JP4505217B2 - BEHAVIOR SUPPORT DEVICE, METHOD THEREOF, PROGRAM THEREOF, AND RECORDING MEDIUM CONTAINING THE PROGRAM - Google Patents

Description

The present invention relates to a behavior support apparatus that supports a backward movement to a parking space as a behavior in a vehicle that is a moving body , a method thereof, a program thereof, and a recording medium on which the program is recorded.

  Conventionally, a configuration for supporting movement of a vehicle is known as a behavior of a moving body. As a support for the movement of the vehicle, a configuration such as displaying a recommended route for entering the parking area or displaying a predicted movement trajectory to the rear of the vehicle is adopted (for example, Patent Document 1 and Patent Document 2).

  The thing of patent document 1 image | photographs the vehicle surrounding image containing a parking area with the back monitor camera mounted in the rear center of a vehicle, and displays it on a display. The image data captured by the back monitor camera is processed by the image processing device to recognize the parking section and supplied to the ECU (electronic control device). The ECU calculates a temporary recommended route, which is a route for entering the parking section from the center position of the axle of the host vehicle, and obtains a recommended route by converting the route into a route based on the position of the back monitor camera. A configuration is adopted in which the recommended route is displayed on the display while being superimposed on the surrounding image. By this display, the driver can surely enter the parking section with reference to the recommended route, and can assist the parking operation.

  In the device disclosed in Patent Document 2, the rear of the vehicle is photographed by a back monitor camera disposed at the rear of the vehicle, and the video information is displayed on a display monitor provided in the vehicle interior. Superimposed on the video information, the first expected movement trajectory that the vehicle is expected to move according to the turning radius of the vehicle at the current time is displayed on the display monitor so as to be superimposed on the video information, and the maximum permissible vehicle is allowed A configuration is adopted in which a second predicted backward movement locus is assumed to be displayed in a superimposed manner, assuming that the vehicle has moved at a rudder angle smaller than the rudder angle by a predetermined angle.

JP 2000-123297 A (page 2 left column-page 5 right column) JP 2002-19492 A (right column on page 2-right column on page 5)

  However, in the configuration in which the route for supporting movement is superimposed on the image captured by the conventional back monitor camera as described in Patent Document 1 and Patent Document 2 described above, the display content can be visually confirmed during the movement operation. It is necessary to carry out both the rearward visual advancing. For this reason, the viewpoint movement is frequent, and the movement operation may be complicated.

In view of the above, the object of the present invention is to provide a behavior support apparatus, a method thereof, a program thereof, and a recording in which the program is recorded, in which the backward movement to the parking space of the vehicle is favorably supported as the behavior of the moving body. To provide a medium.

According to one aspect of the present invention, a behavior support apparatus for supporting the reverse of the vehicle to the compartmented Parking Space Subdivision streak to control the characteristics of the sound uttered from a speaker, mounted on the vehicle Imaging means for imaging the rear of the vehicle, imaging processing means for processing the image data captured by the imaging means and recognizing the parking space based on the lane marking, and the vehicle to the parking space recognized by the imaging processing means When the vehicle moves backward based on the reference calculation means for calculating the reference travel line for entering, the sensor unit for detecting the travel state of the vehicle, and the turning angle of the steering wheel in the travel state detected by the sensor unit The comparison means for calculating the expected travel line and comparing the difference between the predicted travel line and the reference travel line calculated by the reference calculation means, and the magnitude of the compared difference is increased. Correspondingly, the setting value of the information related to vibrato rate (vibrato rate) in sound information compliant with the MIDI (Musical Instrument Digital Interface) standard is controlled, and the vibrato depth ( Vibrato depth) is a control that moves at least one of the controls in a state where the magnitude of the vibration is increased and moves the sound image localization in the left-right direction corresponding to the side where the difference occurs. it was equipped with a sound control means for the a behavior support apparatus characterized.

The invention described in claim 4 is the behavior support method for supporting the reverse of the vehicle to the compartmented Parking Space Subdivision streaked by controlling the sound from the speaker by the operation means, mounted on the vehicle the An imaging unit that captures the rear of the vehicle and a sensor unit that detects the traveling state of the vehicle are used. The calculation unit processes image data captured by the imaging unit and determines a parking space based on the lane markings. The vehicle is moved backward based on the step of recognizing, the step of calculating a reference travel line for allowing the vehicle to enter the parking space recognized by the imaging processing means, and the turning angle of the steering wheel in the travel state detected by the sensor unit. calculates the expected traveling line in the case of moving, and as engineering you compare the difference between the expected traveling line and computed the reference travel line, the magnitude of the difference that this comparison is greater Therefore, control of a state in which the set value of information relating to vibrato rate in sound information compliant with the MIDI (Musical Instrument Digital Interface) standard shortens the period of vibration and vibrato depth (vibrato depth) process relating with the size of warble the set value of the information to at least one of the control of the control of larger state, control to move the sound image localization in the left-right direction corresponding to the side where discrepancies And a behavior support method characterized in that

According to a fifth aspect of the present invention, there is provided a behavior support program that causes a computing means to function as the behavior support device according to any one of the first to third aspects.

A sixth aspect of the present invention is a behavior support program that causes a calculation means to execute the behavior support method according to the fourth aspect.

The invention described in claim 7 is a recording medium on which the behavior support program according to claim 5 or 6 is recorded so as to be readable by the calculation means.

  Hereinafter, an embodiment according to the present invention will be described with reference to the drawings. In the present embodiment, a navigation device that is a guidance and guidance device as a movement support device of the present invention, and illustrates a configuration that guides and guides a traveling state as a moving state of a moving body, for example, as a situation of an event as an event state. To explain. Note that the guidance and guidance device according to the present invention is not limited to the configuration for guiding and guiding the traveling of the vehicle, but any configuration that provides guidance regarding movement, such as the state of the vehicle and the operating state of the vehicle, is the target, and the user can carry it. It can also be applied to portable types. In addition, the present invention is not limited to the configuration applied to the guidance and guidance device, and any configuration that notifies the status of various events by the sound of a speaker, such as an alarm clock and an alarm device of a manufacturing apparatus, can be applied.

[Configuration of navigation device]
FIG. 1 is a block diagram showing a schematic configuration of a navigation device according to one embodiment of the present invention. FIG. 2 is a block diagram illustrating the processing unit. FIG. 3 is a conceptual diagram showing a situation in which a vehicle is guided to a parking space. FIG. 4 is a conceptual diagram showing a data structure for setting a modulation of a MIDI message for a tremor. FIG. 5 is a conceptual diagram showing a data structure for setting a vibrato rate of a MIDI message for a tremor. FIG. 6 is a conceptual diagram showing a data structure for setting a vibrato depth of a MIDI message for a tremor.

  In FIG. 1, reference numeral 100 denotes a navigation device which is a guidance and guidance device as a movement support device. The navigation device 100 is a device that notifies a guide regarding movement in accordance with the movement state of the vehicle 10 as shown in FIG. In addition, as a moving body, not only the vehicle 10 but any moving bodies, such as an aircraft and a ship, are object. Examples of the navigation device 100 include a vehicle-mounted type, a portable type, a PDA (Personal Digital Assistant), a mobile phone, a PHS (Personal Handyphone System), a portable personal computer, and the like mounted on the vehicle 10 as a moving body. .

