JP2014011630A - Navigation device and guide line generation method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a navigation device capable of facilitating the generation of a guide line indicating a predictive locus predicted for the progress of a vehicle without limiting the model of a mounting vehicle and being affected by a circumferential environment.SOLUTION: In a navigation device, a camera 30 images a light emission unit 41 positioned right posterior or/and left posterior to a vehicle 20 from different positions due to the movement of the vehicle 20. An image processing unit 1 includes: an image memory processing section 11 for acquiring image and position information of light emission points by the light emission unit 41 within each captured image captured by the camera 30 from different positions; a guide line calculation section 14 for calculating a guide line connecting the respective light emission points on the basis of the image and position information of the respective light emission points acquired by the image memory processing section 11; and a drawing processing section 15 for storing a guide line calculated by the guide line calculation section 14.

Description

  The present invention relates to a navigation device and a guide line creation method for creating a guide line indicating the positional relationship of a vehicle.

  In recent years, with the widespread use of navigation devices, an increasing number of vehicles have a display installed in the vehicle compartment. Many devices have been proposed that provide driving assistance to the driver by displaying images around the vehicle on the display.

  For example, in Patent Document 1, the road surface marker irradiating device is installed in a vehicle, and the optical lens means changes the light emitted by the light emitting means for emitting the light toward the road surface around the vehicle into a linear light ray. Thus, a road surface marker irradiating device that irradiates the road surface with a linear line marker that is parallel to the front-rear direction or the width direction of the vehicle body is disclosed.

  Further, Patent Document 2 captures an image of the surroundings of a vehicle by a plurality of imaging units, acquires an image of the structures around the vehicle, and approximates the surface shape of a three-dimensional structure existing in the traveling direction of the vehicle. Then, when the vehicle travels along the current traveling direction, the position where the vehicle collides with the three-dimensional structure is estimated, and a composite image in which a mark representing the estimated collision position is superimposed on the screen is created. A driving assistance device is disclosed.

JP 2007-90938 A JP 2010-148058 A

  However, in the technique disclosed in Patent Document 1 described above, since the line marker is irradiated on the road surface, the reflectance of the line marker varies depending on the surface state of the road surface, and the line marker may be difficult to see depending on the road surface. There was a problem. Further, in the technology disclosed in Patent Document 2, the driving support device is manufactured on the production line even when the shape of the vehicle, the position where the camera or the sensor can be attached is different for each vehicle type, and the adjustment is made for each vehicle type. In addition, there is a need to install at the time of sale, or it is necessary to manufacture a device corresponding to each vehicle type, and there is a problem that the versatility of the driving support device is low and the device is expensive.

  The present invention has been made to solve the above-described problems, and is not limited to the type of vehicle to be mounted, and is not affected by the surrounding environment such as the state of the road surface, and the vehicle is expected to proceed. It is an object to easily create a guide line indicating a predicted trajectory.

  In the navigation device according to the present invention, the in-vehicle camera captures the light emitting unit located at the right rear side and / or the left rear side of the vehicle from different positions due to movement of the vehicle, and the video processing unit captures each of the in-vehicle camera images from different positions An image memory processing unit that acquires an image and position information of a light emitting point by the light emitting unit in the captured video, and a guide line that connects the light emitting points based on the image and position information of each light emitting point acquired by the image memory processing unit. A guide line calculation unit for calculation and a drawing processing unit for storing the guide line calculated by the guide line calculation unit are provided.

  According to this invention, it is not limited to the vehicle type of the vehicle to be mounted, and a predicted trajectory line suitable for the user's sense can be easily created without being affected by the surrounding environment.

It is a figure which shows the structure of the system carrying the navigation apparatus by Embodiment 1. FIG. 1 is a block diagram showing a configuration of a navigation device according to Embodiment 1. FIG. 5 is a flowchart showing a straight line guideline creating operation of the navigation device according to the first embodiment. It is a figure which shows the example of a display at the time of the straight line guideline preparation of the navigation apparatus by Embodiment 1. FIG. 5 is a flowchart showing a curve guideline creating operation of the navigation device according to the first embodiment. It is a figure which shows the example of a display at the time of the curve guideline preparation of the navigation apparatus by Embodiment 1. FIG. It is a figure which shows the example of a display at the time of the curve guideline preparation of the navigation apparatus by Embodiment 1. FIG. 6 is a diagram showing a display example when copying a guideline of the navigation device according to Embodiment 1. FIG. 10 is a flowchart showing a straight line guideline creating operation of the navigation device according to the second embodiment. 10 is a flowchart showing a curve guideline creating operation of the navigation device according to the second embodiment.

Embodiment 1 FIG.
FIG. 1 is a diagram showing a system equipped with a navigation apparatus according to Embodiment 1 of the present invention.
As shown in FIG. 1, the navigation device 10 is installed in a vehicle 20, and an image captured by a camera 30 disposed behind the vehicle 20 is input to the navigation device 10. Further, the navigation device 10 receives a reverse signal indicating that the vehicle 20 is in a state in which the vehicle 20 can move backward, such as lighting information of a back lamp of the vehicle 20 or gear position information of the vehicle 20. In addition, a light emitter such as an LED is disposed behind the vehicle 20 and in an area where the camera 30 can capture an image. In FIG. 1, the example which has arrange | positioned the remote control 40 provided with the light emission part 41 back and downward of the vehicle 20 is shown. The remote controller 40 is disposed by the user, and is disposed on a road surface where the light emission of the light emitting unit 41 can be imaged by the camera 30 with the light emission of the light emitting unit 41 turned on. In addition to the remote controller 40, a light emitter of a camera mounted on a portable terminal may be used. In addition to LED light, any light that can be easily captured by the camera 30, such as infrared rays, is applicable.

