WO2007142084A1

WO2007142084A1 - Navigation device

Info

Publication number: WO2007142084A1
Application number: PCT/JP2007/060922
Authority: WO
Inventors: Takashi Akita; Takahiro Kudoh; Tsuyoshi Kindo
Original assignee: Panasonic Corporation
Priority date: 2006-06-05
Filing date: 2007-05-29
Publication date: 2007-12-13
Also published as: JPWO2007142084A1

Abstract

A navigation device where the size or clarity of that portion of a guidance arrow that indicates the left and right turning direction are controlled based on the distance from the position of a vehicle up to a target point to which the vehicle is to be guided. The construction reduces possibilities that a background image is covered by the guidance arrow immediately before the target point. The navigation device has an object creation section (107) for creating a guidance object, an object control section (108) for controlling, based on the distance from the position of the vehicle up to the target point, the size and clarity in display of a specific portion of the guidance object, and a display control means (109) for performing, based on the guidance object obtained by the control of the object control section (108), navigation display in a driver's view display mode.

Description

Specification

Navigation device

Technical field

TECHNICAL FIELD [0001] The present invention relates to a navigation device, and more specifically to a navigation device that displays a guidance object superimposed on a three-dimensional space image.

Background art

[0002] Conventionally, a navigation system that performs a route search from a current vehicle position to a set destination and guides a route using a stored map data to a guide point existing on the route.

RU

[0003] Recent navigation devices can store more detailed map data due to the large capacity of recording media such as HDD (Hard Disk Drive) and DVD (Digital Ver catile Disk). . For this reason, for example, 3D bird's-eye view display and driver's view using real 3D CG are being used for map display in pursuit of ease of sharing and reality.

[0004] When three-dimensional map display is performed in this way, it is important that the guide arrows (route guide lines) are easy to see. In particular, the viewpoint altitude is lowered to about the height of the vehicle, It is preferable that a three-dimensional map display as seen from the line of view is performed.

[0005] Conventionally, when a front image of a vehicle is acquired by an imaging means such as a video camera and approaches a guide point (an intersection or branch point to be turned left or right on the route), the guide point A driving guidance image display method for an in-vehicle navigation device has been proposed that displays an arrow image as route guidance information indicating the course of the vehicle in (see, for example, Patent Document 1).

[0006] In such a three-dimensional map display, if the guide point is far away from the current vehicle position, as shown in FIG. It becomes difficult to see for the user.

[0007] Therefore, conventionally, a guide object extending along a right-left turn road is usually displayed thinly, and is a guide object with poor visibility, so that it has a height with respect to the ground plane. There is a proposal for a technique for this (see Patent Document 2).

Patent Document 1: JP-A-7-63572

Patent Document 2: Japanese Patent Laid-Open No. 2003-337033

Disclosure of the invention

Problems to be solved by the invention

[0008] However, according to the prior art, since the portion indicating the right / left turn direction of the guide arrow is displayed in a state of standing perpendicular to the ground plane of the three-dimensional image, the height of the portion indicating the right / left turn direction is displayed. As shown in FIG. 16, the background image is concealed by the guidance arrow immediately before the guidance point. For this reason, it is difficult for the user to recognize the situation around the guide point. The ground plane refers to the tangent plane between the vehicle and the road. Hereinafter, it is referred to as a ground plane.

Accordingly, the present invention has been made in view of the above problems. In other words, based on the distance from the vehicle position to the guide point, the height or transparency of the part that indicates the direction of the left or right turn of the guide arrow with respect to the ground plane of the three-dimensional space image is controlled, so that An object of the present invention is to provide a navigation device that reduces the fact that a background image is hidden by a guide arrow. The 3D spatial image includes a real image and a 3D map image.

Means for solving the problem

[0010] An aspect of the present invention is directed to a navigation apparatus. The present invention provides an object generation unit that generates a guide object, and an object control unit that controls the display size or transparency of a predetermined portion of the guide object based on the distance to the vehicle position force guide point. And a display control unit that displays navigation based on a driver's view based on the guidance object obtained by the control of the object control unit.

[0011] Further, it is preferable that the object control unit controls the size of the display by controlling the inclination of a predetermined portion of the guide object based on the distance from the vehicle to the guide point. .

[0012] Further, the object control unit can control the inclination by controlling the angle of the portion of the guide object that instructs the left or right turn based on the distance from the vehicle to the guide point. preferable. [0013] In addition, it is preferable that the object control unit reduce the angle of the vehicle position force as the distance to the guide point is shorter.

