JP2017032436A - Movement guide system, movement guide method and computer program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a movement guide system, movement guide method and computer program that enable more appropriate structure to be selected as a landmark at a guide crossing point in implementing a movement guide along a guide route.SOLUTION: A movement guide system is configured to: acquire a guide route set to a navigation device 1; render a three-dimensional image of a guide crossing point with an advancing direction of a vehicle as a line-of-sight direction; extract a characteristic point of the rendered three-dimensional image of the guide crossing point; specify a structure having the extracted characteristic point concentrated of a structure included in the rendered three-dimensional image of the guide crossing point as a landmark structure; and when a vehicle approaches within a prescribed distance with respect to the guide crossing point, display the three-dimensional image of the guide crossing point so as to make a display form of the landmark structure different in a form from a display form of other structure.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a movement guidance system, a movement guidance method, and a computer program for guiding movement of a moving body such as a vehicle.

  2. Description of the Related Art In recent years, a navigation device is often mounted on a vehicle that provides vehicle travel guidance so that a driver can easily arrive at a desired destination. Here, the navigation device detects the current position of the vehicle by a GPS receiver or the like, acquires map data corresponding to the current position through a recording medium such as a DVD-ROM or HDD or a network, and displays it on a liquid crystal monitor. It is a device that can do. Furthermore, such a navigation device has a route search function for searching for a recommended route from the vehicle position to the destination when a desired destination is input. Then, the guidance route set based on the search result is displayed on the display screen, and when approaching an intersection (hereinafter referred to as a guidance intersection) for guidance such as a right or left turn, a voice or a display screen is used. By performing the guidance, the user is surely guided to a desired destination. In recent years, some mobile phones, smartphones, tablet terminals, personal computers, and the like have functions similar to those of the navigation device.

  Here, in the guidance by the navigation device or the like, it is important that the user accurately grasps the position of the guidance intersection, particularly when guidance of the guidance intersection is performed. Therefore, conventionally, when the vehicle approaches the guidance intersection within a predetermined distance, an image in which the guidance intersection is enlarged is separately displayed. In addition to the two-dimensional top view, as a guidance intersection image, a three-dimensional image closer to the user's field of view is also displayed. Further, for example, in Japanese Patent Application Laid-Open No. 2010-71998, when there is a facility that is a landmark at a guidance intersection, a technique for more reliably specifying the guidance intersection by changing the color of the landmark facility to a prominent color. Proposed.

JP 2010-71998 A (page 9, FIG. 7)

  Here, in the technique described in the above-mentioned Patent Document 1, a facility serving as a mark is a facility of a specific genre such as a gas station or a convenience store. However, it is not guaranteed whether the facility of the specific genre is actually a conspicuous facility that serves as a landmark at the guidance intersection. For example, there is a guide intersection where a facility other than the specific genre has a characteristic external shape and a more appropriate facility exists as a landmark. In addition, the technique described in Patent Document 1 has a problem that guidance using a facility as a landmark cannot be performed at a guidance intersection where there is no facility of the specific genre.

  The present invention has been made to solve the above-described conventional problems, and in performing movement guidance along a guidance route, it is possible to select a more appropriate structure as a guide intersection mark. An object is to provide a guidance system, a movement guidance method, and a computer program.

In order to achieve the above object, a movement guidance system according to the present invention includes a guidance route acquisition means for acquiring a guidance route for guiding the movement of a moving object, and a three-dimensional image of a guidance intersection that is a guidance target in the guidance route. Image generation means for rendering the direction of body movement as the line-of-sight direction, feature point extraction means for extracting feature points of the three-dimensional image of the guidance intersection rendered by the image generation means, and rendering by the image generation means Marking structure specifying means for specifying as a mark structure a structure where the feature points extracted by the feature point extracting means are concentrated among structures included in the three-dimensional image of the guidance intersection, and the moving body When approaching within the guidance target distance to the guidance intersection, the three-dimensional image of the guidance intersection is displayed in a different display form of the landmark structure. It includes an image display means for displaying in the display form different from the form of creation, the.
The “moving body” includes a pedestrian and a two-wheeled vehicle in addition to the vehicle.
In addition, the “guide intersection” corresponds to an intersection that is a target for performing guidance such as a right / left turn instruction when performing guidance of movement of the moving object according to the guidance route.

  Moreover, the movement guide method according to the present invention is a method for guiding a moving body that moves along a guide route. Specifically, the guide route acquisition unit acquires a guide route for guiding the movement of the moving body, and the image generation unit displays a three-dimensional image of the guidance intersection to be guided in the guide route of the moving body. Rendering the traveling direction as a line-of-sight direction, a feature point extracting unit extracting a feature point of the three-dimensional image of the guidance intersection rendered by the image generating unit, and a landmark structure specifying unit including the image A step of identifying a structure in which the feature points extracted by the feature point extraction unit are concentrated as a landmark structure among the structures included in the three-dimensional image of the guidance intersection rendered by the generation unit; When the moving body approaches the guidance intersection within a guidance target distance, the means displays the three-dimensional image of the guidance intersection as the mark. It has a step of displaying by the display form of creation on display form different from the form of other structures, a.

  The computer program according to the present invention is a program for guiding a moving body that moves along a guidance route. Specifically, the computer uses a guide route acquisition means for acquiring a guide route for guiding the movement of the moving body, a three-dimensional image of a guidance intersection to be guided in the guide route, and the direction of travel of the moving body as a line-of-sight direction. Image generating means for rendering as, a feature point extracting means for extracting feature points of the three-dimensional image of the guidance intersection rendered by the image generation means, and a three-dimensional image of the guidance intersection rendered by the image generation means Among the structures included in the structure, the landmark structure specifying means for specifying the structure where the feature points extracted by the feature point extracting means are concentrated as a landmark structure, and the moving body guiding the guide intersection When approaching within a target distance, the three-dimensional image of the guidance intersection is displayed in a form different from the display form of the other structure. Image display means for and displaying on a computer program for causing to function.

