JP6432312B2 - Navigation system, navigation method, and navigation program - Google Patents

Description

  The present invention relates to a navigation system, a navigation method, and a navigation program that provide route guidance to a set destination.

  A vehicle navigation system generally has various functions such as a vehicle position specifying function, a map display function, a guidance route search function, and a route guidance function. In such a navigation system, a technique for performing route guidance using a road condition image photographed by photographing means in order to enhance consistency with a real society in which a vehicle is traveling is disclosed in Japanese Patent Application Laid-Open No. 2011-149835. (Patent Document 1). This navigation system displays an arrow image corresponding to the next turn direction on the display screen displaying the road condition image when the distance between the vehicle position and the next turn point is within a predetermined distance. It is configured as follows.

  By the way, during actual vehicle travel, if the guide route is followed, an intersection that should be bent may be erroneously passed and deviate from the guide route. In this regard, Patent Document 1 only discloses that a reroute process (guide route re-search) is performed as a process when such a situation occurs. However, when a new guidance route is displayed by the reroute processing, the route before the departure is not displayed, and it is difficult to easily grasp where the curve should have originally been. Such a situation could cause unnecessary confusion for the user.

JP 2011-149835 A

  Therefore, it is desired to realize a navigation system or the like that hardly causes unnecessary confusion to the user even after deviating from the guide route.

A navigation system according to the present disclosure includes:
A host vehicle position information acquisition unit that acquires host vehicle position information indicating the host vehicle position that is the current position of the vehicle;
A guidance route search unit that searches for a guidance route to the destination based on the vehicle position information and destination information related to the destination set by the user;
A first image display unit that displays an image of the guide route according to the vehicle position that changes as the vehicle travels on the display unit;
When the host vehicle position indicated in the host vehicle position information deviates from the guide route, an image showing the pre-departure guide route that is the guide route before the departure is visible to the rear of the vehicle while being visible to the user. A second image display unit that superimposes and displays the scenery;
Is provided.

  According to this structure, the main functions with which a general navigation system is equipped are implement | achieved by each function which the own vehicle position information acquisition part, a guidance route search part, and a 1st image display part have. When the vehicle position deviates from the guide route, the second image display unit displays an image indicating the pre-departure guide route superimposed on the rear landscape of the vehicle in a state that is visible to the user. Therefore, the user can easily and accurately perceive the fact of departure from the guidance route based on the fact that the image showing the guidance route before departure is superimposed and displayed on the scenery behind the vehicle. In addition, the user can easily and accurately perceive the direction that should have originally traveled based on the image indicating the pre-departure guidance route. Since these various types of information are provided to the user after deviating from the guide route, the navigation system is less likely to cause unnecessary confusion to the user even after deviating from the guide route.

  The technical features of the navigation system according to the present disclosure can be applied to a navigation method and a navigation program. Such a navigation method and navigation program are also disclosed in the present specification.

The navigation method according to the present disclosure includes:
Own vehicle position information acquisition step for acquiring own vehicle position information indicating the own vehicle position which is the current position of the vehicle;
A guidance route search step for searching for a guidance route to the destination based on the vehicle position information and destination information relating to the destination set by the user;
A first image display step for displaying an image of the guidance route according to the position of the vehicle that changes as the vehicle travels on a display unit;
When the host vehicle position indicated in the host vehicle position information deviates from the guide route, an image showing the pre-departure guide route that is the guide route before the departure is visible to the rear of the vehicle while being visible to the user. A second image display step for displaying the image superimposed on the landscape;
including.

The navigation program according to the present disclosure is:
Own vehicle position information acquisition function for acquiring own vehicle position information indicating the own vehicle position that is the current position of the vehicle;
A guide route search function for searching for a guide route to the destination based on the vehicle position information and destination information related to the destination set by the user;
A first image display function for displaying on the display unit an image of the guide route according to the vehicle position that changes as the vehicle travels;
When the host vehicle position indicated in the host vehicle position information deviates from the guide route, an image showing the pre-departure guide route that is the guide route before the departure is visible to the rear of the vehicle while being visible to the user. A second image display function for displaying the image superimposed on the landscape;
Is realized on a computer.

  According to these navigation methods and navigation programs, similarly to the above-described navigation system, it is possible to realize navigation that does not cause unnecessary confusion to the user even after deviating from the guide route.

  Further features and advantages of the technology according to the present disclosure will become clearer from the following description.

Block diagram of the navigation system according to the first embodiment The flowchart which shows the processing procedure of route guidance processing Explanatory drawing for demonstrating an example of route guidance processing Explanatory drawing for demonstrating an example of route guidance processing Schematic diagram showing an example of route guidance processing Schematic diagram showing an example of route guidance processing Schematic diagram showing an example of route guidance processing Schematic diagram showing an example of route guidance processing of the second embodiment The schematic diagram which shows an example of the route guidance process of 3rd Embodiment

  Hereinafter, embodiments of the present invention will be described. However, the scope of the present invention is not limited by the embodiments described below.

[First Embodiment]
A first embodiment of a navigation system will be described with reference to the drawings. The navigation system 1 according to the present embodiment is a system that provides guidance information regarding points and routes to a user (a vehicle occupant, particularly a driver). All of the components constituting the navigation system 1 may be provided in a device in the vehicle, or a part of the components may communicate with a device in the vehicle via a communication network (for example, the Internet). (For example, a server) may be provided. Note that the “device in the vehicle” includes not only a device that is fixedly mounted on the vehicle (for example, an embedded in-vehicle navigation device) but also a device that is brought into the vehicle only when it is used (for example, a portable navigation device, portable information). Terminal devices and multi-function mobile phones).

