JP4512998B2 - Navigation device - Google Patents

Description

  The present invention relates to a navigation apparatus that provides route guidance to a guided person such as a driver of a vehicle, for example, according to a predetermined guidance route, and in particular, performs guidance by a three-dimensional display around a position where route change guidance such as an intersection is performed. It is related with the navigation apparatus which can be performed.

  In the navigation device with the function of guiding the guided person such as the driver of the vehicle to the destination by displaying information such as a map or route from the current position to the destination, around the intersection etc. where the course should be changed In order for the guided person to easily understand the location of the intersection and the route after the change of route without making a mistake when his or her position arrives, the surroundings of the intersection etc. are displayed in three dimensions. There is known a navigation device for guiding the user.

  As such a navigation apparatus, for example, Patent Document 1 below discloses the following technique. That is, in Patent Document 1, a position at a predetermined height on a guidance route away from a guidance point where guidance is to be performed in detail, such as an intersection that changes the course of the vehicle, is set as a viewpoint position, and the vehicle guides the guidance. A technique is disclosed that draws and displays a three-dimensional overhead view while moving the viewpoint position so as to be lowered to, for example, the position of the driver's eyes as the point approaches. In addition to this, a position at a predetermined height on the guidance route away from the vehicle position in the direction opposite to the traveling direction is set as the viewpoint position, and the height of the viewpoint position is increased as the vehicle approaches the guide point. A technique for drawing and displaying a three-dimensional overhead view while moving it to be higher, and setting a guide point to be guided in detail such as an intersection as a viewpoint position, the vehicle approaches and passes the guide point, A technique for drawing and displaying a three-dimensional bird's-eye view showing a state of leaving is disclosed.

  With these technologies, the height of the viewpoint position when drawing a three-dimensional overhead view in a state where the vehicle is in any position around a guidance point where guidance should be given in detail such as an intersection that changes the course, etc. By making it a predetermined height away from the guide point, it is possible to display the entire landscape of the guide point from above, and the device has been devised to make it easier for the driver to understand the position of the intersection etc. where the course should be changed Yes.

JP 2001-74477 A

  However, a three-dimensional overhead view of an intersection or the like to be changed as used in the technique described in Patent Document 1 has an advantage that the entire landscape of the intersection or the like can be easily grasped. Because it is very different from the scenery of the intersection seen by the guided person such as the driver of the vehicle, there is a sense of incongruity for the unfamiliar guided person, and the displayed 3D overhead view and the guided person There is a case where it is difficult to collate with the actual landscape to be seen, and there is a problem that the position of an intersection or the like to be changed cannot be intuitively understood. Further, in a state where the height of the viewpoint position is lowered to the position of the driver's eyes, the line-of-sight direction is a direction that coincides with the traveling direction of the vehicle, that is, the tangential direction of the guidance route, and the traveling direction after the course change Since the landscape on the side is not displayed, there is a problem that it is not easy for the guided person to confirm the position of an intersection or the like that should be changed.

  The present invention has been made in view of the above problems, and its purpose is to guide a landscape in the direction of travel after a course change around a course change reference point set at an intersection or the like where the course should be changed. By providing a three-dimensional display from the viewpoint of the user, it is possible to provide a navigation device that allows the guided person to intuitively understand the position of the intersection where the course should be changed and the course after the course change.

FEATURES configuration of the navigation device according to the present invention for achieving the above object, viewpoint own position is on the guidance route when from course change reference point within a predetermined distance, which is set in the vicinity of the current position From the line-of-sight direction determining means for determining the direction toward the target point set on the guidance route after the course change based on the course change reference point as a line-of-sight direction, and three-dimensional map data, Display data generating means for generating three-dimensional display data when the line-of-sight direction determined by the line-of-sight direction determining means is viewed from the viewpoint, and display means for displaying the three-dimensional display data generated by the display data generating means When, wherein the gaze direction determination means, the three-dimensional display data generated by said display data generating means according to the determined viewing direction in the drawing area, the current position In the absence of the said diverting reference point located closest to the row direction is that of modifying the viewing direction to include the diversion reference point.

According to this feature, in the vicinity of the route change reference point set at an intersection or the like, the point of view set near the own position is set on the guide route ahead of the route change reference point. Since the direction toward the target point is set to the line-of-sight direction and 3D display data is generated and displayed, the landscape on the direction of travel after changing the course is displayed on the display means in 3D from the viewpoint of the guide Can do. Therefore, since the guided person can display a three-dimensional display on the display means of an image of a landscape close to the actual scenery that the guided person wants to see at the intersection where the course change reference point is set. The guide can be easily collated with the display image and the actual landscape, and the position where the course should be changed, the course after the course change, and the like can be intuitively understood. In addition, by this, for example, the course change reference point that is arranged near the center of the intersection and serves as a reference for guiding the course change is always included in the drawing area of the 3D display data generated by the display data generating means. Since the target point is set at a position away from the course change reference point, the course change reference point is displayed in a three-dimensional manner when the direction from the viewpoint toward the target point is the line-of-sight direction. Even if it is not included in the data drawing area, the course change reference point at the closest position on the traveling direction side of the own position, which is the position to be changed next, is set as the drawing area of the three-dimensional display data. Can be included. Therefore, it is possible to appropriately guide the position to be changed next for the guided person.

Here, it further includes guide display generating means for generating an arrow-shaped route guidance display that indicates a traveling direction along the guide route and that has a tip position near the target point, and the display data generating means includes the route guidance It is preferable that the three-dimensional display data is generated by superimposing the displays.

As a result, in the vicinity of the route change reference point set at an intersection or the like, the route guidance display set on the guidance route ahead of the route change reference point from the viewpoint set in the vicinity of the own position. 3D display data is generated and displayed by setting the direction toward the tip position of the eye to the line-of-sight direction, so that the scenery on the traveling direction side after the course change is displayed on the display means from the viewpoint of the guided person in three dimensions be able to. Therefore, since the guided person can display a three-dimensional display on the display means of an image of a landscape close to the actual scenery that the guided person wants to see at the intersection where the course change reference point is set. The guide can be easily collated with the display image and the actual landscape, and the position where the course should be changed, the course after the course change, and the like can be intuitively understood.

In addition, as a result of correcting the line-of-sight direction, the guide display generating means may determine that the tip position of the route guidance display is the tip position of the route guidance display when the drawing position of the three-dimensional display data does not include the tip position of the route guidance display It is more preferable that the length of the route guidance display is corrected so as to be included in the drawing area of the three-dimensional display data.

Thereby, for example, since the tip position of the route guidance display and the route change reference point are set at positions separated from each other, both the tip position of the route guidance display and the route change reference point are three-dimensionally displayed. Even when it cannot be included in the drawing area of the display data, both the corrected tip position of the route guidance display and the route change reference point can be included in the drawing area of the three-dimensional display data. Therefore, it is possible to more appropriately guide the position to be changed next for the guided person.

Alternatively, the line-of-sight direction determining means follows a course change reference point priority area and a guidance display tip priority area set within a predetermined distance from the course change reference point at the closest position on the traveling direction side of the own position, When the own position is within the course change reference point priority area, the line-of-sight direction is corrected so that the course change reference point is included. When the own position is within the guidance display tip priority area, the line-of-sight direction is corrected. It is also preferable that the line-of-sight direction is determined so that the tip position of the route guidance display is included without correction.

Thereby, for example, since the tip position of the route guidance display is set at a position away from the route change reference point, both the tip position of the route guidance display and the route change reference point are displayed in three dimensions. Even if the data cannot be included in the data drawing area, depending on the positional relationship between the current position and the route change reference point, either the route change reference point or the tip position of the route guidance display indicates the route change guidance. Therefore, an appropriate one can be included in the drawing area of the three-dimensional display data. Therefore, it is possible to more appropriately guide the position to be changed next for the guided person.

In addition, the target point is determined by determining position information in advance for each course changeable point where the course change reference point is provided, for each direction to enter the course changeable point and for each traveling direction after the course change. It is preferable that the information is stored in the storage device and is read from the information storage device when the route change guidance is performed.

In addition, when there are a plurality of the route change reference points at intervals of a predetermined distance or less on the guidance route, the target point is based on the last route change reference point among the plurality of route change reference points. It is preferable to adopt a configuration that is set on the guide route after the route is changed.

