200918858 九、發明說明： 【發明所屬之技術領域】 本發明為一種道路影像辨識導航裝置與導銳方法，特 別是透過道路影像的辨識系統增進一般行車導航的正確 性。 【先前技術】 衛星導航技術（Navigation System)逐漸成為人們倚 賴的工具，尤其應用在行車時的交通道路指引上。導航系 統通常是配合著一個全球定位系統（Global p〇siti〇ning System，GPS)’而此全球定位系統現階段則是一種透過至 少24個設置於地球軌道的衛星所發送的微波訊號 (microwave signal)產生定位的功能，其中概要圖式如第 一圖所示。 第一圖顯示為一般導航設備的裝置示意圖，主要是應 用於行車定位與導航上，透過特定數量以上（通常至少三 個）的衛星10與行車定位系統相互來往的訊號定出車輛位 置，更透過特定時間内的位置訊息決定車輛速度與行車方 向。其中包括接收衛星10發送的訊號的定位系統接收器 (GPS receiver) 14，所接收的訊號透過控制單元12進行 訊號處理’能經經緯度運算後得出所處的位置，此時由地 圖資，庫掏取相對於所處位置的道路地圖，配合經緯度 的運算得到定㈣功效，並且透過前後訊號的運算，進而 =到相關移動速度、方向等的導航所需訊息。圖式中控制 單元Π更電ft連接至顯不，驅動單元η，透過顯示單元a 將定與地圖等導航訊息顯示給使用者看，或是電性 200918858 連接至g引導單元19，透過語音提示傳遞導航訊息。 為產生更好的導航功效’習知技術如西元2003年1 月_ 9 f公開的美國專利公開第2〇〇3/〇⑻恥65號所揭露的技 ^ 11亥案是能夠提供行車指引與道路訊息的全球定位系 、、先’、特色係除了能提供一般行車指引外，更能透過網際 網路連線至一個行車訊息伺服器（杜_1 inf_ati〇n ’藉以即時獲知一路上的意外報告、道路狀況、天 氣或疋其他相關的訊息，讓使用者能得到整個行車的狀 况。其中概圖如第二圖所示之導航系統架構圖，此系統包 =有一透過網際網路20連線至導航裝置的行車訊息伺服 益22 ’導航裝置本身具有定位系統26與無線裝置24。 其中’行車訊息伺服器22係能提供地圖資訊與行車路 線的指引，而定位系統26則是收集多個衛星的訊息定出使 ，此導航裝置的車輛位置，其中具有一個如行動電話或是 衛生呼叫系統（satellite paging system)的無線通訊系統 261而圖式中的無線展置24則是透過無線通訊連結定位 系統26中的無線通訊系統261，以得到車輛定位的資訊， 再透過網際網路20連線到行車訊息伺服器22，使用者能 藉以獲得完整的行車指引訊息。 雖然上述的衛星導航系統帶來許多在行車或是尋找仅 置的便利性，但是因為其中導航訊息的精確度不足也會產 生不少困擾。比如遇到地圖的解析度不夠，而導致在小路 行駛時導航失s吳的問題；或是在重要需要抉擇的路口無法 即時反應時，也會造成駕駛者開錯路的窘境；另外，導航 系統遇到有高架路段的道路時，將無法判斷是在地面道路 200918858 而可能造成錯誤導航。 行驶或是在高架路段行敬 【發明内容】 本發明揭露一稀、# 為改善傳統導航影像辨識導航裝置與導航方法， %興道路辨識的 一…、μ，付別边過暹略 性，主要實施例係於特…王^以增進—般行車導航的正確 地的道路進行辨钟&疋路^又針對兩條並行卻有不同目的 行駛方向，或是根據，助‘航系統能夠正確地提醒駕駛者 是途經高架道路，透者的行駛路線進行重新規劃；或 在高架路段或是地面=办像辨識輔助定位系統判斷車輛是 劃行車路線。 路辅助導航系統能正確判斷與規 此道路影像辨識導 路影像處理系統進行道j置之較佳實施例包括透過一道 於汽機車等交通工具=影，的擷取與辨識，其具有裝設 進行影像處理後，弓丨入—，衫裝置，經道路影像處理系統 即時拍攝的影像與資料'^像資料庫中的道路影像，比對 行駛的道路。 、、中的道路影像，藉以判斷車輛所 接著判斷當下車輛_ 此導航裝置中的導航系仃駛的道路，並將辨識結果傳入 定位訊號，配合所連接的，導航系統係接收一定位系統之 位訊息。最後，透過—自地圖資料庫的訊息產生完整的定 包括顯示於顯示器上導二、輪出系統輸出準確的導航訊息， 醒駕駛者目前的行駛狀=線路或訊息，或透過語音方式提 而本發明之道路旦彡伯a 〜象辨識導財法流程包括先判斷是 200918858 路段時，即啟動辨識的路段，若為欲進行辨識的 對，藉此辨識i二ί影像’透過時間同步化的影像比 結果傳入導織經觸後，將產生觸結果，將 於行經有平賴路戈θ錢生導紙1，射實_包括： 過語音或路卻有不同目的地的道路時能透 路的路3 駕驶者’或是當行經具有高架道 知驶的道路外，更能於走錯路線時即時提供導==應 【實施方式】 制路狀況提供改善傳統導航系統的限 二甲所針對㈣路況的實施例至少包括有： 缉备^況.仃經的需要選擇的道路路口時，藉由道路辨 二辨ιί對此具有兩條並行或叉路卻有不同目的地的道路進 情況二：行經具有高架道路的路段時气 二統能辅助騎該車輛是倾高架道路敍—般地= 如圖式第三圖所示的道路愔__ . ^ ^ *至具有又路的道路的二二== 析度不夠好而無法清楚顯示規劃=::: 勺¥航糸統令的地圖貧料庫可得知目前正要通過需要 200918858 道：辨硪的路段，舉例來說 / 圖中的第-道路32與第二道路糸統無法清楚顯示 道路影像辨識機制，即啟動動本發明所提供 此能經由與-影像資料庫（未:辨識導叙裝置， 像進行比對，在接近叉路路 ；/ )尹所儲存的影 與第二道路34的影像辨識丁圖式尹第一道路32 圖幻提醒駕駛者應該靠右走第音^(未顯示於 一道路32。 路34或疋罪左直行第 另外，若是駕驶者仍錯過此需 本發明所提供的路影路的叉路時， ;;的道路’並立刻重新規劃與修正導航路二 第四圖所示為另一道路情況示音周 行敬於具有高架道路的路段4Q，“二=所示為車輛 架道路42或地面道路44，因為一般的接收从線可能為高 ，緣的導航系統無法判斷該車輛行㈣: 故行驶此種路段時’能透過本發明所提供 碎識導航裝置對所㈣的道路進行道路影像辨識，= 丄透過車上的導航系統中的地圖資料庫得知目前^通 =要道路辨識的路段，即啟動道路影像辨識機制，此機 月匕將所拍攝的道路影像與上述之影像資料庫（未頻示於 =中）中^儲存的影像進行比對，藉以判斷該車辆是高架 、略42 ’還是行驶於地面道路私。 ’、 當判斷出該車輛所行駛的道路後，若判斷與 的路線有差異時’可修正或是重新規劃正確的導航路‘ 10 200918858 本發明所揭露的道路影像辨識導航裝置與導航方法並 ^限制於上述兩種道路情況，而可應用於可能混淆駕駛者 的路段上’包括更複雜的交又路口的辨識，其中之較佳實 =例係導航系統之地圖資料庫中記載有特定需要進行 ^路辨狀彳以’透過此地目資料庫能得知目前正要通過 ^己之路⑽動道路影像處理祕進行道路影像之搁 取^辨識’再藉以輔助原來導織統，得到更準確的導航 功效。 _立;五圖則顯示本發明道路影像辨識導航裝置功能方塊 主要是透過圖式中的道路影像處理系統53進行道 ^像的娜與辨識，此道路影 統5 ^裝置51，攝影裝置51裝設於汽機車等交通工 狀㈣_像’所產生的影像訊號經由道 55中所儲存的複數特殊道路影像資料。由此，道 2 理糸統53比對即時拍攝的影像與資料庫中的道路号 =判斷車輛所行駛的道路。在這裡，該些特殊道路=精 料係紀錄-些需要執行道路影像辨識的路段，二象貝 等特殊道路上之道路特徵，舉例來說，道路特4於該 =路中的交通號諸、地面標線、行道樹、路 疋其他路面上的特徵。 為物或 上述影像資料庫55之實施例可為此導航裂 存的資料庫，亦可透過網路或是其他無線連結 , 的遠端資料庫，並能隨時更新當中的影像資 八^連線 辨識的準確度。 ^ 、’ ，Μ求道略 11 200918858 道路影像處理系統53係電性連接—導航系統Μ =糸統57係電性連接—地圖f料庫％，藉始 路。