JP2016090344A - Navigation device and navigation program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To intelligibly display an arrow figure superimposed on an image of a cross-point.SOLUTION: A navigation device 1 creates a plane arrow 55 including a shaft A for guiding an approach to a cross-point, and a shaft B for guiding a travel direction from the cross-point. The navigation device 1 displays a three-dimensional arrow 56 by a perspective view obtained by three-dimensionally transforming the plane arrow, on an HUD (Head-Up Display) 45, with the same superimposed on the cross-point. The navigation device 1 is configured to individually vary the lengths of the shaft A and the shaft B and individually change the lengths of the shaft A and the shaft B according to a distance to the cross-point to change the shape itself of the arrow. Consequently, a driver can clearly perceive at which cross-point he/she should turn to the right/left.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a navigation device and a navigation program, and relates to, for example, a route guidance using an arrow display.

The vehicle navigation apparatus performs so-called turn-by-turn route guidance that instructs the traveling direction from the front of the intersection to be guided using voice or display.
In the turn-by-turn route guidance performed by display, like the “car navigation device” of Patent Document 1, the vehicle front is photographed with an in-vehicle camera, and an arrow for guiding the traveling direction is superimposed on the image. There is something to display.
In this technique, the size of the guide arrow is entirely changed according to the distance from the current position to the intersection, for example, the arrow is enlarged as it approaches the intersection.

By the way, in human psychology, it is known that when the size of an object changes as a whole while the distance to the object changes, the change in the size of the object is difficult to understand.
The most important function of the navigation device is to tell the driver where to turn left and right.
However, the technique of Patent Document 1 has a problem in that the guide arrow is difficult to understand for the driver because the overall size of the guide arrow changes with the background as the intersection approaches.

JP 2011-149835 A

  An object of this invention is to display the arrow figure superimposed on the image of an intersection in an easy-to-understand manner.

(1) In the invention according to claim 1, route acquisition means for acquiring a route for guiding a vehicle to a destination point, intersection specification means for specifying a next intersection for guiding a traveling direction according to the acquired route, Distance acquisition means for acquiring the distance from the current position of the vehicle to the specified intersection, width acquisition means for acquiring the width of the road on which the vehicle is currently traveling, and a length based on the acquired distance An approach guidance amount acquiring means for acquiring an approach guide amount having an approach direction to the intersection, and a traveling direction guide amount having a length based on the acquired width and having a traveling direction from the intersection. A traveling direction guide amount acquiring means, a first handle portion having a length and a direction corresponding to the approach guide amount, a first handle portion continuous with the first handle portion and having a length and a direction corresponding to the traveling direction guide amount. With 2 handles That the arrow graphic generating means for generating arrow graphic, to provide a navigation device, characterized in that the arrow shape that the created equipped with a display means for displaying superimposed on the image of the intersection.
(2) In the invention according to claim 2, the arrow is displayed on at least one of the real image of the intersection visually recognized by the driver of the vehicle or the image of the intersection displayed on the display screen. The navigation apparatus according to claim 1, wherein a graphic is superimposed and displayed.
(3) In invention of Claim 3, it has the reference point setting means which sets a reference point in the predetermined position of the said intersection, The said display means shows the intersection of the said 1st pattern part and the said 2nd pattern part. The navigation apparatus according to claim 1 or 2, wherein the navigation apparatus overlaps with the set reference point.
(4) In the invention described in claim 4, lane specifying means for specifying the currently passing lane is provided, and the reference point setting means sets the reference point inside the specified lane. A navigation device according to claim 3 is provided.
(5) In the invention according to claim 5, when the acquired distance is equal to or greater than a predetermined threshold, the arrow figure creating means uses the first pattern portion without using the second pattern portion. The navigation apparatus according to any one of claims 1 to 4, wherein an arrow graphic is created.
(6) Claim 6 comprises a photographing means for photographing a road ahead, and the width obtaining means obtains the width by recognizing a white line from the photographed road image. A navigation device according to any one of claims 1 to 5 is provided.
(7) In the invention according to claim 7, the width acquisition unit acquires the width from a database in which road data of the acquired route is recorded. A navigation device according to any one of the claims is provided.
(8) In the invention according to claim 8, the arrow graphic creating means creates the arrow graphic in the shape of a perspective view when viewed in the approach direction to the intersection. A navigation device according to any one of claims 7 to 7 is provided.
(9) In the invention according to claim 9, a route acquisition function for acquiring a route for guiding a vehicle to a destination point, an intersection specification function for specifying a next intersection for guiding a traveling direction according to the acquired route, A distance acquisition function for acquiring a distance from the current position of the vehicle to the specified intersection, a width acquisition function for acquiring a width of a road on which the vehicle is currently traveling, and a length based on the acquired distance An approach guidance amount acquisition function for acquiring an approach guide amount having an approach direction to the intersection, and a travel direction guide amount having a length based on the acquired width and having a travel direction from the intersection. A traveling direction guidance amount acquisition function, a first handle portion having a length and direction corresponding to the approach guidance amount, a first handle portion that is continuous with the first handle portion and has a length and direction corresponding to the traveling direction guide amount. With 2 handles That the arrow graphic creation function for creating arrow graphic, to provide a navigation program for realizing a display function, with the computer to display by superimposing the arrow graphic that the created image of the intersection.

