JP2017120238A - Navigation information providing system and navigation information providing device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a navigation information providing system that enables a driver to easily learn a lane to a destination and easily learn the situation ahead of a vehicle even when another vehicle is in front of the vehicle.SOLUTION: A navigation information providing system is mounted in each of the vehicles 10 (10a, 10b,...), receives vehicle information Ji including the terminal number from a navigation terminal 14 with an on-vehicle camera, number of a camera recognition self-driving lane, current position, destination, and image photographed by the on-vehicle camera, and transmits transmission data SDJi generated on the basis of the vehicle information Ji (color displaying the lane leading to the destination, arrow display of the direction of travel, arrow display of lane change, and changed portion) from a data center 100 to the navigation terminal 14 with an on-vehicle camera.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a navigation information providing system.

  Some recent navigation terminals display a navigation map viewed from an arbitrary viewpoint in a three-dimensional manner for reasons such as intuitive viewing.

  For example, the map display device of Patent Document 1 displays “a projection view obtained when a predetermined point is the center based on two-dimensional data on the ground surface of a map component among the three-dimensional data of the map component. Here, the viewpoint position is set at a position on the three-dimensional coordinate system corresponding to the sky outside the vehicle that is a predetermined distance away from the current position acquired by GPS (see paragraph 0065).

  In other words, the map display device of Patent Document 1 displays buildings, roads, intersections, and the like assuming a range that the driver can generally see based on the current position acquired by GPS.

  In addition, the car navigation system disclosed in Patent Document 2 provides an intuitively easy-to-understand navigation screen that combines a real photo image taken with a camera and a CG image.

  In this navigation device, a symbol indicating the current position P of the vehicle is displayed on the road of the photographed image taken by the camera (see FIG. 5).

Japanese Patent No. 3766657 JP-A-11-108684

  However, in the vicinity of the entrance of the expressway in the metropolitan area, a lane entering the expressway and a general road may be arranged in parallel.

  However, the map display device of Patent Document 1 displays a three-dimensional image including buildings, roads, intersections, and the like assuming a range where the driver can generally see the current position acquired by GPS.

  For this reason, on the screen, a general road is also displayed in addition to the lane heading to the entrance of the expressway, so it is easy for the driver to go straight on or to change the lane to get on the expressway lane I cannot judge.

  For this reason, the timing of getting on the lane toward the entrance of the expressway may be missed.

Moreover, the map display apparatus of patent document 1 is displaying the three-dimensional image containing a building, a road, an intersection, etc. supposing the range which a driver | operator can see roughly on the basis of the present position acquired by GPS. For this reason, it is not known whether there is a sharp curve, a fallen object, or an accident. That is, it is not known what the destination is, while the navigation device of Patent Document 2 discloses that a symbol indicating the current position P of the vehicle is displayed on a road (lane) of a photographed image taken by a camera. It is not easy to know whether the lane is a lane toward the destination point.

  In addition, the navigation device of Patent Document 2 displays a live-action image of an in-vehicle camera in combination with a CG image (P symbol). If a vehicle exists several tens of meters ahead, an image of the vehicle is also displayed. Will be. For this reason, even if the symbol P indicating the position of the host vehicle is displayed, the guidance screen is very difficult to understand, and it is dangerous because a live-action image is seen during traveling.

  Furthermore, even if the navigation device of Patent Document 2 displays a live-action image, if there is a large vehicle in front, it does not know what the future is.

  The present invention has been made in view of the above problems, and can easily know the lane toward the destination, and can easily know what the front is like even if there is a vehicle ahead. The purpose is to obtain a system that can do this.

The navigation information providing system according to the present invention is equipped with a terminal number (Jbi), a camera recognition self-propelled lane number (CZBRi), a current position (GPi), and a destination (Poi) mounted on a vehicle and mounted on a vehicle. Navigation information for receiving vehicle information (Ji) including an in-vehicle camera photographed image (CGi) and providing transmission data (SDJi) created based on the vehicle information (Ji) from the data center to the navigation terminal with in-vehicle camera Providing system,
The vehicle-mounted camera-equipped navigation terminal is
A GPS receiver,
A camera sight line center is defined on an in-vehicle camera photographed image (CGi) obtained by photographing the front of the vehicle, and the lane between the lane (Di) and the lane (Di) sandwiching the camera sight line center is recognized by the camera. Image coordinates of this lane are obtained as a running lane (CZRi), and information including the photographing time (Cti), the on-vehicle camera photographed image (CGi), and the image coordinate of the center of the lane is designated as on-vehicle camera photographed image information (CJi). An in-vehicle camera unit to output,
Each time the in-vehicle camera captured image information (CJi) is input, the in-vehicle camera captured image information (CJi) includes the current position (GPi), terminal number (Jbi), and destination (Poi) from the GPS receiver. A navigation terminal that transmits vehicle information (Ji) to which information is added to the data center, and displays a driver line-of-sight image (DHi) based on transmission data (SDJi) from the data center on the screen;
The data center includes a server group,
The server group is:
A three-dimensional map information server storing a three-dimensional map model (Mi) including a road on which the vehicle is traveling and a road network (DWi) corresponding to a lane that is a road of the three-dimensional map model (Mi);
A vehicle information storage server that receives and stores the vehicle information (Ji), a lane type driver line-of-sight image creation server, and a transmission data creation server;
The lane type driver line-of-sight image creation server is:
A driver image information providing memory unit that stores a driver's line-of-sight image (DHi) to be provided to the vehicle;
Each time the vehicle information (Ji) is accumulated, the driver visual line position (DSi) included in the vehicle information (Ji) is set as the driver viewpoint position (DMPi) on the three-dimensional map model and the three-dimensional map model (Mi ) Means to set above,
An image region on the three-dimensional map model (Mi) at the angle of view of the in-vehicle camera unit at the driver viewpoint position (DMPi) on the three-dimensional map model is read as a driver line-of-sight image (DHi), and this is read as the driver image information Means for storing in the providing memory unit;
Means for retrieving a network lane (NRi) of the road network (DWi) having the geographical coordinates of the destination (Poi) as a destination arrival network lane (PNRi) from a 3D map information server;
A destination arrival lane (PDRi) on the driver line-of-sight image corresponding to the destination arrival network lane (PNRi) in the driver line-of-sight image (DHi) is determined, and the destination on the driver line-of-sight image on the destination arrival lane (PDRi) Means for defining a destination arrival lane display color (Fi) indicating a destination arrival network lane (PNRi),
The transmission data creation server includes:
Each time the destination arrival lane display color (Fi) is defined in the driver line-of-sight image (DHi) of the driver image information providing memory unit, these are included in the vehicle information (Ji) as transmission data (SDJi). And means for transmitting the terminal number (Jbi) to the navigation terminal.

  As described above, according to the present invention, it is possible to easily know the lane that reaches the destination, and it is also possible to easily know how the front is like even if there is a vehicle ahead.

  In addition, it is possible to easily grasp from the screen which timing should be used to get to the lane that reaches the destination.

It is a schematic block diagram of the navigation information provision system using the vehicle-mounted camera image of this Embodiment. It is a schematic block diagram of a navigation part with a photographing camera. It is a schematic block diagram of the server 130 for lane type driver visual line image creation. 3 is a schematic configuration diagram of a camera image three-dimensional model generation server 150. FIG. It is a sequence diagram explaining the general | schematic whole operation | movement of the navigation information provision system using a vehicle-mounted camera image. It is explanatory drawing explaining the driver | operator eyes | visual_axis image DHi displayed on the navigation terminal 13, the destination arrival lane display, and the own vehicle advancing direction arrow. It is explanatory drawing explaining the driver | operator eyes | visual_axis image DHi containing the lane change arrow HZYi (red) displayed on the navigation terminal 13. FIG. It is explanatory drawing explaining the driver visual line image CMHDGi with a change detection area on a camera image displayed on the navigation terminal. It is explanatory drawing explaining the driver eyes | visual_axis image DHi with the camera image three-dimensional model CMi displayed on the navigation terminal 13. FIG.