  The navigation device 100 is supplied with electric power from a battery mounted on the vehicle 10, and based on the map information of the navigation device 100, information on the current position and destination, route search and display to the destination, and the nearest predetermined The store is searched and displayed, or information on the service content of the store is displayed. The navigation apparatus 100 includes a sensor unit 110 as a behavior state recognition unit, a VICS (Vehicle Information Communication System) reception unit 120 as a traffic information acquisition unit, an input unit 130, and an imaging unit 140. A display unit 150, a sound generation unit 160, a storage unit 170, a memory 180, and a processing unit 190 that is a control unit as a calculation unit that functions as a notification control device.

  The sensor unit 110 detects an event that is a behavior of the vehicle 10 such as a movement state of the vehicle 10, that is, a current position and a traveling state, and outputs the detected event to the processing unit 190 as a predetermined signal. The sensor unit 110 includes, for example, a GPS (Global Positioning System) receiving unit (not shown), various sensors that detect events and output them as event signals, and the like. Sensors that detect the driving state such as a speed sensor, an azimuth angle sensor, and an acceleration sensor, a sensor that detects the remaining amount of fuel, a sensor that detects the inter-vehicle distance from another vehicle 10 that travels in front, Sensor that detects the distance to the obstacle, sensor that detects the temperature of the engine, which is an internal combustion engine, sensor that detects whether the various lamps can be lit, sensor that detects the tilt angle of the steering wheel with respect to linear travel, such as the turning angle of the steering wheel Examples include a sensor that detects the rotational speed of the shaft by driving the engine, and a sensor that detects the amount of depression of the accelerator pedal that increases the rotational speed of the shaft that rotates by driving the engine.

  The GPS receiver of the sensor unit 110 receives navigation radio waves output from a GPS satellite, which is an artificial satellite (not shown), using an antenna (not shown). Then, the GPS receiving unit calculates a pseudo coordinate value of the current position of the vehicle 10 based on the signal corresponding to the received navigation radio wave, and outputs it to the processing unit 190 as GPS data.

  In addition, a speed sensor that is a sensor of the sensor unit 110 is disposed in the vehicle 10, for example, and is based on a signal that fluctuates corresponding to the traveling speed that is the moving speed of the vehicle 10. Is detected. This speed sensor reads, for example, a pulse signal or a voltage value output by the rotation of an axle or a wheel. Then, the speed sensor appropriately outputs detection information such as the read pulse signal and voltage value to the processing unit 190 as an event signal. The azimuth angle sensor, which is a sensor, is provided on the vehicle 10 and has a so-called gyro sensor (not shown), and detects the azimuth angle of the vehicle 10, that is, the traveling direction in which the vehicle 10 moves forward. This azimuth sensor appropriately outputs an event signal that is detection information related to the detected traveling direction to the processing unit 190. The acceleration sensor, which is a sensor, is disposed in the vehicle 10 and detects acceleration in the traveling direction of the vehicle 10. This acceleration sensor converts the detected acceleration into a sensor output value that is detection information based on, for example, a pulse or voltage, and appropriately outputs it to the processing unit 190 as an event signal. Furthermore, the sensor unit 110 recognizes a situation related to movement of the vehicle 10 such as a state of the vehicle 10 and a movement situation based on detection signals output from other various sensors as events that are behaviors of the vehicle 10, and those events. The event signal for the situation is appropriately output to the processing unit 190.

  The VICS receiving unit 120 has a VICS antenna (not shown), and acquires information on traffic using the VICS antenna. Specifically, traffic information (hereinafter referred to as VICS data) such as traffic jams, traffic accidents, construction, traffic regulations, etc. is acquired from a VICS (not shown), for example, by using a beacon or FM multiplex broadcasting using an antenna unit. Then, the acquired information on traffic is output to the processing unit 190 as a predetermined signal.

  The input unit 130 includes various operation buttons and operation knobs (not shown) that are input and operated with, for example, a keyboard and a mouse. The contents of the input operation of these operation buttons and operation knobs are setting items such as setting of operation contents in the navigation device 100, for example. Specifically, setting of contents of information to be acquired and conditions to be acquired, setting of destination, search of information, setting for displaying traveling state as moving state of vehicle 10, setting for switching display, change of sounding state Examples of settings relating to the timing for notifying guidance regarding movement of the vehicle 10 can be given. Then, the input means 130 appropriately outputs and sets a predetermined signal to the processing unit 190 by an input operation of setting items. The input unit 130 is not limited to an input operation such as an operation button or an operation knob. For example, an input operation using a touch panel provided on the display unit 150, an input operation using sound, or a wireless medium such as a remote controller. Any configuration capable of setting and inputting various setting items such as a configuration for outputting a signal can be applied.

  The imaging unit 140 is disposed, for example, at the rear of the vehicle 10 and is controlled by the processing unit 190 to capture the rear of the vehicle 10 and generate image data. Then, the imaging unit 140 appropriately outputs the captured image data to the processing unit 190.

  The display unit 150 is controlled by the processing unit 190 to display the image data signal from the processing unit 190 on the screen. As image data, for example, image data such as map information and search information, image data captured by the imaging means 140, TV image data received by a TV receiver (not shown), an external device such as an optical disk, a magnetic disk, a memory card Image data recorded on a recording medium such as read by a drive or driver, image data from the memory 180, or the like. Examples of the display means 150 include a liquid crystal display panel, an organic EL (Electro Luminescence) panel, a PDP (Plasma Display Panel), a CRT (Cathode-Ray Tube), an FED (Field Emission Display), and an electrophoretic display panel. .

  The sound generation means 160 includes, for example, a speaker 161 and an amplifier shown in FIG. This sounding means 160 is controlled by the processing unit 190 and outputs sound information from the processing unit 190 as a sound from the speaker 161, that is, makes it sound. As the contents to be notified by this pronunciation, for example, the driver 10 and passengers such as passengers are notified of the traveling direction, traveling condition, traffic condition, etc. of the vehicle 10. Note that the sound generation means 160 can appropriately output, for example, TV sound data received by a TV receiver, sound data recorded on a recording medium, the memory 180, or the like, or music data. Further, the sound generation means 160 is not limited to a separately provided configuration, and may be configured to generate sound using a speaker 161 or an amplifier provided in the vehicle 10.

  The storage unit 170 stores search information for acquiring map information, information on a predetermined point, personal information of the user, and the like so as to be stored, that is, readable. Examples of the storage unit 170 include a configuration including a drive and a driver that are readable and stored in a recording medium such as an HD (Hard Disk), a DVD (Digital Versatile Disc), an optical disc, and a memory card.

