JP4834741B2 - Target detection apparatus and program - Google Patents

Description

  The present invention relates to a target detection apparatus and a program for detecting a surrounding target based on the current position of a vehicle or detecting the presence of a target by receiving a desired radio wave.

  2. Description of the Related Art A target detection device that detects and notifies a microwave transmitted from a vehicle speed measurement device is known. Further, the device for measuring the speed of the vehicle is not limited to the one using the above-mentioned microwave. For example, a vehicle traveling on the road is detected by two loop coils embedded and installed under the road. Some vehicles measure based on a time difference between detection signals output from two loop coils. This type of vehicle speed measurement device cannot be detected by the target detection device using the above-described microwave detection because microwaves are not output. Therefore, the position information of the target to be detected by the vehicle speed measuring device or the like is stored and held, and an alarm is issued when the current position of the vehicle detected by GPS and the position of the target are in a predetermined relationship. There is a target detection device that emits light (for example, Patent Document 1).

  In the case of the target detection apparatus described in Patent Document 1 above, for example, when the detection target and the current position of the vehicle reach a set distance (for example, 1 km, 500 m, etc.), “500 m ahead, XX. (XX indicates that an alarm by voice such as information (loop coil or the like) for specifying a target is output, or the information on the display is output and displayed as text.

  These target detection devices, for example, inform the driver of the approach to the vehicle speed measurement device, thereby contributing to preventing the driver from unintentionally overspeeding. In particular, since the vehicle speed measuring device is generally installed in a place where the speed is likely to be exceeded, it is possible to alert the driver to the overspeed in a dangerous place. . Thus, this type of target object detection device contributes to safe driving.

  In general, a plurality of positional relationships (for example, 1 km, 500 m, immediately before,...) Are set for one target object as a trigger for the alarm. Therefore, when a target is present ahead of the lane in which the vehicle is traveling, a warning is issued multiple times as the vehicle travels (approaching the target), and the driver is the target vehicle. It can be easily understood that the speed measuring device is approaching (the target is ahead).

  By the way, a plurality of targets often exist around the own vehicle. In such a case, when a target that matches the positional relationship that triggers the alarm is detected, an alarm is issued for the target. Therefore, when a certain target is approaching, an alarm based on a target other than the target may be issued. For example, on a highway or the like, a plurality of targets A and B may be arranged at an appropriate interval on the same travel route. For the sake of convenience, it is assumed that the distance between the target A and the target B is 800 m away, and the alarm is issued when the distance between the vehicle and the target is 1 km, 500 m and the previous positional relationship. Then, first, an alarm is issued twice based on the target A (1 km and 500 m), then an alarm of 1 km is issued based on the target B, and then an alarm is issued to notify immediately before based on the target A. Will be. Therefore, since the driver does not know which alarm is based on the target A or B, immediately after recognizing that the target exists at a relatively distant position such as 1 km, the target suddenly comes immediately before. It will be recognized that there is, is not preferable.

  In addition, there is a target C installed in front of the traveling road and a target D installed on a road other than the traveling road, and the distance between the vehicle and the target D is closer. Therefore, effective alarm notification cannot be performed (the driver does not know which target is notified).

  Furthermore, the road on which the vehicle travels is not limited to a straight line, and may be appropriately curved. Then, depending on the location of the vehicle, the distance to the target D, which has a substantial path, becomes shorter, the distance to the informed vehicle differs from the actual appearance order, and the driver There is also a problem of not knowing whether the target is being notified.

  In order to solve such a problem, there is a target detection apparatus that adopts a notification mode in which a mark indicating the own vehicle and a mark indicating the target are displayed on a display. At this time, each mark is arranged on the secondary plane according to each position, and when there are a plurality of targets around the vehicle, the mark is displayed at a position corresponding to the target. To do. As a result, the position (direction and distance) of the target around the vehicle can be known at a glance, and the target can be recognized by changing the mark according to the type of target. it can. In addition, when the distance between the vehicle and the target is a set condition, and a warning is given to the target in that condition by voice or the like, the mark for the target that matches the condition is highlighted. By doing so, it is possible to easily recognize which target is being alerted, so that the problem of not knowing which target the above-mentioned alarm is resolved is solved. Note that the mark is simply a secondary plane such as a circle, and as an aspect of drawing with emphasis, the size and shape are enlarged or blinked.

  However, in the aspect in which marks corresponding to the vehicle position and the target position on the secondary plane are drawn, there are the following problems. That is, the normal vehicle position is fixed at the lower center position of the display screen, and the respective positions as viewed from directly above are drawn. Therefore, there is a problem that the viewpoint is fixed, is difficult to see, and lacks interest.

  In addition, although the process of enlarging the scale to be displayed step by step as it approaches the target is performed, it is still difficult to see due to the combination of the stepped state and the state where the vehicle position is fixed. The problem of lacking in interest remains.

In order to solve the above-described problems, the present invention provides (1) a position detecting means for detecting the position of the own vehicle, a database for storing the position information of the target object to be detected and the type of the target object in association Extraction means for extracting a target existing around the vehicle based on the current position information detected by the position detection means and the position information of the target stored in the database; and extraction by the extraction means Alarm control means for controlling the output of the alarm information about the target that is output by the output means, wherein the alarm control means has a virtual camera installed in the sky and the viewpoint is directed obliquely downward Both the own vehicle object formed in a three-dimensional shape indicating the position of the own vehicle in a reflected manner and the target object indicating the target in a three-dimensional shape corresponding to the type of the target object are included in the display unit constituting the output means. It is assumed that the drawing while moving the virtual camera to so that. Based on this premise, the alarm control means displays both the own vehicle object and a real object having a three-dimensional shape imitating an actual target object which is one of display modes of the target object. During display, after moving the camera to position the own vehicle object outside the display area of the display unit and zooming in to enlarge the actual object, the own vehicle object and the actual object are set at a set timing. The object has a function of drawing so as to zoom down so that the object falls within the display area of the display unit .

In the premise invention, the vehicle and the target are each represented by an object having a three-dimensional shape on the display unit, so that the user can easily see and recognize. In addition, since each object is drawn in a state where the virtual camera located in the upper space is imaged with the virtual camera facing obliquely downward, each object is displayed in a bird's-eye view, The user (driver) easily recognizes the presence of the target object and its positional relationship with its own vehicle position because it is more appealing and conspicuous than the conventional mark written on a plane even when focusing on individual objects. can do. In addition, each object draws the state obtained at each time while moving the camera, so if the camera movement (camera work) is performed continuously, the contents to be drawn will change smoothly, The user can watch without feeling uncomfortable. In addition, the target object indicated by the solid shape corresponding to the type of target object changes its shape itself depending on the type of target object, changes its dimensions, changes its color, changes the characters etc. written on the surface, etc. Various forms can be taken. For drawing these objects, a space in which a 3D object is arranged in a three-dimensional (3D) space is photographed as a two-dimensional image by a virtual camera, and the photographed 2D image is displayed on the display unit. It can be realized by a known technique.
Then, since the drawing control is performed so that the real object is enlarged by zooming up, the real object of the target object to be alarmed is enlarged and displayed, so that the type of the target object can be easily and instantly displayed. Since the entire object (both the vehicle object and the target object) is displayed and the target object is zoomed, the user has made the change based on the change in the display content. It is preferable because it can be recognized and an opportunity to confirm the display unit can be given. Note that zooming up may be performed by changing the angle of view of the camera, for example, but if the camera is moved closer to the real object, the processing load may be light.
Further, since zooming is performed after zooming up, display is performed while maintaining continuity from zooming up to zooming down, so that the position information of the target and the current position information, particularly for the target having position information, If the vehicle object and the target object are drawn at locations corresponding to the positional relationship of both, the type of the target is confirmed while grasping the relationship between the vehicle position and the target position. be able to.

