JP2014178285A - Intersection land mark data creation device, method thereof, computer program for creating land mark data of intersection, and recording medium with computer program recorded thereon - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an apparatus for creating land mark data of an intersection to be used for intersection guidance, and a method thereof.SOLUTION: An intersection land mark data creation device includes a travel image storage unit which stores a travel image. An approach road for which land mark data is to be created, is specified as a target approach road. A travel image relating to the specified target approach road is read from the travel image storage unit. On the basis of a predetermined intuitive feature condition, a feature having the feature condition is extracted from the read travel image. The feature condition used in extracting the feature is associated with the specified target approach road, to create land mark data.

Description

  The present invention relates to an apparatus and a method for creating intersection mark data usable for intersection guidance.

With the recent spread of navigation devices, various navigation techniques have been developed to contribute to the convenience of users. For example, when turning left at an intersection on a guidance route, there is a technique of displaying an enlarged view of the vicinity of the intersection together with a schematic mark of the intersection, or guiding by voice using the name of the mark. According to the guidance that is easy to recognize intuitively in this way, it is preferable that it can be recognized without impairing the concentration of the driver who is traveling, but there are not a few intersections that do not have the mark information. It is.
As a technique related to the above, Patent Document 1 discloses a system that performs route guidance using landmark information.
Reference should also be made to US Pat.

JP 2010-531461 A JP 2003-344090 A

For intersections that do not have the above-mentioned landmark information, for example, when guiding the right and left turn points of the intersection, display the images taken at the site, and display the arrows indicating the course, etc. Can be considered. However, such guidance using local images is less visible and inferior to the guidance using the mark information that is modeled as described above.
Therefore, as a result of intensive studies to further improve convenience, the present inventor extracted features having characteristic conditions that are intuitively recognizable from the image, and based on the characteristic conditions of the features. I came up with creating landmark data for intersections.

The present invention has been made in view of the above-mentioned problems, and the first aspect is defined as follows. That is,
In the intersection landmark data creation device for creating landmark data of the intersection corresponding to the approach path to the intersection,
A traveling image storage unit for storing traveling images;
A target approach path identifying unit that identifies an approach path that is a target for creating the landmark data as a target approach path;
A travel image reading unit that reads a travel image related to the identified target approach path from the travel image storage unit;
Based on a predetermined intuitive feature condition, a feature extraction unit that extracts a feature having the feature condition from the read travel image;
A landmark data creation unit that creates the landmark data by associating the feature condition used in extracting the feature with the identified target approach path;
An intersection landmark data creation device comprising:

According to the intersection landmark data creation device of the first aspect defined as described above, a travel image related to the target approach route is read out for the target approach route identified as a target for creating intersection landmark data, and the travel image , A feature having a predetermined intuitive feature condition is extracted, and mark data is created by associating the feature condition used in the extraction with the target approach path. Based on the mark data created in this way, it is possible to guide with a mark that is easy for the driver to visually recognize, which contributes to the convenience of the driver.
Here, the predetermined intuitive characteristic condition can be one or more conditions selected from the shape, color, size, and height of the feature (third aspect).

The second aspect of the present invention is defined as follows. That is,
In the intersection mark data creating apparatus defined in the first aspect, the apparatus includes a feature position specifying unit that specifies whether the extracted feature is a feature located near the intersection,
The mark data creating unit creates the mark data based on the feature condition related to the identified feature.
According to the intersection mark data creation device of the second aspect defined as described above, more detailed guidance is possible in consideration of the positional relationship between the feature having the above characteristic condition and the intersection, and it is more convenient for the driver. Improves.

The fourth aspect of the present invention is defined as follows. That is,
A guide route storage unit for storing the guide route searched by the navigation system;
A landmark data storage unit that stores the landmark data created by the prescribed intersection landmark data creation device in any of the first to third aspects;
A target intersection identifying unit that identifies a target intersection for guidance in the guidance route as a target intersection;
A landmark data extraction unit for extracting landmark data relating to the identified target intersection from the landmark data storage unit;
A guide unit for guiding the guide route based on the extracted landmark data;
A navigation device comprising:
According to the navigation device of the fourth aspect defined in this way, it is possible to perform intersection guidance using landmark data created based on intuitive feature conditions. In this way, if guidance is provided with a mark that can be easily recognized through the driver's vision, the driver's concentration can be saved without any loss.

