JP4946368B2 - Navigation device - Google Patents

Description

  The present invention relates to a navigation device that is mounted on a vehicle or the like and guides a travel route to a destination.

A navigation device that guides a travel route of a vehicle or the like displays a planar (two-dimensional) map on a display, and displays a travel route to a destination along a road on the map.
In such a navigation device, when approaching an intersection or the like on the travel route, a part or all of the map display surface is switched to a guidance screen for the purpose of providing an easy-to-understand guide for passing the intersection such as whether to go straight or turn. I am doing so.

In this guidance screen, when there are a plurality of lanes, these are enlarged and displayed, and a mark display indicating whether the vehicle is a left turn lane, a straight lane, or a right turn lane is displayed in a predetermined upper area on the screen. Then, whether to choose which lane for retaining the route to the destination, induced by changing the color of the mark display or lane.
Recently, as disclosed in, for example, Japanese Patent Application Laid-Open No. 2005-292064, a display in which a guidance screen is displayed as a three-dimensional moving image simulating an actual video on a road has been provided. This is an attempt to make the guidance screen uncomfortable by bringing it closer to the actual front road scene visually recognized by the driver.
JP 2005-292064 A

  However, even if a three-dimensional moving image is used for the guidance screen, the mark display indicating the lane is only displayed in a fixed manner in a predetermined upper area in the guidance screen, so that it does not feel uncomfortable. Despite this aim, it is still difficult to grasp the turning points at intersections that turn left or right, for example. The same applies when guiding by changing the lane color. When the vehicle position is not displayed on the guidance screen, the degree of difficulty in grasping is further increased.

  Accordingly, the present invention has been made in view of the above problems, and an object of the present invention is to provide a navigation device capable of intuitively and reliably recognizing a course direction at an intersection on a guidance screen using a three-dimensional moving image. And

For this reason, the navigation device of the present invention displays a travel route on a map on a display, performs route guidance to a destination, and presents a guidance screen that guides the passage of an intersection in a guidance section at the intersection. The moving image reproducing means for displaying the three-dimensional moving image of the guidance section on the guiding screen, and the direction guidance having a predetermined height and a predetermined size with respect to the intersection at the intersection position of the three-dimensional moving image signboards of use is such that the surface indicating the traveling direction are arranged on the intersections in a manner directed toward the vehicle, and a signboard superimposing means for superimposing an image of the signboard, the The moving image reproduction means gradually changes to a large image so that the guide sign placed at the intersection approaches the own vehicle as the own vehicle approaches the intersection. And as you configured to Shimesuru so.

  According to the present invention, the signboard indicating the direction of the course is displayed at the intersection, and the signboard at the intersection approaches as the vehicle travels, so on the guidance screen how to take the course at the intersection. It can be easily and reliably recognized.

Hereinafter, embodiments of the present invention will be described in detail.
FIG. 1 is a block diagram showing the configuration of the embodiment.
The navigation device is configured by connecting an operation input unit 21, a current position detection unit 22, a map information storage unit 23, a moving image data storage unit 24, a display 25 and a speaker 26 to the processing device 10. The
The current position detection unit 22 detects the current position of the host vehicle using a GPS reception unit, a gyro, a vehicle speed sensor, and the like.

The map information storage unit 23 stores, as map information, road network and the number of lanes of each road, lane width, map data of intersections, and data relating to road facilities such as overpasses along roads, other facilities, and buildings. ing.
For the intersection, the accompanying information of each approach route and departure route when turning left, turning right, or branching is also included.
The intersection is used as another name for the four difference points, but if there is no particular need for identification, a Y-junction, a branch road, five or more multi-difference points, etc. are represented by “intersection”.

The moving image data storage unit 24 stores data of a three-dimensional moving image that imitates an actual image on a road in a guidance section such as an intersection or a Y-junction.
The processing device 10 includes a route search unit 12, a route guide unit 14, a guidance timing control unit 16, and a moving image reproduction unit 18.
The route search unit 12 searches for a recommended travel route on the surrounding map from the current position of the host vehicle detected by the current position detection unit 22 and the destination input and set from the operation input unit 21.

