JPWO2008041284A1 - Guiding device, guiding method, guiding program, and recording medium - Google Patents

Abstract

An image obtained by capturing the moving direction of the moving object is acquired by the image acquiring unit (101), and the position of the object existing in the moving direction is detected by the radar by the detecting unit (104). Based on the analysis result obtained by analyzing the movement state from the position of the object by the analysis unit (105), the determination unit (106) determines the object to be the guide information. And it waits until it is judged that the object used as a mark is imaged by the image acquired by the image judgment part (107), and when the object is imaged, it is judged that it is imaged by the identification part (108). Identify the appearance features of the object. Next, guidance information is created and output based on the moving state of the object analyzed by the creation unit (109) and the identified external features.

Description

  The present invention relates to a route guidance device, a route guidance method, a route guidance program, and a recording medium that create guidance information with the position of an object in a user's field of view as a landmark. However, the use of the present invention is not limited to the above-described route guidance device, route guidance method, route guidance program, and recording medium.

  Conventionally, at a guidance point that is a target of guidance guidance such as a left or right turn in route guidance, a route guidance device that makes a user surely grasp a guidance point by expressing a positional relationship from a landmark in front based on map data has been provided. is there. In this route guidance device, the user can surely grasp the intersection where the right / left turn is performed.

  Further, in such a route guidance device, a current position detecting means for detecting the current position of the own vehicle, a traveling road selecting means for selecting a road on which the own vehicle is traveling from the current position of the own vehicle, and others Other vehicle detection means for detecting the distance and direction of the vehicle, other vehicle position calculation means for calculating the position of the other vehicle, and the road on the traveling road are developed in a plan view or a bird's eye view to display the position information of the host vehicle and the other vehicle in an overlapping manner There is another vehicle position display means for displaying the position information of the following vehicle on the road shape generated from the map information (for example, see Patent Document 1 below).

JP-A-11-250396

  However, according to the above-described prior art, when there is a mark around the target guide point, the user can be surely grasped the guide point. In the case where there is not, the problem that the user cannot be surely grasped the guidance point is given as an example.

  Also, for example, when the position of another vehicle is used as a mark, the position of the other vehicle is calculated, displayed in a plan view or a bird's eye view, and the position information of the host vehicle and the other vehicle is displayed in an overlapping manner on the display screen. Although the position of the other vehicle can be grasped, it is not known whether the other vehicle is actually in the user's field of view. For this reason, the problem of causing confusion to the user by outputting the guidance information with the position of another vehicle not in the user's field of view as an example is given.

  In order to solve the above-described problems and achieve the object, a route guidance device according to a first aspect of the present invention includes an image acquisition unit that acquires an image obtained by capturing the moving direction of a moving body, and an object that exists in the moving direction. Based on detection means for detecting a position by a radar, an image acquired by the image acquisition means, and a detection result detected by the detection means, a path for guiding the moving body using the position of the object as a landmark A creation means for creating guidance information; and an output means for outputting guidance information including the position of the object created by the creation means.

  According to a fifth aspect of the present invention, there is provided a route guidance method for acquiring an image obtained by imaging a moving direction of a moving body, a detecting step for detecting a position of an object existing in the moving direction by a radar, A creation step of creating guidance information of a route for guiding the moving body using the position of the object as a mark based on the image obtained by the image acquisition step and the detection result detected by the detection step; and the creation Outputting guidance information including the position of the object created by the process.

  According to a sixth aspect of the present invention, a route guidance program causes a computer to execute the route guidance method according to the fifth aspect.

  A recording medium according to a seventh aspect of the invention is characterized in that the route guidance program according to the sixth aspect is recorded in a computer-readable state.

FIG. 1 is a block diagram showing a functional configuration of the route guidance apparatus according to the present embodiment. FIG. 2 is a flowchart showing a route guidance processing procedure of the route guidance device. FIG. 3 is a block diagram of a hardware configuration of the navigation device according to the present embodiment. FIG. 4 is a flowchart showing the contents of processing of the navigation device. FIG. 5A is an explanatory diagram illustrating a relationship between a detection range by a radar at a guidance point and a blind area by photographing. FIG. 5B is an explanatory diagram illustrating a relationship between a detection range by the radar at a guidance point after a predetermined time has elapsed and a blind area by photographing.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Route guidance device 101 Image acquisition part 102 Position acquisition part 103 Distance judgment part 104 Detection part 105 Analysis part 106 Determination part 107 Image judgment part 108 Identification part 109 Creation part 110 Output part

  Exemplary embodiments of a route guidance device, a route guidance method, a route guidance program, and a recording medium according to the present invention will be explained below in detail with reference to the accompanying drawings.

(Embodiment)
(Functional configuration of the route guidance device 100)
First, a functional configuration of the route guidance device 100 according to the embodiment of the present invention will be described. FIG. 1 is a block diagram showing a functional configuration of the route guidance apparatus according to the present embodiment.

  In FIG. 1, the route guidance device 100 includes an image acquisition unit 101, a position acquisition unit 102, a distance determination unit 103, a detection unit 104, an analysis unit 105, a determination unit 106, an image determination unit 107, and an identification. Unit 108, creation unit 109, and output unit 110.

  The image acquisition unit 101 acquires an image obtained by capturing the moving direction of the moving body. Specifically, for example, an image obtained by capturing a scene in the traveling direction is acquired from a camera or the like that is provided in the driver's seat of the moving body and set to the viewing angle of the driver. The image obtained by capturing the moving direction of the moving body may be, for example, video information related to the driver's field of view. The video information related to the driver's field of view is image information that captures almost the same scenery as the scenery that the driver actually sees.

  The position acquisition unit 102 acquires current position information of the moving object. For example, the current position information of the moving body is acquired in accordance with an output value from an acceleration sensor or a vehicle speed sensor that detects the behavior of the moving body in addition to a GPS signal received from a GPS satellite. You may do it.

  The distance determination unit 103 determines whether or not the current position information acquired by the position acquisition unit 102 is within a predetermined distance to the guide point where the guide information is created. The guidance information is guidance information for guiding the mobile body to the route to the destination point. The guidance point (guidance point) is a point where guidance information is output in normal route guidance such as an intersection that makes a right or left turn. Further, the predetermined distance may be constant or variable depending on the speed of the moving body.

  The detection unit 104 detects the position of an object existing in the moving direction by using a radar. Specifically, the object existing in the moving direction is, for example, another moving body or a person. Specifically, the detection unit 104 detects the position of the object using, for example, a laser using electromagnetic waves or a sonar using ultrasonic waves. In radar and sonar, when the propagation of a wave is partially blocked by an obstacle due to the diffraction of the wave, the wave propagates to the shadowed part of the obstacle. Thereby, even when a plurality of objects overlap each other, the position of each object can be detected. The detection unit 104 may be configured to determine the type (vehicle, person, etc.) and size of the object.

  The analysis unit 105 analyzes the movement state from the position of the object detected by the detection unit 104. The analysis unit 105 analyzes, for example, a state in which a right or left turn of an object is predicted from continuous detection of the position of the object by the detection unit 104. Specifically, the state in which the right / left turn is predicted is, for example, a state in which the speed of the object is slow, a state in which the object has moved to the right / left turn lane, or the like.

  Based on the analysis result analyzed by the analysis unit 105, the determination unit 106 determines an object to be a guide information guide. The object that becomes the mark of the guide information is an object whose position is used as a mark when the guide information is created. Specifically, for example, the object is in a state of predicting a right or left turn around the guidance point.

  The image determination unit 107 determines whether or not an image that is the mark determined by the determination unit 106 is captured in the image acquired by the image acquisition unit 101. For example, it is determined by image analysis or the like whether or not an object serving as a mark is captured in the image acquired by the image acquisition unit 101. Specifically, for example, the position on the image is specified from the analysis result (result of the state in which the left and right of the object are predicted) acquired from the analysis unit 105 with respect to the object serving as the mark determined by the determination unit 106, and on the image It is determined whether or not an object corresponding to the type and size acquired from the detection unit 104 for the object serving as the mark determined by the determination unit 106 is imaged at the position. Further, the image determination unit 107 may determine a blind area. The blind area is, for example, a range where the visual field is blocked by an object in the user's visual field. Specifically, for example, a range in which the scenery hardly changes due to a vehicle traveling in the front in the same direction among images continuously acquired during traveling is set as a blind area.

  The identification unit 108 identifies the external feature of the object based on the image acquired by the image acquisition unit 101. The appearance feature of an object is a feature that can identify each object such as color, size, and type.

  Based on the image acquired by the image acquisition unit 101 and the detection result detected by the detection unit 104, the generation unit 109 generates route guidance information for guiding the moving body using the position of the object as a mark. Specifically, for example, the creation unit 109 guides a route that guides the moving object using the appearance characteristics of the object identified by the identification unit 108 and the position of the object acquired by the position acquisition unit 102 as landmarks. Create information. Further, the creation unit 109 creates guidance information when the image determination unit 107 determines that an object to be a mark is captured, or when the distance determination unit 103 determines that the distance is within a predetermined distance. May be.