Even if it is the characteristic condition which can recognize the said feature intuitively, it may be difficult to visually recognize depending on traveling conditions, that is, traveling time zone, traveling speed, weather and the like.
Therefore, the fifth aspect of the present invention is defined as follows. That is,
In the navigation device defined in the fourth aspect, comprising a feature condition selection unit that selects the feature condition according to a running condition from the extracted landmark data,
The guide unit guides the guide route based on the selected feature condition in the extracted landmark data.

The sixth aspect of the present invention is defined as follows. That is,
In the intersection landmark data creation method for creating landmark data of the intersection corresponding to the approach path to the intersection,
A travel image storage step for storing the travel image in the travel image storage unit;
A target approach path specifying unit that specifies an approach path that is a target for creating the landmark data as a target approach path;
A travel image reading unit that reads a travel image related to the identified target approach road from the travel image storage unit;
A feature extraction step for extracting a feature having the feature condition from the read travel image based on a predetermined intuitive feature condition;
A landmark data creation unit creates the landmark data by associating the feature condition used in the extraction of the feature with the identified target approach path,
A method of creating intersection landmark data.
According to the sixth aspect of the invention thus defined, the same effect as the first aspect can be obtained.

The seventh aspect of the present invention is defined as follows. That is,
In the method defined in the sixth aspect, the feature position specifying unit includes a feature position specifying step for specifying whether or not the extracted feature is a feature located near the intersection,
In the mark data creating step, the mark data is created based on the feature condition relating to the identified feature.
According to the seventh aspect of the invention thus defined, the same effects as those of the second aspect can be achieved.

The eighth aspect of the present invention is defined as follows. That is,
In the method defined in the sixth or seventh aspect, the predetermined intuitive characteristic condition is one or more conditions selected from the shape, color, size, and height of the feature.
According to the invention of the eighth aspect defined as described above, the same effect as that of the third aspect can be obtained.

The ninth aspect of the present invention is defined as follows. That is,
A guide route storing step for storing the guide route searched by the navigation system;
A landmark data storage step of storing the landmark data created by the intersection landmark data creation method according to any one of claims 6 to 8 in a landmark data storage unit;
A target intersection specifying unit for specifying a target intersection as a target intersection in the guidance route;
A landmark data extracting step for extracting landmark data relating to the identified target intersection from the landmark data storage unit;
A guide unit for guiding the guide route based on the extracted landmark data;
A navigation method comprising:
According to the ninth aspect of the invention thus defined, the same effects as in the fourth aspect can be achieved.

The tenth aspect of the present invention is defined as follows. That is,
In the method defined in the ninth aspect, the feature condition selection unit includes a feature condition selection step of selecting the feature condition according to a running condition from the extracted landmark data,
In the guide step, the guide route is guided based on the selected feature condition in the extracted landmark data.
According to the tenth aspect of the invention thus defined, the same effects as in the fifth aspect are achieved.

Furthermore, the eleventh aspect of the present invention is defined as follows. That is,
A computer program for creating landmark data of an intersection corresponding to an approach path to an intersection, comprising:
Traveling image storage means for storing the traveling image;
A target approach route specifying means for specifying an approach route to be a target for creating the landmark data as a target approach route;
Travel image reading means for reading a travel image related to the specified target approach path from the travel image storage means,
Feature extraction means for extracting a feature having the characteristic condition from the read travel image based on a predetermined intuitive characteristic condition;
Mark data creating means for creating the mark data by associating the characteristic condition used when extracting the feature with the identified target approach path,
As a computer program.
According to the eleventh aspect of the invention thus defined, the same effects as in the first aspect can be achieved.

The twelfth aspect of the present invention is defined as follows. That is,
In the computer program defined in the eleventh aspect, the computer further comprises:
Function as a feature position specifying means for specifying whether or not the extracted feature is a feature located near the intersection;
The mark data creating means creates the mark data based on the feature condition related to the identified feature.
According to the twelfth aspect of the invention thus defined, the same effects as those of the second aspect can be achieved.