As a result, for example, even if there are a plurality of positions where the course should be changed at a short interval such as a composite intersection, the guided person will be able to see the scenery close to the actual scenery that he / she wants to see at the time of the course change. Since the image can be displayed three-dimensionally on the display means, the guided person can easily collate the displayed image with the actual landscape, and the position or course change where the course should be changed. It is possible to intuitively understand the future course.

The line-of-sight direction determining means corresponds to the processing region from the viewpoint when the own position on the guidance route is within a predetermined processing region set within a predetermined distance from the course change reference point. It is preferable that the direction toward the target point set as above is determined as the line-of-sight direction.

According to this configuration, when the own position is within a predetermined processing area around the course change reference point set at an intersection or the like, the viewpoint is on the guidance route corresponding to the processing area. Since the direction toward the set target point is set as the line-of-sight direction and 3D display data is generated and displayed, the guided person tries to see the target point corresponding to the processing area when the route is changed By setting the position so as to match the line-of-sight direction, it becomes possible to generate and display three-dimensional display data in an appropriate line-of-sight direction according to the processing region where the self-position exists. Therefore, since the guided person can display a three-dimensional display on the display means of an image of a landscape close to the actual scenery that the guided person wants to see at the intersection where the course change reference point is set. The guide can be easily collated with the display image and the actual landscape, and the position where the course should be changed, the course after the course change, and the like can be intuitively understood.

Here, it is preferable that a plurality of the processing areas are set around the course change reference point, and the target points are set corresponding to each of the plurality of the processing areas.

Thereby, since the different target point can be set for each processing region where the self position exists on the guidance route, the self position is, for example, around the route change reference point set at an intersection or the like. It is possible to create and display 3D display data while moving the line of sight so that the line of sight is in an appropriate direction as the line moves.

Further, the display data generation unit generates three-dimensional display data by making at least a part of the obstacle transparent or semi-transparent when an obstacle exists on the line of sight connecting the target point from the viewpoint. Is preferred.

Thereby, it is possible to prevent the scenery around the course after the course change existing in the line-of-sight direction from being hidden by an obstacle such as a building and not being displayed as three-dimensional display data.

Further, the display data generating means can set the viewpoint to a position ahead of the own position in the traveling direction.

As a result, the guided person can pre-view the scenery to be seen at the time of the course change at the intersection where the course change reference point is set, and can display it three-dimensionally on the display means. Thus, the position where the course should be changed, the course after the course change, and the like can be guided more easily.

Further, the display data generation means may set the viewpoint to a position deviating from the position on the guidance route on the side opposite to the traveling direction of the guidance route after the course is changed.

As a result, the guided person can pre-view the scenery to be seen at the time of the course change at the intersection where the course change reference point is set, and can display it three-dimensionally on the display means. Thus, the position where the course should be changed, the course after the course change, and the like can be guided more easily.

Further, it is preferable that the display data generating means is configured to generate three-dimensional display data even after the course is changed based on the course change reference point.

As a result, after the course of the own position is changed, three-dimensional display data is generated and displayed with the direction of travel of the guidance path after the change of the course as the line-of-sight direction. And the actual scenery can be easily verified, and it can be intuitively understood whether the course after the course change is correct or not.

[First Embodiment]
Hereinafter, a first embodiment of the present invention will be described with reference to the drawings. In this embodiment, a case where the navigation device according to the present invention is applied to a car navigation device mounted on a vehicle will be described. FIG. 1 is a block diagram showing an outline of the hardware configuration of the navigation device according to the present embodiment.

  As shown in FIG. 1, the navigation device according to this embodiment includes a current position detection device 1, an information storage device 2, an arithmetic processing device 3, a display input device 4, and a remote control input device 5 as main components. Yes.

  Here, the current position detection device 1 includes a GPS (global positioning system) receiver 6, an orientation detection sensor 7, and a distance detection sensor 8. The GPS receiver 6 is a device that receives a signal from an artificial satellite and has various information such as a signal transmission time, position information of the GPS receiver 6, a moving speed of the GPS receiver 6, and a traveling direction of the GPS receiver 6. Can be obtained. The azimuth detection sensor 7 includes a geomagnetic sensor, a gyro sensor, an optical rotation sensor attached to the rotating part of the steering wheel, a rotary resistance volume, an angle sensor attached to the wheel part, etc., and detects the traveling direction of the vehicle. can do. The distance detection sensor 8 is configured by a combination of a sensor that detects the number of rotations of the wheel, a sensor that detects the acceleration of the vehicle, and a circuit that integrates the detected acceleration twice, and can detect the moving distance of the vehicle. it can.

  The information storage device 2 includes a recording medium capable of storing information and its driving means, such as a hard disk drive, a DVD drive equipped with a DVD-ROM, a CD drive equipped with a CD-ROM, and the like. Is done. The information storage device 2 stores 2D map data 9 and 3D map data 10. These two-dimensional map data 9 and three-dimensional map data 10 are each provided with coordinate information corresponding to the position on the map, and are compared with the information on the vehicle position detected using the current position detection device 1, and The two-dimensional map data 9 and the three-dimensional map data 10 can be contrasted with each other. In addition, here, the 3D map data 10 is a three-dimensional landscape when an arbitrary line-of-sight direction D (shown as D0 to D3 in FIG. 3) is viewed from an arbitrary viewpoint in a place where the 3D map data 10 exists. It is data that can create an image. In the present embodiment, the 3D map data 10 is not provided for all locations, but is centered around the place where detailed route guidance should be performed, such as an urban area, an intersection, or a branch road. The navigation apparatus is configured to perform route guidance based on the 2D map data 9 in an area where the 3D map data 10 does not exist. Therefore, the information storage device 2 stores 3D displayable area data 11 indicating an area including the 3D map data 10 in association with coordinate information about the 2D map data 9.

  In addition, the information storage device 2 also stores position information 12 of a reference point at a point where a course change such as an intersection, a branch point, or an interchange may be performed (hereinafter referred to as “a course changeable point”). This reference point becomes the route change reference point P (see FIG. 3) when the route change guidance is performed at the route changeable point according to the guidance route L (see FIG. 3) to the destination. The reference point can be set at an arbitrary position in the vicinity of the course changeable point. In the present embodiment, for example, the intersection is set near the center of each intersection.

  Further, in the information storage device 2, for each course changeable point provided with a reference point, a target point M set for each of the direction of entering the point and the traveling direction after the course change (see FIG. 3). Position information 13 and information 14 of a predetermined distance I (see FIG. 3) from the reference point are also stored. This target point M is used to determine the line-of-sight direction D (see FIG. 3) for generating the three-dimensional display data when performing the course change guidance by the three-dimensional display around the course change reference point P. And is set on the guidance route L (see FIG. 3) after the route change with the route change reference point P as a reference. A method for determining the line-of-sight direction D using the target point M will be described later in detail. The predetermined distance I is, for example, a region in which a three-dimensional display is performed with the direction of travel of the guidance route L after the route is changed based on the route change reference point P with respect to the direction of travel of the vehicle as a line of sight direction D. It is defined by the distance from the reference point P. In addition, the information storage device 2 stores various data necessary for route guidance by the navigation device, such as road lane information, road sign information, and guidance signboard information.

  The display input device 4 includes a display unit 4a for displaying various types of information for route guidance such as a map and a guide route L, and an input unit 4b for receiving input from a driver of a vehicle who is a guided person. Configured. As the display unit 4a, for example, a liquid crystal display device, a plasma display device, a CRT (cathode-ray tube) display device, or the like can be used. In the present embodiment, the display unit 4a of the display input device 4 corresponds to a “display unit”. As the input unit 4b, a touch panel provided on the display screen of the display unit 4a, various switches arranged around the display screen, or the like can be used. The remote control input device 5 is a device that receives an input from a vehicle driver and transmits it to the arithmetic processing device 3 side by remote control. The transmitted input information is sent to the arithmetic processing device 3 via the remote control receiver 15. Is input.

  The arithmetic processing unit 3 displays various information such as a map and a guide route L based on a predetermined operation program, data, input information, and the like, a search process such as a destination position and a guide route L to the destination, Various calculation processes such as guidance processing such as route guidance to the destination and traffic information guidance, and operation control of each part are performed. As this arithmetic processing unit 3, for example, a CPU that performs various arithmetic processing and operation control of each part of the navigation device, a RAM that is used as a working memory when the CPU performs arithmetic processing, and a CPU for operating the CPU It can be configured to include a ROM or the like in which various operation programs and control programs are recorded. A current position detection device 1, an information storage device 2, a display input device 4 and a remote control input device 5 are connected to the arithmetic processing device 3.

