JP6723744B2 - Navigation information providing system and navigation information providing device - Google Patents

Description

The present invention relates to a navigation information providing system.

Some navigation terminals in recent years display three-dimensionally a navigation map viewed from an arbitrary viewpoint for reasons such as being intuitively easy to see.

For example, in the map display device of Patent Document 1, "a projection view obtained when a predetermined point is centered is displayed based on the two-dimensional data on the ground surface of the map constituent out of the three-dimensional data of the map constituent. Here, the viewpoint position is set at a position on the three-dimensional coordinate system corresponding to the sky outside the vehicle, which is separated from the current position acquired by GPS by a predetermined distance" (see paragraph 0065).

That is, the map display device of Patent Document 1 displays buildings, roads, intersections, etc., assuming a range where the driver can generally see the current position acquired by GPS as a reference.

Further, the car navigation system of Patent Document 2 provides an intuitively easy-to-understand navigation screen that combines a real photograph image taken by a camera and a CG image.

Then, in this navigation device, a symbol indicating the current position P of the vehicle is displayed on the road of the photographed image taken by the camera (see FIG. 5).

Japanese Patent No. 3766657 Japanese Patent Laid-Open No. 11-108684

However, in the vicinity of the entrance of a highway in the metropolitan area, a lane entering the highway and a general road may be lined up in parallel.

However, the map display device of Patent Document 1 displays a three-dimensional image including a building, a road, an intersection, etc., assuming a range where a driver can generally see based on the current position acquired by GPS.

For this reason, on the screen, not only the lane heading for the entrance of the highway but also the general road is displayed, so it is easy for the driver to go straight or to change the lane to get on the lane of the highway. I can't judge.

For this reason, the timing of getting on a lane heading for the entrance of a highway may be missed.

Further, the map display device of Patent Document 1 displays a three-dimensional image including a building, a road, an intersection, etc., assuming a range where the driver can generally see based on the current position acquired by GPS. For this reason, it is not clear if there is a sharp curve, there is a falling object, or there is an accident. That is, it is not known what the destination is, while the navigation device of Patent Document 2 discloses that a symbol indicating the current position P of the vehicle is displayed on the road (lane) of the photographed image taken by the camera. , It is not easy to know if the lane is toward the destination.

Further, the navigation device of Patent Document 2 displays a real image of a vehicle-mounted camera in combination with a CG image (P symbol). However, when a vehicle exists several tens of meters ahead, the image of the vehicle is also displayed. Will be. For this reason, even if the symbol P indicating the position of the own vehicle is displayed, the guide screen is very difficult to understand and it is dangerous because the photographed image is viewed while the vehicle is traveling.

Further, even if the navigation device of Patent Document 2 displays a photographed image, if there is a large vehicle in front, it is not possible to know what is ahead.

The present invention has been made in view of the above problems, and it is possible to easily know a lane heading for a destination and easily know what the front is like even if there is a vehicle ahead. The purpose is to obtain a system that can.

In the navigation information providing system according to the present invention, the data center receives the vehicle information (Ji) from the on-vehicle camera-equipped navigation terminal mounted on the vehicle via the wireless communication line, and the data center receives the vehicle information (Ji). A navigation information providing system for transmitting transmission data (SDJi) created based on
The in-vehicle camera navigation terminal,
A GPS receiver, a navigation unit with a photographing camera, and a navigation terminal,
The navigation unit with the photographing camera is
Provided on the left and right sides of the vehicle, a photographing camera unit including a left vehicle-mounted camera and a right vehicle-mounted camera for capturing the front, and a controller unit,
The controller unit is
Each time the right camera image (Cai) captured by the right vehicle-mounted camera and the left camera image (Cbi) captured by the left vehicle-mounted camera are input, a vehicle-mounted camera captured image (CGi) is generated by combining these, and the vehicle-mounted image is generated. For each camera-captured image (CGi), a camera line-of-sight center is defined on the vehicle-mounted camera image-captured image (CGi), and an image region between the lane image (Di) and the lane-line image (Di) sandwiching the camera line-of-sight center is defined. A means for outputting a camera-recognized self-propelled lane (CZRi), and means for outputting a vehicle-mounted camera image (CGi) including the camera-recognized self-propelled lane (CZRi);
The navigation terminal is
Every time the vehicle-mounted camera captured image (CGi) is input, the vehicle-mounted camera captured image (CGi), the terminal number (Jbi), the attitude (θi), the destination (Poi), and the GPS receiver are acquired. Means for generating the vehicle information (Ji) having the present position (GPi) and transmitting the vehicle information (Ji) to the data center;
Means for displaying on the screen a driver line-of-sight image (DHi) based on transmission data (SDJi) from the data center,
The data center includes a server group,
The server group is
The lane number of the road network (DWi) corresponding to this lane is assigned to the image area of the lane that is the road of the three-dimensional map model (Mi) and the three-dimensional map model (Mi) including the road on which the vehicle travels. A server for 3D map information stored in association with each other,
A vehicle information storage server that receives and stores the vehicle information (Ji), a lane type driver line-of-sight image creation server, and a transmission data creation server,
The lane type driver line-of-sight image creation server,
A memory unit for providing driver image information is provided,
Every time the vehicle information (Ji) is stored in the vehicle information storage server, the current position (GPi), the attitude (θi), and the camera stored in advance included in the vehicle information (Ji). Means for setting the position in the three-dimensional map model (Mi) obtained based on the parameter information and the reference geographical coordinates as a driver viewpoint position (DMPi) on the three-dimensional map model on the three-dimensional map model (Mi);
An area (EMi) based on the camera parameter information and the posture (θi) is defined in the three-dimensional map model (Mi) at the driver viewpoint position (DMPi) on the three-dimensional map model, and an image in this area is defined as described above. Means for reading in as a driver line-of-sight image (DHi) and storing this in the driver image information providing memory unit;
Each time the vehicle information (Ji) is stored in the vehicle information storage server, the road network (DWi) having the geographical coordinates of the destination (Poi) included in the vehicle information (Ji) is stored. Means for searching the network lane (NRi) of the lane number from the three-dimensional map information server as a destination arrival network lane (PNRi) for reaching the destination (Poi);
Each time before Symbol their destinations reached network lane (PNRI) is retrieved, the image area of the driver sight image is associated lane number for the destination reached network lane (PNRi) (DHi), destination reached A means for obtaining an image defining a destination arrival lane display color (Fi) indicating a network lane (PNRi) as a destination arrival lane (PDRi) on the driver's line-of-sight image;
Each time the vehicle information (Ji) is received, the driver line-of-sight image (DHi) corresponding to the camera recognition self-propelled lane (CZRi) included in the vehicle-mounted camera captured image (CGi) of the vehicle information (Ji). ), a means for determining the image area of the camera recognition self-running lane (DCRi) on the driver's line-of-sight image,
Means for defining a vehicle traveling direction arrow (ZYi) in the determined camera-recognized self-propelled lane (DCRi) on the driver's line-of-sight image,
The transmission data creation server,
A destination lane (PDRi) on the driver line-of-sight image of the driver line-of-sight image (DHi) in the driver image information providing memory is obtained, and a vehicle traveling direction is set on the driver-recognized image lane (DCRi). Every time an arrow (ZYi) is defined, the driver line-of-sight image (DHi) including the destination lane (PDRi) on the driver line-of-sight image and the own vehicle traveling direction arrow (ZYi) are set as the transmission data (SDJi). And a means for transmitting the terminal number (Jbi) included in the vehicle information (Ji) to the navigation terminal.

As described above, according to the present invention, it is possible to easily know the lane reaching the destination, and it is possible to easily know what the front is like even if there is a vehicle ahead.

In addition, it is possible to easily understand from the screen when to get on the lane to reach the destination.