  (2) The process of moving the virtual camera is to perform at least one (one or more) of changing the direction of the camera viewpoint (azimuth and depression), changing the magnification, and changing the position of the camera. be able to. By adopting such a camera work, the drawn contents of the own vehicle object and the target object are rich in change and have a good feeling, and it is easy to get attention and understand the contents. That is, for example, when the magnification is increased, the drawn object is enlarged. Therefore, by increasing the magnification as the vehicle approaches the target, the vehicle object and the target object are drawn on the full screen until the distance between the vehicle and the target object gradually approaches from the far position. At this time, since both objects are gradually enlarged, it can be easily understood that they are approaching even if there is no change in the distance between them on the screen. In other words, in the conventional display mode using the planar shape mark, each mark may be moved according to the distance between the target and the vehicle position, but the dimensions are not changed, and both marks are displayed on the screen. It is necessary to recognize how close it is from the distance, and if the scale of the display portion is the same until it passes from a relatively distant position, subsequent changes are difficult to understand when approaching. On the other hand, in order to solve such a problem, in this type of conventional apparatus, for example, when the own vehicle approaches the target object to some extent, the distance between the mark indicating the own vehicle and the mark indicating the target object is increased by increasing the scale. It is made easy to understand the change (approaching) of the vehicle. However, when the scale is switched, the target mark is far away from the mark indicating the vehicle once, causing a sense of incongruity. There is no change in the size of the mark displayed before and after switching, and there is a problem that it is difficult to understand the distance to the target unless the current scale is recognized. On the other hand, in the present invention, as described above, the conventional problems do not occur. Furthermore, if the camera is fixed (does not move), the target object and the vehicle object gradually approach each other as it approaches the target, and it is displayed at once (stepwise) as before. If the scale to be used (camera magnification) is switched to a larger one, the target object displayed on the display unit will move away from the vehicle object at the same time as before, but at this time, at the same time, Since the dimensional shape to be drawn is enlarged, it can be easily understood that the actual distance is approached only by the distance in the display portion being changed by changing the scale.

In addition, each object drawn on the display unit moves by changing the direction of the viewpoint of the camera or moving the camera position itself. Since the object has a three-dimensional shape and is drawn in a manner captured by a virtual camera, each object is drawn in the 3D space on the display unit, and the actual target existing in the real space is drawn. Close to the image, the user can easily imagine and recognize the actual situation from the target object.
(3) When the alarm control means performs at least one of the change of the direction of the viewpoint of the camera, the change of the magnification, and the change of the position of the camera, the change is gradually performed to increase the zoom and the zoom. It is good to go down.
(4) The alarm control means may display both the vehicle object and the real object over the display area set in the display unit.
(5) The alarm control means sets the viewpoint of the camera between the target object of the display mode of the real object and the own vehicle object, so that both the objects are displayed on the display unit. It is recommended to display the entire set display area.
(6) The alarm control means may display an animation with a pattern in which the real object approaches the vehicle object and passes.
(7) The alarm control means may display the animation in a pattern in which the target object in the display mode of the real object passes around the vehicle object.
(8) The real object is an object imitating a vehicle, and when the alarm control means detects the passage of an emergency vehicle, it draws two objects imitating the vehicle and It is advisable to animate the object so that it passes through both sides of the vehicle object.
(9) The alarm control means may display an animation of the real object so as to go around the own vehicle object.
(10) The alarm control means may display an animation of an object that moves from the target object in the display mode of the real object toward the vehicle object.
(11) On the premise of (10), the target is a device that emits microwaves, and the alarm control means moves toward the vehicle object as the received microwave signal level increases. It is preferable to perform at least one of drawing a large size and shape of the object and drawing a strong light emission amount.
(12) When the monitoring direction is registered in the target, the alarm control means may draw the real object of the target so as to face the registered direction.
(13) The alarm control means may draw the own vehicle object in an enlarged manner when the own vehicle speeds up, and reduce and draw the own vehicle object when the own vehicle decelerates.
(14) provided with an acceleration detection means for detecting the acceleration of the own vehicle, wherein the warning control means has a higher front side of the own vehicle object during acceleration in accordance with the acceleration of the own vehicle detected by the acceleration detection means; When decelerating, it is preferable to draw the vehicle object so that the front side of the vehicle object is lowered.
(15) The alarm control means draws a scale composed of an arc centered on the position of the own vehicle object, arranges a scale indicating the distance from the own vehicle on the scale, and rotates the position of the own vehicle object. It is preferable to draw so that the scale is rotated and moved along the scale.
(16) The target object has a display form of a simple object having a simple shape and a display form of a real object having a three-dimensional shape imitating an actual target, and the warning control means includes the display unit When the target object of the target existing in the display area is drawn in the simple object display mode, and the target object for the target that matches the alarm condition is changed from the simple object to the real object. Good.

(C) For a target that stores the position information, the alarm control unit includes a detection unit that detects a target whose position cannot be specified, and the alarm control unit stores the position information of the target and the current position information. The vehicle object and the target object are drawn at a location corresponding to the positional relationship based on the above, and when the target whose position cannot be specified by the detection means is detected, It is preferable to provide a function of drawing a target object for a target whose position cannot be specified together with the object in the display unit. A target whose position cannot be specified is a target whose specific position cannot be specified because there is no pinpoint position information. The detection means corresponds to the microwave receiver 2 or the wireless receiver 3 in the embodiment. A device that detects radio waves in this way can be realized as a simple configuration, but may be other than radio waves. And the target object about the target which cannot pinpoint an existing position is good to draw in the front position and circumference | surroundings of the own vehicle object. For a target having position information, the relationship between the position of the target and the current position can be easily understood by drawing at each corresponding position on the display unit.

(D) a receiver that receives a radio wave, and a determination unit that determines the presence or absence of a target based on the radio wave received by the receiver, wherein the target object is a target detected by the determination unit It is good to include the thing corresponding to. That is, some targets have position information unknown / undefined. If such a target emits radio waves, a receiver that can receive the radio waves is provided, and when the radio waves are received, a wide variety of information is provided to the user by drawing the corresponding target object. Can do. In the embodiment, the receiver corresponds to the microwave receiver 2 and the wireless receiver 3.