  The following embodiments exemplify apparatuses and methods for embodying the technical idea of the present invention, and the technical idea of the present invention is specified as follows in terms of structure and arrangement. It is not a thing.

  The technical idea of the present invention can be variously modified within the technical scope described in the claims. It should be noted that the drawings are schematic and the configuration of the apparatus and system is different from the actual one.

  FIG. 1 is a schematic configuration diagram of a navigation information providing system using an in-vehicle camera image according to the present embodiment.

  As shown in FIG. 1, the navigation information providing system using the in-vehicle camera image is provided in the in-vehicle camera unit 12 provided in the vehicle 10 (10a, 10b,...), The navigation terminal 13, and the data center 100. It is a system consisting of multiple servers. The in-vehicle camera unit 12 and the navigation terminal 13 are collectively referred to as an in-vehicle camera-equipped navigation terminal 14.

  As shown in FIG. 2, the vehicle-mounted camera unit 12 includes a right vehicle-mounted camera 12a and a left vehicle-mounted camera 12b provided on the left and right sides of the windshield inside the vehicle 10 (10a, 10b,...), For example. Then, the camera controller 15 captures a forward image at regular intervals (for example, 100 msec, 200 msec,...). The right in-vehicle camera 12a, the left in-vehicle camera 12b, and the camera controller 15 are collectively referred to as a photographing camera equipped navigation unit 16.

  The camera controller 15 generates a vehicle-mounted camera shot image CGi obtained by combining the right camera image Cai shot by the right vehicle-mounted camera 12a and the left camera image Cbi shot by the left vehicle-mounted camera 12b. Then, the in-vehicle camera photographed image CGi is analyzed to recognize the lane line Di. For example, from the rightmost lane Di to the lane D1, lane D2,..., The lane between the lane D1 and the lane D2 is the camera recognition lane CR1, and the lane between the lane D2 and the lane D3 is the camera recognition lane CR2.・ Recognize the situation. The lane in which the vehicle 10 is currently traveling is defined as a camera recognition self-running lane CZRi.

  The in-vehicle camera photographed image information CJi, which is a set of the photographing time Cti (year / month / day, time), camera number Jci (right camera number Jcai, left camera number Jcbi), and in-vehicle camera photographed image CGi, is used as the navigation terminal 13. Output to.

  As shown in FIG. 2, for example, the navigation terminal 13 is provided on a front panel (not shown) in the vehicle 10 (10a, 10b,...). The navigation terminal 13 includes a GPS receiver, an inertial navigation device, and a transmitter / receiver which are not shown, and includes in-vehicle camera captured image information CJi (imaging time Cti, camera number Jci, in-vehicle camera captured image CGi (camera) from the camera controller 15. The recognition self-running lane CZRi is included))).

  The vehicle number Jai, the terminal number Jbi, the posture θi, the speed Vi, the destination Poi, the current position GPi, the steering wheel angle Hθi (which may be omitted), and the driver's line of sight input by the driver are included in the in-vehicle camera captured image information CJi. The vehicle information Ji including the position DSi and the like is transmitted to the data center 100 (also referred to as a navigation information providing device).

  Further, every time the transmission data SDJi is received from the data center 100, an image based on the transmission data SDJi is displayed on the screen 13a by the browser function.

(Configuration of data center 100)
The data center 100 has the following means. As shown in FIG. 1, a vehicle information storage server 110 (also referred to as a vehicle information storage unit), a distribution server 120 (also referred to as a reception information distribution unit), and a lane type driver line-of-sight image creation server 130 (lane type). A driver gaze image information creation unit), a camera image 3D model generation server 150 (also referred to as a camera image 3D model creation unit), and a 3D model update server 160 (also referred to as a 3D model update unit). A transmission data creation server 170 (also referred to as a transmission data creation unit), a 3D map information server 180 (also referred to as a 3D map information storage unit), a change detection server 190 (also referred to as a change detection unit), etc. Consists of.

  The vehicle information storage server 110 receives vehicle information Ji from the vehicle 10 (10a, 10b,...) And stores it in a memory (not shown).

  Each time the vehicle information Ji is stored in the vehicle information storage server 110, the distribution server 120 captures the photographing time Cti, camera number Jci, in-vehicle camera photographed image CGi, attitude θi, speed, and speed included in the vehicle information Ji. Vi, the current position GPi, the handle angle Hθi, and the like are output (distributed) to the camera image three-dimensional model generation server 150 as in-vehicle camera captured image information CJi.

  Further, the vehicle number Jai, the terminal number Jbi, the attitude θi, the speed Vi, the destination Poi, the current position GPi, the steering wheel angle Hθi, the photographing time Cti, the driver's line-of-sight position DSi, and the like of the vehicle information Ji are used as camera recognition self-running lane information CZJi. The lane type driver visual line image creation server 130 outputs (sorts).

  The three-dimensional map information server 180 stores a road network DWi that defines road lanes. In this embodiment, the lane defined by the road network DWi is called a network lane NRi.

  The 3D map information server 180 stores a 3D map model Mi. This three-dimensional map model Mi is an in-vehicle image taken by a vehicle camera unit 12 provided in a sanitary image, aerial photogrammetry, aerial laser surveying, laser measurement by a moving body measurement vehicle, or a vehicle 10 (10a, 10b,...). It is the three-dimensional map model Mi created based on the camera photographed image CGi.

  The lane type driver line-of-sight image creation server 130 is included in the camera recognition own traveling lane information CZJi every time it receives the camera recognition own traveling lane information CZJi included in the vehicle information Ji from the distribution server 120. The network lane NRi having the geographical coordinates of the destination Poi is searched from the 3D map information server 180.

  This searched network lane NRi is referred to as a destination arrival network lane PNRi. The number is referred to as destination arrival network lane number PNBRi.

  Also, a driver line-of-sight image DHi, which will be described later, is read, and the destination arrival network lane PNRi on the driver line-of-sight image lane DRi corresponding to the destination arrival network lane number PNBRi of the searched destination arrival network lane PNRi is shown. A ground arrival lane display color Fi (for example, purple) is defined.

  In addition, each time the lane type driver line-of-sight image creation server 130 receives the camera recognition own traveling lane information CZJi, the current position GPi, posture θi, speed Vi, and handle included in the camera recognition own traveling lane information CZJi. The angle Hθi, the photographing time Cti, the vehicle number Jai, the terminal number Jbi, and the driver line-of-sight position DSi are read as driver image creation basic information DKJi.

  Then, the driver line-of-sight position DSi included in the driver image creation basic information DKJi is set on the three-dimensional map model Mi. The set driver line-of-sight position DSi is referred to as a driver viewpoint position DMPi on the three-dimensional map model.

  Then, a driver line-of-sight image DHi having an angle of view of the driver viewpoint position DMPi on the three-dimensional map model is extracted (read).

  Further, a range of, for example, 500 m in the traveling direction from the starting position ki on the three-dimensional map model Mi is created as the sky navigation image ZFi.

  Further, every time the camera recognition self-propelled lane information CZJi is received, the driver gaze image upper lane number DBRi in the driver gaze image DHi that matches the camera recognition self-propelled lane CZRi included in the camera recognition self-propelled lane information CZJi is included. The driver sight line image upper lane DRi is defined as the driver sight line image on-camera recognition self-running lane DCRi.

  Then, the own vehicle traveling direction arrow ZYi is defined in the camera recognition self-running lane DCRi on the driver's line-of-sight image. The own vehicle traveling direction arrow ZYi is defined to be on the driver line-of-sight image DHi or on the driver line-of-sight image on the camera recognition self-running lane DCRi. Further, the lane change arrow HZYi is defined in the driver visual line image DHi.