  According to the movement guidance system, the movement guidance method, and the computer program according to the present invention having the above-described configuration, the feature point of the three-dimensional image of the rendered guidance intersection is extracted, and the structure that becomes the landmark at the guidance intersection is specified. Therefore, when the user visually recognizes the vicinity of the guidance intersection, it becomes possible to select a structure that is more conspicuous regardless of the genre, that is, a structure that is more appropriate as a landmark, as a landmark when guiding the guidance intersection. As a result, when the mobile body reaches the vicinity of the guidance intersection, it is possible to accurately identify the guidance intersection with reference to the structure serving as a mark from the surrounding environment visually recognized by the user. In addition, it is possible to guide a guidance intersection using a mark even for a guidance intersection where a facility of a specific genre does not exist in the vicinity as compared with the conventional technology.

It is the block diagram which showed the navigation apparatus which concerns on this embodiment. It is a flowchart of the travel guidance processing program which concerns on this embodiment. It is the figure which showed the three-dimensional image of the guidance intersection displayed on a liquid crystal display, when a vehicle approaches within a 1st distance to a guidance intersection. It is the figure which showed the three-dimensional image of the guidance intersection displayed on a liquid crystal display, when a vehicle approaches within a 2nd distance to a guidance intersection. It is a flowchart of the sub process program of a mark structure specific process. It is a figure explaining the process which specifies a mark structure. It is a figure explaining the process which specifies a mark structure.

  DETAILED DESCRIPTION Hereinafter, a mobile guidance system according to the present invention will be described in detail with reference to the drawings based on an embodiment in which the navigation apparatus is embodied. First, a schematic configuration of the navigation device 1 according to the present embodiment will be described with reference to FIG. FIG. 1 is a block diagram showing a navigation device 1 according to this embodiment.

  As shown in FIG. 1, the navigation device 1 according to the present embodiment includes a current position detection unit 11 that detects a current position of a vehicle on which the navigation device 1 is mounted, a data recording unit 12 that records various data, A navigation ECU 13 that performs various arithmetic processes based on input information, an operation unit 14 that receives operations from the user, and a liquid crystal display that displays a map around the vehicle, a three-dimensional image of a guidance intersection, and the like to the user. 15, a speaker 16 that outputs voice guidance regarding route guidance, a DVD drive 17 that reads a DVD as a storage medium, and an information center such as a probe center or a VICS (registered trademark: Vehicle Information and Communication System) center. And a communication module 18 for performing communication.

Below, each component which the navigation apparatus 1 has is demonstrated in order.
The current position detection unit 11 includes a GPS 21, a vehicle speed sensor 22, a steering sensor 23, a gyro sensor 24, and the like, and can detect the current vehicle position, direction, vehicle traveling speed, current time, and the like. . Here, in particular, the vehicle speed sensor 22 is a sensor for detecting a moving distance and a vehicle speed of the vehicle, generates a pulse according to the rotation of the driving wheel of the vehicle, and outputs a pulse signal to the navigation ECU 13. And navigation ECU13 calculates the rotational speed and moving distance of a driving wheel by counting the generated pulse. Note that the navigation device 1 does not have to include all the four types of sensors, and the navigation device 1 may include only one or more types of sensors.

  The data recording unit 12 reads an external storage device and a hard disk (not shown) as a recording medium, a map information DB 31 recorded on the hard disk, an image material DB 32, a predetermined program, and the like, and stores predetermined data on the hard disk. And a recording head (not shown) as a driver for writing. The data recording unit 12 may be configured by a memory card, an optical disk such as a CD or a DVD, instead of the hard disk. Further, the map information DB 31 and the image material DB 32 may be stored in an external server, and the navigation device 1 may be configured to acquire by communication.

  Here, the map information DB 31 is, for example, link data 33 relating to roads (links), node data 34 relating to node points, intersection data 35 relating to each intersection, point data relating to points such as facilities, and map display data for displaying a map. The storage means stores search data for searching for routes, search data for searching for points, and the like.

  Here, as the link data 33, for example, a link ID for identifying the link, end node information for specifying a node located at the end of the link, the road type of the road constituting the link, the number of lanes, the road The width and the like are stored. The node data 34 stores a node ID for identifying the node, position coordinates of the node, connection destination node information for specifying a connection destination node to which the node is connected via a link, and the like. In addition, as the intersection data 35, relevant node information for specifying nodes forming the intersection, connection link information for specifying a link connected to the intersection (hereinafter referred to as a connection link), and the like are stored.

  The intersection data 35 also stores various data necessary for creating a three-dimensional image of the guidance intersection for every intersection in the country. Here, the guidance intersection is an intersection to which guidance such as a right / left turn instruction is given when guidance for traveling of the vehicle is performed according to the guidance route. A three-dimensional image of the guidance intersection is displayed on the liquid crystal display 15 when the vehicle approaches the guidance intersection within a predetermined distance as will be described later, and the vicinity of the guidance intersection is enlarged with the traveling direction of the vehicle as the line-of-sight direction. It is the three-dimensional image (3DCG) shown. Specifically, information specifying the shape and position of roads connected at intersections and structures around buildings (buildings, overpasses, signboards, traffic lights, trees, etc.), material settings for modeled objects, and modeling Information for specifying which texture is to be applied to which surface of the object is stored. The intersection data 35 may be configured to store data relating to a modeled object instead of data for modeling. In addition, it is not necessary to store data necessary for creating a three-dimensional image for all intersections in the whole country, and intersections on narrow streets may be excluded.