(E) The target object includes a display mode of a simple object having a simple shape (such as a sphere, a cube, and a triangular pyramid) and a display mode of a real object having a three-dimensional shape imitating an actual target, The alarm control means draws the target object of the target existing in the display area of the display unit in a simple object display mode, and sets the target object for the target that matches the alarm condition to the simple object. It is preferable to change from a real object to a real object. The alarm condition may be, for example, that the distance to the target is a set distance or less. In this way, the display mode of the target object is switched (simple object → real object) on the same display screen, and can be realized by a series of connected processes, so the display position of the object before and after switching is also possible. Since it becomes the same, the user can receive the change and switching smoothly.

(F) When the set event occurs (at the time of wireless reception / RD reception), the target object indicating the event may be drawn in the display mode of the real object. In this case, the display of the simplified object may be omitted, or the display mode of the real object at a predetermined timing (the reception level is equal to or higher than the reference value) after drawing the simplified object once as in the invention of (4) above. You may make it perform drawing by.

(G) The alarm control means moves the camera to position the vehicle object outside the display area of the display unit while displaying both the vehicle object and the real object on the display unit. You may make it perform control which draws so that it may zoom up and the said real object may be expanded. In this way, the real object of the target that is the target of the alarm is enlarged and displayed, so that the type of the target can be easily and instantly recognized, and the entire object (both the vehicle object and the target object) can be recognized. ) Is displayed, the target object is zoomed. Therefore, it is preferable that the user can recognize the change and check the display unit from the change in the display content. . Note that zooming up may be performed by changing the angle of view of the camera, for example, but if the camera is moved closer to the real object, the processing load may be light.

(H) On the premise of the invention of (g) above, after drawing to zoom in and enlarge the real object, the vehicle object and the real object are displayed in the display unit at a set timing. It is preferable to perform control for drawing so as to zoom down so as to enter.

  In the past, warnings were given by switching display, etc., and during the warning, the positional relationship between the vehicle and the target object could not be grasped. In particular, for a target having position information, the vehicle object and the target object are drawn at a location corresponding to the positional relationship between both based on the position information of the target and the current position information. In the case of performing, the type of the target can be confirmed while grasping the relationship between the vehicle position and the position of the target.

(I) When displaying the real object according to the display mode, animation display (moving in a predetermined pattern in the 3D space) may be performed. Since there is a change in the movement due to the animation display, it is possible to obtain more attention, and the user can easily recognize the type and state of the target at a glance and remain in the user's memory.

  The animation display may be performed, for example, by moving an object, and the object to be moved may be a target object or an object other than the target object. In particular, the target object having no position information may be moved. An object having position information may be moved other than the target object.

Specific examples of animation display include: (j) The animation display is performed in a pattern in which the target object in the display mode of the real object passes around the vehicle object, or (k) the animation display is For example, the animation object may be drawn from the target object in the display mode of the real object toward the vehicle object.

(L) As information on the target to be stored in the database, detailed information (for example, a service station in a service area) attached to the target is added, and an object indicating the facility is drawn in a real object. It is good to do. This is preferable because the user can easily recognize what kind of equipment is attached to the target and can recognize whether or not the target is necessary. In particular, an object indicating the facility may be displayed as an animation. In this way, the equipment attached to the target can be easily recognized.

(M) The viewpoint of the camera is set between the target object in the display mode of the real object and the vehicle object, and both objects are displayed in the full display area set in the display unit. It is good to be done. In this way, both objects can be displayed large without a sense of incongruity, making it easier to recognize the type of target. Moreover, since each object is expanded because the distance between the two is zoomed up, it can be recognized from the size of the object.

(N) It is preferable that the vehicle is provided with acceleration detecting means for detecting the acceleration of the own vehicle, and the alarm control means draws the own vehicle object in an inclined manner in accordance with the acceleration of the own vehicle detected by the acceleration detecting means. In this way, the situation can be understood by looking at the own vehicle object, and the state of the own vehicle object displayed on the display unit can be synchronized with the actual one. The content can be captured more honestly.

(O) A message indicating the type of the target associated with the target may be displayed on the display unit. The embodiment is realized by the message area ME. By outputting a message in addition to the display contents of the target object, the user can more reliably recognize the type of the target object.

(P) The message may be divided into a plurality of alarm levels indicating the degree of urgency according to the type of the target, and the message may be color-coded according to the alarm level. This is preferable because the color of the message is urgent, such as a speed measurement device, and can be understood as important information for safe driving. In this case, for example, when the display color of the target object is also color-coded according to the alarm level, it is easy to remember the correspondence between the color and the alarm level by assigning the same color, and a plurality of target objects are drawn. In this case, since it is only necessary to search for a target object having the same color as the message, it is easy to search for a target object corresponding to the object output as the message.

(Q) The message may be output by scrolling or switching in an area where the message is displayed. If there is a movement in this way, it can be noted, and it is also possible to output other information by scrolling or switching, so that the content of information provision can be increased.

(R) The alarm control means may change the background color of the display unit according to the alarm level. For example, as the alarm level increases, the color can be changed to a conspicuous color such as blue → yellow → red, or even the same system color can be made brighter. The alarm level may be determined simply by one condition (only the distance of the target, only the signal reception level, only the type of target, etc.). May be.

(S) It is good to arrange | position the scale which shows the distance from the own vehicle on the scale while drawing the scale which consists of a circular arc centering on the position of the said own vehicle object on the said display part. In this way, the distance from the target can be easily recognized. This scale is changed in synchronization with the change of the drawing of the object in accordance with the movement of the camera.

(T) The alarm control means may draw the scale so that the scale is rotated along the scale with the position of the vehicle object as the center of rotation. In this way, the scale can be rotated so that the user can easily recognize the distance of the scale, and the scale can pass by the target object, so that the user can easily recognize the distance to the target object. .

(U) A map database for storing road map information is provided, and a map screen generated by reading out map data around the position of the vehicle detected by the position detecting means from the map database is displayed on the display unit. At the same time, the target object and the own vehicle object may be displayed at the position of the target and the own vehicle on the map screen. This is preferable because it can be seen at a glance whether the target is ahead of the road on which it is traveling or ahead of the road on which it is going to travel.

(17) A program of the present invention is a program for causing a computer to realize the function as the target object detection device according to any one of (1) to (16) .