  The camera image three-dimensional model generation server 150 obtains three-dimensional coordinates per pixel in the in-vehicle camera captured image CGi included in the in-vehicle camera captured image information CJi from the distribution server 120, and assigns this to the pixels. An image three-dimensional model CMi is generated.

  The change detection server 190 defines an area EMi based on the driver line-of-sight position DSi in the three-dimensional map model Mi, the driver line-of-sight image MEDHI on the three-dimensional map model in this area EMi, the current camera image three-dimensional model CMi, By comparison, it is determined whether or not there is a region that changes with respect to the current camera image three-dimensional model CMi (hereinafter referred to as a change region CMHi).

  If there is a change, the change area CMHi is overwritten on the driver visual line image DHi.

  Further, a corrected current position HPGi is defined for the road lane MRi on the three-dimensional model on the three-dimensional map model Mi, and a distance CGRi from the corrected current position HPGi to the center coordinate of the change area CMHi in the camera image three-dimensional model CMi is obtained. .

  Then, the driver visual line image DHi with the change area CMHi, the distance CGRi, and the like are output to the transmission data creation server 170 as the driver visual line image CMHDGi with the change detection area on the camera image.

  When the change detection server 190 determines that there is a change, the 3D model update server 160 allocates an area EMi corresponding to the driver's line of sight in the 3D map model Mi, and uses this area EMi as the current camera image 3D model. Update (rewrite) to CMi.

  The transmission data creation server 170 is a transmission data including the driver line-of-sight image DHi generated by the lane type driver line-of-sight image creation server 130, the destination arrival lane display color Fi (for example, purple), and the sky navigation image ZFi. SDJi is generated and transmitted to the vehicle 10 via the wireless communication network.

  In addition, transmission data SDJi that is a set of the driver's line-of-sight image DHi and the own vehicle traveling direction arrow ZYi is generated and transmitted to the vehicle 10 via the wireless communication network.

  Further, a vehicle that transmits a driver line-of-sight image DHi including the change area CMHi (driver line-of-sight image CMHDGi with a change detection area on the camera image) is determined and transmitted to the vehicle 10 via the wireless communication network.

  Further, the transmission data creation server 170 converts the driver line-of-sight image DHi into a bird's eye view or an image of the driver viewpoint position based on the instruction information of the vehicle information Ji.

<Detailed configuration of each server>
The lane type driver line-of-sight image creation server 130 has the configuration requirements shown in FIG. In FIG. 3, the three-dimensional map information server 180 and the transmission data creation server 170 are shown and described.

(Lane type driver line-of-sight image creation server 130)
As shown in FIG. 3, the lane type driver line-of-sight image creation server 130 includes a driver image information providing memory 131a in which a driver line-of-sight image DHi to be provided to the vehicle 10 (10a, 10b,. A destination memory lane coloring unit 133, a driver image creation unit 135, a progress arrow setting unit 136, a lane change arrow setting unit 138, and the like.

  The aforementioned three-dimensional map information server 180 includes a road network database 180a storing the road network DWi, a three-dimensional terrain model database 180b storing the three-dimensional map model Mi, road facility information such as road signs, and others. A road facility traffic guidance related information database 180c storing road facility traffic guidance information DJi as information necessary for traffic guidance is provided.

  The road network DWi defines road lanes and includes nodes NDi and links LRi. Then, geographic coordinates are assigned to the node NDi. The link LRi is assigned a width, a distance, and the like. In this embodiment, the lane defined by the road network DWi is called a network lane NRi. That is, the network lane NRi includes a node NDi, a link LRi, geographic coordinates, a width, a distance between nodes, a network lane number NRBi, and the like.

  The three-dimensional map model Mi of the three-dimensional terrain model database 180b is provided in the sanitary image, the aerial photogrammetry, the aerial laser survey, the laser measurement by the moving body measurement vehicle or the vehicle 10 (10a, 10b,...). It is the three-dimensional map model Mi created based on the vehicle-mounted camera image CGi imaged by the vehicle-mounted camera unit 12.

  In addition, the road lane of the 3D map model Mi is referred to as a 3D model upper road lane MRi in the present embodiment. The three-dimensional model upper road lane MRi is associated with the network lane NRi. That is, the same number is associated. In addition, the lane heading to the destination in the three-dimensional model upper road lane MRi is referred to as a three-dimensional model upper destination arrival lane PMRi.

  The destination arrival lane coloring unit 133 receives the camera recognition own traveling lane information CZJi included in the vehicle information Ji from the distribution server 120. Every time this camera recognition own traveling lane information CZJi is received, the network lane NRi (node NDi, link LRi, geographic coordinates, width, node) having the geographical coordinates of the destination Poi included in the camera recognition own traveling lane information CZJi The inter-distance and network lane number NRBi) are searched from the road network database 180a of the three-dimensional map information server 180.

  Specifically, the current position PGi is corrected based on the image coordinates of the center of the camera recognition free-running lane CZRi and the reference coordinates of the 3D map model Mi, and this is set as a corrected current position HPGi.

  Each time the corrected current position HPGi is obtained, the network lane NRi of the road network DWi having the coordinates of the corrected current position HPGi is searched from the 3D map information server 180 as the destination arrival network lane PNRi.

  This searched network lane NRi is referred to as a destination arrival network lane PNRi. The number is referred to as destination arrival network lane number PNBRi.

  Then, it is determined whether or not the driver visual line image DHi is stored (generated) in the driver image information providing memory 131a.

  If it has been generated, this driver line-of-sight image DHi is read and the destination arrival is reached on the lane DRi on the driver line-of-sight image in the driver line-of-sight image DHi corresponding to the destination arrival network lane number PNBRi of the searched destination arrival network lane PNRi. A destination arrival lane display color Fi (for example, purple) indicating the lane is defined.

  The driver visual line image lane DRi in which the destination arrival lane display color Fi (for example, purple) is defined is referred to as a driver visual line image destination arrival lane PDRi.

  The destination arrival lane display color Fi (for example, purple) is defined so that the color is displayed on the driver line-of-sight image DHi.

  Then, information (flag) notifying that the destination arrival lane display color Fi has been defined is output to the navigation image transmission data creation server 140.

  The driver image creation unit 135 receives the camera recognition own traveling lane information CZJi included in the vehicle information Ji. Each time this camera recognition self-run lane information CZJi is received, the current position GPi, posture θi, speed Vi, handle angle Hθi, shooting time Cti, vehicle number Jai, terminal included in the camera recognition self-run lane information CZJi The number Jbi and the driver sight line position DSi are read as driver image creation basic information DKJi.

  Then, the driver line-of-sight position DSi included in the driver image creation basic information DKJi is set as the driver viewpoint position DMPi on the 3D map model on the 3D map model Mi of the 3D terrain model database 180b. Then, the area EMi at the angle of view of the driver viewpoint position DMPi on the three-dimensional map model is defined as the three-dimensional map model Mi, and an image in the area EMi (hereinafter referred to as a driver visual line image MEDHi on the three-dimensional map model) The image is stored in the driver image information providing memory 131a as an image DHi.

  The line-of-sight direction determined by the previous current position GPi or the like is assigned to the above-described driver viewpoint position DMPi on the three-dimensional map model.

  The driver image creation unit 135 also determines a position on the 3D map model Mi (hereinafter referred to as a 3D map) based on the current position GPi, posture θi, speed Vi, shooting time Cti, and the like included in the driver image creation basic information DKJi. (Referred to as a starting position ki on the map model Mi) is determined (for example, a height of 200 m).

  A range of, for example, 500 m in the traveling direction from the starting point position ki on the three-dimensional map model Mi is set as the sky navigation image ZFi. Then, this sky navigation image ZFi is stored in the sky navigation image memory 131b.

