JP6131690B2 - Intersection guidance display system, method and program - Google Patents

Description

  The present invention relates to an intersection guidance display system, method, and program for displaying guidance about an intersection.

  A technique is known in which a reduced view is prepared for each of a plurality of intersections existing on a route, and the reduced views are displayed with their positions shifted in the order of passing through the intersections (see Patent Document 1). In Patent Document 1, by operating keys such as “forward” and “return”, it is possible to switch the intersection where the reduced view is displayed in the forefront.

JP 2004-117264 A

  However, in Patent Document 1, since a reduced view is prepared independently for each intersection, there is a problem that it is difficult to recognize the positional relationship between the intersections. On the other hand, if one reduced view including each intersection is displayed, the positional relationship between the intersections can be recognized. However, since the reduced map is not switched, there is a problem that whether or not the vehicle has passed through the intersection, and that the portion to be noted at present in the reduced map cannot be recognized.

  Providing a technology that can recognize the positional relationship between two intersections existing on a planned travel route and that can easily recognize a portion that is currently of interest.

  In order to achieve the above object, the intersection guidance display system of the present invention superimposes and displays an image representing a route figure along a planned travel route on a bird's eye view of a road including two intersections on the planned travel route. Display means for performing and a viewpoint setting means for setting the viewpoint of the bird's eye view. In the first period until the vehicle travels on the first intersection on the planned travel route, the viewpoint setting means sets the first route that is the route until the vehicle travels on the first intersection among the planned travel routes. The viewpoint of the bird's eye view is fixed to the first position set based on the first position. Further, the viewpoint setting means is configured such that, in the second period in which the vehicle travels between the first intersection and the second intersection on the scheduled travel route, the first intersection and the second intersection among the planned travel routes. The viewpoint of the bird's eye view is fixed at the second position set based on the second route that is a route between the intersections of the eyes.

  In the above configuration, since the bird's-eye view of the road including two intersections on the planned travel route is displayed in both the first period and the second period, the positional relationship between the two intersections can be easily recognized. Further, in the first period, the viewpoint of the bird's eye view can be fixed at the first position so that the portion to be noted in the first period can be easily recognized. In particular, since the first position is set based on the first route up to the first intersection, the viewpoint of the bird's-eye view can be fixed at a position where the first route during traveling is easily recognized. Similarly, in the second period, the viewpoint of the bird's eye view can be fixed at the second position so that the traveling second route can be easily recognized. Furthermore, since the viewpoint of the bird's eye view transitions between the first period and the second period, it can be intuitively recognized that the vehicle has traveled the first intersection.

  The display means can continuously guide the travel planned route including two intersections by the bird's eye view by superimposing the image representing the route graphic on the bird's eye view. For example, the display means displays two intersections when two intersections on the planned travel route exist within a predetermined distance, or when the vehicle travels within two predetermined intersections on the planned travel route. May be continuously guided by a bird's eye view. The planned travel route includes a first route that is a route up to traveling at the first intersection and a second route that is a route between the first intersection and the second intersection. The first intersection is an intersection where the vehicle is scheduled to travel first among the two intersections, and the second intersection is an intersection where the vehicle is scheduled to travel after the two intersections. . The first route and the second route may be roads on which the vehicle is scheduled to run, or recommended lanes among lanes on the road on which the vehicle is scheduled to run. Further, the route graphic may be a graphic indicating a road on which the vehicle is scheduled to travel, or a graphic indicating a recommended lane among the lanes constituting the road on which the vehicle is to travel. The route graphic may be a line graphic along a road or a recommended lane, and may be, for example, an arrow graphic.

  The first period is a period until the vehicle travels on the first intersection on the planned travel route, and starts at the time when the vehicle approaches the first intersection on the planned travel route within a predetermined distance. May be. Further, the first period may start at a time before a predetermined period with respect to the estimated time passing through the first intersection. On the other hand, the second period may be a period starting from the end of the first period.

  The first position may be a position set based on the first route, and may be the position of the viewpoint of the bird's-eye view that makes it easy to recognize the first route in the bird's-eye view. For example, the viewpoint setting unit may fix the viewpoint of the bird's eye view at a first position set at a position where the first path is more closely closed than the second path in the first period. Similarly, the viewpoint setting unit may fix the viewpoint of the bird's eye view at the second position set at a position where the second path is more closely closed than the first path in the second period. Fixing the viewpoint of the bird's eye view means that when the bird's eye view is drawn at a plurality of times in the first period or the second period, the position of the viewpoint of the bird's eye view at each time is not changed.

The viewpoint setting means may fix the viewpoint of the bird's eye view at a first position set above an extension line extending the first route to the rear side of the vehicle in the first period. Thereby, the bird's-eye view which looked at the 1st path | route from the back side in the 1st period can be displayed, and the 1st path | route which should be noted in the 1st period can be recognized easily. Further, the viewpoint setting means may fix the viewpoint of the bird's eye view at a second position set above an extension line extending the second route to the rear side of the vehicle in the second period.
Thereby, the bird's-eye view which looked at the 2nd path | route from the back side in the 2nd period can be displayed, and the 2nd path | route which should be noted in the 2nd period can be recognized easily.

  Further, the viewpoint setting means is configured such that the distance between the first intersection on the planned travel route and the second position is greater than the distance between the first intersection on the planned travel route and the first position in the first period. You may set a 2nd position so that only the travel distance of a vehicle may become short. Thereby, in the 2nd period, the bird's-eye view which looked at the road from the viewpoint closer to the 2nd course (the 1st intersection) than the 1st period can be displayed. Therefore, even if the viewpoint of the bird's eye view is fixed, the second route to be noticed in the second period can be easily recognized.

Further, the viewpoint setting means may fix the line-of-sight direction of the bird's eye view in the direction of the first route in the first period. Accordingly, the direction of the first route can appear in the depth direction in the bird's eye view in the first period, and the direction in which the vehicle should travel in the first period can be intuitively understood. Similarly, the viewpoint setting means may fix the line-of-sight direction of the bird's-eye view in the direction of the second route in the second period. Thereby, the direction of the second route can appear in the depth direction in the bird's-eye view in the second period, and the direction in which the vehicle should travel in the second period can be intuitively understood. The direction of the route means a traveling direction of the vehicle on the route, and may be an average traveling direction of the vehicle on the route.

  In addition, the viewpoint setting means gradually determines the viewpoint of the bird's eye view from the first position toward the second position in the period immediately after the vehicle travels the first intersection on the planned travel route in the second period. It may be moved. Thereby, in the period immediately after driving | running | working the 1st intersection, it can prevent that the viewpoint of a bird's-eye view changes rapidly, and can recognize that the bird's-eye view changes continuously. That is, it can be recognized that the same planned travel route is continuously guided in the first period and the second period.