  According to the present invention, the arrow graphic superimposed on the image of the intersection can be easily understood by changing the shape of the arrow graphic itself.

It is a system configuration figure of a navigation device. It is a figure for demonstrating the structure of an arrow. It is a figure for demonstrating the conversion method of the length of a vector amount. It is a figure for demonstrating the setting method etc. of the reference point. It is a figure for demonstrating the modification of selection of the width of a road. It is a flowchart for demonstrating the procedure of an intersection guidance process. It is a figure for demonstrating the modification of a solid arrow.

(1) Outline of Embodiment As shown in FIG. 2B, the navigation apparatus 1 creates a plane arrow 55 having a shaft A that guides the approach to the intersection and a shaft B that guides the traveling direction from the intersection. To do.
Then, as shown in FIG. 3C, the navigation device 1 displays a three-dimensional arrow 56 obtained by three-dimensional conversion of the three-dimensional arrow 56 superimposed on the intersection on the HUD 45.
In the navigation device 1, the lengths of the shaft A and the shaft B are individually variable, and the lengths of the shaft A and the shaft B are individually changed according to the distance to the intersection to change the shape of the arrow itself. As a result, the driver can clearly understand where to turn left and right.
As described above, the navigation device 1 provides easy-to-understand guidance by changing the shape of the arrow itself according to the distance from the current position to the intersection to be guided in the guidance method in which the arrow is superimposed on the actual scene.

(2) Details of the embodiment In the following embodiment, a traffic system that travels in the left lane (Japan, UK, etc.) will be described. In the case of a traffic system that travels in the right lane (such as the United States), the left and right are reversed To do.
FIG. 1 is a system configuration diagram of a navigation apparatus used in the present embodiment.
The navigation device 1 is an information providing device (computer) mounted on a vehicle, and includes a current position detection unit 11, a data storage unit 12, a navigation ECU (Electronic Control Unit) 13, an operation unit 14, a liquid crystal display 15, a speaker 16, A DVD drive 17 and a communication module 18 are provided.

The current position detection unit 11 includes a GPS (Global Positioning System) 21, a vehicle speed sensor 22, a steering sensor 23, a gyro sensor 24, and the like.
The GPS 21 receives signals from a plurality of GPS satellites that orbit the earth. This signal includes time information, and the navigation ECU 13 can detect the position information of the host vehicle by processing this information.

For example, the vehicle speed sensor 22 generates a pulse signal in proportion to the rotational speed of the axle. When the navigation ECU 13 processes this, the navigation device 1 can detect the vehicle speed information of the own vehicle amount.
Furthermore, the navigation ECU 13 can calculate the acceleration of the vehicle by differentiating the detected speed with time, or can calculate the moving distance of the vehicle by integrating with time.

  The steering sensor 23 includes, for example, an optical rotation sensor attached to the rotating part of the steering wheel, a rotational resistance volume, or an angle sensor attached to the wheel part. The navigation ECU 13 processes these generated signals. Thus, the navigation device 1 can detect the steering amount operated by the driver.

The gyro sensor 24 is, for example, a sensor that detects angular velocity using Coriolis force acting on the element, and the navigation ECU 13 can obtain the angular velocity of the vehicle.
Furthermore, the navigation ECU 13 can calculate the angular acceleration of the vehicle by differentiating the detected angular velocity with time, or can calculate the rotation angle of the vehicle by integrating with time.

  The navigation ECU 13 comprehensively determines the values detected by these sensors of the navigation ECU 13 to calculate the position, speed, acceleration, traveling direction, turning direction, etc. of the own vehicle amount and use it for the display of an arrow described later. Or displaying the current position of the vehicle on a map.

The data storage unit 12 includes a large-capacity storage medium 31 and a drive device that drives the storage medium 31.
The storage medium 31 is configured by, for example, a large-capacity hard disk, a semiconductor memory, a magneto-optical disk, or a combination thereof.
Various data such as link data 33, node data 34, intersection data 35, and map data 36 are stored in the storage medium 31, and the data storage unit 12 provides such information in response to an inquiry from the navigation ECU 13. To do.

The link data 33 is a database of link (line segment) information representing a straight line portion of a route.
The node data 34 is a database of node (section) information representing points where road conditions change, such as intersections and points where roads curve.
The route network is digitized by these links and nodes and used for route search and the like.
In the present embodiment, the navigation ECU 13 calculates the distance from the current position to the intersection based on the length of the node from the current position to the guidance target link (intersection), and creates an arrow using this as a parameter.

The intersection data 35 is a database of information unique to each intersection such as the position of the intersection, the number of lanes at the intersection, and the presence or absence of a right turn lane. For example, the navigation ECU 13 can determine that a certain node is an intersection by using the intersection data 35.
The map data 36 is a database of information unique to each road such as the number of road lanes and road width.
The navigation ECU 13 can identify the lane in which the vehicle is traveling or the width of the currently traveling road by using the map data 36 and the current position.

  The navigation ECU 13 includes a CPU (Central Processing Unit) 41, a RAM (Random Access Memory) 42, a ROM (Read Only Memory) 43, a flash memory 44, an input / output interface (not shown), and the like.