  Further, the starting position ki on the 3D map model Mi is set as the current display position Pki (coordinates on the 3D map model Mi) of the current driver line-of-sight image DHi, and the next intersection of the sky navigation image ZFi is set as the next display position Pkni ( These are the navigation image attached information FZFi (the coordinates of the current display position Pki and the type and color of the display mark (yellow), the coordinates of the next display position Pkni and the color of the display mark (pink). )) And associated with the sky navigation image ZFi.

  The above-described sky navigation image ZFi is updated each time the starting position Ki on the three-dimensional map model Mi changes. That is, it changes every time the driver's line-of-sight image DHi is updated. Each time the starting position Ki on the three-dimensional map model Mi changes, the next display position Pkni becomes the current display position Pki.

  Further, the driver image creation unit 135 searches for the road facility traffic guide information DJi related to the driver line-of-sight image DHi, and associates the searched road facility traffic guide information DJi with the driver line-of-sight image DHi.

  In addition, a sign frame included in the road facility traffic guide information DJi is defined in a different color (referred to as a color area). At this time, it is preferable to define the destination arrival lane and the sign frame color area in a connected shape.

  Then, information (flag) notifying that the driver line-of-sight image DHi, the sky navigation image ZFi, and the like are defined is output to the transmission data creation server 170.

  The progress arrow setting unit 136 receives the camera recognition own traveling lane information CZJi included in the vehicle information Ji. Each time the camera recognition self-run lane information CZJi is received, it is determined whether or not the driver visual line image DHi is stored in the driver image information providing memory 131a.

  If stored, the driver sight line image upper lane having the driver sight line image upper lane number DBRi in the driver sight line image DHi corresponding to the camera recognition self-run lane number CZBRi included in the camera recognition self-run lane information CZJi is stored. DRi is defined as the camera recognition free-running lane DCRi on the driver line-of-sight image.

  Then, the own vehicle traveling direction arrow ZYi is defined in the camera recognition self-running lane DCRi on the driver's line-of-sight image. The own vehicle traveling direction arrow ZYi is defined to be on the driver line-of-sight image DHi or on the driver line-of-sight image on the camera recognition self-running lane DCRi.

  The own vehicle traveling direction arrow ZYi is the number of the driver's line-of-sight image DHi, the camera recognition self-running lane number DCBRi on the driver's line-of-sight image, and information of the own vehicle's traveling direction arrow ZYi. It is preferable to define the vehicle traveling direction arrow information ZYJi by associating the arrow type and color (for example, ocher color).

  Then, information (flag) notifying that the host vehicle traveling direction arrow ZYi has been defined is output to the transmission data creation server 170.

  The lane change arrow setting unit 138 receives the camera recognition own traveling lane information CZJi included in the vehicle information Ji from the distribution server 120. Each time this camera recognition self-running lane information CZJi is received, the driver visual line image DHi is stored (generated) in the driver image information providing memory 131a, and the destination arrival lane is on the camera recognition self-propelled lane DCRi on the driver visual line image. The destination arrival lane display color Fi (for example, purple) indicating that the vehicle is traveling is defined, and it is determined whether or not the own vehicle traveling direction arrow ZYi and the lane change arrow HZYi are defined.

  If it is defined, it is determined whether or not the own vehicle traveling direction arrow ZYi is defined on the driver recognition line image camera recognition self-running lane DCRi. When the own vehicle traveling direction arrow ZYi is defined on the camera recognition self-running lane DCRi on the driver visual line image, the lane change arrow HZYi on the camera recognition self-running lane DCRi on the driver visual image is deleted. Then, information (flag) notifying that the lane change arrow HZYi has been deleted is output to the transmission data creation server 170.

  Also, the lane change arrow setting unit 138 determines whether the driver recognition line image camera-recognized self-running lane number DCBRi of the driver line-of-sight image DHi matches the driver line-of-sight image destination arrival lane number PDBRi.

  If they do not match, the driver's line of sight is the head of the lane change arrow HZYi starting from a predetermined position from the head of the own vehicle traveling direction arrow ZYi defined on the camera recognition self-running lane DCRi on the driver's line of sight image DHi. It is defined toward the destination arrival lane PDRi on the image.

  Then, information (flag) notifying that the lane change arrow HZYi has been defined is output to the transmission data creation server 170.

(Camera image 3D model generation server 150)
As shown in FIG. 4, the camera image 3D model generation server 150 includes a camera image 3D model generation unit 152, a camera image 3D model memory 154, and in-vehicle camera parameter information (view angle, half width, A vehicle-mounted camera parameter database 153 storing the mounting height, resolution,..., A vehicle-mounted camera captured image information memory 155 storing the vehicle-mounted camera captured image information CJi (including the vehicle mounted camera captured image CGi), and the like. Yes.

  The camera image 3D model generation unit 152 receives the in-vehicle camera captured image information CJi from the distribution server 120 and stores (overwrites) it in the in-vehicle camera captured image information memory 155.

  Each time the in-vehicle camera captured image information CJi is stored, the in-vehicle camera parameter information (view angle, half width, mounting height, resolution,...) And in-vehicle camera imaging stored in the in-vehicle camera parameter database 153 are stored. The three-dimensional coordinates per pixel of the in-vehicle camera photographed image CGi are obtained based on the photographing time Cti, the posture θi, the speed Vi, the current position GPi, the handle angle Hθi, and the reference coordinates of the three-dimensional map model Mi of the image information CJi. Is generated (stored) in the camera image 3D model memory 154.

(Change detection server)
As shown in FIG. 4, the change detection server 190 includes a change determination unit 192. Each time the area EMi in the 3D map model Mi is defined, the change determination unit 192 stores (copies) the 3D map model driver line-of-sight image MEDHi in the area EMi in the memory 194.

  Then, the driver sight line image MEDHi on the 3D map model in the memory 194 is compared with the current camera image 3D model CMi stored in the camera image 3D model memory 154, and the current camera image 3D model CMi is obtained. Determine if there is a change.

  When there is a change, the change area CMHi is overwritten (pasted) on the driver line-of-sight image DHi in the driver image information providing memory 131a (see FIGS. 3 and 8).

  Further, a corrected current position HPGi is defined for the road lane MRi on the three-dimensional model on the three-dimensional map model Mi, and a distance CGRi from the corrected current position HPGi to the center coordinate of the change area CMHi in the camera image three-dimensional model CMi is obtained. .

Then, the driver visual line image DHi with the change area CMHi, the distance CGRi, and the like are output to the transmission data creation server 170 as the driver visual line image CMHDGi with the change detection area on the camera image.
(Three-dimensional model update server 160)
As shown in FIG. 4, the 3D model update server 160 includes a corresponding area allocation unit 162, a corresponding area update unit 164, and the like.

  When the change detection server 190 determines that there is a change, the corresponding area allocation unit 162 allocates an area EMi corresponding to the driver's line of sight in the three-dimensional map model Mi.

  The area allocation unit 162 updates (rewrites) the area EMi to the current camera image 3D model CMi stored in the camera image 3D model memory 154 (see FIG. 8).

(Transmission data creation server 170)
As shown in FIG. 4, the transmission data creation server 170 includes a transmission vehicle determination unit 172.

  When the change detection server 190 outputs the driver line-of-sight image CMHDGi with a change detection area on the camera image because the change detection server 190 has changed, all the vehicle information stored in the vehicle information storage server 110 is displayed. Read Ji.

  Then, the posture θi, the speed Vi, the current position GPi, the steering wheel angle Hθi, the camera recognition free-running lane number CZBRi, the photographing time Cti, and the driver visual line image CMHDGi with a change detection area on the camera image are included in each vehicle information Ji. The vehicle that is traveling on the road network from the current position GPi to the change point is determined.

  Then, transmission data SDJi is transmitted to the terminal number and vehicle number included in the vehicle information of the determined vehicle.

