JPH07294271A - Image recorder/player for vehicle - Google Patents

Abstract

PURPOSE:To provide a navigation system for automobile in which accurate guidance of road is realized. CONSTITUTION:The moving image of background in the rear of a traveling vehicle is recorded on a magneto-optical disc 6. At the same time, a record address on the disc 6 at the nodes at the opposite ends of an image data corresponding to a link on a road map, through which a vehicle had traveled from a starting point to an end point with no deviation, is recorded as attribute information of the link on the magneto-optical disc 6. Consequently, a record address can be read out as attribute information from the disc 6 by designating a link therefor. An image data corresponding to the link between the nodes representative of the record address can be read out from the disc 6 and displayed on an LCD 8. When a vehicle is not traveling through a link designated for the disc 6 with no deviation from the starting point to the end point, a corresponding image data is not displayed on the LCD 8.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle-mounted image recording device and a reproducing device, and more particularly to a device for recording a scene in front of or behind a vehicle during traveling together with a section on a road network,
Also, the present invention relates to a device for reproducing the scenery recorded by the recording device by designating a section on the road network.

[0002]

2. Description of the Related Art In recent years, along with the widespread use of automobile navigation systems, the basic function of detecting the current position of a vehicle and displaying it on a road map is not only enhanced, but driving guidance is provided by providing road guidance. The development of a function that actively supports is being promoted.

For example, in Japanese Laid-Open Patent Publication No. 59-60214, information about a right / left turn on the outward path is obtained from operation of a turn signal indicator and distance information on a right / left turn is obtained and stored, and the information on the return path is stored. On the contrary, a road guide device which is adapted to be reproduced is disclosed. Specifically, it has been proposed that the scenery behind the vehicle on the outward path is photographed and stored, and the scenery is reversely reproduced and displayed on the return path to provide road guidance.

[0004]

However, this device has a problem that it is only useful for road guidance when the vehicle travels in exactly the same return route as the forward route. For example, if you make a roundabout on the outbound route while searching for a route to your destination, and if you notice it on the return route, you don't have to follow the same route as the outbound route and make another roundabout. You should choose the return route that will be. In addition, when there is a new business on the return trip or when avoiding traffic congestion, it may be necessary to take a return trip that is different from the outward trip. In such a case, it is meaningless to display the scenery behind the vehicle on the outward path as it is in the reverse direction on the return path, and is not useful for road guidance.

Even when the vehicle travels on the same return route as the forward route, there is a case where it is desired to select only a part of the section on the road network for reverse playback display in the backward route on the backward route. is there. For example, if the outward route is a simple route, it is sufficient to display the reverse direction only on important points such as intersections on the return route, so the scenery behind the vehicle taken on the outward route for all sections on the road network is displayed in reverse mode. do not have to. However, in the above-mentioned publication, there is no mention at all on the backward route, and it is even suggested that only a part of the section on the road network among the scenery behind the vehicle taken on the outward route is selected and displayed in reverse. Not not.

The present invention has been made to solve the above problems, and an object of the present invention is to provide a navigation system for an automobile capable of providing accurate road guidance. An object of the present invention is to provide a vehicle-mounted image recording device and a reproducing device.

[0007]

The gist of the invention described in claim 1 is to record the scenery around the vehicle.

The gist of the invention described in claim 2 is to reproduce the scenery recorded by the vehicle-mounted image recording device according to claim 1. The gist of the invention according to claim 3 is to record the scenery around the vehicle together with the position information on the road network.

The gist of the invention described in claim 4 is to reproduce the scenery recorded by the on-vehicle image recording device according to claim 1 by designating position information on the road network.
The gist of the invention described in claim 5 is to record the scenery around the vehicle together with the section on the road network.

The gist of the invention according to claim 6 is to reproduce the scenery recorded by the on-vehicle image recording device according to claim 5 by designating a section on the road network. According to a seventh aspect of the present invention, there is provided first recording means for photographing the scenery around the vehicle and recording the image data as video data, and determination means for determining a link on the road network corresponding to the video data.
The gist of the present invention is to have a second recording means for recording two recording addresses corresponding to the nodes at both ends of the link as link attribute information.

According to an eighth aspect of the present invention, there is provided a first recording means for photographing the scenery around the vehicle and recording it as video data, and a first recording means for determining a link on the road network corresponding to the video data. Judgment means, second judgment means for judging that the video data corresponding to the link which the vehicle has traveled from the start point to the end point without deviating, can be used, and a road network corresponding to the video data judged to be usable The gist of the present invention is to have a second recording means for recording two recording addresses corresponding to nodes at both ends of the above link as link attribute information.