FIG. 2 is a diagram showing the configuration of the navigation device according to Embodiment 1 of the present invention.
In FIG. 2, the guide line creation function of the navigation device 10 is mainly described, and the configuration corresponding to the navigation function for guiding the vehicle 20 is omitted.
The navigation device 10 includes a video processing unit 1, a video display unit 2, a gyro sensor 3, a reverse detection unit 4, and a control unit 5 as a guide line creation function.

  The video processing unit 1 stores the image and position information of the light emitting point included in the captured video input from the camera 30, and uses the stored light emitting point image and position information to guide the vehicle 20 when traveling backward ( A process of calculating and drawing (predicted trajectory) is performed. Here, the guideline (guide line) is a trajectory (straight guide line) that the vehicle is expected to pass when the vehicle 20 moves backward without rotating the handle of the vehicle 20 and the steering angle of the vehicle 20 to the right. It is a curved trajectory (curved guide line) that is predicted to pass when the vehicle travels backward with a maximum steering angle rotation in the left and right directions. Note that the present invention is not limited to these trajectories, and may be applied to the creation of a guideline in front of the vehicle, or may be applied to the creation of a guideline in a vehicle state desired by the user.

  The video display unit 2 includes a display unit 21 and an operation input unit 22. The display unit 21 includes, for example, a display and displays a captured image of the camera 30 input from the video processing unit 1 and an image in which an image of a light emission point and a guideline are superimposed on the captured image. The operation input unit 22 is configured with a touch panel, for example, and is placed on the screen of the display unit 21. The operation input unit 22 receives an operation input on the display screen of the display unit 21 and outputs the received operation instruction to the control unit 5.

  When the reverse detection unit 4 detects the input of a reverse signal indicating that the vehicle 20 is in a reverse drive state, such as information on lighting of the back lamp input from the vehicle 20 side or gear position information of the vehicle 20, the reverse detection is performed. Information is output to the control unit 5. The gyro sensor 3 acquires the steering angle of the vehicle 20 and outputs steering angle information to the control unit 5. The control unit 5 instructs each component of the video processing unit 1 to perform video processing corresponding to the operation instruction input from the operation input unit 22. Further, when the control unit 5 detects that the vehicle has entered a reverse mode with reference to the reverse detection information input from the reverse detection unit 4, the control unit 5 refers to the steering angle information input from the gyro sensor 3, It determines whether to display a straight line guideline or a curve guideline, and outputs a display instruction for the determined guideline to the video processing unit 1.

Next, a detailed configuration of the video processing unit 1 will be described.
The video processing unit 1 includes an image memory processing unit 11, an image superimposing unit 13, a guideline calculation unit 14, and a drawing processing unit 15.
The image memory processing unit 11 acquires the position information of the light emitting point in the captured video input from the camera 30 and records the acquired position information and the image of the light emitting point in the memory unit 12. The image superimposing unit 13 creates a superimposed image by superimposing the image of the light emitting point recorded in the memory unit 12 of the image memory processing unit 11 on the current captured video input from the camera 30. The arrangement of the image of the light emission points when creating the superimposed image is performed based on the position information of the light emission points recorded in the memory unit 12. Also, a process of superimposing the created guideline on the current captured image is performed.

  The guideline calculation unit 14 creates a default guideline that connects a plurality of light emission points in the superimposed image using a default guideline that is held in advance. Further, the default guideline is adjusted based on the default guideline adjustment instruction input via the operation input unit 22 and the control unit 5, and a final guideline is created.

  The drawing processing unit 15 stores in the memory unit 16 the guideline created by the guideline calculation unit 14 and the position coordinates of the light emitting point referred to when the guideline is created. Further, the drawing processing unit 15 draws a limit line using the position coordinates of the light emitting points of the captured image before the guideline creation. The limit line is a guide line for recognizing a limit point of movement when the vehicle moves backward. Further, the drawing processing unit 15 uses the guidelines stored in the memory unit 16 to copy a line-symmetric guideline with an arbitrary line as a center line. The guideline is copied by creating the right side guideline of the vehicle 20 with reference to the actual light emission point, and copying the created right side guideline as the left side guideline of the vehicle. This can reduce the guideline creation process.

Next, a guideline creation process using the navigation device 10 according to the first embodiment will be described. The description is divided into a straight line guideline creation process and a curve guideline creation process.
It is assumed that a straight line guideline creation process is selected as a setting of the navigation device 10 as a premise for creating a straight line or a curved guideline. In addition, the remote controller 40 is disposed at a point separated from the rear part of the vehicle 20 by an arbitrary distance, and on an extension line on the right side surface or the left side surface of the vehicle 20 or on a road surface separated by an arbitrary distance from the extension line. To do. Furthermore, it is assumed that the light emitting unit 41 of the arranged remote controller 40 is captured by the camera 30.