[0014] Further, it is preferable that the object control unit reduce the angle within a range of 90 degrees force and 0 degrees.

[0015] Further, the object control unit may control the size of the display by controlling the height of a predetermined portion of the guide object based on the distance to the vehicle position force guide point. preferable.

[0016] Further, it is preferable that the object control unit controls the height of a portion instructing a right or left turn in the guide object based on a distance to the vehicle position force guide point.

[0017] Further, it is preferable that the object control unit lowers the vehicle position force as the distance to the guide point is shorter.

[0018] In addition, it is preferable that the object control unit increases the transparency of the portion of the guidance object that instructs to turn left or right as the vehicle position force is closer to the guidance point.

[0019] Further, it is preferable that the display control unit superimposes and displays the guidance object on the three-dimensional map image.

[0020] Further, it is preferable that the display control unit superimposes and displays the guidance object on the photographed image.

The invention's effect

[0021] As described above, according to the aspect of the present invention, the part that indicates the right / left turn direction of the guide arrow with respect to the ground plane of the three-dimensional space image based on the distance from the vehicle position to the guide point. By controlling the size or transparency, it is possible to provide a navigation device that reduces the fact that the background image is hidden by the guide arrow immediately before the guide point.

Brief Description of Drawings

FIG. 1 is a block diagram showing an overall configuration of a navigation device according to an embodiment of the present invention.

FIG. 2 is a diagram showing an example of information stored in a map database. FIG. 3 is a diagram showing an example of a road and branch point network formed by nodes, interpolation nodes, and links stored in a map database.

FIG. 4 is a flowchart showing the operation of the navigation device according to the embodiment of the present invention.

[FIG. 5] FIG. 5 is a diagram showing a method of setting a camera visual field space in a three-dimensional map space.

FIG. 6 is a diagram showing roads detected by road detection processing.

[FIG. 7] FIG. 7 is a diagram showing definitions of a straight direction arrow and a right / left turn direction arrow.

[FIG. 8] FIG. 8 is a diagram showing the relationship between the distance D and the angle Θ.

FIG. 9 is a cross-sectional view showing an angle Θ between a right / left turn direction arrow and the ground plane.

[10] FIG. 10 is a diagram showing a guidance arrow at a point away from the guidance target intersection. [11] Fig. 11 is a diagram showing a guidance arrow at a point approaching the guidance target intersection.

FIG. 12 is a diagram showing the relationship between distance and height.

[FIG. 13] FIG. 13 is a diagram showing a guide arrow at a point away from the intersection of the prior art guidance target.

FIG. 14 is a diagram showing the relationship between distance and transparency.

[FIG. 15] FIG. 15 is a diagram showing a guide arrow at a point away from the intersection of the prior art guidance target.

[FIG. 16] FIG. 16 is a diagram showing a guide arrow at a point near the intersection power of the conventional guidance object.

Explanation of symbols

100 navigation equipment

101 Video acquisition unit

102 Positioning part

103 Map database

104 Input section

105 Control unit

106 Route search unit 107 Arrow control section

108 Arrow generator

109 Display controller

110 Display

BEST MODE FOR CARRYING OUT THE INVENTION

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

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

[0026] The video acquisition unit 101 is, for example, a camera that captures a live-action video in front of the vehicle. The positioning unit 102 is a positioning sensor that acquires information related to the position of the host vehicle, such as a GPS (Global Positioning System) or a gyro attached to the vehicle.

[0027] The map database 103 is, for example, an HDD or a DVD that stores map information such as data on roads and intersections. However, the present invention is not limited to this, and the map information may be appropriately downloaded to the map database 103 by the communication means (for example, a mobile phone) (not shown).

[0028] FIG. 2 shows data extracted from the map information stored in the map database 103, which is related to the present embodiment. The map database 103 includes (A) node data, (B) interpolation node data, and (C) link data.

[0029] The node data is a point where the road branches in several directions, such as an intersection or a merge point, position information such as latitude and longitude for each node, and the number of links to be described later connected to the node, and The ID power of the link is also configured.

[0030] Interpolation node data is present on a link to be described later, and represents a turning point for expressing the shape of the link, such as when the link is not a straight line. Consists of existing link IDs.

[0031] Link data represents a road connecting nodes, and is a start point that is an end point of a link. It consists of the node, end node, link length (unit: meters, kilometers, etc.), the number of interpolation nodes mentioned above, road width, and its ID.

[0032] Fig. 3 shows an example of a road and intersection network formed by such map data. As shown in Fig. 3, three or more links are connected to a node and connected to another node, and an interpolation node for controlling the link shape exists on that link. If the link is a straight road, an interpolation node does not necessarily exist.