  For example, the creation of the guidance information by the creation unit 109 is created as follows. The creation unit 109 includes a vocabulary table (not shown) for creating guidance information. For example, the creation unit 109 has character data such as “red”, “white”, and “blue” as vocabularies indicating colors, It has character data such as “right”, “left”, “opposite”, “direction”, “turn” as the vocabulary indicating the movement state.

  Furthermore, it has character data such as “truck”, “bus”, “motorcycle”, “person” as the vocabulary indicating the kind of object, and “right 30 ° forward” and “right diagonal” as the vocabulary indicating the viewing direction. It has character data such as “front”, and has character data such as “coming soon” and “coming soon” as a vocabulary indicating prediction. Then, based on the image acquired by the image acquisition unit 101 and the detection result detected by the detection unit 104, character data optimal for guidance is extracted and converted into voice data, and output as guidance information to the output unit 110. Send to.

  The output unit 110 outputs guidance information including the position of the object created by the creation unit 109. The guidance information may be guidance information including the position of the object that is the mark determined by the determination unit 106, or may be guidance information including the position of the object and an appearance feature. The output unit 110 includes an audio output device such as a speaker, and outputs the guidance information created by the creation unit 109 as needed.

  Moreover, the output part 110 may be provided with the display screen which displays map data. Here, the map data is recorded in a recording unit (not shown). The map data includes road network data composed of nodes and links, and image data drawn using features relating to facilities, roads, and other terrain (mountains, rivers, land). The map data may include text information, information such as facility names and addresses, road and facility images, and the like. In addition, the guidance information created by the creation unit 109 may be displayed on the display screen as needed.

(Route guidance processing procedure of the route guidance device)
Next, a route guidance processing procedure of the route guidance device 100 will be described. FIG. 2 is a flowchart showing a route guidance processing procedure of the route guidance device. In the flowchart of FIG. 2, first, an image obtained by capturing the moving direction of the moving object is acquired by the image acquisition unit 101 (step S201). Images obtained by capturing the moving direction in step S201 are continuously acquired.

  Next, the position of the object existing in the moving direction is detected by the detection unit 104 by the radar (step S202), and the moving state of the object is analyzed from the position of the object detected in step S202 by the analysis unit 105 (step S203). . In step S202, the position of the object is continuously detected.

  Based on the analysis result analyzed in step S203, the determination unit 106 determines an object to be a guide for guidance information (step S204). When the image determination unit 107 determines that the object determined in step S204 is captured in the image acquired in step S201 (step S205: No loop), the object is captured ( (Step S205: Yes), the appearance feature of the object determined to be imaged in Step S205 by the identification unit 108 is identified (Step S206).

  Next, guidance information is created by the creation unit 109 based on the movement state of the object analyzed in step S203 and the external features identified in step S206 (step S207). Then, guidance information including the moving state and appearance characteristics of the object created in step S207 is output (step S208), and the series of processing ends.

  In the flowchart of FIG. 2, the object to be the guide information guide is determined in step S204. However, for example, the object to be the mark may be singular or plural. In a plurality of cases, the position of each object is continuously detected.

  In the flowchart of FIG. 2, the process waits until the object is imaged in the loop of Step S <b> 205: No, but is not limited thereto. Specifically, for example, even when an object is not imaged, the process may proceed to step S207 to create guidance information. In addition, the guidance information here is notice guidance information such as “a car that can be seen soon”.

  In the flowchart of FIG. 2, guidance information is created in step S207, but the present invention is not limited to this. Specifically, for example, an object to be a mark may be determined in step S204 and the guidance information may be created immediately. In this case, when it is determined in step S205: Yes that an object is being imaged, the process may immediately proceed to step S208 to output guidance information.

  As described above, according to the route guidance device 100 of the embodiment, the position of the object is marked by the creation unit 109 based on the image acquired by the image acquisition unit 101 and the detection result detected by the detection unit 104. As described above, it is possible to create guidance information of a route for guiding the mobile body and output it by the output unit 110.

  Therefore, when creating guidance information using the position of an object as a landmark, the position of an object in a range that is not captured in an image by an obstacle or the like can be detected by the radar. As a result, when performing guidance with the position of an object as a landmark, the user detects the position of an object that does not fall within the user's field of view, and if those objects enter the user's field of view. The guidance information can be output immediately. Therefore, guidance information using the position of an object can be output even on a route with many obstacles.

  Further, according to the route guidance device 100 of the embodiment, when the creation unit 109 determines that the object that is the mark determined by the determination unit 106 is captured in the image acquired by the image acquisition unit 101, Create guidance information. And the guidance information containing the position of the object used as the mark produced by the output part 110 can be output.

  Therefore, when creating guidance information using the position of an object as a landmark, guidance information using only the position of the object in the user's field of view can be output. This prevents the user from being confused by the output of guidance information using the position of an object that is not in the field of view.

  Moreover, according to the route guidance device 100 of the embodiment, the appearance feature of the object can be identified by the identification unit 108 based on the image acquired by the image acquisition unit 101. Then, the creation unit 109 creates guidance information of a route for guiding the moving body using the position of the object and the appearance characteristics of the object as marks, and the output unit 110 outputs the position of the object created by the creation unit 109 and Guidance information including appearance features can be output.

  Therefore, when a plurality of objects serving as landmarks are determined, each object can be distinguished. Accordingly, the user can easily find an object serving as a guide information for guidance information even when a plurality of objects exist around the guidance point.

  Further, according to the route guidance device 100 of the embodiment, the current position information of the moving body acquired by the position acquisition unit 102 is within a predetermined distance to the guidance point where the guidance information is created by the distance determination unit 103. When the determination is made, the creation information can be created by the creation unit 109.

  Therefore, the radar can not be activated until it is within a predetermined distance from the guide point. This allows the user to keep other functions of the radar until it is within a predetermined distance from the guide point.

  Examples of the present invention will be described below. In the present embodiment, an example in which the route guidance device of the present invention is implemented by a navigation device mounted on a moving body such as a vehicle (including a four-wheeled vehicle and a two-wheeled vehicle) will be described.

(Hardware configuration of navigation device)
Next, a hardware configuration of the navigation device 300 according to the present embodiment will be described. FIG. 3 is a block diagram of a hardware configuration of the navigation device according to the present embodiment. In FIG. 3, the navigation device 300 includes a CPU 301, a ROM 302, a RAM 303, a magnetic disk drive 304, a magnetic disk 305, an optical disk drive 306, an optical disk 307, an audio I / F (interface) 308, and a microphone 309. A speaker 310, an input device 311, a video I / F 312, a display 313, a communication I / F 314, a GPS unit 315, various sensors 316, and a camera 317. Each component 301 to 317 is connected by a bus 320.

  First, the CPU 301 governs overall control of the navigation device 300. The ROM 302 records programs such as a boot program and a data update program. The RAM 303 is used as a work area for the CPU 301. That is, the CPU 301 controls the entire navigation device 300 by executing various programs recorded in the ROM 302 while using the RAM 303 as a work area.

  The behavior analysis program analyzes the moving state of an object from the output of a radar or the like included in various sensors 316 described later. Here, the object can be a marker of guidance information such as an oncoming vehicle, the same lane vehicle, a human being, and a falling object. Specifically, for example, whether or not a vehicle that has slowed down is detected, whether or not a vehicle that has moved to the right or left turn lane is detected, or whether or not a passerby crossing a road is detected. Analyze the state of movement that predicts turning of vehicles and crossing of passers-by. In addition, the behavior analysis program analyzes the appearance characteristics of an object existing in video information captured by a camera 317 described later. The appearance features include, for example, the color and shape of the vehicle body, the name of the vehicle, the vehicle type, and the clothes of passersby.

  The guidance information creation program creates guidance information related to route guidance. The guidance information is audio information that prompts the user using the moving state of the object at the guidance point. Specifically, the guidance information is, for example, an oncoming vehicle whose movement state is analyzed from the output of a radar or the like, the same lane vehicle traveling in front of the same lane, or a passerby traveling across the road. Is voice information for guiding the user.

  In addition, the guidance information creation program creates notice guidance information related to route guidance. The advance guidance information is, for example, audio information that prompts the user by using the moving state of the object at the guidance point before the object used for guidance guidance enters the user's field of view. Specifically, for example, guidance information for guiding and guiding the host vehicle using an analysis result of an object predicted to enter the user's field of view after a predetermined time has elapsed.

  The magnetic disk drive 304 controls the reading / writing of the data with respect to the magnetic disk 305 according to control of CPU301. The magnetic disk 305 records data written under the control of the magnetic disk drive 304. As the magnetic disk 305, for example, an HD (hard disk) or an FD (flexible disk) can be used.

  The optical disk drive 306 controls reading / writing of data with respect to the optical disk 307 according to the control of the CPU 301. The optical disk 307 is a detachable recording medium from which data is read according to the control of the optical disk drive 306. As the optical disc 307, a writable recording medium can be used. As a removable recording medium, in addition to the optical disk 307, an MO, a memory card, or the like may be used.

  Examples of information recorded on the magnetic disk 305 and the optical disk 307 include map data and function data. The map data includes background data that represents features (features) such as buildings, rivers, and the ground surface, and road shape data that represents the shape of the road, and is composed of multiple data files divided by district. ing.