The navigation ECU 13 performs various calculations for navigation such as route search and route guidance based on information obtained from the current position detection unit 11, the data storage unit 12, the operation unit 14, the front camera 19, the driver camera 20, and the like. The peripheral devices such as the liquid crystal display 15, the HUD 45, and the speaker 16 are controlled, and the calculation results are output to these.
Thus, the navigation apparatus 1 includes route acquisition means for acquiring a route for guiding the vehicle to the destination point.

The CPU 41 is a central processing unit and executes, for example, a navigation program stored in the flash memory 44 to perform information processing and control necessary for navigation.
More specifically, the CPU 41 performs route search to the destination, turn-by-turn vehicle guidance by displaying arrows, and the like.

The RAM 42 provides a working memory when the CPU 41 performs various calculations and controls.
The CPU 41 uses the memory space of the RAM 42 to search for a route and store a guide route, create an arrow by specifying a current position and an intersection, or read this and display it on the HUD 45.
The ROM 43 is a read-only storage device, and stores basic programs and parameters for operating the navigation ECU 13.

The flash memory 44 is a readable / writable nonvolatile memory, and stores a navigation program, an OS (Operating System), and the like.
The navigation program is a computer program that causes the CPU 41 to perform various calculations and controls necessary for navigation.
Note that the navigation program may be stored in another storage medium such as the data storage unit 12, the ROM 43, or a DVD disk mounted on the DVD drive 17, and the CPU 41 may read the navigation program.

An input / output interface (not shown) is an interface that connects the navigation ECU 13 to peripheral devices such as the current position detection unit 11 to the driver camera 20 and the HUD 45.
The navigation ECU 13 communicates with the current position detection unit 11 via the input / output interface, calculates the position of the vehicle based on information obtained from the navigation ECU 13, or compares the position with the data in the data storage unit 12 to determine the next guidance target. Processes necessary for the display of arrows, such as obtaining the distance to the intersection (hereinafter referred to as the target intersection) and the width of the road that is currently running.

For example, the operation unit 14 includes an input device such as a touch panel, a touch switch, a joystick, a key switch, and a voice input device. For example, the operation unit 14 receives an input of a destination necessary for a route search from a user.
The liquid crystal display 15 is a small display installed near the driver's seat and displays various images and videos such as an input screen and a current position screen.
The liquid crystal display 15 displays various images such as a map around the current location, a guidance screen for displaying a travel route to the destination, and an input screen for a user to input data.

In the present embodiment, a guidance arrow is displayed on the HUD 45, but the arrow may be superimposed on the image of the intersection photographed by the front camera 19 and displayed on the liquid crystal display 15 as a guidance screen.
Alternatively, an arrow may be displayed on both the HUD 45 and the liquid crystal display 15.
In this case, the liquid crystal display 15 functions as a display unit that displays an arrow graphic created together with the HUD 45 described later on an intersection image.

The navigation ECU 13 superimposes and displays an arrow on the intersection image. When the navigation ECU 13 displays the arrow on the HUD 45, the intersection image is a real image of the intersection visually recognized by the driver of the vehicle and displayed on the liquid crystal display 15. Is an image of an intersection displayed on the display screen (liquid crystal display 15). Further, the image of the intersection displayed on the liquid crystal display 15 may be a schematic image such as an animation instead of a captured image.
In this way, the display means superimposes the arrow graphic on at least one of the real image of the intersection visually recognized by the driver of the vehicle or the image of the intersection displayed on the display screen.

The speaker 16 outputs various guidance voices such as “the next intersection is in the right direction”.
The DVD drive 17 accepts the loading of the DVD disk and reads the program and data recorded on the DVD. When the navigation program is updated, the update program can be read from the DVD drive 17.

For example, the communication module 18 is connected to a communication network such as the Internet, and communicates with the server device to receive various information such as traffic jam information, or transmits various information such as the vehicle position to the server device. To do.
In the present embodiment, various data such as map data is stored in the data storage unit 12, but may be configured to be received from the server device via the communication module 18.
That is, in the present embodiment, the case where the navigation device performs a route search to the target will be described. However, the destination input by the user is transmitted to the predetermined server that performs the route search via the communication module 18, and the searched target is detected. A guide route to the ground may be received from a predetermined server.
Further, in the present embodiment, various information such as map data and intersection data necessary for route search and route guidance are stored in the storage medium 31, but when the guidance route is received from a predetermined server, the guidance route is included. Map data and intersection data for a predetermined area may also be received from a predetermined server via the communication module 18.

  Various data such as link data 33, node data 34, intersection data 35, and map data 36 are stored in the storage medium 31, and the data storage unit 12 provides such information in response to an inquiry from the navigation ECU 13. To do.

The link data 33 is a database of link (line segment) information representing a straight line portion of a route.
The node data 34 is a database of node (section) information representing points where road conditions change, such as intersections and points where roads curve.
The route network is digitized by these links and nodes and used for route search and the like.
In the present embodiment, the navigation ECU 13 calculates the distance from the current position to the intersection based on the length of the node from the current position to the guidance target link (intersection), and creates an arrow using this as a parameter.

