JPWO2007142084A1 - Navigation device - Google Patents

Abstract

The background image is hidden by the guidance arrow immediately before the guidance point by controlling the size or transparency of the part that indicates the direction of turning left or right of the guidance arrow based on the distance from the vehicle position to the guidance point. Provided is a navigation device that reduces the occurrence of such a situation. An object generation unit (107) that generates a guidance object, and an object control unit (108) that controls the display size or transparency of a predetermined portion of the guidance object based on the distance from the vehicle position to the guidance point. And a display control unit (109) for performing navigation display by a driver's view based on the guidance object obtained by the control of the object control unit (108).

Description

  The present invention relates to a navigation device, and more particularly to a navigation device that displays a guidance object superimposed on a three-dimensional space image.

  2. Description of the Related Art Conventionally, there are a wide variety of navigation devices that perform a route search from a current vehicle position to a set destination and perform route guidance using the accumulated map data for guidance points existing on the route. It is popular.

  Recent navigation devices can store more detailed map data by increasing the capacity of recording media such as HDDs (Hard Disk Drives) and DVDs (Digital Versatile Disks). Therefore, for example, a map display pursuing easy understanding and reality is performed such as a three-dimensional bird's-eye view display and a driver's view using a real three-dimensional CG.

  When a three-dimensional map display is performed in this way, it is important that the guide arrows (route guide lines) are easy to see. In particular, the viewpoint altitude is lowered to about the height of the vehicle, It is preferable that a three-dimensional map display in the viewed state is performed.

  Conventionally, when a front image of a vehicle is acquired by an imaging means such as a video camera and approaches a guidance point (an intersection or a branch point to be turned left or right on the route) as a guidance point, the course of the vehicle at the guidance point A driving guidance image display method of an in-vehicle navigation device that displays an arrow image as superimposed route guidance information has been proposed (see, for example, Patent Document 1).

  In such a three-dimensional map display, when the guide point is located far from the current vehicle position, as shown in FIG. 15, the portion indicating the right / left turn direction of the guide arrow is thinly displayed, which is visible to the user. It will be hard.

Therefore, conventionally, a guide object extending along a right-left turn road is normally displayed thinly and is a guide object with poor visibility, and therefore a technique for displaying the guide object so as to have a height with respect to the ground plane has been proposed (patent). Reference 2).
JP-A-7-63572 JP 2003-337033 A

  However, according to the prior art, since the portion indicating the right / left turn direction of the guide arrow is displayed in a state of standing perpendicular to the ground plane of the three-dimensional image, the height of the portion indicating the right / left turn direction is increased. As shown in FIG. 16, immediately before the guide point, the background image is concealed by the guide arrow. For this reason, it is difficult for the user to recognize the situation around the guide point. The ground plane means a tangent plane between the vehicle and the road. Hereinafter, it is referred to as a ground plane.

  Therefore, the present invention has been made in view of the above problems. That is, based on the distance from the vehicle position to the guide point, by controlling the height or transparency of the portion that indicates the direction of the left or right turn of the guide arrow with respect to the ground plane of the three-dimensional space image, immediately before the guide point An object of the present invention is to provide a navigation device that reduces the situation in which a background image is hidden by a guide arrow. Note that the three-dimensional space image includes a live-action image and a three-dimensional map image.

  An aspect of the present invention is directed to a navigation device. The present invention includes an object generation unit that generates a guide object, an object control unit that controls the display size or transparency of a predetermined portion of the guide object based on the distance from the vehicle position to the guide point, A display control unit that performs navigation display using a driver's view based on a guidance object obtained by the control of the object control unit.

  Moreover, it is preferable that an object control part controls the magnitude | size on a display by controlling the inclination about the predetermined part of a guidance object based on the distance from the own vehicle position to a guidance point.

  Moreover, it is preferable that an object control part controls an inclination by controlling an angle about the part which instruct | indicates the left-right turn among guidance objects based on the distance from the own vehicle position to a guidance point.

  Moreover, it is preferable that an object control part makes an angle small, so that the distance from the own vehicle position to a guidance point is near.

  The object control unit preferably reduces the angle within a range of 90 degrees to 0 degrees.

  Moreover, it is preferable that an object control part controls the magnitude | size on a display by controlling the height about the predetermined part of a guidance object based on the distance from the own vehicle position to a guidance point.

  Moreover, it is preferable that an object control part controls height about the part which instruct | indicates the left-right turn among guidance objects based on the distance from the own vehicle position to a guidance point.

  Moreover, it is preferable that an object control part makes height low, so that the distance from the own vehicle position to a guidance point is near.

  Moreover, it is preferable that an object control part makes transparency large, so that the distance from the own vehicle position to a guidance point becomes short about the part which instruct | indicates the left-right turn among guidance objects.

  Moreover, it is preferable that a display control part superimposes and displays the said guidance object on a three-dimensional map image.

  Further, it is preferable that the display control unit superimposes the guidance object on the photographed image.

  As described above, according to the aspect of the present invention, based on the distance from the vehicle position to the guide point, the size of the portion that indicates the right / left turn direction of the guide arrow with respect to the ground plane of the three-dimensional space image, or By controlling the transparency, it is possible to provide a navigation device that reduces the fact that the background image is hidden by the guide arrow immediately before the guide point.

