JP2011185951A - Navigation system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a navigation system for providing a display by which a sense of distance to a guide point (an intersection of a guide object) can be sensitively and instantaneously decided. <P>SOLUTION: The navigation system includes an object display control part 9 for calculating a distance from a point on the guide object showing a guide route to the guide point and setting a display form of the point on the guide object in accordance with the calculated distance, a display part 5 for superimposing the guide object on an image of the route to the guide point from a position of a driver's vehicle and displaying the superimposed image, and a real image obtaining part 2 for obtaining a real image having the front part of a vehicle imaged, so that the image of the route from the position of the driver's vehicle to the guide point is the real image obtained by the real image obtaining part 2 to display information showing at which distance an intermediate point between the position of the driver's vehicle and the guide point is located relative to the guide point in the display form set by the object display control part 9. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a navigation device, and more particularly, to a navigation device that performs a display that allows a sense of distance to a guide point to be sensed and instantaneously.

  In recent years, navigation devices that display a map around the vehicle position, calculate a route from the vehicle position to the destination, and perform route guidance based on the calculated route are widely used. In such a navigation device, the guidance route is displayed on the map image so as to be distinguishable from other roads (for example, by changing the color or increasing the line width), or is approaching on the guidance route. When a predetermined distance is reached to the intersection, a guide map of the intersection (for example, an enlarged view of the intersection) is displayed on the map image, which road should be traveled, and in which direction at the intersection The driver is able to figure out if it should proceed.

  However, while traveling, it is difficult to grasp the relative relationship between the vehicle position displayed on the map and the actual vehicle position, and the vehicle turns or passes before the intended target intersection. There is a problem of being fooled. Therefore, in order to present the distance to the guidance target intersection to the driver, a technique is disclosed in which the color of the arrow indicating the traveling direction at the intersection is changed according to the vehicle position and the distance to the guidance target intersection (patent) Reference 1).

JP-A-6-147909

  However, the prior art disclosed in Patent Document 1 changes the color of the entire arrow according to the vehicle position and the distance to the guidance target intersection (for example, the arrow color when the vehicle reaches 300 m before the intersection) Red, when the host vehicle reaches 200m before the intersection, the arrow color changes to yellow, and when the host vehicle reaches 100m before the intersection, the arrow color changes to blue). The driver only showed the distance between the points, and the driver could not obtain information on the distance between the vehicle position and the point in the middle of the guidance target intersection with respect to the intersection. Therefore, since it is not possible to obtain an indication of how far to reach the intersection (for example, 100m before the intersection) while traveling at a point slightly away from the intersection (for example, 300m before the intersection), the distance to the intersection There was a problem that it was difficult to grasp the feeling, and it was difficult to intuitively know when to prepare to turn.

  In particular, in the case where guidance is provided with a realistic display close to the actual scenery viewed by the driver, such as by superimposing an arrow on the route shown in the live-action image, the color of the entire arrow is uniform as in the prior art. In some displays, it is difficult to grasp the perspective, and it may be difficult to specify an intersection to bend.

In the prior art, at the moment when the driver looks at the screen, only the distance between the vehicle position at that time and the guidance target intersection can be confirmed, so for example, where is the 100 m point before the intersection. This cannot be grasped while traveling at a point before that (for example, a point 300 m before the intersection), and can only be grasped when the vehicle actually reaches 100 meters before the intersection. Therefore, it is necessary for the driver to constantly check the arrow color change in order to check how close he has been to the guidance target intersection, so that the driver needs to watch the screen or frequently view the screen. there were.

  SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a navigation device that performs display so that a sense of distance to a guidance point such as a guidance target intersection can be grasped sensuously and instantaneously.

  In order to achieve the above object, the navigation device of the present invention calculates a distance from a point on the guide object indicating a guide route to the guide point, and based on the calculated distance, calculates a point on the guide object. An object display control unit that sets a display mode; a display unit that displays the guidance object superimposed on an image of a route from the vehicle position to the guidance point; and a live-action image that acquires a real-life image obtained by imaging the front of the vehicle An image of a route from the vehicle position to the guide point is a live-action image acquired by the live-action image acquisition unit, and the distance between the vehicle position and the intermediate point of the guide point with respect to the guide point Is displayed in a display mode set by the object display control unit. The guidance point refers to a point targeted for guidance by the navigation device, such as a guidance target intersection (an intersection where the vehicle changes its route such as a right turn or a left turn), a destination, or a waypoint. The object display control unit superimposes the guidance object on the live-action image, so that the sense of distance to the guide point can be sensed on the live-action image in which the actual scene in front is projected as it is. It becomes easy to grasp the distance to the guide point in the real scenery that can be seen.