  In the present invention, objects representing the vehicle and the target are drawn in a three-dimensional shape, and they are drawn in 3D space, so that the positional relationship between them is easily recognized, and the image is drawn in a mode captured by a camera. So, for example, when both approach each other, both the objects displayed on the display unit are released by continuously zooming up from the state of the object drawn with a relatively small size and zoomed down. In addition to making it easy to recognize the approaching state, each object will be enlarged and drawn even if it is so separated, making it easy to recognize that it is approaching. The user can easily and instantly recognize the content of the alarm. In addition, by continuously performing such zoom-up from the zoom-down state, the distance between the two objects gradually increases, but the size and shape of each object gradually increases, so the change can be recognized without a sense of incongruity. And intuitively understand changes in the distance to the target. Furthermore, when a real object made of a three-dimensional shape simulating the actual shape of the target is used, the type of the target can be notified more easily, providing useful information for safe driving Can be provided in an easily understandable manner.

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  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. FIG. 1 shows a preferred embodiment of the present invention. As shown in FIG. 1, a GPS receiver 1 serving as a position detection unit, a microwave receiver 2, and a wireless receiver 3 are provided as receivers that receive various radio waves and the like. The GPS receiver 1 receives a GPS signal, obtains a current position from the received GPS signal, and sends position information (longitude, latitude) of the obtained current position to the control unit 4.

  The microwave receiver 2 receives microwaves in a predetermined frequency band, and detects the signal level of the received microwaves when receiving microwaves in the set frequency band. Specifically, the RSSI voltage corresponding to the signal level and the electric field strength is used. The predetermined frequency band is, for example, a frequency band including a microwave frequency emitted from the vehicle speed measuring device. The wireless receiver 3 receives incoming radio waves in a predetermined frequency band. For example, the predetermined frequency may be a radio frequency band used when the emergency vehicle notifies the base station of the vehicle position.

  The control unit 4 executes predetermined processing based on information input from the various receivers described above, and outputs predetermined alarms and messages using output devices (display unit 6, alarm lamp 7, speaker 8, etc.). Output. The predetermined process for determining the alarm content based on the information input from the receiver can use the same basic process as in the conventional technique. That is, when a signal having a certain condition is received / acquired, a corresponding alarm is output. Note that alarms using the speaker 8 include a buzzer and a voice.

  The alarm based on the position information (current position information of the host vehicle) detected by the GPS receiver 1 related to the present invention will be further described. The database 5 stores a detection target (a traffic monitoring point such as a traffic monitoring device) as a table structure in which information such as the type of monitoring, position information (longitude: latitude), and frequency is associated with each other. Further, when alarm display information specific to the traffic monitoring point exists, the alarm display information is directly stored or information (file name or the like) for specifying the information is also stored. Information regarding these targets is registered for certain targets at the time of shipment. This data can be updated by various known methods. The database 5 can be realized by a nonvolatile memory (for example, EEPROM) in the microcomputer of the control unit 4 or externally attached to the microcomputer. Further, the database 5 also stores road map data.

  FIG. 2 shows an example of a display mode displayed on the display unit 6. In the present embodiment, the display unit 6 is realized using, for example, an organic EL display or a liquid crystal display. The display screen of the display unit 6 is 2.4 inches, for example, and is smaller than a display screen in a general navigation device, so that information about each target value is drawn on the display screen in the same manner as in the navigation device. Too much information and difficult to see. Therefore, in the present embodiment, the layout of the area shown below is adopted for the display screen, and the mode of drawing in each area is appropriately set.

  First, the layout of the screen area adopts a configuration in which a strip-shaped icon display area R2 is arranged below the rectangular main display area R1 that occupies most of the screen area. The icon display area R2 includes an icon indicating the operation state of the apparatus such as an icon I1 indicating that GPS is being received, and an icon indicating the setting / mode of the apparatus such as an icon I2 indicating microwave reception sensitivity. . In addition, there are icons for notifying the type of target that is a detection target. Such a display is output by a control command from the control unit 4. Further, the current time is drawn on the right end of the icon display region R2. The date and other information may be drawn instead of the time.

  The main display area R1 mainly indicates the positional relationship between the target and the vehicle, and is an area for displaying an object having a predetermined shape at each position. When a plurality of targets are present in the displayed space, the objects of the plurality of targets are respectively drawn. In the figure, since there is no target, only an object indicating the vehicle position (hereinafter referred to as “vehicle object”) is drawn. An object of a target object (POI: “Point Of Interest”) that is a notification target is referred to as a POI object. Each object is represented in three dimensions (solid).

  The vehicle object Gob of the present embodiment is composed of a triangular pyramid or a quadrangular pyramid polygon. When the control unit 4 draws the own vehicle object Gob, the apex of the triangular pyramid or the quadrangular pyramid is directed forward in the traveling direction of the vehicle. In the present embodiment, the surface of the polygon of the vehicle object Gob is patterned with two-color (for example, red and white) two-tone stripes (parallel to the traveling direction). Thereby, the advancing direction can be known at a glance by the synergistic effect of the shape and the pattern. In the following description, the control unit 4 draws each object and other images on the display screen of the display unit 6 even when there is no particular notice.

  Further, since the own vehicle object Gob is drawn in a state of being floated in the air, a shadow is drawn below the state so that the state of the floating object can be understood. Furthermore, in this embodiment, the posture of the own vehicle object Gob is changed according to the traveling state of the vehicle. That is, when the vehicle is running at a normal constant speed, the host vehicle object Gob is drawn in a posture in which the horizontal state is maintained as shown in FIG. When there is a change in the vehicle speed of the host vehicle, the control unit 4 performs a process of drawing the host vehicle object in an inclined manner according to the acceleration state of the host vehicle. Specifically, when the vehicle is accelerating, the own vehicle object Gob is inclined so that its tip (front) is inclined upward, and when it is decelerating, the own vehicle object Gob is displayed with its tip (front). ) Is drawn so as to be inclined so as to face diagonally downward. Further, when the traveling direction of the host vehicle is changed, the host vehicle Gob is also turned by a predetermined angle accordingly. In this way, by changing the posture of the host vehicle object Gob according to the traveling state of the host vehicle, the host vehicle object Gob displayed on the display unit 6 becomes closer to the actual state, and the situation is visually intuitive. It is possible to recognize whether or not the vehicle is properly responding to the warning of the target and provide information that contributes to safe driving. In addition, the acceleration of the own vehicle and the change of the course can be obtained from the history of the own vehicle position information based on the signal from the GPS receiver 1, and a separate sensor for detecting them can be provided or information from the vehicle can be obtained. You can also get.

  Furthermore, in this embodiment, as a display mode for the main display area R1, a circular display area is set and a scale is displayed. This scale displays a predetermined number of concentric arc-shaped scales S1 and a linear scale S2 extending in the vertical direction on the display screen of the display unit 6 so that the radius of each arc can be seen at a glance. I made it. Each scale has a scale. In the example shown in the figure, the scale scale (radius) is “500 m” and “1000 m” from the center side (since the third outermost scale is only partially drawn in this example, The scale is not drawn). Furthermore, in this embodiment, since the virtual camera is installed in the sky and is drawn in a state in which the viewpoint is projected obliquely downward, the scale S1 is drawn in an elliptical shape.