  The memory 180 stores various items such as setting items input by the input unit 130 and music data, image data, and sound information output from the processing unit 190 so that they can be read out as appropriate. Further, the memory 180 stores various programs developed on an OS (Operating System) that controls the operation of the entire navigation device 100. Further, the memory 180 stores reference information related to a behavior standard that serves as a reference for the behavior of the moving object. Examples of behavior criteria include information on the relationship between the travel speed for energy-saving operation and the ideal accelerator pedal depression amount, and information on the relationship between the curve radius and the ideal speed before the curve based on map information For example, information on the relationship between the width and shape of a narrow road based on the map information and the ideal travel line and the turning angle of the steering wheel can be exemplified. As the memory 180, it is desirable to use a memory having a configuration that retains memory even when the power is suddenly turned off due to a power failure, for example, a CMOS (Complementary Metal-Oxide Semiconductor) memory. Note that the memory 180 may be configured to include a drive, a driver, and the like that are readable and stored in a recording medium such as an HD, a DVD, or an optical disk.

  The processing unit 190 is connected to various input / output ports (not shown), for example, a VICS receiving port to which a VICS antenna is connected, a GPS receiving port to which a GPS receiving unit is connected, a sensor port to which various sensors are connected, and an input unit 130. A key input port, an imaging port to which the imaging unit 140 is connected, a display control port to which the display unit 150 is connected, a tone generation control port to which the tone generation unit 160 is connected, a storage port to which the storage unit 170 is connected, and a memory 180. It has a memory port to be connected. Then, as shown in FIG. 2, the processing unit 190 includes, as various programs, a current position recognition unit 191 as a behavior status recognition unit, a destination recognition unit 192 as a destination information acquisition unit, a display control unit 193, Path processing means 194, information retrieval means 195, timing means 196, imaging processing means 197, reference calculation means 198 as behavior reference recognition means, comparison means 199, MIDI (Musical Instrument Digital Interface) sound source generation Means 200 and sound generation control means 201 are provided.

  The current position recognizing means 191 recognizes the current position, which is the movement situation as the behavior of the vehicle 10. Specifically, a plurality of current pseudo positions of the vehicle 10 are calculated based on the speed data and azimuth data of the vehicle 10 output from the speed sensor and the azimuth angle sensor of the sensor unit 110. Further, the current position recognizing means 191 recognizes the current pseudo coordinate value of the vehicle 10 based on GPS data related to the current position output from the GPS receiving unit of the sensor unit 110. Then, the current position recognizing means 191 compares the calculated current pseudo position with the recognized current pseudo coordinate value, calculates the current position of the vehicle 10 on separately acquired map information, and recognizes the current position. To do.

  The current position recognizing means 191 determines the inclination and height difference of the road on which the vehicle travels based on the acceleration data output from the acceleration sensor, calculates the current pseudo position of the vehicle 10, and recognizes the current position. In other words, the current position of the vehicle 10 can be accurately recognized even in places that overlap on a plane such as a three-dimensional intersection or a highway. Further, when traveling on a mountain road or a slope, an error between the travel distance obtained from only the speed data and the azimuth angle data and the actual travel distance of the vehicle 10 is corrected by using the detected road inclination. Recognize the current position.

  Note that the current position recognizing unit 191 can recognize, as the current position, the starting point that is the starting point set and input by the input unit 130 in addition to the current position of the vehicle 10 described above as the pseudo current position. Various types of information obtained by the current position recognition unit 191 are stored in the memory 180 as appropriate.

  The destination recognizing unit 192 acquires destination information related to the destination set and input by the input operation of the input unit 130, for example, and recognizes the position of the destination. As destination information to be set and input, various information for specifying a location such as coordinates such as latitude and longitude, an address, and a telephone number can be used. The destination information recognized by the destination recognition unit 192 is stored in the memory 180 as appropriate.

  The display control unit 193 appropriately controls the display unit 150 to display various information on the screen of the display unit 150 and notify the user. The display control unit 193 also controls display of various display screens for setting and inputting various information by prompting an input operation by the input unit 130, for example.

  The route processing unit 194 is a travel route that is a travel route of the vehicle 10 based on the setting item information for the travel route search process that is set and input by the user and the map information stored in the storage unit 170. To find a route. Specifically, the route processing means 194 uses the map information based on the setting item information that has been set and input, for example, searches for a road on which the vehicle 10 can pass, and the time required to travel until reaching the destination. Travel route information such as a short route or a short travel distance is generated. When generating the travel route information, the route processing unit 194 appropriately acquires, for example, VICS data from the VICS output from the VICS receiving unit 120, and generates traffic jam information that is predicted to occur at present or after a predetermined time. A route that avoids traffic jams or traffic restrictions may be set using the traffic jam information. Further, the route processing means 194 can obtain a predicted required time for the movement from the current position as the departure point in each route of the moving route information to the destination, and can also generate required time information relating to the predicted required time. . The obtained travel route information is appropriately stored in the memory 180 together with traffic jam information, required time information, and the like.

  The information search means 195 searches based on search information that is information on a predetermined point in the map information stored in the storage means 170, for example, in response to a search request for search information set and input by the input means 130. Get information according to the search request. The acquired search result information is appropriately stored in the memory 180.

  The time measuring means 196 recognizes the current time based on a reference pulse such as an internal clock. And this time measuring means 196 outputs the time information regarding the recognized current time as appropriate.

  The imaging processing unit 197 processes image data obtained by imaging output from the imaging unit 140. Then, the imaging processing means 197 processes the image data, and recognizes the parking space 12 based on the lane markings 11 and other parked vehicles 10 as shown in FIG. 3, for example. Information regarding the parking space 12 calculated by the imaging processing unit 197 is appropriately output to the reference calculation unit 198.

  Based on the information regarding the parking space 12 recognized by the image processing by the imaging processing unit 197, the reference calculation unit 198 serves as a behavior reference for the vehicle 10 to appropriately enter the parking space 12, as shown in FIG. An ideal reference travel line 13 serving as a reference is calculated. For example, the reference calculation means 198 is a positional relationship between the current position recognized by the current position recognition means 191 and the parking space 12 in the map information, for example, the distance from the vehicle 10 to the parking space 12 in the state where the imaging means 140 is installed. Calculate based on the above. Further, the reference calculation unit 198 recognizes the direction with respect to the vehicle 10 based on the installation state of the imaging unit 140 and the processing of the image data by the imaging processing unit 197. Then, the reference calculation means 198 calculates an ideal reference travel line 13 as a behavior reference for the vehicle 10 to enter the parking space 12 based on the distance and direction to the parking space 12. Information about the calculated reference travel line 13 is appropriately output to the comparison unit 199. The reference calculation means 198 is not limited to the configuration for calculating the reference travel line 13 as a behavior reference, but can be applied to any content that serves as a reference for a movement state or a movement situation that is the behavior of the vehicle 10. . For example, the content regarding the ideal accelerator pedal operation for energy-saving operation, the content regarding the appropriate speed before the curve, the travel line for driving the crank well, and the like can be exemplified. In addition, the reference information on the behavior criteria stored in the memory 180 based on the state of the vehicle 10 based on the event signal from the sensor unit 110, the setting content input by the input unit 130, etc. It is good also as a structure etc. which acquire and recognize. FIG. 3 conceptually shows a pair of reference travel lines 13 displayed on the screen, and lines bridging the reference travel line 13 are reference lines 13a indicating positions 0.5 m and 1 m behind the rear end of the vehicle 10. It is.