  As shown in the block diagram of FIG. 1, the navigation system 1 is configured with an arithmetic processing unit 10 having an arithmetic processing unit such as a microcomputer or DSP (Digital Signal Processor) as a core member. The arithmetic processing unit 10 performs various functions related to navigation in cooperation with arithmetic processing devices such as microcomputers, storage media such as memory and disk devices, hardware such as peripheral circuits, and software such as programs and parameters. make it happen.

  The navigation system 1 (arithmetic processing unit 10) includes a host vehicle position information acquisition unit 11, a guidance route search unit 12, a first image display unit 13, a departure determination unit 14, and a second image display unit 15. In each of these function units, a calculation unit for performing various processes on input data is configured by hardware, software (program), or both. The navigation system 1 is connected to the map database 21 and the storage unit 22. Further, the navigation system 1 is connected to a GPS (Global Positioning System) receiver 31, an orientation sensor 32, a distance sensor 33, a rear camera 34, and a display input device 35. These are configured to be able to exchange information with each other.

  The map database 21 stores (stores) map data. The map database 21 stores information on the road network constituting the map data. The map data includes road network data including a plurality of nodes and a plurality of links corresponding to roads connecting the nodes. The map data includes link cost information corresponding to the link length and road attributes (speed limit, road type, etc.) for each link. In the present embodiment, the map database 21 stores (stores) facility data including coordinate information indicating the position of each facility, attribute information indicating a name, a genre, and the like. Further, the map database 21 stores (stores) image data indicating the appearance of roads and surrounding installations (for example, signals and signs), topography, and facilities. The map database 21 is referred to when executing map display processing, destination search processing, route search processing, and the like.

  The own vehicle position information acquisition unit 11 acquires own vehicle position information indicating the own vehicle position P (see FIG. 3), which is the current position of the vehicle. The own vehicle position information acquisition unit 11 is connected to the GPS receiver 31, the direction sensor 32, and the distance sensor 33. The own vehicle position information acquisition unit 11 specifies the own vehicle position P that is the current position of the vehicle based on outputs from the GPS receiver 31, the direction sensor 32, and the distance sensor 33, and the specified own vehicle position P Is acquired as own vehicle position information. The own vehicle position information acquisition unit 11 recognizes a feature such as a road marking or a three-dimensional object such as a building or a sign drawn on the road surface from a photographed image photographed by the rear camera 34, and the recognition result. Based on the above, it may be configured to realize a more accurate location. In the present embodiment, the “own vehicle position information acquisition function” is realized by the own vehicle position information acquisition unit 11, and the “own vehicle position information acquisition step” is executed by the processing performed by the own vehicle position information acquisition unit 11.

  The guide route searching unit 12 is configured to provide a guide route R to the destination based on the vehicle location information acquired by the vehicle location information acquisition unit 11 and the destination information related to the destination set by the user (see FIG. 3). The “destination” mentioned here includes not only the final destination but also intermediate destinations such as waypoints and stopovers. The navigation system 1 is configured such that a destination input from a user can be received by a display input device 35 in which a display device such as a liquid crystal display and an input device such as a touch panel are integrated. Then, when receiving the input of the destination from the user, the guidance route searching unit 12 searches the guidance route R from the vehicle position to the destination with reference to the map data stored in the map database 21. In the present embodiment, the “guide route search function” is realized by the guide route search unit 12, and the “guide route search step” is executed by the processing performed by the guide route search unit 12.

  Information relating to the determined guide route R is stored in the storage unit 22. Such a storage unit 22 can be configured by a memory such as a DRAM (Dynamic Random Access Memory) or a flash memory.

  The first image display unit 13 displays on the display screen 35 </ b> A of the display input device 35 an image around the host vehicle position corresponding to the host vehicle position P that changes as the vehicle travels. In addition, when the destination and the guidance route R are set, the first image display unit 13 changes as the vehicle travels based on the information related to the guidance route R stored in the storage unit 22. An image of the guide route R corresponding to the vehicle position P is displayed on the display screen 35A. The first image display unit 13 refers to the map data stored in the map database 21, such as roads, installations, terrain, and facilities existing within a predetermined range with respect to the vehicle position P. An image is extracted and displayed on the display screen 35A. In addition, the first image display unit 13 displays a linear image or a belt-like image representing a road that constitutes the guide route R among a plurality of roads around the own vehicle position in a color different from an image representing the other roads. To superimpose on the image around the vehicle position. In the present embodiment, the “first image display function” is realized by the first image display unit 13, and the “first image display step” is executed by the processing performed by the first image display unit 13. In the present embodiment, the display screen 35 </ b> A of the display input device 35 corresponds to a “display unit”.

  When the host vehicle position P indicated in the host vehicle position information deviates from the guide route R, the second image display unit 15 displays an image I (hereinafter referred to as a guide route Ro before departure) that is the guide route R before the departure. "Route image I before departure") is displayed superimposed on the rear landscape BS of the vehicle in a state that is visible to the user. In the present embodiment, the departure determination unit 14 determines whether or not the vehicle position P has deviated from the guide route R (departure determination). Whether or not the vehicle position P deviates from the guide route R is determined based on, for example, the coordinates of the points included in the guide route R and the coordinates of the vehicle position P and the vehicle included in the guide route R. It can be determined by whether or not the distance to the position P exceeds a predetermined deviation determination distance. In this case, the departure determination distance may be set to a sufficiently shorter distance than a reference distance S described later. Alternatively, whether or not the vehicle position P has deviated from the guide route R is determined by, for example, a predetermined deviation from the angle between the planned traveling direction from each point included in the guide route R and the moving direction of the vehicle position P. The determination can be made based on whether or not the determination angle is exceeded. In the guide route R, the point where the vehicle position P is determined to have deviated from the guide route R is hereinafter referred to as “deviation point” or “deviation position X (see FIG. 4)”. When the departure determination unit 14 determines the departure of the vehicle position P from the guide route R, the second image display unit 15 superimposes the route image I before departure on the rear landscape BS of the vehicle in a state visible to the user. indicate.