FIG. 1 is a block diagram showing an overall configuration of a navigation device according to an embodiment of the present invention. FIG. 2 is a diagram illustrating an example of information stored in the map database. FIG. 3 is a diagram illustrating an example of a network of roads and branch points formed by nodes, interpolation nodes, and links stored in the map database. FIG. 4 is a flowchart showing the operation of the navigation device according to the embodiment of the present invention. FIG. 5 is a diagram showing a method for setting the camera visual field space in the three-dimensional map space. FIG. 6 is a diagram illustrating roads detected by road detection processing. FIG. 7 is a diagram showing the definition of the straight direction arrow and the right / left turn direction arrow. FIG. 8 is a diagram illustrating the relationship between the distance D and the angle θ. FIG. 9 is a cross-sectional view showing the angle θ between the right / left turn direction arrow and the ground plane. FIG. 10 is a diagram illustrating a guidance arrow at a point away from the guidance target intersection. FIG. 11 is a diagram illustrating a guidance arrow at a point approaching the guidance target intersection. FIG. 12 is a diagram illustrating the relationship between distance and height. FIG. 13 is a diagram illustrating a guide arrow at a point away from a conventional guide target intersection. FIG. 14 is a diagram illustrating the relationship between distance and transparency. FIG. 15 is a diagram illustrating a guide arrow at a point away from the guide target intersection of the prior art. FIG. 16 is a diagram showing a guide arrow at a point close to a conventional guide target intersection.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Navigation apparatus 101 Image | video acquisition part 102 Positioning part 103 Map database 104 Input part 105 Control part 106 Route search part 107 Arrow control part 108 Arrow generation part 109 Display control part 110 Display part

  Hereinafter, the navigation device 100 of the present invention will be described with reference to the drawings. In each drawing, components not related to the present invention are omitted.

  FIG. 1 is a block diagram showing an overall configuration of a navigation device 100 according to an embodiment of the present invention. In FIG. 1, a navigation device 100 includes a video acquisition unit 101, a positioning unit 102, a map database 103, an input unit 104, a control unit 105, a route search unit 106, an arrow generation unit 107, an arrow control unit 108, a display control unit 109, And a display unit 110.

  The video acquisition unit 101 is, for example, a camera that captures a live-action video in front of the vehicle. The positioning unit 102 is a positioning sensor that acquires information on the position of the host vehicle, for example, a GPS (Global Positioning System) or a gyro attached to the vehicle.

  The map database 103 is, for example, an HDD or a DVD that stores map information such as data on roads and intersections. Note that the present invention is not limited to this, and the map information may be appropriately downloaded from the center facility to the map database 103 by a communication means (for example, a mobile phone) (not shown).

  FIG. 2 shows data extracted from information related to the present embodiment, among the map information stored in the map database 103. The map database 103 includes (A) node data, (B) interpolation node data, and (C) link data.

  Node data are points where roads branch in several directions, such as intersections and junctions, and position information such as latitude and longitude for each node, the number of links to be connected to the node, and link IDs described later. Consists of

  Interpolation node data is present on a link to be described later, and represents a turning point for expressing the shape, such as when the link is not a straight line. Position information such as latitude and longitude, and a link ID where the node exists Consists of.

  The link data represents the road connecting the nodes, the start point node, the end point node that is the end point of the link, the length of the link (the unit is meters, kilometers, etc.), the number of interpolation nodes described above, the road width, and It consists of the ID.

  An example of a network of roads and intersections formed by such map data is shown in FIG. As shown in FIG. 3, three or more links are connected to a node and connected to another node, and an interpolation node for controlling the link shape exists on the link. In addition, when a link is a straight road, an interpolation node does not necessarily exist.

  The input unit 104 is, for example, a remote controller, a touch panel, or a voice input microphone for inputting information on the destination to the navigation device. The control unit 105 controls the entire navigation device 100.

  The route search unit 106 refers to the map database 103 based on the information about the destination input from the input unit 104 and the own vehicle position information acquired from the positioning unit 102 to search for the optimal route to the destination. .

  The arrow generation unit 107 generates a guide arrow having a shape along the road corresponding to the guide route searched by the route search unit 106 among the roads detected by the road detection process in the three-dimensional space image.

  The arrow control unit 108 controls the angle formed by the portion indicating the right / left turn direction of the guide arrow and the ground plane of the 3D map. The display control unit 109 causes the display unit 110 to display the guidance arrow obtained by the control of the arrow control unit 108 on the photographed video.

  Next, the operation of the navigation device 100 according to the embodiment of the present invention will be described with reference to FIG. FIG. 4 is a flowchart showing the operation of the navigation device 100 according to the embodiment of the present invention.

  First, the control unit 105 determines whether or not a destination is set from the input unit 104 (step S401). If the destination is not set in step S401, the control unit 105 returns the process to S401. On the other hand, when the destination is set in step S401, the route search unit 106 searches the route to the destination with reference to the map database 103 based on the vehicle position information acquired by the positioning unit 102. (Step S402). When the route to the destination is searched, the control unit 105 starts guidance (step S403).

  Further, the control unit 105 includes a three-dimensional map stored in the map database 103, an imaging direction of the video acquisition unit 101, a camera position that is a parameter for determining an imaging range, a camera angle (horizontal angle, elevation angle), a focal length, Based on the image size, the visual field space of the camera in the three-dimensional map space is calculated (step S404). Here, in the three-dimensional map, position information is represented based on latitude, longitude, and altitude.

  The visual field space of the camera is obtained by a method as shown in FIG. 5, for example. In a three-dimensional space, a point (point F) advanced from the camera position (viewpoint) E by the focal length f in the camera angle direction is obtained, and a horizontal x vertical y plane (camera screen) corresponding to the image size is the viewpoint. It is set to be perpendicular to the vector connecting E and point F. Next, the control unit 105 obtains a three-dimensional space formed by a half line connecting the viewpoint E to the four corner points of the camera screen. This three-dimensional space theoretically extends to infinity, but is censored at an appropriate distance from the viewpoint E to be a visual field space.