The intersection data 35 is a database of information unique to each intersection such as the position of the intersection, the number of lanes at the intersection, and the presence or absence of a right turn lane. For example, the navigation ECU 13 can determine that a certain node is an intersection by using the intersection data 35.
The map data 36 is a database of information unique to each road such as the number of road lanes and road width.
The navigation ECU 13 can identify the lane in which the vehicle is traveling or the width of the currently traveling road by using the map data 36 and the current position.

Each of the front camera 19 and the driver camera 20 is an image pickup apparatus configured using a CCD (charge-coupled device) image sensor, a CMOS (Complementary Metal Oxide Semiconductor) image sensor, or the like.
The front camera 19 continuously captures a scene viewed by the driver in front of the vehicle at a predetermined sampling rate and outputs the captured scene to the navigation ECU 13. The visual field image by the front camera 19 corresponds to the visual field that the driver obtains during driving.
The navigation ECU 13 recognizes a white line installed on the road from the captured image, and recognizes a lane set on the road by complementing this, or a lane (lane) in which the host vehicle is currently traveling Or judge.

The driver camera 20 continuously shoots the head including the driver's eyes at a predetermined sampling rate and outputs it to the navigation ECU 13. From this image, the driver's line-of-sight information (information specifying the point of view of the driver, such as the line-of-sight vector, focus coordinate value, and viewpoint position) can be obtained, and the focus by the line of sight on the field-of-view image can be calculated. .
Navigation ECU13 specifies the position of the intersection which the driver | operator is visually recognizing based on the said calculated focus with HUD45, and superimposes and displays it on this.

The HUD 45, for example, projects an image on a windshield using a projector, or displays an image on a transparent screen installed on the windshield, so that a scene that the driver actually recognizes ( An arrow is displayed superimposed on the actual scene.
That is, the display screen by the HUD 45 corresponds to the driver's field of view, and the driver superimposes the object on the actual scene by seeing the actual scene through the object (arrow in this embodiment) displayed on the HUD 45. It can be visually recognized.

More specifically, the HUD 45 displays a screen for the right eye and an arrow image for the left eye in accordance with the focus of the driver's line of sight, and the driver displays an arrow at the position of the actual intersection by viewing this stereoscopically. It can be visually recognized.
Thus, the HUD 45 functions as a display unit that displays the created arrow superimposed on the image of the intersection.

Each drawing of FIG. 2 is a diagram for explaining the configuration of arrows used by the navigation device 1 for guiding the traveling direction at an intersection.
The navigation ECU 13 measures the real space to form a real space-sized arrow in a two-dimensional plane, the second step to convert this into a plane arrow having a planar shape of a size displayed on the HUD 45, and In order to make this easier to see from the driver's point of view, the third stage of three-dimensional conversion to convert to a three-dimensional arrow (isometric view) expressing perspective sensation, and the fourth stage of displaying the three-dimensional arrow on the HUD 45 are performed. To display the arrow.
Each of these stages is conceptual, and the actual method of configuring the arrows can be based on, for example, a flowchart described later, or other various modifications based on the concept.

Here, the configuration of the arrows is as follows. The arrow has a shaft portion (pattern portion) and an arrow head portion (arrowhead portion, arrowhead) corresponding to an archery or an archery arrow.
Hereinafter, the side on which the arrow head portion is formed is referred to as the front end side, and the side on which the arrow head portion is not provided is referred to as the rear end side.
In the arrow of the present embodiment, the rear end of the shaft B is arranged at the front end of the shaft A, and the shaft portion composed of two parts integrated with the shafts A and B is used. Provide.

The shaft A represents the approach to the target intersection by the length and direction, and the shaft B represents the traveling direction (retreat direction) from the target intersection by the length and direction.
In order to turn left and right at the target intersection, the shaft portion where the shaft A and the shaft B are connected (connected) has a shape bent at the connection point (corresponding to the target intersection) between the shaft A and the shaft B.

For this reason, the shaft A functions as a first handle portion having a length and direction corresponding to the approach guide amount, and the shaft B is continuous with the first handle portion and has a length and direction corresponding to the traveling direction guide amount. It functions as a second handle part having.
In the present embodiment, the target intersection is described as being in front of a straight line of the vehicle, and the shaft A is a straight line. However, if the road to the target intersection is curved (bent or curved), the shaft A may be formed in a curved shape according to this.

FIG. 2A is a diagram for explaining the first stage.
In the first stage, a full-scale arrow is formed.
The navigation ECU 13 sets a reference point P, which is a fixed point serving as a reference for creating an arrow, at the next target intersection on the guide route (as will be described later, the navigation ECU 13 sets the node N of the intersection to the initial value of the reference point P. And, if possible, move on the driving lane), the node data 34 is used to calculate the distance from the current position to the reference point P.
Furthermore, the navigation ECU 13 calculates the width of the road that is currently running by image recognition or the like.

As described above, the navigation device 1 includes the intersection specifying means for specifying the next intersection that guides the traveling direction according to the guide route.
The navigation device 1 also includes distance acquisition means for acquiring the distance from the current position of the vehicle to the specified intersection, and width acquisition means for acquiring the width of the road on which the vehicle is currently traveling.