  As shown in FIGS. 5 to 7, the route image I before departure can include a direction indication image Ia indicating the traveling direction at the departure point on the guidance route Ro before departure. This direction indicating image Ia is an image indicating the direction that should have originally traveled at the deviation position X, and can be exemplified by an arrow image, for example. The arrow image as an example of the direction indication image Ia may be, for example, an image of a straight arrow indicating the initial travel direction after passing through the departure point, or the initial travel direction before and after passing through the departure point. It may be an image of a polygonal arrow indicating In the present embodiment, an example of the latter form is shown as an example. Further, the route image I before departure can include a road instruction image Ib showing the roads constituting the guidance route Ro before departure. The road instruction image Ib is an image that shows the route that should have traveled before and after the departure position X, and can be exemplified by a belt-like image, for example. The belt-like image as an example of the road instruction image Ib may be, for example, a straight belt-like image showing the planned road after passing the departure point, or a polygonal line showing the planned road before and after passing the departure point It may be a belt-like image. In the present embodiment, an example of the latter form is shown as an example. Note that the route image I before departure may include both the direction instruction image Ia and the road instruction image Ib, or only one of them.

  The second image display unit 15 superimposes and displays the pre-departure route image I on the rear landscape BS of the vehicle in a state that can be visually recognized by the user. In the present embodiment, the rear scenery BS is an actual scenery reflected on an inner rearview mirror 36 provided in the vehicle. Then, the second image display unit 15 displays the pre-departure route image I so as to be superimposed on the actual scenery reflected in the indoor rearview mirror 36. The manner in which the route image I before departure is displayed is not particularly limited as long as the route image I is superimposed on the actual scenery reflected on the indoor rearview mirror 36 in a state that is visible to the user. For example, an ultra-thin monitor capable of displaying text, images, etc. without impairing the mirror function of the indoor rear-view mirror 36 is provided on the entire surface of the indoor rear-view mirror 36, and the second image display unit 15 is ultra-thin. The pre-deviation route image I may be displayed on the monitor. Alternatively, for example, a projection device (not shown) capable of projecting text, images, and the like to the indoor rearview mirror 36 is installed in the vehicle, and the second image display unit 15 displays the path image I before departure from the projection device. It may be configured to project and display the route image I before departure on the indoor rearview mirror 36. In FIG. 1, the double arrow heading from the second image display unit 15 toward the indoor rearview mirror 36 is shown as including all these aspects.

  By the way, in a known navigation system, when the vehicle position P deviates from the pre-departure guide route Ro, reroute processing (guide route re-search) is generally performed. The navigation system 1 of the present embodiment is also configured to perform similar reroute processing. That is, when the own vehicle position P deviates from the pre-departure guidance route Ro, the guide route search unit 12 re-searches the guide route R to the destination based on the own vehicle position information acquired after the departure. By this reroute processing, the information related to the pre-departure guide route R (pre-departure guide route Ro) stored in the storage unit 22 until then is related to the newly searched guide route R (re-search guide route Rn). Updated with information. Then, the first image display unit 13 displays an image of the re-search guidance route Rn on the display screen 35A based on the information related to the guidance route R (here, the re-search guidance route Rn) stored in the storage unit 22. .

  In the present embodiment, when the information related to the guide route R in the storage unit 22 is updated, the information related to the pre-departure guide route Ro is not immediately deleted from the storage unit 22, but the information related to the latest guide route R. Is transferred to a second storage area that is different from the first storage area for storing. The second storage area of the storage unit 22 is a data area that the second image display unit 15 refers to in order to generate the route image I before departure. As described above, when the vehicle position P deviates from the pre-departure guide route Ro, the second image display unit 15 temporarily stores information related to the pre-departure guide route Ro in the second storage area of the storage unit 22, A pre-deviation route image I is generated based on the temporarily stored information. Then, the second image display unit 15 superimposes the generated pre-deviation path image I on the rear landscape BS, which is the actual scenery reflected in the indoor rear-view mirror 36 as described above, and displays it on the rear-view mirror 36. .

  In the case where the second image display unit 15 is configured to project the route image I before departure from the projection device provided in the vehicle and display the route image I before departure on the indoor rearview mirror 36, the navigation system 1 As shown in FIG. 1, it is preferable to further include a position adjusting unit 16. The position adjustment unit 16 adjusts the position of the route image I before departure displayed superimposed on the actual scene reflected in the indoor rearview mirror 36 in consideration of the state actually reflected in the indoor rearview mirror 36. The rear landscape BS and the path image I before departure projected from the projection device are both reflected by the indoor rearview mirror 36 and viewed by the user, but the installation angle of the indoor rearview mirror 36 and the viewpoint position / line of sight The direction or the like can be different for each user. For this reason, it is preferable that the position adjustment unit 16 is configured to adjust the positional relationship between the rear scenery BS and the route image I before departure in consideration of an aspect that is actually visually recognized by the user.

  In this case, it is preferable that the navigation system 1 is further connected to at least one of the angle sensor 37 and the line-of-sight sensor 38. The angle sensor 37 detects the installation angle of the indoor rearview mirror 36. The line-of-sight sensor 38 detects the user's line-of-sight direction. The position adjustment unit 16 adjusts, for example, at least one of the projection position and the projection direction of the path image I before departure from the projection device based on the detection results of the angle sensor 37 and the line-of-sight sensor 38, thereby causing the path image I before departure. It is preferable to adjust the position.

  Hereinafter, more specific processing of the route guidance processing executed in the navigation system 1 according to the present embodiment will be described with reference to a flowchart showing the processing procedure. Note that the following route guidance processing procedure is executed by hardware and / or software (program) or both constituting each functional unit of the navigation system 1. When each functional unit is configured by a program, the arithmetic processing device included in the navigation system 1 operates as a computer (for realizing each function) that executes the program that configures each functional unit described above.