  Note that the control unit 105 may calculate a visual field space of the camera in the two-dimensional map space using a two-dimensional map obtained by removing altitude information from the three-dimensional map instead of the three-dimensional map. The parameters for determining the imaging direction and the imaging range are not limited to those described above, and may be calculated using other parameters such as an angle of view as long as the imaging direction and the imaging range are determined.

  Next, the control unit 105 determines whether or not the own vehicle has reached the destination (step S405). If the destination has been reached in step S405, the control unit 105 ends the process. On the other hand, if the destination has not been reached in step S405, the control unit 105 performs a road detection process for detecting the road existing in the camera view space and its position in the three-dimensional map space. Step S406).

  In the road detection process, the control unit 105 obtains an overlap between the camera view space and the road area in the three-dimensional map space. FIG. 6 shows a road detected by the road detection process. FIG. 6 is a view of the three-dimensional map space and the camera visual field space as viewed from above. In the road detection process, the shape of the road and the road width in the vicinity of the host vehicle are extracted based on the node data, the interpolation node data, and the link data. Then, as shown in FIG. 6, a road (hatched portion) surrounded by the visual field space is detected as a road existing in the visual field space of the camera.

  Next, the arrow generation unit 107 generates a guide arrow having a shape along the road corresponding to the guide route searched for by the route search unit 106 among the roads detected by the road detection process in the three-dimensional map space. (Step S407).

  The arrow control unit 108 separates the guide arrow into a straight direction arrow and a right / left turn direction arrow, and determines an arrangement on the road corresponding to the guide route in each of the three-dimensional map spaces. This separation process is performed by determining which node is the separation point between the straight direction arrow and the right / left turn direction arrow based on the information of the nodes constituting the guide arrow.

  FIG. 7 is a diagram for explaining the definitions of the straight direction arrow and the right / left turn direction arrow. As shown in FIG. 7, the arrow arranged on the road (road R1) that is running is the straight direction arrow, and the arrow arranged on the road (road R2) that is turned right and left at the guidance target intersection is the right Left turn direction arrow. Note that FIG. 7 is only for explaining the definition of the straight direction arrow and the right / left turn direction arrow, and does not show the arrangement of the guide arrows actually determined by the arrangement process. Further, the shape of the guide arrow is not limited to the arrow figure shown in FIG. 7, and for example, a polygonal line figure obtained by removing the triangle at the tip from the arrow figure may be used.

  In the guide arrow arrangement process, the arrow control unit 108 arranges the straight direction arrow so as to overlap in parallel with the ground plane on the corresponding road in the three-dimensional map space (step S408). On the other hand, the arrow control unit 108 changes the arrangement of the right and left turn direction arrows according to the distance from the vehicle position to the guidance target intersection. Specifically, the arrow control unit 108 first calculates the distance from the vehicle position to the next intersection to be guided through which the vehicle passes next (step S409). In the following, the distance from the vehicle position to the guidance target intersection will be calculated periodically.

  Next, the arrow control unit 108 determines whether or not the distance D from the vehicle position to the guidance target intersection is equal to or less than a predetermined value (distance D1) (step S410). In step S410, when the arrow control unit 108 determines that the distance D is greater than the distance D1, the arrow control unit 108 arranges only the straight direction arrow without arranging the right / left turn direction arrow.

  Next, when the straight control direction arrow is arranged, the arrow control unit 108 shifts the processing to the projection processing of the guide arrow composed of the straight travel direction arrow (steps S410 → S412). In the following description, it is assumed that the distance D1 is 200 m. In addition, even when there is no guidance target intersection in the route from the vehicle position to the destination, the right / left turn direction arrow is not displayed.

On the other hand, when it is determined in step S410 that the distance D from the vehicle position to the guidance target intersection is equal to or less than the distance D1 (200 m), the arrow control unit 108 arranges a right / left turn direction arrow (steps S410 → S411). ). At this time, the right / left turn direction arrow is arranged on the corresponding road in the three-dimensional map space with an angle corresponding to the distance from the vehicle position to the guidance target intersection with respect to the ground plane. Specifically, the left and right turn direction arrows are arranged so that the angle θ of the guide arrow with respect to the ground plane becomes smaller as the distance from the vehicle position to the guidance target intersection is shorter. For example, it arrange | positions so that angle (theta) may satisfy | fill (Formula 1).
(Formula 1)
θ = 90 (D> 200)
θ = D / 2-10 (20 ≦ D ≦ 200)
θ = 0 (0 ≦ D <20)
At this time, the angle θ varies according to the distance D from the vehicle position to the guidance target intersection as shown in FIG. FIG. 9 is a view as seen from a cross section passing through the road R1 of the three-dimensional map space and perpendicular to the ground plane. As shown in FIG. 9, when the distance from the own vehicle position to the guidance target intersection is 200 m, the angle θ is 90 degrees, and the right and left turn direction arrows are arranged in a standing state (see FIG. 9A). .

  As the distance from the vehicle position to the guidance target intersection decreases, the guidance arrow gradually changes from standing to laying down (when the distance from the vehicle position to the guidance target intersection is 100 m, the angle θ is 40 degrees, see Fig. 9 (b)), when the distance from the vehicle position to the intersection to be guided reaches 20m, the right / left turn direction arrow is placed in a completely laid state (overlapping parallel to the plane on the road) (See FIG. 9C).

  Next, when the right / left turn direction arrow is arranged, the arrow control unit 108 performs a projection process on the guide arrow composed of the straight direction arrow and the right / left turn direction arrow with the camera screen shown in FIG. 5 as a projection plane (step S412). ).