  The road shape data further includes traffic condition data. The traffic condition data includes, for example, whether or not there is a signal or a pedestrian crossing, whether or not there is a highway doorway or junction, the length (distance) of each link, road width, direction of travel, road type (highway, Such as toll roads and general roads).

  The function data is three-dimensional data representing the shape of the facility on the map, character data representing the description of the facility, and other various data other than the map data. Map data and function data are recorded in blocks divided by district or function. Specifically, for example, the map data is recorded in a state where each block can be divided into blocks so that each map represents a predetermined district on the map displayed on the display screen. Further, for example, the function data is recorded in a state where each function can be divided into a plurality of blocks so as to realize one function.

  The function data is data for realizing functions such as program data for realizing route search, calculation of required time, route guidance, etc. in addition to the above-described three-dimensional data and character data. Each of the map data and the function data is composed of a plurality of data files divided for each district or each function.

  The audio I / F 308 is connected to a microphone 309 for audio input and a speaker 310 for audio output. The sound received by the microphone 309 is A / D converted in the sound I / F 308. For example, the microphone 309 may be installed near the sun visor of the vehicle, and the number thereof may be one or more. From the speaker 310, a sound obtained by D / A converting a predetermined sound signal in the sound I / F 308 is output. Note that the sound input from the microphone 309 can be recorded on the magnetic disk 305 or the optical disk 307 as sound data.

  The voice I / F 308 outputs guidance information and notice guidance information created by the guidance information creation program. The audio I / F 308 outputs guidance information from a speaker when an object used for guidance information detected by a radar or the like included in various sensors 316 described later is photographed by a camera 317 described later. The audio I / F 308 may be output from the speaker even when an object used for the advance guidance information detected by a radar or the like included in various sensors 316 described later is not captured by a camera 317 described later. Good.

  Examples of the input device 311 include a remote controller having a plurality of keys for inputting characters, numerical values, various instructions, and the like, a keyboard, and a touch panel. The input device 311 may be realized by any one form of a remote control, a keyboard, and a touch panel, but may be realized by a plurality of forms.

  The video I / F 312 is connected to the display 313. Specifically, the video I / F 312 is output from, for example, a graphic controller that controls the entire display 313, a buffer memory such as a VRAM (Video RAM) that temporarily records image information that can be displayed immediately, and a graphic controller. And a control IC for controlling the display 313 based on the image data to be processed.

  The display 313 displays icons, cursors, menus, windows, or various data such as characters and images. On the display 313, the map data described above is drawn two-dimensionally or three-dimensionally. The map data displayed on the display 313 can be displayed with a mark representing the current position of the vehicle on which the navigation device 300 is mounted. The current position of the vehicle is calculated by the CPU 301.

  As the display 313, for example, a CRT, a TFT liquid crystal display, a plasma display, or the like can be used. The display 313 is installed near the dashboard of the vehicle, for example. A plurality of displays 313 may be installed in the vehicle, for example, in the vicinity of the dashboard of the vehicle or in the vicinity of the rear seat of the vehicle.

  The communication I / F 314 is connected to a network via wireless and functions as an interface between the navigation device 300 and the CPU 301. The communication I / F 314 is further connected to a communication network such as the Internet via wireless, and also functions as an interface between the communication network and the CPU 301.

  Communication networks include LANs, WANs, public line networks and mobile phone networks. Specifically, the communication I / F 314 includes, for example, an FM tuner, a VICS (Vehicle Information and Communication System) / beacon receiver, a radio navigation device, and other navigation devices. Obtain road traffic information such as regulations. VICS is a registered trademark. Further, the communication I / F 314 may acquire current position information from other navigation devices or communication terminal devices.

  The GPS unit 315 receives radio waves from GPS satellites and outputs information indicating the current position of the vehicle. The output information of the GPS unit 315 is used when the CPU 301 calculates the current position of the vehicle together with output values of various sensors 316 described later. The information indicating the current position is information for specifying one point on the map data, such as latitude / longitude and altitude.

  The various sensors 316 output information for determining the position and behavior of the vehicle, such as a vehicle speed sensor, an acceleration sensor, and an angular velocity sensor. The output values of the various sensors 316 are used for the calculation of the current position of the vehicle by the CPU 301 and the amount of change in speed and direction.

  The various sensors 316 continuously detect the moving state of objects around the host vehicle. Specifically, for example, position information of an object such as the front, side, or rear of the vehicle is detected by radar using electromagnetic waves or sonar using ultrasonic waves. In radar and sonar, when the propagation of a wave is partially blocked by an obstacle due to the diffraction of the wave, the wave propagates to the shadowed part of the obstacle. Thereby, even when a plurality of vehicles overlap each other, the movement state of each vehicle can be detected.

  The camera 317 captures images inside or outside the vehicle. The image may be either a still image or a moving image. For example, the behavior of the passenger inside the vehicle is photographed by the camera 317, and the photographed image is output to a recording medium such as the magnetic disk 305 or the optical disk 307 via the video I / F 312. To do. The camera 317 captures a situation outside the vehicle, and outputs the captured video to a recording medium such as the magnetic disk 305 or the optical disk 307 via the video I / F 312.

  Further, the camera 317 has an infrared camera function, and the surface temperature distributions of objects existing inside the vehicle can be relatively compared based on video information captured using the infrared camera function. The video output to the recording medium is overwritten and stored.

  The camera 317 captures an image related to the user's visual field. The image relating to the user's field of view is an image in a range almost the same as the user's field of view. The camera 317 is installed according to the viewing angle of the user. For example, it is installed at the end of the pillow portion of the user seat. Further, the camera 317 may determine the user's field of view with another camera that senses the user's line of sight, and change the position and angle of the camera 317 accordingly.

  The image acquisition unit 101, the position acquisition unit 102, the distance determination unit 103, the detection unit 104, the analysis unit 105, the determination unit 106, the image determination unit 107, the identification unit 108, and the creation unit 109 included in the route guidance device 100 illustrated in FIG. 1. The output unit 110 uses the programs and data recorded in the ROM 302, RAM 303, magnetic disk 305, optical disk 307, etc. in the navigation device 300 shown in FIG. The function is realized by controlling each part.

  That is, the navigation apparatus 300 according to the embodiment has the functions provided in the route guidance device shown in FIG. 1 by executing the route guidance program recorded in the ROM 302 as a recording medium in the navigation device 300, as shown in FIG. Can be executed by the route guidance processing procedure.

(Contents of navigation device processing)
Next, the processing contents of the navigation device 300 will be described. FIG. 4 is a flowchart showing the contents of processing of the navigation device. In the flowchart of FIG. 4, first, the user waits until the destination point is set by operating the input device 311 (step S401: No loop), and when the destination point is set (step S401: Yes), guidance is performed. A route is determined (step S402).

  Further, when the guidance route is determined in step S402, a guidance point for performing guidance by voice or image on the guidance route may be set at the same time.

  Next, waiting for the start of travel (step S403: No loop), and when the travel is started (step S403: Yes), the camera 317 starts photographing the scenery in the traveling direction of the vehicle as viewed from the driver's seat. (Step S404). In addition, the detection of an object by the radar provided in the various sensors 316 is started (step S405).

  Specifically, the object detection range by the radar is, for example, centered on a guide point such as an intersection where the host vehicle turns right and left, and a radius R = M + α obtained by adding a predetermined margin value α to the distance M from the guide point. The range of circles. Further, the object detection range by the radar may be limited to a route in contact with the guide point.

  As the margin value α, for example, the current speed P of the host vehicle is acquired, and the predicted time T = M / P to reach the guide point of the distance M is calculated. Further, the distance Mm = Pm (M / P) to the guidance point in the case of arriving at the predicted time T to the guidance point when traveling at the maximum speed Pm assumed for a general vehicle or the like on the traveling route is calculated. . A distance obtained by subtracting M from Mm is defined as a margin value α. Therefore, the margin value α = Pm (M / P) −M. Here, the maximum speed Pm may be constant, or may be calculated from a speed limit (legal speed) in the route, a road width, a road curvature, and the like.

  The object detection range by the radar is, for example, the distance R = PT + α obtained by adding the margin value α to the distance M = PT that travels during the time T by acquiring the current speed P of the host vehicle. It is good also as the range of the circle centering on the guide point which was made. At this time, the speed of the host vehicle may be calculated by taking into account that the vehicle speed decelerates from the current speed P as it approaches the guidance point.

  Therefore, instead of the current speed P of the host vehicle, the distance R = T∫f (P, P) obtained by multiplying the integral ∫f (P, M) of the deceleration model function f (P, M) by the current speed P and the distance by the time T. It is good also as the range of the circle centering on the guidance point which made M) a radius. The deceleration model function f (P, M) may be a predetermined function, or may be variable depending on the user and the travel route.

  Then, the process waits until the guide point is within a predetermined distance (step S406: No loop). When the guide point is within the predetermined distance (step S406: Yes), the moving state of the object is analyzed (step S407). . Here, the predetermined distance may be a predetermined distance or may be variable depending on the speed of the host vehicle.