  As shown in FIG. 2, first, the vehicle position information acquisition unit 11 acquires vehicle position information indicating the vehicle position P (see FIG. 3), which is the current position of the vehicle (# 01). Next, the guide route searching unit 12 searches for the guide route R to the destination based on the own vehicle position information and the destination information related to the destination set by the user (# 02). Next, the first image display unit 13 displays an image around the own vehicle position according to the own vehicle position P and an image of the guide route R according to the own vehicle position P on the display screen 35A (# 03). ). Since the vehicle position P changes as the vehicle travels, the displayed image around the vehicle position and the image of the guide route R change from moment to moment while the vehicle is traveling.

  While the vehicle is traveling with the destination set, the departure determination unit 14 always monitors whether or not the vehicle position P has deviated from the guide route R (# 04). And when it determines with the own vehicle position P having deviated from the guidance route R (# 04: Yes), the information which concerns on the guidance route Ro before departure which is the guidance route R before departure by the 2nd image display part 15 will be shown. Temporarily stored in the storage unit 22 (# 05). In parallel with step # 05, the guide route searching unit 12 re-guides the guide route R to the destination based on the vehicle position information and the destination information after the departure from the pre-departure guide route Ro. The search process is started (# 06).

  After the departure from the pre-departure guidance route Ro, the second image display unit 15 acquires the distance D between the departure position X and the own vehicle position P indicated by the own vehicle position information (# 07). The distance D between the departure position X and the vehicle position P may be calculated as a linear distance between the two based on the coordinates of the departure position X and the coordinates of the vehicle position P, for example. It may be measured as an actual travel distance of the vehicle based on the output. Then, based on the information related to the pre-departure guide route Ro temporarily stored in the storage unit 22 by the second image display unit 15, the pre-departure route image I is a rear landscape that is an actual landscape reflected in the indoor rearview mirror 36. It is displayed superimposed on the BS (# 08). At this time, the route image I before departure is displayed in a manner corresponding to the distance D and the positional relationship between the departure position X and the vehicle position P based on the acquisition result at step # 07. That is, the route image I before departure is a position corresponding to the departure position X in the rear landscape BS reflected in the indoor rearview mirror 36, basically a size corresponding to the distance D from the departure position X to the vehicle position P. Is displayed.

  FIG. 5 shows a display example of the route image I before departure when the distance D between the departure position X and the vehicle position P is the first distance D1 (see FIG. 4). In addition, the route image I before departure of the present example includes a direction indication image Ia indicating a traveling direction at the departure position X in the guidance route Ro before departure and a road instruction image Ib indicating a road constituting the guidance route Ro before departure. Includes both. A road instruction image Ib is superimposed on the rear landscape BS, and a direction instruction image Ia is further superimposed on the road instruction image Ib. As an example, the road instruction image Ib is displayed in a brighter color than the rear scenery BS, and the direction instruction image Ia is displayed in a brighter color than the rear scenery BS and the road instruction image Ib. In this example, the direction indicating image Ia is displayed dark and large at a position corresponding to the departure point.

  FIG. 6 shows a display example of the route image I before departure when the distance D between the departure position X and the vehicle position P is a second distance D2 (see FIG. 4) larger than the first distance D1. . As shown in this figure, the position of the road instruction image Ib and the direction instruction image Ia is finely adjusted in comparison with the example of FIG. In the upper region). In addition, the road instruction image Ib is displayed smaller than the example of FIG. 5 in accordance with the further reduction change of the rear scenery BS as the vehicle advances. Note that the color of the road instruction image Ib may be the same as in the example of FIG. On the other hand, the direction indicating image Ia is displayed at a reduction rate larger than the reduction rate of the rear landscape BS as the vehicle travels (smaller than the surroundings). Further, the direction indicating image Ia is displayed with a higher transparency (or lighter) than the example of FIG.

  FIG. 7 shows a display example of the route image I before departure when the distance D between the departure position X and the vehicle position P is a third distance D3 (see FIG. 4) larger than the second distance D2. . As shown in this figure, the position of the road instruction image Ib and the direction instruction image Ia is adjusted as compared with the example of FIG. In the upper right area). Further, the road instruction image Ib is displayed smaller than the example of FIG. 6 in accordance with the further reduction change of the rear scenery BS accompanying the advance of the vehicle. Note that the color of the road instruction image Ib may be the same as in the example of FIG. On the other hand, the direction indication image Ia is displayed at a reduction rate that is larger than the reduction rate of the rear landscape BS as the vehicle travels (smaller than the surroundings). Further, the direction indicating image Ia is displayed with a higher transparency (or lighter) than the example of FIG.

  Here, only the display example of the route image I before departure at the three points after departure from the guidance route Ro before departure has been described in a simplified manner, but the route image I before departure has the deviation position X and the vehicle position. It changes continuously according to the distance D between P and the like.

  In the meantime, the second image display unit 15 monitors whether or not the distance D between the deviation position X and the vehicle position P exceeds a predetermined reference distance S (see FIG. 4) (see FIG. 4). # 13). If it is determined that the distance D between the departure position X and the vehicle position P exceeds the reference distance S (# 13: Yes), the function of the second image display unit 15 is stopped, and the route image before departure. I is not displayed (# 14). Thereafter, when a new guide route R (re-search guide route Rn) that has been re-searched in step # 06 is determined, the first image display unit 13 displays an image of the re-search guide route Rn on the display screen 35A. (# 15). If the re-search guidance route Rn is determined during the execution of the processes of step # 08 to step # 14, an image of the re-search guidance route Rn may be displayed on the display screen 35A at that time.