[0033] The input unit 104 is, for example, a remote controller, a touch panel, or a voice input microphone for inputting information on the destination to the navigation device. Control unit 105

The navigation device 100 is controlled as a whole.

[0034] The route search unit 106 includes information on the destination input from the input unit 104, and a positioning unit.

Based on the vehicle position information acquired from 102, the map database 103 is referenced to search for the optimum route to the destination.

[0035] The arrow generation unit 107 generates a guide arrow along the road corresponding to the guide route searched by the route search unit 106 among the roads detected by the road detection process in the three-dimensional space image. Generate.

[0036] The arrow control unit 108 controls the angle formed by the portion of the guide arrow that indicates the direction to turn left and right with the ground plane of the 3D map. The display control unit 109 causes the display unit 110 to display the guidance arrow obtained by the control of the arrow control unit 108 on the photographed video.

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

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

[0039] Furthermore, the control unit 105 captures a 3D map, video capture stored in the map database 103. The field of view of the camera in the 3D map space is calculated based on the camera direction, camera position (camera angle (horizontal angle, elevation angle)), focal length, and image size, which are parameters for determining the imaging direction and imaging range of the acquisition unit 101. S404). Here, in the 3D map, position information is represented based on latitude, longitude, and altitude.

[0040] The visual field space of the camera is obtained, for example, by a method as shown in FIG. In a three-dimensional space, a point (point F) advanced from the camera position (viewpoint) E by the focal length f in the camera angle direction is obtained, and a horizontal X vertical y plane (camera screen) corresponding to the image size is found there. It is set to be perpendicular to the vector connecting E and point F. Next, the control unit 105 obtains a three-dimensional space in which the half-line connecting the four corner points of the camera screen is also created as the viewpoint E force. This three-dimensional space theoretically extends to infinity, but is censored at an appropriate distance from the viewpoint E to be a viewing space.

[0041] It should be noted that the control unit 105 may calculate the field of view of the camera in the 2D map space using a 2D map excluding the 3D map power altitude information instead of the 3D map. . The parameters for determining the imaging direction and the imaging range are not limited to those described above, and may be calculated using other parameters such as the angle of view as long as the imaging direction and the imaging range are determined.

Next, the control unit 105 determines whether or not the vehicle has reached the destination (step S405). If the destination has been reached in step S405, the control unit 105 ends the process. On the other hand, if it is determined in step S405 that the destination has not been reached, the control unit 105 performs a road detection process for detecting a road existing in the field of view of the camera and its position in the 3D map space. Perform (Step S406).

[0043] In the road detection process, the control unit 105 obtains an overlap between the camera view space and the road area in the three-dimensional map space. Figure 6 shows the roads detected by the road detection process. Fig. 6 shows the 3D map space and the camera field of view viewed in the upward direction. In the road detection process, the shape and width of the road in the vicinity of the vehicle is extracted based on the node data, the interpolation node data, and the link data. Then, as shown in FIG. 6, the road surrounded by the visual field space (the hatched portion) is detected as a road existing in the visual field space of the camera. [0044] Next, the arrow generation unit 107 guides the shape along the road corresponding to the guide route searched by the route search unit 106 among the roads detected by the road detection process in the 3D map space. An arrow is generated (step S407).

[0045] The arrow control unit 108 separates the guide arrow into a straight direction arrow and a right / left turn direction arrow, and determines an arrangement on the road corresponding to the guide route in each of the three-dimensional map spaces. . This separation process is performed by determining which node is the separation point between the straight direction arrow and the right / left turn direction arrow based on the information of the nodes constituting the guide arrow.

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

[0047] In the guide arrow arrangement process, the arrow control unit 108 arranges the straight direction arrow so as to overlap in parallel with the ground plane on the corresponding road in the three-dimensional map space (step S408). On the other hand, the arrow control unit 108 changes the arrangement of the right and left turn direction arrows in accordance with the vehicle position force and the distance to the guidance target intersection. Specifically, the arrow control unit 108 first calculates the distance from the own vehicle position to the next intersection to be guided through which the own vehicle passes (step S409). In the following, it is assumed that the distance to the target intersection for the vehicle position guidance is calculated periodically.

[0048] Next, the arrow control unit 108 determines that the distance D from the vehicle position to the guidance target intersection is a predetermined value.

(Distance D1) It is determined whether the force is below (step S410). In step S410, when the arrow control unit 108 determines that the distance D is greater than the distance D1, the arrow control unit 108 arranges only the straight direction arrow without arranging the right / left turn direction arrow.