The thirteenth aspect of the present invention is defined as follows. That is,
In the computer program defined in the eleventh or twelfth aspect, the predetermined intuitive characteristic condition is one or more conditions selected from the shape, color, size, and height of the feature.
According to the thirteenth aspect of the invention thus defined, the same effects as those of the third aspect are achieved.

The fourteenth aspect of the present invention is defined as follows. That is,
A computer program for navigating a computer,
A guide route storing means for storing the guide route searched by the navigation system;
Mark data storage means for storing mark data created by the computer program according to any one of claims 11 to 13,
A target intersection specifying means for specifying a target intersection in the guidance route as a target intersection;
Landmark data extraction means for extracting landmark data relating to the identified target intersection from the landmark data storage means;
Guidance means for guiding the guidance route based on the extracted landmark data;
As a computer program.
According to the fourteenth aspect of the invention thus defined, the same effects as in the fourth aspect can be achieved.

The fifteenth aspect of the present invention is defined as follows. That is,
In the computer program defined in the fourteenth aspect, the computer is further
Of the extracted landmark data, function as a feature condition selection means for selecting the feature condition according to the running condition,
The guide means guides the guide route based on the selected feature condition in the extracted landmark data.
According to the fifteenth aspect of the invention thus defined, the same effects as in the fifth aspect are achieved.

  A recording medium for recording the computer program defined in any one of the 11th to 15th aspects is defined as the 16th aspect.

It is a block diagram which shows the structure of the intersection mark data production apparatus 1 of embodiment of this invention. It is a block diagram which shows the structure of the intersection mark data preparation apparatus 21 of other embodiment of this invention. It is a flowchart which shows an example of operation | movement of the intersection mark data creation apparatus 21 of other embodiment of this invention. 10 is a flowchart illustrating an example of detailed operation of Step 5; The computer program which comprises the intersection mark data creation apparatus 21 of other embodiment of this invention is shown. It is a block diagram which shows the structure of the navigation apparatus 31 of embodiment of this invention. It is a block diagram which shows the structure of the navigation apparatus 61 of the Example of this invention. It is a schematic diagram which shows an example of the identification method of the feature position of the feature position specification part 23. FIG.

An intersection mark data creating apparatus according to an embodiment of the present invention will be described.
FIG. 1 shows a schematic configuration of the intersection mark data creating apparatus 1.
As shown in FIG. 1, this intersection mark data creation device 1 includes a map data storage unit 3, a travel image storage unit 5, a feature condition storage unit 7, a target approach path specifying unit 9, a travel image reading unit 11, and feature extraction. A section 13, a landmark data creation section 15, and a landmark data storage section 17.

Map information is stored in the map data storage unit 3. The map information includes information on road elements for defining map information such as links and nodes, information drawn on the map, and the like.
The travel image is stored in the travel image storage unit 5 in association with the position information. Examples of the travel image include an image of the surroundings of a road photographed by a front in-vehicle camera of a vehicle that actually travels on the road. The traveling image may be a still image or a moving image. In addition, information related to the traveling direction may be associated with the travel image.

  The feature condition storage unit 7 stores a predetermined intuitive feature condition. The intuitive characteristic condition is not particularly limited as long as it is a condition capable of visually expressing the feature, but is preferably a condition that can be determined by image analysis of a running image. Examples of the condition relating to the visual feature include conditions relating to the shape, color, size, height, and the like of the feature. Specifically, the feature condition storage unit 7 relates to conditions related to the shape of features such as “cylindrical features” and “triangular features”, and colors of features such as “red features”. Feature conditions such as a condition, a condition relating to a size such as “large feature”, and a condition relating to a height such as “high feature” are stored. These feature conditions are preferably given data such as shape information, color information, area information, height information, etc. of the feature indicating the feature conditions so that it can be determined by image analysis. Two or more of the above conditions may be combined as a feature condition.

  The target approach path specifying unit 9 refers to the map data storage unit 3 and specifies an approach path to the intersection that is a target for creating mark data of the intersection. Although it does not specifically limit as the said specific method, For example, it can carry out by the said user of the apparatus manually or automatically. In the former case, for example, it can be specified by pointing a desired approach path on the map displayed on the screen based on the map data. In the latter case, it is possible to automatically specify an arbitrary approach path existing within a predetermined range.