  Next, it is determined from the moving state of the object analyzed in step S407 whether or not there is an object used for the guidance information (step S408). Here, the determination as to whether or not the object is used for the guidance information is, for example, whether or not a vehicle that has slowed down is detected, whether or not a vehicle that has moved to the right or left turn lane is detected, or a passerby crossing the road Such as whether or not the vehicle has been detected, such as a moving state that predicts the turn of another vehicle or the crossing of a passerby. Moreover, the detection of the object used for guidance information may be singular or plural.

  If it is determined in step S408 that there is an object to be used for guidance information (step S408: Yes), the process waits until the object that is determined to be the object to be used for guidance information in step S408 appears in the captured video (step S409). : No loop). When an object is reflected in step S409 (step S409: Yes), the color of the reflected object is identified (step S410).

  And the guidance information using the object which identified the color in step S410 is output (step S411). Specifically, the guidance information using the object is, for example, guidance information based on the moving state of the object such as “Turn left where the car turns” or “Turn left where the red car turns” The guidance information is based on the moving state of the object such as “” and the color of the object.

  On the other hand, when there is no object used for guidance information in Step S408 (Step S408: No), normal guidance information is output (Step S412). Here, for example, the normal guidance information is, for example, guidance information using an intersection name or road name such as “turn left at the intersection 300m ahead” or “turn left before the convenience store 300m ahead” It is guidance information using landmarks such as.

  Next, it is determined whether or not the destination point has been reached (step S413). When the destination point has been reached (step S413: Yes), a series of processing is terminated.

  On the other hand, when it does not arrive at the destination point in step S413 (step S413: No), the process returns to step S406 and the subsequent processing is repeated.

  In the flowchart of FIG. 4, it is determined in step S406 whether the distance to the guidance point is within a predetermined distance, but the present invention is not limited to this. For example, it may be determined whether or not a predetermined time before the predicted time of arrival at the guidance point.

  In the flowchart of FIG. 4, the process waits until an object appears in the loop of step S409: No, but is not limited thereto. For example, even if an object is not shown, the process proceeds to step S410 and step S411, and guidance information may be output as a predicted guidance. Predictive guidance is, specifically, guidance information using an object that is not yet in the user's field of view, such as, for example, “A right turn is about to turn when a red car is about to be seen”.

  In the flowchart of FIG. 4, the color of the object is identified in step S410, but the present invention is not limited to this. For example, the size of the object, the vehicle type, etc. may be identified, or the step S410 may be omitted and the color of the object may not be identified, and the process may proceed to step S411 and output guidance information.

  In addition, the guidance information using the object is output in step S411. For example, if there are a plurality of objects used for the guidance information in step S408, the guidance information may be output each time the object is reflected in the captured video. Good. Specifically, for example, “The next intersection where you turn left is now the car is turning left”, “The car is turning left again”, “This time the car is turning right”, etc. Guidance information may be output.

(Relationship between detection range by radar and blind area by shooting)
Next, the relationship between the detection range by the radar and the blind area by photographing will be described with reference to FIGS. 5A and 5B. FIG. 5A is an explanatory diagram illustrating a relationship between a detection range by a radar at a guidance point and a blind area by photographing. FIG. 5B is an explanatory diagram illustrating a relationship between a detection range by the radar at a guidance point after a predetermined time has elapsed and a blind area by photographing.

  5A and 5B, the host vehicle 500, the vehicle 501 traveling in front of the same lane, the oncoming vehicle A502, the oncoming vehicle B503, the detection range 510 by the radar, and the blind area 511 by photographing. Are shown. The radar detection range 510 is a range in which an object can be detected by the radar and sonar included in the various sensors 316. The detection range 510 by the radar may be constant, or may be variable depending on the speed of the host vehicle or other vehicles located around the host vehicle and the distance to the guide point.

  The blind area 511 is an area that is not shown in a photographed image such as the back of an obstacle in an image photographed by the camera 317 set at the viewing angle of the user who is aboard the host vehicle 500. Specifically, for example, the area is blocked by the vehicle 501 traveling in front of the same lane in the field of view of the user boarding the host vehicle 500.

  In addition, the determination as to whether or not the area is the blind area 511 may be, for example, a range in which the image does not change with the lapse of time associated with the traveling of the host vehicle in the image by the camera 317 may be determined as the blind area 511. Specifically, the range in which the image does not change with the lapse of time associated with the traveling of the vehicle is specifically determined that, for example, the same image is reflected even if the time elapses because the vehicle is traveling in the same direction ahead. The

  Therefore, for example, by determining whether or not it is the above-described blind area 511, instead of the radar provided in the various sensors 316, navigation devices or passersby installed in other vehicles acquired from the communication I / F. The function of this embodiment can also be realized by using the current position information of the terminal device to be held.

  In FIG. 5A, an oncoming vehicle A502 and an oncoming vehicle B503 are in a blind area 511 formed by a vehicle 501 traveling in front of the same lane. However, since it is within the detection range 510 by the radar, it is not visible to the user, but it is analyzed by the radar that the oncoming vehicle A502 is about to turn right, and the oncoming vehicle A502 is determined to be a vehicle used for guidance information. .

  In FIG. 5B, the oncoming vehicle A502 is out of the blind area 511 because each vehicle has moved for a predetermined time from FIG. That is, the oncoming vehicle A502 appears in the image by the camera 317. Therefore, it is determined that the oncoming vehicle 502 has entered the user's field of view, and guidance information is output at this point. Specifically, for example, a voice guidance such as “Turn left at the intersection where the car is about to turn” is output.

  As described above, according to the navigation apparatus 300 of the embodiment, the creation unit 109 moves the position of the object as a mark based on the image acquired by the image acquisition unit 101 and the detection result detected by the detection unit 104. Guidance information on a route for guiding the body can be created and output by the output unit 110.

  Therefore, when creating guidance information using the position of an object as a landmark, the position of an object in a range that is not captured in an image by an obstacle or the like can be detected by the radar. As a result, when performing guidance with the position of an object as a landmark, the user detects the position of an object that does not fall within the user's field of view, and if those objects enter the user's field of view. The guidance information can be output immediately. Therefore, guidance information using the position of an object can be output even on a route with many obstacles.

  Further, according to the navigation device 300 of the embodiment, the creation unit 109 determines that the object that is the landmark determined by the determination unit 106 is captured in the image acquired by the image acquisition unit 101 when the guidance information is captured. Create And the guidance information containing the position of the object used as the mark produced by the output part 110 can be output.

  Therefore, when creating guidance information using the position of an object as a landmark, guidance information using only the position of the object in the user's field of view can be output. This prevents the user from being confused by the output of guidance information using the position of an object that is not in the field of view.

  Further, according to the navigation device 300 of the embodiment, the appearance feature of the object can be identified by the identification unit 108 based on the image acquired by the image acquisition unit 101. Then, the creation unit 109 creates guidance information of a route for guiding the moving body using the position of the object and the appearance characteristics of the object as marks, and the output unit 110 outputs the position of the object created by the creation unit 109 and Guidance information including appearance features can be output.

  Therefore, when a plurality of objects serving as landmarks are determined, each object can be distinguished. Thereby, the user can easily find an object serving as a guide information for guidance information even when a plurality of objects exist around the guidance point.

  Further, according to the navigation apparatus 300 of the embodiment, it is determined that the current position information of the moving body acquired by the position acquisition unit 102 is within a predetermined distance to the guide point where the guide information is created by the distance determination unit 103. In this case, the guidance information can be created by the creation unit 109.

  Therefore, the radar can not be activated until it is within a predetermined distance from the guide point. This allows the user to keep other functions of the radar until it is within a predetermined distance from the guide point.

  As described above, according to the route guidance device, the route guidance method, the route guidance program, and the recording medium of the present invention, the navigation device 300 analyzes the movement state by the radar even for the object existing in the blind area. Thus, it is possible to determine an object that serves as a guide information. And when the object used as a mark comes out of a blind area, guidance information can be output immediately. As a result, the user can output guidance information using the position of the object as a mark as soon as the object enters the range of his field of view.

  The route guidance method described in this embodiment can be realized by executing a program prepared in advance on a computer such as a personal computer or a workstation. This program is recorded on a computer-readable recording medium such as a hard disk, a flexible disk, a CD-ROM, an MO, and a DVD, and is executed by being read from the recording medium by the computer. The program may be a transmission medium that can be distributed via a network such as the Internet.

  The present invention relates to a guidance device, a guidance method, a guidance program, and a recording medium that create guidance information with the position of an object in a user's field of view as a landmark. However, use of the present invention is not limited to the above-described guidance device, guidance method, guidance program, and recording medium.

  Conventionally, at a guidance point that is a target of guidance guidance such as a left or right turn in route guidance, a route guidance device that allows a user to grasp a guidance point reliably by expressing a positional relationship from a landmark in front based on map data is there. In this route guidance device, the user can surely grasp the intersection where the right / left turn is performed.

  Further, in such a route guidance device, a current position detecting means for detecting the current position of the own vehicle, a traveling road selecting means for selecting a road on which the own vehicle is traveling from the current position of the own vehicle, and others Other vehicle detection means for detecting the distance and direction of the vehicle, other vehicle position calculation means for calculating the position of the other vehicle, and the road on the traveling road are developed in a plan view or a bird's eye view to display the position information of the host vehicle and the other vehicle in an overlapping manner There is another vehicle position display means for displaying the position information of the following vehicle on the road shape generated from the map information (for example, see Patent Document 1 below).