  In addition, transmission data SDJi including a driver line-of-sight image DHi (including update) generated by the lane type driver line-of-sight image creation server 130, a destination arrival lane display color Fi (for example, purple), and the sky navigation image ZFi is set. It is generated and transmitted to the vehicle 10 over the wireless communication network.

<Overall operation>
FIG. 5 is a sequence diagram for explaining the overall operation of the navigation information providing system using the in-vehicle camera image.

  As shown in FIG. 5, the vehicle 10 (10a, 10b,...) Receives vehicle information Ji including forward images taken at regular intervals by the in-vehicle camera unit 12, the camera controller 15, and the navigation terminal 13 in a data center. 100 (d10).

  The vehicle information storage server 110 of the data center 100 receives the vehicle information Ji from the vehicle 10 (10a, 10b,...) And stores it in the vehicle information storage memory 115 (d12).

  Each time the vehicle information Ji is stored in the vehicle information storage server 110, the distribution server 120 captures the photographing time Cti, camera number Jci, in-vehicle camera photographed image CGi, attitude θi, speed, and speed included in the vehicle information Ji. Vi, the current position GPi, the handle angle Hθi, and the like are output (distributed) to the camera image three-dimensional model generation server 150 as in-vehicle camera captured image information CJi (d14).

  Further, the distribution server 120 recognizes the vehicle number Jai, the terminal number Jbi, the posture θi, the speed Vi, the destination Poi, the current position GPi, the handle angle Hθi, the photographing time Cti, the driver sight line position DSi, and the like of the vehicle information Ji. It outputs (distributes) to the lane type driver line-of-sight image creation server 130 as self-running lane information CZJi (d16).

  The camera image 3D model generation server 150 uses the 3D coordinates for each pixel of the in-vehicle camera captured image CGi included in the current in-vehicle camera captured image information CJi from the distribution server 120 as a reference for the 3D map model Mi. A camera image three-dimensional model CMi in which the three-dimensional coordinates are obtained and assigned to each pixel of the in-vehicle camera photographed image CGi is generated (d18).

  That is, the camera image 3D model generation unit 152 receives the in-vehicle camera captured image information CJi from the distribution server 120 and stores (overwrites) it in the in-vehicle camera captured image information memory 155.

  Each time the in-vehicle camera captured image information CJi is stored, the in-vehicle camera parameter information (view angle, half width, mounting height, resolution,...) And in-vehicle camera imaging stored in the in-vehicle camera parameter database 153 are stored. The three-dimensional coordinates per pixel of the in-vehicle camera photographed image CGi are obtained based on the photographing time Cti, the posture θi, the speed Vi, the current position GPi, the handle angle Hθi, and the reference coordinates of the three-dimensional map model Mi of the image information CJi. Is generated in the camera image three-dimensional model memory 154.

  Then, the lane type driver line-of-sight image creation server 130 performs driver image generation processing and arrow generation processing (d20).

  The driver image generation unit 135 performs the driver image generation process. The driver image creation unit 135 receives the camera recognition own traveling lane information CZJi included in the vehicle information Ji. Each time this camera recognition self-run lane information CZJi is received, the current position GPi, posture θi, speed Vi, handle angle Hθi, shooting time Cti, vehicle number Jai, terminal included in the camera recognition self-run lane information CZJi The number Jbi and the driver sight line position DSi are read as driver image creation basic information DKJi.

  Then, the driver line-of-sight position DSi included in the driver image creation basic information DKJi is set as the driver viewpoint position DMPi on the 3D map model on the 3D map model Mi of the 3D terrain model database 180b. Then, the area EMi at the angle of view of the driver viewpoint position DMPi on the three-dimensional map model is defined as the three-dimensional map model Mi, and the driver image information on the three-dimensional map model on the area EMi is set as the driver image line image DHi. Store in the providing memory 131a.

  The line-of-sight direction determined by the previous current position GPi or the like is assigned to the above-described driver viewpoint position DMPi on the three-dimensional map model.

  The driver image creation unit 135 also adds the 3D map model Mi on the 3D map model Mi based on the current position GPi, posture θi, speed Vi, shooting time Cti, and the like included in the driver image creation basic information DKJi. The upper starting position ki is determined (for example, a height of 200 m).

  A range of, for example, 500 m in the traveling direction from the starting point position ki on the three-dimensional map model Mi is set as the sky navigation image ZFi. Then, this sky navigation image ZFi is stored in the sky navigation image memory 131b.

  Further, the starting position ki on the 3D map model Mi is set as the current display position Pki (coordinates on the 3D map model Mi) of the current driver line-of-sight image DHi, and the next intersection of the sky navigation image ZFi is set as the next display position Pkni ( These are the navigation image attached information FZFi (the coordinates of the current display position Pki and the type and color of the display mark (yellow), the coordinates of the next display position Pkni and the color of the display mark (pink). )) And associated with the sky navigation image ZFi.

  The above-described sky navigation image ZFi is updated each time the starting position Ki on the three-dimensional map model Mi changes. That is, it changes every time the driver's line-of-sight image DHi is updated. Each time the starting position Ki on the three-dimensional map model Mi changes, the next display position Pkni becomes the current display position Pki.

  Further, the driver image creation unit 135 searches for the road facility traffic guide information DJi related to the driver line-of-sight image DHi, and associates the searched road facility traffic guide information DJi with the driver line-of-sight image DHi.

  In addition, a sign frame included in the road facility traffic guide information DJi is defined in a different color (referred to as a color area). At this time, it is preferable to define the destination arrival lane and the sign frame color area in a connected shape.

  Then, information (flag) notifying that the driver line-of-sight image DHi, the sky navigation image ZFi, and the like are defined is output to the transmission data creation server 170.

  The aforementioned angle of view is the angle of view of the right in-vehicle camera 12a and the left in-vehicle camera 12b (CCD built-in), and the parameters (CCD size, camera height) of the in-vehicle cameras 12a and 12b stored in advance in a memory (not shown). , Direction, resolution...

  On the other hand, the arrow generation processing performs destination arrival lane display, own vehicle traveling direction arrow display processing, and lane change arrow processing.

  The destination arrival lane display is performed by the destination arrival lane coloring unit 133. The destination arrival lane coloring unit 133 receives the camera recognition own traveling lane information CZJi included in the vehicle information Ji from the distribution server 120. Every time this camera recognition own traveling lane information CZJi is received, the network lane NRi (node NDi, link LRi, geographic coordinates, width, node) having the geographical coordinates of the destination Poi included in the camera recognition own traveling lane information CZJi The inter-distance and network lane number NRBi) are searched from the road network database 180a of the three-dimensional map information server 180.

  Specifically, the current position PGi is corrected based on the image coordinates of the center of the camera recognition free-running lane CZRi and the reference coordinates of the 3D map model Mi, and this is set as a corrected current position HPGi. Each time the corrected current position HPGi is obtained, the network lane NRi of the road network DWi having the coordinates of the corrected current position HPGi is searched from the 3D map information server 180 as the destination arrival network lane PNRi. That is, the destination arrival network lane PNRi is searched.

  Then, it is determined whether or not the driver visual line image DHi is stored (generated) in the driver image information providing memory 131a.

  If it is generated, this driver line-of-sight image DHi is read, and it is determined that the destination arrival lane is on the driver line-of-sight image upper lane DRi corresponding to the destination arrival network lane number PNBRi of the searched destination arrival network lane PNRi. A destination arrival lane display color Fi (for example, purple) is defined. That is, the destination arrival lane PDRi (purple) on the driver visual line image DHi is defined in the driver visual line image DHi (see FIG. 6).

  The traveling arrow setting unit 136 performs the own vehicle traveling direction arrow display process. The progress arrow setting unit 136 determines whether or not the driver visual line image DHi is stored in the driver image information providing memory 131a every time the camera recognition own traveling lane information CZJi included in the vehicle information Ji is received.