  The travel image reading unit 11 reads a travel image related to the target approach path specified by the target approach path specifying unit 9 from the travel image storage unit 5. The reading method is not particularly limited, and a traveling image in which the position indicated by the position information of the traveling image is included in an area formed based on the target approach path can be read. The area can be formed so as to include, for example, the target approach path and the vicinity of an intersection where the target approach path enters. The travel image reading unit 11 may read all the travel images included in the region, or may read a part of the travel images. For example, a traveling image having position information in a predetermined range based on an intersection can be read out of the traveling images included in the region. Moreover, when the information regarding the traveling direction is associated with the traveling image, a traveling image corresponding to the traveling direction can be read out.

  The feature extraction unit 13 refers to the feature condition storage unit 7 and extracts the feature having the feature condition from the travel image read by the travel image reading unit 11. Although the extraction method is not particularly limited, it is possible to extract a feature that satisfies the above characteristic condition by performing image analysis of the read travel image. The feature may be extracted based on one of the characteristic conditions, or may be extracted based on two or more conditions. Specifically, when a “red building” is represented in the travel image, the “red building” is extracted as a feature based on the characteristic condition “red feature”. In addition, when a “high red building” is displayed in the travel image, the “high red building” is extracted as a feature based on the characteristic conditions “red feature” and “high feature”. You can do that. The feature conditions that correspond to the extraction are sent to a landmark data creation unit 15 to be described later.

  The landmark data creation unit 15 refers to the feature extraction unit 13 and the target approach path identification unit 9, associates the feature condition used when extracting the feature with the target approach path, and Mark data of the intersection where the target approach path enters is created. The created landmark data is stored in the landmark data storage unit 17 in association with the target approach path.

FIG. 2 shows an intersection mark data creation device 21 according to another embodiment. 2, the same elements as those in FIG. 1 are denoted by the same reference numerals, and the description thereof is partially omitted.
FIG. 2 shows an intersection mark data creation device 21 that can create mark data in consideration of the position of the extracted feature. That is, the apparatus 21 further includes a feature position specifying unit 23 in the apparatus 1 shown in FIG. 1, and instead of the landmark data creation unit 15 and the landmark data storage unit 17, a landmark data creation unit 25 and a landmark data storage unit 27.

The feature position specifying unit 23 specifies whether or not the feature extracted by the feature extracting unit 13 is a feature located near an intersection where the target approach path enters. The specific method is not particularly limited. For example, the specific method is read based on the position information of the traveling image read by the traveling image reading unit 11 and the position information of the intersection where the target approach path enters. By comparing the running images, it is possible to identify a feature located near the intersection among the extracted features.
In this device 21, the landmark data creation unit 25 extracts the feature for the feature specified by the feature position specification unit 23 in addition to the feature extraction unit 13 and the target approach path specification unit 9. At this time, the feature condition corresponding to the above is associated with the target approach road, and mark data of the intersection is created. The created landmark data is stored in the landmark data storage unit 27.

An example of the operation of the intersection mark data creation device 21 shown in FIG. 2 will be described with reference to FIG. This will be described below with reference to the schematic diagram shown in FIG.
First, in step 1, the target approach route specifying unit 9 refers to the map data storage unit 3 and specifies the approach route X to the intersection Y for which landmark data for the intersection Y is to be created (see FIG. 8). ).
In step 3, the traveling image reading unit 11 refers to the traveling image storage unit 5 and reads a traveling image having position information in a region R that is predetermined based on the target approach path X specified in step 1. .
In step 5, the feature extraction unit 13 extracts features having the feature condition stored in the feature condition storage unit 7 from the travel image read in step 3. In this example, the features A to C are listed as extraction candidate features.

An example of the detailed operation of step 5 will be described with reference to FIG.
First, in step 51, the feature extraction unit 13 extracts the contours of each feature recognized from the travel image read in step 3. In this example, the contours of the features A to C are extracted.
In step 53, the first feature occupying the maximum area among the features extracted in step 51 is specified. In this example, the feature A is identified as having the largest area of the feature A among the features A to C extracted in step 51.
In step 55, the second feature having the feature area following the first feature among the features extracted in step 51 is specified. In this example, for example, the feature C is identified among A to C extracted in step 51.
In step 57, it is determined whether or not the area ratio between the first feature area and the second feature area is equal to or greater than a predetermined threshold value. Here, the predetermined threshold value may be a value that can be determined to be large enough that the first feature can be recognized through the driver's vision with respect to the second feature, for example, 1.3 or more. it can.