JP-A-11-250396

  However, according to the above-described prior art, when there is a mark around the target guide point, the user can be surely grasped the guide point. In the case where there is not, the problem that the user cannot be surely grasped the guidance point is given as an example.

  Also, for example, when the position of the other vehicle is used as a mark, the position of the other vehicle is calculated, developed in a plan view or a bird's eye view, and the position information of the host vehicle and the other vehicle is displayed in an overlapping manner on the display screen. Although the position of the other vehicle can be grasped, it is not known whether the other vehicle is actually in the user's field of view. For this reason, the problem of causing confusion to the user by outputting the guidance information with the position of another vehicle not in the user's field of view as an example is given.

  In order to solve the above-described problems and achieve the object, a guidance device according to a first aspect of the present invention includes an image acquisition unit that acquires an image obtained by imaging a moving direction of a moving body, and a position of an object that exists in the moving direction. Detecting means by radar, analyzing means for analyzing the movement state of the detected object from the position of the detected object, and creating guidance information of a route for guiding the moving object based on the analysis result Determining means for determining an object to be a mark, image determining means for determining whether or not the determined object is imaged in the image acquired by the image acquiring means, and the determined object is imaged A creation unit that creates the guidance information when it is determined that the guidance information is output; and an output unit that outputs the created guidance information. Creating guidance information including contents indicating the movement state of the object, and the output means outputs the guidance information including the form of the object and contents indicating the movement state of the object by voice. To do.

  According to a fourth aspect of the present invention, there is provided a guidance method for obtaining an image obtained by imaging a moving direction of a moving body, a detecting step for detecting a position of an object existing in the moving direction by a radar, and the detection. An analysis step of analyzing the movement state of the object from the position of the object determined, and a determination step of determining an object as a mark when creating guidance information of a route for guiding the moving body based on the analysis result; An image determination step for determining whether or not the determined object is captured in the image acquired in the image acquisition step; and when it is determined that the determined object is captured, A creation step for creating guidance information; and an output step for outputting the created guidance information. The creation step includes content indicating the determined form of the object and the moving state of the object. Create a guide information, in the output step, and outputting by voice guidance information including the forms and content indicating the moving state of the object of the object.

  According to a fifth aspect of the present invention, a guidance program causes a computer to execute the guidance method according to the fourth aspect.

  A recording medium according to a sixth aspect of the present invention is characterized in that the guidance program according to the fifth aspect is recorded in a computer-readable state.

It is a block diagram which shows the functional structure of the route guidance apparatus concerning this Embodiment. It is a flowchart which shows the route guidance process sequence of a route guidance apparatus. It is a block diagram which shows the hardware constitutions of the navigation apparatus concerning a present Example. It is a flowchart which shows the content of the process of a navigation apparatus. It is explanatory drawing shown about the relationship between the detection range by the radar in a guidance point, and the blind area by imaging | photography. It is explanatory drawing shown about the relationship between the detection range by the radar in the guidance point after predetermined time progress, and the blind area by imaging | photography.

  Exemplary embodiments of a guidance device, a guidance method, a guidance program, and a recording medium according to the present invention will be explained below in detail with reference to the accompanying drawings.

(Embodiment)
(Functional configuration of the route guidance device 100)
First, a functional configuration of the route guidance device 100 according to the embodiment of the present invention will be described. FIG. 1 is a block diagram showing a functional configuration of the route guidance apparatus according to the present embodiment.

  In FIG. 1, the route guidance device 100 includes an image acquisition unit 101, a position acquisition unit 102, a distance determination unit 103, a detection unit 104, an analysis unit 105, a determination unit 106, an image determination unit 107, and an identification. Unit 108, creation unit 109, and output unit 110.

  The image acquisition unit 101 acquires an image obtained by capturing the moving direction of the moving body. Specifically, for example, an image obtained by capturing a scene in the traveling direction is acquired from a camera or the like that is provided in the driver's seat of the moving body and set to the viewing angle of the driver. The image obtained by capturing the moving direction of the moving body may be, for example, video information related to the driver's field of view. The video information related to the driver's field of view is image information that captures almost the same scenery as the scenery that the driver actually sees.

  The position acquisition unit 102 acquires current position information of the moving object. For example, the current position information of the moving body is acquired in accordance with an output value from an acceleration sensor or a vehicle speed sensor that detects the behavior of the moving body in addition to a GPS signal received from a GPS satellite. You may do it.

  The distance determination unit 103 determines whether or not the current position information acquired by the position acquisition unit 102 is within a predetermined distance to the guide point where the guide information is created. The guidance information is guidance information for guiding the mobile body to the route to the destination point. The guidance point (guidance point) is a point where guidance information is output in normal route guidance such as an intersection that makes a right or left turn. Further, the predetermined distance may be constant or variable depending on the speed of the moving body.

  The detection unit 104 detects the position of an object existing in the moving direction by using a radar. Specifically, the object existing in the moving direction is, for example, another moving body or a person. Specifically, the detection unit 104 detects the position of an object using, for example, a laser using electromagnetic waves or a sonar using ultrasonic waves. In radar and sonar, when the propagation of a wave is partially blocked by an obstacle due to the diffraction of the wave, the wave propagates to the shadowed part of the obstacle. Thereby, even when a plurality of objects overlap each other, the position of each object can be detected. The detection unit 104 may be configured to determine the type (vehicle, person, etc.) and size of the object.

  The analysis unit 105 analyzes the movement state from the position of the object detected by the detection unit 104. The analysis unit 105 analyzes, for example, a state in which a right or left turn of an object is predicted from continuous detection of the position of the object by the detection unit 104. Specifically, the state in which the right / left turn is predicted is, for example, a state in which the speed of the object is slow, a state in which the object has moved to the right / left turn lane, or the like.

  Based on the analysis result analyzed by the analysis unit 105, the determination unit 106 determines an object to be a guide information guide. The object that becomes the mark of the guide information is an object whose position is used as a mark when the guide information is created. Specifically, for example, the object is in a state of predicting a right or left turn around the guidance point.

  The image determination unit 107 determines whether or not an image that is the mark determined by the determination unit 106 is captured in the image acquired by the image acquisition unit 101. For example, it is determined by image analysis or the like whether or not an object serving as a mark is captured in the image acquired by the image acquisition unit 101. Specifically, for example, the position on the image is specified from the analysis result (result of the state in which the left and right of the object are predicted) acquired from the analysis unit 105 with respect to the object serving as the mark determined by the determination unit 106, and on the image It is determined whether or not an object corresponding to the type and size acquired from the detection unit 104 for the object serving as the mark determined by the determination unit 106 is imaged at the position. Further, the image determination unit 107 may determine a blind area. The blind area is, for example, a range where the visual field is blocked by an object in the user's visual field. Specifically, for example, a range in which the scenery hardly changes due to a vehicle traveling in the front in the same direction among images continuously acquired during traveling is set as a blind area.

  The identification unit 108 identifies the external feature of the object based on the image acquired by the image acquisition unit 101. The appearance feature of an object is a feature that can identify each object such as color, size, and type.

  Based on the image acquired by the image acquisition unit 101 and the detection result detected by the detection unit 104, the generation unit 109 generates route guidance information for guiding the moving body using the position of the object as a mark. Specifically, for example, the creation unit 109 guides a route that guides the moving object using the appearance characteristics of the object identified by the identification unit 108 and the position of the object acquired by the position acquisition unit 102 as landmarks. Create information. Further, the creation unit 109 creates guidance information when the image determination unit 107 determines that an object to be a mark is captured, or when the distance determination unit 103 determines that the distance is within a predetermined distance. May be.

  For example, the creation of the guidance information by the creation unit 109 is created as follows. The creation unit 109 includes a vocabulary table (not shown) for creating guidance information. For example, the creation unit 109 has character data such as “red”, “white”, and “blue” as vocabularies indicating colors, It has character data such as “right”, “left”, “opposite”, “direction”, “turn” as the vocabulary indicating the movement state.

  Furthermore, it has character data such as “truck”, “bus”, “motorcycle”, “person” as the vocabulary indicating the kind of object, and “right 30 ° forward” and “right diagonal” as the vocabulary indicating the viewing direction. It has character data such as “front”, and has character data such as “coming soon” and “coming soon” as a vocabulary indicating prediction. Then, based on the image acquired by the image acquisition unit 101 and the detection result detected by the detection unit 104, character data optimal for guidance is extracted and converted into voice data, and output as guidance information to the output unit 110. Send to.

  The output unit 110 outputs guidance information including the position of the object created by the creation unit 109. The guidance information may be guidance information including the position of the object that is the mark determined by the determination unit 106, or may be guidance information including the position of the object and an appearance feature. The output unit 110 includes an audio output device such as a speaker, and outputs the guidance information created by the creation unit 109 as needed.

  Moreover, the output part 110 may be provided with the display screen which displays map data. Here, the map data is recorded in a recording unit (not shown). The map data includes road network data composed of nodes and links, and image data drawn using features relating to facilities, roads, and other terrain (mountains, rivers, land). The map data may include text information, information such as facility names and addresses, road and facility images, and the like. In addition, the guidance information created by the creation unit 109 may be displayed on the display screen as needed.