  Next, operation control of the navigation device according to the present embodiment will be described. In the present embodiment, when the own vehicle position on the guidance route L is within the predetermined distance I from the route change reference point P, the navigation device uses the route change reference point from the viewpoint set near the own vehicle position. A three-dimensional display is performed with the direction toward the target point M set on the guidance route L after the course is changed based on P as the line-of-sight direction. FIG. 2 is a flowchart of operation control of the navigation device according to the present embodiment. Here, it is assumed that the navigation device performs route guidance such as route change or straight ahead according to a predetermined guidance route L set at the time of departure, and the vehicle is in a state of traveling according to the route guidance. The operation of the navigation device shown in this flowchart is performed under the control of the arithmetic processing device 3.

  As shown in FIG. 2, the navigation device first detects the position of the vehicle (step # 01). This vehicle position is detected by analyzing information acquired by the GPS receiver 6, the azimuth detection sensor 7, and the distance detection sensor 8 constituting the current position detection device 1 in the arithmetic processing device 3. The information on the vehicle position detected here is coordinate information indicating the position of the vehicle on the guidance route L.

  The arithmetic processing device 3 compares the detected vehicle position with the three-dimensional displayable area data 11 stored in the information storage device 2, and the vehicle position is at a position including the three-dimensional map data 10. Whether or not (step # 02). If the vehicle position is not at the position including the three-dimensional map data 10 (step # 02: NO), the arithmetic processing unit 3 obtains the vehicle position from the two-dimensional map data 9 stored in the information storage device 2. A two-dimensional map image of a fixed drawing range as a reference is read, and two-dimensional display data is generated by superimposing images indicating information such as the vehicle position and the guidance route L (step # 03), and the generated two-dimensional display The data is displayed on the display unit 4a of the display input device 4 (step # 04). When the reference time T1 has elapsed (step # 05: YES), the process returns to step # 01, and the arithmetic processing unit 3 detects the next vehicle position (step # 01). Here, the reference time T1 is a time determined by the cycle of updating the display of the two-dimensional display data and the cycle of detecting the vehicle position. The shorter this time, the smoother the image display and the more accurate the vehicle position. Although the display can be performed, the time is usually determined as a device-specific time based on the performance of the navigation device centering on the arithmetic processing device 3.

  On the other hand, if the vehicle position is a position including the three-dimensional map data 10 (step # 02: YES), then the vehicle position is predetermined from the route change reference point P for guiding the route change. It is determined whether or not the distance is within a range of I (step # 06). Here, the predetermined distance I can be the same for all the route change reference points P, but the type of the route changeable point where the route change reference point P is located (intersection, branch point, interchange, etc.) It is also a preferred embodiment to set different distances for each course change reference point P according to the width of the road before and after the course change, the type of road (general road, automobile exclusive road, etc.), etc. . Therefore, in the present embodiment, as described above, for each route changeable point where the reference point is provided, information 14 of an appropriate predetermined distance I is determined in advance for each direction of entering the point, and the information is stored. The information is stored in the device 2 and read out from the information storage device 2 as necessary.

  When the vehicle position is within a predetermined distance I from the course change reference point P (step # 06: YES), the tangent to the guidance route L with the vehicle position that is the traveling direction of the vehicle as a contact point With respect to the direction, route guidance by three-dimensional display is performed with the direction of travel of the guidance route L after the route change with the route change reference point P as a reference as the line-of-sight direction D. Here, as shown in FIG. 3, a case where left turn guidance is performed at an intersection 16 where a road intersects with a cross will be described as an example. 4 shows three-dimensional display data when the vehicle position is at the position A1 in FIG. 3, FIG. 5 shows three-dimensional display data when the vehicle position is at the position A2 in FIG. FIG. 6 shows three-dimensional display data when the vehicle position is at a position after a course change with the course change reference point P as a reference, such as the position A3 in FIG. In this embodiment, the end point of the range of the predetermined distance I from the course change reference point P is the position on the guidance route L where the course change with the course change reference point P as a reference is completed, that is, the guidance after the course change. It is assumed that the path L is a straight line. Therefore, in this embodiment, for example, the position after the course change with the course change reference point P as a reference is within the range of the predetermined distance I from the course change reference point P, such as the position of A3 in FIG. Is not included.

  First, the direction from the viewpoint toward the target point M set on the guidance route L after the route change with the route change reference point P as a reference is determined as the line-of-sight direction D (step # 07). In the present embodiment, the viewpoint is set to a position that is assumed to substantially match the position of the eyes of the driver of the vehicle. Therefore, in FIG. 3, the position of the viewpoint coincides with the own vehicle positions A0 to A3. In this specification, the “line-of-sight direction D” is a generic term for the line-of-sight direction Dx (x is an arbitrary integer).

  Further, the target point M is a position on the guidance route L after the course change based on the course change reference point P, that is, on the guidance route L after the left turn at the intersection 16 where the course change reference point P is provided. Set to position. At this time, the target point M is set so that the line-of-sight direction D is close to the actual line-of-sight direction by the driver when confirming the traveling direction of the guidance route L after the course is changed from the own vehicle position A1, A2. It is preferable. Therefore, in the present embodiment, as described above, for each course changeable point where the reference point is provided, the position information of the appropriate target point M for each direction in which the reference point is entered and each traveling direction after the course change. 13 is determined in advance and stored in the information storage device 2, and is read from the information storage device 2 and used when performing a route change guidance.

  Here, for example, when the vehicle position is at the position A1 in FIG. 3, the direction from the vehicle position A1 (viewpoint) toward the target point M is the line-of-sight direction D1. The calculation for determining the line-of-sight direction D is performed in the arithmetic processing unit 3 according to a predetermined operation program. Therefore, in the present embodiment, the arithmetic processing device 3 constitutes the “gaze direction determining means 17”.

  Next, three-dimensional display data is generated according to the line-of-sight direction D determined in step # 07 (step # 08). That is, the arithmetic processing device 3 displays a three-dimensional landscape image when the line-of-sight direction D is viewed from the viewpoint based on the three-dimensional map data 10 stored in the information storage device 2, on the display unit 4 a of the display input device 4. It is created in a size that can be displayed on the screen, and this is used as three-dimensional display data. Therefore, in the present embodiment, the arithmetic processing device 3 constitutes the “display data generating means 18”.

  Next, whether or not the drawing area of the three-dimensional display data generated in step # 08 includes a course change reference point P that is on the traveling direction side of the own vehicle position and closest to the own vehicle position. Judgment is made (step # 09). Here, referring to FIG. 3, for example, when the vehicle position is at the position A1, the three-dimensional display data generated according to the line-of-sight direction D1 from the vehicle position A1 (viewpoint) toward the target point M includes: As shown in FIG. 4, a course change reference point P is included. As described above, when the drawing area of the generated three-dimensional display data includes the course change reference point P that is on the traveling direction side of the own vehicle position and closest to the own vehicle position (step # 09: YES), the process proceeds to step # 12, and the generated three-dimensional display data is displayed on the display input device 4 (step # 12).

  On the other hand, referring to FIG. 3, for example, when the vehicle position is at the position A2, the direction D2 ′ from the vehicle position A2 (viewpoint) toward the target point M is first determined in step # 07. It becomes the line-of-sight direction. However, here, as shown in FIG. 7, when the three-dimensional display data is generated according to the line-of-sight direction D2 ′, the course change reference point P is not included in the drawing area E2 ′ of the three-dimensional display data. As described above, when the drawing area of the generated three-dimensional display data does not include the course change reference point P which is on the traveling direction side of the own vehicle position and closest to the own vehicle position (step # 09). : NO), the line-of-sight direction D is corrected so that the drawing area of the three-dimensional display data includes the course change reference point P that is closest to the own vehicle position on the traveling direction side of the own vehicle position (step) # 10). Specifically, the case where the vehicle position is at the position of A2 will be described. The line-of-sight direction is changed to the course change reference point P side with respect to the direction D2 ′, and the direction indicated by D2 in FIGS. Correct it.

  Then, three-dimensional display data is generated again according to the line-of-sight direction D corrected in step # 10 (step # 11). The process for generating the three-dimensional display data at this time is the same as in step # 08. As shown in FIG. 7, when the 3D display data is generated according to the line-of-sight direction D2, the path change reference point P is included in the drawing area E2 of the 3D display data. FIG. 5 shows three-dimensional display data generated according to the line-of-sight direction D2.