It is a schematic block diagram of the navigation information provision system using the vehicle-mounted camera image of this Embodiment. It is a schematic block diagram of the navigation part with a photography camera. FIG. 3 is a schematic configuration diagram of a lane type driver line-of-sight image creation server 130. It is a schematic block diagram of the camera image three-dimensional model generation server 150. It is a sequence diagram explaining a schematic whole operation of a navigation information providing system using an in-vehicle camera image. It is explanatory drawing explaining the driver's line-of-sight image DHi displayed on the navigation terminal 13, the destination arrival lane display, and the own vehicle advancing direction arrow. It is explanatory drawing explaining the driver|operator's line-of-sight image DHi containing the lane change arrow HZYi (red) displayed on the navigation terminal 13. 7 is an explanatory diagram illustrating a driver line-of-sight image CMHDGi with a change detection area on a camera image displayed on the navigation terminal 13. FIG. 9 is an explanatory diagram illustrating a driver line-of-sight image DHi with a camera image three-dimensional model CMi displayed on the navigation terminal 13. FIG.

The present embodiment described below exemplifies an apparatus and a method for embodying the technical idea of the present invention, and the technical idea of the present invention is specified in the structure and arrangement as follows. Not a thing.

The technical idea of the present invention can be variously modified within the technical scope described in the claims. It should be noted that the drawings are schematic and the configurations of devices and systems are different from actual ones.

FIG. 1 is a schematic configuration diagram of a navigation information providing system using in-vehicle camera images according to the present embodiment.

As shown in FIG. 1, the navigation information providing system using the vehicle-mounted camera image is provided in the vehicle-mounted camera unit 12 provided in the vehicle 10 (10a, 10b,... ), the navigation terminal 13, and the data center 100. It is a system consisting of multiple servers. The in-vehicle camera unit 12 and the navigation terminal 13 are collectively referred to as an in-vehicle camera-equipped navigation terminal 14.

As shown in FIG. 2, the vehicle-mounted camera unit 12 is configured by a right vehicle-mounted camera 12a and a left vehicle-mounted camera 12b provided on the left and right sides of the windshield inside the vehicle 10 (10a, 10b,... ), for example. Then, the camera controller 15 captures a front image at regular intervals (for example, 100 msec, 200 msec,... ). The right vehicle-mounted camera 12a, the left vehicle-mounted camera 12b, and the camera controller 15 are collectively referred to as a camera-equipped navigation unit 16.

The camera controller 15 generates a vehicle-mounted camera captured image CGi that combines the right camera image Cai captured by the right vehicle-mounted camera 12a and the left camera image Cbi captured by the left vehicle-mounted camera 12b. Then, the vehicle-mounted camera image CGi is analyzed to recognize the lane Di. For example, from the rightmost lane Di to lane D1, lane D2,..., The lane between lane D1 and lane D2 is the camera recognition lane CR1, and the lane between lane D2 and lane D3 is the camera recognition lane CR2.・Recognize as follows. Then, the lane in which the vehicle 10 is currently traveling is defined as a camera-recognized self-propelled lane CZRi.

Then, the in-vehicle camera captured image information CJi, which is a combination of the captured time Cti (year, month, day, time), the camera number Jci (right camera number Jcai, left camera number Jcbi), and the in-vehicle camera captured image CGi, is displayed on the navigation terminal 13 Output to.

The navigation terminal 13 is provided on a front panel (not shown) in the vehicle 10 (10a, 10b,...) As shown in FIG. The navigation terminal 13 is internally provided with a GPS receiver, an inertial navigation device, and a transceiver, which are not shown, and the in-vehicle camera captured image information CJi (shooting time Cti, camera number Jci, in-vehicle camera captured image CGi (camera) from the camera controller 15 is shown. Enter the recognition self-propelled lane CZRi)).

Then, the vehicle number Jai, the terminal number Jbi, the attitude θi, the speed Vi, the destination Poi, the current position GPi, the steering wheel angle Hθi (which may be omitted), and the driver's line of sight input by the driver are included in the in-vehicle camera captured image information CJi. The vehicle information Ji including the position DSi and the like is transmitted to the data center 100 (also referred to as a navigation information providing device).

Also, every time the transmission data SDJi is received from the data center 100, an image based on the transmission data SDJi is displayed on the screen 13a by the browser function.

(Configuration of data center 100)
The data center 100 has the following means. As shown in FIG. 1, a vehicle information storage server 110 (also called a vehicle information storage unit), a distribution server 120 (also called a received information distribution unit), and a lane type driver line-of-sight image creation server 130 (lane type). A driver line-of-sight image information creating unit), a camera image three-dimensional model creating server 150 (also called a camera image three-dimensional model creating unit), and a three-dimensional model updating server 160 (also called a three-dimensional model updating unit). , A transmission data creation server 170 (also called a transmission data creation unit), a three-dimensional map information server 180 (also called a three-dimensional map information storage unit), a change detection server 190 (also called a change detection unit), etc. Consists of.

The vehicle information storage server 110 receives the vehicle information Ji from the vehicle 10 (10a, 10b...) And stores it in a memory (not shown).

Each time the distribution server 120 stores the vehicle information Ji in the vehicle information storage server 110, the shooting time Cti, the camera number Jci, the in-vehicle camera shot image CGi, the attitude θi, and the speed included in the vehicle information Ji. Vi, the current position GPi, the steering wheel angle Hθi, etc. are output (sorted) to the camera image three-dimensional model generation server 150 as vehicle-mounted camera image information CJi.

Further, the vehicle number Jai, the terminal number Jbi, the attitude θi, the speed Vi, the destination Poi, the current position GPi, the steering wheel angle Hθi, the photographing time Cti, the driver's line-of-sight position DSi, etc. of the vehicle information Ji are used as the camera-recognized own-lane information CZJi. It outputs (sorts) to the lane type driver line-of-sight image creation server 130.

The three-dimensional map information server 180 stores a road network DWi that defines road lanes. The lane defined by this road network DWi is referred to as a network lane NRi in the present embodiment.

The three-dimensional map information server 180 also stores a three-dimensional map model Mi. This three-dimensional map model Mi is a vehicle-mounted image captured by a vehicle-mounted camera unit 12 provided on a hygienic image, aerial photogrammetric survey, aerial laser survey, laser measurement by a moving body measurement vehicle, or a vehicle 10 (10a, 10b,... ). It is a three-dimensional map model Mi created based on a camera-captured image CGi.

Each time the lane type driver line-of-sight image creation server 130 receives the camera-recognized self-traveling lane information CZJi included in the vehicle information Ji from the distribution server 120, it is included in the camera-recognized self-traveling lane information CZJi. The network lane NRi having the geographical coordinates of the destination Poi is searched from the three-dimensional map information server 180.

The searched network lane NRi is called a destination arrival network lane PNRi. The number is called the destination arrival network lane number PNBRi.

In addition, the purpose is to read the driver line-of-sight image DHi, which will be described later, and to indicate that it is the destination-arrival network lane PNRi on the driver-line-of-sight image lane DRi corresponding to the destination-arrival network lane number PNBRi of the retrieved destination-arrival network lane PNRi. The landing lane display color Fi (for example, purple) is defined.

Also, the lane type driver line-of-sight image creation server 130 receives the camera-recognized self-traveling lane information CZJi each time the current position GPi, the attitude θi, the speed Vi, and the steering wheel included in the camera-recognized self-traveling lane information CZJi are received. The angle Hθi, the photographing time Cti, the vehicle number Jai, the terminal number Jbi, and the driver line-of-sight position DSi are read as driver image creation basic information DKJi.

Then, the driver line-of-sight position DSi included in the driver image creation basic information DKJi is set on the three-dimensional map model Mi. The set driver line-of-sight position DSi is referred to as a driver viewpoint position DMPi on the three-dimensional map model.