First, the straight line guideline creation process will be described with reference to FIGS. 3 and 4.
FIG. 3 is a flowchart showing the straight line guideline creation process of the navigation device 10 according to the first embodiment.
The drawing processing unit 15 detects a light emitting point from the captured image input from the camera 30, and draws a limit line indicating the backward limit of the vehicle 20 from the detected light emitting point (step ST1). The limit line can be appropriately set such as drawing with a straight line that passes through the detected light emitting point and is parallel to the bumper behind the vehicle 20 included in the captured image. When the limit line is drawn, the image memory processing unit 11 shifts to the first measurement point recording mode (step ST2), and determines whether or not a recording instruction is input through the operation input unit 22 (step ST2). Step ST3). When a recording instruction is input (step ST3; YES), the image memory processing unit 11 sets a light emitting point present in the current captured video as a first measured point, and uses an image and position information of the first measured point. Obtained and recorded in the memory unit 12 (step ST4).

  Next, the image memory processing unit 11 shifts to the recording mode of the second actual measurement point (step ST5), and determines whether or not a recording instruction is input via the operation input unit 22 (step ST6). When a recording instruction is input (step ST6; YES), the image memory processing unit 11 uses a light emitting point present in the current captured video as a second measured point, and acquires an image and position coordinates of the second measured point. Is recorded in the memory unit 12 (step ST7). Note that the vehicle 20 goes straight ahead an arbitrary distance from when the recording instruction is input in the first measurement point recording mode to when the recording instruction is input in the second measurement point recording mode. The actual measurement point and the second actual measurement point exist at different positions.

  On the other hand, in the determination process of step ST3, when a recording instruction is not input within a predetermined time (step ST3; NO), the process ends. Further, in the determination process of step ST6, when a recording instruction is not input within a predetermined time (step ST6; NO), the process returns to step ST2 and the above-described process is repeated.

  When the first actual measurement point and the second actual measurement point are recorded, the mode shifts to the guideline calculation mode (step ST8), and the default guideline is set based on the position information of the first actual measurement point and the second actual measurement point recorded in the memory unit. Drawing is performed (step ST9). The guideline calculation unit 14 determines whether or not an adjustment instruction for the drawn default guideline has been input (step ST10). When the adjustment instruction is input (step ST10; YES), the guideline calculation unit 14 adjusts the drawing of the default guideline based on the input adjustment instruction, and the straight line guideline passing through the first actual measurement point and the second actual measurement point. Is recorded in the memory unit 16 of the drawing processing unit 15 (step ST11), and the process is terminated. On the other hand, when the adjustment instruction is not input within the predetermined time (step ST10; NO), the process returns to step ST5 and the above-described process is repeated.

FIG. 4 is a diagram illustrating a display example of the display unit 21 during the straight line guideline creation process illustrated in FIG. 3.
FIG. 4A is a diagram illustrating a display example corresponding to the processing from step ST2 to step ST4.
When the process proceeds to the first measured point recording mode as step ST2, the current light emitting unit 101 of the remote controller 40, the recording button 102 for requesting recording of the image and position information of the light emitting unit 101, the display screen 100 of the display unit 21, A message 103 for guiding the recording process of one actual measurement point is displayed. As shown in FIG. 4, it is assumed that the remote controller 40 is disposed on the right side with respect to the traveling direction of the vehicle 20. In the example of FIG. 4A, the position of the light emitting unit 101 in drawing the limit line and the recording of the first measured point, that is, the arrangement position of the remote controller 40 are the same.

  When the recording button 102 in FIG. 4A is pressed, the operation input unit 22 detects the pressing of the recording button 102 and outputs a recording instruction to the control unit 5. The control unit 5 outputs the input recording instruction to the image memory processing unit 11. When a recording instruction is input from the control unit 5, the image memory processing unit 11 determines “YES” in the determination process of step ST3, and records the image and position information of the light emitting unit 101 in the memory unit 12 as step ST4.

FIG. 4B is a diagram showing a display example corresponding to the processing from step ST5 to step ST7.
When the process proceeds to the second actual measurement point recording mode as step ST5, the image superimposing unit 13 displays the image and position of the first actual measurement point acquired from the memory unit 12 of the image memory processing unit 11 in the current captured image on the display screen 100 ′. The first measured point 104 is superimposed and displayed using the information. Further, the display unit 21 displays a current light emitting unit 101 ′ of the remote controller 40, a recording button 105 for requesting recording of an image and position information of the light emitting unit 101 ′, and a message 106 for guiding the recording process of the second measured point. The

  The user moves the vehicle straight in the traveling direction while checking the display screen 100 ′ in FIG. 4B, stops the vehicle at an arbitrary position, and then presses the recording button 105. The operation input unit 22 detects the pressing of the recording button 105 and outputs a recording instruction to the control unit 5. The control unit 5 outputs the input recording instruction to the image memory processing unit 11. When the recording instruction is input from the control unit 5, the image memory processing unit 11 determines “YES” in the determination process of step ST6, and records the image and position information of the light emitting unit 101 ′ in the memory unit 12 as step ST7. .

FIG. 4C is a diagram showing a display example corresponding to the processing from step ST8 to step ST10.
When the process proceeds to the guide run calculation mode as step ST8, the image superimposing unit 13 displays the current captured image on the display screen 100 ″ and the first actual measurement point and the second actual measurement point acquired from the memory unit 12 of the image memory processing unit 11. The first measured point 104 and the second measured point 107 are superimposed and displayed using the image and the position information. Further, a message 108 for guiding the creation of a guideline and an OK button 109 for determining adjustment of the guideline are displayed.

  The guideline calculation unit 14 calculates and draws the default guideline 110 as step ST9. An A adjustment point 110a and a B adjustment point 110b are displayed at both ends of the default guideline 110. A selection button 111 for selecting one of the adjustment points 110a and 110b and an arrow key 112 for moving the adjustment point selected by the selection button 111 are provided. Is displayed. While confirming the display screen of FIG. 4C, the user selects the B adjustment point 110 b with the selection button 111 and operates the arrow key 112 to make the B adjustment point 110 b coincide with the second actual measurement point 107. When the A adjustment point 110a is deviated from the first actual measurement point 104, the A adjustment point 110a is also adjusted.

