JP5994574B2 - Position guidance system, method and program - Google Patents

Description

  The present invention relates to a position guidance system, method, and program for guiding the position of a guidance object.

  2. Description of the Related Art Conventionally, there is known a technique for superimposing an arrow graphic for prompting a lane change on a CCD image obtained by photographing a front of a vehicle with a CCD camera (see Patent Document 1). In Patent Document 1, when a traveling vehicle is present in front of the host vehicle, the overlapping position of the arrow graphic is set so as not to overlap the traveling vehicle. Thereby, it can prevent that an arrow figure overlaps with the traveling vehicle ahead, and can prevent that the visibility of an arrow figure deteriorates.

Japanese Patent Laid-Open No. 11-23305

However, when the vehicle is traveling, the positional relationship between the vehicle and the traveling vehicle ahead changes constantly, so that there is a problem that the superimposed position of the arrow graphic changes. That is, when the vehicle is traveling, there is a problem that visibility of the arrow graphic is deteriorated due to a change in the superimposed position of the arrow graphic.
The present invention has been made in view of the above problems, and ensures the visibility of the guidance image when the vehicle is running, and recognizes the position of the guidance object by the guidance image even when there is an obstacle. The purpose is to provide technology that can be used.

  In order to achieve the above object, in the present invention, the registered position acquisition means acquires a registered position that is a position of the guidance object registered in the map information. The display control means superimposes a guidance image for guiding the position of the guidance object on the scenery in front of the vehicle and displays the guidance image on the display unit. Furthermore, when the vehicle is traveling, the display control means acquires a first guide position that is a position in the forward scenery corresponding to the registered position, and superimposes the guide image on the first guide position on the display unit. Display. On the other hand, when the vehicle is stopped, the display control means is shielded by an obstacle image existing between the vehicle and the guidance object in a region where the guidance object image is projected in the forward landscape. A second guide position, which is a position in the non-shielding area that is not, is acquired, and a guide image is superimposed on the second guide position and displayed on the display unit.

  In the above configuration, when the vehicle is traveling, the guide image is superimposed on the first guide position in the forward landscape corresponding to the registered position registered in the map information. Since the first guide position is a position in the forward landscape corresponding to the registered position, the first guide position is a position independent of the obstacle image in the front image, that is, a position independent of the positional relationship between the obstacle and the vehicle. Therefore, when the vehicle is traveling, the position where the guide image is superimposed in the front landscape can be stabilized even if the positional relationship between the obstacle and the vehicle constantly changes. That is, even when the vehicle is running and the period during which the driver can visually recognize the guidance image is short, the driver can easily find the guidance image in the front image, and the visibility of the guidance image can be improved. . Further, when the vehicle is traveling, the period during which the driver can visually recognize the guidance image is short. Therefore, when the vehicle is traveling, it is possible to prevent a strong sense of incongruity even if the first guide position shielded by the image of the obstacle is guided.

  On the other hand, when the vehicle is stopped, since the period during which the driver can visually recognize the guidance image becomes longer, even if the position of the guidance image in the front image changes depending on the positional relationship between the obstacle and the vehicle, The driver can easily find the guide image in the front image. Therefore, when the vehicle is stopped, the position of the guidance object can be easily recognized even when an obstacle is present by superimposing the guidance image on the second guidance position in the non-shielding area.

  The registered position acquisition means only needs to acquire the registered position of the guidance object registered in the map information. The registered position may be acquired by reading out the registered position from the recording medium on which the map information is recorded. The registered position may be acquired from the device via communication. The registered position is a position registered in the map information as a position representing the guidance object, and may be, for example, a geometric center position of the guidance object. However, the registered position does not necessarily have to be a position registered as the position of the guidance object in the map information, and may be a position that can be derived based only on the data registered in the map information. The guidance object may be a feature that serves as a guideline for determining the course of the vehicle, and may be a feature that exists at a destination point or a waypoint on the planned travel route. Furthermore, the guidance target object may be a feature existing at a point where the vehicle should avoid traveling.

  The display control means only has to superimpose the guidance image for guiding the position of the guidance object on the front landscape and display it on the display unit, and various modes of superimposing the guidance image on the front landscape are conceivable. For example, the display control unit may project the front landscape onto the display unit by causing the display unit to display an image representing the front landscape (hereinafter referred to as a front image). That is, the display control unit may superimpose the guide image on the front image and display the front image on which the guide image is superimposed on the display unit. Furthermore, the display unit may be configured as a head-up display, and may display a guidance image so as to be superimposed on an actual landscape visually recognized by the driver through the windshield of the vehicle. In this case, a part of the front scenery visually recognized by the driver is transmitted through the display unit, so that a part of the transmitted scenery is projected on the display unit as the front scenery.

  The guide image may be an image that guides the position of the guide object, and may be an image that indicates that the image of the guide object exists at the first guide position or the second guide position on which the guide image is superimposed. . For example, the guide image may be a dot image superimposed on the first guide position or the second guide position. In addition, the entire guide image does not necessarily have to be superimposed on the first guide position or the second guide position. That is, a portion indicating the position of the guidance object in the guidance image may be superimposed on the first guidance position or the second guidance position. For example, the guide image may be a linear image in which a tip or a bending point is superimposed on the first guide position or the second guide position, or a vertex is superimposed on the first guide position or the second guide position. It may be a polygonal image. Furthermore, the guidance image may include not only a part indicating the position of the guidance object but also a part for guiding information related to the guidance object other than the position of the guidance object.

  The display control means may determine whether the vehicle is running or stopped based on the running state of the vehicle (vehicle speed, acceleration, angular acceleration, change in position, etc.), and the operation state of the vehicle ( It may be determined whether the vehicle is running or stopped based on an accelerator operation, a brake operation, a steering operation, or the like). The first guide position in the forward scenery corresponding to the registered position means a position in the forward scenery where the image of the object existing at the registered position is projected on the display unit. The correspondence between the position in the real space and the position in the front image can be specified based on the current position of the vehicle, the traveling direction (azimuth), and the projected state of the front scenery (viewpoint position, line-of-sight direction, etc.).

  The area where the image of the guidance object is projected in the front landscape means an area where the image of the guidance object is projected in the front scenery when there is no obstacle. For example, the display control means acquires the position and shape of the guidance target object from the map information, and based on the acquired position and shape of the guidance target object, the area on which the image of the guidance target object is projected in the forward landscape. You may specify. The non-shielding region means a region excluding an obstacle image among regions where the image of the guidance object is projected in the front image. For example, the display control means recognizes an obstacle image by performing image recognition on a front image obtained by photographing a forward landscape, and determines the recognized obstacle image portion from an area where the guidance object image is projected. By removing, the non-shielding region may be specified. However, the display control means does not necessarily specify the non-shielding area by removing the obstacle image portion from the area where the guidance object image is projected. In other words, the display control means recognizes a part of the image of the guidance object that appears without being obstructed by the image of the obstacle in the front image by image recognition, and displays a part of the recognized image of the guidance object. You may identify as a shielding area. The obstacle may be an object existing between the vehicle and the guidance target object, and an object existing on or around the road can be an obstacle. The obstacle may be a moving object or an object fixed on or around the road. The second guide position may be a position in the non-shielding area, and may be a geometric center position in the non-shielding area, for example.

  In addition, the display control means is a guide in which a first part that guides a position of an intersection as a guidance object and a second part that guides a position of an exit road on a planned travel route from which the vehicle exits the intersection are connected. The image may be displayed on the display unit so as to be superimposed on the front landscape. Further, the display control means superimposes the first portion of the guidance image on the first guidance position when the vehicle is traveling and displays it on the display unit, and displays the guidance image when the vehicle is stopped. The first portion may be displayed on the display unit so as to be superimposed on the second guide position. Thereby, the position of the intersection can be guided by the first part, and the position of the exit road from which the vehicle should exit from the intersection can be guided by the second part.