  On the other hand, the image material DB 32 is a storage unit that stores various image data used when creating a three-dimensional image of the guidance intersection. For example, a texture image (image of a building wall surface, an image of a road surface of a road, etc.) to be attached to an object is stored.

  The navigation ECU (Electronic Control Unit) 13 is an electronic control unit that controls the entire navigation device 1. The CPU 41 as an arithmetic device and a control device, and a working memory when the CPU 41 performs various arithmetic processes. Read out from the ROM 43 and the ROM 43 in which a RAM 42 that stores route data when the route is searched, a control program, a travel guidance processing program (FIG. 2) described later, and the like are recorded. An internal storage device such as a flash memory 44 for storing the program is provided. The navigation ECU 13 has various means as processing algorithms. For example, the guidance route acquisition unit acquires a guidance route that guides the movement of the moving body (vehicle). The image generation means renders a three-dimensional image of the guidance intersection to be a guidance target in the guidance route with the traveling direction of the moving body as the line-of-sight direction. The feature point extraction unit extracts a feature point of the three-dimensional image of the guidance intersection rendered by the image generation unit. The landmark structure specifying means specifies, as the landmark structure, a structure in which the feature points extracted by the feature point extracting means are concentrated among the structures included in the three-dimensional image of the guidance intersection rendered by the image generating means. . When the moving body approaches the guidance intersection within the guidance target distance, the image display means changes the display form of the landmark structure to a form different from the display form of other structures. indicate.

  The operation unit 14 is operated when inputting a starting point as a travel start point and a destination as a travel end point, and has a plurality of operation switches (not shown) such as various keys and buttons. Then, the navigation ECU 13 performs control to execute various corresponding operations based on switch signals output by pressing the switches. The operation unit 14 can also be configured by a touch panel provided on the front surface of the liquid crystal display 15. Moreover, it can also be comprised with a microphone and a speech recognition apparatus.

  The liquid crystal display 15 includes a map image including a road, traffic information, operation guidance, operation menu, key guidance, guidance route from the departure point to the destination, guidance information along the guidance route, news, weather forecast, Time, mail, TV program, etc. are displayed. In particular, in this embodiment, when the guidance intersection approaches within a predetermined distance (for example, 300 m) ahead of the traveling direction of the vehicle, a three-dimensional image of the guidance intersection is displayed (FIGS. 3 and 4). In place of the liquid crystal display 15, HUD or HMD may be used.

  The speaker 16 outputs voice guidance for guiding traveling along the guidance route based on an instruction from the navigation ECU 13 and traffic information guidance.

  The DVD drive 17 is a drive that can read data recorded on a recording medium such as a DVD or a CD. Based on the read data, music and video are reproduced, the map information DB 31 is updated, and the like. A card slot for reading / writing a memory card may be provided instead of the DVD drive 17.

  The communication module 18 is a communication device for receiving traffic information composed of information such as traffic jam information, regulation information, and traffic accident information transmitted from a traffic information center, for example, a VICS center or a probe center. For example, a mobile phone or DCM is applicable.

  Next, a travel guidance processing program executed by the navigation ECU 13 in the navigation device 1 having the above configuration will be described with reference to FIG. FIG. 2 is a flowchart of the travel guidance processing program according to the present embodiment. Here, the travel guidance processing program is a program that is executed after an ACC power supply (accessory power supply) of the vehicle is turned on, and performs travel guidance of the vehicle along the guidance route set in the navigation device 1. 2 and 5 are stored in the RAM 42 and the ROM 43 provided in the navigation device 1 and are executed by the CPU 41.

  First, in step (hereinafter abbreviated as S) 1 in the travel guidance processing program, the CPU 41 obtains a guide route (scheduled travel route for the user) currently set in the navigation device 1. The guide route is a recommended route from the starting point to the destination set by the navigation device 1, and is searched using, for example, a known Dijkstra method. The navigation route 1 may be configured to search for the guidance route, or may be configured to be searched by an external server. Further, the departure point may be the current position of the user or an arbitrary point selected by the user (for example, home). On the other hand, the destination is set based on, for example, a user operation (for example, a registration point reading operation, facility search or selection operation) received in the operation unit 14.

  Next, in S <b> 2, the CPU 41 acquires the current position of the vehicle based on the detection result of the current position detection unit 11. A map matching process for specifying the current position of the vehicle on the map data is also performed. Furthermore, it is desirable to specify the current position of the vehicle in detail using high-precision location technology. Here, the high-accuracy location technology detects the white line and road surface paint information captured from the camera behind the vehicle by image recognition, and further compares the white line and road surface paint information with a previously stored map information DB, thereby driving the vehicle. This is a technology that makes it possible to detect lanes and highly accurate vehicle positions. The details of the high-accuracy location technology are already known and will be omitted.

  Subsequently, in S3, the CPU 41 determines whether or not there is a guidance intersection within a first distance (for example, within 300 m) ahead of the traveling direction of the vehicle. The first distance can be set as appropriate in the navigation device 1 and is, for example, the distance from the point where the voice guidance instructing the left / right turn is output to the guidance intersection in the navigation device 1.

  If it is determined that there is a guidance intersection within the first distance (S3: YES), the process proceeds to S4. On the other hand, when it is determined that there is no guidance intersection within the first distance (S3: NO), the process proceeds to S17.

  Thereafter, in S4 and thereafter, the CPU 41 starts creating a three-dimensional image of the guidance intersection that is ahead in the traveling direction. First, in S <b> 4, the CPU 41 acquires an object (shape data) that models a road or a structure at a guidance intersection ahead of the traveling direction in a three-dimensional space. In S4, the CPU 41 may be configured to acquire an object at the corresponding guidance intersection among objects previously modeled for each intersection and stored in the DB. It is good also as a structure which creates newly. When modeling is performed, the shape and position of roads connected at a guidance intersection ahead in the direction of travel and structures around buildings (buildings, overpasses, signboards, traffic lights, trees, etc.) are identified from the map information DB 31. Information is acquired, and modeling processing is performed based on the acquired information.