  Thereafter, the generated three-dimensional display data is displayed on the display input device 4 (step # 12). When the reference time T2 has elapsed (step # 13: YES), the processing returns to step # 01, and the arithmetic processing unit 3 detects the next vehicle position (step # 01). Here, the reference time T2 is a time determined by the cycle of updating the display of the three-dimensional display data and the cycle of detecting the vehicle position. The shorter the time, the smoother the image display and the more accurate the vehicle position. Although the display can be performed, as with the reference time T1, the time is usually determined as a device-specific time based on the performance of the navigation device centering on the arithmetic processing device 3. Here, the reference time T2 may be the same as the reference time T1, but may be a different time.

  On the other hand, as a result of the determination in step # 06, if the vehicle position is not within the range of the predetermined distance I from the course change reference point P (step # 06: NO), the vehicle's position according to the guidance route L from the viewpoint is determined. The direction toward the traveling direction is determined as the line-of-sight direction D (step # 14). Here, in the example shown in FIG. 3, for example, when the own vehicle position is at the position of A0 or when the own vehicle position is at the position of A3, the own vehicle position is within the range of the predetermined distance I from the course change reference point P. Applicable if not within. Referring to FIG. 3, when the vehicle position is at the position A0, the line-of-sight direction is the direction indicated by D0, and when the vehicle position is at the position A3, the line-of-sight direction is D3. The direction shown.

  Next, three-dimensional display data is generated again according to the line-of-sight direction D determined in step # 14 (step # 15). The process for generating the three-dimensional display data at this time is the same as in step # 08. Thus, in this embodiment, when the own vehicle position is not within the range of the predetermined distance I from the course change reference point P, the direction along the guide route L, that is, the progress of the own vehicle, is the same as in the past. Three-dimensional display data is generated with the direction as the line-of-sight direction D. Thereafter, the generated three-dimensional display data is displayed on the display input device 4 (step # 12). When the reference time T2 has elapsed (step # 13: YES), the processing returns to step # 01, and the arithmetic processing unit 3 detects the next vehicle position (step # 01).

  In the present embodiment, as shown in FIGS. 4 to 6, when generating the three-dimensional display data in step # 08, step # 11, and step # 15, the line of sight connecting the target point M from the viewpoint is used. In addition, when there is an obstacle 19 such as a building or a natural object such as a tree or a mountain, at least a part of the obstacle 19 is made transparent or translucent to generate three-dimensional display data. Specifically, here, the three-dimensional display data is generated by making the obstacle 19 such as a building semi-transparent so that its outline can be understood. Thereby, even if there is an obstacle 19 around a route changeable point such as an intersection, it is possible to display the scenery around the route after the route change as three-dimensional display data. The obstacle 19 can be completely erased to be transparent, and a part of the obstacle 19, for example, only a part that becomes an obstacle to display the scenery around the course after the course is changed, is transparent or It is also a preferred embodiment to generate three-dimensional display data by making it translucent.

  Furthermore, in the present embodiment, when generating the three-dimensional display data, the direction of travel along the guidance route L is indicated, and an arrow with the tip near the target point M is superimposed as the route guidance display 20 to display the three-dimensional display. Data is being generated. The information on the route guidance display 20 includes, for each of the course changeable points where the reference point is provided, the target point M set for each of the direction to enter the point and the direction of travel after the course change. The information is stored in advance in the information storage device 2 and is read out from the information storage device 2 and superposed on the three-dimensional display data when the route change guidance is performed. The route guidance display 20 is based on the vehicle position detected by the current position detection device 1, the target point M related to the route change reference point P stored in the information storage device 2, and the guidance route L. It is also a preferred embodiment to generate and calculate each time and superimpose it on the three-dimensional display data. Further, the shape of the route guidance display 20 is not limited to the arrow, and it is naturally possible to use another shape such as a linear display drawn on the guidance route L.

  In the above description, the case where the route change reference point P exists alone as shown in FIG. 3 has been described as an example. However, in the present embodiment, the route change is performed on the guidance route L as shown in FIG. When there are a plurality of reference points at intervals equal to or less than the predetermined distance J, such as P1 and P2, the target point M is based on the last course change reference point P2 among the plurality of course change reference points P1 and P2. It is set on the guide route L after the route change. In this way, when there are a plurality of positions to be changed at a short interval such as a compound intersection, the line-of-sight direction D is finally determined when the line-of-sight direction D is determined in step # 07. Therefore, the line-of-sight direction D can be set in a direction close to the direction the driver wants to see when changing the course. When the predetermined distance J is set to the same distance (J = I) as the predetermined distance I or a distance shorter than the predetermined distance I (J <I), the route change reference point P1 with respect to the traveling direction of the host vehicle, Three-dimensional display in which the direction of travel of the guidance route L after the course change with reference to P2 is the line-of-sight direction D can be performed in an appropriate region.

  In the example shown in FIG. 8, when the vehicle position is at the position B1 or B3, the direction from the vehicle position B1 or B3 (viewpoint) toward the target point M is the line-of-sight direction D1 or D3 (step #). 07). On the other hand, if the vehicle position is at the position B2 or B4, the direction D2 ′ or D4 ′ from the vehicle position B2 or B4 (viewpoint) toward the target point M is the first line of sight determined in step # 07. Direction. However, here, when the 3D display data is generated according to the line-of-sight direction D2 ′, the path change reference point P1 is not included in the drawing area of the 3D display data, and the 3D display data is generated according to the line-of-sight direction D4 ′. The path change reference point P2 is not included in the drawing area of the 3D display data. Thus, when the drawing area of the generated three-dimensional display data does not include the course change reference points P1 and P2 that are on the traveling direction side of the vehicle position and are closest to the vehicle position (step # 09: NO), the line-of-sight direction D is set so that the drawing area of the three-dimensional display data includes the course change reference points P1 and P2 that are closest to the own vehicle position on the traveling direction side of the own vehicle position. Correct (step # 10). Therefore, the line-of-sight direction D2 ′ is corrected to the line-of-sight direction D2, and the line-of-sight direction D4 ′ is corrected to the line-of-sight direction D4.

  Further, as in the example shown in FIG. 8, when a plurality of route change reference points P1 and P2 exist at intervals equal to or less than a predetermined distance J, the vehicle changes its route with reference to the route change reference point P1. Is completed, the vehicle position is within a predetermined distance J from the next course change reference point P2. Therefore, when there are a plurality of route change reference points at intervals equal to or less than the predetermined distance J, such as P1 and P2, the last route change reference point among the plurality of route change reference points P1 and P2 on the guide route L. The position where the course change with reference to P2 is completed becomes the end point of the area where the route guidance by the three-dimensional display is performed with the line-of-sight direction D as the traveling direction side of the guidance route L after the course change. That is, between the point where the host vehicle position falls within the range of the predetermined distance I from the first course change reference point P1 to the end point, the last course change reference among the plurality of course change reference points P1 and P2 from the viewpoint. A process of generating and displaying three-dimensional display data with the direction toward the target point M set on the guidance route L after the course is changed with the point P2 as a reference as the line-of-sight direction D is performed.

[Second Embodiment]
Next, a second embodiment of the present invention will be described. The hardware configuration of the navigation device according to the present embodiment can be the same as that of FIG. 1 according to the first embodiment, but the information stored in the information storage device 2 is slightly different from the reference point. Instead of the information 14 of the predetermined distance I, information of the processing region R is stored as will be described later. Note that the hardware configuration of the navigation device according to this embodiment is not shown. In the present embodiment, for example, as shown in FIG. 9, a plurality of processing regions R1 to R4 are set on the guidance route L around the route change reference point P, and the target is associated with each processing region R1 to R4. When the points M1 to M4 are set and the vehicle position on the guidance route L is in one of the processing regions Rx of R1 to R4, the points of M1 to M4 set corresponding to the processing region Rx from the viewpoint A direction toward one of the target points Mx is determined as the line-of-sight direction Dx, and processing for generating three-dimensional display data is performed.

  Here, the information of the processing region R and the position information 13 of the target point M are set for each course changeable point where the reference point is provided, for each direction to enter the point and for each traveling direction after the course change. And stored in the information storage device 2. And when performing guidance of a course change, it reads from the information storage device 2 by the arithmetic processing unit 3, and is used. In the description of this embodiment, the term “processing region R” refers to the processing region Rx (x is an arbitrary integer), and the term “target point M” refers to the target point Mx (x is an arbitrary number). Integer).