  If stored, the driver sight image lane DRi in the driver sight image DHi having the current position PGi included in the camera recognition lane information CZJi is defined as the driver sight image camera recognition lane DCRi. (See FIG. 7).

  Specifically, the current position PGi is corrected based on the image coordinates of the center of the camera recognition free-running lane CZRi and the reference coordinates of the 3D map model Mi, and the driver's line-of-sight image DHi having the corrected current position HPGi (coordinates). The driver sight line image on-lane DRi is defined as the driver sight line image on-camera recognition self-running lane DCRi. That is, even if there is an error in the current position PGi received by the GPS receiver, the self-running lane (driver recognition line image camera recognition free-running lane DCRi) on the driver line-of-sight image DHi can be accurately searched.

  Then, the own vehicle traveling direction arrow ZYi is defined in the camera recognition self-running lane DCRi on the driver's line-of-sight image. The own vehicle traveling direction arrow ZYi is defined to be on the driver line-of-sight image DHi or on the driver line-of-sight image on the camera recognition self-running lane DCRi.

  The own vehicle traveling direction arrow ZYi is the number of the driver's line-of-sight image DHi, the camera recognition self-running lane number DCBRi on the driver's line-of-sight image, and information of the own vehicle's traveling direction arrow ZYi. It is preferable to define the vehicle traveling direction arrow information ZYJi by associating the arrow type and color (for example, ocher color).

  Further, the lane change arrow processing is performed by the lane change arrow setting unit 138. Each time the lane change arrow setting unit 138 receives the camera recognition self-running lane information CZJi, the driver line-of-sight image DHi is stored (generated) in the driver image information providing memory 131a, and the camera recognition self-running lane DCRi on the driver line-of-sight image The destination arrival lane display color Fi (for example, purple) indicating the destination arrival lane is defined above, and it is determined whether or not the own vehicle traveling direction arrow ZYi and the lane change arrow HZYi are defined.

  If it is defined, it is determined whether or not the own vehicle traveling direction arrow ZYi is defined on the driver recognition line image camera recognition self-running lane DCRi. When the own vehicle traveling direction arrow ZYi is defined on the camera recognition self-running lane DCRi on the driver visual line image, the lane change arrow HZYi on the camera recognition self-running lane DCRi on the driver visual image is deleted.

  Also, the lane change arrow setting unit 138 determines whether the driver recognition line image camera-recognized self-running lane number DCBRi of the driver line-of-sight image DHi matches the driver line-of-sight image destination arrival lane number PDBRi.

  If they do not match, the driver's line of sight is the head of the lane change arrow HZYi starting from a predetermined position from the head of the own vehicle traveling direction arrow ZYi defined on the camera recognition self-running lane DCRi on the driver's line of sight image DHi. This is defined toward the destination arrival lane PDRi on the image (see FIG. 7).

  On the other hand, the change detection server 190 performs a change detection process (d22). As shown in FIG. 4, the change detection server 190 includes a change determination unit 192. The change determination unit 192 stores (copies) the driver visual line image MEDHi on the 3D map model in the area EMi in the memory 194 every time the area EMi in the 3D map model Mi is defined.

  Then, the driver sight line image MEDHi on the 3D map model in the memory 194 is compared with the current camera image 3D model CMi stored in the camera image 3D model memory 154, and the current camera image 3D model CMi is obtained. Determine if there is a change.

  If there is a change, the change area CMHi is overwritten on the driver line-of-sight image DHi in the driver image information providing memory 131a (see FIG. 8).

  Further, a corrected current position HPGi is defined for the road lane MRi on the three-dimensional model on the three-dimensional map model Mi, and a distance CGRi from the corrected current position HPGi to the center coordinate of the change area CMHi in the camera image three-dimensional model CMi is obtained. .

  Then, the driver visual line image DHi with the change area CMHi, the distance CGRi, and the like are output to the transmission data creation server 170 as the driver visual line image CMHDGi with the change detection area on the camera image. It is preferable to add a comment or the like informing the number of meters ahead of the obstacle by reading the distance CGRi to the driver visual line image CMHDGi with a change detection area on the camera image.

  The 3D model update server 160 performs 3D model update processing (d24). This 3D model update process is performed by the 3D model update server 160.

When the change detection server 190 determines that there is a change, the corresponding area allocation unit 162 of the 3D model update server 160 allocates an area EMi corresponding to the driver's line of sight in the 3D map model Mi. Then, the area EMi is updated (rewritten) to the current camera image 3D model CMi stored in the camera image 3D model memory 154 (see FIG. 8).

  In addition, when notified that there is a change, the transmission data creation server 170 performs transmission data determination processing (d28).

  The transmission vehicle determination unit 172 of the transmission data creation server 170 accumulates in the vehicle information accumulation server 110 when the change detection server 190 outputs the driver visual line image CMHDGi with a change detection area on the camera image because there is a change point. All the vehicle information Ji currently read is read.

  Then, the posture θi, the speed Vi, the current position GPi, the steering wheel angle Hθi, the camera recognition free-running lane number CZBRi, the photographing time Cti, and the driver visual line image CMHDGi with a change detection area on the camera image are included in each vehicle information Ji. The vehicle that is traveling on the road network from the current position GPi to the change point is determined.

  Then, transmission data SDJi is transmitted to the terminal number and vehicle number included in the vehicle information of the determined vehicle (d30).

  In addition, transmission data SDJi including a driver line-of-sight image DHi (including update) generated by the lane type driver line-of-sight image creation server 130, a destination arrival lane display color Fi (for example, purple), and the sky navigation image ZFi is set. It is generated and transmitted to the vehicle 10 via the wireless communication network (d32).

  Accordingly, in the image displayed on the screen 13a of the navigation terminal 13, the destination arrival lane PDRi on the driver line-of-sight image DHi of the driver line-of-sight image DHi is displayed in purple as shown in FIGS. 6 (a) to 6 (c). The When the driver arrival line image destination destination lane PDRi is set as the driver view line image on-camera recognition self-propelled lane DCRi, the own vehicle traveling direction arrow ZYi is displayed on the driver line-of-sight image destination arrival lane PDRi.

  Further, as shown in FIGS. 6A to 6C, the sky navigation image ZFi is displayed next to the driver line-of-sight image DHi.

  Alternatively, as shown in FIGS. 7A to 7C, the driver visual line image DHi including the lane change arrow HZYi (red) is displayed on the image displayed on the screen 13a of the navigation terminal 13.

  Alternatively, the image displayed on the screen 13a of the navigation terminal 13 is displayed as a driver visual line image CMHDGi with a change detection area on the camera image, as shown in FIGS.

  Therefore, as shown in FIG. 8, the change area CMHi and the distance CGRi as an obstacle obtained by photographing a vehicle present ahead are displayed in the driver line-of-sight image CMHDGi with a change detection area on the camera image. Therefore, the driver can know what obstacles are ahead. For this reason, it can drive | work safely.

  Furthermore, as shown in FIGS. 9A to 9C, the image displayed on the screen 13a of the navigation terminal 13 includes a camera image three-dimensional model CMi created based on the in-vehicle camera captured image CGi. A driver gaze image DHi is displayed.