  When the adjustment of the default guideline 110 is completed, the user presses the OK button 109. The operation input unit 22 detects that the OK button 109 is pressed, and outputs a default guideline adjustment instruction to the control unit 5. The control unit 5 outputs the input default guideline adjustment instruction to the guideline calculation unit 14. When the default guideline adjustment instruction is input from the control unit 5, the guideline calculation unit 14 determines “YES” in the determination process of step ST10, draws the default guideline adjusted in step ST11 as the final guideline, and draws the drawing. The data is recorded in the memory unit 16 of the processing unit 15.

  In the example of FIG. 4, an example in which a guideline is created by arranging the remote controller 40 on the right side with respect to the traveling direction of the vehicle 20 and in the vicinity of the bumper behind the vehicle 20 is shown. On the other hand, the guideline corresponding to the left-right direction of the vehicle 20 can be created by arranging the remote controller 40 in the vicinity of the bumper behind the vehicle 20 on the left side.

Next, the curve guideline creation process will be described with reference to FIGS. 5 and 6A and 6B.
In the curve guideline creation process, it is necessary to create a guideline in two states, a state in which the steering wheel of the vehicle 20 is rotated to the maximum rudder angle in the right direction and a state in which the steering wheel is rotated to the left in the maximum direction.
FIG. 5 is a flowchart showing the straight line guideline creation process of the navigation device of the first embodiment.
In the following, the same steps as those in the flowchart shown in FIG. 3 are denoted by the same reference numerals as those used in FIG. 3, and the description thereof is omitted or simplified.
When the limit line is drawn in step ST1, the image memory processing unit 11 shifts to a measurement point recording mode (step ST21), and determines whether or not a recording instruction is input via the operation input unit 22. (Step ST22). When a recording instruction is input (step ST22; YES), the image memory processing unit 11 uses a light emitting point present in the current captured image as an actual measurement point, acquires an image of the actual measurement point and position information, and acquires the memory unit 12. (Step ST23). On the other hand, in the determination process of step ST22, when a recording instruction is not input within a predetermined time (step ST22; NO), the process is terminated.

  The image memory processing unit 11 determines whether or not the actually measured points recorded with reference to the memory unit 12 have reached a specified number (step ST24). If the specified number has not been reached (step ST24; NO), the process returns to step ST21 and the above-described process is repeated. It should be noted that the vehicle 20 moves forward to an arbitrary distance between the time when the actual measurement point recording instruction is input and the time when the mode changes to the new actual measurement point recording mode and the new actual measurement point recording instruction is input. Suppose you are.

  On the other hand, when the specified number is reached (step ST24; YES), the process shifts to the guideline calculation mode (step ST25), and the default guideline is drawn based on the position information of the plurality of actually measured points recorded in the memory unit 12 (step ST25) ST26). In drawing a default guideline for a plurality of actual measurement points, an actual measurement point located at the shortest distance from an actual measurement point closest to the limit line is selected, and a default guideline is drawn based on position information of the two actual measurement points. Next, an actual measurement point that is located closest to the actual measurement point selected in the previous drawing process is selected, and a default guideline is drawn based on the position information of the two actual measurement points. In this way, by repeating the drawing of the default guideline between two actually measured points, one default guideline connecting a plurality of actually measured points is drawn.

  The guideline calculation unit 14 determines whether or not an adjustment instruction for the drawn default guideline has been input (step ST27). When an adjustment instruction is input (step ST27; YES), the guideline calculation unit 14 adjusts the drawing of the default guideline based on the input adjustment instruction and stores it in a temporary storage area (not shown) (step ST28). ). On the other hand, when the adjustment instruction is not input within the predetermined time (step ST27; NO), the process returns to step ST21 and the above-described process is repeated.

  Next, the guideline calculation unit 14 determines whether or not the drawing of all the default guidelines connecting the actual measurement points has been adjusted (step ST29). When drawing of all the default guidelines is adjusted (step ST29; YES), the guideline calculation unit 14 acquires data from the temporary storage area, draws a curve guideline connecting a plurality of actual measurement points, and draws the curve guideline. The data is recorded in the memory unit (step ST30), and the process ends. On the other hand, when the drawing of all the default guidelines has not been adjusted (step ST29; NO), the process returns to step ST27 and the above-described process is repeated.

6A and 6B are diagrams showing display examples in the curve guideline creation process shown in FIG. 6A and 6B show an example in which a curve guideline is created using four actually measured points.
FIGS. 6A (a) to 6B (d) are diagrams showing display examples corresponding to the processing from step ST21 to step ST24.
In step ST21 in FIG. 6A, when the measurement point recording mode is entered, the display screen 200 of the display unit 21 records the current light emitting unit 201 of the remote control 40, the image for recording the light emitting unit 201 and the recording of position information. A button 202 and a message 203 for guiding the recording process of the measured points are displayed. Further, a transition button 204 for instructing transition to the next guideline calculation mode is also displayed. It should be noted that the transition button 204 is displayed so that it cannot be selected until a specified number of actually measured points are recorded.
6A and 6B, the light emitting unit 201 is displayed on the right side with respect to the traveling direction of the vehicle 20. Similarly, in the example of FIG. 6A (a), the position of the light emitting unit 201 in the drawing of the limit line and the recording of the first actual measurement point, that is, the arrangement position of the remote controller 40 are the same.