Then, the driver line-of-sight image DHi at the angle of view of the driver viewpoint position DMPi on the three-dimensional map model is extracted (read).

Further, a range of, for example, 500 m in the traveling direction from the starting point position ki on the three-dimensional map model Mi is created as the sky navigation image ZFi.

Further, each time the camera-recognized self-propelled lane information CZJi is received, the driver-gaze image lane number DBRi in the driver-gaze image DHi that matches the camera-recognized self-propelled lane CZRi included in the camera-recognized self-propelled lane information CZJi is provided. The lane DRi on the driver's line-of-sight image is defined as the camera recognition self-propelled lane DCRi on the driver's line-of-sight image.

Then, the vehicle traveling direction arrow ZYi is defined in the camera-recognized self-propelled lane DCRi on the driver line-of-sight image. The own vehicle traveling direction arrow ZYi is defined so as to be on the driver line-of-sight image DHi or on the driver line-of-sight image camera recognition self-propelled lane DCRi. Further, the lane change arrow HZYi is defined in the driver line-of-sight image DHi.

The camera image three-dimensional model generation server 150 obtains three-dimensional coordinates per pixel in the vehicle-mounted camera captured image CGi included in the vehicle-mounted camera captured image information CJi from the distribution server 120, and assigns the three-dimensional coordinates to the pixels. An image three-dimensional model CMi is generated.

The change detection server 190 defines an area EMi based on the driver line-of-sight position DSi in the three-dimensional map model Mi, and a driver line-of-sight image MEDHi on the three-dimensional map model in this area EMi and the current camera image three-dimensional model CMi. By comparison, it is determined whether or not there is a changed area (hereinafter referred to as changed area CMHi) with respect to the current camera image three-dimensional model CMi.

If there is a change, the change area CMHi is overwritten on the driver line-of-sight image DHi.

Further, the corrected current position HPGI is defined in the road lane MRi on the three-dimensional model on the three-dimensional map model Mi, and the distance CGRi from the corrected current position HPGI to the center coordinates of the change area CMHi in the camera image three-dimensional model CMi is calculated. ..

Then, the driver line-of-sight image DHi with the change region CMHi, the distance CGRi, and the like are output to the transmission data creation server 170 as the driver line-of-sight image CMHDGi with the change detection region on the camera image.

When the change detection server 190 determines that there is a change, the three-dimensional model update server 160 assigns the area EMi corresponding to the driver's line of sight in the three-dimensional map model Mi, and uses this area EMi for the current camera image three-dimensional model. Update (rewrite) to CMi.

The transmission data creation server 170 uses the driver line-of-sight image DHi generated by the lane type driver line-of-sight image creation server 130, the destination arrival lane display color Fi (for example, purple), and the sky navigation image ZFi as a set of transmission data. SDJi is generated and transmitted to the vehicle 10 via the wireless communication network.

Further, it generates transmission data SDJi including a driver line-of-sight image DHi and a vehicle traveling direction arrow ZYi, and transmits the transmission data SDJi to the vehicle 10 via a wireless communication network.

Further, a vehicle to which the driver's line-of-sight image DHi including the change region CMHi (driver's line-of-sight image CMHDGi on the camera image with change detection region) is determined and transmitted to the vehicle 10 via the wireless communication network.

Further, the transmission data creation server 170 converts the driver line-of-sight image DHi into a bird's-eye view or an image at the driver's viewpoint position based on the instruction information of the vehicle information Ji.

<Detailed configuration of each server>
The lane type driver line-of-sight image creation server 130 has the configuration requirements shown in FIG. In FIG. 3, the three-dimensional map information server 180 and the transmission data creation server 170 are shown and described.

(Lane type driver line-of-sight image creation server 130)
As shown in FIG. 3, the lane type driver line-of-sight image creation server 130 includes a driver image information providing memory 131a in which a driver line-of-sight image DHi to be provided to the vehicle 10 (10a, 10b...) Is stored, and a sky navigation image. The memory 131b, the destination arrival lane coloring unit 133, the driver image creating unit 135, the progress arrow setting unit 136, the lane change arrow setting unit 138, and the like.

The three-dimensional map information server 180 described above includes a road network database 180a that stores the road network DWi, a three-dimensional topographic model database 180b that stores the three-dimensional map model Mi, road facility information such as road signs, and other information. A database 180c for road facility traffic guidance related information that stores road facility traffic guidance information DJi necessary for traffic guidance is provided.

The road network DWi defines road lanes, and is composed of nodes NDi, links LRi, and the like. Geographical coordinates are assigned to the node NDi. Further, width, distance, etc. are assigned to the link LRi. The lane defined by this road network DWi is referred to as a network lane NRi in the present embodiment. That is, the network lane NRi consists of the node NDi, the link LRi, the geographical coordinates, the width, the inter-node distance, the network lane number NRBi, and the like.

Further, the three-dimensional map model Mi of the three-dimensional topographic model database 180b is provided in the sanitary image, aerial photogrammetric survey, aerial laser surveying, laser measurement by a moving body measuring vehicle, or the vehicle 10 (10a, 10b,... ). The three-dimensional map model Mi is created based on the vehicle-mounted camera image CGi captured by the vehicle-mounted camera unit 12.

The road lane of the three-dimensional map model Mi is referred to as a three-dimensional model road lane MRi in this embodiment. The road lane MRi on the three-dimensional model is associated with the network lane NRi. That is, the same number is associated. A lane heading for the destination in the three-dimensional model road lane MRi is referred to as a three-dimensional model destination lane PMRi.

The destination arrival lane coloring unit 133 receives the camera-recognized self-driving lane information CZJi included in the vehicle information Ji from the distribution server 120. Every time the camera-recognized self-traveling lane information CZJi is received, the network lane NRi (node NDi, link LRi, geographical coordinate, width, node) having the geographic coordinates of the destination Poi included in the camera-recognized self-traveling lane information CZJi is received. The inter-distance, network lane number NRBi) is searched from the road network database 180a of the server 180 for three-dimensional map information.

Specifically, the current position PGi is corrected based on the image coordinates of the center of the camera recognition self-propelled lane CZRi and the reference coordinates of the three-dimensional map model Mi, and this is set as the corrected current position HPGI.

Then, each time the corrected current position HPGI is obtained, the network lane NRi of the road network DWi having the coordinates of the corrected current position HPGI is searched from the three-dimensional map information server 180 as the destination arrival network lane PNRi.

The searched network lane NRi is called a destination arrival network lane PNRi. The number is called the destination arrival network lane number PNBRi.

Then, it is determined whether or not the driver line-of-sight image DHi is stored (generated) in the driver image information providing memory 131a.

If it has been generated, this driver line-of-sight image DHi is read, and the destination is reached on the driver line-of-sight image Dlane in the driver line-of-sight image DHi that corresponds to the network arrival number PNBRi A destination arrival lane display color Fi (for example, purple) indicating a lane is defined.

The lane DRi on the driver line-of-sight image in which the destination arrival lane display color Fi (for example, purple) is defined is called a destination lane PDRi on the driver line-of-sight image.

The destination arrival lane display color Fi (for example, purple) is defined so that the color is displayed on the driver line-of-sight image DHi.

Then, the information (flag) for notifying that the destination arrival lane display color Fi is defined is output to the navigation image transmission data creation server 140.

The driver image creation unit 135 receives the camera-recognized self-driving lane information CZJi included in the vehicle information Ji. Every time this camera-recognized self-traveling lane information CZJi is received, the current position GPi, attitude θi, speed Vi, steering wheel angle Hθi, shooting time Cti, vehicle number Jai, terminal included in this camera-recognized self-traveling lane information CZJi. The number Jbi and the driver line-of-sight position DSi are read as driver image creation basic information DKJi.