DESCRIPTION OF SYMBOLS 10 Vehicle 12 Car-mounted camera part 100 Data center 110 Vehicle information storage server 120 Distribution server 130 Lane type driver line-of-sight image creation server 150 Camera image three-dimensional model generation server 160 Three-dimensional model update server 170 Transmission data creation server 180 3D map information server 190 Change detection server 133 Destination arrival lane coloring unit 135 Driver image creation unit 136 Progress arrow setting unit 138 Lane change arrow setting unit 152 Camera image 3D model generation unit

Claims (18)

It includes a terminal number (Jbi), a camera recognition self-propelled lane number (CZBRi), a current position (GPi), a destination (Poi), and an in-vehicle camera captured image (CGi) mounted on the vehicle from the navigation terminal with the in-vehicle camera. A navigation information providing system that receives vehicle information (Ji), and provides transmission data (SDJi) created based on the vehicle information (Ji) from the data center to the vehicle-mounted camera-equipped navigation terminal,
The vehicle-mounted camera-equipped navigation terminal is
A GPS receiver,
A camera sight line center is defined on an in-vehicle camera photographed image (CGi) obtained by photographing the front of the vehicle, and the lane between the lane (Di) and the lane (Di) sandwiching the camera sight line center is recognized by the camera. Image coordinates of this lane are obtained as a running lane (CZRi), and information including the photographing time (Cti), the on-vehicle camera photographed image (CGi), and the image coordinate of the center of the lane is designated as on-vehicle camera photographed image information (CJi). An in-vehicle camera unit to output,
Each time the in-vehicle camera captured image information (CJi) is input, the in-vehicle camera captured image information (CJi) includes the current position (GPi), terminal number (Jbi), and destination (Poi) from the GPS receiver. A navigation terminal that transmits vehicle information (Ji) to which information is added to the data center, and displays a driver line-of-sight image (DHi) based on transmission data (SDJi) from the data center on the screen;
The data center includes a server group,
The server group is:
A three-dimensional map information server storing a three-dimensional map model (Mi) including a road on which the vehicle is traveling and a road network (DWi) corresponding to a lane that is a road of the three-dimensional map model (Mi);
A vehicle information storage server that receives and stores the vehicle information (Ji), a lane type driver line-of-sight image creation server, and a transmission data creation server;
The lane type driver line-of-sight image creation server is:
A driver image information providing memory unit that stores a driver's line-of-sight image (DHi) to be provided to the vehicle;
Each time the vehicle information (Ji) is accumulated, the driver visual line position (DSi) included in the vehicle information (Ji) is set as the driver viewpoint position (DMPi) on the three-dimensional map model and the three-dimensional map model (Mi ) Means to set above,
An image region on the three-dimensional map model (Mi) at the angle of view of the in-vehicle camera unit at the driver viewpoint position (DMPi) on the three-dimensional map model is read as a driver line-of-sight image (DHi), and this is read as the driver image information Means for storing in the providing memory unit;
Means for retrieving a network lane (NRi) of the road network (DWi) having the geographical coordinates of the destination (Poi) as a destination arrival network lane (PNRi) from a 3D map information server;
A destination arrival lane (PDRi) on the driver line-of-sight image corresponding to the destination arrival network lane (PNRi) in the driver line-of-sight image (DHi) is determined, and the destination on the driver line-of-sight image on the destination arrival lane (PDRi) Means for defining a destination arrival lane display color (Fi) indicating a destination arrival network lane (PNRi),
The transmission data creation server includes:
Each time the destination arrival lane display color (Fi) is defined in the driver line-of-sight image (DHi) of the driver image information providing memory unit, these are included in the vehicle information (Ji) as transmission data (SDJi). Means for transmitting the terminal number (Jbi) to the navigation terminal. The lane type driver line-of-sight image creation server is:
Means for determining the camera recognition self-running lane (DCRi) on the driver visual line image (DHi) in the driver visual line image (DHi) coinciding with the camera recognition self-running lane (CZRi);
Means for defining a vehicle traveling direction arrow (ZYi) in the camera recognition self-propelled lane (DCRi) on the determined driver line-of-sight image;
The transmission data creation server includes:
Each time the vehicle traveling direction arrow (ZYi) is defined in the driver line-of-sight image (DHi) of the driver image information providing memory unit, these are included in the vehicle information (Ji) as the transmission data (SDJi). The navigation information providing system according to claim 1, further comprising means for transmitting the terminal number (Jbi) to the navigation terminal. The lane type driver line-of-sight image creation server is:
It is determined whether or not the number (DCBRi) of the camera recognition free-running lane (DCRi) on the driver line-of-sight image in the driver line-of-sight image (DHi) and the number (CZBRi) of the camera recognition free-running lane (CZRi) match Means,
In the case of mismatch, the lane change arrow (HZYi) starting from a predetermined position of the own vehicle traveling direction arrow (ZYi) of the driver's line-of-sight image (DHi) is directed toward the destination arrival lane (PDRi) on the driver's line-of-sight image. Means for defining,
The transmission data creation server includes:
Each time the lane change arrow (HZYi) is defined in the driver line-of-sight image (DHi) of the driver image information providing memory unit, these are included in the vehicle information (Ji) as the transmission data (SDJi). The navigation information providing system according to claim 2, further comprising means for transmitting the terminal number (Jbi) to the navigation terminal. Equipped with a destination arrival lane guidance server,
The destination arrival lane guide server is:
The current position (PGi) included in the vehicle information (Ji) is corrected based on the image coordinates of the center of the camera recognition self-propelled lane (CZRi) and the reference coordinates of the three-dimensional map model (Mi). , A means for setting this as a corrected current position (HPGi),
Each time the corrected current position (HPGi) is obtained, the three-dimensional network lane (NRi) of the road network (DWi) having the coordinates of the corrected current position (HPGi) is used as the destination arrival network lane (PNRi). The navigation information providing system according to any one of claims 1 to 3, further comprising means for searching from a map information server. Equipped with a camera image 3D model generation server,
The server for generating a camera image three-dimensional model is:
In-vehicle camera captured image information memory for storing in-vehicle camera captured image information (CJi);
An in-vehicle camera parameter database that stores in-vehicle camera parameter information; and
Each time vehicle information (Ji) is stored in the vehicle information storage server, the in-vehicle camera captured image information (CJi) included in the vehicle information (Ji) is stored in the in-vehicle camera captured image information memory. Means to
Parameter information of the in-vehicle camera parameter database and the in-vehicle camera captured image information (CJi) imaging time (Cti), attitude (θi), speed (Vi), current position (GPi), and the 3D map model Based on the reference coordinates of (Mi), three-dimensional coordinates per pixel of the in-vehicle camera photographed image (CGi) are obtained, and a camera image three-dimensional model (CMi) in which the three-dimensional coordinates are assigned to the pixels is generated to obtain a camera image three-dimensional model. 5. The navigation information providing system according to claim 4, further comprising means for storing in a memory for use. Equipped with a change detection server,
The change detection server includes:
Each time an area (EMi) in the three-dimensional map model (Mi) is defined, a comparison is made between the driver line-of-sight image (MEDHi) on the three-dimensional map model in this area (EMi) and the camera image three-dimensional model (CMi). And means for determining whether or not there is a change in the camera image three-dimensional model (CMi);
Means for overwriting the change area (CMHi) on the driver line-of-sight image (DHi) when there is a change;
The transmission data creation server includes:
The driver line-of-sight image (DHi) including the change area (CMHi) is defined as a driver line-of-sight image (CMHDGi) with a change detection area on the camera image, and the vehicle information (Ji) stored in the vehicle information storage server is the vehicle that transmits this. 6. A navigation information providing system according to claim 5, further comprising means for determining the current position and speed based on said current position and speed and transmitting to the navigation terminal having the determined terminal number. The change detection server includes:
The current position (PGi) is defined in a road lane (MRi) on the three-dimensional model on the three-dimensional map model (Mi), and a change area (CMHi) in the camera image three-dimensional model (CMi) is defined from the current position (PGi). ) For determining the distance (CGRi) to
The navigation information provision according to claim 6, further comprising means for adding the distance (CGRi) to the driver line-of-sight image with a change detection area on the camera image (CMHDGi) and outputting it to the transmission data creation server. system. It has a 3D model update server,