  Here, modeling is a process for creating the shape of a model (object) in a three-dimensional space. More specifically, determination of coordinates of each vertex, determination of parameters of an equation expressing a boundary line and a surface, etc. I do. Since modeling is a known technique, details are omitted. Then, the modeled object (shape data) is expressed in a form such as a “wire frame model” that displays only the sides and a “surface model” that displays a surface according to the application.

  Next, in S5, the CPU 41 performs various materials (materials) setting and mapping processing for the object acquired in S4. Note that mapping processing includes texture mapping in which a texture image is pasted on the surface of an object, and bump mapping in which fine unevenness is formed by changing the light reflection direction.

  Subsequently, in S6, the CPU 41 performs lighting processing on the object acquired in S4. Specifically, a light source is set on a three-dimensional space. In addition, since this embodiment is an outdoor three-dimensional image, the sun (namely, parallel light source) is assumed as a light source. Further, the brightness, position, and angle parameters of the light source to be set may be set corresponding to the solar state at the current date and time. For example, in the summer daytime, the luminous intensity is increased so that the light irradiation direction is perpendicular to the road surface, and in the winter evening, the luminous intensity is decreased so that the light irradiation direction is close to the horizontal direction with respect to the road surface. As a result, a three-dimensional image closer to the surrounding environment actually viewed by the user can be obtained. However, in order to obtain a three-dimensional image that is always easily visible to the user, it is desirable to use a fixed parameter that is adjusted to a value that is easily visible to the user regardless of the current date and time.

  Thereafter, in S7, the CPU 41 sets the viewpoint and the line-of-sight direction on the three-dimensional space in which the object is formed. Note that a three-dimensional image generated as described later is an image obtained by visually recognizing an object formed in a three-dimensional space from the viewpoint set in S7. Therefore, the line-of-sight direction is the vehicle traveling direction (that is, the direction of the guidance intersection along the guidance route) in order to correspond the displayed three-dimensional image with the field of view of the user who gets on the vehicle. On the other hand, the position of the viewpoint may be fixed at a position on the near side from the guidance intersection along the guidance route by a predetermined distance (for example, 300 m or 100 m), or may be the current vehicle position. When the viewpoint position is fixed, it is not necessary to repeat the rendering process (S8) described later. However, when the viewpoint is the current vehicle position, the viewpoint position is increased as the vehicle moves. And rendering process (S8) described later needs to be repeated at a predetermined interval. Then, the rendered three-dimensional image of the guidance intersection is sequentially switched and displayed on the liquid crystal display 15 (S9). As a result, as the vehicle approaches the guidance intersection, the displayed three-dimensional image of the guidance intersection is also updated to an image approaching the guidance intersection.

  Next, in S8, the CPU 41 performs rendering and outputs a final three-dimensional image of the guidance intersection. The output three-dimensional image is obtained by viewing the object in the three-dimensional space acquired in S4 and surface-treated in S5 from the viewpoint set in S7 with the light source set in S6. The image is viewed in the direction.

  Subsequently, in S9, the CPU 41 displays the three-dimensional image of the guidance intersection rendered in S8 on the liquid crystal display 15. In addition, an image indicating the guidance route, a mark indicating the current position of the vehicle, and the like are also displayed superimposed on the three-dimensional image of the guidance intersection. Here, FIG. 3 is a diagram showing an example of a three-dimensional image of the guidance intersection displayed on the liquid crystal display 15 in S9. When the vehicle approaches the guidance intersection within the first distance, a three-dimensional image 51 of the guidance intersection is displayed instead of the normal travel guidance screen 50 as shown in FIG. The three-dimensional image 51 of the guidance intersection may be displayed on the entire screen of the liquid crystal display 15, or the driving guidance screen 50 may be continuously displayed on one side of the liquid crystal display 15 in a two-screen configuration. good. Moreover, it is good also as a structure displayed on the display apparatus different from the driving guidance screen 50. FIG.

  Here, the three-dimensional image 51 of the guidance intersection is matched on the map with the guidance intersection 52, the road 53 connected at the guidance intersection 52, the structure 54 around the guidance intersection 52, the guidance route 55, and the like. A vehicle position mark 56 indicating the current position of the vehicle is displayed. The road 53 and the structure 54 are reproduced by pasting a texture image on the surface of the object. Then, by referring to the three-dimensional image 51 of the guidance intersection, the user can grasp the position of the guidance intersection that is in front of the traveling direction of the vehicle in correspondence with the forward field of view that can be visually recognized by the user. The three-dimensional image 51 of the guidance intersection may be a still image, or as the vehicle approaches the guidance intersection, the three-dimensional image of the guidance intersection displayed gradually approaches the guidance intersection. You may comprise so that it may update. In that case, as described above, the viewpoint is set to the current position of the vehicle, and the processes of S7 to S9 are repeatedly executed at predetermined intervals.

  Next, in S10, the CPU 41 determines whether or not there is a guidance intersection within a second distance (guidance target distance) ahead of the traveling direction of the vehicle. Note that the second distance is, for example, a distance from a point where the user starts a preparation operation for a right or left turn (for example, an operation of a direction indicator) to a guidance intersection, or a visual recognition (specification) of an intersection where the user turns right or left. The distance from the starting point to the guidance intersection is set to a distance (for example, 60 m) shorter than the first distance that is the determination criterion of S3.

  And when it determines with there being a guidance intersection within 2nd distance (S10: YES), it transfers to S11. On the other hand, when it is determined that there is no guidance intersection within the second distance (S10: NO), the process returns to S9, and the three-dimensional image 51 of the guidance intersection is continuously displayed.