Then, the driver line-of-sight position DSi included in the driver image creation basic information DKJi is set as the driver viewpoint position DMPi on the three-dimensional map model on the three-dimensional map model Mi of the three-dimensional topographic model database 180b. Then, the area EMi at the angle of view of the driver viewpoint position DMPi on the three-dimensional map model is defined as the three-dimensional map model Mi, and the image in the area EMi (hereinafter referred to as the driver line-of-sight image MEDHi on the three-dimensional map model) is viewed by the driver. The image DHi is stored in the driver image information providing memory 131a.

The line-of-sight direction determined by the previous current position GPi or the like is assigned to the driver viewpoint position DMPi on the three-dimensional map model described above.

In addition, the driver image creation unit 135 uses the driver image creation basic information DKJi based on the current position GPi, the posture θi, the speed Vi, the shooting time Cti, and the like to determine the position on the three-dimensional map model Mi (hereinafter, three-dimensional map model Mi). A starting point position ki on the map model Mi) is determined (for example, a height of 200 m).

Then, a range of, for example, 500 m in the traveling direction from the starting point position ki on the three-dimensional map model Mi is set as the sky navigation image ZFi. Then, the sky navigation image ZFi is stored in the sky navigation image memory 131b.

The starting point position ki on the three-dimensional map model Mi is set as the current display position Pki (coordinates on the three-dimensional map model Mi) of the current driver line-of-sight image DHi, and the next intersection of the sky navigation image ZFi is set as the next display position Pkni( The coordinates on the three-dimensional map model Mi) are used as these, and these are included in the navigation information attached to the image FZFi (the coordinates of the current display position Pki and the type and color of the display mark (yellow), the coordinates of the next display position Pkni and the color of the display mark (pink). )) is associated with the sky navigation image ZFi.

The above-mentioned sky navigation image ZFi is updated every time the starting point position Ki on the three-dimensional map model Mi changes. That is, it changes every time the driver line-of-sight image DHi is updated. Also, each time the starting point position Ki on the three-dimensional map model Mi changes, the next display position Pkni becomes the current display position Pki.

Further, the driver image creating unit 135 searches the road facility traffic guidance information DJi related to the driver line-of-sight image DHi and associates the searched road facility traffic guidance information DJi with the driver line-of-sight image DHi.

Further, the frame of the sign included in this road facility traffic guidance information DJi is defined in different colors (called color areas). At this time, it is preferable that the lane for reaching the destination and the color area of the frame of the sign are connected to each other.

Then, information (flag) is output to the transmission data creation server 170 to inform that the driver's line-of-sight image DHi, the sky navigation image ZFi, etc. have been defined.

The traveling arrow setting unit 136 receives the camera-recognized traveling lane information CZJi included in the vehicle information Ji. Every time the camera recognition self-driving lane information CZJi is received, it is determined whether or not the driver line-of-sight image DHi is stored in the driver image information providing memory 131a.

When stored, the camera recognizes the own lane information C Z J i in Including camera recognizes self lane C Z R i to the driver sight line image D H i driver sight line image on the lane number in the matching A lane D R i on the driver's line-of-sight image having D B R i is defined as a camera recognition free-running lane D C R i on the driver's line-of-sight image.

Then, the vehicle traveling direction arrow ZYi is defined in the camera-recognized self-propelled lane DCRi on the driver line-of-sight image. This own vehicle traveling direction arrow ZYi is defined to be on the driver line-of-sight image DHi or on the driver line-of-sight image on the camera recognition self-running lane DCRi.

The own-vehicle advancing direction arrow ZYi is the number of the driver's line-of-sight image DHi, the camera-recognized self-propelled lane number DCBRi on the driver's line-of-sight image, and the information of the own-vehicle advancing direction arrow ZYi (starting point coordinate of the own-vehicle advancing direction Zyi, size , Arrow type, color (for example, ocher), and the like are preferably defined as the own vehicle traveling direction arrow information ZYJi.

Then, it outputs to the transmission data creating server 170 information (flag) notifying that the own vehicle traveling direction arrow ZYi has been defined.

The lane change arrow setting unit 138 receives the camera-recognized traveling lane information CZJi included in the vehicle information Ji from the distribution server 120. Each time the camera-recognized self-propelled lane information CZJi is received, the driver line-of-sight image DHi is stored (generated) in the driver image information providing memory 131a, and the destination-destination lane is located on the driver-recognized line-of-sight image on the camera-recognized self-propelled lane DCRi. It is determined whether or not the destination arrival lane display color Fi (for example, purple) indicating that is defined, and the own vehicle traveling direction arrow ZYi and the lane change arrow HZYi are defined.

If it is defined, it is determined whether or not the own vehicle traveling direction arrow ZYi is defined on the camera recognition self-running lane DCRi on the driver line-of-sight image. When the own vehicle traveling direction arrow ZYi is defined on the driver's line-of-sight image camera recognition self-running lane DCRi, the lane change arrow HZYi on the driver's line-of-sight image camera recognition self-running lane DCRi is deleted. Then, information (flag) indicating that the lane change arrow HZYi has been deleted is output to the transmission data creation server 170.

In addition, the lane change arrow setting unit 138 determines whether or not the driver's line-of-sight image DHi on the driver's line-of-sight image camera-recognized lane number DCBRi matches the driver's line-of-sight image destination lane number PDBRi.

In the case of disagreement, the head of the lane change arrow HZYi starting from a predetermined position as the starting point from the head of the vehicle traveling direction arrow ZYi defined on the camera recognition self-propelled lane DCRi on the driver sight line image of the driver sight line image DHi It is defined toward the destination arrival lane PDRi on the image.

Then, information (flag) notifying that the lane change arrow HZYi has been defined is output to the transmission data creation server 170.

(Camera image three-dimensional model generation server 150)
As shown in FIG. 4, the camera image 3D model generation server 150 includes a camera image 3D model generation unit 152, a camera image 3D model memory 154, and in-vehicle camera parameter information (angle of view, half width, The in-vehicle camera parameter database 153 storing the mounting height, the resolution,..., And the in-vehicle camera captured image information memory 155 in which the in-vehicle camera captured image information CJi (including the in-vehicle camera captured image CGi) is stored. There is.

The camera image three-dimensional model generation unit 152 receives the vehicle-mounted camera captured image information CJi from the distribution server 120 and stores it in the vehicle-mounted camera captured image information memory 155 (overwrite).

Then, every time the vehicle-mounted camera captured image information CJi is stored, the vehicle-mounted camera parameter information (angle of view, half-width, mounting height, resolution,...) And the vehicle-mounted camera captured, which are stored in the vehicle-mounted camera parameter database 153. Three-dimensional coordinates per pixel of the in-vehicle camera photographed image CGi are obtained based on the photographing time Cti of the image information CJi, the posture θi, the speed Vi, the current position GPi, the steering wheel angle Hθi, the reference coordinates of the three-dimensional map model Mi, and the like. A camera image three-dimensional model CMi in which is assigned to pixels is generated (stored) in the camera image three-dimensional model memory 154.

(Change detection server)
The change detection server 190 includes a change determination unit 192, as shown in FIG. Every time the area EMi in the three-dimensional map model Mi is defined, the change determination unit 192 stores (copies) the driver line-of-sight image MEDHi on the three-dimensional map model in the area EMi in the memory 194.

Then, the driver line-of-sight image MEDHi on the three-dimensional map model in the memory 194 is compared with the current camera image three-dimensional model CMi stored in the camera image three-dimensional model memory 154 to obtain the current camera image three-dimensional model CMi. Determine if there is a change.

If there is a change, the change area CMHi is overwritten (pasted) on the driver line-of-sight image DHi in the driver image information providing memory 131a (see FIGS. 3 and 8).