  The comparison unit 199 compares the information related to the reference travel line 13 output from the reference calculation unit 198 and the behavior of the vehicle 10 output from the sensor unit 110. For example, when the vehicle 10 moves backward based on the event signal from the sensor unit 110 that recognizes the turning angle of the steering wheel in the current vehicle 10 as the behavioral state based on the detection signal from the sensor, the comparison unit 199 The predicted travel line 14 as the behavior state of is calculated. Information regarding the predicted travel line 14 is appropriately output to the display control means 193. Then, the comparison unit 199 compares the difference of the predicted travel line 14 with respect to the reference travel line 13 based on the information regarding the reference travel line 13 and the information regarding the predicted travel line 14, and generates difference information regarding the magnitude of the difference. The generated difference information is appropriately output to the sound generation control unit 201. The display control unit 193 controls the display unit 150 to display the information on the reference travel line 13 output from the reference calculation unit 198 together with the image data captured by the imaging unit 140. Further, for example, the information regarding the predicted travel line 14 is configured to be calculated by the sensor unit 110 and output to the comparison unit 199, or a configuration for separately calculating the predicted travel line 14 is provided to be output to the comparison unit 199. For example, the comparison unit 199 may simply compare and generate difference information. Moreover, although the comparison means 199 illustrated the reference | standard driving | running | working line 13 and the prediction driving | running | working line 14, as mentioned above, any reference | standard behavior reference | standard and corresponding behavior condition can be made into a comparison object.

  The MIDI sound source generating means 200 includes sound information compliant with the MIDI standard, for example, GM (General MIDI) standardized by the US MMA (MIDI Manufacturers Association) and the Japan MIDI Standards Committee (JMSC), Alternatively, a MIDI message based on the GS (General Standard) standard, the XG (Extended General MIDI) standard, or the GM level 2 standard is generated. This MIDI sound source generation means 200 generates and outputs sound information directly based on a signal requesting output of sound information, for example, or acquires and outputs sound information stored separately in the memory 180 or the like. . In addition, as sound information to be notified, for example, in addition to an alarm sound for calling attention when outputting a voice at the time of guidance for movement, the remaining amount of fuel, the engine temperature, the distance to other vehicles 10 ahead, Alternatively, the situation of the vehicle 10 for movement such as the distance to the obstacle behind the vehicle 10 and an alarm sound that is a sound corresponding to the magnitude of the difference compared by the comparison means 199 are also notified as an event. Therefore, sound information that is a different tone color and pattern for each event content is set in advance.

  The sound generation control means 201 recognizes the movement status based on the current position recognized by the current position recognition means 191 and the map information, and based on the feature route information or the feature guide information related to the features constituting the map information. In addition, information related to the movement of the vehicle 10, for example, the content for supporting the traveling of the vehicle 10 is notified by the pronunciation by the sound generation means 160. Specifically, after sounding the alarm sound as sound information with the sound generation means 160, “700m ahead, the XX intersection is in the right direction in the △△ direction.”, “Departed from the moving route.” The voice data as the sound information stored in advance in the storage means 170, the memory 180, or the like is output as voice. In addition, the sound generation control unit 201 includes an event signal regarding the remaining amount of fuel, an event signal regarding the engine temperature, an event signal regarding the distance to the vehicle 10 traveling ahead, The event signal etc. regarding the distance to the obstacle in is acquired and the movement situation is recognized. Then, based on the acquired event signal, the sound generation means 160 generates an alarm sound according to the state of the event that has occurred. In this pronunciation, for example, a different tone or tone depending on the content to be notified, such as the remaining amount of fuel, the engine temperature, the distance to the vehicle 10 ahead, the distance to the obstacle behind the vehicle 10, the alarm sound at the time of guidance guidance, etc. Control to output the sound information of the pattern from the MIDI sound source generating means 200 is performed.

  Further, the sound generation control unit 201 modulates the property that is the characteristic of the alarm sound that is generated by the sound generation unit 160 based on the difference information output from the comparison unit 199. As this modulation, for example, a process of setting a parameter value constituting a MIDI message in a state in which the degree of a tremor that causes an alarm sound is increased is performed. For example, as described above, from a movement route serving as a behavior reference such as a movement route set from the current position to the destination or a movement route from the current position for moving the vehicle 10 to a predetermined area such as the parking space 12. Vehicle based on steering angle based on degree of deviation, degree of difference from accelerator pedal depression, which is an ideal action as a behavior standard that minimizes fuel consumption with respect to moving distance of vehicle 10, and shape of a moving road as a behavior reference For example, the degree of difference from the predicted operation result as the behavior situation that is the course predicted to travel 10, the degree of difference between the reference travel line 13 and the predicted travel line 14, and the like can be exemplified. In addition, the tremor is the so-called vibrato effect, wow effect, growl effect, tremolo effect, chorus effect, flanger effect, phase shifter effect. Etc.

  Specifically, as a vibrato effect, a timbre tone is obtained by the following control. For example, as shown in FIG. 4, the value of the format dM in the address cc # 1 of the lower layer control change in the channel voice message constituting the MIDI message table structure is appropriately set. That is, the format dM value is changed from “0” to a value close to “127” and set so that the amplitude of the vibration sound caused by vibrato increases as the difference increases. Further, for example, in the case of an XG standard or GM2 standard MIDI message, it is possible to appropriately set parameter values that can be set in detail as shown in FIGS. In other words, FIG. 5 is a parameter for setting the period of the vibration by vibrato. By changing the value of the format dd in the address cc # 76 of the control change from 0 to a value gradually approaching 127, The cycle to do becomes faster. FIG. 6 is a parameter for setting the amplitude of the vibration sound caused by vibrato. The value of the format dd in the address cc # 77 of the control change is changed from “0” to a value that gradually approaches “127”. By setting it, the amplitude of the vibration is increased. Further, for example, in a GS standard MIDI message, a non-registered parameter number (NRPN) is specified, for example, a parameter is set by NRPN MSB (Most Significant Bit) and NRPN LSB (Least Significant Bit). And the setting value is set using the LSB and MSB data entries, respectively. Specifically, the NRPN MSB is set to “1” as cc # 99, the LSB is set to “8” as cc # 98, and the data entry value is changed from “0” to “127”. The cycle of becomes faster. Further, by setting “9” in the LSB, the value of the data entry is set from “0” to “127”, thereby increasing the depth of tremor. Through such processing, the sound generation control unit 201 changes the sound generation state to a state in which the degree of modulation of the characteristics of the sound generated by the speaker 161 of the sound generation unit 160 is increased corresponding to the magnitude of the difference with respect to the behavior standard. The driver is informed of the difference with respect to the reference, and further the magnitude of the difference.

[Operation of navigation device]
Next, the operation of the navigation device 100 will be described with reference to the drawings. FIG. 7 is a flowchart showing a travel route search process in the navigation device 100.