(Route guidance processing procedure of the route guidance device)
Next, a route guidance processing procedure of the route guidance device 100 will be described. FIG. 2 is a flowchart showing a route guidance processing procedure of the route guidance device. In the flowchart of FIG. 2, first, an image obtained by capturing the moving direction of the moving object is acquired by the image acquisition unit 101 (step S201). Images obtained by capturing the moving direction in step S201 are continuously acquired.

  Next, the position of the object existing in the moving direction is detected by the detection unit 104 by the radar (step S202), and the moving state of the object is analyzed from the position of the object detected in step S202 by the analysis unit 105 (step S203). . In step S202, the position of the object is continuously detected.

  Based on the analysis result analyzed in step S203, the determination unit 106 determines an object to be a guide for guidance information (step S204). When the image determination unit 107 determines that the object determined in step S204 is captured in the image acquired in step S201 (step S205: No loop), the object is captured ( (Step S205: Yes), the appearance feature of the object determined to be imaged in Step S205 by the identification unit 108 is identified (Step S206).

  Next, guidance information is created by the creation unit 109 based on the movement state of the object analyzed in step S203 and the external features identified in step S206 (step S207). Then, guidance information including the moving state and appearance characteristics of the object created in step S207 is output (step S208), and the series of processing ends.

  In the flowchart of FIG. 2, the object to be the guide information guide is determined in step S204. However, for example, the object to be the mark may be singular or plural. In a plurality of cases, the position of each object is continuously detected.

  In the flowchart of FIG. 2, the process waits until the object is imaged in the loop of Step S <b> 205: No, but is not limited thereto. Specifically, for example, even when an object is not imaged, the process may proceed to step S207 to create guidance information. In addition, the guidance information here is notice guidance information such as “a car that can be seen soon”.

  In the flowchart of FIG. 2, guidance information is created in step S207, but the present invention is not limited to this. Specifically, for example, an object to be a mark may be determined in step S204 and the guidance information may be created immediately. In this case, when it is determined in step S205: Yes that an object is being imaged, the process may immediately proceed to step S208 to output guidance information.

  As described above, according to the route guidance device 100 of the embodiment, the position of the object is marked by the creation unit 109 based on the image acquired by the image acquisition unit 101 and the detection result detected by the detection unit 104. As described above, it is possible to create guidance information of a route for guiding the mobile body and output it by the output unit 110.

  Therefore, when creating guidance information using the position of an object as a landmark, the position of an object in a range that is not captured in an image by an obstacle or the like can be detected by the radar. As a result, when performing guidance with the position of an object as a landmark, the user detects the position of an object that does not fall within the user's field of view, and if those objects enter the user's field of view. The guidance information can be output immediately. Therefore, guidance information using the position of an object can be output even on a route with many obstacles.

  Further, according to the route guidance device 100 of the embodiment, when the creation unit 109 determines that the object that is the mark determined by the determination unit 106 is captured in the image acquired by the image acquisition unit 101, Create guidance information. And the guidance information containing the position of the object used as the mark produced by the output part 110 can be output.

  Therefore, when creating guidance information using the position of an object as a landmark, guidance information using only the position of the object in the user's field of view can be output. This prevents the user from being confused by the output of guidance information using the position of an object that is not in the field of view.

  Moreover, according to the route guidance device 100 of the embodiment, the appearance feature of the object can be identified by the identification unit 108 based on the image acquired by the image acquisition unit 101. Then, the creation unit 109 creates guidance information of a route for guiding the moving body using the position of the object and the appearance characteristics of the object as marks, and the output unit 110 outputs the position of the object created by the creation unit 109 and Guidance information including appearance features can be output.

  Therefore, when a plurality of objects serving as landmarks are determined, each object can be distinguished. Thereby, the user can easily find an object serving as a guide information for guidance information even when a plurality of objects exist around the guidance point.

  Further, according to the route guidance device 100 of the embodiment, the current position information of the moving body acquired by the position acquisition unit 102 is within a predetermined distance to the guidance point where the guidance information is created by the distance determination unit 103. When the determination is made, the creation information can be created by the creation unit 109.

  Therefore, the radar can not be activated until it is within a predetermined distance from the guide point. This allows the user to keep other functions of the radar until it is within a predetermined distance from the guide point.

  Examples of the present invention will be described below. In the present embodiment, an example in which the route guidance device of the present invention is implemented by a navigation device mounted on a moving body such as a vehicle (including a four-wheeled vehicle and a two-wheeled vehicle) will be described.

(Hardware configuration of navigation device)
Next, a hardware configuration of the navigation device 300 according to the present embodiment will be described. FIG. 3 is a block diagram of a hardware configuration of the navigation device according to the present embodiment. In FIG. 3, the navigation device 300 includes a CPU 301, a ROM 302, a RAM 303, a magnetic disk drive 304, a magnetic disk 305, an optical disk drive 306, an optical disk 307, an audio I / F (interface) 308, and a microphone 309. A speaker 310, an input device 311, a video I / F 312, a display 313, a communication I / F 314, a GPS unit 315, various sensors 316, and a camera 317. Each component 301 to 317 is connected by a bus 320.

  First, the CPU 301 governs overall control of the navigation device 300. The ROM 302 records programs such as a boot program and a data update program. The RAM 303 is used as a work area for the CPU 301. That is, the CPU 301 controls the entire navigation device 300 by executing various programs recorded in the ROM 302 while using the RAM 303 as a work area.

  The behavior analysis program analyzes the moving state of an object from the output of a radar or the like included in various sensors 316 described later. Here, the object can be a marker of guidance information such as an oncoming vehicle, the same lane vehicle, a human being, and a falling object. Specifically, for example, whether or not a vehicle that has slowed down is detected, whether or not a vehicle that has moved to the right or left turn lane is detected, or whether or not a passerby crossing a road is detected. Analyze the state of movement that predicts turning of vehicles and crossing of passers-by. In addition, the behavior analysis program analyzes the appearance characteristics of an object existing in video information captured by a camera 317 described later. The appearance features include, for example, the color and shape of the vehicle body, the name of the vehicle, the vehicle type, and the clothes of passersby.

  The guidance information creation program creates guidance information related to route guidance. The guidance information is audio information that prompts the user using the moving state of the object at the guidance point. Specifically, the guidance information is, for example, an oncoming vehicle whose movement state is analyzed from the output of a radar or the like, the same lane vehicle traveling in front of the same lane, or a passerby traveling across the road. Is voice information for guiding the user.

  In addition, the guidance information creation program creates notice guidance information related to route guidance. The advance guidance information is, for example, audio information that prompts the user by using the moving state of the object at the guidance point before the object used for guidance guidance enters the user's field of view. Specifically, for example, guidance information for guiding and guiding the host vehicle using an analysis result of an object predicted to enter the user's field of view after a predetermined time has elapsed.

  The magnetic disk drive 304 controls the reading / writing of the data with respect to the magnetic disk 305 according to control of CPU301. The magnetic disk 305 records data written under the control of the magnetic disk drive 304. As the magnetic disk 305, for example, an HD (hard disk) or an FD (flexible disk) can be used.

  The optical disk drive 306 controls reading / writing of data with respect to the optical disk 307 according to the control of the CPU 301. The optical disk 307 is a detachable recording medium from which data is read according to the control of the optical disk drive 306. As the optical disc 307, a writable recording medium can be used. As a removable recording medium, in addition to the optical disk 307, an MO, a memory card, or the like may be used.

  Examples of information recorded on the magnetic disk 305 and the optical disk 307 include map data and function data. The map data includes background data that represents features (features) such as buildings, rivers, and the ground surface, and road shape data that represents the shape of the road, and is composed of multiple data files divided by district. ing.

  The road shape data further includes traffic condition data. The traffic condition data includes, for example, whether or not there is a signal or a pedestrian crossing, whether or not there is a highway doorway or junction, the length (distance) of each link, road width, direction of travel, road type (highway, Such as toll roads and general roads).

  The function data is three-dimensional data representing the shape of the facility on the map, character data representing the description of the facility, and other various data other than the map data. Map data and function data are recorded in blocks divided by district or function. Specifically, for example, the map data is recorded in a state where each block can be divided into blocks such that each represents a predetermined district on the map displayed on the display screen. Further, for example, the function data is recorded in a state where each function can be divided into a plurality of blocks so as to realize one function.

  The function data is data for realizing functions such as program data for realizing route search, calculation of required time, route guidance, etc. in addition to the above-described three-dimensional data and character data. Each of the map data and the function data is composed of a plurality of data files divided for each district or each function.

  The audio I / F 308 is connected to a microphone 309 for audio input and a speaker 310 for audio output. The sound received by the microphone 309 is A / D converted in the sound I / F 308. For example, the microphone 309 may be installed near the sun visor of the vehicle, and the number thereof may be one or more. From the speaker 310, a sound obtained by D / A converting a predetermined sound signal in the sound I / F 308 is output. Note that the sound input from the microphone 309 can be recorded on the magnetic disk 305 or the optical disk 307 as sound data.