  Further, the navigation device of the present invention displays a map database storing map information and a map stored in the map database instead of a live-action image when the distance between the vehicle position and the guide point is larger than a predetermined distance. And a guidance mode switching unit.

  The guidance object to be superimposed on the real image is subjected to a transparency process so that the real image can be seen through. As a result, it is possible to avoid a situation in which a landscape in front (such as a vehicle running in front) is hidden behind an object and cannot be seen.

  As an example, the object display control unit sets the display color of the guidance object based on the calculated distance from the point on the guidance object to the guidance point. As a result, information on how far the intermediate point to the guide point is located with respect to the guide point is also displayed, so the driver can obtain a guide for grasping the sense of distance. The sense of distance to the guide point can be grasped sensuously and instantaneously. This eliminates the need for the driver to constantly watch the screen, thus enabling safe driving. Furthermore, since the display color of the guidance object changes based on the calculated distance from the point on the guidance object to the guidance point, even if the relationship between the display color and the distance is not clearly understood, the guidance point can be sensed. It becomes possible to grasp the distance.

  Preferably, the object display control unit sets the display color of the guidance object to change in a gradation based on the calculated distance from the point on the guidance object to the guidance point. As a result, the display color changes continuously according to the distance to the guide point, and the display color gradually approaches the color associated with the guide point closer to the intersection. It becomes possible to grasp the sense of distance to the guide point more sensuously.

Further, when the display color is changed for each predetermined section based on the calculated distance from the point on the guidance object to the guidance point (for example, the section from the guidance target intersection to 100 m before the intersection is red, and the section from 100 m to 200 m before the intersection In the vicinity of the intersection (in this case, within 100 m before the intersection), the entire arrow has the same display color. However, by setting the display color to change in a gradation, the arrow Display color can be changed based on the calculated distance from the point on the guide object to the guide point, and the driver can always grasp the sense of distance to the guide point.

  Further, the object display control unit may set the pattern on the guide object based on the calculated distance from the point on the guide object to the guide point. Preferably, the pattern density on the guidance object is set to be higher as the distance to the guidance point is shorter. As a result, an effect is obtained in which the density of the pattern on the guide object near the vehicle position gradually increases as it approaches the guide point, so that the driver can sensuously grasp the sense of distance to the guide point.

  Further, the object display control unit may set the shape on the guide object based on the calculated distance from the point on the guide object to the guide point. Preferably, the object display control unit displays a plurality of guide objects and sets the size of the guide object to be smaller as the distance to the guide point is shorter. As a result, an effect can be obtained in which the size of the guidance object near the vehicle position gradually decreases as the vehicle approaches the guidance point, so that the driver can sensuously grasp the sense of distance to the guidance point.

  According to the navigation device of the present invention, as is apparent from the means for solving the above-described problems, it is possible to perform a display that allows a sense of distance to the guide point to be sensed and instantaneously. This eliminates the need for the driver to constantly watch the screen, thus enabling safe driving.

The figure which shows the structure of the navigation apparatus concerning this invention. The flowchart which shows operation | movement of the navigation apparatus concerning this invention. Flow chart showing operation in live-action display mode The figure which showed the setting method of the camera visual field space in 3D map space The figure which showed the road part detected by road detection processing The figure which showed the arrangement position of the guidance object in 3D map space The figure which showed the distance setting method in distance setting processing It is the figure which showed the guidance object in the three-dimensional map space in the case of changing a display color like a gradation according to the distance to the guidance target intersection (when the reference color is two colors of red and blue). It is the figure which showed the guidance object displayed on the display part 5 in the case of changing a display color like a gradation according to the distance to a guidance object intersection (300m before the intersection). It is the figure which showed the guidance object displayed on the display part 5 in the case of changing a display color like a gradation according to the distance to a guidance object intersection (150m before the intersection). The figure shows the guidance object displayed on the display unit 5 when the display color is changed in a gradation according to the distance to the guidance target intersection (when the reference colors are red, yellow, and blue) is there The figure which showed the guidance object displayed on the display part 5 in the case of changing a display color for every predetermined area according to the distance to a guidance object intersection. The figure which showed the guidance object in the case of changing the density of the display color according to the distance to the guidance target intersection The figure which showed the guidance object displayed on the display part 5 in the case of changing the pattern on a guidance object according to the distance to a guidance object intersection The figure which showed the guidance object displayed on the display part 5 in the case of changing the shape of a guidance object according to the distance to a guidance object intersection.