  Then, the vehicle object Gob is arranged at the center, and a target within a predetermined range (for example, within a range of about 1 km) from the current position detected by the GPS receiver 1 is stored in the database 5 as will be described later. The display unit 6 displays the relative positional relationship between the vehicle position and the target position. This function is called a radar scope display function. By doing so, the distance to the target can be known at a glance. Furthermore, a plurality of numbers (500, 1000, 1500, etc.) indicating the above distance rotate on a plane, that is, on the arc-shaped scale S1. At this time, each number is realized by rotating and displaying at a constant area speed.

  Further, the vehicle speed of the host vehicle is output to the main display region R1 at a lower position. Thereby, the user can know the approximate traveling speed of the own vehicle by looking at the display unit 6.

  Further, the display screen in the main display region R1 displays the traveling direction of the host vehicle as viewed above the screen of the display unit 6. This is based on the position information of the own vehicle given from the GPS receiver 1, the control unit 4 obtains the traveling direction of the own vehicle, obtains the position of each target with the traveling direction facing upward, This can be dealt with by displaying what exists in the display area at the corresponding position.

  Normally, a speedometer as shown in FIG. 3 or a calendar is displayed on the standby screen, and a predetermined value such as when an object such as Orvis approaches a predetermined distance at the time of a radar wave reception alarm or a predetermined distance. When an event occurs, it may be automatically switched to a predetermined event occurrence screen such as an alarm screen or a radar scope screen. Also, instead of providing such a special standby screen, as shown in FIG. 2, when there is no target around, only the own vehicle object Gob (including scales S1, S2, map data, etc.) May be drawn.

On the other hand, when a target is detected around the host vehicle, the control unit 4 draws and outputs various event generation screens as shown in FIG. 4 and subsequent figures corresponding to the detected type of the target. That is, the POI object Iob that is an object for the target is drawn at a position on the screen corresponding to the presence position. The POI object Iob is usually a simple shape such as a sphere or a cube. The surface is given a predetermined color and a symbol (alphabet, mark, etc.) indicating the type of the target. Further, since this POI object Iob is also in a suspended state, a shadow is drawn below it. Since the display mode (shape) of these POI objects Iob has a simple shape, it is referred to as a simple object.
Furthermore, in this embodiment, the colors are classified according to the degree of urgency (importance). As an example of color coding,
There are three types of urgency level: red urgency level medium: yellow urgency level low: blue.

  As a target with a high degree of urgency, there is a vehicle speed measuring device such as a loop coil or an H system. The target with medium urgency includes, for example, an N system (automatic car number reading device). Examples of the target with a low degree of urgency include a service area on a highway, a place related to traffic such as a road station installed on a side of a general road, and the like.

  The database 5 has a table structure in which the target type, position information, urgency level, and the like are associated with each other. Furthermore, it is preferable to associate the valid / invalid flag and set so that only the flag that is ON is displayed. This flag can be switched by designation from the user.

  Further, in the present embodiment, one object (target) having a condition among the POI objects Iob becomes a warning target, and information related to the warning target is prepared at a position above the main display area R1. It is drawn in the message area ME. This message area ME is an area indicating a name (“H system” in FIG. 4) for identifying the type of the target to be alarmed and a distance to the target (“713m” in FIG. 4). .

  The color of the name specifying the type of target displayed in the message area ME is color-coded according to the degree of urgency. Specifically, the color is the same as the color of the simplified object. Thereby, it can be known from the color of the message whether the detected object has a high degree of urgency.

  The information displayed in the message area ME may be fixed display or scrolled. By moving like scrolling, you can get more attention. Furthermore, another information can be smoothly displayed by scrolling or switching. Another type of information is detailed information, which shows the level of urgency with the number of stars.

  Furthermore, the display mode of the display mode (shape) of the alarm target object (warning target object Kob) is changed. Specifically, the display mode of the alarm target object Kob has a three-dimensional shape imitating that of an actual target. Thus, since it is a shape imitating an actual target, it is also called a real object. In FIG. 4, since the alarm target object is a vehicle speed measuring device, the alarm target object Kob is drawn as a real object having the shape of the vehicle speed measuring device.

  Further, an instruction object Sob made up of a pair of small cubes is arranged above the alarm target object Kob so as to notify the user of the presence and position of the alarm target object Kob (the target of the alarm target). I have to. The pointing object Sob is revolved while a pair of small cubes rotate around the center of the alarm target object Kob. It is possible to draw more attention from the revolving movement in this way. Furthermore, the surface of each cube is divided into two by the diagonal line on the upper surface, and each region is drawn with different colors (for example, red and white according to the vehicle object). By painting the surface in two colors in this way, it can be clearly seen that the surface is rotating, so the presence of the alarm target object Kob can be noticed even if each cube is rotating. By letting the user pay attention in this way, for example, it is possible to easily and quickly notify that a place where safe driving should be approached more carefully than usual in accident-prone areas, etc. Providing and reporting information for driving can be performed appropriately.

  Note that, when there is no alarm target object that specifies and indicates a location, the instruction object Sob may be drawn above the own vehicle object Gob, for example, as shown in FIG. Here, there is no alarm target object Kob that specifies and specifies a place, not only when the target itself does not exist, but also with various radio waves (microwave (radar), car location) even if the target exists. In some cases, it is possible to detect the presence of a target object in the vicinity, such as reception of a wireless signal, but it is impossible to specify a specific place.

  Further, the timing for switching the alarm target object Kob to the drawing of the three-dimensional real object is performed, for example, when an audio alarm is given. That is, when the target object approaches a certain distance (for example, 1 km) from the own vehicle position, an audio warning “1 km ahead, OO” is output. At this time, the real object is drawn. . In addition, the warning by voice may be performed a plurality of times as it approaches the target. For example, after switching from the simple object to the drawing of the real object in accordance with the timing of the first voice warning, the simple object is temporarily changed. After that, the real object is drawn again at a predetermined timing, and then the real object until the alarm target object is no longer an alarm target (when the vehicle passes through the target object or moves away). The display mode may be switched, for example, by maintaining the state. In this way, after drawing with a real object, it is possible to draw attention to the user by changing the display mode, such as returning to a simple object and then making it a real object again. By doing so, it is preferable because the user can recognize that he / she is closer. Then, the timing of switching to the real object for the second time may be synchronized with the second audio alarm or may be performed earlier (from a far position).