  The processing region R and the target point M are always appropriate tertiary for guidance of route change according to the positional relationship between the vehicle position and the route change reference point P when the vehicle position advances along the guidance route L. Set the position so that the original display data can be generated. That is, when generating the three-dimensional display data, the direction from the viewpoint (which coincides with the vehicle position in FIG. 9) toward the target point M is determined as the line-of-sight direction D, and the three-dimensional map data 10 is determined according to the line-of-sight direction D. Since the 3D display data is generated based on the line of sight, it is possible to always generate appropriate 3D display data for the guidance of the course change according to the positional relationship between the vehicle position and the course change reference point P. The positions of the processing region R and the target point M are set so that D is determined.

  In the example shown in FIG. 9, the position of the target point M1 corresponding to the processing region R1 set farthest from the route change reference point P is the intersection 16 (the route changeable point) where the route change reference point P is set. ) Is set to a position on the guide route L that is slightly advanced after the route change. The position of the target point M2 corresponding to the processing area R2 set on the traveling direction side with respect to the processing area R1 is closer to the course change reference point P than the target point M1 (position closer to the center of the course changeable point). ) Is set. Further, the position of the target point M3 corresponding to the processing region R3 set on the traveling direction side with respect to the processing region R2 is set on the traveling direction side with respect to the target point M1, and further set on the traveling direction side with respect to the processing region R3. The position of the target point M4 corresponding to the processed region R4 is set on the traveling direction side with respect to the target point M3. As a result, the navigation device first displays the three-dimensional display data in which the scenery around the route after the route change is understood to some extent when the vehicle position approaches the route change reference point P and enters the range of the processing region R1. Generate and display.

  And this makes a driver recognize the place which changes the course ahead. Next, in order for the driver to recognize the intersection 16 (a course changeable point) where the course is changed when the vehicle position enters the range of the processing region R2 having a sufficient distance to the course change reference point P. Generate and display 3D display data that clearly understands the landscape of the route changeable point. Thereafter, when the vehicle position is sufficiently close to the route change reference point P and enters the range of the processing region R3, and in the processing region R4 that is in the process of changing the route based on the route change reference point P When entering the range, three-dimensional display data indicating the forward direction of the travel direction after the course change is generated and displayed so that the scenery around the course after the course change is well understood. Then, after the vehicle position passes through the processing region R4, three-dimensional display data in which the traveling direction of the vehicle is the line-of-sight direction D is generated and displayed.

  FIG. 10 is a flowchart of operation control of the navigation device according to the present embodiment. Here, it is assumed that the navigation device performs route guidance such as route change or straight ahead according to a predetermined guidance route L set at the time of departure, and the vehicle is in a state of traveling according to the route guidance. The operation of the navigation device shown in this flowchart is performed under the control of the arithmetic processing device 3.

  Steps # 21 to # 25 in the flowchart shown in FIG. 10 are the same as steps # 01 to # 05 in the flowchart shown in FIG. If the result of determination in step # 22 is that the vehicle position is at a position with the three-dimensional map data 10 (step # 22: YES), then the vehicle position is set for the course change reference point P. It is determined whether or not it is within any one of the processing regions Rx of R1 to R4 (step # 26). And when the own vehicle position is in one of the processing areas Rx of R1 to R4 (step # 26: YES), the arithmetic processing unit 3 moves from the viewpoint to the processing area Rx where the current own vehicle position exists. The direction toward the target point Mx set correspondingly is determined as the line-of-sight direction Dx (step # 27). In the present embodiment, as in the first embodiment, the viewpoint is set to a position that is assumed to be substantially the same as the position of the eyes of the driver of the vehicle.

  Thereafter, three-dimensional display data is generated according to the line-of-sight direction Dx determined in step # 27 (step # 28), and the generated three-dimensional display data is displayed on the display input device 4 (step # 29). When the reference time T2 has elapsed (step # 30: YES), the process returns to step # 01, and the arithmetic processing unit 3 detects the next vehicle position (step # 01).

  As described above, the vehicle position is set according to each of the processing regions R1 to R4 where the vehicle position exists as the vehicle position proceeds in order from the processing regions R1 to R2, R3, and R4 according to the guidance route L. The three-dimensional display data is generated by sequentially switching the line-of-sight directions D1 to D4 toward the target points M1 to M4, and the traveling direction of the own vehicle until the own vehicle completes the course change with the course changing reference point P as a reference. Route guidance by three-dimensional display with the direction of travel of the guidance route L after the course change with the course change reference point P as the reference as the line of sight direction D with respect to the tangential direction of the guidance route L with the vehicle position as a contact I do.

  Here, when the processing region R is switched to the next adjacent processing region R, the line-of-sight direction D is prevented in order to prevent the three-dimensional display data from being suddenly switched to a different direction due to a rapid switching of the line-of-sight direction D. At the time of switching, it is preferable to perform a process of generating and displaying 3D display data while smoothly moving the line-of-sight direction D.

  After the vehicle position passes through the processing region R4, the vehicle position is not in the processing regions R1 to R4 (step # 26: NO), so the traveling direction of the vehicle according to the guidance route L from the viewpoint. Is determined as the line-of-sight direction D (step # 14). Even when the vehicle position is approaching the route change reference point P and is still in a position before entering the processing region R1, the vehicle position is not in the processing regions R1 to R4 (step #). 26: NO), the direction from the viewpoint toward the traveling direction of the vehicle along the guidance route L is determined as the line-of-sight direction D (step # 14). Thereafter, the process proceeds to step # 28 to perform the process as described above.

[Third Embodiment]
Next, a third embodiment of the present invention will be described. FIG. 11 is a block diagram illustrating an outline of a hardware configuration of the navigation device according to the present embodiment. In the present embodiment, the three-dimensional display data is not generated from the viewpoint and the line-of-sight direction D each time as in the first and second embodiments, but all the three-dimensional information necessary for the information storage device 2 is generated. Display data 21 is stored in advance, and is read and displayed according to the vehicle position.

  Specifically, when traveling along a guidance route L within a predetermined distance I from a reference point provided at a point where each route can be changed such as an intersection and where route guidance is provided by three-dimensional display. The information storage device 2 stores the three-dimensional display data 21 necessary for performing the guidance by the three-dimensional display in advance for each of the direction to enter the route changeable point and the traveling direction after the route change. Keep it. Therefore, in this embodiment, the information storage device 2 constitutes the “display data storage unit 22”. The three-dimensional display data 21 created here is from the viewpoint to the traveling direction side of the guidance route L after the course change with respect to the tangential direction of the guidance route L with the own vehicle position that is the traveling direction of the own vehicle as a contact point. It is assumed that the three-dimensional display data 21 is obtained when the set viewing direction D is viewed. Such a method of creating the three-dimensional display data 21 can be the same as the method described in the first embodiment or the second embodiment.

  In the present embodiment, all three-dimensional display data 21 created in advance for performing guidance by three-dimensional display is stored in the information storage device 2, and three-dimensional display is performed using the three-dimensional display data 21. 3D displayable area data 11 indicating an area where guidance can be performed according to is stored in association with coordinate information about the 2D map data 9.

  FIG. 12 is a flowchart of operation control of the navigation device according to the present embodiment. Here, it is assumed that the navigation device performs route guidance such as route change or straight ahead according to a predetermined guidance route L set at the time of departure, and the vehicle is in a state of traveling according to the route guidance. The operation of the navigation device shown in this flowchart is performed under the control of the arithmetic processing device 3.

  As shown in FIG. 12, the navigation device first detects the vehicle position (step # 41). This process is the same as step # 01 in the first embodiment. Next, the arithmetic processing device 3 compares the detected vehicle position with the 3D displayable area data 11 stored in the information storage device 2, and sets the vehicle position to the position including the 3D display data 21. It is determined whether or not there is (step # 42). If the vehicle position is not at the position including the 3D display data 21 (step # 42: NO), the route guidance is performed by displaying the 2D display data in steps # 43 to # 45. Since Step # 43 to Step # 45 are the same as Step # 03 to Step # 05 in the first embodiment, description thereof will be omitted.