[0049] Next, when the straight control direction arrow is arranged, the arrow control unit 108 shifts the process to a projection process (steps S410 → S412) of the in-house arrow composed of the straight direction arrow. In the following, distance D In the explanation, 1 is 200m. Also, if there is no guidance target intersection in the route from the vehicle position to the destination, the right / left turn direction arrow will not be displayed.

[0050] On the other hand, if it is determined in step S410 that the distance D from the vehicle position to the guidance target intersection is equal to or less than the distance Dl (200m), the arrow control unit 108 arranges a right / left turn direction arrow (step S410 → S411). At this time, the right and left turn direction arrows are arranged on the corresponding road in the 3D map space at an angle corresponding to the distance to the vehicle position force guidance target intersection with respect to the ground plane. Specifically, the left and right turn direction arrows are arranged so that the angle Θ of the guide arrow with respect to the ground plane becomes smaller as the distance to the target intersection in the vehicle position force plan becomes shorter. For example, it is arranged to satisfy the angle Θ force S (Equation 1).

(Formula 1)

Θ = 90 (D> 200)

Θ = D / 2- 10 (20≤D≤200)

Θ = 0 (0≤D <20)

At this time, as shown in FIG. 8, the angle Θ also changes according to the distance D to the guidance target intersection. Fig. 9 is a view as seen from a cross-section passing through the road R1 in the 3D map space and perpendicular to the ground plane. As shown in Fig. 9, when the distance to the vehicle position force guidance target intersection is 200m, the angle Θ is 90 degrees, and the right / left turn direction arrow is placed upright (see Fig. 9 (a)) .

[0051] Own vehicle position force As the distance to the guidance target intersection decreases, the guidance arrow gradually changes from standing to laying down, and the distance from the own vehicle position to the guidance target intersection is 100 m. When the angle Θ is 40 degrees · See Fig. 9 (b)), and the vehicle position force is 20m away from the guidance target intersection, the right and left turn direction arrows are completely laid down (overlap parallel to the plane on the road) (See Fig. 9 (c)).

[0052] Next, when the right / left turn direction arrow is arranged, the arrow control unit 108 performs a projection process on the guide arrow composed of the straight direction arrow and the right / left turn direction arrow with the camera screen shown in FIG. 5 as the projection plane. (Step S412).

[0053] Since the projection plane onto which the guide arrow is projected in the projection process coincides with the camera screen of the video acquisition unit 1, the display control unit 109 captures the guide arrow as shown in FIG. 10 and FIG. Overlay on the road shown in the image (corresponding to the guide route) and display it on the display unit 110

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

[0055] Also, as shown in FIG. 11, at a point close to the intersection (for example, 20m before the intersection), the right and left turn direction arrows are arranged on the ground plane with no height. Do not hide the background image.

[0056] In the above-described embodiment, the example in which the angle Θ of the guide arrow with respect to the ground plane is changed according to (Equation 1) has been described. However, the present invention is not limited to this. Any equation can be used as long as the angle Θ becomes smaller as the distance D becomes smaller. In addition, the angle Θ may be controlled by referring to the speed of the host vehicle, which is based only on the distance to the guide point.

[0057] FIG. 12 is a cross-sectional view similar to FIG. 9, and FIG. 12 (a) is a case where the vehicle position is the farthest from the guidance target intersection, and FIG. This is the case where the vehicle position is closest to the intersection to be guided. As shown in Fig. 12, the height of the three-dimensionally displayed right / left turn direction arrow gradually decreases as the vehicle position force decreases as the distance to the guidance target intersection decreases.

[0058] In this case, as in the case of controlling the angle Θ of the right / left turn direction arrow with respect to the ground plane, the visibility of the right / left turn direction arrow at a point away from the intersection force can be ensured while approaching the intersection. The right and left turn direction arrows do not cover the background image at the point. In other words, guidance display is performed in which the visibility of the right / left turn direction arrow at a position away from the intersection and the visibility of the background image immediately before the intersection are compatible.

[0059] As described in the third embodiment of Japanese Patent Laid-Open No. 2003-337033, the guide object is separately displayed above the guide object displayed on the ground plane. It may be composed of two separate guide objects with a three-dimensional guide object. The guidance object that is separately displayed in a three-dimensional upward direction is, for example, the bowl-shaped object in FIG. The 3D display here is a default form. Means to display an object displayed on the ground plane in a height direction that is close to the ground plane. At this time, if the object to be controlled by the object control unit 108 is a bowl-shaped object, the same effects as described above can be exhibited.