  The voice I / F 308 outputs guidance information and notice guidance information created by the guidance information creation program. The audio I / F 308 outputs guidance information from a speaker when an object used for guidance information detected by a radar or the like included in various sensors 316 described later is photographed by a camera 317 described later. The audio I / F 308 may be output from the speaker even when an object used for the advance guidance information detected by a radar or the like included in various sensors 316 described later is not captured by a camera 317 described later. Good.

  Examples of the input device 311 include a remote controller having a plurality of keys for inputting characters, numerical values, various instructions, and the like, a keyboard, and a touch panel. The input device 311 may be realized by any one form of a remote control, a keyboard, and a touch panel, but can also be realized by a plurality of forms.

  The video I / F 312 is connected to the display 313. Specifically, the video I / F 312 is output from, for example, a graphic controller that controls the entire display 313, a buffer memory such as a VRAM (Video RAM) that temporarily records image information that can be displayed immediately, and a graphic controller. And a control IC for controlling the display 313 based on the image data to be processed.

  The display 313 displays icons, cursors, menus, windows, or various data such as characters and images. On the display 313, the map data described above is drawn two-dimensionally or three-dimensionally. The map data displayed on the display 313 can be displayed with a mark representing the current position of the vehicle on which the navigation device 300 is mounted. The current position of the vehicle is calculated by the CPU 301.

  As the display 313, for example, a CRT, a TFT liquid crystal display, a plasma display, or the like can be used. The display 313 is installed near the dashboard of the vehicle, for example. A plurality of displays 313 may be installed in the vehicle, for example, in the vicinity of the dashboard of the vehicle or in the vicinity of the rear seat of the vehicle.

  The communication I / F 314 is connected to a network via wireless and functions as an interface between the navigation device 300 and the CPU 301. The communication I / F 314 is further connected to a communication network such as the Internet via wireless, and also functions as an interface between the communication network and the CPU 301.

  Communication networks include LANs, WANs, public line networks, mobile phone networks, and the like. Specifically, the communication I / F 314 includes, for example, an FM tuner, a VICS (Vehicle Information and Communication System) / beacon receiver, a radio navigation device, and other navigation devices. Get road traffic information such as regulations. VICS is a registered trademark. Further, the communication I / F 314 may acquire current position information from other navigation devices or communication terminal devices.

  The GPS unit 315 receives radio waves from GPS satellites and outputs information indicating the current position of the vehicle. The output information of the GPS unit 315 is used when the CPU 301 calculates the current position of the vehicle together with output values of various sensors 316 described later. The information indicating the current position is information for specifying one point on the map data, such as latitude / longitude and altitude.

  The various sensors 316 output information for determining the position and behavior of the vehicle, such as a vehicle speed sensor, an acceleration sensor, and an angular velocity sensor. The output values of the various sensors 316 are used for the calculation of the current position of the vehicle by the CPU 301 and the amount of change in speed and direction.

  The various sensors 316 continuously detect the moving state of objects around the host vehicle. Specifically, for example, position information of an object such as the front, side, and rear of the vehicle is detected by radar using electromagnetic waves or sonar using ultrasonic waves. In radar and sonar, when the propagation of a wave is partially blocked by an obstacle due to the diffraction of the wave, the wave propagates to the shadowed part of the obstacle. Thereby, even when a plurality of vehicles overlap each other, the movement state of each vehicle can be detected.

  The camera 317 captures images inside or outside the vehicle. The image may be either a still image or a moving image. For example, the behavior of the passenger inside the vehicle is photographed by the camera 317, and the photographed image is output to a recording medium such as the magnetic disk 305 or the optical disk 307 via the video I / F 312. To do. The camera 317 captures a situation outside the vehicle, and outputs the captured video to a recording medium such as the magnetic disk 305 or the optical disk 307 via the video I / F 312.

  Further, the camera 317 has an infrared camera function, and the surface temperature distributions of objects existing inside the vehicle can be relatively compared based on video information captured using the infrared camera function. The video output to the recording medium is overwritten and stored.

  The camera 317 captures an image related to the user's visual field. The image relating to the user's field of view is an image in a range almost the same as the user's field of view. The camera 317 is installed according to the viewing angle of the user. For example, it is installed at the end of the pillow portion of the user seat. Further, the camera 317 may determine the user's field of view with another camera that senses the user's line of sight, and change the position and angle of the camera 317 accordingly.

  The image acquisition unit 101, the position acquisition unit 102, the distance determination unit 103, the detection unit 104, the analysis unit 105, the determination unit 106, the image determination unit 107, the identification unit 108, and the creation unit 109 included in the route guidance device 100 illustrated in FIG. 1. The output unit 110 uses the programs and data recorded in the ROM 302, RAM 303, magnetic disk 305, optical disk 307, etc. in the navigation device 300 shown in FIG. The function is realized by controlling each part.

  That is, the navigation apparatus 300 according to the embodiment has the functions provided in the route guidance device shown in FIG. 1 by executing the route guidance program recorded in the ROM 302 as a recording medium in the navigation device 300, as shown in FIG. Can be executed by the route guidance processing procedure.

(Contents of navigation device processing)
Next, the processing contents of the navigation device 300 will be described. FIG. 4 is a flowchart showing the contents of processing of the navigation device. In the flowchart of FIG. 4, first, the user waits until the destination point is set by operating the input device 311 (step S401: No loop), and when the destination point is set (step S401: Yes), guidance is performed. A route is determined (step S402).

  Further, when the guidance route is determined in step S402, a guidance point for performing guidance by voice or image on the guidance route may be set at the same time.

  Next, waiting for the start of travel (step S403: No loop), and when the travel is started (step S403: Yes), the camera 317 starts photographing the scenery in the traveling direction of the vehicle as viewed from the driver's seat. (Step S404). In addition, the detection of an object by the radar provided in the various sensors 316 is started (step S405).

  Specifically, the object detection range by the radar is, for example, centered on a guide point such as an intersection where the host vehicle turns right and left, and a radius R = M + α obtained by adding a predetermined margin value α to the distance M from the guide point. The range of circles. Further, the object detection range by the radar may be limited to a route in contact with the guide point.

  As the margin value α, for example, the current speed P of the host vehicle is acquired, and the predicted time T = M / P to reach the guide point of the distance M is calculated. Further, the distance Mm = Pm (M / P) to the guidance point in the case of arriving at the predicted time T to the guidance point when traveling at the maximum speed Pm assumed for a general vehicle or the like on the traveling route is calculated. . A distance obtained by subtracting M from Mm is defined as a margin value α. Therefore, the margin value α = Pm (M / P) −M. Here, the maximum speed Pm may be constant, or may be calculated from a speed limit (legal speed) in the route, a road width, a road curvature, and the like.

  The object detection range by the radar is, for example, the distance R = PT + α obtained by adding the margin value α to the distance M = PT that travels during the time T by acquiring the current speed P of the host vehicle. It is good also as the range of the circle centering on the guide point which was made. At this time, the speed of the host vehicle may be calculated by taking into account that the vehicle speed decelerates from the current speed P as it approaches the guidance point.

  Therefore, instead of the current speed P of the host vehicle, the distance R = T∫f (P, P) obtained by multiplying the integral ∫f (P, M) of the deceleration model function f (P, M) by the current speed P and the distance by the time T. It is good also as the range of the circle centering on the guidance point which made M) a radius. The deceleration model function f (P, M) may be a predetermined function, or may be variable depending on the user and the travel route.

  Then, the process waits until the guide point is within a predetermined distance (step S406: No loop). When the guide point is within the predetermined distance (step S406: Yes), the moving state of the object is analyzed (step S407). . Here, the predetermined distance may be a predetermined distance or may be variable depending on the speed of the host vehicle.

  Next, it is determined from the moving state of the object analyzed in step S407 whether or not there is an object used for the guidance information (step S408). Here, the determination as to whether or not the object is used for the guidance information is, for example, whether or not a vehicle that has slowed down is detected, whether or not a vehicle that has moved to the right or left turn lane is detected, or a passerby crossing the road Such as whether or not the vehicle has been detected, such as a moving state that predicts the turn of another vehicle or the crossing of a passerby. Moreover, the detection of the object used for guidance information may be singular or plural.

  If it is determined in step S408 that there is an object to be used for guidance information (step S408: Yes), the process waits until an object determined to be an object to be used for guidance information in step S408 appears in the captured video (step S409). : No loop). When an object is reflected in step S409 (step S409: Yes), the color of the reflected object is identified (step S410).

  And the guidance information using the object which identified the color in step S410 is output (step S411). Specifically, the guidance information using the object is, for example, guidance information based on the moving state of the object such as “Turn left where the car turns” or “Turn left where the red car turns” The guidance information is based on the moving state of the object such as “” and the color of the object.

  On the other hand, when there is no object used for guidance information in Step S408 (Step S408: No), normal guidance information is output (Step S412). Here, for example, the normal guidance information is, for example, guidance information using an intersection name or road name such as “turn left at the intersection 300m ahead” or “turn left before the convenience store 300m ahead” It is guidance information using landmarks such as.

  Next, it is determined whether or not the destination point has been reached (step S413). When the destination point has been reached (step S413: Yes), a series of processing is terminated.

  On the other hand, when it does not arrive at the destination point in step S413 (step S413: No), the process returns to step S406 and the subsequent processing is repeated.