  When the recording button 202 in FIG. 6A is pressed, the operation input unit 22 detects the pressing of the recording button 202 and outputs a recording instruction to the control unit 5. The control unit 5 outputs the input recording instruction to the image memory processing unit 11. When a recording instruction is input from the control unit 5, the image memory processing unit 11 determines “YES” in the determination process of step ST22, and records the image and position information of the light emitting unit 201 in the memory unit as step ST23.

  The image memory processing unit 11 determines that the measured points recorded with reference to the memory unit have not reached the specified number (here, the specified number = 4), and shifts to the next measured point recording mode as step ST21. The image superimposing unit 13 adds the first measured point to the current captured video on the display screen 200 ′ based on the image and the position information of the measured point acquired in the first process acquired from the memory unit 12 of the image memory processing unit 11. 205 is superimposed and displayed. Further, on the display screen 200 ′, a current light emitting unit 201 ′ of the remote controller 40, a recording button 202 for requesting recording of an image and position information of the light emitting unit 201 ′, and a message 203 for inducing a recording process of actual measurement points are displayed. .

  The user moves the vehicle 20 straight in the traveling direction while confirming the display screen 200 ′ in FIG. 6A (b), stops the vehicle 20 at an arbitrary position, and then presses the recording button 202. The operation input unit 22 detects pressing of the recording button 202 and outputs a recording instruction to the control unit 5. The control unit 5 outputs the input recording instruction to the image memory processing unit 11. When the recording instruction is input from the control unit 5, the image memory processing unit 11 determines “YES” in the determination process of step ST22, and records the image and position information of the light emitting unit 201 ′ in the memory unit 12 as step ST23. .

  In step ST24, the image memory processing unit 11 determines that the measured points recorded with reference to the memory unit 12 have not reached the specified number (here, the specified number = 4). In step ST21, the next measured point is recorded. Enter mode. As shown in FIG. 6A (c) and FIG. 6B (d), the above-described processing is repeated until the specified number (= 4) is reached. In FIG. 6A (c), the first actual measurement point 205, the second actual measurement point 206, and the current light emitting unit 201 ″ are superimposed and displayed on the current captured image. Further, in FIG. 6B (d), the first actual measurement point 205, the second actual measurement point 206, the third actual measurement point 207, and the current light emitting unit 201 "" are superimposed and displayed.

  In the screen of FIG. 6B (d), the recording button 202 of the current light emitting unit 201 ″ ″ is pressed, and the determination processing in step ST 22 and the image and position information of the light emitting unit 201 ″ in step ST 23 are stored in the memory unit 12. When the recording process is performed, it is determined that the actual measurement points recorded in the determination process of step ST24 have reached the specified number, and the transition button 204 ′ on the display screen 200 ″ ″ is enabled. When the user presses the transition button 204 ′, the operation input unit 22 detects the pressing of the transition button 204 ′ and outputs a guideline calculation mode transition instruction to the control unit 5. The control unit 5 outputs the input guideline calculation mode transition instruction to the video processing unit 1. When an instruction for shifting to the guideline calculation mode is input from the control unit 5, the video processing unit 1 shifts to the guideline calculation mode as step ST25.

FIG. 6B (e) is a diagram showing a display example corresponding to the processing from step ST23 to step ST29.
The image superimposing unit 13 changes the first captured image on the display screen 200 ′ ″ ″ based on the first to fourth measured point images and position information acquired from the memory unit 12 of the image memory processing unit 11. The actual measurement point 205, the second actual measurement point 206, the third actual measurement point 207, and the fourth actual measurement point 208 are drawn. Further, a message 209 for guiding the guideline creation and an OK button 210 for determining the guideline adjustment are displayed.

  The guideline calculation unit 14 calculates and draws the default guidelines 211a, 211b, and 211c as step ST26. An A adjustment point 212a and a B adjustment point 212b are displayed at both ends of the default guideline 211a, a B adjustment point 212b and a C adjustment point 212c are displayed at both ends of the default guideline 211b, and a C adjustment point at both ends of the default guideline 211c. 212c and D adjustment point 212d are displayed. Further, a selection button 213 for selecting one of the adjustment points 212a, 212b, 212c, and 212d, and an arrow key 214 for moving the adjustment point selected by the selection button 213 are displayed.

  The user selects an adjustment point to be adjusted with the selection button 213 while confirming the display screen 200 ′ ″ ″ of FIG. 6B (e), and operates the arrow key 214 to correspond to the actual measurement point corresponding to the selected adjustment point. Adjust to match. When the adjustment is completed, the user presses an OK button 210. The operation input unit 22 detects the pressing of the OK button 210 and outputs a default guideline adjustment instruction to the control unit 5. The control unit 5 outputs the input default guideline adjustment instruction to the guideline calculation unit 14. When the default guideline adjustment instruction is input from the control unit 5, the guideline calculation unit 14 determines “YES” in the determination process of step ST27, and stores the guidelines between the measured points adjusted in step ST28 in the temporary storage area.

  If it is determined in step ST29 that adjustment instructions for all the default guidelines 211a, 211b, and 211c have been input, the guideline calculation unit 14 temporarily stores a guideline connecting all the measured points 205, 206, 207, and 208 in step ST30. And is drawn as a curve guideline and recorded in the memory unit 16 of the drawing processing unit 15.