  If the result of determination in step # 42 is that the vehicle position is at a position with the three-dimensional display data 21 (step # 42: YES), then the arithmetic processing unit 3 corresponds to the vehicle position. The 3D display data 21 is read from the information storage device 2 (step # 46), and the 3D display data 21 is displayed on the display input device 4 (step # 47). When the reference time T2 has elapsed (step # 48: YES), the processing returns to step # 01, and the arithmetic processing unit 3 detects the next vehicle position (step # 01). Therefore, in the present embodiment, the arithmetic processing device 3 constitutes the “display data reading means 23”.

[Fourth Embodiment]
Next, a fourth embodiment of the present invention will be described. FIG. 13 is a block diagram illustrating an outline of a hardware configuration of the navigation device according to the present embodiment. As shown in this figure, in this embodiment, the information storage device 2 stores route guidance display information 24 in place of the position information 13 of the target point M in the first embodiment. The route guidance display information 24 is superimposed on the three-dimensional display data when performing route change guidance by the three-dimensional display around the route change reference point P, as in FIGS. 4 to 6 of the first embodiment. And is information for generating an arrow-shaped route guidance display 20 indicating the traveling direction of the vehicle along the guidance route L. Specifically, as the contents of the route guidance display information 24, for each route changeable point where a reference point is provided, a route set for each direction to enter the point and each traveling direction after the route change, respectively. It has information on the tip position 20a of the guidance display 20. The tip position 20a of the route guidance display 20 is preferably set to a position determined based on the same concept as the position of the target point M in the first embodiment.

  Next, operation control of the navigation device according to the present embodiment will be described. In the present embodiment, the navigation device indicates a traveling direction along the guidance route L when the vehicle position is at a position including the three-dimensional map data 10 and performs route guidance by three-dimensional display. When an arrow-shaped route guidance display 20 having a tip position set on the guidance route L after the route change with reference to P is generated, and the vehicle position is within a predetermined distance I from the route change reference point P Then, three-dimensional display data is generated from the viewpoint set in the vicinity of the vehicle position with the direction toward the tip position 20a of the route guidance display 20 as the line-of-sight direction, and the route guidance display 20 is superimposed to perform three-dimensional display. 14 and 15 are flowcharts of operation control of the navigation device according to the present embodiment. Here, it is assumed that the navigation device performs route guidance such as route change or straight ahead according to a predetermined guidance route L set at the time of departure, and the vehicle is in a state of traveling according to the route guidance. The operation of the navigation device shown in this flowchart is performed under the control of the arithmetic processing device 3.

  Steps # 51 to # 55 in the flowcharts shown in FIGS. 14 and 15 are the same as steps # 01 to # 05 in the flowchart shown in FIG. If the result of determination in step # 52 is that the vehicle position is at a position with the three-dimensional map data 10 (step # 52: YES), then the route guidance display stored in the information storage device 2 Based on the information 24 and the guidance route L, the direction of travel along the guidance route L is indicated, and the arrow-like shape in which the tip position 20a is set on the guidance route L after the course change with the course change reference point P as a reference. The route guidance display 20 is generated (step # 56). Here, the route guidance display 20 is generated in a state corresponding to the coordinate information on the three-dimensional map data 10. The calculation for generating the route guidance display 20 is performed in the arithmetic processing unit 3 according to a predetermined operation program. Therefore, in the present embodiment, the arithmetic processing device 3 constitutes the “guidance display generating means 25”.

  Next, it is determined whether or not the vehicle position is within a range of a predetermined distance I from the route change reference point P for performing route change guidance (step # 57). The predetermined distance I can be the same as that in the first embodiment. When the vehicle position is within a predetermined distance I from the course change reference point P (step # 57: YES), the tip position of the route guidance display 20 is viewed from the viewpoint set near the vehicle position. Route guidance by three-dimensional display is performed with the direction toward 20a as the line-of-sight direction D. Here, as shown in FIG. 16, a case where left turn guidance is performed at an intersection 16 where a road intersects with a cross will be described as an example.

  First, the direction from the viewpoint toward the tip position 20a of the route guidance display 20 is determined as the line-of-sight direction D (step # 58). In the present embodiment, as in the first embodiment, the viewpoint is set to a position that is assumed to be substantially the same as the position of the eyes of the driver of the vehicle. Here, for example, when the vehicle position is at the position A1 in FIG. 16, the direction from the vehicle position A1 (viewpoint) to the tip position 20a of the route guidance display 20 is the line-of-sight direction D1. The calculation for determining the line-of-sight direction D is performed in the arithmetic processing unit 3 according to a predetermined operation program. Therefore, also in the present embodiment, the arithmetic processing device 3 constitutes the “line-of-sight direction determining unit 17”.

  Next, three-dimensional display data is generated according to the line-of-sight direction D determined in step # 58 (step # 59). That is, the arithmetic processing device 3 displays a three-dimensional landscape image when the line-of-sight direction D is viewed from the viewpoint based on the three-dimensional map data 10 stored in the information storage device 2, on the display unit 4 a of the display input device 4. It is created in a size that can be displayed on the screen, and this is used as three-dimensional display data. Therefore, in the present embodiment, the arithmetic processing device 3 constitutes the “display data generating means 18”. Then, the route guidance display 20 generated in step # 56 is superimposed on the three-dimensional display data generated in step # 59. That is, the arithmetic processing unit 3 synthesizes the arrow-shaped route guidance display 20 having the tip position 20a at the tip on the road on which the guidance route L in the three-dimensional display data is set.

  Next, whether or not the drawing area of the three-dimensional display data generated in step # 59 includes a course change reference point P that is on the traveling direction side of the own vehicle position and closest to the own vehicle position. If it is determined (step # 61) and it is included (step # 61: YES), the process proceeds to step # 67. However, for example, when the vehicle position is at the position A2 in FIG. 16, as shown in FIG. 17, the direction D2 ′ from the vehicle position A2 (viewpoint) toward the tip position 20a of the route guidance display 20 is viewed. When the 3D display data is generated as the direction, the path change reference point P is not included in the drawing area E2 ′ of the 3D display data. As described above, when the drawing area of the generated three-dimensional display data does not include the course change reference point P which is on the traveling direction side of the own vehicle position and closest to the own vehicle position (step # 61). : NO), the line-of-sight direction D is corrected so that the drawing area of the three-dimensional display data includes the course change reference point P that is closest to the own vehicle position on the traveling direction side of the own vehicle position (step) # 62). Specifically, the case where the vehicle position is at the position A2 will be described. The line-of-sight direction is changed to the course change reference point P side with respect to the direction D2 ′, and the direction indicated by D2 in FIGS. Correct it. Then, three-dimensional display data is generated again according to the line-of-sight direction D corrected in step # 62 (step # 63). As shown in FIG. 17, when the 3D display data is generated according to the line-of-sight direction D2, the path change reference point P is included in the drawing area E2 of the 3D display data.

  Next, it is determined whether or not the tip position 20a of the route guidance display 20 is included in the drawing area (for example, E2) of the corrected three-dimensional display data generated in step # 63 (step # 64). When the tip position 20a of the route guidance display 20 is included in the corrected drawing area of the three-dimensional display data (step # 64: YES), the process proceeds to step # 67. However, if the corrected drawing area of the three-dimensional display data does not include the tip position 20a of the route guidance display 20 (step # 64: NO), for example, as shown in FIG. 18, the tip of the route guidance display 20 The length of the route guidance display 20 is corrected so that the position 20a is included in the drawing area E2 of the three-dimensional display data (step # 65). Then, the corrected route guidance display 20 generated in step # 65 is superimposed on the corrected three-dimensional display data generated in step # 63 (step # 66). Thereby, both the course change reference point P and the tip position 20a of the route guidance display 20 can be included in the drawing area E2 of the corrected three-dimensional display data generated according to the line-of-sight direction D2.

  Thereafter, the generated three-dimensional display data is displayed on the display input device 4 (step # 67), and when the reference time T2 has elapsed (step # 68: YES), the process returns to step # 51 as described above. This is the same as Step # 12 and Step # 13 in the first embodiment.

  On the other hand, as a result of the determination in step # 57, when the vehicle position is not within the range of the predetermined distance I from the course change reference point P (step # 57: NO), the processing in step # 69 and step # 70 is the above-described process. This is the same as Step # 14 and Step # 15 in the first embodiment. In this embodiment, after step # 70, the route guidance display 20 generated in step # 56 is superimposed on the three-dimensional display data generated in step # 70. Here, in the example shown in FIG. 16, for example, when the own vehicle position is at the position A0 or when the own vehicle position is at the position A3, the own vehicle position is within a predetermined distance I from the course change reference point P. Applicable if not within. Thereafter, the generated three-dimensional display data is displayed on the display input device 4 (step # 67). When the reference time T2 has elapsed (step # 68: YES), the process returns to step # 51.