  Further, the display unit may set a route graphic having a fixed shape on a road including two intersections on the planned travel route, and may superimpose and display an image representing the route graphic on the bird's eye view. By making the route graphic a fixed shape, it can be recognized that the same planned travel route is continuously guided even if the viewpoint moves between the first period and the second period. Note that the path graphic having a fixed shape means that the shape of the path graphic is not changed at least over the entire period of the first period and the second period.

  Further, the display means may set a marker representing the position of the vehicle on the route graphic and superimpose and display an image representing the route graphic and the marker on the bird's eye view. Thereby, even if the viewpoint of the bird's-eye view is fixed, the degree of progress of the vehicle on the planned travel route can be recognized in the bird's-eye view. Further, even when the shape of the route graphic is fixed without changing the shape of the route according to the position of the vehicle, the degree of progress of the vehicle on the planned travel route can be recognized in the bird's eye view.

  The display means includes display data including viewpoint data indicating the first position, shape data indicating the shape of the road including two intersections on the planned travel route, and route data indicating the first route and the second route. The image data may be acquired and an image representing the path graphic may be superimposed and displayed on the bird's eye view based on the display data. That is, when traveling on a planned travel route including two intersections, the display means may acquire viewpoint data, shape data, and route data. By obtaining route data indicating the first route and the second route, the display means can set a route graphic. Further, when setting the vehicle marker, the display means can easily set the vehicle marker on the first route or the second route based on the route data. The display means can generate a bird's-eye view representing the shape of the road by acquiring the shape data. The display data may be prepared on a recording medium or the like before the timing so that the vehicle can be acquired before the timing when the vehicle travels on the planned travel route including two intersections.

  Furthermore, the method of guiding a route passing through a plurality of intersections as in the present invention can also be applied as a program or 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. It is a top view of the road containing a driving planned route. 3A to 3C are views showing bird's-eye views. It is a flowchart of an intersection guidance display process.

Here, embodiments of the present invention will be described in the following order.
(1) Configuration of navigation device:
(2) Intersection guidance display processing:
(3) Other embodiments:

(1) Configuration of navigation device:
FIG. 1 is a block diagram showing a configuration of a navigation device 10 as an intersection guidance display system according to an embodiment of the present invention. The navigation device 10 is provided in the vehicle V. 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, polygon data 30b, and display data D. The map information 30a includes node data for specifying the position of the node corresponding to the end point (intersection) of the road, link data indicating the road between the nodes, and a shape interpolation point for specifying the shape of the road between the nodes. Includes data. The link data includes information indicating the length of the road (link length) and lane information (lane number, lane position, lane width, etc.) regarding the lane on the road. The node data includes information indicating a lane connection relationship between roads connected at an intersection. The polygon data 30b includes polygon data representing the shape of a road or the like existing on the ground and the shape of the ground. The control unit 20 generates a three-dimensional map composed of the ground, roads and the like based on the polygon data. In this specification, the expression “position, direction, and distance” means a position, direction, and distance in the horizontal direction unless otherwise specified.

The vehicle V includes a GPS receiver 41, a vehicle speed sensor 42, a gyro sensor 43, and a display 45. The GPS receiving unit 41 receives radio waves from GPS satellites and outputs a signal for calculating the current position of the vehicle V to the control unit 20 via an interface (not shown). The vehicle speed sensor 42 outputs a signal corresponding to the rotational speed of the wheels included in the vehicle V to the control unit 20. The gyro sensor 43 outputs a signal corresponding to the angular acceleration acting on the vehicle V to the control unit 20. Then, the control unit 20 sets a plurality of comparison target roads on which the vehicle V can exist based on the self-contained navigation information based on the signals output from the vehicle speed sensor 42 and the gyro sensor 43 and the map information 30a, and the GPS receiving unit 41 The roads to be compared are narrowed down based on the error circle of the GPS signal acquired in step (1). And the control part 20 performs the map matching process which pinpoints the road with the most similar shape as a self-contained navigation locus among the narrowed down comparison object roads as the traveling road which is the road on which the vehicle V is traveling, and The current position of the vehicle V is specified in the horizontal direction and the vertical direction on the traveling road specified by the matching process. Furthermore, the control unit 20 specifies the current traveling direction of the vehicle V based on the signal from the gyro sensor 43, the locus of the current position, and the like.
The display 45 is a display device that displays a bird's eye view and other navigation images.

The control unit 20 executes an intersection guidance display program 21. The intersection guidance display program 21 includes a display unit 21a and a viewpoint setting unit 21b.
The display unit 21a is a module that causes the control unit 20 to execute a function of superimposing and displaying an image representing a route graphic along the planned travel route on a bird's eye view of a road including two intersections on the planned travel route. . With the function of the display unit 21 a, the control unit 20 acquires a search route (not shown) searched in advance by a known route search method from the recording medium 30. The searched route is constituted by a series of roads (links) connected at intersections (nodes). With the function of the display unit 21a, the control unit 20 obtains a recommended lane that is a lane that the vehicle should travel on each of the roads constituting the searched route by a known method. And the control part 20 acquires the path | route which connected the recommended lane in each road on a search path | route as a driving planned path | route.

  FIG. 2 is a plan view of a road including a planned travel route. In the figure, it is assumed that the vehicle V is traveling upward. The search route includes a road W1 composed of four lanes, a road W2 composed of two lanes (left side), and a road W3 composed of one lane (leftmost) in order from the bottom. Is included. It is assumed that the destination can be reached by traveling on the road W3. The lane on the left side of the road W2 connected to the road W3 is the recommended lane Z2. Similarly, the leftmost lane of the road W1 connected to the recommended lane Z2 on the left side of the road W2 is the recommended lane Z1. The only lane constituting the road W3 is the recommended lane Z3. Therefore, in FIG. 2, the planned travel route is constituted by recommended lanes Z1 to Z3. In this embodiment, the position where the center lines in the width direction of the recommended lanes Z1 to Z3 constituting the planned travel route are defined as the position of the intersection.

  Based on the node data and the link data of the map information 30a, the control unit 20 acquires the recommended lanes Z1 to Z3 in order of the roads closest to the destination among the roads W1 to W3 constituting the searched route based on the function of the display unit 21a. As a result, a planned travel route composed of a series of recommended lanes Z1 to Z3 is acquired. By the function of the display unit 21a, the control unit 20 acquires a road W2 having a length (link length) equal to or less than a threshold (for example, 300 m) among the roads W1 to W3 on the searched route, and configures both ends of the road W2. Proximity intersections C1 and C2 (white circles) that are intersections on the searched route are acquired. That is, the control unit 20 acquires two intersections whose distance on the planned travel route is equal to or less than the threshold value as the adjacent intersections C1 and C2.

  By the function of the display unit 21a, the control unit 20 causes the vehicle V to be predetermined with respect to the first adjacent intersection C1 (intersection far from the destination and where the vehicle V is scheduled to travel first) among the adjacent intersections C1 and C2. When approaching within a reference distance L (for example, 300 m), viewpoint data indicating the first position, and shape data indicating the shapes of the roads W1 to W3 including the two adjacent intersections C1 and C2 on the planned travel route, And display data D including route data indicating the first route and the second route.