When Yes in step 57, the color and shape of the feature A identified in step 53 are identified (step 59). In this example, the feature A is specified as a red, square-shaped feature.
In step 61, the color “red” of the feature A identified in step 59 is collated with the feature condition relating to the color among the feature conditions stored in the feature condition storage unit 7. In this example, “yellow” and “red” are stored as characteristic conditions related to colors. In step 59, since the feature A is identified as “red”, it is identified and stored as having the characteristic condition of “red” (step 63: No, step 67: Yes, step 69).
In the subsequent step 71, the shape “square” of the feature A identified in step 59 is collated with the feature condition relating to the shape among the feature conditions stored in the feature condition storage unit 7. In this example, “triangle” and “cylinder” are stored as feature conditions related to the shape. Since the feature A is identified as “square” in step 59, the process proceeds to step 81 on the assumption that neither the “triangle” nor the “cylinder” has the characteristic condition (step 73: No, step 77: No).

In step 81, the feature extracting unit 13 extracts the first feature when it is Yes in any of steps 63, 67, 73, and 77, and stores it together with the corresponding feature condition. In this example, the feature A is extracted as the first feature, and the corresponding feature condition “red” is stored together. On the other hand, if no in any of the above steps, the process is terminated.
Steps 51 to 81 may be processed based on two or more traveling images having different position information read in Step 3. In this case, when the process is executed based on the second traveling image, landmark data to be described later can be created based on the feature extracted as the feature having the characteristic condition in any traveling image. . This is because if the feature that can be continuously recognized by the traveling driver is used as the landmark data, the navigation device can provide more easily and safely guidance. The two or more travel images having different position information are preferably travel images having position information near, for example, 20 m before the intersection and near 5 m before the intersection in accordance with the timing when the intersection is guided in the navigation device. .

Returning to FIG. 3, in step 7, the feature position specifying unit 23 specifies whether or not the feature A extracted in step 5 is located near the intersection Y. For example, the above identification can be performed by comparing traveling images having position information in the areas A1 to A3 among the traveling images read out in step 3. Specifically, for the feature A, the traveling image G1 in the area A1 before the intersection Y is compared with the traveling image G2 in the area A2 behind the intersection Y, and the feature A is recognized by the traveling image G1. When it is not recognized in the traveling image G2, it is specified that the feature A is located before the intersection (Step 9: Yes, Step 11: No, Step 13). Further, for example, when the feature extracted in step 5 is the feature B, the travel image G2 is compared with the travel image G3 in the region A3 further behind the region A2, and the feature B Is recognized in the traveling image G2, but is not recognized in the traveling image G3, it is specified that the feature B is located behind the intersection (step 11: Yes, step 15: No, step 17). On the other hand, when the answer is No in step 15, that is, when it is recognized by both the traveling images G2 and G3 like the feature C, the process is terminated as being located away from the vicinity of the intersection Y.
In step 19, the landmark data creation unit 15 creates and stores landmark data for the intersection Y by associating the target approach path X identified in step 1 with the position of the feature identified in step 13 or step 17. .

FIG. 5 is a block diagram showing a hardware configuration of the intersection mark data creation device 21.
The hardware configuration of the device 21 is such that various elements are coupled to the central controller 221 via the system bus 222 in the same manner as a general computer system.
The central controller 221 includes a general-purpose CPU, a memory controller, a bus controller, an interrupt controller, and a DMA (direct memory access) device. The system bus 222 also includes a data line, an address line, and a control line. A memory circuit including a RAM (Random Access Memory) 223 and a nonvolatile memory (ROM 224, CMOS-RAM 225, etc.) is connected to the system bus 222. Data stored in the RAM 223 is read or rewritten by the central controller 221 or other hardware elements. The data in the non-volatile memory is read-only, and the data is not lost when the device is turned off. The system program for controlling the hardware is stored in the hard disk device 227 and also stored in the RAM 223, and is read and used by the central control device 221 as appropriate via the disk drive control device 226. The hard disk device 227 has an area for storing a computer program for operating a general-purpose computer system as the intersection mark data creating device 21.