  First, a passenger who is a user who has boarded the vehicle 10 turns on the power of the navigation device 100 and supplies power. With this power supply, the processing unit 190 controls the display unit 150 to display the main menu, and causes the display unit 150 to display a display screen that prompts the user to input a setting for the content to be operated by the navigation device 100.

  Then, the user performs a setting input for performing, for example, a search process of a moving route for moving by an input operation of the input unit 130 based on the display screen (step S101). By this setting input, the processing unit 190 displays a display screen that prompts the user to input setting information such as various information necessary for the search for the moving route, for example, destination, the shortest distance, the shortest time, or traffic information. The information is displayed on the display means 150 by the control means 193. Then, when the processing unit 190 recognizes various information necessary for the search for the moving route by the route processing unit 194, the processing unit 190 first performs processing for recognizing the current position by the current position recognition unit 191 (step S102), and destination recognition unit A process of recognizing the destination set and input by 192 is performed (step S103).

  Specifically, the current position recognition unit 191 uses the speed data and the azimuth angle data of the vehicle 10 output from the speed sensor and the azimuth angle sensor of the sensor unit 110, and the GPS data related to the current position output from the GPS reception unit, Based on this, the current position of the vehicle 10 is calculated to obtain current position information. The acquired current position information is appropriately stored in the memory 180. Further, the processing unit 190 controls the display unit 150 with the display control unit 193 to display a display prompting the user to input a destination setting by an input operation of the input unit 130. Then, when the user sets and inputs a destination by an input operation of the input unit 130 in accordance with an instruction on the displayed display screen, the destination recognizing unit 192 acquires destination information regarding the set and input destination. The acquired destination information is appropriately stored in the memory 180. In the destination input operation, the information search means 195 searches for search information related to the destination using, for example, map information, or moves the cursor to the destination on the map information displayed on the screen and specifies it. Any method can be used.

  Further, the processing unit 190 controls the display unit 150 by the display control unit 193 to display a prompt for an input operation of a setting item that is a condition for searching for a moving route. Then, when the user inputs a setting item by an input operation of the input unit 130 in accordance with an instruction on the displayed display screen, the processing unit 190 acquires setting item information related to the setting item that has been set and input (step S104). The acquired setting item information is stored in the memory 180 as appropriate.

  Thereafter, the processing unit 190 acquires the setting item information stored in the memory 180 by the route processing unit 194, and also appropriately acquires the VICS data output from the VICS receiving unit 120, and determines the destination from the current position of the vehicle 10. A route search process for searching for the travel route up to is performed based on the map information stored in the storage unit 170 (step S105). In this route search processing, the route processing means 194 acquires a plurality of movement routes by calculation, and narrows down to some based on setting item information and traffic information acquired as appropriate. Then, the display control unit 193 displays, for example, five calculated movement routes on the display unit 150 and displays a request for selection by the user. Then, the movement route is set by an input operation in which the user selects one of the movement routes according to the display. Here, when the calculation result has only one route, the display requesting the selection is not displayed, and that one route is set as the movement route. The configuration is not limited to selecting from a plurality of travel routes, but may be a configuration in which only one travel route that best meets the conditions of the setting item information is displayed to allow the user to confirm.

  And the process part 190 controls the display means 150 by the display control means 193, displays the map information memorize | stored in the memory | storage means 170 suitably, and performs a guidance guidance process (step S106). In this guidance and guidance process, the processing unit 190 superimposes and displays on the map information, for example, a display relating to the travel route together with an icon representing the current position of the vehicle 10 and a display relating to traffic information such as traffic jam information.

  Thereafter, the processing unit 190 recognizes the movement status of the vehicle 10 based on the signals output from the speed sensor, the azimuth angle sensor, and the acceleration sensor of the sensor unit 110 and the GPS data output from the GPS receiving unit. . Further, the processing unit 190 uses the display control unit 193 and the sound generation control unit 201 to display guidance information regarding the movement of the vehicle 10 based on the recognized movement situation, the route guidance information included in the movement route information, and the like. Is displayed, or the sound generation means 160 is used to generate a sound or an alarm sound to notify the user of movement of the vehicle 10.

  At the time of this guidance, the comparison unit 199 compares the set movement route as a behavior reference, and compares the current position sequentially recognized by the current position recognition unit 191 as a behavior state. When the comparison unit 199 determines that there is a difference between the movement route and the current position, that is, the comparison unit 199 deviates from the movement route, the comparison unit 199 outputs a signal to the sound generation control unit 201 that the difference has occurred. Then, the sound generation control unit 201 obtains a MIDI message for notifying that it has deviated from the movement route from the MIDI sound source generation unit 200. Furthermore, the sound generation control means 201 sets the MIDI message parameters as appropriate. In this setting, since it is the initial time that the vehicle has deviated from the movement route, the alarm sound is set to be generated without a vibration. Then, the sound generation control unit 201 converts the MIDI message into an analog signal and outputs the analog signal to the sound generation unit 160 for sound generation. Further, the sound generation control unit 201 reads out voice data set in advance from the storage unit 170, the memory 180, etc., for example, “Departed from the movement path” and causes the sound generation unit 160 to generate a sound.

  Furthermore, if the comparison unit 199 compares the movement path with the current position and determines that the difference has increased, that is, determines that the current position has deviated further from the movement path, the comparison unit 199 transmits difference information regarding the difference to the sound generation control unit 201. Output. Then, the sound generation control means 201 that has acquired the difference information corresponds to the length of the distance away from the movement path that is the magnitude of the difference, and the degree of the vibration sound that is the degree to which the property of the sound to be generated is modulated. Is set to a state where becomes large. For example, the parameter value of the MIDI message is changed and set to such a state that the vibrato cycle of the alarm sound to be sounded becomes faster or the amplitude becomes larger. Similarly, it is converted into an analog signal and output to the sound generation means 160 for sound generation. In this way, the degree of the vibration noise increases as the distance from the movement route increases. Therefore, the driver can easily recognize that the driver is gradually moving away from the travel route without confirming the screen display of the display means 150 by the sound generation that makes the vibration sound louder.

  Further, when the energy saving operation is set by the setting input by the input means 130, the comparison means 199 is the reference information that is a behavior standard regarding the operation of an ideal accelerator pedal that becomes a reference for the energy saving operation from the memory 180 when the vehicle 10 travels. Is read by the reference calculation means 198. Further, the comparison unit 199 recognizes the speed of the vehicle 10 as the behavior state, the depression amount of the accelerator pedal, and the like based on the detection signal from the sensor. The comparison unit 199 recognizes the difference between the ideal accelerator pedal operation and the actual accelerator pedal operation based on the reference information read by the reference calculation unit 198 and the information on the behavior state recognized by the sensor unit 110. And recognize the magnitude of the difference. Similarly, the comparison unit 199 generates difference information corresponding to the magnitude of the difference and outputs the difference information to the sound generation control unit 201. The sound generation control unit 201 that has acquired the difference information similarly acquires a MIDI message related to the alarm sound related to the energy saving operation from the MIDI sound source generation unit 200. After that, the sound generation control unit 201 sets a parameter value in a state where the degree of the tremor sound, which is the degree of modulation of the property of the sound that is generated in accordance with the magnitude of the difference, and causes the sound generation unit 160 to generate the sound. . Thus, the driver can easily recognize how much the accelerator pedal should be depressed by sound generation.