The route guide unit 14 superimposes the travel route searched by the route search unit 12 on the map and displays it on the display 25. In addition, the travel route guidance is also presented by voice through the speaker 26.
The guidance timing control unit 16 monitors the current position of the host vehicle on the map, and determines the timing for entering and exiting the guidance section for the point to be guided such as an intersection.
The moving image playback unit 18 reads the data of the guidance section from the moving image data storage unit 24 and enters the guidance section of the display 25 while it is in the guidance section.

Next, display of the guidance screen will be described.
In the present embodiment, as a normal state, a planar map 30 in which the travel route to the destination is superimposed is displayed on the display 25, and when entering a guidance section approaching an intersection or the like, as illustrated in FIG. Is switched to the guidance screen 40.
The guidance section is stored as data in the map information storage unit 23.
The guidance section is set from about 300m to the intersection, for example, before 4 difference points, Y-junction, branch roads, 5 or more multi-difference points, etc. (hereinafter referred to as “intersection” when there is no need for identification). Is done. That is, the guidance screen 40 starts at the start point of the guidance section.

In the three-dimensional moving image G displayed on the guide screen 40, a guide sign A indicating a course direction arranged at a front intersection 44 is set. In addition, on the near side in the three-dimensional moving image G, a host vehicle mark M indicating the host vehicle position is also displayed in order to grasp the sense of distance from the host vehicle to the intersection. Therefore, this three-dimensional moving image G is an image having a viewpoint above the own vehicle.
The data of the three-dimensional moving image stored in the moving image data storage unit 24 is created in advance so that the image from the viewpoint that moves as the vehicle travels changes smoothly.
Thereby, the guide sign A in the three-dimensional moving image G approaches and gradually changes into a large image together with the intersection 44 as the host vehicle approaches the intersection as the vehicle travels. The guide signboard A is assumed to be an image of a size of, for example, a height of 10 m and a width of 10 m.

Note that a fixed-size lane-specific mark 42 may be displayed in a predetermined area at the top of the screen as in the conventional case. The three-dimensional moving image in this case is set so that the guide sign A is displayed in a range excluding the predetermined area and is not hidden by the fixed-size lane-specific mark 42 or the like. The range excluding the predetermined area is referred to as an effective range W as necessary.
The own vehicle mark M is basically displayed in the center of the lower part of the screen, but other messages displayed on the three-dimensional moving image G are also arranged so as not to hide the own vehicle mark M.

FIG. 3 shows changes in the viewpoint E of the three-dimensional moving image.
When the host vehicle is at the start point of the guidance section Q, the viewpoint E is at a height H including both the guide sign A and the host vehicle mark M in the effective visual field range α corresponding to the effective range W of the guidance screen, and the position of the host vehicle. (Remaining distance) It is behind X. And while satisfying the condition that both the signboard A and the vehicle mark M are included in the effective visual field range, the viewpoint E moves along the road while becoming higher as the vehicle approaches the intersection, and the shape of the entire intersection is changed. It is set so that it can be understood. When the intersection is reached, the posture is such that the intersection is looked down from a high position. In the figure, θ is an overhead angle.
At this time, it is preferable to set the viewpoint so as not to give a feeling that the own vehicle mark M reflected in the effective visual field range visually retreats.

For this viewpoint control, the moving image reproducing unit 18 includes a viewpoint moving table T as shown in FIG. 4 and is three-dimensional while changing the position of the viewpoint E and the overhead angle in conjunction with the current position of the host vehicle. The moving image G is reproduced.
In the viewpoint movement table T shown in FIG. 4, the height of the viewpoint E with respect to the remaining distance (current position) X (X0, X1, X2,..., 0) to the intersection center of the host vehicle in the guidance section Q. H (H0, H1, H2,..., Hn), the distance Y from the intersection center to the viewpoint E (Y0, Y1, Y2,..., Yn), the overhead angle θ (θ0, θ1, θ2,...・, Θn) is specified. Here, there is a relationship of Y = X + R using a backward movement amount R described later.

FIG. 5 shows a specific setting example of the viewpoint.
Starting from the intersection 300m before, the viewpoint E starts at a lower angle in order to show the townscape at a height H0 = 10m, a backward movement amount R0 = 33m, and an overhead angle θ0 = 5 °. .
The position and posture (overhead angle) are maintained until time point b when the host vehicle has traveled about 40 m. This is because there is almost no change in the distance between the guide sign A and the vehicle mark M because the distance to the intersection is long.