  The first route R1 is a route to the first adjacent intersection C1 in the planned traveling route, and is within the reference distance L from the first adjacent intersection C1 in the recommended lane Z1 of the road W1 in FIG. This is a portion (a chain line (a center line in the width direction)). Therefore, the case where the vehicle V approaches the first adjacent intersection C1 within the predetermined reference distance L means the case where the vehicle V is traveling on the first route R1. The second route R2 is a route between the first adjacent intersection C1 and the second adjacent intersection C2 in the planned traveling route, and the recommended lane Z2 (two-dot chain line ( The center line in the width direction)). The control unit 20 indicates the first route R1 and the second route R2 based on the shape of the roads W1 and W2 indicated by the shape interpolation point data and the number, position, and width of the lane indicated by the lane information of the link data. Data is generated, and display data D including the route data is recorded on the recording medium 30. The control unit 20 generates shape data by extracting data representing the roads W1 to W3 having at least one of the two adjacent intersections C1 and C2 from the polygon data 30b, and displays the shape data. The data D is recorded on the recording medium 30.

  The viewpoint data is data indicating the first position S1 and the first line-of-sight direction U1. The first position S1 is a position set above an extension line E2 that extends the first route R1 to the rear side of the vehicle V. The control unit 20 generates an extension line E1 obtained by extending a straight line connecting the first adjacent intersection C1 and the end point C0 (double circle) on the rear side of the first route R1 to the end point C0 side. Then, the control unit 20 acquires a position on the extension line E1 where the distance from the first adjacent intersection C1 is a distance (L + B) obtained by adding a predetermined backward distance B (for example, 200 m) to the reference distance L. Then, a position vertically above the reference height (for example, 50 m) from the acquired position is acquired as the first position S1. In addition, the control unit 20 acquires a direction from the first position S1 toward the first adjacent intersection C1 as the first line-of-sight direction U1. The first line-of-sight direction U1 from the first position S1 toward the first adjacent intersection C1 means an average traveling direction of the vehicle V on the first route R1. The control unit 20 determines the positions of the adjacent intersections C1 and C2 on the center line in the width direction of the first route R1 and the second route R2 based on the route data indicating the first route R1 and the second route R2. Identify. The control unit 20 generates viewpoint data indicating the first position S1 and the first line-of-sight direction U1, and records the viewpoint data on the recording medium 30.

  When the vehicle V approaches the first adjacent intersection C1 to within the reference distance L, it is sufficient if the display data D including the viewpoint data, the shape data, and the route data can be acquired. The display data D may be recorded on the recording medium 30 before the timing when the vehicle V approaches the first proximity intersection C1 to within the reference distance L. In the present embodiment, when the search route is searched, the control unit 20 records the display data D in the recording medium 30 for each combination of the adjacent intersections C1 and C2 on the search route.

  Due to the function of the display unit 21a, the control unit 20 is in a period from when the vehicle V approaches the first adjacent intersection C1 to within the reference distance L until the vehicle V passes the second adjacent intersection C2. Based on the shape data of the display data D, a bird's-eye view of the roads W1 to W3 including two adjacent intersections C1 and C2 on the planned travel route is drawn. Further, the control unit 20 superimposes an image representing the route graphic A along the planned travel route on the bird's eye view by the function of the display unit 21a. Specifically, by the function of the display unit 21a, the control unit 20 sets a route graphic A having a fixed shape on a road including two adjacent intersections C1 and C2 on the planned travel route, and the route graphic A on the bird's eye view. A superimposed image is displayed. That is, the control unit 20 sets a route graphic A having a fixed shape regardless of the current position of the vehicle V throughout the first period and the second period described later. The control unit 20 has a width equal to or slightly smaller than the width of the first route R1 and the second route R2 (recommended lanes Z1 and Z2) (for example, 80 to 90% of the width of the recommended lanes Z1 and Z2). A path graphic A is generated by generating a linear graphic and forming an arrow head at the destination side end of the graphic. And the control part 20 produces | generates the image which looked at the path | route figure A in the same gaze direction from the same viewpoint as a bird's-eye view, and superimposes the said image on a bird's-eye view. Details of the viewpoint of the bird's eye view will be described later.

  Further, by the function of the display unit 21a, the control unit 20 sets a marker M representing the position of the vehicle V on the route graphic A, and superimposes and displays an image representing the route graphic A and the marker M on the bird's eye view. With the function of the display unit 21a, the control unit 20 determines a position on the center line in the width direction of the planned travel route (first route R1, second route R2) that has the shortest distance from the current position of the vehicle V. Acquire and set an isosceles triangular marker M at the acquired position. At this time, the control unit 20 sets the marker M so that the apex angle faces the destination side, and the direction of the perpendicular bisector of the apex angle coincides with the direction of the center line in the width direction of the planned travel route. The marker M is set to With the function of the display unit 21a, the control unit 20 generates an image in which the path graphic A and the marker M are viewed from the same viewpoint as the bird's-eye view, and superimposes the image on the bird's-eye view.

  The viewpoint setting unit 21b is a route until the vehicle travels on the first adjacent intersection C1 among the planned travel routes in the first period until the vehicle travels on the first adjacent intersection C1 on the planned travel route. This is a module that causes the control unit 20 to execute the function of fixing the viewpoint of the bird's eye view at the first position S1 set based on a certain first route R1. Specifically, the control unit 20 fixes the viewpoint of the bird's eye view at the first position S1 indicated by the viewpoint data of the display data D in the first period in which the vehicle V travels the first route R1 by the function of the viewpoint setting unit 21b. To do. That is, by the function of the viewpoint setting unit 21b, the control unit 20 fixes the viewpoint of the bird's eye view at the first position S1 set above the extension line E1 extending the first route R1 to the rear side of the vehicle in the first period. To do.

  Further, the control unit 20 fixes the line-of-sight direction of the bird's-eye view in the direction of the first route R1 in the first period by the function of the viewpoint setting unit 21b. Specifically, by the function of the viewpoint setting unit 21b, the control unit 20 causes the bird's-eye view in the horizontal direction in the first viewing direction U1 indicated by the viewpoint data of the display data D in the first period in which the vehicle V travels the first route R1. The viewing direction of the bird's eye view in the vertical direction is fixed so as to be a predetermined reference depression angle. In the present embodiment, the reference depression angle is set to an angle at which the image of the second adjacent intersection C2 is projected at a predetermined height in the vertical direction of the bird's eye view (a position lower than the horizon) in the first period. Thereby, the image of the second adjacent intersection C2 can be included in the bird's-eye view.