此地圖資料庫54具有複數標記（財未示），=:線 :!為：55之複數特殊道路影像資。路己 導航;距離内時，即告知 且吩〜像處理糸統53起動此道 當透過道路影像處理系統53接收由導航“= = ==:=，即啟動此道； 存特殊道路影像資料後，產;料; …道路辨識訊息傳人此導航裝置中的導航系統5?。、’ ㈣電性連接—定位純即，此定 收來自複數個衛星58的^備（未顯示於圖中）接 之車b，狀出配備此導銳裴置 傳遞=路影像處理系統53所 斷出所行敬的道路心ί 的疋位訊號’經整合後，判 高架路段或是容易可能混淆的路況’如上述又路、 接的訊自私山/易的的這路，透過導航系統W所電性連 或透過語音方式;以:==線:或訊息， 者變換車道、左轉、右4:二爾況’提供給駕驶 種!·月况疋’當此具有道路辨識能力的導航裝置經 200918858 ί战後I現駕敬者已經偏離原本規劃的航道時，將即時修 正或重新規劃導銳路線。 士，第五圖顯不的道路影像辨識導航裝置之實施例主 田，疋結合裝載於車輛上的影像識別系統與導航系統， ^用/像觸技_取前枝路影像，透過道路辨識能夠 =辨4仃進巾的車輛行進在哪—條路面上，能於適當時 4、、過道路影像辨識修正導航系統，並於接近需要選擇的 ^時能透過語音裝置提示駕駛者靠内或是靠外行駛，或 疋其他方向的指引。 第八圖則是顯示此導航方法的主要流程。 、:私由步驟邡〇1開始，當具備本發明之導航裝置的車 ，或是义其他移動物將要通過地wf料庫巾财標記之路段200918858 IX. Description of the Invention: [Technical Field] The present invention relates to a road image recognition navigation device and a guide method, and in particular, improves the correctness of general navigation through a road image recognition system. [Prior Art] The Navigation System has gradually become a tool that people rely on, especially when it comes to traffic guidance when driving. The navigation system is usually paired with a Global Positioning System (GPS), which at this stage is a microwave signal transmitted through at least 24 satellites placed in Earth orbit. The function of generating the positioning, wherein the schematic diagram is as shown in the first figure. The first figure shows a schematic diagram of a device for a general navigation device, which is mainly applied to driving positioning and navigation, and determines the position of the vehicle through a certain number of (usually at least three) satellites 10 and the driving positioning system. The position information at a specific time determines the speed of the vehicle and the direction of travel. The positioning system receiver (GPS receiver) 14 for receiving the signal transmitted by the satellite 10, the received signal is processed by the control unit 12 for signal processing, and the position can be obtained after the latitude and longitude operation, and the location is obtained by the map. Take the road map relative to the location, and use the operation of the latitude and longitude to obtain the (four) effect, and through the operation of the front and rear signals, and then = the information required for navigation related to the moving speed, direction, and the like. In the figure, the control unit Π is connected to the display unit η, and the navigation unit η displays the navigation information such as the map and the display to the user through the display unit a, or is connected to the g guide unit 19 through the audio prompt 200918858. Pass navigation messages. In order to produce better navigational effects, the techniques disclosed in the US Patent Publication No. 2〇〇3/〇(8) Shame 65, published in January 2003 _ 9 f, are capable of providing driving directions and In addition to providing general driving directions, the road information's global positioning system, the first feature, can also be connected to a driving message server via the Internet (Du_1 inf_ati〇n ' to instantly know the accident along the way. Reports, road conditions, weather or other related information, so that users can get the status of the entire driving. The overview is shown in the navigation diagram of the navigation