Next, the navigation ECU 13 starts from the current position to the reference point P as a vector amount 51 (that is, an amount having a length and direction from the current position to the reference point P) and the reference point P as the starting point. And a vector quantity 52 having a right / left turn direction at the target intersection is created.
The vector amount 51 is a reference amount for creating the shaft A, and the vector amount 52 is a reference amount for creating the shaft B.

Here, the vector amount 51 functions as an approach guidance amount representing the distance to the target intersection and the approach direction, and the vector amount 52 functions as a traveling direction guide amount that guides the traveling direction from the target intersection. .
Thus, the navigation ECU 13 has a length based on the distance to the target intersection, and has an approach guidance amount acquisition means for acquiring an approach guidance amount having an approach direction to the intersection, and a length based on the width of the road. A traveling direction guidance amount acquisition means for acquiring a traveling direction guidance amount having a traveling direction from an intersection.
Note that the lengths of the vector quantity 51 and the vector quantity 52 are not actually measured values, but may be values that have undergone some conversion, such as values proportional to the lengths.

FIG. 2B is a diagram for explaining the second stage.
The navigation ECU 13 converts the vector quantities 51 and 52 into vector quantities 51a and 52b having a length to be displayed on the HUD 45, respectively. The length conversion method will be described later.
The navigation ECU 13 adds display widths to the vector quantities 51a and 52a (determines the widths of the shaft A and the shaft B), and further forms an arrow head portion 53 at the tip of the shaft B to form the shaft A, A plane arrow 55 having B is created.
In this embodiment, in order to make it easy for the driver to understand, the solid arrow 56 created by perspective from the plane arrow 55 (described later) is displayed on the HUD 45, but the plane arrow 55 can also be displayed on the HUD 45. It is.

Here, the shaft A functions as a first handle portion having a length and a direction corresponding to the approach guidance amount to the target intersection.
The rear end of the shaft B (the side away from the arrow head portion 53) is connected to the front end of the shaft A. Thereby, the shaft B is continuous with the first handle portion and functions as a second handle portion having a length and a direction corresponding to the traveling direction guide amount from the target intersection.
Therefore, the navigation apparatus 1 is provided with an arrow graphic creating means for creating an arrow graphic having a first pattern part and a second pattern part.

FIG. 2C is a diagram for explaining the third stage.
The navigation ECU 13 performs three-dimensional conversion on the plane arrow 55 so that the rear end of the shaft A is on the driver side and the front end is front (that is, the figure viewed in the direction of approach to the target intersection). As a result, a solid arrow 56 drawn in perspective is created.
In order to give a sense of perspective, the length of the shaft A is shortened, the width at the lower end side is wide, and the width at the tip end side is narrow. And the width of the shaft B is narrow.

In the three-dimensional processing of the present embodiment, the plane arrow 55 arranged on the horizontal plane is lifted from the front side with the intersection point of the shafts A and B superimposed on the reference point P as a base point (fixed point).
However, the plane arrow 55 arranged at the edge face may be a method of tilting the shaft B side away from the front side (vehicle side) from the front side (vehicle side) of the shaft A.
Thus, the arrow figure creation means can further create the arrow figure in the shape of a perspective view when viewed in the direction of approach to the intersection.

FIG. 2D is a diagram for explaining the fourth stage.
FIG. 2D shows a real scene near the target intersection 65 visually recognized by the driver, and the vehicle travels in the left lane 61 partitioned by the center line 62 toward the target intersection 65. Now, it is assumed that the navigation ECU 13 guides the vehicle to travel on the right turn road 63 instead of the left turn road 64.

The navigation ECU 13 specifies a point corresponding to the reference point P in the display area of the HUD 45, and displays the three-dimensional arrow 56 superimposed on the actual scene so that the reference point P coincides with this point.
Note that the solid arrow 56 is translucent, and the driver can observe the actual scene through the solid arrow 56, so that the driver's field of view is not blocked by the solid arrow 56.
As described above, the navigation ECU 13 includes reference point setting means for setting a reference point at a predetermined position of the target intersection 65, and the display means sets the intersection (reference point P) between the first pattern portion and the second pattern portion as the target intersection. Superimpose by matching with the reference point set to 65.

Each figure of FIG. 3 is a figure for demonstrating the conversion method of the length of a vector amount. In FIG. 3, in order to simplify the description, the lane is omitted or a case of one lane on one side is displayed.
The current position of the vehicle currently traveling is a distance L1 (for example, 200 m) away from the target intersection 65, the width of the currently traveling road is W (for example, 5 m), and a right turn is made at the target intersection 65. It shall be.
In this case, as shown in FIG. 3A, the vector quantity 51 has a length L1 and faces the target intersection 65, and the vector quantity 52 has a length W and faces the right direction.

FIG. 3B is a diagram showing an example of the solid arrow 56 displayed on the HUD 45 by the navigation ECU 13 based on this.
The shaft A extends long toward the target intersection 65, and the shaft B is short toward the right side at the target intersection 65.

Next, when the vehicle approaches the position of the distance L2 (for example, 10 m) from the target intersection 65, the vector quantity 51 is the length L2 and the direction of the target intersection 65 as shown in FIG. The vector quantity 52 has a length W and faces rightward.
FIG. 3D is a diagram showing an example of the solid arrow 56 displayed on the HUD 45 by the navigation ECU 13 based on this.
The shaft A extends short near the target intersection 65, and the shaft B extends long at the target intersection 65.