  The navigation device of the present invention will be described below with reference to the drawings. In each drawing, components not related to the present invention are omitted. FIG. 1 is a configuration diagram showing a schematic configuration of a navigation device according to the present invention. The navigation device includes a positioning unit 1, a live-action image acquisition unit 2, a map DB 3, an input unit 4, a display unit 5, and a control unit 6.

The positioning unit 1 is a positioning sensor typified by a GPS (Global Positioning System), a gyro, and the like attached to the vehicle, and acquires information related to the position of the host vehicle. The photographed image acquisition unit 2 is a camera for imaging the front of the vehicle. The captured image may be a still image or a moving image.
The map DB 3 is a means for storing map information necessary for route guidance and search, and is realized by, for example, an HDD or a DVD.

The input unit 4 is means for inputting information related to the destination to the navigation device, and includes a remote controller, a touch panel, a voice input microphone, and the like.
The display unit 5 is, for example, a liquid crystal display that displays a map image or a photographed image.

  The control unit 6 is, for example, a CPU, and includes a route search unit 7, a guidance mode switching unit 8, and an object display control unit 9. The route search unit 7 searches for a route to the destination with reference to the information about the destination input by the input unit 4, the vehicle position information acquired by the positioning unit 1, and the map DB 3. The guidance mode switching unit 8 refers to the vehicle position information acquired by the positioning unit 1 and the guidance route searched by the route search unit 7, and calculates the distance to the next intersection where the vehicle passes. When the distance to the guidance target intersection is greater than a predetermined distance (mode switching distance), a map image is displayed (map display mode), and when the distance to the guidance target intersection is less than the predetermined distance, a live-action image is displayed. Display (actual display mode).

  In the live-action display mode, the object display control unit 9 superimposes a guide object indicating a guide route on the position of the road on the live-action image. As a result, when the driver approaches the guidance target intersection, the driver can grasp the intersection to bend by looking at the photographed image that directly reflects the actual scenery ahead. Furthermore, the object display control unit 9 calculates the distance from an arbitrary position on the route between the vehicle position and the guidance target intersection to the guidance target intersection, and sets the display color of the guidance object according to the distance. The detailed operation of the object display control unit 9 will be described later.

  Next, the operation of the navigation device according to the present invention will be described with reference to the drawings. FIG. 2 is a flowchart showing the operation of the navigation device according to the present invention. First, when a destination is set for the navigation device by the input unit 4 (YES in S1), the route search unit 7 takes a route to the destination based on the vehicle position information acquired by the positioning unit 1. Is searched (S2). When it is confirmed that the vehicle has not yet reached the destination (NO in S3), the guidance mode switching unit 8 searches whether a guidance target intersection exists in the route from the vehicle position to the destination. (S4). If there is no guidance target intersection in the route from the vehicle position to the destination (NO in S4), guidance is performed in the map display mode in which the guidance object is superimposed on the guidance route on the map (S7). On the other hand, when a guidance target intersection exists in the route from the vehicle position to the destination (YES in S4), the distance from the vehicle position to the guidance target intersection through which the vehicle passes next is calculated (S5). ). In the following, it is assumed that the distance between the vehicle position and the guidance target intersection is calculated periodically.

Next, the guidance mode switching unit 8 determines whether the distance between the vehicle position and the guidance target intersection is larger or smaller than the guidance mode switching distance (for example, a distance of 300 m to the guidance target intersection) (S6). When the distance to the guidance target intersection is larger than the guidance mode switching distance (NO in S6), guidance is performed in the map display mode (S7). On the other hand, when the distance to the guidance target intersection is equal to or less than the guidance mode switching distance (YES in S6), the live-action display that displays the live-action image acquired by the live-action image acquisition unit 2 and superimposes the guide object on the real-action image The guidance is switched to the mode (S8). Details of the guidance method in the live-action display mode will be described later. When it is determined that the vehicle has passed the guidance target intersection (YES in S9), the guidance mode switching unit 8 determines again in which mode the guidance is to be performed (S4 to S6), and reaches the destination from the vehicle position. When there is no guidance target intersection on the route, and when the distance between the vehicle position and the guidance target intersection is larger than the guidance mode switching distance, the guidance is switched to the map display mode. On the other hand, when the distance between the vehicle position and the guidance target intersection is equal to or less than the guidance mode switching distance, the live-action display mode is continued. The route guidance is performed until the destination is reached (YES in S3).