  In the example of FIGS. 6A and 6B, an example in which a guideline is created by arranging the remote controller 40 on the right side with respect to the traveling direction of the vehicle 20 and in the vicinity of the bumper behind the vehicle 20 is shown. A guideline corresponding to the left-right direction of the vehicle 20 can be created by arranging the remote controller 40 on the left side of the direction and in the vicinity of the bumper behind the vehicle 20 to create the guideline. In creating the curve guideline, the curve guideline corresponding to the left and right direction of the vehicle is created by changing the turning direction of the steering wheel to the opposite side.

  In the curve guideline creation process shown in FIG. 5 and FIGS. 6A and 6B, a configuration is shown in which the number of measurement points is set in advance as a specified number. However, the user selects an arbitrary number of measurement points. It may be configured. That is, the transition button 204 is always displayed on the display screen 200, the number of actually measured points determined to be necessary by the user is recorded, and the transition to the guideline calculation mode is performed by pressing the transition button 204. May be.

  Further, in the straight line and curved line guideline creation processing shown in FIGS. 3 to 6A and 6B, a guideline is created by arranging the remote controller 40 on the right side with respect to the traveling direction of the vehicle 20, and The guideline is prepared by arranging the remote controller 40 on the left side and the guideline corresponding to the left and right direction of the vehicle 20 is shown. However, the remote controller 40 is provided on the right side or the left side with respect to the traveling direction of the vehicle 20. It is also possible to copy one guideline created by arrangement and use it as the other guideline.

  For example, a button for requesting copy of a guideline is displayed on the display screen, and when the user presses the copy button, a guideline copy screen 300 shown in FIG. 7A is displayed. On the guideline copy screen 300, one prepared guideline 301, a centerline 302 passing through the center of the vehicle 20 or the centerline 302 of the display screen, a message 303 for guiding the guideline copy, and an arrow key for moving the centerline 302 304, an OK button 305 for instructing the start of copying is displayed. If necessary, the user operates the arrow key 304 to adjust the position of the center line 302 and presses an OK button 305. As illustrated in FIG. 7B, the drawing processing unit 15 copies the guideline 301 and draws the guideline 301 and the copied guideline 301 ′ so that the line is symmetrical about the center line 302.

  In addition to the copy processing that is line-symmetric with respect to the center line 302 shown in FIG. 7, the selection of an arbitrary center point (for example, the center point of the display screen 300 shown in FIG. 7) is accepted and selected. You may comprise so that the guide line after copying may be drawn so that it may become line symmetrical with respect to the perpendicular line which passes along a center point. Note that the vertical lines are created so as to be perpendicular to the upper and lower sides of the display screen 300 shown in FIG. 7, for example.

  Furthermore, in the curve guideline creation process, the curve guideline is created with the remote control 40 placed on the right side with respect to the traveling direction of the vehicle 20 and the steering wheel rotated to the right by the maximum steering angle. It is also possible to draw a curved line guideline in a state where the line is symmetrical about an arbitrarily set line segment and the steering wheel is rotated to the left by the maximum steering angle.

  Further, the straight line guideline may be created based on the curve guideline creation procedure shown in FIG. 5 and FIGS. 6A and 6B. That is, a plurality of actual measurement points are acquired while the vehicle 20 goes straight ahead by an arbitrary distance, and a guideline that passes through the plurality of actual measurement points is created. Accordingly, it is possible to create a guideline corresponding to distortion generated in the captured image when the camera 30 captures a wide range, and distortion generated in the captured image depending on the attachment position and angle of the camera 30.

  The created straight line guidelines and curved guide lines are recorded in the memory unit 16 of the drawing processing unit 15. When the reverse detection unit 4 detects the input of the reverse signal and outputs the reverse detection information to the control unit 5 in a state where the guideline creation mode of the navigation device 10 is exited, the control unit 5 executes guideline display control. When the reverse detection information is input, the control unit 5 acquires the steering angle information from the gyro sensor 3, and determines whether the vehicle 20 goes straight backwards or goes backward with the steering wheel rotated to the right. It is determined whether to move backward while rotating left. Based on the determination result, the control unit 5 instructs the drawing processing unit 15 to display a straight line guideline, a curve guideline for right rotation, or a curve guideline for left rotation.

  The drawing processing unit 15 acquires a guideline and a limit line corresponding to the display instruction input from the control unit 5 from the memory unit 16, draws the guideline and the limit line on the current captured video input from the camera 30, and displays the video It is displayed on the display unit 21 of the unit 2. The user moves the vehicle backward while referring to the guideline and the limit line displayed on the display unit 21.

  As described above, according to the first embodiment, the image memory process for acquiring the image of the light emitting point and the position information from the captured image obtained by photographing the light emitting unit 41 of the remote controller 40 arranged at an arbitrary position near the vehicle 20. An image superimposing unit that superimposes and displays an image of a light emitting point acquired on the current captured image, a guideline calculating unit that calculates a guideline that connects light emitting points existing in the superimposed image, and a calculated guideline. Since the drawing processing unit for recording is provided, the guideline is drawn using the light emitting points included in the captured image obtained by photographing the light emitting unit 41 without being affected by the shape or size of the vehicle to be mounted. be able to. In addition, since the light emitting point of the light emitting unit 41 is photographed, the guideline can be created without being affected by the surrounding environment such as the state of the road surface. Further, it is possible to draw a guideline simply by recording a light emitting point and drawing a straight line connecting the recorded light emitting points, and a predicted locus can be easily created.