Further, the corrected current position HPGI is defined in the road lane MRi on the three-dimensional model on the three-dimensional map model Mi, and the distance CGRi from the corrected current position HPGI to the center coordinates of the change area CMHi in the camera image three-dimensional model CMi is calculated. ..

Then, the driver line-of-sight image DHi with the change region CMHi, the distance CGRi, and the like are output to the transmission data creation server 170 as the driver line-of-sight image CMHDGi with the change detection region on the camera image.
(3D model update server 160)
As shown in FIG. 4, the three-dimensional model updating server 160 includes a relevant area allocation unit 162, a relevant area updating unit 164, and the like.

When the change detection server 190 determines that there is a change, the corresponding area allocation unit 162 allocates the area EMi corresponding to the driver's line of sight in the three-dimensional map model Mi.

The corresponding area allocation unit 162 updates (rewrites) this area EMi with the current camera image three-dimensional model CMi stored in the camera image three-dimensional model memory 154 (see FIG. 8).

(Transmission data creation server 170)
The transmission data creation server 170 includes a transmission vehicle determination unit 172, as shown in FIG.

When the change detection server 190 outputs the driver line-of-sight image CMHDGi with the change detection area on the camera image because the change detection server 190 determines that there is a change point, the transmission vehicle determination unit 172 outputs all the vehicle information stored in the vehicle information storage server 110. Read Ji.

Then, the posture is included in each of the vehicle information J i theta i, the speed V i, the current location G P i, the steering wheel angle H theta i, vehicle camera captured image includes a camera recognition self lane C Z R i CGi , The photographing time C t i and the current position G P i of the driver line-of-sight image C MH D G i on the camera image on which a change detection region is present, which vehicle is traveling on the road network toward this change point? decide.

Then, the transmission data SDJi is transmitted to the terminal number and the vehicle number included in the vehicle information of the determined vehicle.

Further, transmission data SDJi which is a combination of the driver line-of-sight image DHi (including update) generated by the lane type driver line-of-sight image creating server 130, the destination arrival lane display color Fi (for example, purple), and the sky navigation image ZFi. It is generated and transmitted to the vehicle 10 via the wireless communication network.

<Overall operation>
FIG. 5 is a sequence diagram illustrating a schematic overall operation of the navigation information providing system using the in-vehicle camera image.

As shown in FIG. 5, the vehicle 10 (10a, 10b,...) The vehicle center Ji, the camera controller 15, and the navigation terminal 13, the vehicle information Ji including the front image taken at regular intervals by the data center. It is transmitted to 100 (d10).

The vehicle information storage server 110 of the data center 100 receives the vehicle information Ji from the vehicle 10 (10a, 10b...) And stores it in the vehicle information storage memory 115 (d12).

Each time the distribution server 120 stores the vehicle information Ji in the vehicle information storage server 110, the shooting time Cti, the camera number Jci, the in-vehicle camera shot image CGi, the attitude θi, and the speed included in the vehicle information Ji. Vi, the current position GPi, the steering wheel angle Hθi, etc. are output (sorted) to the camera image three-dimensional model generation server 150 as vehicle-mounted camera captured image information CJi (d14).

The distribution server 120 also recognizes the vehicle number Jai of the vehicle information Ji, the terminal number Jbi, the attitude θi, the speed Vi, the destination Poi, the current position GPi, the steering wheel angle Hθi, the photographing time Cti, the driver's line-of-sight position DSi, and the like. The information is output (sorted) to the lane type driver line-of-sight image creation server 130 as the own lane information CZJi (d16).

The camera image three-dimensional model generation server 150 uses the three-dimensional coordinates of each pixel of the vehicle-mounted camera captured image CGi included in the current vehicle-mounted camera captured image information CJi from the distribution server 120 as a reference of the three-dimensional map model Mi. A camera image three-dimensional model CMi in which the three-dimensional coordinates are obtained and assigned to each pixel of the vehicle-mounted camera captured image CGi is generated based on the coordinates (d18).

That is, the camera image three-dimensional model generation unit 152 receives the vehicle-mounted camera captured image information CJi from the distribution server 120 and stores it in the vehicle-mounted camera captured image information memory 155 (overwrite).

Then, every time the vehicle-mounted camera captured image information CJi is stored, the vehicle-mounted camera parameter information (angle of view, half width, mounting height, resolution,...) Stored in the vehicle-mounted camera parameter database 153 and vehicle-mounted camera shooting. Three-dimensional coordinates per pixel of the in-vehicle camera photographed image CGi are obtained based on the photographing time Cti of the image information CJi, the posture θi, the speed Vi, the current position GPi, the steering wheel angle Hθi, the reference coordinates of the three-dimensional map model Mi, and the like. A camera image three-dimensional model CMi in which is assigned to pixels is generated in the camera image three-dimensional model memory 154.

Then, the lane type driver line-of-sight image creation server 130 performs driver image generation processing and arrow generation processing (d20).

The driver image creation processing is performed by the driver image creation unit 135. The driver image creation unit 135 receives the camera-recognized self-driving lane information CZJi included in the vehicle information Ji. Every time this camera-recognized self-traveling lane information CZJi is received, the current position GPi, attitude θi, speed Vi, steering wheel angle Hθi, shooting time Cti, vehicle number Jai, terminal included in this camera-recognized self-traveling lane information CZJi. The number Jbi and the driver line-of-sight position DSi are read as driver image creation basic information DKJi.

Then, the driver line-of-sight position DSi included in the driver image creation basic information DKJi is set as the driver viewpoint position DMPi on the three-dimensional map model on the three-dimensional map model Mi of the three-dimensional topographic model database 180b. Then, the area EMi at the angle of view of the driver viewpoint position DMPi on the three-dimensional map model is defined as the three-dimensional map model Mi, and the driver line-of-sight image MEDHi on the three-dimensional map model in the area EMi is set as the driver line-of-sight image DHi. It is stored in the providing memory 131a.

The line-of-sight direction determined by the previous current position GPi or the like is assigned to the driver viewpoint position DMPi on the three-dimensional map model described above.

Further, the driver image creation unit 135 uses the three-dimensional map model Mi on the three-dimensional map model Mi based on the current position GPi, the posture θi, the speed Vi, the shooting time Cti and the like included in the driver image creation basic information DKJi. The upper starting point position ki is determined (for example, height 200 m).

Then, a range of, for example, 500 m in the traveling direction from the starting point position ki on the three-dimensional map model Mi is set as the sky navigation image ZFi. Then, the sky navigation image ZFi is stored in the sky navigation image memory 131b.

The starting point position ki on the three-dimensional map model Mi is set as the current display position Pki (coordinates on the three-dimensional map model Mi) of the current driver line-of-sight image DHi, and the next intersection of the sky navigation image ZFi is set as the next display position Pkni( The coordinates on the three-dimensional map model Mi) are used as the above, and these are the navigation information attached to the sky image FZFi (the coordinates of the current display position Pki and the type and color of the display mark (yellow), the coordinates of the next display position Pkni and the color of the display mark (pink). )) is associated with the sky navigation image ZFi.

The above-mentioned sky navigation image ZFi is updated every time the starting point position Ki on the three-dimensional map model Mi changes. That is, it changes every time the driver line-of-sight image DHi is updated. Also, each time the starting point position Ki on the three-dimensional map model Mi changes, the next display position Pkni becomes the current display position Pki.

Further, the driver image creating unit 135 searches the road facility traffic guidance information DJi related to the driver line-of-sight image DHi and associates the searched road facility traffic guidance information DJi with the driver line-of-sight image DHi.

Further, the frame of the sign included in this road facility traffic guidance information DJi is defined in different colors (called color areas). At this time, it is preferable that the lane for reaching the destination and the color area of the frame of the sign are connected to each other.

