JPH1082651A - Navigation apparatus for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain a navigation apparatus which can decide a course in a crossing or a branch point from a direction in which a feature object is moved relatively on the basis of a recognized image, by image-recognizing the feature object in the crossing or the branchpoint which has been registred in advance. SOLUTION: A program by which a route is searched by using position information from a present-position detecting device 2 or by using search road data from an input device, a program by which a route search is executed again, a program by which the content of a voice output timing or a voice phrase is decided along a route and a program by which a course is decided are stored in an information storage device 3. A photographed image is converted into a digital signal from an analog signal by a CPU 40 so as to be stored in a RAM 42. A feature object in a crossing or the like is recognized and processed on the basis of data on the image. In a central processing unit 4, data which is obtained by every sensor at the device 2 is fetched into a sensor input interface 48, the CPU 40 computes present position coordinates at every constant time so as to be written into the RAM 42, and the coordinates are always corrected.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention belongs to the technical field of a vehicular navigation system for providing route guidance to a destination inputted according to a preset route.

[0002]

2. Description of the Related Art In a conventional vehicle navigation apparatus, an estimated current position on road data in map data is determined by map matching processing based on data from each sensor in a current position detection apparatus. Based on the current position, a guidance of a next intersection or a branch point is output by using a voice or the like after a predetermined distance before an intersection to be turned left or right, or after passing through the intersection, thereby providing route guidance. The map matching process is a process for correcting the positional deviation because the detection errors of the sensors are added and accumulated, and the positional deviation between the current position and the actual traveling position calculated over time increases. .

[0003]

However, in the above-mentioned conventional navigation device, if the accuracy of map matching is poor, especially when turning right or left at a certain intersection in the guide route, if there is a misalignment, matching is performed to the approach road. It takes a long time, and in that case, the current position on the map is naturally shifted, so that there is a problem that the user cannot immediately determine whether or not the vehicle is traveling correctly on the guide route. . Also, even if there are multiple intersections in a short distance in an urban area, etc.
There is a problem in that it is difficult for the user to recognize which intersection is being guided, and it is not possible to immediately judge whether or not the user is allowed to proceed on that road. Furthermore, according to the actual user's driving sensation, at the time of entering an intersection and taking the action of turning right, for example, the approach route has already been determined, and whether the approach route matches the route is determined. We want to get the next guidance information as soon as possible, and solving this need is one of the issues.

An object of the present invention is to solve the above-mentioned conventional problems and problems. Regardless of the accuracy of map matching, information on which road a vehicle has entered from an intersection or a junction is immediately obtained. It is an object of the present invention to provide a vehicular navigation device that can take action with respect to subsequent actions. Another object of the present invention is to provide a vehicular navigation device that can immediately know whether or not an approach route at an intersection or a junction to be guided is along the route immediately after passing through the intersection. . Further, another object of the present invention is to provide a vehicle navigation device that can promptly notify a driver of an action to be performed next, depending on whether the vehicle is traveling correctly along a route. .

[0005]