  Further, when the vehicle 10 moves backward into the parking space 12, an event signal indicating that the sensor unit 110 recognizes an operation of moving the vehicle 10 backward based on a detection signal output from the sensor and moves backward is processed. Output to 190. And the imaging process means 197 of the process part 190 will recognize the event signal output from the sensor part 110, will operate the imaging means 140, and will image the back of the vehicle 10. FIG. Further, the imaging processing unit 197 processes the image data obtained by imaging to recognize the parking space 12 and outputs information related to the parking space 12 to the reference calculation unit 198. The reference calculation means 198 recognizes the distance and direction to the parking space 12 based on information about the parking space 12 and the installation status of the image pickup means 140, and the reference travel for the vehicle 10 to enter the parking space 12. Line 13 is calculated. Moreover, the comparison means 199 acquires the event signal regarding the turning angle of the steering wheel from the sensor unit 110, and calculates the expected travel line 14 when the vehicle 10 moves backward. Then, the comparison unit 199 compares the reference travel line 13 acquired from the reference calculation unit 198 with the predicted travel line 14.

  As a result of this comparison, when the turning angle of the steering wheel is appropriate and the predicted travel line 14 substantially matches the reference travel line 13, the comparison unit 199 outputs that fact to the sound generation control unit 201. Also, if they do not match, the difference information regarding whether the size does not match and the cut angle is too large or small is output to the sound generation control means 201. Then, the sound generation control unit 201 acquires a MIDI message corresponding to the alarm sound related to the entry into the parking space 12 from the MIDI sound source generation unit 200. After that, the MIDI message parameters are set so that the degree of the vibration is increased in correspondence with the inconsistent magnitude. Further, as shown in FIG. 3, for example, the sound generation control unit 201 displays a MIDI message in a state where the speaker 161 on the side that moves relative to the reference travel line 13 vibrates when the turning angle of the steering wheel is small and cannot be bent. Process. For example, the value of the format dM at the address cc # 10 for setting a panpot for MIDI message control change is set as appropriate, and the sound image localization of the sound generation in the state of shaking for the driver moves in the left-right direction. Control to the state. The sound generation control unit 201 causes the sound generation unit 160 to sound the processed MIDI message in the same manner. Thus, the driver can easily recognize whether the steering wheel should be rotated to the left or right by sounding, and can easily recognize how much the steering wheel should be rotated depending on the state of the vibration.

[Function and effect of navigation device]
As described above, in the above-described embodiment, the sound generation control unit 201 compares the behavior reference regarding the behavior related to the movement of the vehicle 10 with the behavior state of the vehicle 10, and the speaker 161 corresponds to the magnitude of the compared difference. Increase the degree of modulation of the sound characteristics such as the alarm sound that is generated from the sound. For this reason, the situation relating to the movement of the vehicle 10 can be easily recognized by the modulation state of the characteristics of the sound to be generated, and it is possible to easily support an ideal standard relating to the movement of the vehicle 10 such as the state and situation of the vehicle 10. Movement is obtained.

  As modulation control of the sound characteristics, control is performed to change the degree of vibration such as the so-called vibrato effect, wah effect, groul effect, tremolo effect, chorus effect, flanger effect, phase shifter effect, and the like. For this reason, it is possible for the driver to easily recognize the magnitude of the difference from the behavior state such as the actual state and situation of the vehicle 10 with respect to the ideal reference.

  Further, as modulation control of the sound characteristics, control is performed to change the setting value of the MIDI message, which is sound information compliant with the MIDI standard with a small amount of information, specifically, the parameter value relating to the vibration. Therefore, the processing load can be reduced, the configuration can be easily simplified, the processing speed can be easily increased, and the vehicle 10 can be favorably supported.

  And as control of a seismic sound, the period and amplitude which change the level of an alarm sound are changed corresponding to the magnitude | size of the difference of a behavior standard and a behavior condition. For this reason, the driver can easily recognize the difference in the modulation of the sound and can easily recognize the magnitude of the difference in the behavior situation with respect to the behavior standard. The vehicle 10 can be easily moved.

  Further, as the level control of the alarm sound, a parameter value related to the modulation depth of the MIDI message is appropriately set. Therefore, the modulation control of the sound characteristics for notifying the difference between the behavior standard and the behavior situation can be performed by a simple process of simply setting the parameter value with a small amount of information, and the configuration is simplified and the process is speeded up. Is easily obtained.

  Further, by appropriately setting the parameter value of the vibrato rate or vibrato depth of the MIDI message, more detailed control of the vibration can be obtained and the modulation state can be recognized more easily.

  In addition, for example, when moving into the parking space 12, the left and right shifts and blurs of the behavior state with respect to the behavior standard in the traveling direction are controlled by moving the sound image localization in the left and right directions corresponding to the side where the shift and blur are generated. I have control. For this reason, the magnitude of the difference in behavior situation with respect to the behavior standard can be notified, the situation of the difference can be easily recognized, assistance for better movement of the vehicle 10 can be obtained, and good movement of the vehicle 10 can be obtained. .

  Further, as a control for moving the sound image localization, the parameter value of the pan pot of the MIDI message is appropriately set. For this reason, simple processing for simply setting parameter values with a small amount of information can be obtained, and even with a configuration for notifying the situation of the difference, the configuration can be simplified and the processing speed can be easily increased.

  And it is set as the navigation apparatus which assists regarding the movement of the vehicle 10 which cannot watch the screen display for assistance in the case of the movement as a behavior. For this reason, the vehicle 10 can be satisfactorily operated without visually recognizing the screen display by pronunciation, and more appropriate operation can be obtained. Furthermore, since it is the structure which supports the movement of the vehicle 10 which moves on a plane, the structure which alert | reports the condition of the difference by the movement of sound image localization can be added easily, and a better support can be performed.

  Moreover, the structure which alert | reports the magnitude | size of the difference of the present position with respect to a movement path | route by sound generation control is provided. For this reason, it is possible to easily recognize a situation deviating from the route without visually recognizing the screen display, and particularly to guide and guide the movement of the vehicle 10 that requires a high degree of technology for movement with a high degree of freedom of movement that does not move on the track. It is effective as the navigation device 100.

  Further, the predicted travel line 14 of the vehicle 10 is calculated from the situation of the vehicle 10, and the difference between the predicted travel line 14 and the reference travel line 13 for entering the parking space 12 or the like as a moving route is notified by pronunciation. Is provided. For this reason, the difference in the movement status with respect to the reference can be easily compared and recognized, and the configuration can be simplified and the processing speed can be easily increased by reducing the processing load.

  Then, the reference travel line 13 and the predicted travel line 14 when entering the parking space 12 are displayed on the screen by the display means 150. For this reason, the situation can be confirmed not only by notification by sound generation but also by screen display, and better traveling of the vehicle 10 can be obtained.