  As described above, the second image display unit 15 of the present embodiment is configured so that the distance D between the departure position X from the pre-departure guidance route Ro and the vehicle position P is within a predetermined reference distance S. Only the route image I before departure is displayed. At this time, the second image display unit 15 displays the rear landscape as the distance D between the departure position X and the vehicle position P approaches the reference distance S with respect to the direction indicating image Ia in the route image I before departure. The display is weakly displayed by increasing the reduction ratio or increasing the transparency compared to BS. Then, when the distance D between the departure position X and the vehicle position P eventually exceeds the reference distance S, the second image display unit 15 hides the route image I before departure. With this configuration, the pre-departure route image I (particularly, the direction indication image Ia in this case) displayed on the indoor rearview mirror 36 appears after deviating from the pre-departure guide route Ro and gradually increases as the distance from the deviated position X increases. It can be displayed with a visual effect that disappears. Therefore, the pre-deviation route image I that is additionally displayed by being superimposed on the rear landscape BS, which is the actual landscape reflected in the indoor rearview mirror 36, can be thereafter led to a non-display state without a sense of incongruity.

[Second Embodiment]
A second embodiment of the navigation system will be described with reference to the drawings. In the present embodiment, the specific display mode of the route image I before departure is different from that of the first embodiment. Hereinafter, the difference between the navigation system 1 according to the present embodiment and the first embodiment will be mainly described. Note that the points not particularly specified are the same as those in the first embodiment, and the same reference numerals are given and detailed description thereof is omitted.

  In the present embodiment, the rear landscape BS of the vehicle on which the pre-departure route image I is displayed in a state visible to the user is captured by the rear camera 34 provided on the vehicle and displayed on the display screen 35A of the display input device 35. It is the landscape image that is displayed. As shown in FIG. 8, the display screen 35A of the display input device 35 includes a first display area A1 in which an image around the vehicle position and an image of the guide route R are displayed, and a rear view BS of the vehicle is displayed. And two display areas A2. The second display area A2 is an area that occupies a smaller range (for example, 30% or less) than the first display area A1, and is arranged to occupy one of the four corners of the display screen 35A, for example. The first display area A1 is an area other than the second display area A2 on the display screen 35A, and is arranged so as to occupy most of the display screen 35A including the central area of the display screen 35A. In the present embodiment, the first display area A1 of the display screen 35A corresponds to a “display section”, and the second display area A2 corresponds to a “second display section”. From another point of view, it can be said that the display screen 35A serves as both the “display unit” and the “second display unit”. Note that the display input device 35 is preferably arranged, for example, on the center console portion or dashboard of the vehicle so that the user's line-of-sight movement can be reduced.

  In the present embodiment, the second image display unit 15 is a landscape photographed by the rear camera 34 displayed in the second display area A2 when the vehicle position P indicated by the vehicle position information deviates from the guide route R. The route image I before departure is displayed so as to be superimposed on the image. The landscape image taken by the rear camera 34 as the rear landscape BS may be always displayed in the second display area A2 of the display screen 35A, or deviates only when the vehicle position P deviates from the guide route R. It may be displayed in the second display area A2 together with the previous path image I. In the latter case, at the timing when the distance D between the departure position X and the vehicle position P exceeds the reference distance S, the landscape image taken by the rear camera 34 in the second display area A2 is also not displayed. May be.

  When the superimposed display target of the route image I before departure is a landscape image captured by the rear camera 34 as in the present embodiment, the depression angle of the rear camera 34 is compared with the depression angle when used for a high-precision location. It is preferable to set a small value. In this case, a depression angle adjusting mechanism that can change the depression angle of the rear camera 34 may be provided in the vehicle in a state of being arranged in parallel with the rear camera 34. In this way, it is possible to arbitrarily switch between the pre-deviation route image display processing and the high-accuracy location according to the present disclosure based on an instruction operation by the user. Further, in the present embodiment, since the superimposed display target of the route image I before departure is not the indoor rearview mirror 36, the position adjusting unit 16 may not be provided, and similarly, the angle sensor 37 and the line-of-sight sensor 38 include It does not have to be connected.

[Third Embodiment]
A third embodiment of the navigation system will be described with reference to the drawings. In the present embodiment, the specific display mode of the route image I before departure is different from that of the second embodiment. Hereinafter, with respect to the navigation system 1 according to the present embodiment, differences from the second embodiment will be mainly described. Note that points not particularly specified are the same as those in the second embodiment, and the same reference numerals are given and detailed description thereof is omitted.

  In the present embodiment, the indoor rearview mirror 36 is configured as a mirror monitor with a built-in display device such as a liquid crystal display, and the landscape image taken by the rear camera 34 as the rear landscape BS of the vehicle is an indoor rearview. The image is displayed on a display screen 36 </ b> A provided in the mirror 36. As shown in FIG. 9, the display screen 36 </ b> A of the indoor rearview mirror 36 is arranged so as to occupy one of both ends of the substantially rectangular indoor rearview mirror 36, for example. In the present embodiment, the display screen 36 </ b> A of the indoor rearview mirror 36 corresponds to a “second display unit”.

  In the present embodiment, the second image display unit 15 uses the rear camera 34 displayed on the display screen 36A of the indoor rearview mirror 36 when the vehicle position P indicated in the vehicle position information deviates from the guide route R. The route image I before departure is displayed so as to be superimposed on the photographed landscape image. In FIG. 9, the second image display unit 15 displays only the direction indication image Ia indicating the traveling direction at the departure position X in the guidance route Ro before departure as the route image I before departure, and configures the guidance route Ro before departure. In this example, the road instruction image Ib indicating the road to be displayed is not displayed. It should be noted that an actual scene behind the vehicle is also reflected in the mirror area of the indoor rearview mirror 36 (an area other than the display screen 36A). This actual scene is the object on which the route image I before departure is superimposed and displayed. It is not included in “Scenery BS”.