system shown in Figure 2, this system package = one through the Internet 20 The line-to-navigation device's driving information servo 22' navigation device itself has a positioning system 26 and a wireless device 24. Among them, the driving information server 22 can provide guidance for map information and driving directions, and the positioning system 26 collects multiple The satellite message determines the location of the vehicle of the navigation device, which has a wireless communication system 261 such as a mobile phone or a satellite paging system. The wireless display 24 in the figure is connected to the wireless communication system 261 in the positioning system 26 through the wireless communication to obtain the information of the vehicle positioning, and then connected to the driving message server 22 through the Internet 20, and the user can In order to obtain a complete driving guide message. Although the above-mentioned satellite navigation system brings a lot of convenience in driving or looking for only, but because the accuracy of the navigation information is insufficient, there will be many problems. For example, the analysis of the map is encountered. Insufficient degree, which leads to the problem of navigation loss when driving on a small road; or when the intersection that is important to be determined cannot respond immediately, it will also cause the driver to open the wrong way; in addition, the navigation system encounters an elevated section. When the road is on, it will be impossible to judge that it is on the ground road 200918858 and may cause wrong navigation. Driving or on the elevated road section [Abstract] The present invention discloses a thin, # to improve the traditional navigation image recognition navigation device and navigation method, One of the road identifications, μ, the farewell side of Siamese, the main example is in the special... Wang ^ to promote - driving The correct road of the voyage is used to discriminate the bell & the road is also for two parallel but different directions of travel, or according to the aid, the navigation system can correctly remind the driver that the route is through the elevated road. Re-planning; or in the elevated section or the ground = image recognition auxiliary positioning system to determine that the vehicle is a route of the road. The road-assisted navigation system can correctly determine and optimize the road image recognition guide image processing system. The embodiment includes capturing and recognizing through a vehicle such as a motor vehicle, which has an image for processing and image processing, and the image and data that are immediately captured by the road image processing system. Like the road image in the database, compare the roads that travel. And the road image in the middle, in order to judge that the vehicle then judges the current vehicle _ the navigation system in the navigation device drives the road, and transmits the identification result to the positioning signal, and the navigation system receives the positioning system. Bit message. Finally, through the information generated from the map database, the complete set includes the navigation information displayed on the display, the rounding system output accurate navigation