  Next, the operation in the live-action display mode will be described using the flowchart shown in FIG. First, the object display control unit 9 includes a three-dimensional map stored in the map DB 3, a camera position, a camera angle (horizontal angle, elevation angle), and a focus, which are parameters that determine the imaging direction and imaging range of the captured image acquisition unit 2. Based on the distance and the image size, the visual field space of the camera in the three-dimensional map space is obtained (S11). Here, the three-dimensional map is a map in which position information is represented by latitude, longitude, and height. The visual field space of the camera is performed by a method as shown in FIG. In a three-dimensional map space, a point (point F) advanced from the camera position (viewpoint) E by the focal length f in the camera angle direction is obtained, and a horizontal x vertical y plane (camera screen) corresponding to the image size is viewed there. Set to be perpendicular to the vector connecting E and point F. Next, a three-dimensional space formed by a half line connecting the viewpoint E to the four corner points of the camera screen is obtained. This three-dimensional space theoretically extends to infinity, but is censored at an appropriate distance from the viewpoint E, and is defined as a visual field space. Note that instead of the 3D map, a 2D map obtained by removing height information from the 3D map may be used to obtain the camera viewing space in the 2D map space. In addition, the parameters for determining the imaging direction and the imaging range are not limited to those described above. If the imaging direction and the imaging range are determined, conversion may be performed using other parameters such as the angle of view. .

  Next, the object display control unit 9 performs a road detection process for detecting a road and its position in the visual field space of the camera in the three-dimensional map space (S12). In the road detection process, in the three-dimensional map space, an overlap between the camera view space and the road area is obtained. FIG. 5 shows the roads detected by the road detection process. FIG. 5 is a view of the three-dimensional map space and the camera visual field from above. As shown in FIG. 5, a road surrounded by a visual field space (a portion surrounded by diagonal lines) is detected by road detection processing.

  Next, the object display control unit 9 arranges the guidance object at a position on the road corresponding to the guidance route searched by the route search unit 7 among the roads detected by the road detection process in the three-dimensional map space. (S13). FIG. 6 shows the arrangement position of the guide object. The shape of the guide object is not limited to the arrow shape shown in FIG. 6, and for example, a polygonal line shape obtained by removing the triangle at the tip from the arrow shape may be used.

Next, the object display control unit 9 associates each point on the guidance object with the distance to the guidance target intersection (distance setting process / S14). Specifically, as shown in FIG. 7, the distance from the guidance target intersection to the guidance target intersection at each position is calculated along the route. FIG. 7 shows a guidance object 300 m before the intersection, and at each point from the vehicle position to the guidance target intersection, the distance to the guidance target intersection is assigned in the range of 0 to 300 m. Note that the position (origin) of the guidance target intersection is not limited to the location illustrated in FIG. 7, and may be a location such as the center of a bent portion of an arrow graphic. The distance between the point on the guidance object and the guidance target intersection may be associated with the minimum amount necessary to determine the display mode of the guidance object.

  Next, based on the result of the distance setting process, the object display control unit 9 colors the guidance object according to the distance to the guidance target intersection (color arrangement process S15). For example, as shown in FIG. 8, the color arrangement process arranges red at a position corresponding to the guidance target intersection (distance 0 m to the intersection) and blue at a position corresponding to the own vehicle position (distance 300 m to the intersection). The color is gradually changed in a gradation according to the distance to the guidance target intersection. As a result, the color gradually changes from blue to red from the own vehicle position to the guidance target intersection. For example, as shown in FIG. 8, in the vicinity of an intermediate position between the own vehicle position and the guidance target intersection (150 m to the intersection). Is colored purple, which is an intermediate color between red and blue. Of the guidance objects, the color of the part corresponding to the road after turning around the guidance target intersection (the part indicated by the range A in FIG. 8) may be the same red color as the origin, or on the left or right You may change the color depending on how you turn.