  Even when Step # 64 and Step # 65 are not performed and the tip position 20a of the route guidance display 20 is not included in the drawing area of the corrected three-dimensional display data (Step # 64: NO), the route guidance display is performed. Of course, it is possible to adopt a configuration in which the length of 20 is not corrected. In that case, for example, as shown in FIG. 17, the tip position 20a of the route guidance display 20 is located outside the drawing area E2 of the three-dimensional display data.

  In the above description, the case where the route change reference point P exists alone as shown in FIG. 16 has been described as an example, but in this embodiment, the route change is performed on the guidance route L as shown in FIG. When there are a plurality of reference points at intervals equal to or less than the predetermined distance J, such as P1 and P2, the tip position 20a of the route guidance display 20 is the last course change among the plurality of course change reference points P1 and P2. Suppose that it sets on the guidance route L after the course change on the basis of the reference point P2. In this way, when there are a plurality of positions to be changed at a short interval such as a compound intersection, the line-of-sight direction D is finally determined when determining the line-of-sight direction D in step # 58. Therefore, the line-of-sight direction D can be set in a direction close to the direction the driver wants to see when changing the course. Note that this point is the same as that described with reference to FIG. 8 with respect to the first embodiment, except that the tip position 20a of the route guidance display 20 is used instead of the target point M, and thus detailed description thereof will be made. Description is omitted.

[Fifth Embodiment]
Next, a fifth embodiment of the present invention will be described. The hardware configuration of the navigation device according to the present embodiment can be the same as that of FIG. 13 according to the fourth embodiment, but the information stored in the information storage device 2 is slightly different from the reference point. Information of the course change reference point priority area Rp and the guidance display tip priority area Ra set within the predetermined distance I is further stored. Note that the hardware configuration of the navigation device according to this embodiment is not shown. And in this embodiment, as shown, for example in FIGS. 20-23, when performing the course change on the basis of the course change reference point P, the route guidance display 20 is displayed from the viewpoint set in the vicinity of the own vehicle position. The drawing area (for example, E1 to E4) of the three-dimensional display data generated according to the line-of-sight direction determined in the direction toward the tip position 20a is closest to the tip position 20a of the route guidance display 20 on the traveling direction side of the own vehicle position. When both the route change reference point P at the position is not included, the vehicle position is within the route change reference point priority region Rp according to the route change reference point priority region Rp and the guidance display tip priority region Ra. Sometimes the line-of-sight direction is determined so that the route change reference point P is preferentially included, and when the vehicle position is within the guide display front end priority area Ra, the front end position 20a of the route guidance display 20 is preferentially included. Processing for determining a viewing direction as.

  Here, the course change reference point priority area Rp and the guidance display tip priority area Ra are set for each course changeable point where the reference point is provided, for each direction to enter the point and each travel direction after the course change. The information is stored in the information storage device 2. And when performing guidance of a course change, it reads from the information storage device 2 by the arithmetic processing unit 3, and is used. The route change reference point priority area Rp and the guidance display tip priority area Ra are the positions of the vehicle position and the route change reference point P when the vehicle position travels along the guidance route L within a predetermined distance I from the reference point. Depending on the relationship, for guidance of route change, the three-dimensional display data is set according to the criterion that it is more appropriate to include the route change reference point P or the tip position 20a of the route guidance display 20 in the drawing area. To do.

  In the example shown in FIGS. 20 to 23, a route change reference point priority region Rp is set at a position relatively far from the route change reference point P within a predetermined distance I from the route change reference point P, and this route change reference point priority region is set. The guidance display tip priority area Ra is set at a position adjacent to Rp and closer to the course change reference point P. Then, about the determination method of the gaze direction D according to the course change reference point priority area | region Rp and the guidance display front-end | tip priority area | region Ra, the case where the own vehicle position exists in each position of A1-A4 is based on FIGS. This will be described below.

  As shown in FIG. 20, when the vehicle position is at the position A1, the drawing area of the three-dimensional display data generated according to the direction D1 from the vehicle position A1 (viewpoint) toward the tip position 20a of the route guidance display 20 E1 includes both the route change reference point P and the tip position 20a of the route guidance display 20. Therefore, the line-of-sight direction D1 is not corrected as it is.

  On the other hand, when the vehicle position is at the position A2, as shown in FIG. 21, three-dimensional display data is generated with the direction D2 'from the vehicle position A2 (viewpoint) toward the tip position 20a of the route guidance display 20 as the line-of-sight direction. Then, the course change reference point P is not included in the drawing area E2 ′. Therefore, the line-of-sight direction is corrected to the direction indicated by D2 on the course change reference point P side with respect to the direction D2 ′. Here, the drawing area E2 of the three-dimensional display data generated according to the line-of-sight direction D2 includes both the route change reference point P and the tip position 20a of the route guidance display 20. Therefore, this direction D2 is determined as the corrected line-of-sight direction D2. In addition, when both the course change reference point P and the tip position 20a of the route guidance display 20 are not included in the drawing area E2 of the generated three-dimensional display data according to the corrected line-of-sight direction D2, the A2 position Is in the course change reference point priority region Rp, the line-of-sight direction is determined so that the course change reference point P is preferentially included.

  As shown in FIG. 22, when the vehicle position is at the position A3, the three-dimensional display data is obtained with the direction D3 ′ from the vehicle position A3 (viewpoint) toward the tip position 20a of the route guidance display 20 as the line-of-sight direction. When generated, the route change reference point P is not included in the drawing area E3 ′. Even if the line-of-sight direction is corrected toward the direction change reference point P with respect to the direction D3 ′, the path change reference point P and the route guidance display are displayed in the drawing area E3 of the three-dimensional display data generated according to the corrected line-of-sight direction. Both of the 20 tip positions 20a cannot be included. Therefore, since the A3 position is within the guidance display tip priority area Ra, the line-of-sight direction D3 is determined so that the tip position 20a of the route guidance display 20 is preferentially included.

  As shown in FIG. 23, when the vehicle position is at the position A4, the vehicle position is not within the predetermined distance I from the course change reference point P. The direction toward the traveling direction of the host vehicle is determined as the line-of-sight direction D4. The drawing area in this case is as indicated by E4.

  By doing as described above, when the vehicle position is at a position away from the route change reference point P, the entire landscape of the intersection 16 (a route changeable point) where the route change reference point P performs a route change is provided. As can be clearly understood, three-dimensional display data in which the route change reference point P is always included in the drawing area is generated and displayed, so that the driver can easily recognize the intersection 16 that changes the route. Then, after the vehicle position has sufficiently approached the route change reference point P, the drawing area always includes the tip position 20a of the route guidance display 20 so that the scenery around the route after the route change can be clearly understood. The three-dimensional display data indicating the forward direction of the travel direction after the change is generated and displayed, and the driver can easily recognize the course after the course change.

  Note that the setting of the route change reference point priority region Rp and the guidance display tip priority region Ra in the present embodiment is an example, and is set as appropriate so as to provide appropriate three-dimensional display data for the route change guidance to the driver. It is naturally possible to change.

[Other Embodiments]
(1) In the first embodiment, position information of an appropriate target point M is determined in advance and stored in the information storage device 2, and is read out from the information storage device 2 when performing a route change guidance. Although used, the present invention is not limited to such an embodiment. For example, the width of the road before and after the course change at the point where the course is changed, such as an intersection, the angle of change in the direction of travel before and after the course change, the type of the point (intersection, branch point, interchange) Etc.), the position of the appropriate target point M is calculated and determined each time based on information such as the type of road (general road, exclusive road, etc.) is also one preferred embodiment. This also applies to the tip position 20a of the route guidance display 20 in the fourth embodiment.

(2) In the first embodiment, information on the appropriate predetermined distance I and the predetermined distance J is determined in advance and stored in the information storage device 2, and is read from the information storage device 2 and used as necessary. However, the present invention is not limited to such an embodiment. For example, information such as the type of points (intersections, junctions, interchanges, etc.) where the course is changed, such as intersections, the size of the road before and after the course change, the type of road (general road, motorway, etc.), etc. It is also one preferred embodiment to calculate and determine an appropriate predetermined distance I each time based on the above.