  Since the projection plane onto which the guide arrow is projected in the projection process coincides with the camera screen of the video acquisition unit 1, the display control unit 109 displays the guide arrow on the live-action image as shown in FIGS. It is displayed on the display unit 110 so as to be superimposed on the existing road (corresponding to the guide route).

  As shown in FIG. 10, at a point away from the intersection (for example, 200 m before the intersection), the display is performed with the right / left turn direction arrow having a height. The right / left turn direction arrow at this time is displayed sufficiently large to be easily visible even from a distance.

  Also, as shown in FIG. 11, at a point close to the intersection (for example, 20 m before the intersection), the right and left turn direction arrows are arranged on the ground plane with no height. There is no concealment.

  In the above-described embodiment, the example in which the angle θ of the guidance arrow with respect to the ground plane is changed according to (Equation 1) has been described. However, the present invention is not limited to this, and the distance D from the vehicle position to the guidance target intersection is small. As long as the angle θ becomes smaller, any formula may be used. Further, the angle θ may be controlled by referring to not only the distance to the guide point but also the speed of the host vehicle.

  12 is a cross-sectional view similar to FIG. 9, where FIG. 12 (a) shows a case where the vehicle position is the farthest from the guidance target intersection, and FIG. 12 (c) shows the vehicle position. This is the case where the point is closest to the guidance target intersection. As shown in FIG. 12, the height of the three-dimensionally displayed right / left turn direction arrow gradually decreases as the distance from the vehicle position to the guidance target intersection decreases.

  Even in this case, as in the case of controlling the angle θ of the right / left turn direction arrow with respect to the ground plane, the right / left turn direction arrow can be secured at a point away from the intersection, while at the point approaching the intersection, the right / left turn Direction arrows do not hide the background image. That is, guidance display is performed in which the visibility of the right / left turn direction arrow at a position away from the intersection and the visibility of the background image immediately before the intersection are compatible.

  As described in the third embodiment of Japanese Patent Application Laid-Open No. 2003-337033, the guidance object is displayed as a three-dimensional image separately from the guidance object displayed on the ground plane. May be composed of two separate guidance objects. The guidance object that is separately displayed in a three-dimensional upward direction is, for example, a bowl-shaped object in FIG. The three-dimensional display here refers to displaying an object displayed in the ground plane in the height direction, not in the ground plane in a default form. At this time, if the object to be controlled by the object control unit 108 is a bowl-shaped object, the same effects as described above can be exhibited.

  In addition, when the guide object is composed of two separate guide objects, the object control unit 108 may control the transparency of the guide object that is displayed in a three-dimensional manner above, instead of controlling the size of the guide object. good.

Specifically, the guidance object that is separately displayed in the upper part is arranged such that the transparency α of the guidance object increases as the distance from the vehicle position to the guidance point becomes shorter. For example, it arrange | positions so that transparency (alpha) may satisfy | fill (Formula 2).
(Formula 2)
α = 0 (D> 200)
α = −5D / 9 + 1000/9 (20 ≦ D ≦ 200)
α = 100 (0 ≦ D <20)
At this time, the transparency α changes in accordance with the distance D from the vehicle position to the guide point as shown in FIG. As a result, it is possible to ensure the visibility of the upper three-dimensionally displayed guidance object at a point away from the intersection, while the upper three-dimensional guidance object is transparent at the point approaching the intersection. The video is not hidden. In other words, guidance display is performed in which the visibility of the separately displayed three-dimensional guidance object at a position away from the intersection is compatible with the visibility of the background image immediately before the intersection.

  In the above-described embodiment, an example is described in which a live-action image captured by a camera facing the front of the vehicle is used. However, on a live-action image stored in advance in a storage medium or a real-action image acquired by communication. You may apply when a guidance object is superimposed and displayed.

  Further, in the above-described embodiment, the case where it is applied to the driver's view display by a live-action image has been described. In particular, the three-dimensional state in which the viewpoint altitude is lowered to about the height of the vehicle and viewed from the driver's perspective Even when the present invention is applied when the driver's view display by the map display is performed, the same effect can be obtained.

  As described above, according to the present invention, the display size or transparency of the portion that indicates the right / left turn direction of the guide arrow with respect to the ground plane of the three-dimensional space image based on the distance from the vehicle position to the guide point. By controlling this, it is possible to provide a navigation device that reduces the fact that the background image is hidden by the guide arrow immediately before the guide point. In particular, in the display method in which the guidance object is superimposed on the photographed image, it is difficult to compare the actual scenery with the guidance screen, and it is possible to avoid the problem that it is difficult to perform intuitive route guidance for the user.

  Further, in the above-described embodiment, an example in which the angle or height of the portion that indicates the right / left turn direction is controlled has been shown. However, for example, when the road shape is curved, the shape that indicates the right / left turn direction It is good also as a structure by which the angle or the height of the part of the section of the said curve which comprised is controlled.

  The configuration described in the above embodiment is merely a specific example and does not limit the technical scope of the present invention. Any configuration can be employed within the scope of the effects of the present application.

  The navigation device of the present invention is useful as a car navigation device installed in a vehicle. It is also useful as a navigation device for mobile phones.

  The present invention relates to a navigation device, and more particularly to a navigation device that displays a guidance object superimposed on a three-dimensional space image.

  2. Description of the Related Art Conventionally, there are a wide variety of navigation devices that perform a route search from a current vehicle position to a set destination and perform route guidance using the accumulated map data for guidance points existing on the route. It is popular.