The invention according to claim 9 is the first recording means for recording the video data recorded by the on-vehicle image recording device according to claim 7 or 8, and claim 7 or claim By specifying a link on the road network and a second recording unit in which the recording address as the attribute information of the link recorded by the vehicle-mounted image recording apparatus according to Item 8 is recorded, Each recording address corresponding to the node is read from the second recording means, and the video data corresponding to each recording address is read from the first recording means, and the reproduction control means reads from the first recording means. The gist of the invention is to have a display means for displaying video data.

According to a tenth aspect of the present invention, there is provided a first recording means for recording video data recorded by the vehicle-mounted image recording apparatus according to the seventh or eighth aspect, and the seventh or the seventh aspect. The second recording means in which the recording address as the attribute information of the link recorded by the vehicle-mounted image recording device according to item 8 is recorded, and the determining means for determining the link on the road network in which the own vehicle is currently located. By specifying the determined link, each recording address corresponding to the nodes at both ends of the link is read from the second recording means, and the video data corresponding to each recording address is read from the first recording means. The gist of the invention is that the reproduction control means and the display means for displaying the video data read out from the first recording means by the reproduction control means are provided.

According to an eleventh aspect of the present invention, the present position detecting means (2) for detecting the present position of the own vehicle, the first storing means (7) in which the road network information is recorded, and the present position detection are provided. A map matching means (21) for determining a link on the road network where the vehicle is currently located based on the detection result of the means and the road network information read from the first storage means, and a view around the vehicle. A camera (3) for photographing, a second storage means (6) for recording the scene photographed by the camera as video data, and two storage means in the second storage means corresponding to nodes at both ends of the link on the road network. The gist is to provide a recording address detecting means (23) for detecting the recording addresses and recording each recording address as attribute information for the link in the second storage means.

According to a twelfth aspect of the present invention, the present position detecting means (2) for detecting the present position of the vehicle, the first storing means (7) in which the road network information is recorded, and the present position detection are provided. A map matching means (21) for determining a link on the road network where the vehicle is currently located based on the detection result of the means and the road network information read from the first storage means, and a view around the vehicle. Based on the result of the map matching by the camera (3) for photographing, the second storage means (6) for recording the scenery photographed by the camera as video data, and the map matching means, the video data taken by the camera can be used. Video data use determining means (2
2) and based on the judgment result of the video data use judging means,
Two recording addresses in the second storage means corresponding to the nodes at both ends of the link on the road network corresponding to the video data determined to be usable are detected, and each recording address is used as attribute information for the link. The gist of the present invention is to include a recording address detecting means (23) for recording in the storage means of.

According to a thirteenth aspect of the present invention, the second storage means (6) in which the video data recorded by the vehicle-mounted image recording apparatus according to the eleventh or the twelfth aspect is recorded, and the road network. By designating the upper link, each recording address corresponding to the nodes at both ends of the link is read out from the second storage means, and the video data corresponding to each recording address is read out from the second storage means. Means (1) and display means (24, 24) for displaying the video data read from the second storage means by the reproduction control means.
8) and are provided as the gist.

According to a fourteenth aspect of the present invention, the present position detecting means (2) for detecting the present position of the own vehicle, the first storing means (7) in which the road network information is recorded, and the present position detection are provided. The map matching means (21) for determining a link on the road network in which the own vehicle is currently located, based on the detection result of the means and the road network information read from the first storage means. On the road network where the vehicle is currently located, based on the second storage means (6) in which the video data recorded by the vehicle-mounted image recording device according to 12 is recorded and the result of the map matching by the map matching means. By specifying the link, the recording addresses corresponding to the nodes at both ends of the link are read out from the second storage means, and the video data corresponding to the respective recording addresses are read out in the second storage means. And al reads reproduction control means (1),
The gist is that the reproduction control means includes a display means (24, 8) for displaying the video data read from the second storage means.

According to a fifteenth aspect of the present invention, there is provided the vehicle-mounted image recording apparatus according to the eleventh or the twelfth aspect,
The gist of the process of the map matching unit based on the detection result of the current position detecting unit is that it is performed by at least one of dead reckoning and radio navigation.

According to a sixteenth aspect of the present invention, in the vehicle-mounted image recording apparatus according to the twelfth aspect, the video data use determining means corresponds to a link that the vehicle has traveled from a start point to an end point without departing from the vehicle. The gist is to determine that the video data can be used.

According to a seventeenth aspect of the present invention, there is provided the vehicle-mounted image recording device according to the eleventh or the twelfth aspect,
The gist of the invention is to record the speed data of the vehicle at the time of photographing the scenery around the vehicle in the second storage means in synchronization with the video data.

The invention according to claim 18 is the reproducing apparatus according to claim 13 or claim 14, wherein the display means is the speed data of the vehicle at the time of photographing recorded in the second storage means. Determine the recording speed during shooting based on
The gist is to display video data at a reproduction speed different from the recording speed.