  Further, according to the first embodiment, a guideline on one side of the created vehicle is copied, and a guideline arranged so as to be line-symmetric with respect to an arbitrary center line is used as a guideline on the other side of the vehicle. Since it is configured, the guideline creation procedure can be easily simplified.

  Furthermore, according to the first embodiment, in the curve guideline creation process, the guideline created with the steering wheel turned to the maximum rudder angle in one direction is copied so as to be symmetrical with respect to an arbitrary line segment. The guideline creation procedure can be easily simplified because the guideline arranged in (2) is configured as a guideline created with the steering wheel rotated to the maximum rudder angle in the other direction.

  Furthermore, according to the first embodiment, since the straight line guideline can be created in the curve guideline creation mode, it is possible to draw a guideline that takes into account the distortion of the captured image of the camera attached to the vehicle.

Embodiment 2. FIG.
In the first embodiment described above, a configuration has been described in which the user manually corrects the default guideline and creates the final guideline. However, in the second embodiment, an approximate straight line is generated by automatically calculating the guideline. The structure used as a guideline is shown. Note that the configuration of the navigation device 10 according to the second embodiment is the same as the components of the navigation device 10 according to the first embodiment, and therefore description thereof is omitted. Alternatively, description will be made with the same reference numerals as those used in Embodiment 1.
The guideline calculation unit 14 according to the second embodiment calculates an approximate straight line connecting two measured points to obtain a guideline.

  Next, automatic guideline creation processing of the navigation device 10 according to the second embodiment will be described with reference to the flowchart of FIG. In the following, the same steps as those of the navigation device 10 according to the first embodiment are denoted by the same reference numerals as those used in FIG. 3, and the description thereof is omitted or simplified. Furthermore, since the created guide line is the same as that of the first embodiment, a display example of the straight line guide line is assumed to refer to FIG.

  When the image and position information of the first actual measurement point and the second actual measurement point are recorded, and the mode shifts to the guideline calculation mode in step ST8, the guideline calculation unit 14 stores the position information recorded in the memory unit 12 of the image memory processing unit 11. Based on the above, the first actual measurement point and the second actual measurement point are specified, and an approximate straight line passing through the two specified points is calculated. The calculated approximate straight line is drawn as a guideline, recorded in the memory unit 16 of the drawing processing unit 15 (step ST42), and the process is terminated.

  More specifically, referring to FIG. 4B, when the first actual measurement point 104 and the second actual measurement point 101 ′ (the light emitting unit 101 ′ in the above description) are specified, this 2 An approximate straight line passing through the points is calculated. The two points specified by the guideline calculation unit 14 may be specified based on the position information as described above, or may be specified by the control unit 5 performing image recognition of the display image. Furthermore, two points may be specified based on a user touch performed via the operation input unit 22.

  Next, the curve guideline creation process of the navigation device 10 according to the second embodiment will be described with reference to the flowchart of FIG. In the following, the same steps as those of the navigation device 10 according to the first embodiment are denoted by the same reference numerals as those used in FIG. 5, and the description thereof is omitted or simplified. Further, since the created guide line is the same as that of the first embodiment, the display example of the curve guide line is assumed to refer to FIGS. 6A and 6B.

  When the image and position information of the specified number of actual measurement points are recorded, and the guideline calculation unit 14 shifts to the guideline calculation mode in step ST25, the guideline calculation unit 14 sets the specified number of images based on the position information recorded in the memory unit 12 of the image memory processing unit 11. Measured points are specified, and an approximate straight line connecting the specified measured points is calculated (step ST51). A curve guideline connecting a plurality of approximate straight lines calculated in step ST51 is drawn and recorded in the memory unit 16 of the drawing processing unit 15 (step ST52), and the process ends.

  More specifically, referring to FIG. 6B (d), the first actual measurement point 205, the second actual measurement point 206, the third actual measurement point 207, and the fourth actual measurement point 201 ′ ″ (in the above description, light emission is performed). When the portion 201 '') is specified, an approximate straight line connecting the first actual measurement point 205 and the second actual measurement point 206, an approximate straight line connecting the second actual measurement point 206 and the third actual measurement point 207, and the third actual measurement point 207 An approximate straight line connecting the fourth actual measurement points 201 "" is calculated. By connecting these approximate straight lines, one curve guideline is drawn. Identification of a plurality of actual measurement points by the guideline calculation unit 14 may be performed based on position information, or the control unit 5 may identify the display image by performing image recognition. Furthermore, two points may be specified based on a user touch performed via the operation input unit 22.

  As in the first embodiment, when the backward detection unit 4 detects the input of the backward signal and outputs the backward detection information to the control unit 5 in the state where the navigation device 10 has exited the guideline creation mode, the control unit 5 displays the guideline. Execute display control. When the reverse detection information is input, the control unit 5 acquires the steering angle information from the gyro sensor 3, and determines whether the vehicle 20 goes straight backwards or goes backward with the steering wheel rotated to the right. It is determined whether to move backward while rotating left. Based on the determination result, the control unit 5 instructs the drawing processing unit 15 to display a straight line guideline, a curve guideline for right rotation, or a curve guideline for left rotation.

  The drawing processing unit 15 acquires a guideline and a limit line corresponding to the display instruction input from the control unit 5 from the memory unit 16, draws the guideline and the limit line on the current captured video input from the camera 30, and displays the video It is displayed on the display unit 21 of the unit 2. The user moves the vehicle backward while referring to the guideline and the limit line displayed on the display unit 21.