  Recent navigation devices can store more detailed map data by increasing the capacity of recording media such as HDDs (Hard Disk Drives) and DVDs (Digital Versatile Disks). Therefore, for example, a map display pursuing easy understanding and reality is performed such as a three-dimensional bird's-eye view display and a driver's view using a real three-dimensional CG.

  When a three-dimensional map display is performed in this way, it is important that the guide arrows (route guide lines) are easy to see. In particular, the viewpoint altitude is lowered to about the height of the vehicle, It is preferable that a three-dimensional map display in the viewed state is performed.

  Conventionally, when a front image of a vehicle is acquired by an imaging means such as a video camera and approaches a guidance point (an intersection or a branch point to be turned left or right on the route) as a guidance point, the course of the vehicle at the guidance point A driving guidance image display method of an in-vehicle navigation device that displays an arrow image as superimposed route guidance information has been proposed (see, for example, Patent Document 1).

  In such a three-dimensional map display, when the guide point is located far from the current vehicle position, as shown in FIG. 15, the portion indicating the right / left turn direction of the guide arrow is thinly displayed, which is visible to the user. It will be hard.

Therefore, conventionally, a guide object extending along a right-left turn road is normally displayed thinly and is a guide object with poor visibility, and therefore a technique for displaying the guide object so as to have a height with respect to the ground plane has been proposed (patent). Reference 2).
JP-A-7-63572 JP 2003-337033 A

  However, according to the prior art, since the portion indicating the right / left turn direction of the guide arrow is displayed in a state of standing perpendicular to the ground plane of the three-dimensional image, the height of the portion indicating the right / left turn direction is increased. As shown in FIG. 16, immediately before the guide point, the background image is hidden by the guide arrow. For this reason, it is difficult for the user to recognize the situation around the guide point. The ground plane means a tangent plane between the vehicle and the road. Hereinafter, it is referred to as a ground plane.

  Therefore, the present invention has been made in view of the above problems. That is, based on the distance from the vehicle position to the guide point, by controlling the height or transparency of the portion that indicates the direction of the left or right turn of the guide arrow with respect to the ground plane of the three-dimensional space image, immediately before the guide point An object of the present invention is to provide a navigation device that reduces the situation in which a background image is hidden by a guide arrow. Note that the three-dimensional space image includes a live-action image and a three-dimensional map image.

An aspect of the present invention is directed to a navigation device. The present invention includes an object generation unit for generating a guidance object shape along a road corresponding to the guidance route searched by the route search section, as the distance to the guidance point from the vehicle position is close, right or left turn of the guidance object for instructs portions, and an object control unit for controlling low height relative to the horizontal plane of the three-dimensional image, based on the guidance object that the object control unit is obtained by controlling the display control unit for the navigation display by the driver's view With.

Also, the object control unit, based on the distance to the guidance point from the vehicle position, the part indicating the right turn of the guidance object, by controlling the tilt with respect to the horizontal plane of the three-dimensional image, a three-dimensional space It is preferable to control the height of the image with respect to the ground plane .

Also, the object control unit, based on the distance to the guidance point from the vehicle position, the part indicating the stereoscopic displayed right or left turn of the guidance object, by controlling the height, the land of the three-dimensional image It is preferable to control the height relative to the plane .

In addition, the object generation unit generates a guide object that is stereoscopically displayed separately from the guide object for a portion that instructs a right or left turn, and the object control unit is a three-dimensional space image of the guide object that is stereoscopically displayed separately. It is preferable to control the height with respect to the ground plane .

Moreover, it is preferable that the object control unit increases the transparency of the portion instructing the left or right turn of the guidance object as the distance from the vehicle position to the guidance point becomes shorter .

Further, the display control unit is preferably Rukoto to superimpose the guidance object on the 3-dimensional map image.

Further, the display control unit, Rukoto to superimpose the guidance object on the photographed image is preferred.

  As described above, according to the aspect of the present invention, based on the distance from the vehicle position to the guide point, the size of the portion that indicates the right / left turn direction of the guide arrow with respect to the ground plane of the three-dimensional space image, or By controlling the transparency, it is possible to provide a navigation device that reduces the fact that the background image is hidden by the guide arrow immediately before the guide point.

  Hereinafter, the navigation device 100 of the present invention will be described with reference to the drawings. In each drawing, components not related to the present invention are omitted.

  FIG. 1 is a block diagram showing an overall configuration of a navigation device 100 according to an embodiment of the present invention. In FIG. 1, a navigation apparatus 100 includes a video acquisition unit 101, a positioning unit 102, a map database 103, an input unit 104, a control unit 105, a route search unit 106, an arrow generation unit 107, an arrow control unit 108, a display control unit 109, And a display unit 110.

  The video acquisition unit 101 is, for example, a camera that captures a live-action video in front of the vehicle. The positioning unit 102 is a positioning sensor that acquires information on the position of the host vehicle, for example, a GPS (Global Positioning System) or a gyro attached to the vehicle.

  The map database 103 is, for example, an HDD or a DVD that stores map information such as data on roads and intersections. Note that the present invention is not limited to this, and the map information may be appropriately downloaded from the center facility to the map database 103 by a communication means (for example, a mobile phone) (not shown).

  FIG. 2 shows data extracted from information related to the present embodiment, among the map information stored in the map database 103. The map database 103 includes (A) node data, (B) interpolation node data, and (C) link data.

  Node data are points where roads branch in several directions, such as intersections and junctions, and position information such as latitude and longitude for each node, the number of links to be connected to the node, and link IDs described later. Consists of

  Interpolation node data is present on a link to be described later, and represents a turning point for expressing the shape, such as when the link is not a straight line. Position information such as latitude and longitude, and a link ID where the node exists Consists of.