  Further, when the vehicle is stopped and there are non-shielding areas on both the left and right sides of the obstacle image in the forward scenery, the display control means is located in the non-shielding area on the exit road side of the non-shielding area. The second guide position may be acquired and the first portion of the guide image may be superimposed on the second guide position and displayed on the display unit. As a result, it is possible to prevent the position in the non-shielding area on the opposite side of the exit road from the non-shielding areas existing on both the left and right sides of the obstacle image from being guided as the position of the intersection. It is possible to easily associate the exit road with the position in the front landscape.

  However, the display control means indicates that the vehicle is stopped, there are unshielded areas on both the left and right of the obstacle image in the forward landscape, the area of the unshielded area on the exit road side is less than the threshold, and the exit When the area of the non-shielding area on the side opposite to the road is equal to or larger than the threshold, the second guide position in the non-shielding area on the side opposite to the exit road is acquired, and the first part of the guide image is set as the second guide position. You may superimpose and display on a display part. That is, even if there is a non-shielded area on the exit road side, if the area of the non-shield area is so small that it is difficult to see, the second guide position is in the non-shield area on the opposite side of the exit road. May be set. Thereby, when the vehicle is stopped, it is possible to prevent the position in the non-shielding area on the exit road side that is difficult to visually recognize as the position of the intersection, and to prevent the position of the intersection from becoming unrecognizable.

  Further, the display control means indicates the position of the exit road, one end of which is present in a region where an image of an intersection is projected in the front landscape, and the other end is connected to the second portion. The second part may be superimposed on the front scenery and displayed on the display unit. Note that the first guide position and the second guide position are both positions within a region where an image of the guide object is projected in the forward scenery. The display control means may connect the first guide position and the second portion in the length direction of the first portion by the first portion when the vehicle is traveling. Thus, when the vehicle is traveling, the first guidance position and the second part can be displayed in association with each other by the first part, and the driver can be associated with the position of the intersection and the position of the exit road. Can be recognized. Similarly, when the vehicle is stopped, the display control means may connect the second guide position and the second portion in the length direction of the first portion by the first portion. In the above configuration, the display control means may shorten the length of the first portion when the vehicle is stopped from running. As a result, when the vehicle is stopped from running, that is, when the second guide position in the non-shielded area that is not shielded by the obstacle can be guided as the position of the intersection, the position of the intersection Can be guided with emphasis on the correspondence between the location of the road and the exit road. The display control means may shorten the length of the first portion as the degree of approach to the intersection increases in at least one of the case where the vehicle is traveling and the case where the vehicle is stopped. . As a result, as the degree of approach to the intersection increases, the correspondence between the position of the intersection and the position of the exit road can be emphasized and guided.

  Furthermore, the display control means may increase the size of the second portion when the vehicle is stopped from running. As a result, when the vehicle is stopped from running, that is, when the second guidance position in the non-shielded area that is not shielded by the obstacle can be guided as the position of the intersection, the exit road The position can be emphasized and guided.

  The display control means sets a vehicle speed threshold value for determining that the vehicle has traveled from the stop to a value greater than the vehicle speed threshold value for determining that the vehicle has traveled from the stop. May be. In other words, a dead zone may be provided between the threshold value of the vehicle speed for determining that the vehicle has been stopped since traveling and the threshold value of the vehicle speed for determining that the vehicle has been traveling since stopped. Thus, the vehicle speed zone corresponding to the dead zone between the vehicle speed threshold value for determining that the vehicle has been stopped from running and the vehicle speed threshold value for determining that the vehicle has been running since stopped is set. Thus, even when the vehicle speed changes in small increments, it is possible to prevent the determination result of whether the vehicle is running or stopped from changing in small increments. Therefore, the position where the guide image is superimposed can be prevented from fluctuating between the first guide position and the second guide position, and the visibility of the guide image can be improved.

  Furthermore, the method of guiding the position of the guidance object by the guidance image as in the present invention can be applied as a program or a method. In addition, the system, program, and method as described above may be realized as a single device, or may be realized by using components shared with each unit provided in the vehicle when realized by a plurality of devices. It can be assumed and includes various aspects. For example, it is possible to provide a navigation system, method, and program including the above-described devices. Further, some changes may be made as appropriate, such as a part of software and a part of hardware. Furthermore, the invention can be realized as a recording medium for a program for controlling the system. Of course, the software recording medium may be a magnetic recording medium, a magneto-optical recording medium, or any recording medium to be developed in the future.

It is a block diagram of a navigation apparatus. 2A is a diagram showing a front image, FIG. 2B is a plan view of a road, FIG. 2C is a diagram showing an arrow image, FIG. 2D is a graph showing the size of the upper image, FIG. 2E is a diagram showing a lower image, and FIG. It is a graph which shows the length of an image. 3A to 3D are diagrams showing a front image. It is a flowchart of a position guidance process.

Here, embodiments of the present invention will be described in the following order.
(1) Configuration of navigation device:
(1-1) Stop determination:
(1-2) Traveling display:
(1-3) Stopped display:
(2) Location guidance processing:
(3) Other embodiments:

(1) Configuration of navigation device:
FIG. 1 is a block diagram showing a configuration of a navigation device 10 as a position guidance system according to an embodiment of the present invention. The navigation device 10 is provided in a vehicle. The navigation device 10 includes a control unit 20 and a recording medium 30. The control unit 20 includes a CPU, a RAM, a ROM, and the like, and executes a program stored in the recording medium 30 or the ROM. The recording medium 30 records map information 30a, display setting data 30b, and a position conversion table 30c.

  The map information 30a includes node data indicating the position of a node set on the road, link data indicating information on a link corresponding to a road connecting the nodes, and the width direction of the road connecting the nodes. And shape interpolation point data indicating the position and the like of the shape interpolation point set on the center line. A node to which three or more links connect corresponds to an intersection. The position of the node corresponding to the intersection means a registered position registered in the map information 30a as the position of the intersection. The link data includes information indicating the width of the road. The display setting data 30b is data in which various setting information for displaying a guidance image for guiding an intersection is recorded. Details of the display setting data 30b will be described later.

  The position conversion table 30c is a table that defines the correspondence between the position in the projection space ahead of the vehicle and the projection position in the front image. The projection space is a space in the field of view when the camera 44 captures a front landscape of the vehicle, among the spaces in front of the vehicle. The front image is an image generated when the camera 44 captures a front landscape, and is an image representing the front landscape. The position conversion table 30c is created based on the optical specifications (angle of view, optical axis direction, optical magnification, etc.) of the camera 44, and is recorded in the recording medium 30 in advance. The control unit 20 converts the arbitrary position in the projection space using the position conversion table 30c, thereby acquiring the projection position at which the image of the object existing at the arbitrary position is projected in the front image. On the other hand, the control unit 20 acquires a position in the projection space of the object on which the image is projected at the arbitrary position by converting an arbitrary position in the front image by the position conversion table 30c.

  The vehicle includes a GPS receiver 41, a vehicle speed sensor 42, a gyro sensor 43, a camera 44, and a display 45. The GPS receiver 41 receives radio waves from GPS satellites and outputs a signal for calculating the position of the vehicle via an interface (not shown). The vehicle speed sensor 42 outputs a signal corresponding to the rotational speed of the wheels provided in the vehicle. The gyro sensor 43 outputs a signal corresponding to the angular acceleration acting on the vehicle.