  In S11, the CPU 41 executes a mark structure specifying process (FIG. 5) described later. The mark structure specifying process is a process for specifying a structure (hereinafter referred to as a mark structure) to be used as a mark in the guidance of the guidance intersection among the structures included in the rendered three-dimensional image of the guidance intersection. .

  Next, in S12, the CPU 41 makes the display form of the landmark structure specified in S11 different from the display form of other structures in the three-dimensional image of the guidance intersection displayed on the liquid crystal display 15. Process. Specifically, the processing is performed so that the landmark structure is displayed more emphasized than the other structures in the three-dimensional image of the guidance intersection. In particular, in this embodiment, while maintaining the texture mapped to the landmark structure in S5, the landmark structure is emphasized by deleting the texture image mapped to the other structure. Configure to display.

  Subsequently, in S13, the CPU 41 performs rendering, and outputs a three-dimensional image of the guidance intersection processed in S12 so that the display form of the landmark structure is different from the display form of other structures. Note that the three-dimensional image generation process other than texture mapping is the same process as in S5 to S7. However, it is desirable that the viewpoint position is set to a position on the near side by a second distance along the guidance route from the guidance intersection.

  Thereafter, in S14, the CPU 41 displays a three-dimensional image of the guidance intersection rendered in S13 on the liquid crystal display 15. In addition, an image indicating the guidance route, a mark indicating the current position of the vehicle, and the like are also displayed superimposed on the three-dimensional image of the guidance intersection. Here, FIG. 4 is a diagram showing an example of a three-dimensional image of the guidance intersection displayed on the liquid crystal display 15 in S14. The example shown in FIG. 4 shows a three-dimensional image of the guidance intersection that is displayed particularly when the structure on the right side before the guidance intersection 52 is specified as the landmark structure.

  As shown in FIG. 4, when the vehicle approaches the guidance intersection within the second distance, the display form of the three-dimensional image 51 of the guidance intersection, in particular, the image of the structure 54 changes. Specifically, the texture image of the landmark structure 58 among the structures 54 is maintained, while the texture image of the structure 59 other than the landmark structure 58 is deleted and is deleted with a single color (for example, gray). ) Is displayed. As a result, when referring to the three-dimensional image 51 of the guidance intersection, the user can clearly identify the landmark structure 58 from the presence or absence of the texture. Then, by using the identified mark structure 58 as a mark, it is possible to more accurately grasp the position of the guidance intersection in front of the traveling direction of the vehicle. The three-dimensional image 51 of the guidance intersection may be a still image, or as the vehicle approaches the guidance intersection, the three-dimensional image of the guidance intersection displayed gradually approaches the guidance intersection. You may comprise so that it may update. In this case, the viewpoint is set to the current position of the vehicle, and the processes of S13 and S14 are repeatedly executed at predetermined intervals in addition to the change of the viewpoint setting position.

  Thereafter, in S15, the CPU 41 determines whether or not the vehicle has passed a guidance intersection that is a guidance target.

  And when it determines with the vehicle having passed the guidance intersection used as guidance object (S15: YES), it transfers to S16. On the other hand, when it is determined that the vehicle does not pass through the guidance intersection that is the guidance target (S15: NO), the three-dimensional image 51 of the guidance intersection that highlights the landmark structure is continuously displayed. indicate.

  In S <b> 16, the CPU 41 deletes the three-dimensional image of the guidance intersection from the liquid crystal display 15. Thereafter, a normal travel guidance screen 50 is displayed on the liquid crystal display 15.

  Next, in S17, the CPU 41 determines whether or not the vehicle has arrived at the destination. The determination of the arrival of the vehicle at the destination may be performed based on the current position of the vehicle detected by the current position detection unit 11 and the position coordinates of the destination, or may be based on the position of the shift lever or the operation state of the side brake. You may determine based on.

  And when it determines with the vehicle having arrived at the destination (S17: YES), the said travel guidance process program is complete | finished. On the other hand, when it is determined that the vehicle has not arrived at the destination (S17: NO), the process returns to S2.

  Next, the sub-process of the landmark structure specifying process executed in S11 will be described with reference to FIG. FIG. 5 is a flowchart of a sub-processing program for the landmark structure specifying process.

  First, in S21, the CPU 41 acquires the current weather and date / time. In addition, about the present weather, you may acquire by communicating with an external server, and it is good also as a structure detected using various sensors, such as a rainfall sensor and an illumination intensity sensor. Further, the current date and time may be acquired from a built-in timer, or may be configured to be acquired from the GPS 21 or an external server.

  Next, in S22, the CPU 41 changes the light source setting in the three-dimensional space set in S6. Specifically, the current date and time and weather are set for each parameter of the brightness, position, and angle of the light source. That is, the CPU 41 first calculates the position and brightness of the sun at the current date and time, sets the light source to be located at the calculated sun position, and sets the luminous intensity of the light source at the calculated brightness. Further, when the weather is fine, the light intensity of the light source is not corrected, but when it is cloudy, correction is performed to lower the light intensity by a predetermined ratio (for example, 20%), and in the case of rain (snow), it is further increased (for example, 50%). ) Make a correction to lower the luminous intensity.

  Next, in S23, the CPU 41 changes the position of the viewpoint in the three-dimensional space set in S7. Specifically, the position of the viewpoint is changed from the guidance intersection to the position on the near side by a second distance (for example, 60 m) along the guidance route. The line-of-sight direction is the same as the traveling direction of the vehicle as in S7.

  Thereafter, in S24, the CPU 41 performs rendering and outputs a three-dimensional image of the guidance intersection that simulates the current date and weather. The three-dimensional image generation process other than the light source setting and the viewpoint position setting is the same as the above-described steps S5 to S7. As a result, the three-dimensional image of the guidance intersection output in S24 is an image that reproduces the user's field of view when the guidance intersection is viewed from the second distance before the current date and weather.