  In addition, the control part 20 makes the timing when the vehicle V approached within the reference distance L with respect to the 1st proximity | contact intersection C1 as the beginning of the 1st period. In the present embodiment, since the length of the first route R1 is the reference distance L, the fact that the vehicle V approaches the first adjacent intersection C1 to within the reference distance L indicates that the vehicle V is the first route R1. Means traveling. Specifically, the control unit 20 determines that the position on the center line in the width direction of the recommended lane Z1 including the first route R1 has the shortest distance from the current position of the vehicle V on the rear side of the first route R1. The timing at which the end point C0 is passed is the start of the first period. Further, the control unit 20 first sets the timing at which the position where the distance from the current position of the vehicle V is the shortest among the positions on the center line in the width direction of the first route R1 passes the first adjacent intersection C1. The end of the period.

  As described above, by fixing the viewpoint of the bird's eye view at the first position S1 in the first period and fixing the line of sight direction in the horizontal direction to the first line of sight direction U1, the bird's eye view is constant in the first period. It becomes an image. However, in the bird's eye view, the position and direction of the image representing the marker M change according to the current position of the vehicle V.

FIG. 3A is a bird's-eye view displayed on the display 45 in the first period. 2 shows the position of the vehicle V at a plurality of time T _1-1 through T _1-5 belonging to the first period (the width direction of the center line position of the closest first route R1 to the current position) in broken arrows . Further, in FIG. 3A, the marker M, which is set to the position of the vehicle V at a plurality of time T _1-1 through T _1-5 belonging to the first period is shown. For the sake of explanation, the marker M at a plurality of times T _{1-1 to} T _1-5 is shown, but in reality, one marker M corresponding to the current time is shown (in FIG. 3B). the same). As shown in FIG. 3A, in the first period, the position of the marker M representing the position of the vehicle V changes, while the images of the roads W1 to W3 and the route graphic A in the bird's eye view do not change. This is because, in the first period, the path graphic A has a fixed shape, and the viewpoint and line-of-sight direction of the bird's eye view are fixed.

  By the function of the viewpoint setting unit 21b, the control unit 20 causes the vehicle to travel among the planned travel routes in the second period in which the vehicle travels between the first adjacent intersection C1 and the second adjacent intersection C2 on the planned travel route. The viewpoint of the bird's eye view is fixed at the second position S2 set based on the second route R2 that is the route between the first adjacent intersection C1 and the second adjacent intersection C2. Specifically, by the function of the viewpoint setting unit 21b, the control unit 20 causes the viewpoint of the bird's eye view to be set at the second position S2 set above the extension line E2 extending the second route R2 to the rear side of the vehicle in the second period. To fix. More specifically, based on the function of the viewpoint setting unit 21b, the control unit 20 determines a straight line connecting the first adjacent intersection C1 and the second adjacent intersection C2 based on the route data of the display data D as 1 An extension line E2 extending toward the first adjacent intersection C1 is generated, and a position vertically above the reference height from the position on the extension line E2 is set as the second position S2.

  Further, by the function of the viewpoint setting unit 21b, the control unit 20 determines that the distance between the first adjacent intersection C1 on the planned travel route and the second position S1 is the same as that of the first adjacent intersection C1 on the planned travel route. The second position S2 is set so as to be shorter than the distance from the first position S1 by the travel distance of the vehicle in the first period. The travel distance of the vehicle V in the first period can be considered to coincide with the length of the first route R1 on which the vehicle V travels in the first period, that is, the reference distance L. The distance from the first adjacent intersection C1 to the first position S1 is a distance (L + B) obtained by adding the backward distance B to the reference distance L. Accordingly, the control unit 20 acquires a position on the extension line E2 where the distance from the first adjacent intersection C1 is the backward distance B (= L + B−L), and the vertical direction is the reference height from the acquired position. The upper position is set as the second position S2.

  Further, the control unit 20 fixes the line-of-sight direction of the bird's eye view in the direction of the second route R2 by the function of the viewpoint setting unit 21b. Specifically, the control unit 20 acquires the direction from the second position S2 toward the first adjacent intersection C1 as the second line-of-sight direction U2, and fixes the line-of-sight direction of the bird's eye view in the horizontal direction to the second line-of-sight direction U2. To do. Further, by the function of the viewpoint setting unit 21b, the control unit 20 maintains the reference depression angle set so that the image of the second adjacent intersection C2 is projected at a predetermined height in the vertical direction of the bird's-eye view in the first period. In the second period, the viewing direction of the bird's eye view in the vertical direction is fixed. In the present embodiment, the height of the viewpoint of the bird's eye view is the same and the depression angle is the same in the first period and the second period. However, the height and depression angle of the viewpoint of the bird's eye view may be different between the first period and the second period. Here, the direction from the second position S2 toward the first adjacent intersection C1 is a direction of a straight line connecting the adjacent intersections C1 and C2 constituting both ends of the second route R1, and the second line-of-sight direction U2 is the second line-of-sight direction U2. It means the average traveling direction of the vehicle V on the route R1.

  In addition, the control part 20 passes the 1st adjacent intersection C1 in the position on the center line of the width direction of 1st path | route R1 and 2nd path | route R2 in which the distance from the present position of the vehicle V becomes the shortest. This timing, that is, the end of the first period is set as the start of the second period. Furthermore, the control unit 20 sets the second timing when the position where the distance from the current position of the vehicle V is the shortest among the positions on the center line in the width direction of the second route R2 passes the second adjacent intersection C2. The end of the period.

FIG. 3B is a bird's-eye view displayed on the display 45 in the second period. In FIG. 2, the position of the vehicle V (a position on the second route R2 closest to the current position) at a plurality of times T _{2-1 to} T _2-5 belonging to the second period is indicated by a broken line arrow. Moreover, in FIG. 3B, the marker M set to the position of the vehicle V at a plurality of times T _{2-1 to} T _2-5 belonging to the second period is shown. As shown in the figure, in the second period, the position and direction of the marker M representing the position of the vehicle V change, while the images of the roads W1 to W3 and the route graphic A in the bird's eye view do not change. This is because, in the second period, the path graphic A has a fixed shape, and the viewpoint and line-of-sight direction of the bird's eye view are fixed.