A predetermined area of the hard disk device 227 is allocated for a storage unit that stores information specified by the target approach path specifying unit 9, the traveling image reading unit 11, the feature extracting unit 13, and the feature position specifying unit 23. .
Another area of the hard disk device 227 is allocated for the storage unit 27 that stores the mark data created by the map data storage unit 3, the travel image storage unit 5, the feature condition storage unit 7, and the landmark data creation unit 25.
Connected to the system bus 222 are a flexible drive control device 231 that reads and writes data from and to the flexible disk 232, and a CD / DVD control device 233 that reads data from the compact disk 234. In this example, a printer 238 is connected to the printer interface 237.
A keyboard / mouse control device 241 is connected to the system bus 222 to enable data input from the keyboard 242 and the mouse 243. A monitor 245 is connected to the system bus 222 via the monitor control device 244. The monitor 245 can be a CRT type, a liquid crystal type, a plasma display type, or the like.
An empty slot 251 is prepared in order to allow the addition of various elements (such as a modem).

  Programs (OS program and application program (including those of the present invention)) necessary for operating the intersection mark data creating apparatus 21 comprising this computer system are installed in the system via various recording media. . For example, it is possible to install in the form of a non-write recording medium (CD-ROM, ROM card, etc.), a writable recording medium (FD, DVD, etc.), or a communication medium using the network N. Of course, these programs can be written in advance in the nonvolatile memories 224 and 225 and the hard disk device 227.

FIG. 6 shows a schematic configuration of the navigation device 31 according to the embodiment of the present invention. In FIG. 6, the same elements as those in FIGS. 1 and 2 are denoted by the same reference numerals, and the description thereof is partially omitted.
As shown in FIG. 6, the navigation device 31 includes a guidance route storage unit 33, a landmark data storage unit 35, a target intersection specifying unit 37, a target intersection storage unit 39, a landmark data extraction unit 41, and a guide unit 43. .
The guide route storage unit 33 stores guide routes searched by the navigation system. The guide route preferably stores the shape of the link and the lane information together.
The landmark data storage unit 35 stores the landmark data of the intersection created by the above-described intersection landmark data creation device in association with the approach path.

The target intersection identification unit 37 refers to the guidance route storage unit 33 and identifies an intersection that is a guidance target in the guidance route as a target intersection. The identified target intersection is stored in the target intersection storage unit 39.
The landmark data extraction unit 41 extracts landmark data related to the target intersection identified by the target intersection identification unit 37 from the landmark data storage unit 35. As the extraction method, it is possible to extract landmark data associated with an approach road that enters the target intersection with reference to the guide route.
The guide unit 43 guides the guide route stored in the guide route storage unit 33 together with the landmark data extracted by the landmark data extraction unit 41. The guidance method is not particularly limited, and all of the extracted landmark data may be guided, or only a part thereof may be guided.

FIG. 7 shows a navigation device 61 of the embodiment. In FIG. 7, the same elements as those in FIGS. 1, 2, and 6 are denoted by the same reference numerals, and the description thereof is partially omitted.
FIG. 7 shows a navigation device 61 capable of guiding characteristic conditions in consideration of the vehicle driving conditions in the mark data. That is, the control unit 610, the memory unit 611, the input unit 612, the output unit 613, the interface unit 614, the vehicle position specifying unit 615, the search unit 618, the navigation information storage unit 619, the guidance route storage unit 33, and the target intersection specifying unit 37. A target intersection storage unit 39, a landmark data extraction unit 41, a travel condition determination unit 622, a feature condition selection unit 623, and a guide unit 624.
The control unit 610 is a computer device including a CPU, a buffer memory, and other devices, and controls other elements constituting the navigation device 61.
A computer program is stored in the memory unit 611, and this computer program is read into the control unit 610, which is a computer device, and causes it to function. This computer program can be stored in a general-purpose medium such as a DVD.