  Next, the object display control unit 9 performs projection conversion on the guidance object using the camera screen shown in FIG. 4 as a projection plane (projection processing / S16). Then, the display unit 5 superimposes the projected guide object on the real image acquired by the real image acquisition unit 2 and displays it on the display screen (S17). Since the projection plane onto which the guidance object is projected in the projection process coincides with the camera screen of the photographed image acquisition unit 2, the guidance object is superimposed on the road (corresponding to the guidance route) reflected on the photographed image. When a guide object is superimposed on a live-action image, the position of the road reflected in the camera is detected using known image recognition techniques such as white line detection and road edge detection, and the superimposed position of the guide object is corrected. It doesn't matter. In the real image mode, the real image display mode end condition (the guidance target intersection does not exist on the route from the vehicle position to the destination, or the distance between the vehicle position and the guidance target intersection is larger than the guidance mode switching distance. ) Is satisfied (YES in S18).

Next, FIG. 9 shows an example of a display screen displayed on the display unit 5 in front of the intersection 300 m. The guide object shown in FIG. 9 is obtained by projecting the guide object shown in FIG. 8 onto a live-action image. As shown in FIG. 9, the guidance object is drawn in red near the guidance target intersection, and is drawn in blue near the vehicle position. The section between the vehicle position and the guidance target intersection is drawn in a gradation from blue to red so that the closer to the guidance target intersection, the closer it is to red.

  FIG. 10 is a display screen when the vehicle further runs about 150 m from the state of FIG. 9 and reaches the position 150 m before the intersection. Since the color of the guidance object is determined by the distance to the intersection, as shown in FIG. 10, it is drawn in red in the same way as in FIG. 9 near the guidance target intersection, but it is 150 m before the intersection near the own vehicle position. It is drawn in purple. The section between the vehicle position and the guidance target intersection is drawn in a gradation from purple to red so that the closer to the guidance target intersection, the closer it is to red. That is, at 150 m before the intersection, only the portion indicated by the range B is drawn in the guide object shown in FIG.

  As described above, by setting the display color of the guidance object according to the distance from the arbitrary position on the route to the guidance target intersection, how much the halfway point to the guidance target intersection is relative to the guidance target intersection Information on whether the vehicle is located at the distance is also displayed, so the driver can obtain a guideline for grasping the sense of distance, and sense the distance to the guidance target intersection sensuously and instantaneously. Is possible. In particular, as in this example, when the display color of the guidance object is set to change in a gradation according to the distance to the guidance target intersection, the display color is continuous according to the distance to the guidance point. In addition, since the display color gradually approaches the color associated with the guide point as the position is closer to the intersection, the effect becomes remarkable.

  In addition, by superimposing a guide object on the position of the road (corresponding to the guide route) on the live-action image, a sense of distance to the guidance target intersection can be sensed on the real-image image that shows the actual scene ahead. It is possible to easily grasp the distance to the guidance target intersection in the actual scenery that can be seen through the windshield. In this case, the image displayed on the display unit 5 is displayed such that the host vehicle travels on the guidance object drawn on the road. In the above example, at the point 300 m before the intersection, there is a part of the guidance object drawn in blue in front of the own vehicle, and the part drawn in red appears far away. As the vehicle approaches the guidance target intersection, the display is changed as if the host vehicle travels on the guidance object. In the above example, as the guidance target intersection approaches, the color of the guidance object near the host vehicle approaches red, and the portion drawn in red gradually approaches. Such a display makes it easy to intuitively grasp the sense of perspective to the intersection, and it is possible to instantly grasp the distance to the guidance target intersection regardless of the position.

  Preferably, the guidance object superimposed on the photographed image is subjected to a transparency process so that the background can be seen through. As a result, it is possible to avoid a situation in which a landscape in front (such as a vehicle running in front) is hidden behind the guidance object and cannot be seen.

  In the above-described example, only two colors of red (guidance target intersection) and blue (own vehicle position) are used as reference colors in the color arrangement process, and interpolation is performed with an intermediate color between them. The colors used are not limited to two colors. For example, as shown in FIG. 11, it is possible to use three colors of red, yellow, and blue as a reference so that the color near the vehicle position gradually changes from blue to yellow to red as the vehicle approaches the intersection. Absent.

  The color set in the color arrangement process may not be a gradation display. For example, as shown in FIG. 12, the section from the guidance target intersection to 100 m before the intersection may be displayed in red, the section from 100 m to 200 m in front of the intersection may be displayed in yellow, and the section from 200 m to 300 m in front of the intersection may be displayed in blue. .

  In addition to changing the hue as in the above example, parameters such as color brightness, saturation, density, and contrast may be changed. FIG. 13 shows a display screen when the color density is changed. As shown in FIG. 13, an effect is obtained in which a darker area gradually approaches as the intersection approaches.