(3) In each of the embodiments described above, the viewpoint is set to a position that is assumed to substantially match the position of the driver's eyes, but the position setting of the viewpoint is not limited to this. It is possible to set an arbitrary position in the vicinity of the own position (own vehicle position). Accordingly, for example, by setting the viewpoint to a position higher than the position of the eyes of the guided person such as the driver of the vehicle, it is also possible to perform a three-dimensional display that is seen from slightly above. Further, the viewpoint is set to a position ahead of the traveling direction with respect to the own position, or the viewpoint is deviated from the position on the guidance route L on the opposite side of the traveling direction of the guidance route L after the route change. It is also possible to set to. By doing in this way, the guided person pre-looks the scenery to be seen at the time of course change at a course changeable point such as an intersection where the course change reference point P is set, and displays it three-dimensionally on the display input device 4. Therefore, it is possible to guide the guided person in a more easily understandable manner such as the position where the course should be changed and the course after the course change.

(4) In each of the above embodiments, the case where the navigation device according to the present invention is applied to a car navigation device mounted on a vehicle has been described, but the scope of the present invention is not limited to this, For example, the present invention can naturally be applied to a portable navigation device or the like.

  The present invention provides route guidance to a guided person such as a driver of a vehicle in accordance with a predetermined guidance route, and uses a three-dimensional display around a route change reference point serving as a reference for performing route change guidance at least. It can be suitably used for a navigation device that provides guidance.

The block diagram which shows the outline of the hardware constitutions of the navigation apparatus which concerns on the 1st Embodiment of this invention. The flowchart of operation control of the navigation apparatus concerning a 1st embodiment of the present invention. Explanatory drawing which shows the determination method of the gaze direction by the navigation apparatus which concerns on the 1st Embodiment of this invention. 3D display data when the vehicle position is at the position A1 in FIG. 3 in the navigation device according to the first embodiment of the present invention. 3D display data when the vehicle position is at the position A2 in FIG. 3 in the navigation device according to the first embodiment of the present invention. 3D display data when the vehicle position is at the position A3 in FIG. 3 in the navigation device according to the first embodiment of the present invention. Explanatory drawing which shows a gaze direction and a drawing area | region when the own vehicle position exists in the position of A2 of FIG. 3 in the navigation apparatus which concerns on the 1st Embodiment of this invention. Explanatory drawing which shows the determination method of a gaze direction in the navigation apparatus which concerns on the 1st Embodiment of this invention when a plurality of course change reference points exist with the space | interval below a predetermined distance. Explanatory drawing which shows the determination method of the gaze direction by the navigation apparatus which concerns on the 2nd Embodiment of this invention. Flowchart of operation control of the navigation device according to the second embodiment of the present invention. The block diagram which shows the outline of the hardware constitutions of the navigation apparatus concerning the 3rd Embodiment of this invention. Flowchart of operation control of navigation device according to third embodiment of the present invention. The block diagram which shows the outline of the hardware constitutions of the navigation apparatus concerning the 4th Embodiment of this invention. Flowchart of operation control of navigation device according to fourth embodiment of the present invention. The figure which shows the continuation of the flowchart shown in FIG. Explanatory drawing which shows the determination method of the gaze direction by the navigation apparatus which concerns on the 4th Embodiment of this invention. Explanatory drawing which shows a gaze direction and a drawing area | region when the own vehicle position exists in the position of A2 of FIG. 16 in the navigation apparatus which concerns on the 4th Embodiment of this invention. In the case shown in FIG. 17, an explanatory diagram showing a case where the length of the route guidance display is corrected so that the tip position of the route guidance display is included in the drawing area of the three-dimensional display data. Explanatory drawing which shows the determination method of a gaze direction in the navigation apparatus which concerns on the 4th Embodiment of this invention when a plurality of course change reference points exist with the space | interval below a predetermined distance. Explanatory drawing which shows the determination method of the gaze direction by the navigation apparatus which concerns on the 5th Embodiment of this invention (example of A1 position) Explanatory drawing which shows the determination method of the gaze direction by the navigation apparatus which concerns on the 5th Embodiment of this invention (example of A2 position) Explanatory drawing which shows the determination method of the gaze direction by the navigation apparatus which concerns on the 5th Embodiment of this invention (example of A3 position) Explanatory drawing which shows the determination method of the gaze direction by the navigation apparatus which concerns on the 5th Embodiment of this invention (example of A4 position)

Explanation of symbols

L: Guidance route P: Route change reference point I: Predetermined distance from the route change reference point P: Gaze direction E: Drawing region M: Target point R: Processing region Rp: Route change reference point priority region Ra: Guide display tip Priority area 1: Current position detection device 2: Information storage device 3: Arithmetic processing device 4: Display input device (display means)
10: Three-dimensional map data 17: Gaze direction determining means 18: Display data generating means 19: Obstacle 20: Route guidance display 20a: Tip position of the route guidance display 20 21: Three-dimensional display data 22: Display data storage means 23: Display data reading means 25: Guide display generating means

Claims (12)

A navigation device capable of performing route guidance according to a predetermined guidance route, and performing guidance by three-dimensional display at least around a route change reference point on the guide route that is a reference for route change guidance. And
When the own position on the guidance route is within a predetermined distance from the course change reference point, the guidance after the course change based on the course change reference point from the viewpoint set in the vicinity of the own position. The line-of-sight direction determining means for determining the direction toward the target point set on the route as the line-of-sight direction;
Display data generating means for generating three-dimensional display data when viewing the gaze direction determined by the gaze direction determining means from the viewpoint based on three-dimensional map data;
Display means for displaying the three-dimensional display data generated by the display data generation means ,
The line-of-sight direction determining means has the course change reference point at the closest position on the traveling direction side of the own position in the drawing area of the three-dimensional display data generated by the display data generating means according to the determined line-of-sight direction. When not included, the navigation device corrects the line-of-sight direction so that the course change reference point is included . A guidance display generating means for generating an arrow-shaped route guidance display indicating a traveling direction along the guidance route and having a tip position in the vicinity of the target point;
The navigation device according to claim 1, wherein the display data generation unit generates three-dimensional display data by superimposing the route guidance display. The guidance display generation means corrects the direction of the line of sight, and if the tip position of the route guidance display is not included in the drawing area of the three-dimensional display data, the tip position of the route guidance display is the three-dimensional The navigation device according to claim 2 , wherein a length of the route guidance display is corrected so as to be included in a drawing area of display data. The sight line direction determining means, in accordance with a pre-Symbol advancing direction of the position closest the course set by changing the reference point within a predetermined distance has been diversion reference point preferential area in the guidance display tip priority area of the current position, the own position performs the sight line direction of modifications the course change reference point in including Murrell so is when in the course change reference point priority area, when the current position is in the guide display tip priority region, the viewing direction without modification, the navigation device according to claim 2, distal end position of the route guidance display to determine the gaze direction including Murrell so. As for the target point, for each course changeable point where the course change reference point is provided, position information is determined in advance for each direction to enter the course changeable point and each travel direction after the course change, and an information storage device The navigation device according to any one of claims 1 to 4, wherein the navigation device is stored in the information storage device and is read from the information storage device when a route change guide is provided. In the case where a plurality of the route change reference points exist at intervals of a predetermined distance or less on the guidance route, the target point is a route based on the last route change reference point among the plurality of route change reference points. The navigation device according to any one of claims 1 to 5, wherein the navigation device is set on the guidance route after the change. The line-of-sight direction determining means is set corresponding to the processing region from the viewpoint when the own position on the guidance route is within a predetermined processing region set within a predetermined distance from the course change reference point. The navigation device according to any one of claims 1 to 6, wherein a direction toward the target point is determined as a line-of-sight direction. The navigation device according to claim 7 , wherein a plurality of the processing areas are set around the route change reference point, and the target points are set corresponding to each of the plurality of processing areas. The display data generation unit generates three-dimensional display data by making at least a part of the obstacle transparent or semi-transparent when an obstacle exists on a line of sight connecting the target point from the viewpoint. The navigation device according to any one of 1 to 8 . The navigation device according to any one of claims 1 to 9 , wherein the display data generation unit sets the viewpoint to a position ahead of the own position in the traveling direction. The display data generating means, said viewpoint, any one of claims 1 to 9 to be set at a position deviated to the opposite side of the traveling direction of the guide route taken after the course change with respect to the position on the guidance route The navigation device described in 1. The navigation device according to any one of claims 1 to 11 , wherein the display data generating unit generates three-dimensional display data even after a course is changed based on the course change reference point.

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