The input unit 612 is used for setting a departure place and a destination. As the input unit 612, a touch panel type input device that cooperates with the display content of the display can be used.
The output unit 613 includes a display and displays map information and other information necessary for navigation. The output unit 613 is also used to output information guided by a guide unit 624 described later. The output unit 613 can also include a voice guidance device. For example, voice guidance such as “Please turn left in front of the next red building.”
The interface unit 614 connects the navigation device 61 to a wireless network or the like.
The own vehicle position specifying unit 615 specifies the current position of the user terminal using a GPS device or a gyro device. In addition, the current time can be specified.
The vehicle information detection unit 616 detects vehicle information indicating the traveling state of the host vehicle. As vehicle information, it is preferable to provide speed information, for example. Furthermore, the engine speed, accelerator opening, stop lamp, shift lever information, ID information for identifying the probe car, coordinate information, time information, bearing information, altitude information, longitudinal acceleration, yaw rate, ABS warning lamp, fuel consumption , A steering angle (rotation angle information of the steering wheel), a battery remaining amount, and the like may be provided.

The search unit 618 searches for a route from the designated departure point to the destination. When the vehicle user sets the destination, the navigation device operates to search for a guidance route to the destination. The searched guide route is stored in the guide route storage unit 33 described later.
The navigation information storage unit 619 includes a map information storage unit 620, a road information storage unit 621, and a landmark data storage unit 35.
The map information storage unit 620 stores map information. The map information includes information on road elements for defining map information such as links and nodes, information drawn on the map, and the like.
The road information storage unit 621 stores road information that defines the characteristics of each road element such as roads and intersections. For example, road information that defines road (link) characteristics includes road type, road width, number of lanes, travel restrictions, and others.
As described above, the route searched by the search unit 618 is stored in the guide route storage unit 33. The guide route preferably stores the shape of the link and the lane information together.

The traveling condition determination unit 622 determines the current traveling condition. Examples of the traveling condition include a traveling time zone, a traveling speed, and weather. These traveling conditions are determined based on the current time specified by the vehicle position specifying unit 615, speed information detected by the vehicle information detecting unit 616, operation information of wipers and headlights, weather information of each region, and the like. It can be.
The feature condition selection unit 623 selects a feature condition according to the travel condition determined by the travel condition determination unit 53 from the mark data extracted by the mark data extraction unit 41. The selection method is not particularly limited. For example, when it is determined that the surrounding is dark based on the current time and the operation information of the wiper or the headlight, it is difficult to visually recognize the extracted landmark data in the dark. It is possible to select feature conditions such as shape, size, height, etc., excluding feature conditions related to color. Further, even when it is determined that the traveling speed is fast based on the speed information, it is possible to select a feature condition excluding a feature condition that is difficult to view at high speed.
The guide unit 624 guides the selected feature condition as the mark data.

  Although the embodiments and examples of the present invention have been described above, two or more of the embodiments (examples) may be combined and implemented. Alternatively, one of these embodiments (examples) may be partially implemented. Furthermore, among these, two or more embodiments (examples) may be partially combined.

  The present invention is not limited to the description of the embodiments and examples of the invention described above. Various modifications may be included in the present invention as long as those skilled in the art can easily conceive without departing from the description of the scope of claims.

1 21 intersection mark data creation device 5 traveling image storage unit 7 feature condition storage unit 9 target approach path specifying unit 11 traveling image reading unit 13 feature extraction unit 15 25 landmark data creation unit 17 27 35 landmark data storage unit 23 feature extraction Unit 31 61 Navigation device 33 Guide route storage unit 37 Target intersection specifying unit 41 Mark data extracting unit 43 624 Guide unit 622 Travel condition determining unit 623 Characteristic condition selecting unit

Claims (16)