  In the flowchart of FIG. 4, it is determined in step S406 whether the distance to the guidance point is within a predetermined distance, but the present invention is not limited to this. For example, it may be determined whether or not a predetermined time before the predicted time of arrival at the guidance point.

  In the flowchart of FIG. 4, the process waits until an object appears in the loop of step S409: No, but is not limited thereto. For example, even if an object is not shown, the process proceeds to step S410 and step S411, and guidance information may be output as a predicted guidance. Predictive guidance is, specifically, guidance information using an object that is not yet in the user's field of view, such as, for example, “A right turn is about to turn when a red car is about to be seen”.

  In the flowchart of FIG. 4, the color of the object is identified in step S410, but the present invention is not limited to this. For example, the size of the object, the vehicle type, etc. may be identified, or the step S410 may be omitted and the color of the object may not be identified, and the process may proceed to step S411 and output guidance information.

  In addition, the guidance information using the object is output in step S411. For example, if there are a plurality of objects used for the guidance information in step S408, the guidance information may be output each time the object is reflected in the captured video. Good. Specifically, for example, “The next intersection where you turn left is now the car is turning left”, “The car is turning left again”, “This time the car is turning right”, etc. Guidance information may be output.

(Relationship between detection range by radar and blind area by shooting)
Next, the relationship between the detection range by the radar and the blind area by photographing will be described with reference to FIGS. 5A and 5B. FIG. 5A is an explanatory diagram illustrating a relationship between a detection range by a radar at a guidance point and a blind area by photographing. FIG. 5B is an explanatory diagram illustrating a relationship between a detection range by the radar at a guidance point after a predetermined time has elapsed and a blind area by photographing.

  5A and 5B, the host vehicle 500, the vehicle 501 traveling in front of the same lane, the oncoming vehicle A502, the oncoming vehicle B503, the detection range 510 by the radar, and the blind area 511 by photographing. Are shown. The radar detection range 510 is a range in which an object can be detected by the radar and sonar included in the various sensors 316. The detection range 510 by the radar may be constant, or may be variable depending on the speed of the host vehicle or other vehicles located around the host vehicle and the distance to the guide point.

  The blind area 511 is an area that is not shown in a photographed image such as the back of an obstacle in an image photographed by the camera 317 set at the viewing angle of the user who is aboard the host vehicle 500. Specifically, for example, the area is blocked by the vehicle 501 traveling in front of the same lane in the field of view of the user boarding the host vehicle 500.

  In addition, the determination as to whether or not the area is the blind area 511 may be, for example, a range in which the image does not change with the lapse of time associated with the traveling of the host vehicle in the image by the camera 317 may be determined as the blind area 511. Specifically, the range in which the image does not change with the lapse of time associated with the traveling of the vehicle is specifically determined that, for example, the same image is reflected even if the time elapses because the vehicle is traveling in the same direction ahead. The

  Therefore, for example, by determining whether or not it is the above-described blind area 511, instead of the radar provided in the various sensors 316, navigation devices or passersby installed in other vehicles acquired from the communication I / F. The function of this embodiment can also be realized by using the current position information of the terminal device to be held.

  In FIG. 5A, an oncoming vehicle A502 and an oncoming vehicle B503 are in a blind area 511 formed by a vehicle 501 traveling in front of the same lane. However, since it is within the detection range 510 by the radar, it is not visible to the user, but it is analyzed by the radar that the oncoming vehicle A502 is about to turn right, and the oncoming vehicle A502 is determined to be a vehicle used for guidance information. .

  In FIG. 5B, the oncoming vehicle A502 is out of the blind area 511 because a predetermined time has elapsed from FIG. That is, the oncoming vehicle A502 appears in the image by the camera 317. Therefore, it is determined that the oncoming vehicle 502 has entered the user's field of view, and guidance information is output at this point. Specifically, for example, a voice guidance such as “Turn left at the intersection where the car is about to turn” is output.

  As described above, according to the navigation apparatus 300 of the embodiment, the creation unit 109 moves the position of the object as a mark based on the image acquired by the image acquisition unit 101 and the detection result detected by the detection unit 104. Guidance information on a route for guiding the body can be created and output by the output unit 110.

  Therefore, when creating guidance information using the position of an object as a landmark, the position of an object in a range that is not captured in an image by an obstacle or the like can be detected by the radar. As a result, when performing guidance with the position of an object as a landmark, the user detects the position of an object that does not fall within the user's field of view, and if those objects enter the user's field of view. The guidance information can be output immediately. Therefore, guidance information using the position of an object can be output even on a route with many obstacles.

  Further, according to the navigation apparatus 300 of the embodiment, the creation unit 109 determines that the object that is the landmark determined by the determination unit 106 is captured in the image acquired by the image acquisition unit 101 when the guidance information is captured. Create And the guidance information containing the position of the object used as the mark produced by the output part 110 can be output.

  Therefore, when creating guidance information using the position of an object as a landmark, guidance information using only the position of the object in the user's field of view can be output. This prevents the user from being confused by the output of guidance information using the position of an object that is not in the field of view.

  Further, according to the navigation device 300 of the embodiment, the appearance feature of the object can be identified by the identification unit 108 based on the image acquired by the image acquisition unit 101. Then, the creation unit 109 creates guidance information of a route for guiding the moving body using the position of the object and the appearance characteristics of the object as marks, and the output unit 110 outputs the position of the object created by the creation unit 109 and Guidance information including appearance features can be output.

  Therefore, when a plurality of objects serving as landmarks are determined, each object can be distinguished. Thereby, the user can easily find an object serving as a guide information for guidance information even when a plurality of objects exist around the guidance point.

  Further, according to the navigation apparatus 300 of the embodiment, it is determined that the current position information of the moving body acquired by the position acquisition unit 102 is within a predetermined distance to the guide point where the guide information is created by the distance determination unit 103. In this case, the guidance information can be created by the creation unit 109.

  Therefore, the radar can not be activated until it is within a predetermined distance from the guide point. This allows the user to keep other functions of the radar until it is within a predetermined distance from the guide point.

  As described above, according to the guidance device, the guidance method, the guidance program, and the recording medium of the present invention, the navigation device 300 analyzes the movement state of the object existing in the blind area by the radar, and the guidance information. It is possible to determine the object that becomes the mark of the mark. And when the object used as a mark comes out of a blind area, guidance information can be output immediately. As a result, the user can output guidance information using the position of the object as a landmark as soon as the object enters the range of his field of view.

  The guidance method described in this embodiment can be realized by executing a program prepared in advance on a computer such as a personal computer or a workstation. This program is recorded on a computer-readable recording medium such as a hard disk, a flexible disk, a CD-ROM, an MO, and a DVD, and is executed by being read from the recording medium by the computer. The program may be a transmission medium that can be distributed via a network such as the Internet.

DESCRIPTION OF SYMBOLS 100 Route guidance device 101 Image acquisition part 102 Position acquisition part 103 Distance judgment part 104 Detection part 105 Analysis part 106 Determination part 107 Image judgment part 108 Identification part 109 Creation part 110 Output part

Claims (7)

Image acquisition means for acquiring an image obtained by imaging the moving direction of the moving body;
Detecting means for detecting a position of an object existing in the moving direction by a radar;
Creating means for creating guidance information of a route for guiding the moving body using the position of the object as a landmark, based on the image obtained by the image obtaining means and the detection result detected by the detection means;
Output means for outputting guidance information including the position of the object created by the creating means;
A route guidance device comprising: Analysis means for analyzing the movement state of the object from the position of the object detected by the detection means;
A determination unit that determines an object to be a mark of the guidance information based on an analysis result analyzed by the analysis unit;
Image determining means for determining whether or not an object to be a mark determined by the determining means is captured in the image acquired by the image acquiring means;
With
The creation unit creates the guidance information when the image determination unit determines that the object serving as the mark is captured,
The route guidance apparatus according to claim 1, wherein the output unit outputs guidance information including a position of the object that is the mark created by the creation unit. Identification means for identifying the external features of the object based on the image acquired by the image acquisition means;
The creation means creates guidance information of a route for guiding the moving body using the position of the object and the appearance characteristics of the object identified by the identification means as a mark,
2. The route guidance device according to claim 1, wherein the output unit outputs guidance information including a position and an appearance characteristic of the object created by the creation unit. Position acquisition means for acquiring current position information of the moving body;
Distance determination means for determining whether or not the current position information acquired by the position acquisition means is within a predetermined distance to the guide point where the guide information is created;
With
The route guidance device according to any one of claims 1 to 3, wherein the creation unit creates the guidance information when the distance determination unit determines that the distance is within a predetermined distance. An image acquisition step of acquiring an image obtained by imaging the moving direction of the moving body;
A detection step of detecting a position of an object existing in the moving direction by a radar;
Based on the image acquired by the image acquisition step and the detection result detected by the detection step, a creation step of creating guidance information of a route that guides the moving body using the position of the object as a landmark,
Outputting guidance information including the position of the object created by the creating step;
A route guidance method comprising:   A route guidance program for causing a computer to execute the route guidance method according to claim 5.   A computer-readable recording medium on which the route guidance program according to claim 6 is recorded.

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