  As described above, according to the second embodiment, the guideline calculation unit 14 specifies the actual measurement points, creates the approximate straight line connecting the specified actual measurement points, and creates the guideline. The guideline can be drawn automatically without the need for.

  In addition to the configuration of the second embodiment described above, the user may be asked to determine whether to apply the automatically drawn guideline. Or you may comprise so that the correction of the guideline drawn automatically may be received.

  In the first embodiment and the second embodiment described above, when the guideline calculation unit calculates the curve guideline, the configuration in which the measured points are connected with a straight line is shown.

  Moreover, in Embodiment 1 and Embodiment 2 described above, the configuration in which the measured point is recorded while the vehicle is moving forward is shown. However, the measured point is recorded while the vehicle is moved backward, and at the backward limit of the vehicle, You may comprise so that the last measurement point may be recorded.

  In the above-described first and second embodiments, the guideline and limit based on the display instruction of the straight line guideline, the right rotation curve guideline, or the left rotation curve guideline input to the drawing processing unit 15. Although the configuration in which the line is displayed on the display unit 21 is shown, the straight line guideline, the curve guideline for right rotation and / or the left rotation, and the limit line may be displayed on the display unit 21 at the same time.

  In the first embodiment and the second embodiment described above, one remote controller is arranged on the extension line of the right side surface or the left side surface of the vehicle or on the road surface separated from the extension line by an arbitrary distance. The configuration for recording actual measurement points for use was shown, but two remote controls are arranged on the right and left side extensions of the vehicle or on the road surface separated by an arbitrary distance from the extension lines. The actual measurement line may be recorded simultaneously.

  In the present invention, within the scope of the invention, any combination of the embodiments, or any modification of any component in each embodiment, or omission of any component in each embodiment is possible. .

  DESCRIPTION OF SYMBOLS 1 Image processing part, 2 Image | video display part, 3 Gyro sensor, 4 Backward detection part, 5 Control part, 10 Navigation apparatus, 11 Image memory processing part, 12, 16 Memory part, 13 Image superimposition part, 14 Guideline calculation part, 15 Drawing processing unit, 20 vehicle, 21 display unit, 22 operation input unit, 30 camera, 40 remote control, 41 light emitting unit.

Claims (9)

A vehicle-mounted camera attached to a position where a video around the vehicle can be photographed, a video processing unit that performs video processing of the video around the vehicle captured by the vehicle-mounted camera, and a video processed by the video processing unit are displayed. In a navigation device including a display unit that performs an operation input unit that receives an input operation for display on the display unit,
The in-vehicle camera captures a light emitting unit located on the right rear side and / or the left rear side of the vehicle from different positions by moving the vehicle,
The video processing unit
An image memory processing unit for acquiring an image and position information of a light emitting point by the light emitting unit in each captured image captured from a different position by the in-vehicle camera;
Based on the image and position information of each light emitting point acquired by the image memory processing unit, a guide line calculating unit that calculates a guide line connecting each light emitting point;
A navigation apparatus comprising: a drawing processing unit that stores a guide line calculated by the guide line calculation unit.   The guide line calculation unit calculates a guide line connecting the light emitting points using a preset default line, and receives the calculated guide line setting change via the operation input unit. The navigation device according to claim 1.   The navigation apparatus according to claim 1, wherein the guide line calculation unit calculates an approximate straight line connecting the light emitting points to obtain the guide line. The in-vehicle camera captures the light emitting unit from at least two different positions depending on the vehicle traveling straight,
The image memory processing unit acquires an image and position information of a light emitting point by the light emitting unit in each captured image captured from at least two different positions by the in-vehicle camera,
The guide line calculation unit calculates a straight guide line connecting each light emitting point based on at least two different light emitting point images and position information acquired by the image memory processing unit. The navigation device according to claim 3. The in-vehicle camera images the light emitting unit from at least three different positions by movement at the maximum steering angle of the vehicle,
The image memory processing unit obtains an image and position information of a light emitting point by the light emitting unit in each captured image captured from at least three different positions by the in-vehicle camera,
2. The guide line calculation unit calculates a curved guide line connecting each light emitting point based on at least three different light emitting point images and position information acquired by the image memory processing unit. The navigation device according to claim 4.   When the drawing processing unit is notified of the shift to the reverse state of the vehicle, the drawing processing unit draws the stored guide line in the captured image of the in-vehicle camera based on the positional information of each light emitting point, and the display unit The navigation device according to any one of claims 1 to 5, wherein the navigation device is displayed.   When the drawing processing unit is informed of the transition to the reverse traveling state of the vehicle and the detection of the straight traveling state of the vehicle, the drawing processing unit captures the straight traveling guide line stored based on the positional information of each light emitting point. The navigation device according to claim 4, wherein the navigation device is drawn inside and displayed on the display unit.   When the drawing processing unit is notified of the transition to the reverse state of the vehicle and the detection of the curved state of the vehicle, the drawing processing unit stores the curved guide line stored based on the recorded position information of the light emitting point. The navigation apparatus according to claim 5, wherein the navigation apparatus is drawn in the captured video and displayed on the display unit. In a guide line creation method for creating a guide line for a vehicle to park backward,
A step of photographing the light emitting unit located on the right rear side and / or the left rear side of the vehicle from a different position by the movement of the vehicle;
An image memory processing unit obtaining an image and position information of a light emitting point by the light emitting unit in each captured image captured by the in-vehicle camera from different positions;
A guide line creation method comprising: a guide line calculation unit calculating a guide line connecting each light emission point based on the acquired image and position information of the light emission point.

Images