  Further, as shown in FIG. 4 and the like, both the own vehicle object Gob and the alarm target object Kob are drawn so as to fall within a predetermined range in the display screen of the main display area R1. For drawing each object in the main display area R1, a virtual camera is placed at a predetermined position in the upper space, and a state where the image is taken obliquely downward is drawn. As a result, each object can be drawn as a three-dimensional three-dimensional image because the object is not imaged directly from directly above, and is easy to see for the user. It is easy to intuitively recognize the positional relationship (direction and distance). This is realized by appropriately performing camera work such as appropriately changing the position where the virtual camera is placed, the viewing direction (azimuth angle / depression angle), and the magnification (zoom). At this time, the camera work is basically such that the vehicle object Gob and the alarm target object Kob are displayed as much as possible in the main display area R1. In the case of this type of conventional apparatus, the viewpoint of the virtual camera is set to the own vehicle object Gob, but in this embodiment, the viewpoint is set to an intermediate point between the own vehicle object Gob and the alarm target object Kob. To put. As a result, coupled with the three-dimensional object, the appearance is greatly different from the conventional one, and even if the alarm target object Kob is relatively far away, the alarm target object Kob is extremely small (the vehicle object It is not displayed (compared to Gob), and the vehicle object Gob and the alarm target object Kob are appropriately sized at any position from the distance to the vicinity. Since it is drawn with the same image and feeling, it is easy to see and preferable. Furthermore, the above camera work can be changed by the acceleration of the vehicle. For example, when increasing the speed, increase the magnification when drawing a little, enlarge the object to call attention, and when reducing the speed, decrease the magnification when drawing a little Can do.

  Furthermore, in this embodiment, as the distance between the target object to be alarmed and the own vehicle changes, both objects are in the above-described state (the own vehicle object Gob and the alarm target object Kob have as much screen as possible. Since the dimensional shape of the vehicle object Gob and the alarm target object Kob drawn on the screen gradually increases as the target approaches the target object to be alarmed. Can be recognized well.

  Further, as described above, basically, the own vehicle object Gob and the alarm target object Kob are drawn so that both of them enter the screen, but as shown in FIG. The alarm target object Kob is zoomed and drawn so that the alarm target object Kob is positioned near the center of the main display area R1. As a result, the alarm target object Kob drawn with the real object over the entire screen is drawn large in the center of the screen, so that the user can understand at a glance what kind of target the target object is. Further, after the entire display of FIG. 4 (drawing both the vehicle object Gob and the alarm target object Kob) is drawn around the alarm target object Kob shown in FIG. 5, as shown in FIG. Since a series of processing until returning to the display is expressed by performing camera work that gradually changes the position, direction, and magnification of the virtual camera, it is expressed by a smooth movement such as zoom-in to zoom-out. Since the change in the display mode can be seen without a sense of incongruity, the alarm target object Kob also gradually moves toward the center, and its size and shape gradually increase, so that attention can be paid more.

  In this way, the object displaying the target is displayed as a simple object such as a sphere when it is more than a predetermined distance away from the host vehicle, while it is drawn in 3D when approaching less than the predetermined distance. Since the real object is switched and displayed, and the real object is smoothly enlarged and displayed, the alarm contents can be accurately grasped while grasping the positional relationship between the alarm target and the own vehicle.

  Furthermore, the vehicle speed measuring device has a monitoring direction. This monitoring direction matches the arrangement direction (up / down lane) of the road on which the vehicle speed measuring device is installed. Therefore, if it is different from the monitoring direction, even if the vehicle speed measuring device is close to the current position of the vehicle, the vehicle speed of the own vehicle is not measured by the vehicle speed measuring device. In other words, if the vehicle is installed on a road other than the road on which the vehicle is traveling, or is installed to monitor a vehicle traveling in the down lane when traveling in the up lane, The vehicle speed is not measured. Therefore, in the case of a target that has such a direction to be monitored, the direction of monitoring and the like are associated and registered in the database 5 in addition to the position information and the type of the target. When the alarm target object Kob is drawn, if the monitoring direction is registered, the warning object Kob is drawn so as to face the direction. Thereby, the monitoring direction of the alarm target object Kob can be recognized at a glance. As a result, whether the vehicle speed measuring device exists on the road ahead or after the road that is currently running, that is, whether to drive more carefully for safe driving is visually determined. It is preferable because it can be understood intuitively and instantaneously. If the traveling direction of the vehicle changes or the road is curved, the traveling direction of the host vehicle and the monitoring direction of the vehicle speed measuring device change, the direction of the alarm target object Kob changes accordingly. To do. As an example, although FIGS. 4 to 7 are directed obliquely, the vehicle speed measuring device and the vehicle are facing each other when they come to the positions shown in FIGS. 8 and 9.

  Further, the target measures the traveling speed of the vehicle like a vehicle speed measuring device, and in the case of a permanent fixed type, the speed limit on the road where the target is installed is stored in the database 5 as detailed information. Keep it. When the alarm target object Kob is drawn, the current speed limit and the speed limit (LIMIT) are drawn below the main display area R1 along with the current speed limit. Thus, it is preferable to arrange them side by side so that the speed limit of the road can be known and whether or not the vehicle is traveling at the speed limit can be seen at a glance. Further, when the vehicle travels exceeding the speed limit, the traveling speed of the vehicle is blinked or drawn in a conspicuous color such as red. As a result, it is possible to notify the driver that the speed has been exceeded and to prompt deceleration.

  Further, the real object displays an animation that moves in a predetermined pattern in the three-dimensional space. Specifically, in this animation, as shown in FIG. 6 → FIG. 7 → FIG. 8 → FIG. 9, the alarm target object Kob expressed by the real object passes through the own vehicle object Gob. Further, as shown in FIGS. 10 and 11, the alarm target object Kob can be performed in a pattern that passes around the vehicle object Gob. In FIG. 10 and FIG. 11, the alarm target object Kob is composed of objects imitating two vehicles, and the two vehicles move so as to pass through both sides of the own vehicle object Gob. This is an event (alarm screen) that occurs when it is detected that an emergency vehicle has passed. For example, the position information of the emergency vehicle output from the emergency vehicle in the car locator system by the wireless receiver 3 is used as a base. When a radio wave to be transmitted to a station is received, the reception level decreases after the reception level of the radio wave exceeds the set reference value A (a high level that can be estimated that the emergency vehicle is located in the immediate vicinity of the host vehicle). When the value is equal to or less than the value B (reference value B <reference value A), it can be determined that the emergency vehicle has passed. In such a case, the “passing” alarm screen as shown in FIGS. 10 and 11 is output. Although not shown in the figure, the alarm target object Kob simulating an emergency vehicle is positioned further down in the figure than the host vehicle object Gob after the FIG.

  Further, when the reception level of the radio wave exceeds the reference value A for a certain time, for example, there is a possibility that the emergency vehicle is running in parallel. In such a case, it is necessary to check the surroundings, and when the emergency vehicle is traveling behind the host vehicle, it is necessary to bring the vehicle to the end of the road so that the emergency vehicle can smoothly travel and pass. By notifying in advance that there is an emergency vehicle in this way, the driver is ready to bring his vehicle to the end of the road and can move smoothly and safely when the emergency vehicle actually arrives Therefore, the notification of such information is preferable as information contributing to safe driving. As a notification in such a case, the alarm target object Kob imitating one emergency vehicle is centered on the own vehicle object Gob and turns around its vicinity (position closer to the pattern in the case of approaching car location described later). This is one aspect of the animation display that moves in a predetermined pattern in the above three-dimensional space.