In order to achieve the above object, according to the first aspect of the present invention, a feature of an intersection or a branch point registered in advance is recognized by image recognition, and the feature is recognized as a recognized image. And determining an approach route at the intersection or junction from the direction in which the vehicle relatively moves. The invention according to claim 2, wherein route guidance to a destination input according to a preset route is provided. In a vehicle navigation device to be performed, a feature of an intersection or a branch point registered in advance is recognized by image recognition, and an approach path at the intersection or the branch point is determined from a direction in which the feature has relatively moved in the recognized image. And determining whether or not the advance route follows a preset route. The invention according to claim 3, wherein the destination inputted according to the preset route is determined. In a vehicle navigation device that performs route guidance in a vehicle, a feature of an intersection or a branch point registered in advance is recognized by image recognition, and the intersection or the branch point is recognized from the direction in which the feature moves relatively in the recognized image. Determining whether or not the vehicle has advanced according to a preset route, and outputting guidance information to be notified next when the vehicle has advanced according to the route. 2. Description of the Related Art In a vehicular navigation device that performs route guidance to a destination input according to a set route, a feature of an intersection or a branch point registered in advance is recognized by image recognition, and the feature is relatively recognized in a recognized image. From the intersection or branch point based on the direction in which the vehicle has moved, and determines whether or not the vehicle has deviated from the route according to a preset route. According to a fifth aspect of the present invention, there is provided a vehicle navigation apparatus for performing route guidance to a destination input according to a preset route, wherein the intersection and the junction are registered in advance. The object is recognized by image recognition, and it is determined whether or not the feature has proceeded from the intersection or the branch point according to a predetermined route from the direction in which the feature moved relatively in the recognized image, and the vehicle departed from the route. In this case, a new route is searched again, and the invention according to claim 6 is characterized in that a current position detecting means for detecting a current position of the vehicle, guide road data and data of a feature of an intersection or a junction. An information storage unit storing the information, an output unit for notifying the guidance information, and executing a navigation process based on a navigation program and data stored in the information storage unit. Guidance control means for outputting guidance information to the output means,
Image photographing means for photographing the front of the vehicle in the traveling direction, image recognizing means for recognizing a feature of an intersection or a branch point from an image photographed by the image photographing means, and an intersection or a branch point recognized by the image recognizing means Exit path identification means for determining the relative movement direction in the recognition image of the characteristic object to identify an exit path at the intersection or junction, wherein the guidance control means includes an exit specified by the exit path identification means. 8. The vehicle navigation apparatus according to claim 7, wherein the guidance information is output to the output unit according to a road, and the vehicle navigation apparatus performs route guidance to a destination input according to a preset route. Current position detecting means for detecting the current position of the vehicle, information storage means for storing guide road data and data of features at intersections or junctions, and route guidance. Output means for outputting guidance information for the vehicle, guidance control means for performing route guidance based on a navigation program and data stored in the information storage means, image photographing means for photographing the front of the vehicle in the traveling direction, Image recognition means for recognizing a feature of an intersection or a branch point from an image captured by the image capturing means, and a relative movement direction in the recognition image of the feature of the intersection or the branch point recognized by the image recognition means. Means for specifying an approach path at the intersection or junction, wherein the guidance control means outputs guidance information to the output means according to the approach path specified by the approach path identification means. And the invention according to claim 8 is as follows:
In claim 7, when the guidance control means determines that the approach road specified by the approach road identification means matches the preset route and runs along the route, the next notification should be made. According to a ninth aspect of the present invention, the guidance control unit outputs the guidance information related to the route, wherein the guidance route specified by the route determination unit is a route set in advance. If it is determined that the vehicle is deviating from the route without being coincident, the fact that the vehicle has deviated from the route is output as guidance information, and the invention according to claim 10 detects the current position of the vehicle. Current position detecting means, input means for inputting a destination, a passing point, and a departure point, information storage means storing guide road data and data of features at intersections or junctions, and guidance for performing route guidance information An output unit for outputting, and a vehicle current position detected by the current position detection unit based on a navigation program and data stored in the information storage unit, or a departure point input by the input unit, input by the input unit. Route search means for performing a route search to a destination or a passing point, and a guidance control means for performing route guidance based on the route searched by the route search means, a navigation program, and data stored in the information storage means. Image photographing means for photographing the front of the vehicle in the traveling direction, image recognizing means for recognizing a feature of an intersection or a branch point from an image photographed by the image photographing means, and an intersection or branch recognized by the image recognizing means. The relative movement direction of the point feature in the recognition image is determined to determine And a route searching means for determining a route, wherein the route searching means has determined that the route specified by the route determining means does not match the route searched in advance and is running off the route. In such a case, a new route is searched again, and the guidance control means performs route guidance based on the new route, and the invention according to claim 11 is the invention according to claim 6 or 7.
Or the image recognition unit determines the recognition position coordinates of the recognized feature of the intersection or the branch point, and the exit road identification unit determines the moving direction in the recognition image based on the recognition position coordinates. According to a twelfth aspect of the present invention, in the image processing apparatus according to the eleventh aspect, the image recognizing means calculates a movement vector based on a coordinate difference between at least two recognition coordinates of the feature, and recognizes the recognition image based on the movement vector. According to a thirteenth aspect of the present invention, the information storage means according to the eleventh aspect, wherein the information storage means includes a feature of an intersection or a branch point and each approach path to the intersection or the branch point. A table for the moving direction of the recognition position coordinates of the feature object is stored, and the approach path specifying means specifies the approach path by referring to the table. And butterflies.

[0006]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is an overall configuration diagram showing one example of a vehicle navigation device according to the present invention. The vehicle navigation device according to the present invention includes an input / output device 1 for inputting and outputting information relating to route guidance, a current position detection device 2 for detecting or receiving information relating to the current position of the own vehicle, and a navigation device necessary for calculating a route. Display / voice guidance data and programs required for data and route guidance (O
S and / or application), etc., and display / display necessary for route search processing and route guidance /
It comprises a central processing unit 4 that performs voice guidance processing and controls the entire system. First, each configuration will be described.

The input / output device 1 centralizes navigation processing according to the user's will so that the user can input a destination or output guidance information from at least one of a voice and / or a screen when necessary. It has a function of instructing the processing device 4 and printing out the processed data and the like. As means for realizing the function, the input unit includes a touch switch 11 and an operation switch for inputting a destination as a telephone number or coordinates on a map, and for requesting route guidance. Of course, an input device such as a remote controller may be used. Further, a video camera 15 for capturing a landscape image in front of the vehicle is provided.
In the output unit, the input data is displayed on the screen, and the route guidance is automatically displayed on the screen in response to the user's request. The display 12 stores the data processed by the central processing unit 4 and the information storage device 3. And a speaker 16 for outputting route guidance by voice.

Here, a voice recognition device for enabling voice input and a recording card reader for reading data recorded on an IC card or a magnetic card can be added. Further, a data communication device for exchanging data with an information source such as a personal computer in which user-specific data such as map data and destination data are stored in advance can be added.