[Other Embodiments]
Other embodiments of the navigation system will be described. Note that the configurations disclosed in the following embodiments can be applied in combination with the configurations disclosed in other embodiments as long as no contradiction arises.

(1) In each of the above-described embodiments, the configuration in which the direction instruction image Ia is an arrow image and the road instruction image Ib is a strip image has been described as an example. However, the embodiment of the present invention is not limited to this. The direction indicating image Ia only needs to indicate the direction that should have originally traveled at least at the deviation position X, and may be, for example, a triangular image. Further, the road instruction image Ib only needs to be able to indicate the route that should have originally traveled at least before and after the departure position X, and may be, for example, a linear image or a broken line image.

(2) In each of the above-described embodiments, the second image display unit 15 is based only on the magnitude relationship between the distance D between the departure position X from the pre-departure guidance route Ro and the vehicle position P and the reference distance S. The configuration for switching between display / non-display of the route image I before departure has been described as an example. However, the embodiment of the present invention is not limited to this. For example, the second image display unit 15 may switch the display / non-display of the route image I before departure in consideration of the topography around the departure point (curvature curvature, road gradient, etc.). For example, when the road after departure from the pre-departure guidance route Ro is largely curved, even if the distance D from the departure point is within the reference distance S, there is a departure point in the rear view of the vehicle that the user can visually recognize. May not be included. Further, for example, when the pre-departure route image I is superimposed and displayed on the actual scenery reflected in the indoor rear-view mirror 36 as in the first embodiment, even if the road curve after the departure is not so large, As the position of the departure point reflected on the mirror 36 moves, the position error of the route image I before departure tends to increase. Therefore, the second image display unit 15 performs non-display determination of the route image I before departure in consideration of the topography around the departure point, so that the route image before departure is located at a position corresponding to a point different from the actual departure point. Inconvenience due to the fact that I can be displayed can be avoided. From the same point of view, for example, the second image display unit 15 displays / hides the route image I before departure in consideration of the presence of other vehicles traveling around the host vehicle (in particular, rearward here). May be switched.

(3) In each of the above embodiments, the configuration in which the second image display unit 15 switches display / non-display of the route image I before departure on the basis of the distance has been described as an example. However, the embodiment of the present invention is not limited to this. For example, the second image display unit 15 may switch display / non-display of the route image I before departure on a time basis. That is, the second image display unit 15 displays the route image I before departure only when the elapsed time from the departure from the guidance route Ro before departure is within a predetermined reference time, and when the reference time is exceeded. The route image I before departure may be configured not to be displayed.

(4) In each embodiment described above, the second image display unit 15 continuously changes the display mode of the route image I before departure according to the distance D between the departure position X and the vehicle position P. Was described as an example. However, the embodiment of the present invention is not limited to this. The second image display unit 15 may change the display mode of the route image I before departure in a stepwise manner according to the distance D between the departure position X and the vehicle position P. Alternatively, the second image display unit 15 may display the route image I before departure with a certain size regardless of the distance D between the departure position X and the vehicle position P.

(5) In each of the above-described embodiments, the second image display unit 15 displays only the direction indication image Ia of the direction indication image Ia and the road indication image Ib constituting the pre-deviation route image I in a weak tone. Described as an example. However, the embodiment of the present invention is not limited to this. The second image display unit 15 may display the road instruction image Ib in weak gradation in addition to the direction instruction image Ia.

(6) In the second embodiment, a description is given by taking as an example a configuration in which a landscape image photographed by the rear camera 34 and a route image I before departure superimposed thereon are displayed in the second display area A2 of the display screen 35A. did. In the third embodiment, a configuration in which a landscape image taken by the rear camera 34 and a route image I before departure superimposed thereon are displayed on a display screen 36A provided in the indoor rearview mirror 36 is taken as an example. As explained. However, the embodiment of the present invention is not limited to this. A dedicated display device that displays the landscape image captured by the rear camera 34 and the pre-departure route image I superimposed thereon may be installed in the vehicle as a “second display unit”.

(7) In each of the above embodiments, the configuration in which the vehicle position information acquisition unit 11 specifies the vehicle position P by combining GPS navigation and autonomous navigation has been described as an example. However, the embodiment of the present invention is not limited to this. For example, the own vehicle position information acquisition unit 11 may specify the own vehicle position P based only on GPS navigation, or may specify the own vehicle position P based only on autonomous navigation. The former configuration is a suitable aspect when the vehicle position information acquisition unit 11 is provided in a portable navigation device, a portable information terminal device, or a multi-function mobile phone.

(8) Regarding other configurations, it should be understood that the embodiments disclosed herein are merely examples in all respects. Accordingly, those skilled in the art can make various modifications as appropriate without departing from the spirit of the present disclosure.

[Outline of Embodiment]
In summary, the navigation system according to the present disclosure preferably includes the following components.

[1]
A vehicle position information acquisition unit (11) that acquires vehicle position information indicating the vehicle position (P) that is the current position of the vehicle;
A guide route search unit (12) for searching for a guide route (R) to the destination based on the vehicle position information and destination information related to the destination set by the user;
A first image display unit (13) for displaying an image of the guide route (R) on the display unit (35A, A1) according to the host vehicle position (P) that changes as the vehicle travels;
When the own vehicle position (P) indicated by the own vehicle position information deviates from the guide route (R), an image showing the pre-departure guide route (Ro) that is the guide route (R) before the departure ( A second image display unit (15) for displaying I) superimposed on the rear landscape (BS) of the vehicle in a state visible to the user;
Is provided.