  Furthermore, there are animations that are performed from the center of the alarm target object Kob, which is a real object, toward the vehicle object Gob. That is, as one type of target, there is a mobile vehicle speed measuring device (radar). In this case, the policeman irregularly moves to the monitoring position, and the policeman operates the vehicle speed measuring device to measure the speed of the traveling vehicle. In the case of this mobile type, unlike the fixed-type speed measuring device, the position information is not registered because the installation position is not fixed. Therefore, when a microwave (radar) of a predetermined frequency band emitted from the mobile vehicle speed measuring device is received by the microwave receiver 2, it is estimated that the mobile vehicle speed measuring device is present, and an alarm is issued. . As an alarm mode in this case, those shown in FIGS. 12 to 14 can be used. That is, first, as shown in FIGS. 13 and 14, the alarm target object Kob imitating a mobile vehicle speed measuring device is drawn at a position (500 m in this embodiment) that is a predetermined distance away from the own vehicle object Gob. To do. At this time, since the specific position of the vehicle speed measuring device, which is the actual target, is not known, the vehicle is turned on a circle having a radius of 500 m around the own vehicle object Gob. Further, since the position of the target object to be alarmed cannot be specified, the indication object Sob is drawn in the information of the own vehicle object Gob.

  The message area ME displays “radar”, which is the type of the target, and shows the signal level (intensity) of the received microwave in five stages. This signal level is represented by two types, a numerical value and an indicator. In the state of FIG. 12, since the signal level of the received microwave is low (second from the bottom: L2), the alarm target object Kob is only drawn using the message area ME without drawing.

  In the case of this target, the actual location is unknown, and the alarm target object Kob is drawn at a position of 500 m as a representative, but the actual distance from the own vehicle may be more than 500 m, Sometimes close. Therefore, the approximate distance can be known by expressing the signal level. That is, if the signal levels when emitted from the vehicle speed measurement device are equal, it can be said that the greater the signal level received by the microwave receiver 2, the shorter the distance to the vehicle speed measurement device. Actually, since the signal level when emitted from the vehicle speed measuring device is not the same, it is difficult to completely recognize the distance from the vehicle position only from the received signal level. You can know the location. Furthermore, since it is considered that the signal levels of the microwaves emitted from the same vehicle speed measuring device are substantially equal, the vehicle speed measuring device is received from the transition of the signal level of the microwaves that are once received and subsequently received. You can understand whether you are approaching or moving away, or have passed.

  Furthermore, in this embodiment, the viewpoint is enlarged and displayed according to the signal level of the microwave (radar). That is, as is apparent from a comparison between FIG. 13 and FIG. 14, the alarm object Kob is not drawn at the 500 m point but zoomed by increasing the magnification of the virtual camera as the signal level increases. Drawing to be up. For example, in the case of FIG. 10 where the signal level is “2”, the drawing is performed up to the scale S1 of 1500 m, but in the case of FIG. 11 where the signal level is “3”, the drawing is performed up to the scale S1 of 1000 m and the signal level is “5”. In the case of FIG. 12, only the scale S1 of 500 m is drawn, and accordingly, the alarm target object Kob and the vehicle object Gob are enlarged and drawn.

  Furthermore, the animation A is drawn so that a radar wave (microwave) is directed from the alarm target object Kob toward the center of the vehicle object Gob. This animation is expressed as a moving image in which the tip position gradually extends so that it can be seen that the microwave is coming toward the vehicle. Further, the dimension and shape of the microwave, which is the animation, is larger as the signal level is higher, and the drawing is performed so as to increase the light emission amount. With these drawing modes (enlarging the viewpoint according to the signal level or changing the animation A), the user can determine whether or not there is urgency (whether the vehicle speed measurement device is in the immediate vicinity or relatively far away). It is preferable because it can be easily determined. Furthermore, in the present embodiment, the indicator is in accordance with the signal level written in the message area ME, but it is the same color (for example, yellow) up to level 3, but when it becomes level 4 or higher, the indicator portions of levels 4 and 5 By changing the colors of the (top two) colors (for example, red), the signal level is high.

  FIGS. 15 to 17 show examples of alarm screens when the radio receiver 3 receives a heli-tele radio. In the case of heli-tele radio, as in the case of the radar described above, the presence position cannot be specified. . Then, the viewpoint (magnification) is changed according to the received radio signal level (see FIG. 15, FIG. 16 and FIG. 17). Also, in FIG. 15, since the signal level is small and less than the reference value, and it can be estimated that the helicopter that emitted the helicopter radio is also in a far position, a message is displayed to inform that the helicopter radio is received by drawing in a simplified object mode. In the area ME, “Heritele Radio” is written to alert the user.

  FIG. 18 and FIG. 19 show an example of an alarm screen when the wireless receiver 3 receives wireless for informing position information transmitted from an emergency vehicle equipped with a car locator system. When such a radio is received, a specific position cannot be specified, so that an alarm target object Kob imitating an emergency vehicle representing a car locator system is drawn at an appropriate position, as in the case of the above-described helicopter radio or radar. Then, the alarm object Kob is turned around the vehicle object Gob. When the received signal level is small (less than the threshold value), since it is at a relatively far position, “car location far reception” is set, and the alarm target object Kob is drawn so as to turn on the circumference of 1000 m. When the received signal level is high (above the threshold value), it is in a relatively close position, so “car location proximity reception” is set, and the alarm target object Kob is drawn so as to turn on the circumference of 500 m.

  20 and 21 show an example of an alarm screen when notifying a speed switching point as a target. In other words, the speed limit is 60 km / h when there is no sign in the case of ordinary roads, and the speed limit is slightly reduced to 50 km / h, for example, in accident-prone areas. For this reason, switching points with a lower speed limit on the same road need to be driven more safely. Therefore, when approaching the switching point, a predetermined warning screen is output. I am doing so. Therefore, in the database 5, the target type is “switching of the speed limit”, the position information is the longitude / latitude of the point where the speed limit is switched, and the speed limit before and after the point related to the detailed information (eg, from ○○ km to Δ Δkm / h) is registered in association with each other. Then, when the distance between the current position and the speed limit switching point is equal to or less than a certain distance (for example, 1000 m), the control unit 4 displays a message “speed switching point” in the message area ME as shown in FIG. To notify that there is a point where the speed limit changes ahead. When the distance between the current position and the speed limit switching point is equal to or less than the alarm reference value (distance closer to outputting the message: 500 m, for example), the control unit 4 is shown in FIG. As described above, the alarm target object Kob is drawn at a location corresponding to the position of the target (speed limit switching point). The alarm target object Kob simulates a road sign of a speed limit, and is further slid in from above. In this way, the alarm target object Kob consisting of a road sign is drawn at the corresponding place while moving, so it is a familiar road sign for a driver, so that the speed limit can be seen at a glance and slide from above The object moves so that it falls in and falls, so you can be sure that you are close to the switching point.