  Next, in S25, the CPU 41 extracts feature points by performing image processing on the three-dimensional image of the guidance intersection rendered in S24. The feature points correspond to image edges, corners, and the like. The details of the image processing related to the feature point extraction are omitted because they are already known techniques.

  Subsequently, in S26, the CPU 41 divides the three-dimensional image of the guidance intersection rendered in S24 into a plurality of areas, and identifies an area that includes the largest number of feature points identified in S25 among the divided areas. To do. Note that the number of divisions of the three-dimensional image can be changed as appropriate, but is divided into four, for example.

  In S27, the CPU 41 determines whether or not a structure that overlaps the area specified in S26 has been specified. Specifically, in the three-dimensional image of the guidance intersection rendered in S24, if there is only one structure that overlaps with the area specified in S26, it overlaps with the area specified in S26. It is determined that the structure can be identified as one. On the other hand, in the three-dimensional image of the guidance intersection rendered in S24, there are a plurality of structures that overlap with the area specified in S26, or there are no structures that overlap with the area specified in S26. It is determined that a structure overlapping with the area specified in S26 could not be specified.

  And when it determines with the structure which overlaps with the area specified by said S26 having been specified to one (S27: YES), it transfers to S28. On the other hand, when it is determined that a structure overlapping with the area specified in S26 cannot be specified as one (S27: NO), the process returns to S26. Then, when there are a plurality of structures that overlap with the area identified in S26, the area identified in S26 is further divided and the area containing the most feature points is identified again. On the other hand, if there is no structure overlapping with the area identified in S26, the area containing the most feature points is identified again by reducing the number of divided areas.

  In S28, the CPU 41 identifies a structure that overlaps the area identified in S26 as a landmark structure. It should be noted that the structure overlapping the area specified in S26 has concentrated feature points, and is the most suitable as a mark when guiding the guidance intersection among the structures included in the three-dimensional image of the guidance intersection. It becomes a structure. Thereafter, the guidance intersection is guided using the specified landmark structure. In this embodiment, the structure specified as a landmark structure is basically “buildings such as buildings and stores”, but structures other than buildings (for example, overpasses, signboards, traffic lights, trees, etc.) are landmark structures. It is good also as a structure specified as.

  Below, a specific example is given and demonstrated about the specific process of the said S mark structure using FIG.6 and FIG.7. First, the CPU 41 divides the three-dimensional image 61 of the guidance intersection rendered in S24 into areas A to D. And area B is specified as an area which has the most feature points among areas AD. However, since a plurality of structures 62 and 63 overlap in the area B, it is not possible to specify a structure overlapping with the area. Therefore, the CPU 41 further divides area B into areas E to H. Then, the area H is specified as an area including the most feature points among the areas E to H. As a result, since only the structure 62 overlaps the area H, the structure 62 is finally specified as a landmark structure.

  As described in detail above, the navigation device 1 according to the present embodiment, the movement guide method by the navigation device 1 and the computer program executed by the navigation device 1 acquire the guide route set in the navigation device 1 (S1). ), Rendering a three-dimensional image of the guidance intersection with the direction of travel of the vehicle as the line-of-sight direction (S24), extracting feature points of the rendered three-dimensional image of the guidance intersection (S25), and rendering the three-dimensional rendering of the guidance intersection Among the structures included in the image, the structure where the extracted feature points are concentrated is specified as a landmark structure (S28), and when the vehicle approaches within a predetermined distance from the guidance intersection, 3 of the guidance intersections are identified. Display the three-dimensional image with the display form of the landmark structure different from the display form of the other structures (S14). Therefore, when the user visually recognizes the vicinity of the guidance intersection, it becomes possible to select a structure that is more conspicuous regardless of the genre, that is, a more appropriate structure as a landmark, as a landmark when guiding the guidance intersection. . As a result, when the vehicle reaches the vicinity of the guidance intersection, it is possible to accurately identify the guidance intersection based on the structure that serves as a mark from the surrounding environment visually recognized by the user. In addition, it is possible to guide a guidance intersection using a mark even for a guidance intersection where a facility of a specific genre does not exist in the vicinity as compared with the conventional technology.

Note that the present invention is not limited to the above-described embodiment, and various improvements and modifications can be made without departing from the scope of the present invention.
For example, in this embodiment, as a means for displaying a landmark structure in a three-dimensional image of a guidance intersection with emphasis over other structures, texture mapping is performed only on the landmark structure. It may be used. For example, change the display color of the image of the landmark structure, thicken the outline of the landmark structure, make the structure other than the landmark structure semi-transparent, or hide the structure other than the landmark structure Also good.

  Further, in the present embodiment, when the vehicle approaches the guidance intersection within a first distance (for example, 300 m), first, the guide intersection 3 in which the display form of the landmark structure is made the same form as the display form of the other structures. The three-dimensional image is displayed on the liquid crystal display 15, and then the landmark structure in the three-dimensional image is highlighted after the vehicle approaches the guidance intersection within a second distance (for example, 60 m). For example, the mark structure may be specified when the three-dimensional image of the guidance intersection is displayed within the liquid crystal display 15 when approaching within 300 m (for example, 300 m), and the mark structure may be highlighted. The lengths of the first distance and the second distance can be changed as appropriate.

  In the present embodiment, the landmark structure is specified from the three-dimensional image of the guidance intersection with the viewpoint of a point away from the guidance intersection by the second distance (for example, 60 m). However, the guidance intersection for identifying the landmark structure is used. The position of the viewpoint of the three-dimensional image may be set to another position. For example, the viewpoint may be the current position of the vehicle. In that case, the landmark structure may change depending on the current position of the vehicle.

  In the present embodiment, only one mark structure is specified. However, a plurality of mark structures may be specified.

