiment, the present invention is applied to a navigation apparatus mounted on a vehicle. However, the present invention can also be applied to an apparatus having a navigation function that moves with a moving body other than a vehicle.

  In the above embodiment, guidance guidance processing based on the photographing result is performed by executing a program by a computer. However, all or part of the guidance guidance processing is performed by a dedicated LSI (Large Scale Integrated circuit) or the like. You may make it carry out by the hardware using.

100 ... Navigation device (guidance guidance device)
110 ... control unit (extraction means, evaluation means, determination means, generation means)
130 ... Shooting unit (shooting means)
140 ... Sound output unit (presentation means)
DESCRIPTION OF SYMBOLS 700 ... Guide guidance apparatus 710 ... Imaging | photography means 720 ... Extraction means 730 ... Evaluation means 740 ... Determination means 750 ... Generation means 760 ... Presentation means

Claims (9)

A guidance and guidance device mounted on a movable body and performing guidance guidance on a movement path of the movable body,
Photographing means for photographing a moving image in a field of view including a direction along a future set movement route set for the moving body;
Extraction means for extracting a change target candidate whose position or appearance has changed in the direction of the future set movement path based on the result of photographing by the photographing means;
An evaluation means for evaluating the visibility and uniqueness of the extracted change target candidate when at least one change target candidate is extracted by the extraction means;
Determining means for determining a guidance target based on an evaluation result by the evaluation means;
Generating means for generating guidance guidance information for the future set travel route based on the determined guidance target;
Presenting means for presenting the generated guidance guidance information;
A guidance and guidance device comprising:   The evaluation means evaluates the visibility of the extracted change target candidate based on at least one of the degree of change, size, and color of the position or appearance of the extracted change target candidate. The guide guiding apparatus according to claim 1, wherein   The evaluation means includes the presence / absence of a similar change object similar to the extracted change target candidate in a direction other than the direction of the future set movement path, and if the similar change object exists, the extraction is performed. 3. The guidance apparatus according to claim 1, wherein the uniqueness of the extracted change target candidate is evaluated based on a similarity between the change target candidate and the similar change object. The extraction means captures the image by the photographing means when the change target candidate cannot be extracted and when the evaluation means evaluates that the visibility or uniqueness of the change target candidate is not sufficient. Based on the result, extract the unchanged target candidate whose position and appearance have not changed in the direction of the future set movement path,
The evaluation means evaluates the visibility and uniqueness of the extracted unchanged target candidate;
The guide guidance device according to any one of claims 1 to 3, wherein   The evaluation means evaluates the visibility of the extracted unchanged target candidate based on at least one of the size and color of the extracted unchanged target candidate. 4. The guidance and guidance device according to 4.   The evaluation means includes the presence or absence of a similar unchanged object similar to the extracted unchanged target candidate in a direction other than the direction of the future set movement path, and when the similar unchanged object exists. 6. The uniqueness of the extracted unchanged target candidate is evaluated based on the degree of similarity between the extracted unchanged target candidate and the similar unchanged object. Guide guidance apparatus of description. This is a guidance and guidance method that is used in a guidance and guidance device that is equipped with imaging means for capturing a moving image in a field of view including a direction along a future set movement route that is set for a movable body and that is mounted on the movable body. And
An extraction step of extracting a change target candidate whose position or appearance has changed in the direction of the future set movement path based on the imaging result by the imaging means;
An evaluation step of evaluating the visibility and uniqueness of the extracted change target candidate when at least one change target candidate is extracted in the extraction step;
A determination step of determining a guidance target based on an evaluation result in the evaluation step;
A generation step of generating guidance guidance information for the future set travel route based on the determined guidance target;
A presentation step of presenting the generated guidance guidance information;
A guidance guiding method comprising:   A guidance guidance program for causing a calculation means to execute the guidance guidance method according to claim 7.   9. A recording medium, wherein the guide guiding program according to claim 8 is recorded so as to be readable by a calculation means.

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