  In this way, the user can easily and accurately recognize the notification content by drawing different objects on the mobile phone that are appropriate for the type of target in accordance with the type of target to be alarmed. .

  It is preferable to provide a function of adding detailed information to the real object and displaying the real object related to the detailed information in the real object. For example, when the target is a service area, a roadside station, or the like, an object (ancillary equipment) existing in the target is added as the detailed information. As ancillary facilities in such a target, for example, there are facilities related to traffic such as a gas station. Moreover, you may add the other facilities which are not directly related to traffic, such as a dog run. When the detected target object to be alarmed is a service area and there is a gas station as detailed information added to the target object, as shown in FIG. 22, a gas station is imitated in the alarm target object Kob. The detailed object Sob thus drawn is drawn.

  As described above, the importance (alarm level) of the alarm content to be alarmed on the alarm screen varies depending on the type of the target object to be alarmed (for example, the level according to the three urgent levels described above). It varies depending on the positional relationship between the vehicle and the target (the shorter the distance, the higher the warning level). When various types of microwaves and radio waves are received, it also depends on the received signal level (the received signal level is different). The higher the alarm level, the higher the alarm level. Therefore, the information is comprehensively determined to determine the alarm level, and the background color corresponding to the determined alarm level is drawn. This comprehensive judgment is performed by weighting each judgment condition (importance according to the type of target, distance to the target, signal level of the received tower, etc.) and calculating the sum or calculating the average value. The background color can be determined in accordance with an arithmetic processing such as obtaining or according to various rules such as the IF THEN method. Thus, by changing the background color according to a predetermined condition, the current situation (alarm level) can be recognized from the background color.

  Further, although not shown, the map 5 has road network information (road information) in the database 5 and a map screen generated by reading out map data around the detected position of the vehicle from the database 5. And the target object and the vehicle object may be displayed at the location of the target and the vehicle on the map screen. At this time, since the image is drawn in a mode imaged obliquely from above with a virtual camera, the map information is displayed in a bird's-eye view on a plane parallel to the plane.

DESCRIPTION OF SYMBOLS 1 GPS receiver 2 Microwave receiver 3 Wireless receiver 4 Control part 5 Database 6 Display part 7 Lamp 8 Speaker

Utility model registration No. 3070388

Claims (17)

Position detecting means for detecting the position of the own vehicle;
A database that stores the positional information of the target object to be detected and the type of the target object in association with each other;
Extraction means for extracting a target existing around the host vehicle based on current position information detected by the position detection means and position information of the target stored in the database;
Alarm control means for performing control to output the warning information about the target extracted by the extraction means, by the output means,
The alarm control means includes a host vehicle object formed in a three-dimensional shape showing a host vehicle position in a state in which a virtual camera is installed in the sky and the viewpoint is projected obliquely downward, and the target is the target. Drawing while moving the virtual camera so that both of the target objects indicated by the three-dimensional shape corresponding to the type of the object enters the display unit constituting the output means,
The alarm control means includes both the own vehicle object and a real object having a three-dimensional shape imitating an actual target that is one of display modes of the target object for a target that matches the alarm condition. While displaying on the display unit, the camera is moved to position the host vehicle object outside the display area of the display unit and zoom in to enlarge the real object, and then the host vehicle is set at a set timing. A target object detection apparatus comprising a function of drawing an object and the real object so as to zoom down so as to fall within a display area of the display unit.   The target detection according to claim 1, wherein the process of moving the virtual camera performs at least one of changing a viewpoint direction of the camera, changing a magnification, and changing a position of the camera. apparatus.   The alarm control means performs the zoom-up and the zoom-down by gradually changing at least one of changing the direction of the viewpoint of the camera, changing the magnification, and changing the position of the camera. The target object detection apparatus of Claim 2 characterized by the above-mentioned.   The target detection apparatus according to claim 1, wherein the alarm control unit displays both the own vehicle object and the real object over a display area set in the display unit. .   The alarm control means sets the viewpoint of the camera between the target object of the display mode of the real object and the own vehicle object, so that both the objects are set in the display unit. The target object detection apparatus according to claim 1, wherein the target object detection apparatus displays the entire display area.   The target detection apparatus according to claim 1, wherein the alarm control unit displays an animation with a pattern in which the real object approaches and passes the vehicle object.   The target detection apparatus according to claim 1, wherein the alarm control unit displays an animation in a pattern in which the target object in the display mode of the real object passes around the vehicle object. . The real object is an object imitating a vehicle,
When the alarm control means detects the passage of the emergency vehicle, it draws two objects imitating the vehicle and displays the animation of the objects of the two vehicles so as to pass through both sides of the own vehicle object. The target object detection apparatus according to claim 1, wherein the target object detection apparatus is a target object detection apparatus.   The target detection apparatus according to claim 1, wherein the alarm control unit displays an animation of the real object so as to circulate around the own vehicle object.   10. The target object detection apparatus according to claim 1, wherein the alarm control unit displays an animation of an object moving from the target object in the display mode of the real object toward the vehicle object. 11. . The target is a device that emits microwaves,
The warning control means performs at least one of drawing a larger size and shape of the object moving toward the own vehicle object and drawing a light emission amount stronger as the received microwave signal level is higher. The target object detection apparatus according to claim 10 .   12. When the monitoring direction is registered in the target, the alarm control means draws the real object of the target so as to face the registered direction. A target detection apparatus according to claim 1.   2. The warning control unit is configured to enlarge and draw the own vehicle object when the own vehicle is accelerated, and reduce and draw the own vehicle object when the own vehicle decelerates. The target object detection apparatus in any one of -12. Acceleration detecting means for detecting the acceleration of the own vehicle,
The warning control means is drawn in an inclined manner so that the front side of the host vehicle object is high during acceleration and the front side of the host vehicle object is low during deceleration in accordance with the acceleration of the host vehicle detected by the acceleration detection unit. The target object detection device according to claim 1, wherein the target object detection device is a target object detection device.   The warning control means draws a scale composed of an arc centered on the position of the host vehicle object and arranges a scale indicating a distance from the host vehicle on the scale, and the position of the host vehicle object is set as the rotation center, The target detection apparatus according to claim 1, wherein the scale is drawn so as to rotate and move along the scale. The target object has a display mode of a simple object having a simple shape and a display mode of a real object having a three-dimensional shape imitating an actual target,
The warning control means draws the target object of the target existing in the display area of the display unit in a simplified object display mode, and extracts the target object for the target that matches the alarm condition from the simple object. The target object detection apparatus according to claim 1, further comprising a function of changing to a real object.   The program for making a computer implement | achieve the function as a target object detection apparatus in any one of Claims 1-16.