The 3D model update server includes:
Each time the camera image 3D model (CMi) is generated, an area (EMi) corresponding to the camera image 3D model (CMi) is defined as a 3D map model (Mi), and this area (EMi) is defined. The navigation information providing system according to claim 6, further comprising means for updating the generated three-dimensional camera image model (CMi). The vehicle information (Ji) includes instruction information for bird's eye view display or driver viewpoint display,
The transmission data creation server includes:
The navigation information providing system according to any one of claims 1 to 7, further comprising means for converting the driver line-of-sight image (DHi) into a bird's eye view or an image of a driver viewpoint position based on the instruction information. A three-dimensional map information storage unit storing a three-dimensional map model (Mi) including a road on which the vehicle travels and a road network (DWi) corresponding to a lane that is a road of the three-dimensional map model (Mi);
The terminal number (Jbi), the camera recognition self-propelled lane number (CZBRi), the current position (GPi), the destination (Poi) from the navigation terminal with the on-vehicle camera mounted on the vehicle, and the front obtained from the in-vehicle camera unit The vehicle information (Ji) including the in-vehicle camera photographed image (CGi) and the lane (Di) between the lane (Di) and the camera recognition self-propelled lane (CZRi) is received and sequentially stored in the memory. A storage unit for storing vehicle information;
Furthermore, a driver image information providing memory unit that stores a driver line-of-sight image (DHi) to be provided to the vehicle, a lane type driver line-of-sight image creation unit, and a transmission data creation unit,
The lane type driver line-of-sight image creation unit
A driver image information providing memory unit that stores a driver's line-of-sight image (DHi) to be provided to the vehicle;
Each time the vehicle information (Ji) is accumulated, the driver visual line position (DSi) included in the vehicle information (Ji) is set as the driver viewpoint position (DMPi) on the three-dimensional map model and the three-dimensional map model (Mi ) Means to set above,
An image region on the three-dimensional map model (Mi) at the angle of view of the in-vehicle camera unit at the driver viewpoint position (DMPi) on the three-dimensional map model is read as a driver line-of-sight image (DHi), and this is read as the driver image information Means for storing in the providing memory unit;
Means for retrieving a network lane (NRi) of the road network (DWi) having the geographical coordinates of the destination (Poi) from a 3D map information storage unit as a destination reaching network lane (PNRi);
A destination arrival lane (PDRi) on the driver line-of-sight image corresponding to the destination arrival network lane (PNRi) in the driver line-of-sight image (DHi) is determined, and the destination on the driver line-of-sight image on the destination arrival lane (PDRi) Means for defining a destination arrival lane display color (Fi) indicating a destination arrival network lane (PNRi),
The transmission data creation unit
Each time the destination arrival lane display color (Fi) is defined in the driver line-of-sight image (DHi) of the driver image information providing memory unit, these are included in the vehicle information (Ji) as transmission data (SDJi). And a means for transmitting the vehicle information (Ji) of the terminal number (Jbi) to the navigation terminal of the vehicle that has transmitted the vehicle information (Jbi). The lane type driver line-of-sight image creation unit
Means for determining the camera recognition self-running lane (DCRi) on the driver visual line image (DHi) in the driver visual line image (DHi) coinciding with the camera recognition self-running lane (CZRi);
Means for defining a vehicle traveling direction arrow (ZYi) in the camera recognition self-propelled lane (DCRi) on the determined driver line-of-sight image;
The transmission data creation unit
Each time the vehicle traveling direction arrow (ZYi) is defined in the driver line-of-sight image (DHi) of the driver image information providing memory unit, these are included in the vehicle information (Ji) as the transmission data (SDJi). The navigation information providing apparatus according to claim 10, further comprising: means for transmitting the terminal number (Jbi) to the navigation terminal. The lane type driver line-of-sight image creation unit
It is determined whether or not the number (DCBRi) of the camera recognition free-running lane (DCRi) on the driver line-of-sight image in the driver line-of-sight image (DHi) and the number (CZBRi) of the camera recognition free-running lane (CZRi) match. Means,
In the case of mismatch, the lane change arrow (HZYi) starting from a predetermined position of the own vehicle traveling direction arrow (ZYi) of the driver's line-of-sight image (DHi) is directed toward the destination arrival lane (PDRi) on the driver's line-of-sight image. Means for defining,
The transmission data creation unit
Each time the lane change arrow (HZYi) is defined in the driver line-of-sight image (DHi) of the driver image information providing memory unit, these are included in the vehicle information (Ji) as the transmission data (SDJi). The navigation information providing apparatus according to claim 11, further comprising: means for transmitting the terminal number (Jbi) to the navigation terminal. It has a guide for the destination lane,
The destination arrival lane guide is
The current position (PGi) included in the vehicle information (Ji) is corrected based on the image coordinates of the center of the camera recognition self-propelled lane (CZRi) and the reference coordinates of the three-dimensional map model (Mi). , A means for setting this as a corrected current position (HPGi),
Each time the corrected current position (HPGi) is obtained, the three-dimensional network lane (NRi) of the road network (DWi) having the coordinates of the corrected current position (HPGi) is used as the destination arrival network lane (PNRi). The navigation information providing device according to any one of claims 10 to 12, further comprising a means for searching from a map information storage unit. In addition, it has a camera image 3D model creation unit,
The camera image three-dimensional model creation unit
In-vehicle camera captured image information memory for storing in-vehicle camera captured image information (CJi);
An in-vehicle camera parameter database that stores in-vehicle camera parameter information; and
Each time vehicle information (Ji) is stored in the vehicle information storage unit, the in-vehicle camera captured image information (CJi) included in the vehicle information (Ji) is stored in the in-vehicle camera captured image information memory. Means to
Parameter information of the in-vehicle camera parameter database and the in-vehicle camera captured image information (CJi) imaging time (Cti), attitude (θi), speed (Vi), current position (GPi), and the 3D map model Based on the reference coordinates of (Mi), three-dimensional coordinates per pixel of the in-vehicle camera photographed image (CGi) are obtained, and a camera image three-dimensional model (CMi) in which the three-dimensional coordinates are assigned to the pixels is generated to obtain a camera image three-dimensional model. 14. The navigation information providing apparatus according to claim 13, further comprising means for storing in a memory for use. With a change detector,
The change detector is
Each time an area (EMi) in the three-dimensional map model (Mi) is defined, a comparison is made between the driver line-of-sight image (MEDHi) on the three-dimensional map model in this area (EMi) and the camera image three-dimensional model (CMi). And means for determining whether or not there is a change in the camera image three-dimensional model (CMi);
Means for overwriting the change area (CMHi) on the driver line-of-sight image (DHi) when there is a change;
The transmission data creation unit
The driver line-of-sight image (DHi) including the change area (CMHi) is set as a driver line-of-sight image (CMHDGi) with a change detection area on the camera image, and the vehicle information (Ji) stored in the vehicle information storage unit is the vehicle that transmits this. 15. A navigation information providing apparatus according to claim 14, further comprising: means for determining the current position and speed based on the current position, and transmitting to the navigation terminal having the determined terminal number. The change detector is
The current position (PGi) is defined in a road lane (MRi) on the three-dimensional model on the three-dimensional map model (Mi), and a change area (CMHi) in the camera image three-dimensional model (CMi) is defined from the current position (PGi). ) For determining the distance (CGRi) to
16. The navigation information providing apparatus according to claim 15, further comprising means for adding the distance (CGRi) to the driver visual line image (CMHDGi) with a change detection area on the camera image and outputting the same to the transmission data creation unit. . With a 3D model updater,
The three-dimensional model update unit
Each time the camera image 3D model (CMi) is generated, an area (EMi) corresponding to the camera image 3D model (CMi) is defined as a 3D map model (Mi), and this area (EMi) is defined. 17. The navigation information providing apparatus according to claim 16, further comprising means for updating the generated camera image three-dimensional model (CMi). The vehicle information (Ji) includes instruction information for bird's eye view display or driver viewpoint display,
The transmission data creation unit
18. The navigation information providing apparatus according to claim 10, further comprising means for converting the driver line-of-sight image DHi into a bird's eye view or an image of a driver viewpoint position based on the instruction information.