In the intersection landmark data creation device for creating landmark data of the intersection corresponding to the approach path to the intersection,
A traveling image storage unit for storing traveling images;
A target approach path identifying unit that identifies an approach path that is a target for creating the landmark data as a target approach path;
A travel image reading unit that reads a travel image related to the identified target approach path from the travel image storage unit;
Based on a predetermined intuitive feature condition, a feature extraction unit that extracts a feature having the feature condition from the read travel image;
A landmark data creation unit that creates the landmark data by associating the feature condition used in extracting the feature with the identified target approach path;
An intersection landmark data creation device comprising: A feature position specifying unit that specifies whether or not the extracted feature is a feature located near the intersection;
The landmark data creation unit creates the landmark data based on the feature condition related to the identified feature.
The intersection mark data creation device according to claim 1.   The intersection mark data creating apparatus according to claim 1 or 2, wherein the predetermined intuitive characteristic condition is one or more conditions selected from the shape, color, size, and height of the feature. A guide route storage unit for storing the guide route searched by the navigation system;
A landmark data storage unit that stores the landmark data created by the intersection landmark data creation device according to claim 1;
A target intersection identifying unit that identifies a target intersection for guidance in the guidance route as a target intersection;
A landmark data extraction unit for extracting landmark data relating to the identified target intersection from the landmark data storage unit;
A guide unit for guiding the guide route based on the extracted landmark data;
A navigation device comprising: A feature condition selection unit that selects the feature condition according to a running condition out of the extracted landmark data;
The guide unit guides the guide route based on the selected feature condition in the extracted landmark data;
The navigation device according to claim 4. In the intersection landmark data creation method for creating landmark data of the intersection corresponding to the approach path to the intersection,
A travel image storage step for storing the travel image in the travel image storage unit;
A target approach path specifying unit that specifies an approach path that is a target for creating the landmark data as a target approach path;
A travel image reading unit that reads a travel image related to the identified target approach road from the travel image storage unit;
A feature extraction step for extracting a feature having the feature condition from the read travel image based on a predetermined intuitive feature condition;
A landmark data creation unit creates the landmark data by associating the feature condition used in the extraction of the feature with the identified target approach path,
A method of creating intersection landmark data. A feature position specifying unit comprising: a feature position specifying step for specifying whether or not the extracted feature is a feature located near the intersection;
In the landmark data creation step, the landmark data is created based on the feature condition related to the identified feature.
The intersection mark data creation method according to claim 6.   The intersection mark data creating method according to claim 6 or 7, wherein the predetermined intuitive characteristic condition is one or more conditions selected from the shape, color, size, and height of the feature. A guide route storing step for storing the guide route searched by the navigation system;
A landmark data storage step of storing the landmark data created by the intersection landmark data creation method according to any one of claims 6 to 8 in a landmark data storage unit;
A target intersection specifying unit for specifying a target intersection as a target intersection in the guidance route;
A landmark data extracting step for extracting landmark data relating to the identified target intersection from the landmark data storage unit;
A guide unit for guiding the guide route based on the extracted landmark data;
A navigation method comprising: A feature condition selection unit comprising a feature condition selection step of selecting the feature condition according to a running condition from the extracted landmark data;
In the guidance step, the guidance route is guided based on the selected feature condition among the extracted landmark data.
The navigation method according to claim 9. A computer program for creating landmark data of an intersection corresponding to an approach path to an intersection, comprising:
Traveling image storage means for storing the traveling image;
A target approach route specifying means for specifying an approach route to be a target for creating the landmark data as a target approach route;
Travel image reading means for reading a travel image related to the specified target approach path from the travel image storage means,
Feature extraction means for extracting a feature having the characteristic condition from the read travel image based on a predetermined intuitive characteristic condition;
Mark data creating means for creating the mark data by associating the characteristic condition used when extracting the feature with the identified target approach path,
As a computer program. Said computer further
Function as a feature position specifying means for specifying whether or not the extracted feature is a feature located near the intersection;
The landmark data creation means creates the landmark data based on the feature condition related to the identified feature.
The computer program according to claim 11.   The computer program according to claim 11 or 12, wherein the predetermined intuitive characteristic condition is one or more conditions selected from the shape, color, size, and height of the feature. A computer program for navigating a computer,
A guide route storing means for storing the guide route searched by the navigation system;
Mark data storage means for storing mark data created by the computer program according to any one of claims 11 to 13,
A target intersection specifying means for specifying a target intersection in the guidance route as a target intersection;
Landmark data extraction means for extracting landmark data relating to the identified target intersection from the landmark data storage means;
Guidance means for guiding the guidance route based on the extracted landmark data;
As a computer program. Said computer further
Of the extracted landmark data, function as a feature condition selection means for selecting the feature condition according to the running condition,
The guide means guides the guide route based on the selected feature condition in the extracted landmark data;
The computer program according to claim 14.   The recording medium which records the computer program in any one of Claims 11-15.

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