  The camera 44 is an image sensor that captures a front landscape of the vehicle and generates a front image representing the front landscape. The front image generated by the camera 44 is output to the control unit 20 via an interface (not shown). The camera 44 has an optical system that is symmetrical with respect to the optical axis in the horizontal direction. The camera 44 is provided at the center position in the width direction of the vehicle, and the optical axis coincides with the traveling direction of the vehicle.

  FIG. 2A is a diagram showing a front image. The horizontal direction in the front image (the horizontal direction of the front image) corresponds to the width direction of the road and lane, and the midpoint of the lower side of the front image corresponds to the current position P of the vehicle (the position of the camera 44). Further, the position on the bisector in the horizontal direction of the front image corresponds to the position on the extension line in the traveling direction of the vehicle in the projection space (the locus when the vehicle goes straight in the traveling direction). In addition, the image of an object that is farther forward from the vehicle on the road surface in real space is located above the vertical direction of the front image (vertical direction of the front image).

  The control unit 20 performs known map matching based on the signals output from the GPS receiving unit 41, the vehicle speed sensor 42, the gyro sensor 43, and the like, and map information 30a. Thereby, the control unit 20 specifies the current position P of the vehicle on the center line in the width direction of the traveling road on which the vehicle is currently traveling. Further, the control unit 20 specifies the traveling direction of the vehicle based on the output signal from the gyro sensor 43 and the like. The traveling direction of the vehicle means the front in the longitudinal direction of the vehicle (direction orthogonal to the axle).

  The display 45 is a video output device that outputs various images including a front image and a guide image based on the video signal output from the control unit 20. The front image may be displayed on the entire display 45 or may be displayed on a part of the display 45.

  The control unit 20 executes the position guide program 21. The position guidance program 21 includes a registered position acquisition unit 21a and a display control unit 21b. The registered position acquisition unit 21a is a module that causes the control unit 20 to execute a function of acquiring a registered position that is the position of the guidance intersection (guidance target object) registered in the map information 30a. In acquiring the registered position, the control unit 20 first acquires a guidance intersection. In the present embodiment, the control unit 20 acquires, as a guidance intersection, an intersection in which the vehicle travels next among the guidance target intersections existing on the planned travel route searched in advance. The planned travel route is composed of a series of roads (links) on which the vehicle should travel in order to reach the destination point. Note that the planned travel route may be a route acquired by the control unit 20 from an external device or a removable memory via communication or the like.

FIG. 2B is a plan view showing a state of the vehicle traveling on the road. Control unit 20, to the direction of the approach road R _I is a road on the planned travel route to be immediately before going into the intersection (entering direction F _I), the planned travel route to be immediately after exit from the intersection of An intersection whose absolute value of the turning angle E (left turn is positive and right turn is negative) formed by the direction of the exit road R _O which is a road (exit direction F _O ) is set as a guidance target intersection. The threshold value (for example, 30 °) is recorded on the recording medium 30. The control unit 20 specifies the direction of the vector from the shape interpolation points in the closest approach road R _I to the node corresponding to the intersection toward the node as approach direction F _I, the node corresponding to the intersection to the node identify the direction of the nearest exit toward the shape interpolation points in the road vector as a leaving direction F _O. In FIG. 2B, it is assumed that the approach road R _I and the exit road R _{O at} which the turning angle E at the guidance intersection C is 90 ° are roads on the planned travel route. In FIG. 2B, the lane markings BL are indicated by white broken lines or solid lines, and the central separation band M that separates roads whose traveling directions are opposite to each other is indicated by solid black lines. Regardless of the turning angle E, the control unit 20 may set all the intersections on the planned travel route on which the vehicle travels next as the guidance intersections.

With the function of the registered position acquisition unit 21a, the control unit 20 causes the control unit 20 to determine the position of the node where the link corresponding to the approach road R _I and the link corresponding to the exit road R _O are connected to the registered position Q of the guidance intersection. Is obtained from the node data of the map information 30a. In this embodiment, the area on the road surface where the approach road R _I and the exit road R _O overlap is the guidance intersection C (within the broken line frame), and the registered position Q is the geometric center position of the guidance intersection C ( Center of gravity). Specifically, the guidance intersection C is surrounded by the extension lines B ₁ and B ₂ at both edges in the width direction of the approach road R _I and the extension lines B ₃ and B ₄ at both edges in the width direction of the exit road R _O. This area

The display control unit 21b is a module that causes the display 45 to display a guidance image that guides the position of the guidance intersection C on a front image that represents a front landscape of the vehicle. Specifically, by the function of the display control unit 21b, the control unit 20 guides the first part that guides the position of the guidance intersection C and the position of the exit road R _O on the planned travel route from which the vehicle exits the guidance intersection C. The guide image G to which the second part to be connected is superimposed on the front image and displayed on the display 45. As shown in FIG. 2A, the control unit 20 generates a guide image G including a lower image G ₁ and an upper image G ₂ . Further, the upper image G ₂ includes an arrow portion G ₃ . The control unit 20 generates the guide image G by connecting the upper end of the lower image G ₁ to the lower end of the upper image G ₂ . In the present embodiment, the lower image G ₁ corresponds to the first portion, and the upper image G ₂ including the arrow portion G ₃ corresponds to the second portion. That is, the lower image G ₁ as the first portion has a lower end at a position (a first guiding position or a second guiding position described later) in a region where the image of the guidance intersection C is projected in the front image, and an upper end. is a linear image that is connected to the image G ₂ on the the second portion. On the other hand, the upper image G ₂ as the second portion is an image showing the direction of the exit road R _O (the exit direction F _O ) with respect to the approach direction F _I of the vehicle at the guidance intersection C.

Hereinafter, the lower image G ₁ and the upper image G ₂ will be described. Control unit 20 of the function of the display control unit 21b obtains the angle of rotation E of the guide intersection C, and generates an arrow portion G ₃ representing the turn angle E. 2C shows the indicated portions G _3. The arrow part G ₃ is composed of an entry part I and a withdrawal part O connected to the upper end of the entry part I. Entry portion I is a part representing the traveling direction of the vehicle in approach road R _I (entering direction F _I), the center line i bisecting the entry portion I in the widthwise direction is always vertical line of the front image . Approach direction F _I just before entering the guidance intersection C in approach road R _I is always forward, corresponding to upward in the vertical direction of the front image. Thus, ingress part I of the center line i in the width direction is the longitudinal direction of the line of the front image represents the approach direction F _I of the vehicle with respect to the guide intersection C. The exit portion O is a portion that represents the traveling direction of the vehicle on the exit road R _O (the exit direction F _O ), and the center line o that bisects the exit portion O in the width direction is the center line i in the width direction of the entrance portion I. Is a line in a direction inclined by the turning angle E. An arrow head is provided at the tip of the exit portion O.

As shown in FIG. 2A, the control unit 20 of the function of the display control unit 21b generates a rectangular image larger by a predetermined amount than the longitudinal length and the transverse direction of the arrow portion G ₃ long in the front image The upper image G ₂ is generated by superimposing the arrow portion G ₃ on the image. Further, the control unit 20 converts the size of the upper image G ₂ into a size according to the degree of approach of the vehicle to the guidance intersection C. First, the control unit 20 acquires the remaining distance S from the vehicle to the guidance intersection C as an index of the approach degree of the vehicle. Specifically, the control unit 20 acquires, as the remaining distance S, the linear distance from the current position P of the vehicle to the registered position Q of the guidance intersection C. Further, the control unit 20 acquires the size of the upper image G ₂ associated with the remaining distance S in the display setting data 30b, and converts (enlarges or reduces) the upper image G ₂ into a size corresponding to the remaining distance S. . In addition, that the remaining distance S becomes small means that the approach degree of the vehicle with respect to the guidance intersection C becomes large.