[0060] Further, when the guide object is composed of two separate guide objects, the object control unit 108 controls the transparency rather than controlling the size of the guide object displayed in the three-dimensional upper part separately. It ’s okay.

[0061] Specifically, the guidance object that is separately displayed in the upper part is arranged so that the transparency oc of the guidance object increases as the vehicle position force is closer to the guidance point. For example, it is arranged so that the transparency ex satisfies (Equation 2).

(Formula 2)

a = 0 (D> 200)

a =-5D / 9 + 1000/9 (20≤D≤200)

a = 100 (0≤D <20)

At this time, the transparency α changes in accordance with the distance D to the guide point as shown in FIG. This makes it possible to ensure the visibility of the separately displayed three-dimensional guide object at a point away from the intersection force, while the guide object displayed three-dimensionally above the point near the intersection. Since it becomes transparent, the background image is not hidden. In other words, guidance display is performed in which both the ease of viewing the separately displayed three-dimensional guide object at a position away from the intersection force and the visibility of the background image immediately before the intersection are compatible.

[0062] In the above-described embodiment, an example in which a photographed image captured by a camera facing the front of the vehicle is used has been described. However, the photographed image is obtained through a photographed image or communication stored in advance in a storage medium. It may be applied when the guidance object is displayed superimposed on the actual photographed image.

[0063] Further, in the above-described embodiment, the case where the present invention is applied to the driver's view display by a live-action image has been described. In particular, the state in which the viewpoint altitude is lowered to about the vehicle height and viewed from the driver's perspective. Even when the present invention is applied when the driver's view display by the three-dimensional map display is performed, the same effect can be obtained. [0064] Thus, according to the present invention, the vehicle position force is also large on the display of the portion that indicates the right-left turn direction of the guide arrow with respect to the ground plane of the three-dimensional space image based on the distance to the guide point. In addition, by controlling the transparency, it is possible to provide a navigation device that reduces the fact that the background image is hidden by the guide arrow immediately before the guide point. In particular, in the display method in which the guidance object is superimposed on the live-action image, it is difficult to compare the actual scenery and the in-house screen, and it is possible to avoid the problem that it is difficult to guide the user intuitively. .

[0065] In the above-described embodiment, an example is shown in which the angle or height of the portion that indicates the right / left turn direction is controlled. For example, when the road shape is curved, the right / left turn direction The angle or the height of the portion of the curve section that has a shape instructing the above may be controlled.

[0066] The configuration described in the above embodiment is merely a specific example, and does not limit the technical scope of the present invention. Any configuration can be employed within the scope of the effects of the present application.

Industrial applicability

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

Claims

The scope of the claims

[1] an object generation unit for generating a guidance object;

Based on the distance to the vehicle position force guide point, an object control unit that controls the display size or transparency of a predetermined portion of the guide object;

A navigation apparatus comprising: a display control unit that performs navigation display using a driver's view based on the guidance object obtained by the control of the object control unit.

[2] The object control unit controls the display size by controlling the inclination of a predetermined portion of the in-house object based on the vehicle position force and the distance to the guide point. The navigation device according to claim 1.

[3] The object control unit is configured to control the inclination by controlling an angle of a portion instructing a right / left turn among the planned objects based on the vehicle position force and the distance to the guide point. The navigation device according to claim 2, wherein the navigation device is characterized.

4. The navigation device according to claim 3, wherein the object control unit decreases the angle as the distance to the vehicle position force guide point is shorter.

5. The navigation device according to claim 4, wherein the object control unit reduces the angle within a range of 90 degrees force and 0 degrees.

[6] The object control unit controls the size of the display by controlling the height of a predetermined portion of the in-house object based on the vehicle position force and the distance to the guide point. The navigation device according to claim 1, wherein:

[7] The object control unit may control the height of a portion instructing a right or left turn of the in-house object based on a vehicle position force and a distance to a guide point. 6. The navigation device according to 6.

8. The navigation device according to claim 7, wherein the object control unit lowers the height as the distance to the vehicle position force guide point is shorter.

[9] The object control unit is characterized in that, as the distance to the vehicle position force guide point is closer, the transparency is increased with respect to a portion instructing a right or left turn in the guide object. Item 5. The navigation device according to item 1. 10. The navigation device according to claim 1, wherein the display control unit causes the guidance object to be superimposed and displayed on a three-dimensional map image.

10. The navigation device according to claim 1, wherein the display control unit displays the guidance object in a superimposed manner on a live-action image.