The display 12 is composed of a color CRT or a color liquid crystal display, and is necessary for navigation such as a route setting screen, a section map screen, an intersection map screen based on map data and guidance data processed by the central processing unit 4. In addition to outputting all screens in color display, buttons for setting route guidance, performing guidance during route guidance, and performing screen switching operations are displayed on this screen. In particular, the passing intersection information such as the passing intersection name is displayed in color in a pop-up on the section map screen at any time.

The display 12 is provided in an instrument panel near the driver's seat, and the user can confirm the current position of the vehicle by looking at the displayed map.
In addition, it is possible to obtain information on a route from now on. Further, the display 12 is provided with a touch switch (input device) 11 corresponding to the display of the function button, and is configured such that the above operation is executed based on a signal input by touching the button. Have been.
The input signal generating means including the button and the touch switch constitutes an input unit, but a detailed description thereof is omitted here.

The current position detecting device 2 detects or receives information on the current position of the vehicle, and includes an absolute direction sensor 24 composed of a geomagnetic sensor and the like, and a relative direction sensor composed of a steering sensor, a gyro and the like. 2
5. Distance sensor 2 for detecting running distance from the number of rotations of wheels
6. It is composed of a GPS receiving device 21 using a satellite navigation system (GPS) and a VICS receiving device 22 or a data transmitting / receiving device 23 which is traffic information acquiring means.
The VICS receiver 22 receives road traffic information by FM multiplexing, radio beacons, and optical beacons. The data transceiver 23 is, for example, a mobile phone or a personal computer.
IS) for exchanging information necessary for navigation.

The information storage device 3 is an external storage device that stores a navigation program and data in a recording medium such as a CD-ROM (hereinafter, simply referred to as a CD), an optical CD, an IC card, and the like. The navigation program includes a map drawing unit, a route search unit, a route guidance unit, a current position calculation unit, a destination setting operation control unit, and an application unit that performs navigation signal processing, an OS unit, and the like. A program for performing processing such as search, a display output control required for route guidance, a program for performing voice output control required for voice guidance and data required for the same, and a display required for route guidance and map display Information data is stored. The data stores all data necessary for navigation, such as map data, intersection data, road data, and various types of guidance data.

More specifically, a program for setting a destination and a passing point based on position information from the current position detecting device 2 and an input signal from the input device 11 and executing a route search using searched road data; A program for converting the searched road data and re-executing the route search when it deviates from, or a map drawing or map matching, a program for determining the audio output timing and the contents of the audio phrase along the route, and A program for recognizing a feature from an image captured from the video camera 15 serving as an image photographing unit, determining a relative moving direction of the recognized feature on the image, and determining an approach path from the moving direction is provided. By activating the stored programs stored in the information storage device 3, each function of the navigation in the present invention is executed. It is. That is, in the present embodiment, a program for realizing the functions of the present invention is stored in the information storage device 3 which is an external storage medium.

The central processing unit 4 includes a CPU 40 for executing various arithmetic processing, and a flash memory 41 for reading and storing programs from a CD of the information storage device 3. The flash memory 41 is for erasing an existing program at a time even if there is a change in the CD program. Also, the flash memory 41
A first ROM 43a storing a program (program reading means) for performing a program check and update process of
The set point coordinates of the destination and the road code No. And the like, and a RAM 42 for temporarily storing searched route guidance information and data being processed, and a second ROM 43b for storing display information data necessary for route guidance and map display. Note that a program for performing the above-described update processing may be stored in an external storage device.

Further, an image memory 44 storing image data used for displaying a screen on a display, a CPU 4
The image processor 45 extracts image data from the image memory based on the display control signal from 0, performs image processing, and outputs the image data to the display 12, the sound read out from the RAM 42 based on the sound output control signal from the CPU 40,
A voice processor 46 that synthesizes a phrase, a set of sentences, sounds, and the like, converts the synthesized signal into an analog signal, and outputs the analog signal to the speaker 16, a communication interface 47 that exchanges input / output data with the communication device 5, and the current position detection device 2
And a clock 49 for writing date and time in the internal diagnostic information.

The photographed image is converted from an analog signal to a digital signal by the CPU
2 is stored. From this image data, features at intersections and branch points are recognized, and image recognition processing is executed. In this image recognition processing, the feature is recognized by referring to the color and shape information of the image data file stored in the information storage device 3.

In the central processing unit 4, when the data obtained by each sensor of the current position detecting device 2 is fetched from the sensor input interface 48, the CPU 40 calculates the current position coordinates at regular time intervals based on the data. The data is temporarily written to the RAM 42. The current position coordinates are obtained by performing a map matching process in consideration of detection errors of various data. The output values of the various sensors are constantly corrected. Here, route guidance is performed by screen display and voice output, and the user is able to select the presence or absence of voice output.

FIG. 2 shows a guide road data file in which data necessary for calculating a route and performing route guidance by the route calculating means is stored. For each of the number n of roads, a road number, a length, It consists of road attribute data, shape data address, size and guidance data address and size data. The road number is set for each of the outgoing and returning routes for each road between the branch points. The road attribute data is data indicating whether the road is an elevated road, next to an elevated road, an underpass, an underpass, or the number of lanes. The shape data is obtained by dividing each road by a plurality of nodes (nodes).
Each of the number m of nodes has coordinate data including east longitude and north latitude.