Comparing FIG. 3B and FIG. 3D, the navigation ECU 13 shortens the length of the shaft A as the vehicle approaches the target intersection 65, but the target intersection that the driver visually recognizes as the vehicle approaches the target intersection 65. Since the road width at 65 increases, the length of the shaft B is increased in accordance with the road width visually recognized by the driver.
Further, the closer to the target intersection 65, the more visually recognized the intersection is from above, so the navigation ECU 13 increases the thickness of the shaft B as it approaches the target intersection 65.

On the other hand, when FIG. 3A is compared with FIG. 3C, the vector amount 51 decreases from L1 to L2 as the vehicle approaches the intersection, but the direction of the vector amount 51 and the vector amount 52 and the vector The length of the quantity 52 does not change.
In order to display in this way, the navigation ECU 13 calculates the length of the shaft A by a function f (L) that decreases as the distance L to the target intersection 65 decreases, and the length of the shaft B determines the length of the road. Based on the width W (longer as W is larger), calculation is performed with a function g (W, L) that becomes longer as L decreases.

Further, the navigation ECU 13 increases the width of the shaft B as L decreases, and joins the tip end of the shaft A so as to conform to this width.
Instead of calculating with a function, a table in which the lengths of the shafts A and B are associated with L and W may be prepared and read from this.

The navigation ECU 13 displays such a function on the HUD 45 while changing the length and thickness of the shaft A and the shaft B according to the distance L to the target intersection 65.
Thus, the navigation ECU 13 does not change the size of the solid arrow 56 as a whole, but changes the sizes of the shaft A and the shaft B in different ways. Is not a similar shape, but the shape itself changes, and is easy for the driver to see and understand.

Each figure of FIG. 4 is a figure for demonstrating the setting method of the reference point P, and the acquisition method of the width | variety of a road.
First, the navigation ECU 13 reads the position of the node N of the target intersection 65 from the node data 34 of the data storage unit 12 as shown in FIG.
The distance L from the current position 75 of the vehicle to the node N is the length of the vector quantity 51 (reference quantity for calculating the shaft A with the function f (L)).

Next, as shown in FIG. 4B, the navigation ECU 13 recognizes the boundary line (white line) from the image of the road on which the front camera 19 is currently shooting, thereby demarcating the road boundary line 71, 72 is recognized.
When there is a break in the boundary line, the navigation ECU 13 complements the break by image processing such as linear interpolation.

Next, the navigation ECU 13 corrects the position of the reference point P at the center of the boundary lines 71 and 72 while maintaining the position of the length of the shaft A (the distance from the current position to the node N).
Then, the navigation ECU 13 sets the length from the reference point P to the road boundary line at the planned direction end to the length of the vector quantity 52 (reference quantity for calculating the shaft B with the function g (W, L)).
For example, in the case of a left turn, the distance Wl from the reference point P to the left boundary line 71 is the length of the vector amount 52. In the case of a right turn, the distance Wr from the reference point P to the right boundary line 72 is the vector amount 52. Of length.

The actual lengths of Wl and Wr can be calculated from the distance from the current position to the reference point P, the position of Wl and Wr on the image (position corresponding to the reference point P), the length, and the like.
Thus, the navigation ECU 13 sets the length of the vector quantity 52 with Wl and Wr, and calculates this with an appropriate function g (W, L), so that the shaft B of the solid arrow 56 is currently running. Be within the lane of the car.
As described above, the navigation device 1 includes a photographing unit that photographs the road ahead, and the width obtaining unit obtains the width by recognizing the white line from the photographed road image.

On the other hand, when the road boundary line cannot be recognized (when there is no boundary line, or when the boundary line is covered with an obstacle such as snow), the navigation ECU 13 is configured as shown in FIG. The road width W is read from the map data 36, and the road width W is set to the length of the vector quantity 52.
Further, the number of lanes and the road width W are read from the map data 36, compared with the current position detected by the current position detection unit 11, the currently traveling lane is estimated, and the reference point P is set based on the estimated lane. May be.
In this example, the width acquisition unit acquires the width from a database (map data 36) in which road data of the acquired route is recorded.
As described above, the navigation device 1 includes a lane specifying unit that specifies a lane that is currently passing, and the reference point setting unit sets a reference point inside the specified lane.

FIG. 5 is a diagram for explaining a modified example of the selection of the width of the road for setting the length of the vector quantity 52.
In the previous embodiment, the length of the vector quantity 52 is set according to the distance from the reference point P to the boundary line 71 and the boundary line 72, but other modifications are possible.

For example, it is assumed that the vehicle travels on the current position 75 of the left lane of the two-lane road as shown in FIG.
In this case, as an example, the distance W1 from the reference point P to the boundary line 84 of the traveling direction change direction side lane, the distance W2 to the central separation zone 83, and the distance to the boundary line 85 of the opposite lane It is possible to adopt the distance W4 to the boundary line 82 of the right road as W3.
In addition, instead of using the reference point P as a base point, a point on the lane opposite to the course change direction of the traveling lane is used as a base point, or a point on the road boundary line 82 opposite to the course change direction is used. It is good also as a base point. As for the end point in this case, one of the end points is taken as in the case of W1 to W4. In FIG. 5, the distance W <b> 5 is an example in the case where the road boundary line 81 is the base point and the distance to the road boundary line 82 is the road width.