Figure 2D is a graph showing the relationship between the size A of the remaining distance S and the upper image G _2. The horizontal axis in FIG. 2D indicates the remaining distance S, the vertical axis shows the size A of the upper image G ₂ (eg vertical length of the upper image G _2). As shown in FIG. 2D, the display setting data 30b, so that the larger the remaining distance S is reduced, the size A of the upper image G ₂ are defined.

Figure 2E is a diagram showing the lower image G _1. Under the image G ₁ is a horizontal line above the sides in the front image, an isosceles triangle-shaped image having an apex (bottom point) below the upper edge. That is, the lower image G ₁ is an image whose width becomes narrower as it approaches the lower end point. The control unit 20 acquires the length Z of the lower image G ₁ associated with the remaining distance S in the display setting data 30b, and generates the lower image G ₁ having the acquired length Z. The length Z of the lower image G _1, the length of the lower image G ₁ in the longitudinal direction of the front image.

Figure 2F is a graph showing the relationship between the remaining distance S and the length Z of the lower image G _1. Horizontal axis represents the remaining distance S in FIG. 2F, the vertical axis indicates the length Z of the lower image G _1. As shown in FIG. 2F, the display setting data 30b, to be shorter as the remaining distance S decreases, the length Z of the upper image G ₂ are defined. The control unit 20 is provided above the length ratio of the sides of the lower image G ₁ with respect to the height of the lower image G ₁ is less than a predetermined ratio (e.g., 0.5) and so as to lower the image G ₁ above the by setting the length of a side, linear under image G ₁ in the longitudinal direction of the front image, and the isosceles triangle shaped image.

Control unit 20 of the function of the display control unit 21b, by connecting the upper end of the lower image G ₁ (upper side) to the lower end of the upper image G _2, guide image and the first and second portions are connected G is generated. In the present embodiment, the control unit 20, and if the vehicle is running, in the case the vehicle is stopped, the different approaches the superimposed position of the lower end point of the lower image G ₁ of the guide image G in the front image Set.

(1-1) Stop determination:
The control unit 20 determines whether the vehicle is running or stopped by the function of the display control unit 21b. Specifically, the control unit 20 determines the vehicle speed based on the output signal of the vehicle speed sensor 42, and determines whether the vehicle is running or stopped by comparing the vehicle speed with a threshold value. Determined that the control unit 20 of the function of the display control unit 21b, the vehicle than the threshold value of the vehicle speed for determining that became stopped (first threshold value K ₁₎ from traveling, the vehicle is turned while traveling from stopped The vehicle speed threshold value (second threshold value K ₂ ) is set to a large value.

That is, the control unit 20 acquires the first threshold value K ₁ from the display setting data 30b in a period after it is determined that the vehicle is traveling, and determines whether or not the vehicle speed is greater than the first threshold value K _1. judge. Then, the control unit 20, in the period after it is determined that the vehicle is traveling, it is determined that when the vehicle speed is greater than the first threshold value K ₁ remains vehicle is traveling, the vehicle speed is first When the threshold value is ₁ or less, it is determined that the vehicle has been stopped since traveling.

On the other hand, the control unit 20 acquires the second threshold value K ₂ from the display setting data 30b in a period after it is determined that the vehicle is stopped, and determines whether or not the vehicle speed is larger than the second threshold value K _2. judge. Then, the control unit 20 determines that the vehicle has traveled from the stopped state when the vehicle speed is greater than the second threshold value K ₂ during the period after the vehicle is determined to be traveling, the vehicle speed is determined and when the second threshold value K ₂ or less remains the vehicle is stopped. The first threshold value K ₁ (for example, 0 km / h) and the second threshold value K ₂ (for example, 10 km / h) are recorded in the display setting data 30b. A vehicle speed zone (0 to 10 km / h) as a dead zone between the first threshold value K ₁ and the second threshold value K ₂ includes a vehicle speed zone that fluctuates within a predetermined period during a traffic jam, and is set based on experiments. Yes.

(1-2) Traveling display:
Regardless of whether or not the vehicle is traveling, the control unit 20 generates the guide image G including the lower image G ₁ , the upper image G _2, and the arrow portion G ₃ by the function of the display control unit 21b. However, the control unit 20 sets the size A of the upper image G ₂ and the length Z of the lower image G ₁ to different values depending on whether the vehicle is running or the vehicle is stopped. .

In FIG. 2D, it shows the size A of the upper image G ₂ when the vehicle is traveling in a solid line indicates the size A of the upper image G ₂ when the vehicle is stopped by a broken line. As shown in FIG. 2D, the control unit 20, when the vehicle is traveling, in any of the remaining distance S, than the size A of the upper image G ₂ when the vehicle is stopped, on the image G ₂ The size A is set small.

In FIG. 2F, the length Z of the lower image G ₁ when the vehicle is traveling is indicated by a solid line, and the length Z of the lower image G ₁ when the vehicle is stopped is indicated by a broken line. As shown in the figure, when the vehicle is traveling, the control unit 20 is lower than the length Z of the lower image G ₁ when the vehicle is stopped at any remaining distance S. Set the length Z of ₁ longer.

Next, the overlapping position of the guide image G when the vehicle is traveling will be described. With the function of the display control unit 21b, the control unit 20 acquires a first guide position that is a position in the front image corresponding to the registered position Q of the guidance intersection C when the vehicle is traveling, by superimposing the lower end point of the lower image G ₁ in the first guide position to be displayed on the display 45. Specifically, the control unit 20 acquires the first guide position in the front image corresponding to the registered position Q of the guidance intersection C in the real space based on the current position of the vehicle, the traveling direction, and the position conversion table 30c. . Control unit 20 of the function of the display control unit 21b, when the vehicle is traveling, by superimposing the lower end of the lower image G ₁ of the guide image G in a first guide position, above the upper end of the lower image G ₁ image By superimposing (connecting) to the lower end of G _2, the lower image G ₁ connects the first guide position and the upper image G _{2 in} the length direction of the lower image G ₁ .

As shown in FIG. 2A, the lower end point of the lower image G ₁ of the guide image G is superimposed on the first guide position W corresponding to the registered position Q in the front image, and the upper image G ₂ is overlapped by the lower image G ₁ . And the first guide position W are connected. FIG. 3A is a diagram illustrating a front image when a forward vehicle J as an obstacle exists between the vehicle and the guidance intersection C and the vehicle is traveling. In the case of FIG. 3A, since the first guide position W corresponding to the registered position Q is shielded by the image of the forward vehicle J, the first guide position W cannot be recognized as the position where the guidance intersection C exists. In this case, at least the lower image G ₁ is superimposed on the image of the forward vehicle J.

(1-3) Stopped display:
As described above, regardless of whether the vehicle is running, the control unit 20 of the function of the display control section 21b, the guide image G and a lower image G ₁ and the upper image G ₂ and the arrow portion G ₃ Is generated. As shown in FIG. 2D, the control unit 20, when the vehicle is stopped, in any of the remaining distance S, than the size A of the upper image G ₂ when the vehicle is running, on the image G ₂ The size A is set larger. Therefore, as indicated by a one-dot chain line in FIG. 2D, the control unit 20 uses the function of the display control unit 21 b to cause the upper image G ₂ when the vehicle is stopped from traveling during an arbitrary remaining distance S ₁ . Increase the size A. Further, as shown in FIG. 2F, the control unit 20, when the vehicle is stopped, in any of the remaining distance S, than the length Z of the lower image G ₁ in case the vehicle is running, the lower image G ₁ a length Z is set shorter. Accordingly, as indicated by the alternate long and short dash line in FIG. 2F, the control unit 20 uses the function of the display control unit 21b to cause the lower image G ₁ when the vehicle is stopped from traveling during an arbitrary remaining distance S ₁ . The length Z is reduced.