Then, information (flag) is output to the transmission data creation server 170 to inform that the driver's line-of-sight image DHi, the sky navigation image ZFi, etc. have been defined.

The angle of view described above is the angle of view of the right vehicle-mounted camera 12a and the left vehicle-mounted camera 12b (built-in CCD), and the parameters (CCD size, camera height) of the vehicle-mounted cameras 12a and 12b stored in advance in a memory (not shown). , Direction, resolution...).

On the other hand, in the arrow generation processing, destination arrival lane display, own vehicle traveling direction arrow display processing, and lane change arrow processing are performed.

The destination arrival lane color display unit 133 displays the destination arrival lane. The destination arrival lane coloring unit 133 receives the camera-recognized self-driving lane information CZJi included in the vehicle information Ji from the distribution server 120. Every time the camera-recognized self-traveling lane information CZJi is received, the network lane NRi (node NDi, link LRi, geographical coordinate, width, node) having the geographic coordinates of the destination Poi included in the camera-recognized self-traveling lane information CZJi is received. The inter-distance, network lane number NRBi) is searched from the road network database 180a of the server 180 for three-dimensional map information.

Specifically, the current position PGi is corrected based on the image coordinates of the center of the camera recognition self-propelled lane CZRi and the reference coordinates of the three-dimensional map model Mi, and this is set as the corrected current position HPGI. Then, each time the corrected current position HPGI is obtained, the network lane NRi of the road network DWi having the coordinates of the corrected current position HPGI is searched from the three-dimensional map information server 180 as the destination arrival network lane PNRi. That is, the destination arrival network lane PNRi is searched.

Then, it is determined whether or not the driver line-of-sight image DHi is stored (generated) in the driver image information providing memory 131a.

If it is generated, this driver line-of-sight image DHi is read, and it is confirmed that it is the destination arrival lane on the driver's line-of-sight image lane DRi corresponding to the destination arrival network lane number PNBRi of the searched destination arrival network lane PNRi. The destination arrival lane display color Fi shown (for example, purple) is defined. That is, the destination arrival lane PDRi (purple) on the driver line-of-sight image is defined in the driver line-of-sight image DHi (see FIG. 6).

In addition, the traveling arrow setting unit 136 performs the processing for displaying the traveling vehicle arrow. The traveling arrow setting unit 136 determines whether or not the driver line-of-sight image DHi is stored in the driver image information providing memory 131a each time the camera recognition self-driving lane information CZJi included in the vehicle information Ji is received.

Then, if it is stored, the driver line-of-sight image lane DRi in the driver line-of-sight image DHi having the current position PGi included in the camera-recognized own-lane lane information CZJi is defined as the driver line-of-sight image camera-recognized self-propelled lane DCRi. (See FIG. 7).

Specifically, the current position PGi is corrected based on the image coordinates of the center of the camera recognition self-propelled lane CZRi and the reference coordinates of the three-dimensional map model Mi, and the driver line-of-sight image DHi having the corrected current position HPGI (coordinates). The lane DRi on the driver's line-of-sight image in is defined as the camera recognition self-running lane DCRi on the driver's line-of-sight image. That is, even if there is an error in the current position PGi received by the GPS receiver, it is possible to accurately search the self-propelled lane on the driver line-of-sight image DHi (camera recognition self-propelled lane DCRi on the driver line-of-sight image).

Then, the vehicle traveling direction arrow ZYi is defined in the camera-recognized self-propelled lane DCRi on the driver line-of-sight image. The own vehicle traveling direction arrow ZYi is defined so as to be on the driver line-of-sight image DHi or on the driver line-of-sight image camera recognition self-propelled lane DCRi.

The own-vehicle advancing direction arrow ZYi is the number of the driver's line-of-sight image DHi, the camera-recognized self-propelled lane number DCBRi on the driver's line-of-sight image, and the information of the own-vehicle advancing direction arrow ZYi (starting point coordinate of the own-vehicle advancing direction Zyi, size , Arrow type, color (for example, ocher), and the like are preferably defined as the own vehicle traveling direction arrow information ZYJi.

Further, the lane change arrow processing is performed by the lane change arrow setting unit 138. The lane change arrow setting unit 138 stores (generates) the driver line-of-sight image DHi in the driver image information providing memory 131a each time it receives the camera-recognized self-running lane DCRi. The destination arrival lane display color Fi (for example, purple) indicating the destination arrival lane is defined above, and it is determined whether or not the own vehicle traveling direction arrow ZYi and the lane change arrow HZYi are defined.

If it is defined, it is determined whether or not the own vehicle traveling direction arrow ZYi is defined on the camera recognition self-running lane DCRi on the driver line-of-sight image. When the own vehicle traveling direction arrow ZYi is defined on the driver's line-of-sight image camera recognition self-running lane DCRi, the lane change arrow HZYi on the driver's line-of-sight image camera recognition self-running lane DCRi is deleted.

In addition, the lane change arrow setting unit 138 determines whether or not the driver's line-of-sight image DHi on the driver's line-of-sight image camera-recognized lane number DCBRi matches the driver's line-of-sight image destination lane number PDBRi.

In the case of disagreement, the head of the lane change arrow HZYi starting from a predetermined position as the starting point from the head of the vehicle traveling direction arrow ZYi defined on the camera recognition self-propelled lane DCRi on the driver sight line image of the driver sight line image DHi It is defined toward the destination arrival lane PDRi on the image (see FIG. 7).

On the other hand, the change detection server 190 performs change detection processing (d22). The change detection server 190 includes a change determination unit 192, as shown in FIG. Every time the area EMi in the three-dimensional map model Mi is defined, the change determination unit 192 stores (copies) the driver line-of-sight image MEDHi on the three-dimensional map model in the area EMi in the memory 194.

Then, the driver line-of-sight image MEDHi on the three-dimensional map model in the memory 194 is compared with the current camera image three-dimensional model CMi stored in the camera image three-dimensional model memory 154 to obtain the current camera image three-dimensional model CMi. Determine if there is a change.

If there is a change, the change area CMHi is overwritten on the driver line-of-sight image DHi in the driver image information providing memory 131a (see FIG. 8).

Further, the corrected current position HPGI is defined in the road lane MRi on the three-dimensional model on the three-dimensional map model Mi, and the distance CGRi from the corrected current position HPGI to the center coordinates of the change area CMHi in the camera image three-dimensional model CMi is calculated. ..

Then, the driver line-of-sight image DHi with the change region CMHi, the distance CGRi, and the like are output to the transmission data creation server 170 as the driver line-of-sight image CMHDGi with the change detection region on the camera image. It is preferable to add a comment or the like to the driver's line-of-sight image CMHDGi with change detection area on the camera image to read the distance CGRi and inform how many meters ahead the obstacle is.

Further, the three-dimensional model updating server 160 performs a three-dimensional model updating process (d24). The three-dimensional model update processing is performed by the three-dimensional model update server 160.

When the change detection server 190 determines that there is a change, the corresponding area allocation unit 162 of the three-dimensional model update server 160 assigns the area EMi corresponding to the driver's line of sight in the three-dimensional map model Mi. Then, this area EMi is updated (rewritten) with the current camera image three-dimensional model CMi stored in the camera image three-dimensional model memory 154 (see FIG. 8).

In addition, when the transmission data creation server 170 is notified that there is a change, the transmission data creation server 170 performs transmission data determination processing (d28).

If the change detection server 190 outputs the driver line-of-sight image CMHDGi with the change detection area on the camera image because the change detection server 190 determines that there is a change point, the transmission vehicle determination unit 172 of the transmission data creation server 170 stores the change in the vehicle information storage server 110. All the vehicle information Ji that is present is read.