FIG. 6 is a flowchart for explaining the procedure of the intersection guidance process performed by the navigation ECU 13.
The following processing is performed by the CPU 41 according to the navigation program.
First, the CPU 41 determines whether a route is being guided (step 5).
When the vehicle has arrived at the destination point and the guidance is finished (step 5; N), the navigation ECU 13 finishes the intersection guidance process.
On the other hand, when the vehicle has not yet arrived at the destination point and is being guided (step 5; Y), the CPU 41 acquires the current position from the current position detection unit 11, and the next ( The nearest intersection 65 is identified. Then, the CPU 41 calculates a distance L from the current position to the target intersection 65 and sequentially updates and stores the previous value in the RAM 42.

Next, the CPU 41 determines whether or not the current position is sufficiently away from the target intersection 65, and whether or not the distance L to the target intersection 65 stored in the RAM 42 is greater than or equal to a predetermined distance La (for example, 300 m). (Step 10).
This is because it is not appropriate to display the bent solid arrow 56 having the shaft B when it is sufficiently away from the target intersection 65. In this case, the linear solid arrow 56 by the shaft A is displayed. It is. The threshold value for the determination is set to La.

When the distance L to the target intersection 65 stored in the RAM 42 is greater than or equal to La (step 10; Y), the CPU 41 creates a straight planar arrow 55 on the shaft A without using the shaft B, and stores it in the RAM 42. (Step 85), the process proceeds to the three-dimensional conversion in Step 60 described later.
As described above, when the acquired distance L is equal to or greater than the predetermined threshold value, the navigation device 1 uses the first graphic portion to create the arrow graphic using the first graphic portion without using the second graphic portion.

On the other hand, when the distance L to the target intersection 65 is less than La (step 10; N), the CPU 41 creates the plane arrow 55 by the shafts A and B by the following procedure.
First, the CPU 41 determines whether or not the current position is too close to the target intersection 65 based on whether or not the distance L to the target intersection 65 stored in the RAM 42 is less than a predetermined distance Lb (for example, 3 m). (Step 15).
When the distance to the target intersection 65 is less than Lb (step 15; Y), the CPU 41 sets the lengths of the shafts A and B to the previous values stored in the RAM 42 (step 80), and proceeds to step 50. To do.
This is to prevent a situation (so-called 0 division) that the process of dividing by the distance becomes unstable when the distance L to the target intersection 65 approaches zero.

On the other hand, when the distance L to the target intersection 65 stored in the RAM 42 is equal to or greater than Lb (step 15; N), the CPU 41 calculates the distance to the node N of the target intersection 65 and calculates the length of the shaft A therefrom. And stored in the RAM 42 (step 20).
Next, the CPU 41 sets the position of the reference point P to the position of the node N and stores it in the RAM 42 (step 25).

In parallel with the above processing, the CPU 41 performs image recognition of the boundary line in the road image photographed by the front camera 19 and detection of the vehicle position on the road by image recognition, and sequentially updates the detection result in the RAM 42. While remembering.
When the boundary line and the vehicle position by image recognition have been detected (step 30; Y), the CPU 41 reads the boundary line position from the RAM 42, calculates the road width, and stores it in the RAM 42 (step 35). .

  Next, the CPU 41 reads the own vehicle position obtained by the image recognition from the RAM 42, identifies the own vehicle traveling lane, corrects the reference point P to a point at the distance L on the own vehicle traveling lane, and stores it in the RAM 42. (Step 40).

On the other hand, when the boundary line and the vehicle position cannot be detected by image recognition (step 30; N), the CPU 41 acquires the width of the road from the map data 36 and stores it in the RAM 42 (step 70).
Then, the CPU 41 tries to determine the own vehicle travel lane from the map data 36 and the current position detection unit 11, and when it can be determined (step 75; Y), the CPU 41 corrects the reference point P on the determined own vehicle travel lane. Is stored in the RAM 42 (step 40).
On the other hand, if the determination is not possible (step 75; N), the CPU 41 proceeds to step 45 without correcting the reference point P.

After obtaining the road width using the image recognition or the map data 36 as described above, the CPU 41 reads the width of the road from the RAM 42, calculates the length of the shaft B from this, and stores it in the RAM 42. (Step 45).
Next, the CPU 41 reads the lengths of the shafts A and B from the RAM 42, creates the shafts A and B facing the direction of the target intersection and the course from the target intersection 65, respectively, and stores them in the RAM 42 (step 50). .

Then, the CPU 41 connects the shaft B to the tip of the shaft A, creates a plane arrow 55, and stores it in the RAM 42 (step 55).
Next, the CPU 41 three-dimensionally converts the shape of the plane arrow 55 stored in the RAM 42 to create a solid arrow 56 and stores it in the RAM 42 (step 60).
Next, the CPU 41 specifies a point corresponding to the reference point P on the HUD 45, reads the solid arrow 56 from the RAM 42, and displays the solid arrow on the HUD 45 so that the reference point P of the solid arrow 56 matches the specified point. 56 is displayed (step 65).
Thereafter, the CPU 41 repeats the same processing.