  Next, the overlapping position of the guide image G when the vehicle is stopped will be described. Due to the function of the display control unit 21b, the control unit 20 causes the obstacle existing between the vehicle and the guidance intersection C in the area where the image of the guidance intersection C is projected in the front image when the vehicle is stopped. The second guide position, which is a position in the non-shielded area that is not shielded by the image, is acquired, and the guide image G is superimposed on the second guide position and displayed on the display 45.

In the present embodiment, the function of the display control unit 21b allows the control unit 20 to identify a region where the image of the guidance intersection C is projected in the front image, and remove the obstacle image from the identified region, thereby blocking the image. Identify the area. First, the control part 20 specifies the area | region on the road surface of the guidance intersection C in real space based on the map information 30a. Specifically, the control unit 20 obtains the width of the exit road R _O of the entrance road R _I link data of the map information 30a, based on the width of the exit road R _O of approach road R _I The extension lines B ₁ and B _{2 on} both edges in the width direction of the approach road R _I and the extension lines B ₃ and B _{4 on} both edges in the width direction of the exit road R _O are specified. Then, the control unit 20 is a region surrounded by the extension lines B ₁ and B ₂ at both edges in the width direction of the approach road R _I and the extension lines B ₃ and B ₄ at both edges in the width direction of the exit road R _O. Is specified as a region on the road surface of the guidance intersection C.

Then, by the function of the display control unit 21b, the control unit 20 projects the area in the front image corresponding to the area on the road surface of the guidance intersection C in the real space, and the projection area T on which the image of the guidance intersection C is projected in the front image. As specified. In addition, the control part 20 specifies the area | region in the front image corresponding to the area | region on the road surface of the guidance intersection C in real space based on the present position of the vehicle, the advancing direction, and the position conversion table 30c. As shown in FIG. 3A, the projected area T of the image of the guidance intersection C is the image of the extended lines B ₁ and B ₂ of both edges in the width direction of the approach road R _I and the both edges in the width direction of the exit road R _O. The region is surrounded by the images of the extension lines B ₃ and B ₄ .

Next, the control unit 20 recognizes an obstacle image in the front image by the function of the display control unit 21b. In the present embodiment, the control unit 20 recognizes the image of the preceding vehicle J as an obstacle. A template image (not shown) obtained by photographing various vehicles from behind the vehicle body is recorded in the recording medium 30 in advance, and the control unit 20 performs an image of the preceding vehicle J by performing known template matching. recognize. Control unit 20, the projection region T of the image of the guide intersection C, and the area except that there is an image of a preceding vehicle J, specified as unshielded region T _V. For Figure 2A, because there is no image of the preceding vehicle J in front image, the whole of the projection area T of the image of the guidance intersection C is identified as a non-shielded region T _V. In the case of FIG. 3A, since the image of the preceding vehicle J overlaps with a part of the projected area T of the image at the guidance intersection C, the area where the image of the preceding vehicle J does not exist in the projection area T of the image at the guidance intersection C. It is specified as a non-shielding region T _V (cross hatching).

Further, the function of the display control unit 21b allows the control unit 20 to have the position in the front image corresponding to the registration position Q of the guidance intersection C (the first guidance position W when the vehicle is traveling). and it identifies the position of the non-shielded region T _V having the same, and acquires the position the specified as the second guide position V. Specifically, the control unit 20 generates a horizontal straight line n (a one-dot chain line in FIG. 3B) of the front image passing through the position in the front image corresponding to the registered position Q, and the non-shielding region of the straight line n. to obtain a lateral center position of the parts common to those in T _V as the second guide position V. Then, the control unit 20 of the function of the display control unit 21b, when the vehicle is stopped, is displayed on the display 45 by superimposing the lower end point of the lower image G ₁ of the guide image G to the second guide position V. Control unit 20 of the function of the display control unit 21b, when the vehicle is stopped, the lower end of the lower image G ₁ of the guide image G to the second guide position V superimposed over the upper end of the lower image G ₁ by superimposing (connected) to the lower end of the image G _2, it connects the second guide position V and the upper image G ₂ in the length direction of the lower image G ₁ by the lower image G _1.

FIG. 3B is a diagram illustrating a forward image when the forward vehicle J exists between the vehicle and the guidance intersection C and the vehicle is stopped. Further, it is assumed that the remaining distance S when the front images of FIGS. 3A and 3B are taken is the same. In FIG. 3B, the position of the front image corresponding to the registered position Q is shielded by the image of the preceding vehicle J, the position of the non-shielded region T _V which are not shielded by the image of the preceding vehicle J, guide The lower end point of the lower image G ₁ of the image G is superimposed. The control unit 20 may not necessarily get a lateral center position of the non-shielded region T _V as the second guide position V, in front image corresponding to the registered position Q in unshielded region T _V When the position exists, the position in the front image corresponding to the registered position Q may be acquired as the second guide position V. The control unit 20, to the position of the departing road R _O side end in the non-occluded area T _V may be acquired as the second guide position V, an image of the preceding vehicle J in the non-occluded area T _V The position of the opposite end may be acquired as the second guide position V.

In the embodiment described above, when the vehicle is traveling, the lower end point of the lower image G ₁ of the guide image G, the first guide position in front image corresponding to the registered position Q, which is registered in the map information 30a It is superimposed on W (FIG. 3A). Thereby, when the vehicle is traveling, the position where the guide image G is superimposed can be stabilized. Therefore, even when the vehicle is traveling and the period during which the driver can visually recognize the guidance image G is short, the driver can easily find the guidance image G in the front image. Further, when the vehicle is traveling, since the period during which the driver can visually recognize the guidance image G is short, even if the first guidance position W shielded by the image of the forward vehicle J is guided, it is strong. It can prevent a sense of incongruity.

On the other hand, when the vehicle is stopped, the period during which the driver can visually recognize the guidance image G becomes longer. Therefore, even if the position of the guidance image G changes depending on the positional relationship between the preceding vehicle J and the vehicle, The person can easily find the guide image G in the front image. Therefore, when the vehicle is stopped, by superimposing the bottom point of the lower image G ₁ of the guide image G to the second guide position V of the non-occluded area T _V which are not shielded by the image of the preceding vehicle J Even when the forward vehicle J exists, the position of the guidance intersection C can be easily recognized from the guidance image G (FIG. 3B). In addition, the control unit 20 determines that the vertical position of the front image is the same as the position in the front image corresponding to the registered position Q of the guidance intersection C (the first guide position W when the vehicle is traveling). obtaining a position in a T _V as the second guide position V. Therefore, when the vehicle becomes stopped from traveling, can be prevented that the position of the lower end point of the lower image G ₁ of the guide image G is changed in the longitudinal direction of the front image, improve the visibility of the guide image G Can be made.

Further, since the guidance image G includes the lower image G ₁ and the upper image G ₂ , the position of the guidance intersection C can be guided by the lower image G ₁ , and the exit road from which the vehicle should exit from the guidance intersection C The position of R _O can be guided by the upper image G ₂ . In particular, in the present embodiment, since the upper image G ₂ is superimposed at a higher position in the vertical direction of the front image than the lower image G _{1, the} region is unlikely to overlap with the image of the front vehicle J traveling on the road surface. it superimposes on the image G _2. Therefore, it is possible to prevent the upper image G ₂ and the image of the preceding vehicle J from overlapping and the visibility of the image of the preceding vehicle J from deteriorating.