The guidance data includes the name of an intersection (or junction), the presence or absence of a traffic light, the presence or absence of a pedestrian crossing, the features of junctions and landmarks (traffic signs, signs at gas stations and convenience stores, etc.), , Tunnel entrance, exit, width reduction point, etc.), road name (road type information of expressway, general road (national road, prefectural road, etc.)), address of road name voice, address of size and destination data , Size data. The destination data includes a destination road number, a destination name, an address of destination name voice data, a size and a destination direction data, and travel guidance data (information from right, left, or center). The destination direction data is invalid (does not use destination direction data), unnecessary (does not guide), straight ahead, right direction, diagonally right direction, return right direction, left direction, diagonally left direction, left return direction information Is the data indicating

In addition to information on the presence or absence of a traffic light, a pedestrian crossing, or a feature in the guide data, positional information (absolute coordinates or offset from an intersection) of these information, and the shape, pattern No. Etc. are stored. When performing image recognition, information on the shape and color for determining an image of a feature or a traffic signal from the acquired image data is stored in an image data file.
For example, regarding the feature, the shape pattern No. Is stored in correspondence with the image data, and is referred to to determine whether or not the acquired image data is the corresponding feature.

In the data structure of FIG. 2, information on intersections is stored in the road data. However, as shown in FIG. 3, intersection data is provided separately from the road data.
The presence or absence of a traffic light, information on a road to be connected, and the like may be stored. However, if the road data is provided with the connection information, the data can be easily stored such that a certain road cannot be entered from a certain road, and the data amount can be reduced.

FIG. 4 shows an example of guidance phrase data.
When the guidance sentence is divided into phrases such as a distance phrase, a direction phrase, and a feature phrase, and guidance voice data is output, the phrases are combined and, for example, “approximately 3
Turn right at 00m "and output at the set guide point.

FIG. 5 is a diagram for explaining the flow of processing of the entire system of the vehicle navigation device according to the present invention. When the navigation program is started by the CPU 40 of the central processing unit 4, first, the current position is detected by the current position detection device 2, a map around the current position is displayed, and the name of the current position is displayed. (Step S1). Next, a destination is set using a telephone number, an address, a facility name, a registered point, and the like (step S).
2) A route search from the current position to the destination is performed (step S3). The route up to the destination is set as guide road number data in which the guide road numbers are arranged as shown in FIG. When the route is determined, the route is guided and displayed until the vehicle arrives at the destination while the current position is tracked by the current position detecting device 2 (step S4).

The present invention relates to the guidance processing at the intersection in the guidance / display of the step S4. FIGS. 7 and 8 show the processing of the intersection guidance by the guidance control means in the guidance / display processing of FIG. Diagram for explanation, FIG. 9
FIG. 7 is a diagram of a recognition screen for describing processing. In FIG. 7, after the current position of the vehicle is acquired (S11), the next guidance intersection to be guided is acquired from the route data (S1).
2) The distance between the current position of the vehicle on the road data and the intersection to be guided is calculated, and it is determined whether or not the vehicle is a first predetermined distance before the guidance intersection (S13). When reaching the first predetermined distance before (L1), a guidance phrase at the next guidance intersection is created (S14). Here, based on the guidance voice data of FIG. 4, a guidance expression for performing guidance based on the set route, such as "turn left at about 300 m ahead", is created. Next, in step S15, after it is determined that the vehicle is traveling along the route after passing through the intersection to be guided next, a guidance phrase of guidance information relating to the route to be reported next is created. Here, a phrase for outputting the guidance after the turn is created, for example, "turn right about 2 km ahead" or "road for a while".

In step S16, after the current position of the vehicle is acquired again, the distance between the current position of the vehicle and the intersection to be guided is calculated, and it is determined whether or not the vehicle is located a second predetermined distance before the guidance intersection (S17). ), When reaching a second predetermined distance before (L2), guidance information of the next guidance intersection is output (S1).
8). In the above processing, the first of the guidance intersections
A guide text of the next guidance intersection may be created before the predetermined distance, and when it is determined that the vehicle has passed through the guidance intersection, the guidance text of the next guidance intersection may be output.

In step S19, traffic light data is obtained from the guidance data in the information storage device 3 based on the road number of the searched route, and the traffic light (F in FIG. 9) is provided on both sides of the intersection entrance and exit in the straight traveling direction of the approach road. , R) is determined (S20), and if there are no traffic lights on both sides, the process is terminated. If it is determined in step S20 that there is a traffic light on both sides, the process proceeds to step S21 in FIG. 8, the traffic light F in front of the intersection is recognized, the distance to the recognized traffic light (in front of the intersection), and The distance between the current position and the position of the traffic light (on the front side of the intersection) is compared (S2).
2), it is determined whether or not this is within a predetermined distance (S2)
3). The determination in step S23 is to prevent erroneous recognition when, for example, a traffic light at another intersection is in front of the intersection to be guided.