According to a nineteenth aspect of the present invention, there is provided the vehicle-mounted image recording apparatus according to the eleventh or the twelfth aspect,
The gist of the camera is to take a still image of one frame at regular intervals of travel distance.

The invention according to claim 20 is the vehicle-mounted image recording apparatus according to claim 11 or claim 12,
The gist of the invention is that the camera does not take a picture at night and the video data and the recording address are not recorded.

According to a twenty-first aspect of the invention, there is provided the vehicle-mounted image recording apparatus according to the eleventh or the twelfth aspect,
The gist of the camera is to photograph only a narrow road having a width equal to or smaller than a predetermined road width and record only the video data and the recording address.

[0025]

According to the first aspect of the invention, the scenery around the vehicle can be recorded. According to the invention described in claim 2, it is possible to reproduce the scenery recorded by the in-vehicle image recording device according to claim 1.

According to the third aspect of the invention, the scenery around the vehicle can be recorded together with the position information on the road network. According to the invention described in claim 4, the scenery recorded by the vehicle-mounted image recording device according to claim 1 can be reproduced by designating position information on the road network.

According to the invention described in claim 5, the scenery around the vehicle can be recorded together with the section on the road network. According to the invention described in claim 6, the scenery recorded by the in-vehicle image recording device according to claim 5 can be reproduced by designating a section on the road network.

According to the invention described in claim 7, the scenery around the vehicle is recorded as video data in the first recording means, and corresponds to the nodes at both ends of the link on the road network corresponding to the video data. Two recording addresses are recorded in the second recording means as link attribute information.

According to the invention described in claim 8, the scenery around the vehicle is recorded as video data in the first recording means, and the nodes at both ends of the link on the road network corresponding to the usable video data are recorded. Two corresponding recording addresses are recorded in the second recording means as link attribute information. Here, usable video data is video data corresponding to a link that the vehicle has traveled from the start point to the end point without departing.

According to the ninth aspect of the invention, by designating a link on the road network, each recording address corresponding to the nodes at both ends of the link is read from the second recording means, and each of the recording addresses is read out. The video data corresponding to the recording address is read from the first recording means and displayed on the display means. That is, the video data recorded by the vehicle-mounted image recording device according to claim 7 or 8 can be reproduced by designating a link on the road network.

According to the tenth aspect of the invention, by designating the link on the road network in which the vehicle is currently located,
The respective recording addresses corresponding to the nodes at both ends of the link are read from the second recording means, and the video data corresponding to the respective recording addresses are read from the first recording means and displayed on the display means. That is, it is possible to reproduce the video data corresponding to the link on the road network where the own vehicle is currently located, from the video data recorded by the vehicle-mounted image recording device according to the seventh or eighth aspect.

According to the invention described in claim 11, the scenery around the vehicle is recorded as video data in the second storage means and corresponds to the nodes at both ends of the link on the road network corresponding to the video data. Two recording addresses are recorded in the second storage means as link attribute information.

According to the twelfth aspect of the present invention, the scenery around the vehicle is recorded as video data in the second storage means, and is stored in the nodes at both ends of the link on the road network corresponding to usable video data. Two corresponding recording addresses are recorded in the second storage means as link attribute information.

According to the sixteenth invention, the usable video data in the twelfth invention is:
This is video data corresponding to a link that the vehicle has traveled from the start point to the end point without departing.

According to the invention described in claim 13, by designating a link on the road network, each recording address corresponding to the nodes at both ends of the link is read from the second storage means, and each of the recording addresses is read out. Video data corresponding to the recording address is read from the second storage means and displayed on the display means. That is, the video data recorded by the vehicle-mounted image recording device according to the eleventh or twelfth aspect can be reproduced by designating a link on the road network.

According to the fourteenth aspect of the present invention, by designating the link on the road network where the vehicle is currently located,
Each recording address corresponding to the nodes at both ends of the link is read from the second storage means, and the video data corresponding to each recording address is read from the second storage means and displayed on the display means. That is, from the video data recorded by the vehicle-mounted image recording device according to the eleventh or twelfth aspect, the video data corresponding to the link on the road network where the vehicle is currently located can be reproduced.

According to the fifteenth aspect of the present invention, the map matching is performed by at least one of dead reckoning and radio navigation. Therefore, if both navigation methods are used together, the respective drawbacks can be compensated, and accurate map matching can be performed.

According to the invention as set forth in claim 17, the speed data of the vehicle at the time of photographing the scenery around the vehicle can be recorded in the second storage means in synchronization with the video data. According to the eighteenth aspect of the present invention, by changing the setting of the reproduction speed, it is possible to reproduce the video data when traveling at a speed different from the speed of the vehicle at the time of shooting.