Further, when the vehicle is traveling, the control unit 20 connects the first guide position W and the upper image G _{2 in} the length direction of the lower image G ₁ by the lower image G _1. And the position of the exit road R _O can be associated with each other and recognized by the driver. When the vehicle is stopped, the control unit 20 connects the second guide position V and the upper image G _{2 in} the length direction of the lower image G ₁ by the lower image G ₁ , and therefore the position of the guidance intersection C And the position of the exit road R _O can be associated with each other and recognized by the driver. Further, the control unit 20, when the vehicle becomes stopped from traveling, in order to shorten the length Z of the lower image G _1, guide the second guide position V which is not shielded by the front vehicle J intersection C When it becomes possible to guide as the position of the road, the correspondence between the position of the guidance intersection C and the position of the exit road R _O can be emphasized (FIG. 3A → FIG. 3B). In addition, the control part 20 shortens the length of the 1st part, so that the approach to the guidance intersection C becomes large in both the case where the vehicle is traveling and the case where the vehicle is stopped. . Thus, the greater the proximity to the guidance intersection C, it can be guided to emphasize the correspondence between the position of the guide intersection C between the position of the departing road R _O.

Further, the control unit 20, when the vehicle becomes stopped from traveling, increasing the size of the upper image G _2. Thus, when the vehicle is stopped from running, that is, when the second guide position V not shielded by the forward vehicle J can be guided as the position of the guidance intersection C, the exit road R _O Can be guided with emphasis (FIG. 3A → FIG. 3B).

Further, the control unit 20 uses a vehicle speed second threshold value for determining that the vehicle has traveled since being stopped, rather than a vehicle speed first threshold value K ₁ for determining that the vehicle has been stopped since traveling. Set K ₂ to a large value. As described above, when the dead zone is provided between the first threshold value K ₁ and the second threshold value K ₂ , the vehicle is running and stopped when the vehicle speed changes in small increments in the vehicle speed zone corresponding to the dead zone. It is possible to prevent the determination result of which one of the above from changing in small increments. Therefore, it is possible to prevent the position of the lower end point of the lower image G ₁ of the guide image G guide image G guides fluctuates between a first guide position W and the second guide position V, and visibility of the guide image G Can be improved.

(2) Location guidance processing:
FIG. 4 is a flowchart of the position guidance process. The position guidance process is a process for updating the display on the display 45 every time the latest front image is taken. First, the control unit 20 acquires a front image (step S100). That is, the control unit 20 acquires the latest front image. Next, the control part 20 acquires vehicle information (step S110). Specifically, the control unit 20 acquires the current position of the vehicle, the traveling direction, and the vehicle speed.

Next, the control part 20 acquires the registration position Q of the guidance intersection C and the remaining distance S from the vehicle to the guidance intersection C by the function of the registration position acquisition part 21a (step S115). That is, the control unit 20 determines that the vehicle will travel next on the planned travel route at an intersection where the absolute value of the turning angle E, which is an angle formed by the exit direction F _O with respect to the approach direction F _I , is equal to or greater than a threshold value. A guidance intersection C is acquired. Then, the control unit 20 acquires the position of the node corresponding to the guidance intersection C as the registered position Q. Further, the control unit 20 acquires the straight line distance from the current position of the vehicle to the registered position Q as the remaining distance S.

  Next, the control unit 20 determines whether or not the remaining distance S is equal to or less than a threshold value by the function of the display control unit 21b (step S120). That is, a point that is a threshold point before the guidance intersection C is a guidance start point for starting guidance for the guidance intersection C, and it is determined whether or not the vehicle has traveled through the guidance start point. The threshold value (for example, 300 m) is recorded on the recording medium 30.

  When it is not determined that the remaining distance S is equal to or less than the threshold (step S120: N), the control unit 20 causes the display 45 to display the front image by the function of the display control unit 21b (step S125). That is, the latest forward image is displayed on the display 45 without superimposing the guidance image G indicating guidance on the guidance intersection C on the forward image.

On the other hand, when it is determined that the remaining distance S is equal to or less than the threshold (step S120: Y), the control unit 20 determines whether the vehicle speed is higher than the threshold K by the function of the display control unit 21b. That is, the control unit 20 determines whether the vehicle is running or stopped. Control unit 20, when the vehicle is running, it is determined whether the vehicle speed is greater than the first threshold value K ₁ as the threshold value K, when the vehicle is stopped, as the threshold value K It is determined whether the vehicle speed is greater than a second threshold value K ₂ (<K ₁ ).

When it is determined that the vehicle speed is greater than the threshold value K (step S130: Y), that is, when the vehicle is traveling, the control unit 20 uses the function of the display control unit 21b to guide the control image 20 when the vehicle is traveling. Are set (step S135). That is, the control unit 20 sets the overlapping position of the lower end point of the lower image G ₁ of the guide image G to the first guide position W, and sets the size A of the upper image G ₂ and the length Z of the lower image G _1. Set each. Specifically, the control unit 20 determines the position (first guide position W in the front image) corresponding to the registration position Q of the guidance intersection C in the real space based on the current position of the vehicle, the traveling direction, and the position conversion table 30c. ) And the first guide position W is set as the superimposed position of the lower end point of the lower image G ₁ of the guide image G.

The control unit 20 is a display setting data 30b, the vehicle is defined as the size of the upper image G ₂ A (Figure 2D solid line) when the vehicle is running, and, associated with the current remaining distance S The size A of the upper image G ₂ is set. Further, the control unit 20, the display setting data 30b, is defined as the length of the lower image G ₁ Z (solid line in FIG. 2F) when the vehicle is running, and, associated with the current remaining distance S The length Z of the lower image G ₁ is set. Then, the control unit 20 records the overlapping position of the lower end point of the lower image G ₁ of the guide image G, the size A of the upper image G ₂ , and the length Z of the lower image G _{1 set} as described above. To record.

Next, the control unit 20 of the function of the display control unit 21b sets the first threshold value K ₁ to the threshold value K (step S140). Thus, in the next step S130, by using the first threshold value K ₁ is smaller than the second threshold value K _2, the vehicle is that which of stopping the running is determined. That is, when the vehicle is traveling, the first threshold value K ₁ is set as the threshold value K, and the first threshold value K ₁ is set as the threshold value K for determining that the vehicle has stopped from traveling. It will be.

Next, the control unit 20 generates a guide image G by the function of the display control unit 21b, and displays a front image on which the guide image G is superimposed on the display 45 (step S145). First, the control unit 20 acquires the overlapping position of the lower end point of the lower image G ₁ of the guide image G recorded on the recording medium 30, the size A of the upper image G ₂ , and the length Z of the lower image G _1. . Then, the control unit 20 displays an upper image G ₂ including an arrow portion G _{3 in} which the exit portion O (center line o) is inclined by the turning angle E of the vehicle at the guidance intersection C with respect to the entrance portion I (center line i). and it generates and converts the on image G ₂ in size a of the image G ₂ on acquired from the recording medium 30. The control unit 20 generates a lower image G ₁ length Z obtained from the recording medium 30, by connecting the upper end of the lower image G ₁ to the lower end of the upper image G _2, first portion and the second A guide image G in which the portions are connected is generated. Then, the control unit 20, the superimposed position of the lower end point of the lower image G ₁ of the guide image G acquired from the recording medium 30 (the first guide position W), the lower end point of the lower image G ₁ of the guide image G is superimposed As shown, the guide image G is superimposed on the front image. Further, the control unit 20 causes the display 45 to display a front image on which the guide image G is superimposed.

By repeatedly executing the above processing (steps S100 to S120, S130 to S145), when the vehicle is traveling, the first guide position W in the front image corresponding to the registered position Q of the guidance intersection C is obtained. The guide image G can be superimposed on the front image so that the lower end point of the lower image G ₁ of the guide image G is superimposed (FIGS. 2A and 3A).