If it is determined in step S23 that the distance is within the predetermined distance, the traffic signal (on the near side of the intersection) is tracked (S2).
4) In step S25, it is determined whether or not the vehicle has passed the traffic light (on the front side of the intersection). This determination may be made on the condition that the tracked image of the traffic signal in front of the intersection moves to the upper part of the recognition screen and goes out of the screen. If it is determined that the traffic signal has passed, the traffic signal (intersection exit side) R is recognized (S26), and an exit road determination for judging how the traffic signal R at the intersection exit side has moved on the recognition screen of FIG. Processing is performed (S27). Next, it is determined whether or not the outgoing route matches the set route (S28), and if it matches, the next guidance information is output (S29). Perform (S30).

In the embodiment shown in FIGS. 7 and 8, there are traffic lights on both sides of the entrance and the exit side of the intersection in the straight traveling direction of the approach road, and the traffic lights on both sides are recognized. The traffic path may be recognized to determine the approach road based on the moving direction. However, by recognizing both the entrance side and the exit side of the intersection, it is possible to determine that the vehicle has passed the traffic light on the entrance side and to reliably determine that the vehicle has entered the target intersection, for example, immediately before the target intersection. Erroneous recognition when the vehicle turns at another intersection can be prevented.

FIG. 10 shows the flow of the traffic signal detection process in step S19 of FIG. 7. First, a light source whose color (blue, yellow, red) and luminance are within a predetermined range is acquired from the captured front scenery image. (S31). For this purpose, the three colors and the luminance range are stored in the information storage device 3 in advance. Next, the size of the light source is acquired (S32), the one whose size is outside the predetermined range is deleted (S33), and the distance from the current position to each of the acquired light sources is determined based on the acquired size of the light source. It is calculated (S34). In the above process, the light source whose size is outside the predetermined range is deleted. However, the height of the light source may be further determined to delete the light source whose height is outside the predetermined range. Good. Alternatively, the shape (circle) of the traffic light may be stored, and those outside the predetermined range compared to this shape may be deleted.

FIG. 11 shows the flow of the process of judging the outgoing route by moving the traffic light in step S27 of FIG. 8, in which the traffic light (intersection exit side) is recognized on the recognition screen (S35), and the recognized traffic light is displayed on the recognized image. The position coordinates a ₀ are obtained (S36). When a predetermined time elapses (S37), and again recognized traffic (the intersection exit side) (S38), obtains the position coordinates a ₁ of recognized traffic (S39). Then, the distance coordinates a ₀ and a ₁ is to determine whether or not at least a predetermined distance (S40). This determination is, for example, a process of determining that a right or left turn has been made when the traffic light on the exit side of the intersection moves left or right even if the lane is changed before the intersection if the vehicle moves beyond a preset distance. If it is determined that the distance is equal to or longer than the predetermined distance, the relative movement direction of the traffic light on the recognition screen is calculated (S41), the intersection data is acquired (S42), and the approach road at the intersection is specified (S43).

The process for obtaining the approach road at the intersection in the process of FIG. 11 will be specifically described. The pre-stored guide road data (FIG. 2) or the intersection data (FIG. 3) stores the link relation of the roads at the intersection, and based on the link relation, the roads exiting from the intersection and the advance of those roads. Specify the shape. Based on this advance shape, a table for obtaining an advance route from a relative movement direction (vector) on the recognition screen of the traffic signal is prepared.

FIGS. 12A and 12B show the relative movement direction (vector) of the traffic light by image recognition corresponding to the road shape.
FIG. 1 shows a table for specifying an approach route according to the conditions shown in FIG.
2 (A) shows the case of a four-junction, and FIG. 12 (B) shows the case of a five-junction. Then, the relative movement direction (vector) of the traffic light is determined by image recognition, and straight ahead, right turn, left turn, and unrecognizable are determined based on which area the vector direction is based on the straight ahead direction (arrow direction in the table in the figure). Judge. For example, as shown in FIG. 12C, if the traffic light recognition position moves rightward, it is determined that the vehicle is turning left. In specifying the advancing road, the tables shown in FIGS. 12A and 12B may be stored in advance for each intersection in the road data, or may be calculated at the time of guidance for an intersection.

FIGS. 13 to 16 show steps S30 in FIG.
FIG. 7 is a flowchart for explaining a route (route) deviation process. In step S51 in FIG. 13, it is determined whether the auto reroute mode is on. This is a determination as to whether the user has selected the switch in the automatic re-search mode. If it is on, the re-search processing is performed automatically (S5
2) Perform display processing of the re-searched route (S5)
3). If the mode is not the auto reroute mode, the process proceeds to step S54 in FIG. 14, a re-search process is performed, and it is determined whether or not a re-search switch is ON.
4, if it is on, it is determined whether or not it is on the latest route (S56). If it is on the latest route, display processing of the re-searched route is performed (S57), and the latest route is displayed. If not, the process returns to step S54. In the present process, when the mode is not the auto reroute mode, a re-search process is performed before the re-search switch is turned on, and the latest route can be output at the same time as the re-search switch is turned on.