According to the nineteenth aspect of the present invention, if one frame of a still image is taken at a constant traveling distance interval, the data rate of the video data becomes constant regardless of the traveling speed. Therefore, it is possible to prevent a problem from occurring when reproducing with the reproducing apparatus according to claim 13 or 14.

According to the twentieth aspect of the invention, since the camera does not take a picture at night, it is possible to prevent a picture of an unnecessary scene such as a headlight of another vehicle. According to the invention as set forth in claim 21, since only a narrow road having a predetermined road width or less is photographed, a road that does not require road guidance such as a highway or a national road is not photographed, and the second storage means is used. It can be used effectively.

[0041]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 shows a block circuit diagram of an automobile navigation system of this embodiment. In this example,
It comprises a controller 1, a vehicle position detecting means 2, a video camera 3, a magneto-optical disk controller 4, an optical disk controller 5, a magneto-optical disk 6, an optical disk 7, and a liquid crystal display (LCD) 8.

The vehicle position detecting means 2 is composed of a position detecting means 2a based on speculative (self-contained) navigation and a position detecting means 2b based on radio navigation. The position detecting means 2a based on the self-contained navigation calculates the current position of the own vehicle based on the detection signals from the wheel rotation speed sensor 11, the gyro 12, the geomagnetic sensor 13, and the like. That is, the wheel rotation speed sensor 11 detects the rotation speed of the wheel, and the moving distance is calculated therefrom. Further, a change in the moving direction is calculated from the yaw angular velocity detected by the gyro 12 and the azimuth detected by the geomagnetic sensor 13. Then, the current position of the own vehicle is obtained by synthesizing and integrating the moving distance and the change in the moving direction.

On the other hand, the position detecting means 2b by radio navigation
Calculates the current position of the vehicle using a global positioning system (GPS) 14, a road traffic information communication system (VICS) 15, or the like. The GPS 14 receives a commercial radio signal (C / A code) transmitted from a plurality of US military satellites (GPS satellites) launched by the in-vehicle receiver, and the position of the receiver in the three-dimensional space This is a method of calculating (that is, the position of the own vehicle). Also, VICS15
Is a method of using ground facilities such as beacons and sign posts that transmit radio signals to appropriate points along the road, and is under development jointly by the three ministries, the Ministry of Construction, the Ministry of Posts and Telecommunications, and the National Police Agency.

In the self-contained navigation position detecting means 2a, each of the sensors 11 to 13 has an accuracy error. For example,
The road surface of the wheel rotation speed sensor 11 is slippery, the tire air pressure and the degree of wear of the tire, and the geomagnetic sensor 13 is affected by local disturbance of the earth's magnetism and magnetization of the vehicle body. Therefore, if the correction for determining the accurate current position is not performed, the error generated in the detection result of the current position will be accumulated.

The position detecting means 2b by radio navigation also has various drawbacks. The GPS 14 cannot be used when the vehicle enters a tunnel, a shadow of a building, or the like and the radio waves from GPS satellites are interrupted, and the position detection accuracy is 30 to 200.
m is low. As for VICS15, the ground facilities have not been installed so far, and it can be used only in some areas.

As described above, since each of the position detecting means 2a and 2b has its respective drawbacks, the both are used together to correct the error due to the self-contained navigation by the radio navigation, so that the current position of the own vehicle can be accurately detected. I am making it. Then, the current position data of the vehicle detected by the vehicle position detection means 2 is sent to the controller 1.

The video camera 3 is installed toward the rear of the vehicle so that the scenery behind the vehicle can be captured as a continuous moving image. And video camera 3
The video signal of the moving image captured by is output to the magneto-optical disk controller 4.

The magneto-optical disk controller 4 drives and controls the magneto-optical disk 6 to perform recording and reproduction. on the other hand,
The optical disk control device 5 drives and controls the optical disk 7 to perform reproduction.

On the magneto-optical disk 6, a moving image of the scenery behind the vehicle taken by the video camera 3 (hereinafter referred to as video data) and a recording address of usable video data described later are recorded. On the other hand, the optical disc 7 has a road map (road network information) based on a "national digital map database" created by "Japan Digital Road Map Association".
Is recorded.

The controller 1 is composed of a microcomputer, and inside thereof, by software or hardware, a map matching means 21, a video data use judging means 22, a recording address detecting means 2 are provided.
3, a display controller 24 and the like are provided.