On the other hand, when it is not determined that the vehicle speed is greater than the threshold value K (step S130: N), that is, when the vehicle is stopped, the control unit 20 uses the function of the display control unit 21b to cause the control unit 20 to stop. Various settings of the guide image G are performed (step S150). That is, the control unit 20 sets the overlapping position of the lower end point of the lower image G ₁ of the guide image G to the second guide position V, and sets the size A of the upper image G ₂ and the length Z of the lower image G _1. Set each. Specifically, the control unit 20 is surrounded by extension lines B ₁ and B ₂ at both edges in the width direction of the approach road R _I and extension lines B ₃ and B ₄ at both edges in the width direction of the exit road R _O. Is specified as a region on the road surface of the guidance intersection C (FIG. 2B). Next, the control unit 20 specifies a region in the front image corresponding to a region on the road surface of the guidance intersection C in the real space as a projection region T on which the image of the guidance intersection C is projected in the front image. Further, the control unit 20 recognizes the image of the front vehicle J in the front image, and sets a region obtained by removing the region where the image of the front vehicle J exists from the projection region T of the image of the guidance intersection C as the non-shielding region T _V. Identify (Figure 3B). Then, the control unit 20, the lateral portion to generate a linear n transverse forward side image passes through the position in front image corresponding to the registered position Q, that overlaps with the non-shielded region T _V of the straight line n Is obtained as the second guide position V. Furthermore, the control unit 20 sets the second guide position V as a superimposed position of the lower end point of the lower image G ₁ of the guide image G.

The control unit 20 is a display setting data 30b, the vehicle is defined as the size of the upper image G ₂ A (Figure 2D dashed) when it is stopped, and, associated with the current remaining distance S The size A of the upper image G ₂ is set. Further, the control unit 20, the display setting data 30b, the vehicle is defined as the lower image G ₁ length Z (the dashed line in FIG. 2F) in the case is stopped, and, associated with the current remaining distance S The length Z of the lower image G ₁ is set. Then, the control unit 20 records the overlapping position of the lower end point of the lower image G ₁ of the guide image G, the size A of the upper image G ₂ , and the length Z of the lower image G _{1 set} as described above. To record.

Next, the control unit 20 of the function of the display control unit 21b sets the second threshold value K ₂ to the threshold value K (step S155). Thus, in the next step S130, by using the second threshold value K ₂ greater than the first threshold value K _1, the vehicle is that which of stopping the running is determined. That is, when the vehicle is stopped, the second threshold value K ₂ is set as the threshold value K, and the second threshold value K ₂ is set as the threshold value K for determining that the vehicle has traveled from the stopped state. It will be.

Next, the control unit 20 generates a guide image G by the function of the display control unit 21b, and displays a front image on which the guide image G is superimposed on the display 45 (step S145). The process in step S145 when the vehicle is stopped is the same as the process in step S145 when the vehicle is running. However, the superimposed position of the lower end point of the lower image G ₁ of the guide image G acquired from the recording medium 30, the size A of the upper image G ₂ , and the length Z of the lower image G ₁ indicate that the vehicle is stopped. It differs depending on whether the vehicle is running. Therefore, when the vehicle is stopped, a guide image G is generated in which the size A of the upper image G ₂ is larger and the length Z of the lower image G ₁ is shorter than when the vehicle is traveling. . Further, when the vehicle is stopped, the image of the forward vehicle J in the projected area T of the image of the guidance intersection C, not the first guidance position W in the front image corresponding to the registration position Q of the guidance intersection C. the second guide position V in the non-shielding area T _V which is not shielded by the lower end point of the lower image G ₁ of the guide image G is superimposed.

By repeatedly executing the above processes (steps S100 to S120, S130, and S150 to S155), when the vehicle is stopped, the image of the preceding vehicle J is shielded from the projected area T of the image of the guidance intersection C. A forward image on which the guide image G is superimposed may be updated and displayed on the display 45 so that the lower end point of the lower image G ₁ of the guide image G is superimposed on the second guide position _V in the non-shielded area TV. Yes (FIG. 3B). Further, when the vehicle is stopped from running, the size A of the upper image G ₂ can be increased and the length Z of the lower image G ₁ can be shortened (FIG. 3A → FIG. 3B).

(3) Other embodiments:
However, depending on the positional relationship between the vehicle and the obstacle, assuming even when the non-shielded area T _V which is not shielded by the image of the preceding vehicle J out of the projection area T of the image of the guidance intersection C is divided into a plurality of regions Is done. For example, as shown in FIG. 3C, it is assumed that non-shielding regions T _V1 and T _V2 (cross hatching) exist on both the left and right sides of the image of the obstacle (front vehicle J) in the front image. In preparation for such a case, the following configuration may be adopted. That is, the function of the display control unit 21b allows the control unit 20 to stop the vehicle and to have non-shielding areas T _V1 and T _{V2 on} both the left and right sides of the image of the obstacle (the front vehicle J) in the front image. In this case, the second guide position V in the non-shielded area T _V1 on the exit road R _O side of the non-shielded areas T _V1 and T _V2 is acquired, and the lower end point of the lower image G ₁ of the guide image G is set to the second The information may be displayed on the display 45 so as to be superimposed on the guide position V. Thereby, the position in the non-shielding area T _V2 on the opposite side to the exit road R _O among the non-shielding areas T _V1 and T _V2 existing on both the left and right sides of the obstacle image is guided as the position of the guidance intersection C. The guidance image G and the position of the exit road R _O indicated thereby in the front image can be easily associated with each other.

Furthermore, when the non-shielding region T _V is divided into a plurality of regions, it is assumed that the areas of the individual non-shielding regions T _V1 and T _V2 become so small that it is difficult to view. For example, as shown in FIG. 3D, it is assumed that the area of the non-shielding region T _V2 on the exit road (right turn road) R _O side is so small that it is difficult to visually recognize. In preparation for such a case, the following configuration may be adopted. That is, by the function of the display control unit 21b, the control unit 20 is stopping the vehicle, the non-shielding areas T _V1 and T _V2 exist on both the left and right sides of the image of the obstacle (the front vehicle J) in the front image, and exits. less than road R _O side of the non-area shielding region T _V2 threshold, and, when the area of the exit road R _O opposite to the unshielded region T _V1 is equal to or greater than the threshold, opposite to the departing road R _O the acquired second guide position V of the non-occluded area T _V1, may be displayed on the display 45 by superimposing the lower end point of the lower image G ₁ of the guide image G to the second guide position V. Accordingly, when the vehicle is stopped, the visibility can be prevented from guiding the position of the guide intersection C of the non-occluded area T _V2 difficult departing road R _O side, recognizing the position of the guide intersection C It can be prevented from becoming impossible. Since the area of the image that is difficult to view depends on the color and brightness of the image, the threshold value may be recorded on the recording medium 30 for each time zone and weather.

With the function of the registered position acquisition unit 21a, the control unit 20 may acquire the registered position Q via communication from another device (such as a server) that records the map information 30a. The registered position Q does not necessarily have to be a position registered as the position of the guidance object in the map information 30a, and may be a position that can be derived based only on the data registered in the map information 30a. For example, the control unit 20, based on the width of the road indicated by the link data of the map information 30a, and identifies a region on the road surface of the approach road R _I and departing road R _O guide and overlap intersection C, the guide The center of gravity of the area on the road surface at the intersection C may be derived as the registered position Q. The registered position Q may not be the center position of the area where the approach road R _I and the exit road R _O overlap, and is opposed to the approach road R _I and the exit road R _O , and the vehicle traveling on these. Then, it may be the center position D (FIG. 2B) of the region where the opposite road where the vehicle travels intersects. The guidance object may be a feature that serves as a guideline for determining the course of the vehicle, and may be a feature (a building, a signboard, or the like) that exists at a destination point or a waypoint on the planned travel route. Further, the guidance object may be a feature (such as a closed lane or an accident vehicle) existing at a point where the vehicle should avoid traveling.