With the function of the viewpoint setting unit 21b, the control unit 20 causes the second position to move from the first position S1 to the second position in the movement period immediately after the vehicle V travels the first adjacent intersection C1 on the planned travel route. The viewpoint of the bird's eye view is moved stepwise toward S2. Specifically, by the function of the viewpoint setting unit 21b, the control unit 20 sets the period from the start of the second period to the elapse of a predetermined period in the second period as the movement period, and in the movement period, the first position S1 To the second position S2, the viewpoint of the bird's eye view is moved stepwise. That is, the control unit 20 moves the viewpoint of the bird's eye view instead of fixing the viewpoint of the bird's eye view during the movement period in the second period. As shown in FIG. 2, the control unit 20 generates a movement line X that continuously connects the first position S1 and the second position S2 by the function of the viewpoint setting unit 21b, and the movement line X is set to a predetermined number of divisions. (N-1) division positions S _{T-1 to} S _T-4 are set as boundary points of a section equally divided by N (for example, 5). Then, the control unit 20, in the moving period, sequentially select the dividing position S _T-1 ~S _T-4 closer to the first position S1, the bird's eye view on the split position S _T-1 ~S _T-4 was the selected Set the viewpoint. When the bird's _- eye view viewpoint is set at the division position ST _-4 closest to the second position S2, the control unit 20 ends the movement period and fixes the bird's-eye view viewpoint at the second position S2. In the present embodiment, the control unit 20 generates the arc-shaped movement line X, but the shape of the movement line X is not particularly limited. The movement line X may be linear or polygonal. For example, the movement line X includes a line segment of the extension line E1 whose distance from the first position S1 is the reference distance L, an end point on the first adjacent intersection C1 side of the line segment, and the second position S1. You may comprise from the line to connect.

With the function of the viewpoint setting unit 21b, the control unit 20 causes the bird's-eye view to show the direction U _T from the divided positions S _{T-1 to} S _T-4 that set the viewpoint of the bird's-eye view toward the first adjacent intersection C1 during the movement period. Set as the viewing direction. FIG. 2 illustrates a direction U _T-3 from the division position S _T-3 toward the first adjacent intersection C1 toward the first adjacent intersection C1. The line-of-sight direction of the bird's-eye view in the movement period is the line-of-sight direction (second line-of-sight direction U2) of the bird's-eye view fixed in the second period step by step from the line-of-sight direction of the bird's-eye view fixed in the first period (first line-of-sight direction U1). ).
Further, the control unit 20 matches the height and the depression angle of the bird's-eye view in the movement period with the depression angle and the depression angle of the bird's-eye view in the first period.

FIG. 3C is a bird's-eye view displayed on the display 45 during the movement period. FIG. 3C is a bird's eye view displayed on the display 45 at time T _T-3 among the plurality of times T _{T-1 to} T _T-4 belonging to the movement period. That is, FIG. 3C is a bird's-eye view of the roads W1 to W3 from the divided position ST _-3 that is _third closest to the first position S1 among the divided positions ST _{-1 to} ST _-4 . In moving period, since the bird's eye view of the viewpoint and viewing direction in each of a plurality of time _{T T-1} ~T _T-4 are different, the road in the bird's-eye view in each of a plurality of time _{T T-1 ~T T-4} W1 The image of .about.W3 and path graphic A changes.

  In the configuration of the present embodiment described above, in order to display a bird's-eye view of the roads W1 to W3 including two adjacent intersections C1 and C2 on the planned travel route in both the first period and the second period, the two It is possible to easily recognize the positional relationship between the adjacent intersections C1 and C2. Further, in the first period, the viewpoint of the bird's eye view can be fixed at the first position S1 so that the first route R1 to be noted in the first period can be easily recognized. In particular, since the first position S1 is set based on the first route R1 up to the first adjacent intersection C1, the viewpoint of the bird's eye view can be fixed at a position where the first route R1 during traveling is easily recognized. Similarly, in the second period, the viewpoint of the bird's eye view can be fixed at the second position S2 so that the second route R2 to be noted in the second period can be easily recognized. Furthermore, since the viewpoint of the bird's eye view transitions between the first period and the second period, it can be intuitively recognized that the vehicle has traveled the first adjacent intersection C1.

  Further, by the function of the viewpoint setting unit 21b, the control unit 20 sets the first route R1 and the second route R2 above the extension lines E1 and E2 extending to the rear side of the vehicle in the first period and the second period, respectively. The viewpoints of the bird's eye view are fixed at the first position S1 and the second position S2. Thereby, the bird's-eye view which looked at the 1st course R1 from the back side in the 1st period can be displayed, and the 1st course R1 which should pay attention in the 1st period can be recognized easily. Similarly, a bird's-eye view of the second route R2 viewed from the rear side in the second period can be displayed, and the second route R2 to be noted in the second period can be easily recognized.

  Furthermore, the function of the viewpoint setting unit 21b allows the control unit 20 to set the distance between the first adjacent intersection C1 and the second position S1 to be greater than the distance between the first adjacent intersection C1 and the first position S1. The second position S2 is set so as to be shortened by the travel distance of the vehicle in one period. Thereby, in the second period, it is possible to display a bird's eye view viewed from a viewpoint closer to the second route R2 (first adjacent intersection C1) than in the first period (FIGS. 3A and 3B). Therefore, even if the viewpoint of the bird's eye view is fixed, the second route R2 to be noted in the second period can be easily recognized.

  Further, the control unit 20 fixes the line-of-sight direction of the bird's eye view in the directions of the first route R1 and the second route R2 in each of the first period and the second period by the function of the viewpoint setting unit 21b. Accordingly, the direction of the first route R1 can appear in the depth direction in the bird's eye view in the first period, and the direction in which the vehicle should travel in the first period can be easily understood intuitively. Similarly, the direction of the second route R2 can appear in the depth direction in the bird's-eye view in the second period, and the direction in which the vehicle should travel in the second period can be easily understood intuitively.

  Further, the control unit 20 moves the viewpoint of the bird's eye view stepwise from the first position S1 to the second position S2 in the movement period immediately after the vehicle V travels the proximity intersection C1 by the function of the viewpoint setting unit 21b. . Thereby, it can prevent that the viewpoint of a bird's-eye view changes rapidly from the 1st period to the 2nd period, and can recognize that the bird's-eye view changes continuously. That is, it can be recognized that the same planned travel route is continuously guided in the first period and the second period.

  Further, by making the route graphic A a fixed shape in the first period and the second period, even if the viewpoint moves between the first period and the second period, the same scheduled travel route continues. It can be recognized as being guided. Moreover, since the control part 20 sets the marker M showing the position of the vehicle V on the path | route figure A by the function of the display part 21a, even if the viewpoint of a bird's-eye view is fixed and the path | route figure A is a fixed shape. The state in which the vehicle V is traveling can be expressed in a bird's eye view.

  Further, the control unit 20 acquires the display data D including the viewpoint data, the shape data, and the route data when traveling on the planned travel route including the two adjacent intersections C1 and C2 by the function of the display unit 21a. By obtaining route data indicating the first route R1 and the second route R2, the control unit 20 can set the route graphic A. In displaying the marker M of the vehicle V, the control unit 20 can easily set the marker of the vehicle V on the first route R1 or the second route R2 based on the route data. Moreover, the control part 20 can produce | generate the bird's-eye view showing the shape of the roads W1-W3 by acquiring shape data.