The map matching means 21 compares the current position data of the own vehicle detected by the own vehicle position detecting means 2 with the road network information read from the optical disc 7 via the optical disc control device 5, and determines the own vehicle. Processing for estimating the existing position on the road network (called map matching). In the road network information, the road network is represented by nodes (nodes) and branches (links) connecting the nodes. The nodes are mainly intersections, but also include inflection points of roads (interpolation points for approximating a road that is not a straight line with a plurality of line segments). Therefore, the link includes not only the actual roads between the intersections but also the inflection points of the roads described above. There are roughly three types of map matching.
The first and most basic method is to search for the link closest to the vehicle by an open loop (also called dead reckoning) and converge the current position on the link. The second method is called the network search type,
The links are regarded as interconnected networks, and it is calculated on which link the own vehicle is likely to exist when passing through the node. If the calculated result is logically different from the previous result, go back and correct the previous result. The third method is called a pattern matching type, in which image processing is performed between the traveling locus of the own vehicle and the road information, and the locus is adjusted to a highly correlated link. Also, there is a method in which the first to third methods are combined. Since the specific method of map matching is not directly related to the purpose of this embodiment,
The description is omitted here.

The image data use determining means 22 determines whether or not the image data captured by the video camera 3 can be used based on the result of the map matching by the map matching means 21 (hereinafter, referred to as determination processing).

The recording address detecting means 23, on the basis of the judgment result of the video data use judging means 22, on the magneto-optical disk 6 corresponding to the nodes at both ends of the link on the road network corresponding to the video data judged to be usable. Of the two recording addresses (hereinafter, referred to as detection processing). The respective recording addresses are recorded on the magneto-optical disk 6 as attribute information for the link via the magneto-optical disk control device 4 (hereinafter referred to as recording processing).

The display controller 24 controls the LCD 8 to display video data, road network information and the like. That is, the video data being taken by the video camera 3 (view behind the running vehicle) or the video data recorded on the magneto-optical disk 6 is sent to the display controller 24 via the magneto-optical disk controller 4. . Also, the optical disc 7
The road network information recorded in (1) is sent to the display controller 24 via the optical disk control device 5. The video data and road network information are selectively switched by the display controller 24 and displayed on the LCD 8. The LCD 8 can display the result of the map matching by the map matching means 21, but this is a basic function of the automobile navigation system and is not directly related to the purpose of the present embodiment, and therefore will be described here. Is omitted.

Next, the operation of the controller 1 including the above-mentioned determination processing, detection processing, and recording processing will be described with reference to the follow chart shown in FIG. First, the steps (hereinafter,
(S) 1) Shooting by the video camera 3 is started and video data is recorded on the magneto-optical disk 6.

Next, in S2, it is determined whether or not the vehicle has passed a predetermined node (hereinafter referred to as node α) based on the result of the map matching by the map matching means 21. Then, the process waits until the node α is passed, and if so, the process proceeds to S3.

In S3, it is determined whether or not the vehicle deviates from the link (hereinafter referred to as the link L) connected to the node α, based on the result of the map matching.
Here, departure from the link L is nothing but departure from the road network, as described later.
If it deviates from the link L (that is, the road network), the process returns to S1, and if it does not deviate, the process proceeds to S4.

In S4, the map matching means 21
Based on the result of the map matching by the vehicle, it is determined whether the vehicle has passed a node (hereinafter, referred to as a node β) at the other end of the node α in the link L. here,
When the node α is regarded as the start point of the link L, the node β is the end point of the link L. That is, it is determined in S2 whether the start point of the link has been passed, and in S4 it is determined whether the end point of the link has been passed. If the node β is not passed, the process returns to S3, and if it is passed, the process proceeds to S5.

At S5, recording addresses Add (α) and Add (β) of the video data corresponding to the nodes α and β on the magneto-optical disk 6 are detected. In S6, the detected recording addresses Add (α) and Add (β) are recorded on the magneto-optical disk 6 as attribute information for the link L.

In this way, the determination process is performed in S2 to S4, the detection process is performed in S5, and the recording process is performed in S6. What is usable video data?
This is video data corresponding to a link that the vehicle has traveled from the start point to the end point without departing.

Next, in the road network shown in FIG. 3, taking the case where the vehicle is traveling by sequentially following the nodes A->B->C->D->E-> F as shown by the dotted route, The operation of the controller 1 described above will be described. In addition, each node A
Let L1 to L6 be links between F to F, and let Add (A) to Add (F) be recording addresses on the magneto-optical disk 6 of video data corresponding to the nodes A to F, respectively.

In this case, the own vehicle deviates from the links L2 and L4 between the nodes B and C and between the nodes D and E. Since map matching is premised on that a vehicle runs on a road, it is determined that the vehicle has deviated from the road network when it travels on a narrow road or a parking lot that is not registered as a road in the road network information. Here, node B,
When C travels in a parking lot or the like, it corresponds to a case where a narrow road runs between nodes D and E, and each of them deviates from the road network.