  In addition to the navigation device, the present invention can be applied to various devices having a function of performing route guidance based on a guidance route. For example, the present invention can be applied to a mobile terminal such as a mobile phone or a smartphone, a personal computer, a tablet terminal (hereinafter referred to as a mobile terminal or the like). Further, the present invention can be applied to a system including a server and a mobile terminal. In that case, each step of the above-described travel guidance processing program (FIG. 2) may be configured to be implemented by either a server or a mobile terminal. Moreover, when using another information terminal instead of the navigation apparatus 1, it is also possible to perform the movement guidance with respect to moving bodies (for example, a pedestrian, a bicycle, etc.) other than a vehicle.

  Moreover, although the embodiment which actualized the movement guidance system according to the present invention has been described above, the movement guidance system can also have the following configuration, and in that case, the following effects can be obtained.

For example, the first configuration is as follows.
A guide route acquisition means (41) for acquiring a guide route (55) for guiding the movement of the mobile object, and a three-dimensional image (51, 61) of the guide intersection (52) to be guided in the guide route Image generating means (41) for rendering the traveling direction of the image as the line-of-sight direction, feature point extracting means (41) for extracting feature points of the three-dimensional image of the guidance intersection rendered by the image generating means, and the image generation A landmark structure that identifies, as a landmark structure (58), a structure in which the feature points extracted by the feature point extraction means are concentrated among structures included in the three-dimensional image of the guidance intersection rendered by the means. When the identification means (41) and the moving body approach the guidance intersection within a guidance target distance, a three-dimensional image of the guidance intersection is displayed as the landmark structure. Having an image display means for displaying in the different forms of display mode and display format of the other structure (41), the.
According to the movement guidance system having the above-described configuration, by extracting feature points of the rendered three-dimensional image of the guidance intersection, a structure that becomes a landmark at the guidance intersection is specified, so that the user visually recognizes the vicinity of the guidance intersection. In this case, it is possible to select a structure that is more conspicuous regardless of the genre, that is, a structure that is more appropriate as a mark, as a mark when guiding a guidance intersection. As a result, when the mobile body reaches the vicinity of the guidance intersection, it is possible to accurately identify the guidance intersection with reference to the structure serving as a mark from the surrounding environment visually recognized by the user. In addition, it is possible to guide a guidance intersection using a mark even for a guidance intersection where a facility of a specific genre does not exist in the vicinity as compared with the conventional technology.

The second configuration is as follows.
The feature point extraction means (41) uses the position of the moving body in front of the guidance target distance with respect to the guidance intersection (52) as a viewpoint, and sets the traveling direction of the moving body as the line-of-sight direction. The feature points are extracted from the three-dimensional images (51, 61) of the guidance intersection rendered as.
According to the travel guidance system having the above-described configuration, when a mobile object arrives near the guidance intersection, the structure that serves as a landmark is identified from the actual surrounding environment that the user will visually recognize. It is possible to select a structure as a mark when guiding a guidance intersection.

The third configuration is as follows.
The target structure specifying unit (41) divides the three-dimensional image (51, 61) of the guidance intersection (52) rendered by the image generation unit (41) into a plurality of areas. Among them, an area including the most feature points is specified, and a structure overlapping with the specified area is specified as the mark structure (58).
According to the travel guidance system having the above-described configuration, it is possible to appropriately select a structure in which feature points are concentrated even when a large number of feature points and structures are included in a three-dimensional image of a guidance intersection. Become.

The fourth configuration is as follows.
It has a weather acquisition means (41) for acquiring the weather, and the feature point extraction means (41) is a three-dimensional image of the guidance intersection (52) rendered by simulating the weather acquired by the weather acquisition means The feature points are extracted from (51, 61).
According to the travel guidance system having the above configuration, when a mobile object arrives in the vicinity of the guidance intersection, the structure that serves as a mark is identified from the actual surrounding environment that the user will visually recognize in the current weather condition. It is possible to select an appropriate structure as a mark in the current weather state as a mark when guiding a guidance intersection.

The fifth configuration is as follows.
A three-dimensional image of the guidance intersection (52) rendered by simulating the date and time acquired by the date and time acquisition unit; and a date and time acquisition unit (41) for acquiring a date and time The feature points are extracted from (51, 61).
According to the travel guidance system having the above configuration, when a mobile object arrives near the guidance intersection, the structure that becomes the landmark is identified from the actual surrounding environment that the user will visually recognize at the current date and time. It is possible to select an appropriate structure as a mark at the date and time as a mark when guiding a guidance intersection.

The sixth configuration is as follows.
The image display means (41) displays the landmark structure (58) more emphasized than the other structures in the three-dimensional image (51, 61) of the guidance intersection (52).
According to the travel guidance system having the above configuration, even if there are many structures near the guidance intersection, the user can easily identify the landmark structure in the three-dimensional image of the guidance intersection. .

The seventh configuration is as follows.
The image display means (41) performs texture mapping on the landmark structure (58), but does not perform texture mapping on the other structure, and the three-dimensional image (51, 51) of the guidance intersection (52). 61) is displayed.
According to the movement guidance system having the above configuration, the landmark structure can be clearly differentiated from other structures in the three-dimensional image of the guidance intersection only by the presence or absence of texture mapping. In addition, the processing load on the CPU can be reduced by reducing the processing amount of texture mapping.

The eighth configuration is as follows.
A position acquisition unit (41) for acquiring a current position of the mobile body, wherein the image generation unit (41) uses the current position of the mobile body as a viewpoint at predetermined intervals as the mobile body moves; The three-dimensional image (51, 61) of the guidance intersection (52) with the traveling direction of the moving body as the line of sight is rendered, and the image display means (41) is rendered with the movement of the moving body. The three-dimensional image of the guidance intersection is sequentially switched and displayed.
According to the movement guidance system having the above-described configuration, the display content of the guidance intersection displayed in correspondence with the current position of the moving object is also updated, so that the user's field of view and the guidance intersection three-dimensional image are more displayed. It is possible to display in close correspondence.