(2) Intersection guidance display processing:
FIG. 4 is a flowchart of the intersection guidance display process. First, the control unit 20 determines whether or not the first approaching intersection C1 on the planned travel route has been approached by the function of the display unit 21a (step S100). The first adjacent intersection C1 on the planned travel route is the first adjacent intersection C1 and C2 whose distance on the planned travel route is equal to or less than a threshold (for example, 300 m). C1. The approach to the first adjacent intersection C1 means that the vehicle V has approached the first adjacent intersection C1 up to a reference distance L (for example, 300 m), and the vehicle V is in the first route. This means that the vehicle is traveling on R1.
Therefore, approaching the first adjacent intersection C1 on the planned travel route means that the start of the first period in which the vehicle V travels the first route R1 to the first adjacent intersection C1 has elapsed. To do.

  If it is not determined that the vehicle has approached the first adjacent intersection C1 on the planned travel route (step S100: N), the control unit 20 returns to step S100. On the other hand, when it is determined that the vehicle has approached the first adjacent intersection C1 on the planned travel route (step S100: Y), the control unit 20 acquires display data D recorded in advance on the recording medium 30 ( Step S102). The display data D includes viewpoint data indicating the first position S1 and the first line-of-sight direction U1, shape data indicating the shapes of the roads W1 to W3 including the adjacent intersections C1 and C2, the first route R1, and the second route. This data includes route data indicating R2. As shown in FIG. 2, the first position S1 is a position on the extension line E1 obtained by extending a straight line connecting the first adjacent intersection C1 and the end point C0 on the rear side of the first route R1 to the end point C0 side. Is a position vertically above the reference height. Further, the distance between the first position S1 and the first adjacent intersection C1 is a distance (L + B) obtained by adding the backward distance B to the reference distance L. The first line-of-sight direction U1 is a direction from the first position S1 toward the first adjacent intersection C1.

  Next, by the function of the viewpoint setting unit 21b, the control unit 20 sets the viewpoint at the first position S1 set on the extension line E1 of the first route R1 (step S105). That is, the control unit 20 sets the viewpoint at the first position S1 indicated by the viewpoint data of the display data D. Next, the control unit 20 sets the line-of-sight direction of the bird's-eye view to the first line-of-sight direction U1 that is the direction of the first route R1 by the function of the viewpoint setting unit 21b (step S110). Further, the control unit 20 sets the line-of-sight direction of the bird's-eye view in the vertical direction so that the depression angle becomes the reference depression angle. The reference depression angle is an depression angle set to an angle at which the image of the second adjacent intersection C2 is projected at a predetermined height in the vertical direction of the bird's eye view (a position lower than the horizon).

  Next, the control part 20 draws a bird's-eye view by the function of the display part 21a (step S115). That is, the control unit 20 draws a bird's-eye view of the roads W1 to W3 including the two adjacent intersections C1 and C2 on the planned travel route based on the shape data of the display data D. The control unit 20 sets the viewpoint and line-of-sight direction when drawing the bird's-eye view as the viewpoint and line-of-sight direction of the bird's-eye view set in steps S105 and S110.

  Furthermore, the control part 20 superimposes the image showing the path | route figure A and the marker M of the vehicle V on a bird's eye view by the function of the display part 21a (step S120). Regardless of the current position of the vehicle V, the control unit 20 sets a route graphic A having a fixed shape. Specifically, the control unit 20 generates a linear figure having a width that is equal to or slightly smaller than the width of the first route R1 and the second route R2, and an arrow at the end on the destination side in the figure. A path figure A is generated by forming the head. Further, the controller 20 has the shortest distance from the current position of the vehicle V to the current position of the vehicle V among the positions on the center line in the width direction of the planned travel route (first route R1, second route R2). The position is acquired, and an isosceles triangular marker M is set at the acquired position. And the control part 20 produces | generates the image which looked at the path | route figure A and the marker M in the same gaze direction from the same viewpoint as a bird's-eye view by the function of the display part 21a, and superimposes the said image on a bird's-eye view.

  Furthermore, the control part 20 displays a bird's-eye view on the display 45 by the function of the display part 21a (step S125). When the bird's eye view is displayed on the display 45, the control unit 20 determines whether or not the vehicle V has passed the first adjacent intersection C1 (step S130). That is, the control unit 20 determines whether or not the end of the first period until the vehicle V passes the first adjacent intersection C1 has elapsed. When it is not determined that the vehicle V has passed the first adjacent intersection C1 (step S130: N), the control unit 20 returns to step S115 by the function of the display unit 21a. That is, the bird's eye view is drawn again without changing the viewpoint and line-of-sight direction of the bird's eye view set in steps S105 and S110, and the bird's eye view is displayed on the display 45. By repeatedly executing the above processing, the control unit 20 can draw a bird's eye view viewed from the viewpoint fixed at the first position S1 in the first period. However, since the marker M is set according to the current position of the vehicle V in step S120, the image of the marker M moves in the bird's eye view in the first period (FIG. 3A).

  On the other hand, when it is determined that the vehicle V has passed the first adjacent intersection C1 (step S130: Y), the control unit 20 uses the function of the viewpoint setting unit 21b to control the second on the extension line E2 of the second route R2. The position S2 is specified (step S135). That is, when the start period of the second period in which the vehicle V travels on the second route R2 between the first adjacent intersection C1 and the second adjacent intersection C2 has elapsed, the control unit 20 The second position S2 where the viewpoint is fixed in the period is specified. Specifically, based on the route data of the display data D, the control unit 20 sets a straight line connecting the first adjacent intersection C1 and the second adjacent intersection C2 to the first adjacent intersection C1 side. An extended extension line E2 is generated, and a position vertically above the reference height from the position on the extension line E2 is specified as the second position S2. In addition, the control unit 20 acquires a position on the extension line E2 where the distance from the first adjacent intersection C1 is the backward distance B (= L + B−L), and the vertical direction is the reference height from the acquired position. The upper position is specified as the second position S2. That is, the control unit 20 determines that the distance between the first adjacent intersection C1 and the second position S1 is greater than the distance between the first adjacent intersection C1 and the first position S1 on the planned travel route in the first period. A position that is shortened by the travel distance of the vehicle is specified as the second position S2.

  Next, the control unit 20 specifies the second line-of-sight direction U2 by the function of the viewpoint setting unit 21b (step S140). That is, when the start period of the second period has elapsed, the control unit 20 specifies the second line-of-sight direction U2 in which the line-of-sight direction is fixed in the second period. The control unit 20 specifies the direction from the second position S2 toward the first adjacent intersection C1 as the second line-of-sight direction U2.

Next, the control part 20 resets the movement counter n to 1 by the function of the display part 21a (step S145). The movement counter n is a natural number indicating the passage of time in the movement period immediately after the vehicle V passes the first adjacent intersection C1 in the second period. With the function of the display unit 21a, the control unit 20 sets the bird's _- eye view viewpoint to the divided positions S _{T-1 to} S _T-4 that are closer to the second position as the movement counter n is larger (step S150). The division positions S _{T-1 to} S _T-4 form boundary points of a section obtained by dividing the movement line X continuously connecting the first position S1 and the second position S2 by a predetermined division number N (N− 1) position. When the movement counter n is 1, the control unit 20 sets the viewpoint of the bird's eye view at the division position ST _-1 closest to the first position S1.