Therefore, each link L1 (recording addresses Add (A) to Add) that the vehicle has traveled from the start point to the end point without departing
(B)), L3 (recording addresses Add (C) to Add (D)),
The video data corresponding to L5 (recording addresses Add (E) to Add (F)) and L6 (recording addresses Add (F) to Add (G)) are usable video data.

As a result, each link L1, L3, L5, L
As the attribute information for No. 6, each recording address Add (A)
Add (F) is recorded on the magneto-optical disk 6. Since there is only one set of nodes at both ends of one link, there is only one video data corresponding to one link. Therefore, even if the same link is traveled many times including the U-turn, the image data does not overlap with the link.

As described above, according to this embodiment, the moving image (video data) of the scenery behind the running vehicle is recorded on the magneto-optical disk 6. At the same time, the recording addresses on the magneto-optical disk 6 corresponding to the nodes at both ends in the video data (usable video data) corresponding to the links on the road network that the vehicle has traveled from the start point to the end point without deviating, The attribute information for the link is recorded on the magneto-optical disk 6.

Therefore, by designating the link to the magneto-optical disk 6, the recording address as the attribute information can be read from the magneto-optical disk 6. Then, the video data corresponding to the link between the nodes corresponding to the recording address is read from the magneto-optical disk 6, and the LCD
8 can be displayed. However, the magneto-optical disk 6
When the own vehicle is not traveling on the link specified for the above without deviating from the start point to the end point, attribute information is not recorded for the link, and the corresponding video data is L
Not displayed on CD8.

By the way, there are the following methods for designating a link for the magneto-optical disk 6. Based on the result of the map matching, the link where the own vehicle is currently located is specified for the magneto-optical disk 6. In this case, the video data of any link recorded on the outward path,
On the return route, the link can be played back in reverse while the vehicle is running, and can be used for road guidance.

A link is designated for the magneto-optical disk 6 regardless of the current position of the vehicle. In this case, the video data of an arbitrary link recorded on the outward trip is reversely reproduced and displayed all the way before starting the traveling on the return trip,
By showing it to a third party, it can be useful for road guidance.

As described above in detail, according to this embodiment,
Record the moving image (video data) of the scenery behind the vehicle while driving along with the section (link) on the road network,
The recorded moving image of scenery can be reproduced by designating a section on the road network. However, if the vehicle is not traveling from the start point to the end point of the section on the road network without deviating, the recorded moving image of the scenery is not reproduced even if the section is designated.

For example, in the case of the nodes D and E shown in FIG. 3, when a roundabout is made as a result of traveling while searching for a route to the destination on the outward route, the route between the nodes E and D is returned on the return route. All you have to do is go through the shortest link L4.
At that time, the scenery between the nodes D and E recorded on the outward path is unnecessary on the return path, but in the present embodiment, the scenery between the nodes D and E recorded on the outward path is not reproduced as unusable video data, so that the outward path is not reproduced. There is no fear of following the same path and making another round trip.

When traveling between nodes B and D via node C on the outward path but traveling between nodes D and B via node H on the return path, link L recorded on the outward path
The scenery of 2, L3 becomes unnecessary on the return trip. In this case, according to the above, the scenery of the links L2 and L3 recorded on the outward path is not reproduced while traveling on the return path traveling on a link different from the outward path. In addition, according to the above, link L2
If you don't want to play the scenery of L3, just specify the link.

The above embodiment may be modified as follows. 1) The vehicle speed data at the time of shooting is recorded on the magneto-optical disk 6 in synchronization with the video data. Then, when the image data read from the magneto-optical disk 6 is reproduced and displayed on the LCD 8, fast-forward reproduction or slow reproduction is performed at a reproduction speed different from the recording speed at the time of shooting determined from the speed data of the vehicle at the time of shooting. The display controller 24 controls. In this case, by changing the setting of the reproduction speed, the moving image at the time of traveling at a speed different from the speed of the vehicle at the time of shooting is reproduced in reverse, so that traveling at a desired speed can be simulated. it can. The vehicle speed data can be obtained from the wheel rotation speed sensor 11.

2) The video camera 3 is caused to shoot a still image instead of a moving image. Then, by recording the still image as video data on the magneto-optical disk 6, the data amount of the magneto-optical disk 6 is increased. In this case, if a still image of one frame is taken at constant traveling distance intervals, the data rate of the video data becomes constant regardless of the traveling speed, so that no trouble occurs during reproduction.

3) Avoid shooting at night. This is because only the headlights of the following vehicle are photographed at night, and the scenery behind the vehicle is not photographed. 4) Take pictures of only narrow roads that are less than the specified width. For example,
This is because there is no need to provide road guidance for highways and national roads, so there is no point in shooting.