  Since the processing unit 190 is configured as a program using, for example, a CPU (Central Processing Unit) or the like, by installing the program, a configuration capable of controlling the modulation of sound can be easily obtained, and the use can be easily expanded. I can plan. Furthermore, by recording the program on a recording medium and appropriately allowing the computer to read the program, a configuration capable of easily controlling the modulation of sound can be obtained, and the program can be easily handled and used. Can be easily expanded. The calculation means in the present invention is not limited to a single computer, but may include a configuration in which a plurality of computers are combined in a network, an element such as a CPU and a microcomputer, or a circuit board on which a plurality of electronic components are mounted. Including.

  In addition, the alarm sound is notified as the movement status, and the sound quality of the alarm sound is controlled, so that the alarm information has a small amount of information as the sound information. Therefore, the modulation control of the sound simply changes the parameter value. Thus, the driver can be notified by simple processing, and the configuration can be simplified and the processing speed can be increased by reducing the processing load. Furthermore, by outputting audio data in response to the alarm sound, the driver can recognize the contents of the behavior state notified by the audio data, and better notification can be obtained.

[Modification of Embodiment]
In addition, this invention is not limited to each embodiment mentioned above, The deformation | transformation shown below is included in the range which can achieve the objective of this invention.

  That is, as described above, the configuration of the navigation apparatus 100 that guides and guides the movement of the vehicle 10 has been described. However, the event is not limited to the movement state of the vehicle 10, and for example, with respect to manufacturing conditions as a behavior standard that is a reference in the manufacturing apparatus The present invention can be applied to a configuration that supports any behavior, such as a configuration for notifying a difference from a set value as a behavior state to be operated. Moreover, as a structure which alert | reports the difference with respect to the reference | standard of a movement condition, not only the guidance guidance of the navigation apparatus 100 using map information but as mentioned above, for example, actual operation with respect to the ideal operation state for carrying out an energy-saving operation A configuration for notifying the state or the situation of the vehicle 10 for moving, such as notifying the situation or notifying the degree of vibration as the fuel fills the fuel tank when the fuel is replenished. Can also be targeted. Furthermore, it is good also as a structure etc. which were mounted in the vehicle 10 separately from the navigation apparatus 100.

  The moving situation is not limited to the movement of the vehicle 10, but can be applied to any moving object such as an airplane or a ship. The moving object is a moving condition for a user who carries the terminal device. It is good also considering a user as a structure which alert | reports. Furthermore, as described above, a configuration in which the user directly carries the device, or a configuration in which the mobile phone or PHS (Personal Handyphone System) is used as a terminal device, or a communication method that appropriately detects the movement status using the network is used. It can also be applied to configurations. Here, as the network, for example, the Internet based on a general-purpose protocol such as TCP / IP, an intranet, a LAN (Local Area Network), a communication line network in which a plurality of base stations capable of transmitting and receiving information via a wireless medium constitute a network, Examples include a network such as a broadcast network, and a wireless medium itself such as radio waves, light, sound waves, and electromagnetic waves, which are media for directly transmitting and receiving information.

  Furthermore, although each function mentioned above was constructed | assembled as a program, as above-mentioned, for example, you may comprise by elements, such as hardware, such as a circuit board, or one IC (Integrated Circuit), and as any form Can also be used. By adopting a configuration that allows reading from a program or a separate recording medium, handling is easy, and usage can be easily expanded.

  In addition, the alarm sound is generated as a notification of the movement situation, and the sound quality of the alarm sound is controlled, but for example, the sound quality of the sound data to be notified is directly controlled as described above without generating the alarm sound. Also good. In other words, the sound information is not limited to that based on the MIDI standard, and any sound source data such as an FM sound source or a PCM sound source can be used. Even in such a case, by controlling the sound modulation by a method controlled by the MIDI protocol, the sound modulation can be controlled by a relatively simple process, and the configuration can be simplified and speeded up by reducing the processing load. Easy to get. Furthermore, the method is not limited to the method of appropriately setting the parameter value of the MIDI message, and any method of analog processing or digital processing such as control by an electric circuit can be used.

  For example, as shown in FIG. 8, the sound information to be generated is made to vibrate by an oscillator as an oscillator based on a sine wave output from a low frequency oscillator (LFO) as an oscillator. . Then, by the control of changing the waveform period and amplitude in the sine wave of the LFO in accordance with the magnitude of the difference, the same effect by the vibration as in the above-described embodiment can be obtained. Further, as shown in FIG. 9, the predetermined frequency output from the oscillator is deleted by the filter based on the sine wave output from the LFO, and a frequency region in which no sound is generated from the speaker 161 is set. Then, by changing the frequency and amplitude of the waveform of the sine wave from the LFO in accordance with the magnitude of the difference and setting the frequency region for sound generation, the same effect can be obtained. Further, as shown in FIG. 10, the sound frequency processed by the filter is amplified or attenuated by an amplifier as an amplifier based on the sine wave output from the LFO, and the sound is generated. Similar effects can be obtained by controlling the waveform period and amplitude of the LFO sine wave in accordance with the magnitude of the difference.

  And, as a modulation of the sound characteristics, it has been described as a structure that makes a vibration, but it is not limited to a structure that changes the degree of the vibration, and the sounding state is different depending on the magnitude of the difference compared by the driver. Any possible pronunciation control method can be used. For example, to change the parameter value of the attack time in MIDI messages so that the pronounced pronunciation of “poon” is changed to the clear pronunciation of “pon” It is also possible to control the rising edge. In addition, for example, a MIDI message note-on is repeatedly output so as to control the pronunciation from “Khan, Khan” to “Kakakakaka”. The same effect can be obtained by changing the time difference corresponding to the magnitude of the difference. In addition, as described above, by changing the volume setting for the volume of the sound or by using an amplifier, the period and amplitude for changing the volume of the sound can be set as appropriate, or the frequency of the sound to be generated using a filter, etc. Change the range appropriately to make the sounding state swell, or change the state of superimposing the sound with different characteristics such as timbre and pitch, etc. Any control configuration that increases the degree of modulation corresponding to the difference, such as modulation control, can be applied.

  Furthermore, for example, the ratio of the direct sound and the reflected sound at the position of the driver serving as the reference point is controlled so that the linear sound gradually increases, or the change cycle of the ratio between the direct sound and the reflected sound is controlled by the magnitude of the difference. The same effect can be obtained even if it is changed corresponding to the above. The control of the ratio between the direct sound and the reflected sound can be easily obtained by using a directional speaker as the speaker 161, for example. That is, as the degree of superiority increases, the directivity to the driver in the directional speaker may be controlled to increase. In addition, as control of the ratio of a direct sound and a reflected sound, not only the structure using a directional speaker but any method can be utilized.