information, the driver's current driving status = line or message, or voiced The invention of the road 彡 彡 a 〜 象 象 〜 〜 〜 〜 〜 象 象 象 象 2009 2009 2009 2009 2009 2009 2009 2009 2009 2009 2009 2009 2009 2009 2009 2009 2009 2009 2009 2009 2009 2009 2009 2009 2009 2009 2009 2009 2009 2009 2009 2009 2009 2009 2009 2009 2009 After the result of the incoming guide weaving, it will produce a touch result, which will pass through the Pinglai Luge θ Qiansheng paper guide 1, and the shooting _ includes: when the voice or road has different destinations, the road can be transparent. Road 3 Driver's or when passing through a road with elevated road knowledge, it is better to provide guidance immediately when the wrong route is taken. == [Embodiment] Road conditions provide a limit for the improvement of the traditional navigation system (4) The examples of road conditions include at least: 缉 ^ 仃 仃 仃 需要 需要 需要 需要 需要 需要 需要 需要 需要 需要 需要 需要 需要 需要 需要 需要 需要 需要 需要 需要 需要 需要 需要 需要 需要 需要 需要 需要 需要 需要 需要 需要 需要 需要 需要 需要 需要 需要2: When passing through a section with elevated roads, Qi 2 can assist in riding the vehicle. It is a high-rise road. The road shown in the third figure is __ . ^ ^ * to a road with a road Twenty-two == The degree of resolution is not good enough to clearly show the plan =::: Spoon ¥ 糸 糸 的 的 地图 map of the poor library can be known that the current need to pass 200918858 Road: identify the road section, for example / in the picture The first road 32 and the second road system cannot clearly display the road image recognition mechanism, that is, the activation of the present invention can be provided via the image database (not: the identification guide device, the image is compared, in the vicinity of the fork) Road; /) Yin stored shadow and the image recognition of the second road 34 Ding Ying Yin first road 32 Figure magic reminds the driver should go right to the first sound ^ (not shown on a road 32. Road 34 or 疋In addition, if the driver still misses the fork road that requires the road shadow road provided by the present invention, the road 'and immediately re-plans and corrects the navigation road. The voice of Zhou Xing is on the road section 4Q with elevated roads, "two = shown as a car The road 42 or the ground road 44, because the general receiving line may be high, the navigation system of the edge cannot judge the vehicle line (4): Therefore, when driving such a road section, the vehicle navigation device provided by the present invention can be used. The road image is identified by the road, = 丄 through the map database in the navigation system of the vehicle, it is known that the road section that is to be identified by the road, that is, the road image recognition mechanism is activated, the road image of the road is taken The images stored in the above image database (not shown in =) are compared to determine whether the vehicle is elevated, slightly 42 'or driving on the ground road privately. ', when judging that the vehicle is traveling After the road, if it is judged that there is a difference between the route and the route, it can be corrected or re-planned the correct navigation route. 