Next, with the function of the display unit 21a, the control unit 20 sets the line-of-sight direction of the bird's eye view in a direction closer to the direction of the second route R2 as the movement counter n is larger (step S155). Specifically, the control unit 20 sets the line-of-sight direction of the bird's-eye view in the direction U _T from the viewpoint of the bird's-eye view set in step S150 toward the first adjacent intersection C1. Since the direction from the second position S2 toward the adjacent intersection C1 coincides with the direction of the second route R2, the closer the viewpoint is to the second position S2 according to the movement counter n, the first adjacent intersection C1 from the viewpoint. The heading direction U _T approaches the direction of the second route R2. Further, the control unit 20 sets the line-of-sight direction of the bird's-eye view in the vertical direction so that the depression angle maintains the reference depression angle set in the first period.

  When the viewpoint and line-of-sight direction of the bird's-eye view are set as described above, the control unit 20 draws the bird's-eye view with the function of the display unit 21a (step S160). And the control part 20 superimposes the image showing the path | route figure A and the marker M of the vehicle V on a bird's eye view by the function of the display part 21a (step S165). Furthermore, the control part 20 displays a bird's-eye view on the display 45 by the function of the display part 21a (step S170). The processing of steps S160 to S170 is the same as the processing of steps S115 to S125 except that the viewpoint and line-of-sight direction of the bird's eye view set in steps S150 and S155 are adopted.

Next, by the function of the viewpoint setting unit 21b, the control unit 20 determines whether or not the movement counter n is equal to the number (N-1) of the division positions S _{T-1 to} S _T-4 (step S175). That is, the control unit 20 determines whether or not the viewpoint of the bird's eye view is set at the division position ST _-4 closest to the second position S2 in the immediately preceding step S150. When it is not determined that the movement counter n is equal to the number (N−1) of the division positions S _{T-1 to} S _T-4 (step S170: N), the control unit 20 adds 1 to the movement counter n. (Step S180). By repeatedly executing the above processes, is to continue to set the perspective bird's-eye view in order from the division position S _T-4 closest to the first position S1 to the dividing position S _T-4 closest to the second position S2 it can. That is, the control unit 20 can move the viewpoint of the bird's eye view stepwise from the first position S1 to the second position S2. On the other hand, when it is determined that the movement counter n is equal to the number (N−1) of the division positions S _{T-1 to} S _T-4 (step S170: N), the control unit 20 executes step S185. That is, the control unit 20 proceeds to the process of step S185, assuming that the end of the movement period has elapsed at the stage where the viewpoint of the bird's eye view is set at the division position ST _-4 closest to the second position S2. Note that the control unit 20 includes a timer (not shown), and adjusts the timing so that the bird's eye view display timing in steps S125, S170, and S205 (described later) has a constant display cycle. Therefore, as shown in FIG. 2, when the division number N is 5 and the display end period is 0.2 seconds, the moving period ends in 0.8 seconds from the end of the first period. The length of the movement period (number of divisions N) may be set larger as the angle formed by the first line-of-sight direction U1 and the second line-of-sight direction U2 is larger, or the distance from the first position S1 to the second position S2. The larger the value, the larger may be set.

  When the movement period ends, the control unit 20 sets the viewpoint of the bird's eye view at the second position S2 on the extension line E2 of the second route R2 by the function of the viewpoint setting unit 21b (step S185). That is, the control unit 20 acquires the second position S2 specified in step S135, and sets the bird's-eye view viewpoint at the second position S2. Next, by the function of the viewpoint setting unit 21b, the control unit 20 sets the line-of-sight direction of the bird's eye view in the direction of the second route R2 (step S190). That is, the control unit 20 acquires the second line-of-sight direction U2 specified in step S140, and sets the line-of-sight direction of the bird's eye view in the second line-of-sight direction U2. In addition, the control unit 20 sets the line-of-sight direction of the bird's-eye view in the vertical direction so as to maintain the reference depression angle set in the first period.

  When the viewpoint and line-of-sight direction of the bird's-eye view are set as described above, the control unit 20 draws the bird's-eye view with the function of the display unit 21a (step S195). And the control part 20 superimposes the image showing the marker M of the path | route figure A and the vehicle V on a bird's-eye view by the function of the display part 21a (step S200). Furthermore, the control part 20 displays a bird's-eye view on the display 45 by the function of the display part 21a (step S205). The processing of steps S195 to S200 is the same as the processing of steps S115 to S125 and S160 to S170, except that the viewpoint and line-of-sight direction of the bird's eye view set in steps S185 and S190 are adopted.

  When the bird's eye view is displayed on the display 45, the control unit 20 determines whether or not the vehicle V has passed the second adjacent intersection C2 by the function of the display unit 21a (step S210). That is, the control unit 20 determines whether or not the end of the second period in which the vehicle V travels on the second route R2 between the first adjacent intersection C1 and the second adjacent intersection C2 has elapsed. . It is determined whether or not the vehicle V has passed the second adjacent intersection C2. When it is not determined that the vehicle V has passed the second adjacent intersection C2, the control unit 20 returns to step S195. That is, the bird's eye view is drawn again without changing the viewpoint and line-of-sight direction of the bird's eye view set in steps S185 and S190, and the bird's eye view is displayed on the display 45. By repeatedly executing the above processing, the control unit 20 can draw a bird's eye view viewed from the viewpoint fixed at the second position S2 in the second period. However, since the marker M is set according to the current position of the vehicle V in step S200, the image of the marker M moves in the bird's eye view in the second period (FIG. 3B).

  On the other hand, when it is determined that the vehicle V has passed the second adjacent intersection C2, the control unit 20 ends the intersection guidance display process. That is, the display of the bird's-eye view of the roads W1 to W3 including the adjacent intersections C1 and C2 is terminated because it is no longer necessary to guide the route to the adjacent intersection C2. When there are a plurality of pairs of adjacent intersections C1 and C2 on the searched route to the destination, the intersection guidance display process may be executed for each set of the adjacent intersections C1 and C2.

(3) Other embodiments:
With the function of the display unit 21a, the control unit 20 may continuously guide the planned traveling route including the two intersections with a bird's eye view when traveling two intersections on the planned traveling route within a predetermined period. . The first route R1 and the second route R2 may not correspond to the recommended lane on which the vehicle is scheduled to travel, and may correspond to the road on which the vehicle is scheduled to travel. That is, the control unit 20 may guide the entire width of the road on which the vehicle is to travel by the route graphic A. The route graphic A may be a line graphic along a road or a recommended lane, and may not be an arrow graphic.