  The link data represents the road connecting the nodes, the start point node, the end point node that is the end point of the link, the length of the link (the unit is meters, kilometers, etc.), the number of interpolation nodes described above, the road width, and It consists of the ID.

  An example of a network of roads and intersections formed by such map data is shown in FIG. As shown in FIG. 3, three or more links are connected to a node and connected to another node, and an interpolation node for controlling the link shape exists on the link. In addition, when a link is a straight road, an interpolation node does not necessarily exist.

  The input unit 104 is, for example, a remote controller, a touch panel, or a voice input microphone for inputting information on the destination to the navigation device. The control unit 105 controls the entire navigation device 100.

  The route search unit 106 searches the optimum route to the destination with reference to the map database 103 based on the information about the destination input from the input unit 104 and the own vehicle position information acquired from the positioning unit 102. .

  The arrow generation unit 107 generates a guide arrow having a shape along the road corresponding to the guide route searched by the route search unit 106 among the roads detected by the road detection process in the three-dimensional space image.

  The arrow control unit 108 controls the angle formed by the portion indicating the right / left turn direction of the guide arrow and the ground plane of the three-dimensional map. The display control unit 109 causes the display unit 110 to display the guidance arrow obtained by the control of the arrow control unit 108 on the photographed video.

  Next, the operation of the navigation device 100 according to the embodiment of the present invention will be described with reference to FIG. FIG. 4 is a flowchart showing the operation of the navigation device 100 according to the embodiment of the present invention.

  First, the control unit 105 determines whether or not a destination is set from the input unit 104 (step S401). If the destination is not set in step S401, the control unit 105 returns the process to S401. On the other hand, when the destination is set in step S401, the route search unit 106 searches the route to the destination with reference to the map database 103 based on the vehicle position information acquired by the positioning unit 102. (Step S402). When the route to the destination is searched, the control unit 105 starts guidance (step S403).

  Further, the control unit 105 includes a three-dimensional map stored in the map database 103, an imaging direction of the video acquisition unit 101, a camera position that is a parameter for determining an imaging range, a camera angle (horizontal angle, elevation angle), a focal length, Based on the image size, the visual field space of the camera in the three-dimensional map space is calculated (step S404). Here, in the three-dimensional map, position information is represented based on latitude, longitude, and altitude.

  The visual field space of the camera is obtained by a method as shown in FIG. 5, for example. In a three-dimensional space, a point (point F) advanced from the camera position (viewpoint) E by the focal length f in the camera angle direction is obtained, and a horizontal x vertical y plane (camera screen) corresponding to the image size is the viewpoint. It is set to be perpendicular to the vector connecting E and point F. Next, the control unit 105 obtains a three-dimensional space formed by a half line connecting the viewpoint E to the four corner points of the camera screen. This three-dimensional space theoretically extends to infinity, but is censored at an appropriate distance from the viewpoint E to be a visual field space.

  Note that the control unit 105 may calculate a visual field space of the camera in the two-dimensional map space using a two-dimensional map obtained by removing altitude information from the three-dimensional map instead of the three-dimensional map. The parameters for determining the imaging direction and the imaging range are not limited to those described above, and may be calculated using other parameters such as an angle of view as long as the imaging direction and the imaging range are determined.

  Next, the control unit 105 determines whether or not the own vehicle has reached the destination (step S405). If the destination has been reached in step S405, the control unit 105 ends the process. On the other hand, if the destination has not been reached in step S405, the control unit 105 performs a road detection process for detecting the road existing in the camera view space and its position in the three-dimensional map space. Step S406).

  In the road detection process, the control unit 105 obtains an overlap between the camera view space and the road area in the three-dimensional map space. FIG. 6 shows a road detected by the road detection process. FIG. 6 is a view of the three-dimensional map space and the camera visual field space as viewed from above. In the road detection process, the shape of the road and the road width in the vicinity of the host vehicle are extracted based on the node data, the interpolation node data, and the link data. Then, as shown in FIG. 6, a road (hatched portion) surrounded by the visual field space is detected as a road existing in the visual field space of the camera.

  Next, the arrow generation unit 107 generates a guide arrow having a shape along the road corresponding to the guide route searched for by the route search unit 106 among the roads detected by the road detection process in the three-dimensional map space. (Step S407).

  The arrow control unit 108 separates the guide arrow into a straight direction arrow and a right / left turn direction arrow, and determines an arrangement on the road corresponding to the guide route in each of the three-dimensional map spaces. This separation process is performed by determining which node is the separation point between the straight direction arrow and the right / left turn direction arrow based on the information of the nodes constituting the guide arrow.

  FIG. 7 is a diagram for explaining the definitions of the straight direction arrow and the right / left turn direction arrow. As shown in FIG. 7, the arrow arranged on the road (road R1) that is running is the straight direction arrow, and the arrow arranged on the road (road R2) that is turned right and left at the guidance target intersection is the right Left turn direction arrow. Note that FIG. 7 is only for explaining the definition of the straight direction arrow and the right / left turn direction arrow, and does not show the arrangement of the guide arrows actually determined by the arrangement process. Further, the shape of the guide arrow is not limited to the arrow figure shown in FIG. 7, and for example, a polygonal line figure obtained by removing the triangle at the tip from the arrow figure may be used.