The ninth configuration is as follows.
The image display means (41) displays a three-dimensional image (51, 61) of the guidance intersection when the moving body approaches the guidance intersection (52) within a predetermined distance longer than the guidance target distance. The display structure of the mark structure is displayed in the same form as the display form of other structures, and then the mark structure is displayed when the moving body approaches the guidance intersection within the guidance target distance. The display form of the object (58) is different from the display form of other structures.
According to the movement guidance system having the above-described configuration, first, a three-dimensional image of a guidance intersection corresponding to the surrounding environment actually viewed by the user is displayed, and then the display form of the landmark structure is displayed as another structure. Since it is changed to a three-dimensional image having a different form, the user can more easily identify the landmark structure by comparing the three-dimensional image before and after changing the display form of the structure. It becomes possible.

1 Navigation device 41 CPU
42 RAM
43 ROM
50 Traveling guidance screen 51, 61 Three-dimensional image of a guidance intersection 52 Guidance intersection 55 Guidance route 58 Marking structure

Claims (11)

Guidance route acquisition means for acquiring a guidance route for guiding the movement of the moving body;
Image generating means for rendering a three-dimensional image of a guidance intersection to be a guidance target in the guidance route with a traveling direction of the moving body as a line-of-sight direction;
Feature point extraction means for extracting feature points of the three-dimensional image of the guidance intersection rendered by the image generation means;
A landmark structure that identifies, as a landmark structure, a structure in which the feature points extracted by the feature point extraction means are concentrated among structures included in the three-dimensional image of the guidance intersection rendered by the image generation means. Specific means,
When the moving body approaches the guidance intersection within a guidance target distance, a three-dimensional image of the guidance intersection is displayed with a display form of the landmark structure different from a display form of other structures. And a moving guide system.   The feature point extracting unit is configured to render the guide rendered with the moving body at a position before the guidance target distance with respect to the guidance intersection as the viewpoint and the traveling direction of the moving body as the line-of-sight direction. The movement guide system according to claim 1, wherein the feature points are extracted from a three-dimensional image of an intersection. The target structure specifying means includes
Dividing the three-dimensional image of the guidance intersection rendered by the image generation means into a plurality of areas;
Among the divided areas, identify the area with the most feature points,
The movement guide system according to claim 1 or 2, wherein a structure that overlaps the specified area is specified as the landmark structure. Have weather acquisition means to acquire the weather,
4. The feature point extraction unit according to claim 1, wherein the feature point extraction unit extracts the feature point from a three-dimensional image of the guidance intersection rendered by simulating the weather acquired by the weather acquisition unit. 5. Travel guidance system. Having date and time acquisition means for acquiring date and time,
5. The feature point extraction unit according to claim 1, wherein the feature point extraction unit extracts the feature point from a three-dimensional image of the guidance intersection rendered by simulating the date and time acquired by the date and time acquisition unit. Travel guidance system.   The movement guide system according to any one of claims 1 to 5, wherein the image display means displays the landmark structure more emphasized than the other structures in the three-dimensional image of the guidance intersection.   6. The image display device according to claim 1, wherein the image display unit displays a three-dimensional image of the guidance intersection that performs texture mapping on the landmark structure but does not perform texture mapping on the other structure. The travel guidance system described in Crab. Having a position acquisition means for acquiring a current position of the mobile body;
The image generating means renders a three-dimensional image of the guidance intersection with the current position of the moving body as a viewpoint at a predetermined interval as the moving body moves, and with the traveling direction of the moving body as a line-of-sight direction,
The movement guide system according to any one of claims 1 to 7, wherein the image display means sequentially switches and displays the three-dimensional image of the guidance intersection rendered as the moving body moves. The image display means includes
When the moving body approaches the guidance intersection within a predetermined distance longer than the guidance target distance, a three-dimensional image of the guidance intersection is displayed as a display form of the landmark structure and a display form of another structure. Display in the same form,
9. The display form of the landmark structure is different from the display form of other structures when the moving body approaches the guidance intersection within the guidance target distance thereafter. The movement guide system according to any one of the above. A guide route acquiring means for acquiring a guide route for guiding the movement of the moving body;
An image generating unit rendering a three-dimensional image of a guidance intersection to be a guidance target in the guidance route with a traveling direction of the moving body as a line-of-sight direction;
A feature point extracting unit extracting a feature point of the three-dimensional image of the guidance intersection rendered by the image generating unit;
The mark structure specifying means uses a structure in which the feature points extracted by the feature point extraction means are concentrated among structures included in the three-dimensional image of the guidance intersection rendered by the image generation means. Identifying as a thing,
When the moving body approaches the guidance intersection within a guidance target distance, the image display means displays the three-dimensional image of the guidance intersection, the display form of the landmark structure, and the display form of another structure. And a step of displaying in different forms. Computer
Guidance route acquisition means for acquiring a guidance route for guiding the movement of the moving body;
Image generating means for rendering a three-dimensional image of a guidance intersection to be a guidance target in the guidance route with a traveling direction of the moving body as a line-of-sight direction;
Feature point extraction means for extracting feature points of the three-dimensional image of the guidance intersection rendered by the image generation means;
A landmark structure that identifies, as a landmark structure, a structure in which the feature points extracted by the feature point extraction means are concentrated among structures included in the three-dimensional image of the guidance intersection rendered by the image generation means. Specific means,
When the moving body approaches the guidance intersection within a guidance target distance, a three-dimensional image of the guidance intersection is displayed with a display form of the landmark structure different from a display form of other structures. Image display means for
Computer program to make it function.

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