Then, the posture θi, the speed Vi, the current position GPi, the steering wheel angle Hθi, the camera-recognized self-propelled lane number CZBRi, the photographing time Cti, and the driver line-of-sight image CMHDGi on the camera image included in each vehicle information Ji. The current position GPi of the vehicle is determined and which vehicle is traveling on the road network heading for this change point.

Then, the transmission data SDJi is transmitted to the terminal number and the vehicle number included in the vehicle information of the determined vehicle (d30).

Further, transmission data SDJi which is a combination of the driver line-of-sight image DHi (including update) generated by the lane type driver line-of-sight image creating server 130, the destination arrival lane display color Fi (for example, purple), and the sky navigation image ZFi. It is generated and transmitted to the vehicle 10 via the wireless communication network (d32).

Therefore, in the image displayed on the screen 13a of the navigation terminal 13, as shown in FIGS. 6A to 6C, the destination arrival lane PDRi is displayed in purple on the driver line-of-sight image DHi. It When the driver's line-of-sight image destination lane PDRi is set as the driver's line-of-sight image camera recognition self-propelled lane DCRi, the vehicle traveling direction arrow ZYi is displayed on the driver's line-of-sight image destination lane PDRi.

Further, as shown in FIGS. 6A to 6C, the sky navigation image ZFi is displayed next to the driver line-of-sight image DHi.

Alternatively, as the image displayed on the screen 13a of the navigation terminal 13, as shown in FIGS. 7A to 7C, a driver line-of-sight image DHi including a lane change arrow HZYi (red) is displayed.

Alternatively, as the image displayed on the screen 13a of the navigation terminal 13, as shown in FIGS. 8A to 8C, a driver line-of-sight image CMHDGi with a camera image change detection area is displayed.

Therefore, as shown in FIG. 8, the change area CMHi as the obstacle and the distance CGRi obtained by the vehicle in front of the vehicle are displayed in the driver line-of-sight image CMHDGi with the change detection area on the camera image. Therefore, the driver can know what obstacle is ahead. Therefore, it is possible to drive safely.

Further, as shown in FIGS. 9A to 9C, the image displayed on the screen 13a of the navigation terminal 13 includes a camera image three-dimensional model CMi created based on the vehicle-mounted camera captured image CGi. The driver line-of-sight image DHi is displayed.

10 vehicle 12 vehicle-mounted camera unit 100 data center 110 vehicle information storage server 120 distribution server 130 lane type driver line-of-sight image creation server 150 camera image 3D model generation server 160 3D model update server 170 transmission data creation server 180 Three-dimensional map information server 190 Change detection server 133 Destination arrival lane colored section 135 Driver image creation section 136 Progress arrow setting section 138 Lane change arrow setting section 152 Camera image three-dimensional model generation section

Claims (8)