Thereafter, the height (H) of the viewpoint E is gradually increased. While gradually increasing so as not to cause a sense of incongruity, if the rearward movement amount (R) is fixed, the own vehicle, that is, the own vehicle mark M deviates from the effective visual field range α, so that the height (H) increases. Accordingly, the backward movement amount at the time point c when the remaining distance from the own vehicle to the intersection is 200 m is set to Ri = 63 m.
If the remaining distance (X) is less than 200 m, the vehicle mark M will not deviate from the effective visual field range α, so the rearward movement amount Rj = 65 to 70 m is maintained. Note that the effective visual field range α is constant.

During this time, the height (H) continues to increase until Hl = 110 m at time e of the remaining distance of about 50 m, and then maintains the same level until the host vehicle reaches the intersection, and becomes Hn = 110 m.
The backward movement amount (R) is also slightly reduced at the time point d when the remaining distance is about 60 m to Rk = 50 m, and the same level is maintained until Rn = 50 m when the host vehicle reaches the intersection.
The overhead angle (θ) changes so as to include the guide sign A and the vehicle mark M within the effective visual field range α, and θn = 55 ° when the vehicle reaches an intersection.

  Since the viewpoint E is located above the vehicle as described above, for example, on a road with a pedestrian bridge across the lane, depending on the height of the viewpoint E, the pedestrian bridge may block the field of view and the entire screen of the three-dimensional moving image G Is covered with a pedestrian crossing, and the road and the signboard A are hidden. Therefore, for guidance sections with elevated facilities such as pedestrian crossing bridges, the viewpoint for elevated facilities that is different from the normal viewpoint, where the viewpoint E is low enough to pass under the elevated facility until it crosses the intersection, A move table is set. A plurality of elevated viewpoint moving tables are set according to the height of the elevated equipment.

  On the other hand, as shown in FIG. 6, the road is curved in the guidance section, and the building 46 on the road (traveling route S) hides the intersection (44), so the guide sign A in the three-dimensional moving image G on the guidance screen. In the case of also hiding, the building (46) that hides the signboard A can be transparently displayed or hidden during that time.

Further, as shown in FIG. 7, there is an intersection (44) at the end of a large curve, and the guide sign A does not enter the visual field range β in the planar visual field direction δ set toward the current traveling direction of the host vehicle. In some cases, the plane view direction is changed to the δA side facing the guide sign A so that both the guide sign A and the vehicle mark M are included in the effective view range.
At this time, the height of the viewpoint E is also set to an adjusted value so that the entire road (traveling route S) up to the intersection 44 can be seen. Even in this state, if there is a building 47 that hides the entire road and the guide sign A, the building 47 is transparently displayed or hidden as shown in FIG.

  The guidance section Q is stored in the map information storage unit 23 for each intersection, and the road shape and building information is known in advance as map information. The three-dimensional moving image G is reproduced in consideration of such switching of the viewpoint movement table T, transparent display or non-display of the building, or change / adjustment of the viewpoint height H, the overhead angle θ, and the viewing direction δ.

A travel route S to be traveled is displayed on the road in the three-dimensional moving image G.
And the arrangement of the signboard A at the intersection 44 is set as shown in FIG.
That is, when the travel route S does not turn at the intersection 44 and goes straight, the guide sign A is arranged at the center PC of the intersection.
When the travel route S bends at the intersection 44, the guide sign A is at the points P1, P2, etc. where the perpendicular drawn from the center PC of the intersection intersects the tangent of the travel route S1 or S2 displayed at the intersection. Be placed.
FIG. 9 is an example of an image around the intersection where the guide sign A in the three-dimensional moving image G is arranged when approaching the intersection.
In either case, the guide sign A is displayed facing forward.

  The guidance section is preferably from the point of view of the travel route in the intersection to the position where it has passed through the intersection, but the guide sign A is displayed when the vehicle position reaches, for example, 10 m before the guide sign. By erasing, it is easy to grasp the travel route in the intersection.

FIG. 10 is a flowchart showing a flow of control of the guidance screen 40 in the processing apparatus 10.
When the destination is set by the operation of the operation input unit and the traveling is started, the surrounding map on which the traveling route is superimposed is displayed on the display, and the normal route guidance is started.
During route guidance, first, in step 100, the current position of the host vehicle is acquired from the current position detection unit. In step 101, the guidance timing control unit is based on the map information in the map information storage unit and the current position of the host vehicle. Check whether the current position has entered the guidance section for the intersection to be guided.
While not entering the guidance section, steps 100 and 101 are repeated, and when entering the guidance section, the process proceeds to step 102.