  According to this structure, the main functions with which a general navigation system is equipped are implement | achieved by each function which the own vehicle position information acquisition part, a guidance route search part, and a 1st image display part have. When the vehicle position deviates from the guide route, the second image display unit displays an image indicating the pre-departure guide route superimposed on the rear landscape of the vehicle in a state that is visible to the user. Therefore, the user can easily and accurately perceive the fact of departure from the guidance route based on the fact that the image showing the guidance route before departure is superimposed and displayed on the scenery behind the vehicle. In addition, the user can easily and accurately perceive the direction that should have originally traveled based on the image indicating the pre-departure guidance route. Since these various types of information are provided to the user after deviating from the guide route, the navigation system is less likely to cause unnecessary confusion to the user even after deviating from the guide route.

[2]
When the vehicle position (P) indicated in the vehicle position information deviates from the pre-departure guide route (Ro),
The guidance route search unit (12) re-searches the guidance route (R) to the destination based on the vehicle position information acquired after the departure,
The second image display unit (15) temporarily stores information on the pre-departure guide route (Ro) in the storage unit (22), and based on the temporarily stored information, the pre-departure guide route (Ro). An image (I) showing is generated and superimposed on the rear landscape (BS).

  According to this configuration, by temporarily storing the information related to the pre-departure guide route in the storage unit, an image showing the pre-departure guide route is displayed to the user while the reroute process (guide route re-search) is quickly performed. And can be displayed reliably in a state where it can be visually recognized and superimposed on the rear landscape of the vehicle. Therefore, it is possible to appropriately prepare for route guidance to the destination thereafter, while allowing the user to easily and accurately perceive the fact of deviation from the guidance route and the direction that should have been originally traveled.

[3]
The rear landscape (BS) is a real landscape reflected in an indoor rearview mirror (36) provided in the vehicle,
The second image display unit (15) displays an image (I) indicating the pre-departure guide route (Ro) superimposed on the actual scenery reflected in the indoor rearview mirror (36).

  According to this configuration, from the viewpoint of safety, an ordinary rear-view mirror that is normally provided for general vehicles is used to easily and accurately determine the fact of deviation from the guide route and the direction that the user should have traveled. Can be perceived. In addition, with an indoor rearview mirror, it is easy for the user to perceive the pre-departure guidance route with a small line of sight movement, and safety is high.

[4]
The rear landscape (BS) is a landscape image captured by a rear camera (34) provided in the vehicle and displayed on the second display unit (A2, 36A).
The second image display unit (15) displays an image (I) indicating the pre-departure guidance route (Ro) superimposed on the landscape image displayed on the second display unit (A2, 36A).

  According to this configuration, for example, the fact that the vehicle deviates from the guidance route or should be advanced by using a rear camera that may be provided in the vehicle for the purpose of, for example, high-accuracy position specification or safety improvement in reverse. The user can easily and accurately perceive the determined direction. Since the image showing the pre-departure guidance route is superimposed on the landscape image taken by the rear camera, it is not necessary to adjust the display position according to the user's physique, driving posture, installation angle of the display object, etc. The above effects can be obtained with a relatively simple process.

[5]
The second image display unit (15) has a distance (D) between a departure position (X) from the pre-departure guide route (Ro) and a vehicle position (P) indicated in the vehicle position information. When the distance is within a predetermined reference distance (S), an image (I) indicating the pre-departure guide route (Ro) is displayed. When the reference distance (S) is exceeded, the pre-departure guide route (Ro) is displayed. The image (I) shown is not displayed.

  According to this configuration, by limiting the period for displaying the image indicating the pre-departure guide route, it is possible to prevent the image indicating the pre-departure guide route from being displayed for a longer time than necessary. Therefore, while making the user perceive the fact of deviation from the guidance route and the direction that the user should have originally traveled at a suitable timing that is considered to be of great interest to the user, the user feels complicated by the long display. It is possible to suppress this.

[6]
The image (I) indicating the pre-departure guide route (Ro) includes a direction indication image (Ia) indicating a traveling direction at a departure point in the pre-departure guide route (Ro), and the pre-departure guide route (Ro). At least one of the road instruction images (Ib) indicating the roads constituting the road.

  According to this configuration, when the image indicating the pre-departure guidance route is a direction indication image, the direction that should have been originally traveled at the departure point is perceived to the user based on the shape and directionality. Can be made. Further, when the image indicating the pre-departure guidance route is a road instruction image, the user can easily perceive the route that should have traveled before and after the departure point based on the shape.

  The navigation method according to the present disclosure preferably includes the following configuration.

[7]
Own vehicle position information acquisition step (# 01) for acquiring own vehicle position information indicating the own vehicle position (P) which is the current position of the vehicle;
A guide route search step (# 02) for searching for a guide route (R) to the destination based on the vehicle position information and destination information related to the destination set by the user;
A first image display step (# 03) for displaying on the display unit (35A, A1) an image of the guide route (R) corresponding to the host vehicle position (P) that changes as the vehicle travels;
When the own vehicle position (P) indicated by the own vehicle position information deviates from the guide route (R), an image showing the pre-departure guide route (Ro) that is the guide route (R) before the departure ( A second image display step (# 04 to # 12) for displaying I) superimposed on the rear landscape (BS) of the vehicle in a state visible to the user;
including.

  The navigation program according to the present disclosure preferably includes the following configuration.

[8]
An own vehicle position information acquisition function (11 / # 01) for acquiring own vehicle position information indicating the own vehicle position (P) which is the current position of the vehicle;
A guidance route search function (12 / # 02) for searching for a guidance route (R) to the destination based on the vehicle position information and destination information related to the destination set by the user;
A first image display function (13 / # 03) for displaying on the display unit (35A, A1) an image of the guide route (R) corresponding to the host vehicle position (P) that changes as the vehicle travels;
When the own vehicle position (P) indicated by the own vehicle position information deviates from the guide route (R), an image showing the pre-departure guide route (Ro) that is the guide route (R) before the departure ( A second image display function (15 / # 04 to # 12) for displaying I) superimposed on the rear landscape (BS) of the vehicle in a state visible to the user;
Is realized on a computer.