10 200918858 The road image recognition navigation device and the navigation method disclosed in the present invention are limited to the above two road conditions, but Applied to road segments that may confuse drivers, including the identification of more complex intersections, which are better recorded in the map database of the navigation system. It is necessary to carry out the identification of the road to see through the database of the local target that it is currently going through the path of the image of the road (10) to carry out the image of the road image and to identify it, and then to assist the original guide weaving system. More accurate navigation. The fifth figure shows that the function block of the road image recognition navigation device of the present invention mainly performs the identification and recognition of the image through the road image processing system 53 in the figure. The road system 5^ device 51, the camera device 51 The image signals generated by the traffic signs (4)_images such as steam locomotives are stored in the special road image data stored in the road 55. Thus, the channel 53 compares the image of the instant shot with the road number in the database = the road on which the vehicle is traveling. Here, these special roads = fine material records - road sections that need to perform road image recognition, road features on special roads such as two elephants, for example, road traffic in the road Characteristics of ground markings, street trees, and other road surfaces. The embodiment of the object or the image database 55 can be used for the navigation of the database, or through the network or other wireless connection, the remote database, and can update the image at any time. The accuracy of the identification. ^ , ' , pleading for the road 11 200918858 Road image processing system 53 is electrically connected - navigation system Μ = 57 57 57 series electrical connection - map f library %, borrowed from the beginning. This map database 54 has a plural mark (not shown), =: line:! is: a plurality of special road image assets of 55. The road has been navigated; when it is within the distance, it is notified that the image processing system 53 starts the road. When the road image processing system 53 receives the navigation by the navigation system, "= ===:=, the road is activated; after the special road image data is saved, (Production; material; ... road identification message passed on the navigation system in the navigation device 5?, ' (4) electrical connection - positioning pure, this is received from a plurality of satellites 58 (not shown in the figure) The vehicle b is equipped with the guidance device. The road image processing system 53 breaks the road signal of the road that is respected. After the integration, the elevated road section or the road condition that is easily confused may be judged as described above. The way to the road, the self-sufficient mountain/easy, through the navigation system W electrical connection or through voice; to: == line: or message, change lane, turn left, right 4: Er Er 'Provided to the driving kind!