  In the guide arrow arrangement process, the arrow control unit 108 arranges the straight direction arrow so as to overlap in parallel with the ground plane on the corresponding road in the three-dimensional map space (step S408). On the other hand, the arrow control unit 108 changes the arrangement of the right and left turn direction arrows according to the distance from the vehicle position to the guidance target intersection. Specifically, the arrow control unit 108 first calculates the distance from the vehicle position to the next intersection to be guided through which the vehicle passes next (step S409). In the following, the distance from the vehicle position to the guidance target intersection will be calculated periodically.

  Next, the arrow control unit 108 determines whether or not the distance D from the vehicle position to the guidance target intersection is equal to or less than a predetermined value (distance D1) (step S410). In step S410, when the arrow control unit 108 determines that the distance D is greater than the distance D1, the arrow control unit 108 arranges only the straight direction arrow without arranging the right / left turn direction arrow.

  Next, when the straight control direction arrow is arranged, the arrow control unit 108 shifts the processing to the projection processing of the guide arrow composed of the straight travel direction arrow (steps S410 → S412). In the following description, it is assumed that the distance D1 is 200 m. In addition, even when there is no guidance target intersection in the route from the vehicle position to the destination, the right / left turn direction arrow is not displayed.

On the other hand, when it is determined in step S410 that the distance D from the vehicle position to the guidance target intersection is equal to or less than the distance D1 (200 m), the arrow control unit 108 arranges a right / left turn direction arrow (steps S410 → S411). ). At this time, the right / left turn direction arrow is arranged on the corresponding road in the three-dimensional map space with an angle corresponding to the distance from the vehicle position to the guidance target intersection with respect to the ground plane. Specifically, the left and right turn direction arrows are arranged so that the angle θ of the guide arrow with respect to the ground plane becomes smaller as the distance from the vehicle position to the guidance target intersection is shorter. For example, it arrange | positions so that angle (theta) may satisfy | fill (Formula 1).
(Formula 1)
θ = 90 (D> 200)
θ = D / 2-10 (20 ≦ D ≦ 200)
θ = 0 (0 ≦ D <20)
At this time, the angle θ varies according to the distance D from the vehicle position to the guidance target intersection as shown in FIG. FIG. 9 is a view as seen from a cross section passing through the road R1 of the three-dimensional map space and perpendicular to the ground plane. As shown in FIG. 9, when the distance from the own vehicle position to the guidance target intersection is 200 m, the angle θ is 90 degrees, and the right and left turn direction arrows are arranged in a standing state (see FIG. 9A). .

  As the distance from the vehicle position to the guidance target intersection decreases, the guidance arrow gradually changes from standing to laying down (when the distance from the vehicle position to the guidance target intersection is 100 m, the angle θ is 40 degrees, see Fig. 9 (b)), when the distance from the vehicle position to the intersection to be guided reaches 20m, the right / left turn direction arrow is placed in a completely laid state (overlapping parallel to the plane on the road) (See FIG. 9C).

  Next, when the right / left turn direction arrow is arranged, the arrow control unit 108 performs a projection process on the guide arrow composed of the straight direction arrow and the right / left turn direction arrow with the camera screen shown in FIG. 5 as a projection plane (step S412). ).

  Since the projection plane onto which the guide arrow is projected in the projection process coincides with the camera screen of the video acquisition unit 1, the display control unit 109 displays the guide arrow on the live-action image as shown in FIGS. It is displayed on the display unit 110 so as to be superimposed on the existing road (corresponding to the guide route).

  As shown in FIG. 10, at a point away from the intersection (for example, 200 m before the intersection), the display is performed with the right / left turn direction arrow having a height. The right / left turn direction arrow at this time is displayed sufficiently large to be easily visible even from a distance.

  Also, as shown in FIG. 11, at a point close to the intersection (for example, 20 m before the intersection), the right and left turn direction arrows are arranged on the ground plane with no height. There is no concealment.

  In the above-described embodiment, the example in which the angle θ of the guidance arrow with respect to the ground plane is changed according to (Equation 1) has been described. However, the present invention is not limited to this, and the distance D from the vehicle position to the guidance target intersection is small. As long as the angle θ becomes smaller, any formula may be used. Further, the angle θ may be controlled by referring to not only the distance to the guide point but also the speed of the host vehicle.

  12 is a cross-sectional view similar to FIG. 9, where FIG. 12 (a) shows a case where the vehicle position is the farthest from the guidance target intersection, and FIG. 12 (c) shows the vehicle position. This is the case where the point is closest to the guidance target intersection. As shown in FIG. 12, the height of the three-dimensionally displayed right / left turn direction arrow gradually decreases as the distance from the vehicle position to the guidance target intersection decreases.

  Even in this case, as in the case of controlling the angle θ of the right / left turn direction arrow with respect to the ground plane, the right / left turn direction arrow can be secured at a point away from the intersection, while at the point approaching the intersection, the right / left turn Direction arrows do not hide the background image. That is, guidance display is performed in which the visibility of the right / left turn direction arrow at a position away from the intersection and the visibility of the background image immediately before the intersection are compatible.

  As described in the third embodiment of Japanese Patent Application Laid-Open No. 2003-337033, the guidance object is displayed as a three-dimensional image separately from the guidance object displayed on the ground plane. May be composed of two separate guidance objects. The guidance object that is separately displayed in a three-dimensional upward direction is, for example, a bowl-shaped object in FIG. The three-dimensional display here refers to displaying an object displayed in the ground plane in the height direction, not in the ground plane in a default form. At this time, if the object to be controlled by the object control unit 108 is a bowl-shaped object, the same effects as described above can be exhibited.

  In addition, when the guide object is composed of two separate guide objects, the object control unit 108 may control the transparency of the guide object that is displayed in a three-dimensional manner above, instead of controlling the size of the guide object. good.