  Note that a recording medium (such as an optical disk or a flash memory) on which the above-described navigation program is recorded is also disclosed in the present specification.

  According to these navigation methods and navigation programs, similarly to the above-described navigation system, it is possible to realize navigation that does not cause unnecessary confusion to the user even after deviating from the guide route.

  The navigation system, the navigation method, and the navigation program according to the present disclosure only have to achieve at least one of the effects described above.

  The present invention can be used, for example, in a navigation system that provides route guidance to a set destination.

DESCRIPTION OF SYMBOLS 1 Navigation system 11 Own vehicle position information acquisition part 12 Guide route search part 13 First image display part 15 Second image display part 22 Storage part 34 Rear camera 35 Display input device 35A Display screen (display part, second display part)
36 Indoor rearview mirror 36A Display screen (second display)
R Guide route Ro Pre-departure guide route Rn Re-search guide route P Own vehicle position X Departure position D Distance between departure position and own vehicle position S Reference distance A1 First display area (display section)
A2 Second display area (second display part)
BS Rear landscape I Route image before departure (image showing guide route before departure)
Ia Direction indication image Ib Road indication image

Claims (11)

A host vehicle position information acquisition unit that acquires host vehicle position information indicating the host vehicle position that is the current position of the vehicle;
A guidance route search unit that searches for a guidance route to the destination based on the vehicle position information and destination information related to the destination set by the user;
A first image display unit that displays an image of the guide route according to the vehicle position that changes as the vehicle travels on the display unit;
When the host vehicle position indicated in the host vehicle position information deviates from the guide route, an image showing the pre-departure guide route that is the guide route before the departure is visible to the rear of the vehicle while being visible to the user. A second image display unit that displays the image superimposed on the landscape ,
The second image display unit is configured such that a post-departure distance that is a distance between the departure position from the pre-departure guidance route and the own vehicle position indicated in the own vehicle position information is within a predetermined reference distance. The navigation system which displays the image which shows the said guidance route before departure in a different aspect according to the distance after said departure . When the vehicle position indicated in the vehicle position information deviates from the pre-departure guide route,
The guide route search unit re-searches the guide route to the destination based on the vehicle position information acquired after the departure,
The second image display unit temporarily stores information related to the pre-departure guide route in a storage unit, generates an image indicating the pre-departure guide route based on the temporarily stored information, and superimposes it on the rear landscape. The navigation system according to claim 1, wherein the navigation system is displayed. The rear landscape is a real landscape reflected in an indoor rearview mirror provided in the vehicle,
3. The navigation system according to claim 1, wherein the second image display unit displays an image indicating the pre-departure guide route superimposed on an actual scene reflected in the indoor rearview mirror. The rear landscape is a landscape image that is captured by a rear camera provided in the vehicle and displayed on the second display unit,
The navigation system according to claim 1 or 2, wherein the second image display unit displays an image indicating the pre-departure guide route superimposed on a landscape image displayed on the second display unit. The image indicating the pre-departure guide route is at least one of a direction indicating image indicating a traveling direction at a departure point in the pre-departure guide route and a road indicating image indicating a road constituting the pre-departure guide route. Item 5. The navigation system according to any one of Items 1 to 4 . The image showing the pre-departure guide route includes a direction indication image showing a traveling direction at a departure point in the pre-departure guide route,
The navigation system according to any one of claims 1 to 5, wherein the second image display unit displays the direction indication image with higher or lower transparency as the distance after departure increases.   The image showing the pre-departure guide route includes a direction indication image showing a traveling direction at a departure point in the pre-departure guide route,
The second image display unit reduces the direction indication image with a reduction ratio larger than the reduction ratio when the rear landscape is displayed smaller as the post-departure distance increases, and as the post-departure distance increases. The navigation system according to any one of claims 1 to 6, wherein the navigation system is displayed. The navigation system according to any one of claims 1 to 7 , wherein the second image display unit does not display an image indicating the guide route before departure when the distance after departure exceeds the reference distance. The navigation system according to claim 3, further comprising a position adjustment unit that adjusts a position of the route image before departure displayed superimposed on an actual scene reflected in the indoor rear-view mirror. Own vehicle position information acquisition step for acquiring own vehicle position information indicating the own vehicle position which is the current position of the vehicle;
A guidance route search step for searching for a guidance route to the destination based on the vehicle position information and destination information relating to the destination set by the user;
A first image display step for displaying an image of the guidance route according to the position of the vehicle that changes as the vehicle travels on a display unit;
When the host vehicle position indicated in the host vehicle position information deviates from the guide route, an image showing the pre-departure guide route that is the guide route before the departure is visible to the rear of the vehicle while being visible to the user. a second image displaying step of displaying superimposed on landscape, only including,
In the second image display step, a post-departure distance that is a distance between the departure position from the pre-departure guidance route and the own vehicle position indicated in the own vehicle position information is within a predetermined reference distance. A navigation method for displaying an image showing the pre-departure guidance route in a different manner depending on the post-departure distance . Own vehicle position information acquisition function for acquiring own vehicle position information indicating the own vehicle position that is the current position of the vehicle;
A guide route search function for searching for a guide route to the destination based on the vehicle position information and destination information related to the destination set by the user;
A first image display function for displaying on the display unit an image of the guide route according to the vehicle position that changes as the vehicle travels;
When the host vehicle position indicated in the host vehicle position information deviates from the guide route, an image showing the pre-departure guide route that is the guide route before the departure is visible to the rear of the vehicle while being visible to the user. A second image display function for displaying the image superimposed on the landscape is realized on a computer .
In the second image display function, a post-departure distance that is a distance between the departure position from the pre-departure guidance route and the own vehicle position indicated in the own vehicle position information is within a predetermined reference distance. A navigation program for displaying an image indicating the pre-departure guidance route in a different manner according to the post-departure distance .

Images