·月况疋' When this navigation device with road recognition capability has been deviated from the original planned navigation channel after the 200918858 ί war, the guide route will be corrected or re-planned immediately. The road map identification navigation device shown in the fifth figure The main field of the project, combined with the image recognition system and the navigation system mounted on the vehicle, can be used to identify the vehicle where the vehicle is traveling. In the above, the navigation system can be modified at the appropriate time, and the road image recognition correction system can be used to prompt the driver to drive inside or outside, or to guide in other directions when the device needs to be selected. Then, it is the main flow of displaying the navigation method. The private phase starts with step 邡〇1, and the vehicle with the navigation device of the present invention, or the road where the other mobile objects are to pass the landmark of the wf library.
日可’於㈣一段距離内啟動道路影像處理系統之攝影裝置（步 驟 S601); J 利用裝設於車輛上的攝影裝置擷取道路影像，其實施 例如透過裂设於車輛前使用C⑶或⑶〇s等感光元件的攝影 機於通過上述需要辨識的路段時擷取行駛中的道路影像， 或透過使用者啟動拍攝功能，再擷取一道路影像（步驟 S603)道路衫像係為一經數位化的攝影裝置拍攝的道路影 像。 ' —之後，將道路影像與一影像資料庫中的—特殊道路影 像資料進行辨識’（步驟S6〇5)。於此步驟中，係比對所拍 攝的道路影像與特殊道路影像資料之道路特徵，例如道略 中的父通號誌、地面標線、行道樹、路旁建築物或是其他 路面上的特徵進行比對，藉以判斷實際道路狀況。如此〜 13 200918858 來，係可辨識上述情況—中杆 不同目的地的道路，與情況二中;:^兩條，行或又路卻有 時為行駛高架道路還是—妒 具有尚架道路的路段 此導航裝置内置儲存的資料庫，而影像資料庫可為 線連結方式所連線的遠端資料庫:為透過網路或是其他無 經辨硪後，將產生辨識結果 驟S607)，接著產生導自/將、、，Q果傳入導航糸統（步 括·· 產卜“息(步驟，其中實施例包 清况一.行經有平行道路或 道路時，若導航系統事先所規書=;=目㈣的 航系統可透過語音提示或是技c向右走，則此導 走，若原賴釗么A —土疋忠幕頒不提醒駕駛者需要靠右 作若駕驶者：二α ·:，則導航系統將提前提示靠左走； 規Ξΐϊΐί:系統經道路辨識後，則由系統重新 、Η 、、’ ’再透過4音或是顯示螢幕提醒駕歇者； t二：行經具有高架道路的路段，除了導航系統能 ，過道路辨識提醒駕駛者應該行駛的 ，時即時提供導航訊息。若導航系統原先』:路： ^道路’而駕駛者卻行敬地面道路，經道路辨識後，則 ^重新規劃或修正原先路線；反之，若原先規劃為地面 、路，而駕駛者卻行駛高架道路，則經道路辨識後，能即 時重新規劃或修正路線。 綜上所述，本發明為一種道路影像辨識導航裝置與導 航方法，主要是透過裝載於車輛上的道路影像辨識系統辅 助一般的導航系統，提供更準確的導航服務。 惟以上所述僅為本發明之較佳可行實施例，非因此即 14 200918858 侷限本發明之專利範圍，故舉凡運用本發明說明書及圖示 内容所為之等效結構變化，均同理包含於本發明之範圍 内，合予陳明。 【圖式簡單說明】 第一圖係為習用技術衛星導航設備之裝置示意圖； . 第二圖係為習用技術之導航系統架構示意圖； 第三圖所示為道路情況示意圖之一； 〔第四圖所示為道路情況示意圖之二； 第五圖顯示本發明道路影像辨識導航裝置之實施例功 能方塊不'意圖，以及 第六圖顯示本發明利用道路影像辨識之導航方法之實 施例流程圖。 控制單元12 定位系統接收器14 顯示單元18 網際網路20 定位系統26 無線通訊系統261 路段3G，40 第二道路34 主要元件符號說明】 衛星10 地圖資料庫16 顯示驅動單元17 語音引導單元19 行車訊息伺服器22 無線裝置24 汽車301 第一道路32 15 200918858 高架道路42 攝影裝置51 影像資料庫55 導航系統57 地圖資料庫54 地面道路44 道路影像處理系統53 訊息輸出系統56 定位系統59 衛星58 S601〜S609道路影像辨識之導航方法之步驟 16The camera device of the road image processing system is activated within a distance (step S601); J uses a camera mounted on the vehicle to capture a road image, which is implemented, for example, by using C (3) or (3) in front of the vehicle. The camera of the photosensitive element picks up the road image while traveling through the above-mentioned road segment to be identified, or captures a road image by the user initiating the shooting function (step S603). The road image system is digitally imaged. Road image taken by the device. '- After that, the road image is identified with the special road image data in an image database' (step S6〇5). In this step, the road features of the road image and the special road image data are compared, such as the father's slogan, the ground marking, the street tree, the roadside building or other features on the road surface. Compare to determine the actual road conditions. So ~ 13 200918858, can identify the above situation - the roads of different destinations in the middle pole, and the second situation;: ^ two, the line or the road is sometimes the road to the elevated road or the road section with the road The navigation device has a built-in stored database, and the image database can be a remote database connected by a line connection method: after passing through the network or other unidentified, a recognition result is generated S607), and then generated Guided from / will,,, Q fruit into the navigation system (steps · · · Produce Bu "interest (steps, where the case package clear conditions. 