The data center receives the vehicle information (Ji) from the on-vehicle camera-equipped navigation terminal mounted on the vehicle through the wireless communication line, and the data center creates transmission data (SDJi) based on the vehicle information (Ji). Is a navigation information providing system for transmitting to the navigation terminal with a vehicle-mounted camera,
The in-vehicle camera navigation terminal,
A GPS receiver, a navigation unit with a photographing camera, and a navigation terminal,
The navigation unit with the photographing camera is
Provided on the left and right sides of the vehicle, a photographing camera unit including a left vehicle-mounted camera and a right vehicle-mounted camera for capturing the front, and a controller unit,
The controller unit is
Each time the right camera image (Cai) captured by the right vehicle-mounted camera and the left camera image (Cbi) captured by the left vehicle-mounted camera are input, a vehicle-mounted camera captured image (CGi) is generated by combining these, and the vehicle-mounted image is generated. For each camera-captured image (CGi), a camera line-of-sight center is defined on the vehicle-mounted camera image-captured image (CGi), and an image region between the lane image (Di) and the lane-line image (Di) sandwiching the camera line-of-sight center is defined. A means for outputting a camera-recognized self-propelled lane (CZRi), and means for outputting a vehicle-mounted camera image (CGi) including the camera-recognized self-propelled lane (CZRi);
The navigation terminal is
Every time the vehicle-mounted camera captured image (CGi) is input, the vehicle-mounted camera captured image (CGi), the terminal number (Jbi), the attitude (θi), the destination (Poi), and the GPS receiver are acquired. Means for generating the vehicle information (Ji) having the present position (GPi) and transmitting the vehicle information (Ji) to the data center;
Means for displaying on the screen a driver line-of-sight image (DHi) based on transmission data (SDJi) from the data center,
The data center includes a server group,
The server group is
The lane number of the road network (DWi) corresponding to this lane is assigned to the image area of the lane that is the road of the three-dimensional map model (Mi) and the three-dimensional map model (Mi) including the road on which the vehicle travels. A server for 3D map information stored in association with each other,
A vehicle information storage server that receives and stores the vehicle information (Ji), a lane type driver line-of-sight image creation server, and a transmission data creation server,
The lane type driver line-of-sight image creation server,
A memory unit for providing driver image information is provided,
Every time the vehicle information (Ji) is stored in the vehicle information storage server, the current position (GPi), the attitude (θi), and the camera stored in advance included in the vehicle information (Ji). Means for setting the position in the three-dimensional map model (Mi) obtained based on the parameter information and the reference geographical coordinates as a driver viewpoint position (DMPi) on the three-dimensional map model on the three-dimensional map model (Mi);
An area (EMi) based on the camera parameter information and the posture (θi) is defined in the three-dimensional map model (Mi) at the driver viewpoint position (DMPi) on the three-dimensional map model, and an image in this area is defined as described above. Means for reading in as a driver line-of-sight image (DHi) and storing this in the driver image information providing memory unit;
Each time the vehicle information (Ji) is stored in the vehicle information storage server, the road network (DWi) having the geographical coordinates of the destination (Poi) included in the vehicle information (Ji) is stored. Means for searching the network lane (NRi) of the lane number from the three-dimensional map information server as a destination arrival network lane (PNRi) for reaching the destination (Poi);
Each time before Symbol their destinations reached network lane (PNRI) is retrieved, the image area of the driver sight image is associated lane number for the destination reached network lane (PNRi) (DHi), destination reached A means for obtaining an image defining a destination arrival lane display color (Fi) indicating a network lane (PNRi) as a destination arrival lane (PDRi) on the driver's line-of-sight image;
Each time the vehicle information (Ji) is received, the driver line-of-sight image (DHi) corresponding to the camera recognition self-propelled lane (CZRi) included in the vehicle-mounted camera captured image (CGi) of the vehicle information (Ji). ), a means for determining the image area of the camera recognition self-running lane (DCRi) on the driver's line-of-sight image,
Means for defining a vehicle traveling direction arrow (ZYi) in the camera-recognized self-propelled lane (DCRi) on the determined driver line-of-sight image,
The transmission data creation server,
A destination lane (PDRi) on the driver line-of-sight image of the driver line-of-sight image (DHi) of the driver image information providing memory is obtained, and the vehicle traveling direction is set to the camera-recognized self-running lane (DCRi) on the driver line-of-sight image. Every time an arrow (ZYi) is defined, a driver line-of-sight image (DHi) including the destination lane (PDRi) on the driver line-of-sight image and the own vehicle traveling direction arrow (ZYi) are set as the transmission data (SDJi). A means for transmitting to the navigation terminal of the terminal number (Jbi) included in the vehicle information (Ji), the navigation information providing system. The lane type driver line-of-sight image creation server,
A means for judging whether or not the number of the destination reaching network lane (PNRi) and the number of the camera recognition self-propelled lane (CZRi) match;
If they do not match, the lane change arrow (HZYi) starting from the predetermined position of the vehicle traveling direction arrow (ZYi) of the driver line-of-sight image (DHi) is directed toward the destination arrival lane (PDRi) on the driver line-of-sight image. And means for defining,
The transmission data creation server,
Every time the lane change arrow (HZYi) is defined in the driver line-of-sight image (DHi) of the driver image information providing memory unit, the lane change arrow (HZYi) and the driver line-of-sight image (DHi) are transmitted. A means for transmitting to the navigation terminal of the terminal number (Jbi) included in the vehicle information (Ji) as data (SDJi), the navigation information providing system according to claim 1. Equipped with a server for camera image 3D model generation,
The camera image three-dimensional model generation server,
An on-vehicle camera captured image information memory in which an on-vehicle camera captured image (CGi) is stored,
An in-vehicle camera parameter database in which in-vehicle camera parameter information is stored, and further,
Every time vehicle information (Ji) is stored in the vehicle information storage server, the vehicle-mounted camera captured image (CGi) included in the vehicle information (Ji) is stored in the vehicle-mounted camera captured image information memory. Means and
In-vehicle camera parameter information of the in-vehicle camera parameter database, posture (θi) included in the vehicle information (Ji), current position (GPi), and reference geography in the three-dimensional map model (Mi). A camera image obtained by obtaining three-dimensional coordinates in the three-dimensional map model (Mi) per pixel of the vehicle-mounted camera captured image (CGi) based on the coordinates and assigning the three-dimensional coordinates to the corresponding pixel of the vehicle-mounted camera captured image (CGi). The navigation information providing system according to claim 1, further comprising means for generating a three-dimensional model (CMi) and storing it in a memory for a camera image three-dimensional model. The vehicle information (Ji) includes instruction information for bird's eye view display or driver viewpoint display,
The transmission data creation server,
The navigation information providing system according to claim 1, further comprising means for converting the driver line-of-sight image (DHi) into an image of a bird's-eye view or a driver's viewpoint position based on the instruction information . A camera recognition self-propelled lane (CZRi), which is an image area between the lane image (Di) and the lane image (Di) recognized based on the images captured by the left and right cameras capturing the front of the vehicle from the on-vehicle camera-equipped navigation terminal. Vehicle information (Ji) including a vehicle-mounted camera captured image (CGi), a terminal number (Jbi), a posture (θi), a destination (Poi), and a current position (GPi) obtained by a GPS receiver. ) Via a wireless communication line, and transmits transmission data (SDJi) created based on this vehicle information (Ji) to the in-vehicle camera-equipped navigation terminal,
The lane number of the road network (DWi) corresponding to this lane is assigned to the image area of the lane that is the road of the three-dimensional map model (Mi) and the three-dimensional map model (Mi) including the road on which the vehicle travels. A three-dimensional map information storage unit stored in association with each other,
A vehicle information storage unit that receives vehicle information (Ji) from the in-vehicle camera-equipped navigation terminal and sequentially stores it.
Furthermore, a memory unit for providing driver image information, a lane type driver line-of-sight image creating unit,
With a transmission data creation unit,
The lane type driver line-of-sight image creation unit,
Each time the vehicle information (Ji) is stored in the vehicle information storage unit, the current position (GPi) included in the vehicle information (Ji) and the posture (Ji) included in the vehicle information (Ji) ( θi), the camera parameter information stored in advance, and the position in the 3D map model (Mi) obtained based on the reference geographical coordinates in the 3D map model (Mi) are the driver viewpoint positions on the 3D map model. Means for setting the three-dimensional map model (Mi) as (DMPi),
An area (EMi) based on the camera parameter information and the posture (θi) is defined in the three-dimensional map model (Mi) at the driver viewpoint position (DMPi) on the three-dimensional map model, and an image in this area is driven by the driver. Means for reading in as a line-of-sight image (DHi) and storing it in the driver image information providing memory unit;
Each time the vehicle information (Ji) is stored in the vehicle information storage unit, the lane number of the road network (DWi) having the geographical coordinates of the destination (Poi) included in the vehicle information (Ji). Means for searching the network lane (NRi) as a destination reaching network lane (PNRi) for reaching the destination (Poi) from the three-dimensional map information storage unit;
Each time the destination arrival network lane (PNRi) is searched, the destination arrival network lane is displayed in the image area of the driver line-of-sight image (DHi) associated with the lane number of the destination arrival network lane (PNRi). Means for obtaining an image defining a destination arrival lane display color (Fi) indicating (PNRi) as a destination arrival lane (PDRi) on the driver line-of-sight image;
Each time the vehicle information (Ji) is received, the driver line-of-sight image (DHi) corresponding to the camera recognition self-propelled lane (CZRi) included in the vehicle-mounted camera captured image (CGi) of the vehicle information (Ji). ), a means for determining the image region of the driver recognition line image on the driver's line-of-sight image (DCRi),
Means for defining a vehicle traveling direction arrow (ZYi) in the camera-recognized self-propelled lane (DCRi) on the determined driver line-of-sight image,
The transmission data creation unit,
A destination lane (PDRi) on the driver line-of-sight image of the driver line-of-sight image (DHi) in the driver image information providing memory is obtained, and the vehicle traveling direction is set to the camera-recognized self-running lane (DCRi) on the driver line-of-sight image. Every time an arrow (ZYi) is defined, the driver line-of-sight image (DHi) including the destination lane (PDRi) on the driver line-of-sight image and the own vehicle traveling direction arrow (ZYi) are set as the transmission data (SDJi). Means for transmitting to the in-vehicle camera-equipped navigation terminal having the terminal number (Jbi) included in the vehicle information (Ji);
A navigation information providing device characterized by having. The lane type driver line-of-sight image creation unit,
A means for judging whether or not the number of the destination reaching network lane (PNRi) and the number of the camera recognition self-propelled lane (CZRi) match;
If they do not match, the lane change arrow (HZYi) starting from the predetermined position of the vehicle traveling direction arrow (ZYi) of the driver line-of-sight image (DHi) is directed toward the destination arrival lane (PDRi) on the driver line-of-sight image. And means for defining,
The transmission data creation unit,
Every time the lane change arrow (HZYi) is defined in the driver line-of-sight image (DHi) of the driver image information providing memory unit, the lane change arrow (HZYi) and the driver line-of-sight image (DHi) are transmitted. A means for transmitting as data (SDJi) to the in-vehicle camera-equipped navigation terminal of the terminal number (Jbi) included in the vehicle information (Ji);
The navigation information providing device according to claim 5, further comprising: Furthermore, equipped with a camera image three-dimensional model creation unit,
The camera image three-dimensional model creation unit,
An on-vehicle camera captured image information memory in which an on-vehicle camera captured image (CGi) is stored,
An in-vehicle camera parameter database in which in-vehicle camera parameter information is stored, and further,
Every time vehicle information (Ji) is stored in the vehicle information storage unit, the vehicle-mounted camera captured image (CGi) included in the vehicle information (Ji) is stored in the vehicle-mounted camera captured image information memory. Means and
The vehicle-mounted camera photographed image (CGi) based on the vehicle-mounted camera parameter information of the vehicle-mounted camera parameter database, the orientation (θi), the current position (GPi), and the reference geographical coordinates in the three-dimensional map model (Mi). 3D coordinates per pixel in the 3D map model (Mi) are obtained, and the camera image 3D model (CMi) is generated by assigning the 3D coordinates to the corresponding pixel of the vehicle-mounted camera image (CGi) to generate the camera image. Means to store in the memory for the 3D model
The navigation information providing apparatus according to claim 5, characterized in that it has . The vehicle information (Ji) includes instruction information for bird's eye view display or driver viewpoint display,
The transmission data creation unit,
The navigation information providing device according to claim 5, further comprising means for converting the driver line-of-sight image (DHi) into an image of a bird's-eye view or a driver's viewpoint position based on the instruction information .