  In addition to the color, the pattern of the guide object may be changed. FIG. 14 shows a display screen when the pattern of the guidance object is changed according to the distance to the guidance target intersection. As shown in FIG. 14, by setting the distance between the patterns (horizontal lines) inside the guide object to be closer to the intersection, the pattern density on the object near the vehicle position gradually becomes closer to the guide point. Therefore, the driver can perceive the sense of distance to the guide point sensuously.

  Further, the shape of the guide object may be changed. As shown in FIG. 15, when the guidance display is composed of a plurality of guidance objects, if the size of the object closer to the intersection is made smaller, the driver can reach the intersection as in the case of FIG. Can sense the sense of distance. The pattern and shape of the guidance object are not limited to the above-described example as long as they change according to the distance to the intersection. In addition, as described above, the display color, the pattern, and the shape of the guidance object are not limited to being changed individually, and a combination of these may be displayed.

  In the above example, the description has been made assuming that the guidance point is the guidance target intersection. However, the present invention is not limited to this and may be a destination or a waypoint. In this case, for example, when reaching the destination 300 m, the guidance is switched to the live-action display mode in the same manner as the above-described guidance target intersection, and the color, shape, and pattern of the guidance object are changed according to the distance to the destination. By changing the distance, the distance to the destination is displayed to the driver in an intuitive manner.

  In addition, the actual image displayed in the actual image display mode is acquired by the camera that images the front, but it may be an intersection image stored in the HDD or acquired by communication. In the above example, the case where guidance is performed by superimposing a guidance object on the live-action display screen has been described. However, the present invention is applied to the case where the guidance object is superimposed on the guidance route on the map display screen, The color, shape, and pattern of the object may be changed according to the distance to the guide point. Even in this case, since the driver can obtain a guide for grasping the sense of distance, the sense of distance to the guide point can be grasped sensuously and instantaneously. In particular, when the present invention is applied to guidance in a driver viewpoint map display that reproduces a realistic landscape that the driver will actually see, the effect becomes remarkable. Further, the photographed image and the map image may be displayed on two screens, and the present invention may be applied to each image. In the above example, the camera is attached to the automobile. However, the present invention is not limited to this, and the camera may be attached to a mobile body such as a mobile phone.

  Although the present invention has been described in detail above, the above description is merely illustrative of the present invention in all respects and is not intended to limit the scope thereof. It goes without saying that various improvements and modifications can be made without departing from the scope of the present invention.

  The navigation device of the present invention has an effect that a sense of distance to a guide point can be sensed and instantaneously grasped, and the navigation device installed in the vehicle, a mobile phone or the like can be moved. It can also be used as a navigation device in the body.

1 Positioning unit 2 Live-action image acquisition unit 3 Map DB
4 Input unit 5 Display unit 6 Control unit 7 Route search unit 8 Guidance mode switching unit 9 Object display control unit

Claims (9)

An object display control unit that calculates a distance from a point on the guide object indicating the guide route to the guide point, and sets a display mode of the point on the guide object based on the calculated distance;
A display unit that superimposes and displays the guidance object on an image of a route from the vehicle position to the guidance point;
A real image acquisition unit that acquires a real image obtained by imaging the front of the vehicle,
The image of the route from the vehicle position to the guide point is a photographed image acquired by the photographed image acquisition unit,
A navigation device, characterized in that information indicating how far the vehicle position and the middle point of the guide point are located with respect to the guide point is displayed in a display mode set by the object display control unit. A map database for storing map information;
And a guidance mode switching unit for displaying a map stored in the map database instead of the live-action image when the distance between the vehicle position and the guidance point is larger than a predetermined distance. The navigation device according to claim 1. The navigation apparatus according to claim 1, wherein the object display control unit displays the guidance object so that the photographed image can be seen through. The navigation apparatus according to claim 1, wherein the object display control unit sets a display color of the guidance object based on the calculated distance. The navigation device according to claim 4, wherein the object display control unit sets the display color of the guidance object to change in a gradation based on the calculated distance. The navigation device according to claim 1, wherein the object display control unit sets a pattern on the guidance object based on the calculated distance. The navigation apparatus according to claim 6, wherein the object display control unit sets the pattern density on the guidance object to be higher as the calculated distance is shorter. The navigation device according to claim 1, wherein the object display control unit sets a shape of the guidance object based on the calculated distance. The object display control unit displays a plurality of guidance objects, and sets the size of the guidance object to be smaller as the distance to the guidance point is shorter. Navigation device.