1. When there are parallel roads or roads, if the navigation system is in advance? ; = (4) The navigation system can go to the right through voice prompts or skill c, then this guide, if the original Lai 钊 A - 疋 疋 颁 颁 提醒 提醒 提醒 提醒 提醒 提醒 提醒 提醒 提醒 提醒 提醒 提醒 提醒 提醒 提醒 提醒 提醒 提醒 提醒 提醒 提醒 提醒 提醒 提醒:, the navigation system will prompt to go to the left in advance; Ξΐϊΐ Ξΐϊΐ :: After the system is identified by the road, the system will re-send, Η,, ' ' and then pass the 4 tone or display screen to remind the driver; t 2: Walk through the elevated The road section, except the navigation system, the aisle If the driver reminds the driver that he should drive, he will provide the navigation message immediately. If the navigation system originally 』:路:^路' and the driver is on the road, after the road identification, then re-plan or correct the original route; If the original plan is for the ground and the road, and the driver is driving the elevated road, the road can be re-planned or corrected immediately after the road is identified. In summary, the present invention is a road image recognition navigation device and a navigation method, mainly The road image recognition system mounted on the vehicle assists the general navigation system to provide a more accurate navigation service. However, the above description is only a preferred embodiment of the present invention, and thus it is not limited to the patent scope of the present invention. Therefore, the equivalent structural changes made by using the specification and the contents of the present invention are included in the scope of the present invention and are combined with Chen Ming. [Simplified illustration] The first figure is a conventional satellite navigation device. Schematic diagram of the device; The second diagram is a schematic diagram of the navigation system architecture of the conventional technology; the third diagram shows the road situation One of the schematic diagrams; [the fourth diagram shows the schematic diagram of the road situation; the fifth diagram shows the functional block of the embodiment of the road image recognition navigation device of the present invention, and the sixth figure shows the navigation of the road image recognition of the present invention. Flow chart of embodiment of method. Control unit 12 Positioning system receiver 14 Display unit 18 Internet 20 Positioning system 26 Wireless communication system 261 Road section 3G, 40 Second road 34 Main component symbol description] Satellite 10 Map database 16 Display driver Unit 17 Voice guidance unit 19 Driving message server 22 Wireless device 24 Car 301 First road 32 15 200918858 Elevated road 42 Photographing device 51 Image database 55 Navigation system 57 Map database 54 Ground road 44 Road image processing system 53 Message output system 56 positioning system 59 satellite 58 S601 ~ S609 road image identification navigation method step 16