  In addition, when the area | region on the road surface which an intersection occupies in 30a is specified by map information, the control part 20 specifies the period until the vehicle V approachs into the area | region of the 1st intersection as a 1st period. Alternatively, the period until the vehicle passes through the first intersection area may be specified as the first period, or the vehicle may pass through the center position of the first intersection area. The period may be specified as the first period. The first period may start at a time that is a predetermined period before the estimated time of passing through the first intersection. On the other hand, the second period may be a period starting from the end of the first period. The first position S1 may be a position that is set based on the first route R1, for example, the control unit 20 is a position at which the first route R1 is more closed than the second route R2 in the first period. You may fix the viewpoint of a bird's-eye view to 1st position S1 set to (1). Similarly, in the second period, the control unit 20 may fix the viewpoint of the bird's eye view at the second position S2 that is set to a position where the second route R2 is more closely closed than the first route R1. The position where the first route R1 is closed up may be a position closer to the first route R1 than the second route R2, and may be a position where the first route R1 is viewed from the outside in the width direction.

In the embodiment, the movement period is provided in the second period, but the control unit 20 does not necessarily have to provide the movement period. That is, the control unit 20 may move the viewpoint of the bird's eye view from the first position to the second position without passing through the divided positions S _{T-1 to} S _T-4 . In addition, the controller 20 does not necessarily require the distance between the first adjacent intersection C1 and the second position S2 to be greater than the distance between the first adjacent intersection C1 and the first position S1. The second position S2 may not be set so as to be shortened by the travel distance. For example, the control unit 20 may set the first position S1 and the second position S2 so that the distance to the first adjacent intersection C1 is constant. Furthermore, the control unit 20 may not fix the line-of-sight direction of the bird's-eye view in the first period to the direction of the first route R1, for example, the direction perpendicular to the direction of the first route R1 It may be fixed to. Similarly, the control unit 20 may not fix the line-of-sight direction of the bird's eye view in the second period to the direction of the second route R2. Furthermore, the control unit 20 only has to fix the viewpoint of the bird's eye view to the first position S1 and the second position S2 in each of the first period and the second period. The shape may be changed. For example, the control unit 20 may delete a portion of the route graphic A corresponding to the trajectory through which the vehicle V has passed. In this case, the control unit 20 may not display the image of the marker M indicating the position of the vehicle V.

  DESCRIPTION OF SYMBOLS 10 ... Navigation apparatus, 20 ... Control part, 21 ... Intersection guidance display program, 21a ... Display part, 21b ... Viewpoint setting part, 30 ... Recording medium, 30a ... Map information, 30b ... Polygon data, 41 ... GPS receiving part, 42 ... Vehicle speed sensor, 43 ... Gyro sensor, 45 ... Display, A ... Route figure, B ... Retreat distance, C1, C2 ... Proximity intersection, D ... Display data, E1, E2 ... Extension line, L ... Reference distance, M ... Marker, R1... First path, R2... Second path, S1... First position, S2.

Claims (10)

Display means for superimposing and displaying an image representing a route graphic along the planned traveling route on a bird's eye view of a road including two intersections on the planned traveling route;
In the first period until the vehicle travels on the first intersection on the planned travel route, the vehicle travels on the first intersection on the planned travel route regardless of the position of the vehicle . While fixing the viewpoint of the bird's eye view to the first position set based on the first route that is the route,
In the second period in which the vehicle travels between the first intersection and the second intersection on the planned travel route, one of the planned travel routes regardless of the position of the vehicle. Fixing the viewpoint of the bird's eye view at a second position set based on a second route that is a route between the intersection of the eyes and the second intersection ;
Viewpoint setting means for transitioning the viewpoint of the bird's eye view from the first position to the second position when the first period ends ;
An intersection guidance display system comprising: The viewpoint setting means includes:
In the first period, the viewpoint of the bird's eye view is fixed to the first position set above an extension line extending the first route to the rear side of the vehicle,
In the second period, the viewpoint of the bird's eye view is fixed to the second position set above an extension line extending the second route to the rear side of the vehicle.
The intersection guidance display system according to claim 1. The viewpoint setting means is configured such that the distance between the first intersection on the planned travel route and the second position is greater than the distance between the first intersection on the planned travel route and the first position. , Setting the second position so as to shorten the travel distance of the vehicle in the first period,
The intersection guidance display system according to claim 1 or 2. The viewpoint setting means includes:
In the first period, while fixing the line-of-sight direction of the bird's eye view in the direction of the first path,
Fixing the line-of-sight direction of the bird's eye view in the direction of the second path in the second period;
The intersection guidance display system according to any one of claims 1 to 3. The viewpoint setting means includes the bird's eye view from the first position toward the second position in a period immediately after the vehicle travels the first intersection on the planned travel route in the second period. Move the point of view in stages,
The intersection guidance display system according to any one of claims 1 to 4. The display means sets the route graphic having a fixed shape on a road including the two intersections on the planned travel route, and superimposes and displays an image representing the route graphic on the bird's eye view.
The intersection guidance display system according to any one of claims 1 to 5. The display means sets a marker representing the position of the vehicle on the route graphic, and superimposes and displays an image representing the route graphic and the marker on the bird's eye view.
The intersection guidance display system according to any one of claims 1 to 6. The display means includes viewpoint data indicating the first position, shape data indicating the shape of a road including the two intersections on the planned travel route, and route data indicating the first route and the second route. And displaying and displaying an image representing the path graphic on the bird's eye view based on the display data.
The intersection guidance display system according to any one of claims 1 to 7. Display means, a display step of on a bird's-eye view of a road including the two intersections on the planned travel route, and displays the superimposed images representative of the path shape along the planned travel route,
In the first period until the vehicle travels the first intersection on the planned travel route , the viewpoint setting means is configured to detect the first intersection in the planned travel route regardless of the position of the vehicle. While fixing the viewpoint of the bird's eye view to the first position set based on the first route that is the route to travel on
In the second period in which the vehicle travels between the first intersection and the second intersection on the planned travel route, one of the planned travel routes regardless of the position of the vehicle. Fixing the viewpoint of the bird's eye view at a second position set based on a second route that is a route between the intersection of the eyes and the second intersection ;
A viewpoint setting step of transitioning the viewpoint of the bird's eye view from the first position to the second position when the first period ends ;
Intersection guidance display method including Computer
Display means for superimposing and displaying an image representing a route graphic along the planned travel route on a bird's eye view of a road including two intersections on the planned travel route;
In the first period until the vehicle travels on the first intersection on the planned travel route, the vehicle travels on the first intersection on the planned travel route regardless of the position of the vehicle . While fixing the viewpoint of the bird's eye view to the first position set based on the first route that is the route,
In the second period in which the vehicle travels between the first intersection and the second intersection on the planned travel route, one of the planned travel routes regardless of the position of the vehicle. Fixing the viewpoint of the bird's eye view at a second position set based on a second route that is a route between the intersection of the eyes and the second intersection ;
Viewpoint setting means for transitioning the viewpoint of the bird's eye view from the first position to the second position when the first period ends ;
Intersection guidance display program to function as .