FIG. 15 is a flowchart showing an example of the re-search processing of FIGS. 13 and 14. First, search data around the current position of the vehicle is read (S58), a previous guide route sequence (guide road number data in FIG. 6) is obtained (S59), and the traveling direction and search at each intersection in the direction to return to the previous guide route. The cost is calculated (S60). In a route search,
The search cost is set based on the time required for passing through the road (number), the distance, the ease of driving (road type, road type such as national road), the fee, and the like. The search cost is set, for example, by the distance. If it is, the difference in road width, the ease of running according to the type of road, etc. is converted into a distance, so even if they are physically the same length, for example, the conversion distance of a highway is shorter than that of a highway, The branch roads are set so that the conversion distance becomes longer. With respect to these converted distances, for a road in the direction of returning to the previous guide route, the distance is further reduced by a fixed value or a magnification to lower the search cost and make it easier to select the road from the candidates for the optimum route. Next, the road and direction of the current position of the vehicle are acquired (S61), an intersection to which the current road is connected is selected in the traveling direction, and a route returning to the previous guidance route is determined based on the traveling direction to each intersection and the search cost (S62). ), And re-create the guide route road sequence (S6).
3).

FIG. 16 is a flowchart showing another example of the re-search process. In the re-search processing described with reference to FIG. 15, since a search is performed using only the surrounding search data, a route may not be searched due to traffic blocking or the like. Therefore, in this example, the entire route to the destination is searched again, the road and the direction of the current position of the vehicle are obtained (S64), the destination road is obtained (S65), and the search between the current position and the destination is performed. The road data is read (S66). Then, an intersection to which the current road is connected is selected in the traveling direction, all routes to the destination are determined based on the traveling direction to each intersection and a penalty (synonymous with search cost) (S67), and a guide route road sequence is re-created. To do.

In addition, when a route that connects to the original route cannot be searched using only the peripheral search data, the original route may be kept displayed and used as a guidance route, or the currently stored peripheral search data may be used. May be enlarged, or the search may be switched to the search for the entire route to the destination as shown in FIG.

The route departure process shown in FIGS. 13 to 16 is performed in the process of specifying an exit route at an intersection in step S43 in FIG. By doing so, a new guidance route can be output without any time loss.

FIGS. 17 and 18 are diagrams showing an example of a branch point guidance process in the guidance control means. In FIG. 17, after the current position of the vehicle is obtained (S71), the next branch point to be guided is obtained from the route data (S72), the distance between the current position of the vehicle and the branch point is calculated, and First
It is determined whether it is a predetermined distance before (S73). When reaching the first predetermined distance, a guide phrase at the next branch point is created (S74). Here, a guidance expression such as, for example, "turn left approximately 300 m ahead" is created based on the guidance voice data of FIG. Next, in step S75, after passing the branch point along the route, a guide phrase of information on a route to be notified next is created. Here, a phrase for outputting the guidance after the turn is created, for example, "turn right about 2 km ahead" or "road for a while".

In step S76, after the current position of the vehicle is acquired again, the distance between the current position of the vehicle and the intersection to be guided is calculated, and it is determined whether the current position is before the second predetermined distance from the branch point (S77). ), When the vehicle reaches the second predetermined distance, guidance of the junction is output (S78). In step S79, feature data of a branch point is acquired from the front landscape image. Here, the characteristic object data includes a yellow blinking lamp of the separator at the branch point, a mark (painted on concrete) displayed on the separator, a signboard of a gas station, a pedestrian crossing, and the like.

Next, it is determined whether or not there is any feature data in the recognition screen (S80), and if not, the process is terminated. If it is determined that there is feature data, the process proceeds to step S81 in FIG. 18 to recognize the branch point feature, and to determine the distance to the recognized feature, the current position on the map, and the position of the feature. Are compared (S82), and it is determined whether or not the distance is within a predetermined distance (S83). Step S83
When it is determined that the distance is within the predetermined distance, the characteristic object is tracked (S84), and an advance route determination process is performed to determine how the characteristic object has moved on the recognition screen (S85).
Next, it is determined whether or not the approach route matches the set route (S86), and if it matches, the next guidance information is output (S87). Perform (S88).

Although the embodiment of the present invention has been described above, the present invention is not limited to this, and various modifications can be made. For example, FIG. 8 step S30 and FIG.
In the route departure process in step S88, the fact that the vehicle is deviated from the route may be notified by voice or display. If this is done, it is immediately determined that the vehicle has deviated from the route by specifying the exit route in step S43 in FIG.
The user can deal with the subsequent actions as soon as possible. Further, when a re-search is performed in the route departure process, the fact that the route is searched again and guidance is performed by a new route may be notified.

In the above embodiment, the map matching is usually performed based on the current position detected by the current position detecting means and the road data stored in the information storage device. Route guidance is performed based on the current position, and if intersections and junctions to be guided have feature data of intersections and junctions in advance in road data and intersection data, right / left turns at intersections are determined by image recognition. Although the guidance is performed by performing the guidance, the user may be notified by a display or a voice of the distinction whether the guidance is the route guidance based on the normal map matching alone or the image recognition is also used.