Specifically, the guidance object that is separately displayed in the upper part is arranged such that the transparency α of the guidance object increases as the distance from the vehicle position to the guidance point becomes shorter. For example, it arrange | positions so that transparency (alpha) may satisfy | fill (Formula 2).
(Formula 2)
α = 0 (D> 200)
α = −5D / 9 + 1000/9 (20 ≦ D ≦ 200)
α = 100 (0 ≦ D <20)
At this time, the transparency α changes in accordance with the distance D from the vehicle position to the guide point as shown in FIG. As a result, it is possible to ensure the visibility of the upper three-dimensionally displayed guidance object at a point away from the intersection, while the upper three-dimensional guidance object is transparent at the point approaching the intersection. The video is not hidden. In other words, guidance display is performed in which the visibility of the separately displayed three-dimensional guidance object at a position away from the intersection is compatible with the visibility of the background image immediately before the intersection.

  In the above-described embodiment, an example is described in which a live-action image captured by a camera facing the front of the vehicle is used. However, on a live-action image stored in advance in a storage medium or a real-action image acquired by communication. You may apply when a guidance object is superimposed and displayed.

  Further, in the above-described embodiment, the case where it is applied to the driver's view display by a live-action image has been described. In particular, the three-dimensional state in which the viewpoint altitude is lowered to about the height of the vehicle and viewed from the driver's perspective Even when the present invention is applied when the driver's view display by the map display is performed, the same effect can be obtained.

  As described above, according to the present invention, the display size or transparency of the portion that indicates the right / left turn direction of the guide arrow with respect to the ground plane of the three-dimensional space image based on the distance from the vehicle position to the guide point. By controlling this, it is possible to provide a navigation device that reduces the fact that the background image is hidden by the guide arrow immediately before the guide point. In particular, in the display method in which the guidance object is superimposed on the photographed image, it is difficult to compare the actual scenery with the guidance screen, and it is possible to avoid the problem that it is difficult to perform intuitive route guidance for the user.

  Further, in the above-described embodiment, an example in which the angle or height of the portion that indicates the right / left turn direction is controlled has been shown. However, for example, when the road shape is curved, the shape that indicates the right / left turn direction It is good also as a structure by which the angle or the height of the part of the section of the said curve which comprised is controlled.

  The configuration described in the above embodiment is merely a specific example and does not limit the technical scope of the present invention. Any configuration can be employed within the scope of the effects of the present application.

  The navigation device of the present invention is useful as a car navigation device installed in a vehicle. It is also useful as a navigation device for mobile phones.

The block diagram which shows the whole structure of the navigation apparatus which concerns on embodiment of this invention The figure which shows an example of the information memorize | stored in the map database The figure which shows an example of the network of the road and branch point formed by the node memorize | stored in the map database, an interpolation node, and a link The flowchart which shows operation | movement of the navigation apparatus concerning embodiment of this invention. The figure which shows the setting method of the camera visual field space in 3D map space The figure which shows the road which is detected by road detection processing Diagram showing definition of straight direction arrow and right / left turn direction arrow The figure which shows the relationship between distance D and angle (theta) Sectional view showing angle θ between right / left turn direction arrow and ground plane The figure which shows the guidance arrow in the point which is far from the guidance object intersection The figure which shows the guidance arrow in the point which approached the guidance object intersection Diagram showing the relationship between distance and height The figure which shows the guidance arrow in the point away from the guidance object intersection of a prior art Diagram showing the relationship between distance and transparency The figure which shows the guidance arrow in the point away from the guidance object intersection of a prior art The figure which shows the guidance arrow in the point near from the guidance object intersection of a prior art

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Navigation apparatus 101 Image | video acquisition part 102 Positioning part 103 Map database 104 Input part 105 Control part 106 Route search part 107 Arrow control part 108 Arrow generation part 109 Display control part 110 Display part

Claims (11)

An object generation unit for generating a guidance object;
Based on the distance from the vehicle position to the guide point, for a predetermined portion of the guide object, an object control unit that controls the display size, or transparency,
A navigation apparatus comprising: a display control unit that performs navigation display using a driver's view based on the guidance object obtained by the control of the object control unit.   The object control unit controls a display size by controlling an inclination of a predetermined portion of the guide object based on a distance from a vehicle position to a guide point. The navigation device according to 1.   The object control unit is configured to control the inclination by controlling the angle of a portion instructing a right / left turn among the guide objects based on a distance from the vehicle position to a guide point. The navigation device according to claim 2.   The navigation device according to claim 3, wherein the object control unit decreases the angle as the distance from the vehicle position to the guide point is shorter.   The navigation device according to claim 4, wherein the object control unit reduces the angle within a range of 90 degrees to 0 degrees.   The object control unit controls a display size by controlling a height of a predetermined portion of the guide object based on a distance from a vehicle position to a guide point. Item 4. The navigation device according to Item 1.   The said object control part controls the height about the part which instruct | indicates the left-right turn among the said guidance objects based on the distance from the own vehicle position to a guidance point, The said Claim 6 characterized by the above-mentioned. Navigation device.   The navigation apparatus according to claim 7, wherein the object control unit lowers the height as the distance from the vehicle position to the guide point is shorter.   2. The object control unit according to claim 1, wherein the object control unit increases transparency as a distance from the vehicle position to the guide point becomes closer to a portion instructing a right or left turn in the guide object. Navigation device.   The navigation apparatus according to claim 1, wherein the display control unit displays the guidance object on a three-dimensional map image in a superimposed manner.   The navigation apparatus according to any one of claims 1 to 9, wherein the display control unit displays the guidance object in a superimposed manner on a live-action image.

Images