5) The video camera 3 is made to photograph not only the scenery behind the vehicle but also the scenery ahead of the vehicle. In this case, it is useful for road guidance when traveling again on the same outward route. 6) The determination process is omitted, and unusable video data is processed in the same manner as usable video data. Also in this case, by specifying a link on the road network, the video data corresponding to the link can be reproduced.

7) Instead of recording the video data photographed during traveling on the magneto-optical disk 6, an image recording medium in which the video data of all links in a specific road network is recorded in advance is used. In this case, the video camera 3 is not necessary, and the magneto-optical disk 6 can be replaced with a read-only image recording medium such as a CD-ROM or an LD that can be randomly accessed. Further, the map matching function and the above-mentioned function may be omitted from such an apparatus, and the apparatus may be a reproduction-only machine.

Here, in order to manufacture such an image recording medium, the video cameras 3 are installed in a plurality of business vehicles traveling on an unspecified link such as a taxi or a courier, and video data during traveling by business is obtained. Please record each. Then, by collecting the video data recorded by each vehicle, the video data of all the links in the specific road network is accumulated. As described above, since the image data does not overlap for the same link, the image data does not overlap even if the image data captured by a plurality of vehicles is accumulated.

Although the respective embodiments of the present invention have been described above, technical ideas other than the claims which can be understood from the respective embodiments will be described below together with their effects. (A) In the vehicle-mounted image recording device according to the eleventh or twelfth aspect, the image captured by the camera is a moving image. By doing so, the reproduced video data also becomes a moving image, and more accurate road guidance can be performed.

(B) The first storage means is a reproducible storage device and is any one of an optical disc, a magneto-optical disc, a phase change type disc and a hard disc.
Since these disks can be randomly accessed, have a high access speed, and have a large storage capacity, road network information can be easily read.

(C) The second storage means is a recording / reproducing storage device, and includes a magneto-optical disk, a phase change type disk,
One of the hard disks. Since these disks can be randomly accessed, have a high access speed, and have a large storage capacity, it is easy to read and write video data and recording addresses.

(D) The display means is an LCD or CRT. By doing this, accurate display is possible. By the way, in this specification, terms relating to the constitution of the invention are defined as follows.

(A) Road network information is a node
This is information on nodes and links when a road network is represented by and branches (links) that connect between them. The (b) node mainly includes intersections, but also includes inflection points of roads (complementary points for approximating a road that is not a straight line with a plurality of line segments).

The (c) link is mainly an actual road between intersections, but also includes a space between inflection points of the road.

[0084]

As described above in detail, according to the present invention, it is possible to provide an automobile navigation system capable of providing accurate road guidance, and a vehicle-mounted image recording apparatus constituting such a system. And a playback device can be provided.

[Brief description of drawings]

FIG. 1 is a block circuit diagram of an embodiment embodying the present invention.

FIG. 2 is a flowchart for explaining the operation of one embodiment.

FIG. 3 is an explanatory diagram for explaining the operation of one embodiment.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Controller as reproduction control means and determination means 2 Current position detection means 3 Video camera 6 Magneto-optical disk as first and second recording means and second storage means 7 Optical disk 8 as first storage means 8 Display means 21 as a map matching means 22 image data use determining means 23 recording address detecting means 24 display controller as a displaying means

Claims (21)