Further, the guide image G may be a dot image existing at the first guide position or the second guide position, or a linear image having a tip or a bending point at the first guide position or the second guide position. It may be an image. The guide image G does not necessarily include the second part (upper image G ₂ ) that guides the position of the exit road R _O. Further, the control unit 20 determines whether the vehicle is traveling or stopped based on the traveling state (acceleration, angular acceleration, change in position) of the vehicle other than the vehicle speed by the function of the display control unit 21b. Alternatively, it may be determined whether the vehicle is running or stopped based on the operation state of the vehicle (accelerator operation, brake operation, steering operation, etc. Of course, the vehicle is running). The vehicle speed threshold value K may not be set differently depending on whether the vehicle is stopped.

Further, by the function of the display control unit 21b, the control unit 20 recognizes a part of the image of the guidance object projected without being blocked by the obstacle image in the front image by image recognition, and the recognized guidance. a portion of the image of the object may be specified as the non-shielded region T _V. For example, when the guidance object is a characteristic building having many feature points, the control unit 20 recognizes a part of the image of the guidance object projected without being blocked by the obstacle image. by recognized by, it may identify the unmasked areas T _V.

Further, the control unit 20 of the function of the display control unit 21b, when the vehicle becomes stopped from traveling, it is not necessary to shorten the length Z of the lower image G _1. For example, the control unit 20 may maintain the length Z of the lower image G ₁ at a constant length even when the vehicle is stopped from running. Similarly, the control unit 20, even if the stopped vehicle from traveling, may maintain a size A of the upper image G ₂ a certain size. Further, the control unit 20 may maintain the length Z of the lower image G _{1 at} a constant length regardless of the remaining distance S from the vehicle to the guidance intersection C, and the size A of the upper image G _2. You may maintain a fixed size.

  Displaying the guide image G on the display 45 while being superimposed on the front landscape may result in displaying the guide image G on the display 45 and consequently superimposing the guide image G on the front landscape. For example, the display 45 only needs to display at least the guide image G and may not display the front image. In other words, the display 45 may superimpose the guide image G on the actual front scenery viewed by the driver through the windshield of the vehicle. For example, the guide image G may be superimposed on the actual front landscape by making the display 45 a transflective type so that the actual front landscape can be seen through the display 45.

DESCRIPTION OF SYMBOLS 10 ... Navigation apparatus, 20 ... Control part, 21 ... Position guidance program, 21a ... Registration position acquisition part, 21b ... Display control part, 30 ... Recording medium, 30a ... Map information, 30b ... Display setting data, 30c ... Position conversion table , 41 ... GPS receiver, 42 ... vehicle speed sensor, 43 ... gyro sensor, 44 ... camera, 45 ... display, C ... guidance intersection, F _I ... approach direction, F _O ... exit direction, G ... guide image, G ₁ ... Lower image (first part), G ₂ ... Upper image (second part), I ... Entry part, J ... Front vehicle, K ... Threshold, P ... Current position, Q ... Registered position, R _I ... Entry road, R _O ... departing road, S ... remaining distance, T ... projection region, T _V ... unshielded areas, W ... first guide position, V ... second guide position.

Claims (8)

Registered position acquisition means for acquiring a registered position that is the position of the guidance object registered in the map information;
Display control means for displaying a guidance image for guiding the position of the guidance object on a display unit superimposed on a front landscape of the vehicle,
The display control means is connected to a first part for guiding the position of the intersection as the guidance object and a second part for guiding the position of the exit road on the planned travel route from which the vehicle exits the intersection. The guide image is superimposed on the front scenery and displayed on the display unit,
When the vehicle is traveling, a first guide position that is a position in the forward landscape corresponding to the registered position is acquired, and the first portion is superimposed on the first guide position on the display unit. Display
When the vehicle is stopped, it is not shielded by an obstacle image existing between the vehicle and the guidance object in the area in which the guidance object image is projected in the front landscape. Obtaining a second guide position, which is a position within a non-shielding region, and displaying the first portion on the display unit by superimposing the first part on the second guide position;
Position guidance system. When the vehicle is stopped and the non-shielding area is present on both the left and right sides of the obstacle image in the forward scenery, the display control means is provided on the exit road side of the non-shielding area. Obtaining the second guide position within the non-shielding region and superimposing the first portion on the second guide position to be displayed on the display unit;
The position guidance system according to claim 1 . The display control means is such that the vehicle is stopped, the non-shielding area exists on both the left and right sides of the obstacle image in the front landscape, and the area of the non-shielding area on the exit road side is less than a threshold value. And when the area of the unshielded area on the opposite side of the exit road is equal to or greater than the threshold value,
Obtaining the second guide position in the non-shielding area on the opposite side of the exit road, and displaying the first portion on the display unit by superimposing the first part on the second guide position;
The position guidance system according to claim 2 . The display control means has one end that is in a region where the image of the intersection is projected in the front landscape, and the other end that is connected to the second portion, and the exit road. The second portion indicating the position is superimposed on the front scenery and displayed on the display unit,
When the vehicle is traveling, the first portion connects the first guide position and the second portion in the length direction of the first portion by the first portion;
When the vehicle is stopped, the first portion connects the second guide position and the second portion in the length direction of the first portion,
When the vehicle is stopped from running, the length of the first portion is shortened.
Position guiding system according to any one of claims 1 to 3. The display control means increases the size of the second portion when the vehicle is stopped from running.
Position guiding system according to any one of claims 1 to 4. The display control means sets a vehicle speed threshold value for determining that the vehicle has been running since being stopped to a value greater than a vehicle speed threshold value for determining that the vehicle has been stopped since running. To
Position guiding system according to any one of claims 1 to 5. A registered position acquisition step of acquiring a registered position that is a position of the guidance object registered in the map information;
A display control step of displaying a guidance image for guiding the position of the guidance object on a display unit superimposed on a front landscape of the vehicle,
In the display control step, a first part for guiding the position of the intersection as the guidance object is connected to a second part for guiding the position of the exit road on the planned travel route from which the vehicle exits from the intersection. The guide image is superimposed on the front scenery and displayed on the display unit,
When the vehicle is traveling, a first guide position that is a position in the forward landscape corresponding to the registered position is acquired, and the first portion is superimposed on the first guide position on the display unit. Display
When the vehicle is stopped, it is not shielded by an obstacle image existing between the vehicle and the guidance object in the area in which the guidance object image is projected in the front landscape. Obtaining a second guide position, which is a position within a non-shielding region, and displaying the first portion on the display unit by superimposing the first part on the second guide position;
Location guidance method. A registered position acquisition function for acquiring a registered position that is a position of the guidance object registered in the map information;
Causing a computer to execute a display control function for displaying a guidance image for guiding the position of the guidance object on a display unit superimposed on a front landscape of the vehicle;
With the display control function, the computer guides the position of the intersection as the guidance object, and the second part guides the position of the exit road on the planned travel route from which the vehicle exits the intersection. The guide image to which is connected is superimposed on the front scenery and displayed on the display unit,
When the vehicle is traveling, a first guide position that is a position in the forward landscape corresponding to the registered position is acquired, and the first portion is superimposed on the first guide position on the display unit. Display
When the vehicle is stopped, it is not shielded by an obstacle image existing between the vehicle and the guidance object in the area in which the guidance object image is projected in the front landscape. Obtaining a second guide position, which is a position within a non-shielding region, and displaying the first portion on the display unit by superimposing the first part on the second guide position;
Location guidance program.

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