In FIG. 12, a table is provided for associating the approach road with respect to the approach road and the relative movement direction of the feature on the recognition screen for each approach direction to each intersection. In order to determine only whether or not the vehicle has advanced to the advance route along the route, only the range of the relative movement direction of the recognition image for specifying the advance direction along the route is determined, and In the case of, it may be processed as off-route.

Further, in the above embodiment, when the relative movement direction on the recognized image of the feature of the intersection or the branch point where the image is recognized is obtained, the vector of the movement direction is obtained from the coordinate difference between the two points. However, for example, the shooting direction of the camera is moved so that the first recognition position of the recognized feature is located at the center of the recognition screen, and the position is fixed, and the feature is relatively out of the image from any position on the image. The moving direction may be determined depending on whether the object has left the moving object, and the moving direction is not particularly limited as long as it can be determined in which direction the characteristic object relatively moves on the recognition image.

Further, in the above-described embodiment, the navigation apparatus has been described in which, based on a preset route, for example, at a junction or a junction where a right or left turn is required, guidance such as a right or left turn is notified by voice. For example,
Location-based navigation device that only provides guidance by superimposing the current position of the vehicle without setting a route, or the current position of the vehicle and the distance to the next intersection name or the next intersection without displaying a map. It can also be applied to a simple navigation device or the like that only outputs based on the information. In addition, the present invention can be applied to a system that provides route guidance, such as a system that sequentially displays right and left turns at the next intersection by arrows, a system that uses both voice and display, and the like. That is, image recognition of features at intersections and junctions is performed using image recognition, an approach route is determined based on the relative movement direction on the image, and guidance information is output based on the identified approach route. Any navigation device may be used.

[0046]

As is apparent from the above description, according to the present invention, a feature at an intersection or a branch point is image-recognized, and the image of the recognized feature relatively moves on the recognition image. Because the route to be determined at the intersection or junction is determined from the direction, regardless of the accuracy of the map matching, information on which road the vehicle has entered from the intersection or junction can be obtained immediately. Can deal with it early. Further, in a system that performs route guidance according to a preset route, an approach route is determined by image recognition at an intersection or a branch point to be guided, and it is determined whether or not the approach route is along the route. Immediately after passing through the intersection, it is possible to immediately know whether the vehicle is traveling correctly on the guide route or off the route. This is particularly effective when intersections and junctions to be guided are continuous. Further, when it is determined that the vehicle is traveling correctly along the route, guidance information to be notified next is output when the vehicle travels along the route, and when the vehicle travels off the route, the vehicle deviates from the route. Since the driver is notified of the fact and re-searches for a new route, the driver can be quickly notified of the next action to be taken.

[Brief description of the drawings]

FIG. 1 shows a vehicle navigation device 1 according to the present invention.
FIG. 3 is an overall configuration diagram showing an example.

FIG. 2 is a diagram showing a configuration example of guide road data according to the present invention.

FIG. 3 is a diagram showing a configuration example of intersection data according to the present invention.

FIG. 4 is a diagram showing a configuration example of guidance phrase data according to the present invention.

FIG. 5 is a diagram for explaining processing of the entire system of the vehicle navigation device according to the present invention.

6 is a diagram for explaining a route set by the route search in FIG. 5;

FIG. 7 shows an embodiment of the present invention, and is a diagram showing an example of an intersection guidance process in guidance control means.

FIG. 8 is a diagram illustrating an example of an intersection guidance process following FIG. 7;

FIG. 9 is a diagram of a recognition screen for explaining the processing of FIGS. 7 and 8;

FIG. 10 is a diagram showing a flow of a signal detection process of FIG. 7;

FIG. 11 is a diagram showing a flow of an exit route determination process based on the traffic light movement of FIG. 8;

FIG. 12 is a diagram for explaining processing for obtaining an approach route at the intersection in FIG. 11;

FIG. 13 is a flowchart illustrating the off-route processing in FIG. 8;

FIG. 14 is a flowchart illustrating the off-route processing following FIG. 13;

FIG. 15 is a flowchart showing an example of the re-search processing of FIGS. 13 and 14;

FIG. 16 is a flowchart showing another example of the re-search processing of FIGS. 13 and 14;

FIG. 17 shows another embodiment of the present invention, and is a diagram showing an example of a branch point guidance process in guidance control means.