[Claims] 1. An in-vehicle image recording device for recording a scenery around a vehicle. 2. A reproducing apparatus for reproducing the scenery recorded by the vehicle-mounted image recording apparatus according to claim 1. 3. An in-vehicle image recording device for recording a scenery around a vehicle together with position information on a road network. 4. A reproducing apparatus for reproducing the scenery recorded by the vehicle-mounted image recording apparatus according to claim 1 by designating position information on a road network. 5. An in-vehicle image recording device for recording a scenery around a vehicle together with a section on a road network. 6. A reproducing device for reproducing the scenery recorded by the vehicle-mounted image recording device according to claim 5 by designating a section on a road network. 7. A first recording means for photographing a scenery around a vehicle and recording it as video data, a judgment means for judging a link on a road network corresponding to the video data, and nodes at both ends of the link. And a second recording means for recording two recording addresses corresponding to the above as the link attribute information. 8. A first recording means for photographing a scenery around a vehicle and recording it as video data, a first judging means for judging a link on a road network corresponding to the video data, and a start point to an end point. Second judging means for judging that the video data corresponding to the link that the vehicle has traveled to without departing from is usable, and nodes at both ends of the link on the road network corresponding to the video data judged to be usable And a second recording means for recording two recording addresses corresponding to the above as the link attribute information. 9. A first recording means for recording video data recorded by the vehicle-mounted image recording device according to claim 7 or 8, and the vehicle-mounted device according to claim 7 or 8. The second recording means in which the recording address as the attribute information of the link recorded by the image recording device is recorded, and each recording address corresponding to the nodes at both ends of the link by designating the link on the road network Is read from the second recording means and video data corresponding to each recording address is read from the first recording means, and a display means for displaying the video data read from the first recording means by the reproduction control means. And a playback device. 10. A first recording means for recording video data recorded by the vehicle-mounted image recording apparatus according to claim 7 or 8, and the vehicle-mounted according to claim 7 or 8. The second recording means in which the recording address as the attribute information of the link recorded by the image recording device is recorded, the determining means for determining the link on the road network where the own vehicle is currently located, and the determined link By designating, each recording address corresponding to the nodes at both ends of the link is read out from the second recording means, and the video data corresponding to each recording address is read out from the first recording means. A reproducing device comprising a display unit for displaying the video data read out from the first recording unit by the unit. 11. A current position detection means (2) for detecting the current position of the vehicle, a first storage means (7) in which road network information is recorded, a detection result of the current position detection means, and Map matching means (2) for determining a link on the road network in which the vehicle is currently located, based on the road network information read from the first storage means.
1), a camera (3) for photographing the scenery around the vehicle, a second storage means (6) for recording the scenery photographed by the camera as video data, and nodes at both ends of the link on the road network. In-vehicle image recording provided with recording address detection means (23) for detecting two recording addresses in the corresponding second storage means and recording each of the recording addresses in the second storage means as attribute information for the link. apparatus. 12. A current position detection means (2) for detecting the current position of the vehicle, a first storage means (7) in which road network information is recorded, a detection result of the current position detection means, and Map matching means (2) for determining a link on the road network in which the vehicle is currently located, based on the road network information read from the first storage means.
1), a camera (3) for photographing the scenery around the vehicle, a second storage means (6) for recording the scenery photographed by the camera as video data, and a result of map matching by the map matching means. A video data use determining means (22) for determining whether or not the video data taken by the camera is usable, and a road network corresponding to the video data determined to be usable based on the determination result of the video data use determining means A recording address detecting means (23) for detecting two recording addresses in the second storage means corresponding to the nodes at both ends of the link, and recording each recording address in the second storage means as attribute information for the link. In-vehicle image recording device equipped with. 13. Designating a second storage means (6) in which video data recorded by the vehicle-mounted image recording device according to claim 11 or 12 and a link on a road network are specified. The read control means (1) for reading each recording address corresponding to the nodes at both ends of the link from the second storage means and reading the video data corresponding to each recording address from the second storage means. A reproduction device comprising a display means (24, 8) for displaying the video data read out from the second storage means by the control means. 14. A current position detection means (2) for detecting the current position of the vehicle, a first storage means (7) in which road network information is recorded, a detection result of the current position detection means, and Map matching means (2) for determining a link on the road network in which the vehicle is currently located, based on the road network information read from the first storage means.
1), a second storage means (6) in which video data recorded by the vehicle-mounted image recording device according to claim 11 or 12 is recorded, and a result of map matching by the map matching means. By specifying a link on the road network where the vehicle is currently located, each recording address corresponding to the nodes at both ends of the link is read from the second storage means, and video data corresponding to each recording address is read out. A reproduction device comprising reproduction control means (1) for reading from the second storage means, and display means (24, 8) for displaying the video data read by the reproduction control means from the second storage means. 15. The vehicle-mounted image recording device according to claim 11 or 12, wherein the processing of the map matching means based on the detection result of the current position detecting means is performed by at least one of dead reckoning and radio navigation. An in-vehicle image recording device characterized by being performed. 16. The in-vehicle image recording device according to claim 12, wherein the video data use determination means determines that video data corresponding to a link that the vehicle has traveled from a start point to an end point without departing from the vehicle can be used. An in-vehicle image recording device characterized by: 17. The vehicle-mounted image recording device according to claim 11 or 12, wherein speed data of the vehicle at the time of photographing the scenery around the vehicle is stored in the second storage means in synchronization with video data. An in-vehicle image recording device for recording. 18. The reproducing apparatus according to claim 13 or 14, wherein the display means records a recording speed at the time of photographing based on speed data of the vehicle at the time of photographing recorded in the second storage means. Is determined, and video data is displayed at a reproduction speed different from the recording speed. 19. The in-vehicle image recording device according to claim 11 or 12, wherein the camera captures one frame of a still image at regular intervals of travel distance. . 20. The in-vehicle image recording apparatus according to claim 11 or 12, wherein the camera does not perform photographing at night and does not record video data and a recording address. apparatus. 21. The in-vehicle image recording device according to claim 11 or 12, wherein the camera photographs only a narrow road having a predetermined road width or less, and records only video data and a recording address thereof. In-vehicle image recording device.