  Moreover, although the structure which moves a sound image localization was provided, it is not necessary to perform control which moves a sound image localization. Further, the method of moving the sound image localization is not limited to the process of changing the parameter value of the pan pot, and any method such as a process of increasing the output value of each speaker 161 can be used. And although the shift | offset | difference in the right-and-left direction of the prediction driving | running | working line 14 with respect to the reference | standard driving line 13 of the difference which approachs the parking space 12 was alert | reported by the movement of sound image localization, it carries out an energy-saving operation, for example not only in the direction of right and left and up and down. When the comparison result by the comparison means 199 shows that the difference in the magnitude of the difference is positive or negative, such as moving the sound image localization to the right side when the accelerator pedal is depressed too much, and moving the sound image localization to the left side when the depression is small. Any difference situation can be notified, such as notification by moving the sound image localization.

  The configuration for supporting the behavior of the vehicle 10 such as the state and situation of the vehicle 10 has been described by way of example. For example, when practicing soccer or rugby, the formation of a player as a moving body or movement in a game Compared to the actual movement situation of the player based on the situation, it can be used to practice the formation and movement situation by notifying the players and managers, etc., or comparing the ideal batting form with the actual batting form in baseball It can be applied to any configuration for notifying the difference of the situation with respect to the reference.

  Furthermore, the navigation device 100 may be a navigation device that supports behavior by simply notifying a difference in the situation with respect to the reference without providing a configuration for searching and guiding the moving route.

  Further, although the reference travel line 13 and the predicted travel line 14 are displayed on the screen, they may not be displayed on the screen.

  Then, the MIDI message related to the sound corresponding to the behavior to be notified from the MIDI sound source generation means 200 is acquired and the parameter value of this MIDI message is changed by the sound generation control means 201. The sound generation control unit 201 may control the MIDI sound source generation unit 200 to generate a MIDI message and control the sound generation unit 160 to generate the generated MIDI message. Even in such a configuration, the same effects can be obtained.

  For modulation control of sound, for example, not only vibrato rate and vibrato depth are controlled independently, but also combined with each other, and furthermore, control of vibrato effect and other wah effects are appropriately combined As a combination, a plurality of controls may be combined without being limited to two controls.

  In addition, the specific structure and procedure for carrying out the present invention can be appropriately changed to other structures and the like within a range in which the object of the present invention can be achieved.

[Effect of the embodiment]
As described above, in the above-described embodiment, the behavior reference regarding the behavior related to the movement of the vehicle 10 and the behavior status of the vehicle 10 are compared, and an alarm sound is generated from the speaker 161 according to the magnitude of the compared difference. Increase the degree of modulation of the sound characteristics. For this reason, the situation relating to the movement of the vehicle 10 can be easily recognized by the modulation state of the characteristic of the sound to be generated, and it is possible to easily support the ideal standard relating to the movement such as the state and situation of the vehicle 10.

It is a block which shows schematic structure of the navigation apparatus which concerns on the behavior assistance apparatus of this invention. It is a block diagram which shows schematic structure of the process part in the said embodiment. It is a conceptual diagram which shows the condition which guides and guides a vehicle to the parking space in the embodiment. It is a conceptual diagram which shows the data structure which sets the modulation of the MIDI message in the said embodiment. It is a conceptual diagram which shows the data structure which sets the vibrato rate of the MIDI message in the said embodiment. It is a conceptual diagram which shows the data structure which sets the vibrato depth of the MIDI message in the said embodiment. It is a flowchart which shows the search process of the movement path | route in the navigation apparatus in the said embodiment. It is a block diagram which shows the structure for the seismic sound control which concerns on other embodiment of this invention. It is a block diagram which shows the structure for the seismic sound control which concerns on other embodiment of this invention. It is a block diagram which shows the structure for the seismic sound control which concerns on other embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Vehicle as a moving body 13 ... Reference travel line as behavior reference 14 ... Expected travel line as behavior status 100 ... Navigation device as behavior support device 110 ... Sensor section 161 as behavior status recognition means 161 ... Speaker 190 ... Calculation Processing unit 198 as reference means Reference calculation means as behavior reference recognition means 199 ... Comparison means 200 ... MIDI sound source generation means 201 ... Sound generation control means

Claims (7)

A behavior support apparatus for supporting the reverse of the vehicle by controlling the characteristics of the sound uttered from the speaker to the compartmented Parking Space Subdivision streak,
Imaging means mounted on the vehicle for imaging the rear of the vehicle;
Imaging processing means for processing image data captured by the imaging means and recognizing a parking space based on the lane markings;
Reference calculation means for calculating a reference travel line for allowing the vehicle to enter the parking space recognized by the imaging processing means;
A sensor unit for detecting a running state of the vehicle;
Based on the turning angle of the steering wheel in the traveling state detected by the sensor unit, an expected traveling line when the vehicle moves backward is calculated, and the difference between the predicted traveling line and the reference traveling line calculated by the reference calculating unit is calculated. A comparison means for comparing;
Corresponding to the magnitude of the difference being compared, a state in which the period of vibration of the set value of information related to vibrato rate in the sound information conforming to the MIDI (Musical Instrument Digital Interface) standard is shortened And at least one of the control of the state in which the loudness of the vibrato depth is set and the state where the amplitude of the vibration is increased, and corresponding to the side where the difference occurs and sound control means for control to move the sound image localization in the lateral direction,
A behavior support apparatus characterized by comprising: The behavior support apparatus according to claim 1 ,
The sound generation control means is configured to cycle the amount of amplification by the amplifier based on a frequency corresponding to the magnitude of the compared difference output from the oscillation device and the oscillation device, and an amplifier that amplifies the sound produced from the speaker. And a behavior support apparatus characterized by comprising an oscillator that can be changed automatically. The behavior support apparatus according to claim 1 or 2 , wherein
The sound generation control means periodically generates an oscillation device that outputs a frequency corresponding to the magnitude of the compared difference, and a frequency region in which the sound is not generated from the speaker based on the frequency output from the oscillation device. A behavior support device characterized by comprising a filter to be changed. A behavior support method for supporting the reverse of the vehicle to the compartmented Parking Space Subdivision streaked by controlling the sound from the speaker by the operation means,
Imaging means mounted on the vehicle for imaging the rear of the vehicle;
Using a sensor unit for detecting the running state of the vehicle,
The computing means is
Processing image data captured by the imaging means and recognizing a parking space based on the lane markings;
A step of calculating a reference travel line for causing the vehicle to enter the parking space recognized by the imaging processing unit;
It calculates the expected traveling line when the vehicle is moved backward on the basis of the turning angle of the steering wheel in the running state detected by the sensor unit, that compares the difference between the reference traveling line computed with the expected traveling line Engineering About
Control of the state in which the frequency of vibration of the set value of the information related to vibrato rate in the sound information compliant with the MIDI (Musical Instrument Digital Interface) standard is shortened as the magnitude of the compared difference increases , And at least one of the control of the state in which the loudness of the vibrato depth is set, and the horizontal direction corresponding to the side where the difference occurs behavior support method which comprises carrying out the steps of the control to move the sound image localization, the in. A behavior support program characterized by causing a computing means to function as the behavior support device according to any one of claims 1 to 3 . A behavior support program for causing a calculation means to execute the behavior support method according to claim 4 . A recording medium on which a behavior support program according to claim 5 or 6 is recorded so as to be readable by the computing means.

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