In step 102, the moving image playback unit checks whether there is an elevated facility in the guidance section with reference to the map information.
If there is no elevated facility, the process proceeds to step 103, and a normal viewpoint movement table with no height restriction is selected. When there is an elevated facility, the process proceeds to step 104, and an elevated viewpoint moving table corresponding to the height of the elevated facility (that is, a height that can be passed through) is selected.

  After the viewpoint movement table is selected in step 103 or step 104, the selected viewpoint movement table is opened in step 105 while opening the guidance screen on the display and reading out the 3D image data of the guidance section from the moving image data storage unit. Based on the above, playback of the three-dimensional moving image is started.

In step 106, the guidance timing control unit checks whether or not the current position of the host vehicle has left the guidance section, for example, whether or not the vehicle has exited from the intersection to be guided. The check is repeated until the guidance section leaves, during which the moving image reproduction unit continues to reproduce the three-dimensional moving image.
In the final stage immediately before leaving the guidance section, the display of the guide signboard in the three-dimensional moving image is erased as described above.

When the host vehicle leaves the guidance section, the process proceeds to step 107, where the moving image reproduction unit stops reproduction of the three-dimensional moving image and closes the guidance screen.
Thereafter, the process returns to step 100 to prepare for the next guidance section.
In the present embodiment, steps 102 to 105 in the above flowchart constitute the moving image reproducing means of the invention.

  The embodiment is configured as described above, and displays a travel route on a map on the display to provide route guidance to a destination, and presents a guidance screen that guides the passage of the intersection in the guidance section at the intersection. In the apparatus, a navigation device that displays a three-dimensional moving image in which a guide sign indicating a traveling direction of a travel route is arranged at an intersection on the guidance screen so that the guide sign in the screen approaches as the host vehicle advances Therefore, it is possible to easily and reliably recognize how to take a course at the intersection on the guidance screen.

  In particular, the travel route is displayed at the intersection of the three-dimensional moving image, and the guidance signboard is arranged on the travel route, so that it is particularly easy to follow the travel route even when turning at the intersection.

In addition, since the own vehicle mark indicating the position of the own vehicle is always displayed in the three-dimensional moving image together with the guidance signboard, a sense of distance to the intersection can be continuously obtained, and the intersection can be entered with a margin.
And since the viewpoint of a three-dimensional moving image is set so that it may become high as it approaches an intersection, the shape of the driving | running route in an intersection can be grasped | ascertained with high precision at an intersection.
In addition, for the guidance section where there is an elevated facility that crosses the road, the point of view is limited to a height that can pass below the elevated facility until it crosses the intersection. Is prevented from being hidden.

Also, if the guide sign does not fall within the field of view of the 3D moving image due to the curve of the road, the viewing direction of the 3D moving image is directed toward the guide sign and the entire travel route from the 3D moving image to the intersection Since the height is set so that can be seen, the guidance signboard can be seen on the guidance screen at all times.
Furthermore, even when a guide signboard in a three-dimensional moving image is hidden in a building due to a road curve, the guide signboard can always be seen on the guidance screen by making the building transparent or non-displayable.

Next, a modification of the embodiment will be described.
When the travel route bends at the intersection, in the embodiment, the guide sign is arranged at the point where the perpendicular drawn from the center of the intersection with the tangent of the travel route displayed at the intersection intersects the tangent, The arrangement of the signboards has been changed.
That is, in an environment where the judgment of the timing of turning at the center of the intersection is delayed due to the lane width, the presence / absence of a right / left turn lane, the degree of visibility, etc., it is preferable that the guidance sign be closer to the front. .

Therefore, in the modified example, as shown in FIG. 11, guidance is made from the point P where the perpendicular line dropped from the intersection center PC intersects the travel route S to the position of the point PA offset by a predetermined distance along the travel route S. The signboard A was placed.
The offset amount L is preferably set so that the signboard A is, for example, near the intersection stop line 49, but in addition to the type of intersection such as a Y-junction, a five-way difference, and which connecting road to turn to It can be adjusted according to the characteristics of the travel route such as the corresponding start position and curvature.