FIG. 7 is a diagram for explaining a modification of the solid arrow 56.
FIG. 7A is an example in which dummy shafts 91 and 92 are displayed in a direction in which they do not travel in addition to the shaft A that represents the traveling direction from the target intersection 65.
The shafts 91 and 92 are displayed so as to be distinguishable from the shaft B such as, for example, wavy lines or changing colors.
In this display, the driver can be notified of a direction that is not the traveling direction, and is particularly suitable when the shape of the target intersection 65 is complicated.
FIG. 7B is an example in which an arrow head portion is also provided at the tip of the shaft A. In this manner, the arrows may be formed individually as separate bodies without integrating the shafts A and B.

In the present embodiment described above, the sizes of the shafts A and B are individually changed (the shaft A is contracted while the shaft B is expanded), so that the driver can easily understand the traveling direction. can do.
As described above, in the present embodiment, instead of changing the size of the arrow as a whole, the arrow changes to the driver by changing the shape of the arrow itself according to the distance to the target intersection 65. Clearly telling you that you are turning and making it easier to notice where to turn left and right.

DESCRIPTION OF SYMBOLS 1 Navigation apparatus 11 Current position detection part 12 Data storage part 13 Navigation ECU
14 Operation Unit 15 Liquid Crystal Display 16 Speaker 17 DVD Drive 18 Communication Module 19 Front Camera 20 Driver Camera 21 GPS
22 Vehicle speed sensor 23 Steering sensor 24 Gyro sensor 31 Storage medium 33 Link data 34 Node data 35 Intersection data 36 Map data 45 HUD
51, 51a Vector quantity 52, 52a Vector quantity 53 Arrow head part 55 Plane arrow 56 Solid arrow 61 Left lane 62 Center line 63 Right turn road 64 Left turn road 65 Target intersection 75 Current position 71, 72, 81, 82, 84, 85 Boundary Line 83 Median strip 91, 92 Shaft

Claims (9)

Route acquisition means for acquiring a route for guiding the vehicle to the destination point;
An intersection specifying means for specifying a next intersection for guiding a traveling direction according to the acquired route;
Distance acquisition means for acquiring a distance from the current position of the vehicle to the specified intersection;
Width acquisition means for acquiring the width of the road on which the vehicle is currently traveling;
An approach guidance amount acquiring means for acquiring an approach guide amount, having a length based on the acquired distance and having an approach direction to the intersection;
A travel direction guide amount acquisition means for acquiring a travel direction guide amount having a length based on the acquired width and having a travel direction from the intersection;
An arrow figure having a first handle portion having a length and direction corresponding to the approach guidance amount, and a second handle portion continuing to the first handle portion and having a length and direction corresponding to the traveling direction guide amount. An arrow shape creation means for creating
Display means for displaying the created arrow graphic superimposed on the image of the intersection;
A navigation device comprising:   The display means superimposes and displays the arrow graphic on at least one of the real image of the intersection visually recognized by the driver of the vehicle or the image of the intersection displayed on the display screen. The navigation device according to claim 1. Comprising reference point setting means for setting a reference point at a predetermined position of the intersection;
The navigation device according to claim 1, wherein the display unit superimposes the intersection of the first handle part and the second handle part so as to coincide with the set reference point. It has lane identification means to identify the lane that is currently passing,
The navigation apparatus according to claim 3, wherein the reference point setting means sets the reference point inside the identified lane.   The said arrow figure preparation means produces the said arrow figure using the said 1st pattern part, without using the said 2nd pattern part, when the acquired distance is more than a predetermined threshold value. The navigation device according to any one of claims 1 to 4. It has a photographing means for photographing the road ahead,
The said width | variety acquisition means acquires the said width | variety by image-recognizing a white line from the image | photographed road image, The claim in any one of Claim 1 to 5 characterized by the above-mentioned. Navigation device.   The navigation device according to any one of claims 1 to 5, wherein the width acquisition unit acquires the width from a database in which road data of the acquired route is recorded. .   The said arrow figure creation means produces the shape of the perspective view which looked at the said arrow figure in the approach direction to the said intersection, The claim in any one of Claim 1-7 The navigation device described. A route acquisition function for acquiring a route for guiding a vehicle to a destination point;
An intersection identifying function for identifying the next intersection that guides the direction of travel according to the acquired route;
A distance acquisition function for acquiring a distance from the current position of the vehicle to the specified intersection;
A width acquisition function for acquiring the width of the road on which the vehicle is currently traveling;
An approach guidance amount obtaining function for obtaining an approach guidance amount having a length based on the obtained distance and having an approach direction to the intersection;
A travel direction guide amount acquisition function for acquiring a travel direction guide amount having a length based on the acquired width and having a travel direction from the intersection;
An arrow figure having a first handle portion having a length and direction corresponding to the approach guidance amount, and a second handle portion continuing to the first handle portion and having a length and direction corresponding to the traveling direction guide amount. With arrow shape creation function to create
A display function for displaying the created arrow graphic superimposed on the image of the intersection;
A navigation program that realizes the above with a computer.

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