FIG. 18 is a diagram illustrating an example of a branch point guidance process subsequent to FIG. 17;

Claims (13)

[Claims] 1. A method for recognizing a feature of an intersection or a branch point registered in advance by image recognition, and determining an approach route at the intersection or the branch point from a direction in which the feature moves relatively in a recognized image. A navigation device for a vehicle, comprising: 2. A vehicular navigation apparatus for performing route guidance to a destination input according to a preset route, wherein a feature of an intersection or a branch point registered in advance is recognized by image recognition. A vehicle navigation device for determining an approach route at the intersection or branch point from a direction in which the vehicle has relatively moved in the recognition image, and determining whether the approach route follows a preset route. 3. A vehicular navigation apparatus for performing route guidance to a destination inputted according to a preset route, wherein a feature of an intersection or a branch point registered in advance is recognized by image recognition. Determines whether the vehicle has proceeded from the intersection or junction according to a predetermined route from the direction relatively moved in the recognition image, and outputs guidance information to be notified next when the vehicle has proceeded along the route. A navigation device for a vehicle, comprising: 4. A vehicular navigation apparatus for performing route guidance to a destination inputted according to a preset route, wherein a feature of an intersection or a branch point registered in advance is recognized by image recognition. Determining whether the vehicle has proceeded from the intersection or junction according to a preset route from the direction in which the image has relatively moved in the recognition image, and notifies the driver that the vehicle has deviated from the route if the vehicle has deviated from the route. A navigation device for a vehicle, comprising: 5. A vehicular navigation apparatus for performing route guidance to a destination input according to a preset route by recognizing a feature of an intersection or a branch point registered in advance by image recognition. It is determined whether the vehicle has advanced from the intersection or the branch point according to a preset route from the direction relatively moved in the recognition image, and re-search for a new route when the vehicle departs from the route. Characteristic vehicle navigation device. 6. A current position detecting means for detecting a current position of a vehicle, an information storage means for storing guide road data and data of a feature at an intersection or a junction, an output means for notifying guide information, and a navigation program. Guidance control means for executing navigation processing based on the data stored in the information storage means and outputting guidance information to the output means; image photographing means for photographing the front in the traveling direction of the vehicle; Image recognition means for recognizing a feature of an intersection or a branch point from a captured image; and obtaining the relative movement direction in the recognition image of the feature of the intersection or the branch point recognized by the image recognition means. An exit path specifying means for specifying an exit path at a branch point, wherein the guidance control means includes: A navigation device for a vehicle, wherein guidance information is output to the output means according to a departure route. 7. A vehicular navigation apparatus for performing route guidance to a destination inputted according to a preset route, comprising: a current position detecting means for detecting a current position of a vehicle; a guide road data and an intersection or a branch point; Information storage means storing data of characteristic objects, output means for outputting guidance information for performing route guidance, guidance control means for performing route guidance based on a navigation program and data stored in the information storage means Image photographing means for photographing the front in the traveling direction of the vehicle; image recognizing means for recognizing a feature of an intersection or a branch point from an image photographed by the image photographing means; and an intersection recognized by the image recognizing means. An approach road for determining the relative movement direction in the recognition image of the feature of the branch point and specifying the approach path at the intersection or the branch point A navigation device for a vehicle, comprising: identification means, wherein the guidance control means outputs guidance information to the output means according to the approach path specified by the approach path identification means. 8. The guide control means, when judging that the route specified by the route specifying means coincides with a preset route and travels along the route, should be notified next. 8. The vehicle navigation device according to claim 7, wherein guidance information on a route is output. 9. When the guidance control means determines that the approach road specified by the advance road identification means does not match a preset route and runs off the route, the guidance control means deviates from the route. 8. The vehicular navigation device according to claim 7, wherein the notification is output as guidance information. 10. A current position detecting means for detecting a current position of a vehicle, an input means for inputting a destination, a passing point, and a departure point, and information storing guidance road data and data of features at intersections or junctions. Storage means; output means for outputting guidance information for performing route guidance; a vehicle current position detected by the current position detection means based on a navigation program and data stored in the information storage means or the input. Route search means for searching for a route from a departure point input by means to a destination or a passing point input by the input means; a route searched by the route search means; a navigation program; and information stored in the information storage means. Guidance control means for performing route guidance based on the obtained data; image photographing means for photographing the front of the vehicle in the traveling direction; Image recognition means for recognizing a feature of an intersection or a branch point from an image captured by the image capturing means; and obtaining a relative movement direction in the recognition image of the feature of the intersection or the branch point recognized by the image recognition means. An exit road identification unit that identifies an exit road at the intersection or the branch point, wherein the route search unit deviates from the route without the exit route specified by the exit road identification unit matching the previously searched route. If it is determined that the vehicle is traveling, a new route is searched again, and the guidance control means performs route guidance based on the new route. 11. The image recognizing means determines recognition position coordinates of a recognized feature of an intersection or a branch point, and the exit road specifying means determines a moving direction in a recognition image based on the recognition position coordinates. The vehicular navigation device according to claim 6, 7 or 10, wherein: 12. The apparatus according to claim 11, wherein the image recognition means calculates a movement vector based on a coordinate difference between at least two recognition coordinates of the feature, and determines a movement direction in the recognition image based on the movement vector. The vehicle navigation device according to any one of the preceding claims. 13. The information storage means stores a table of characteristics of an intersection or a branch point and a moving direction of the coordinates of the recognition position of the characteristic object for each approach road to the intersection or the branch point. 12. The vehicular navigation device according to claim 11, wherein the road specifying unit specifies the approach road by referring to the table.