  According to this modification, the guide sign A is viewed at a position closer to the front according to the characteristics of the intersection and the travel route, and preparations such as a course change according to the guide are started at an early stage.

In the embodiment, the guidance signboard is displayed even when going straight at the intersection. However, the guidance signboard may be displayed only when the travel route turns at the intersection.
The size of the guide signboard in the three-dimensional moving image is not limited to that illustrated, and can be arbitrarily set.
In addition, the guidance section is set to be about 300 m before the intersection as an example, but is appropriately set according to the road shape and the characteristics of the intersection.

It is a block diagram which shows the structure of embodiment. It is a figure which shows the display which displayed the guidance screen. It is explanatory drawing which shows the change of the viewpoint of a three-dimensional moving image. It is a figure which shows an example of a viewpoint movement table. It is a figure which shows the specific example of a viewpoint setting. It is explanatory drawing which shows the example which a building hides an intersection in a guidance area. It is explanatory drawing which shows the example which an intersection does not enter into a visual field range because of a curve. It is a figure which shows the example of arrangement | positioning of the guidance signboard in an intersection. It is an example of an image around the intersection when approaching the intersection. It is a flowchart which shows the flow of control of a guidance screen. It is a figure which shows arrangement | positioning of the guidance signboard in a modification.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Processing apparatus 12 Route search part 14 Route guidance part 16 Guidance timing control part 18 Moving image reproduction part 21 Operation input part 22 Current position detection part 23 Map information memory | storage part 24 Moving image data storage part 25 Display 26 Speaker 30 Plane map 40 Guidance Screen 42 Mark according to lane 44 Intersection 46, 47 Building A Information signboard E Viewpoint G 3D video M Car mark PC Center of intersection Q Guidance section S, S1, S2 Travel route W Effective range

Claims (7)

In a navigation device that displays a driving route on a map on a display and performs route guidance to a destination, and presents a guidance screen that guides the passage of an intersection in a guidance section at an intersection,
Moving image reproduction means for displaying a three-dimensional moving image of the guidance section on the guidance screen ;
In a manner in which a signboard for guidance in a course direction having a predetermined height and a predetermined size with respect to the intersection is located at the intersection position of the three-dimensional moving image, the surface indicating the course direction faces the host vehicle side. A signboard superimposing means for superimposing an image of the signboard as disposed on the intersection ,
The moving image reproduction means displays the information by gradually changing to a larger image so that a guide sign placed at the intersection approaches the own vehicle as the own vehicle approaches the intersection. apparatus.   The navigation apparatus according to claim 1, wherein a travel route is also displayed at an intersection of the three-dimensional moving images, and the guide signboard is arranged on the travel route.   The navigation apparatus according to claim 1, wherein a vehicle mark indicating a vehicle position is always displayed on the three-dimensional moving image together with the guidance signboard.   The viewpoint of the 3D video is set so as to increase as it approaches the intersection, and for the guidance section where there is an elevated facility that crosses the road, it can pass below until the viewpoint crosses the elevated facility toward the intersection. The navigation device according to any one of claims 1 to 3, wherein the navigation device is suppressed to a height.   If the guide sign does not fall within the field of view of the 3D moving image due to a curve of the road, the viewing direction of the 3D moving image is directed toward the guide sign and the entire travel route from the viewpoint of the 3D moving image to the intersection The navigation apparatus according to any one of claims 1 to 4, wherein the navigation apparatus is set to a height at which the object can be seen.   The navigation apparatus according to any one of claims 1 to 5, wherein when the guide signboard in the three-dimensional moving image is hidden in a building by a road curve, the building is transparently displayed or hidden. In a navigation device that displays a driving route on a map on a display and performs route guidance to a destination, and presents a guidance screen that guides the passage of an intersection in a guidance section at an intersection,
The guidance screen has a guide sign for a route direction having a predetermined height and a predetermined size with respect to the intersection at an intersection position in such a manner that the surface indicating the route direction faces the vehicle side. As shown above, the three-dimensional moving image on which the image of the guide signboard is superimposed is displayed, and as the own vehicle approaches the intersection, the guide signboard arranged at the intersection approaches the own vehicle. A method for presenting a guidance screen for a navigation device, wherein the display gradually changes to a larger image and is displayed .

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