WO2013080310A1 - Image control device - Google Patents

Image control device Download PDF

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Publication number
WO2013080310A1
WO2013080310A1 PCT/JP2011/077582 JP2011077582W WO2013080310A1 WO 2013080310 A1 WO2013080310 A1 WO 2013080310A1 JP 2011077582 W JP2011077582 W JP 2011077582W WO 2013080310 A1 WO2013080310 A1 WO 2013080310A1
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WO
WIPO (PCT)
Prior art keywords
display
guidance
image
lane
vehicle
Prior art date
Application number
PCT/JP2011/077582
Other languages
French (fr)
Japanese (ja)
Inventor
宏平 伊藤
Original Assignee
パイオニア株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by パイオニア株式会社 filed Critical パイオニア株式会社
Priority to PCT/JP2011/077582 priority Critical patent/WO2013080310A1/en
Publication of WO2013080310A1 publication Critical patent/WO2013080310A1/en

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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34Route searching; Route guidance
    • G01C21/36Input/output arrangements for on-board computers
    • G01C21/3626Details of the output of route guidance instructions
    • G01C21/3635Guidance using 3D or perspective road maps
    • G01C21/3638Guidance using 3D or perspective road maps including 3D objects and buildings
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34Route searching; Route guidance
    • G01C21/36Input/output arrangements for on-board computers
    • G01C21/3626Details of the output of route guidance instructions
    • G01C21/3658Lane guidance

Definitions

  • the present invention relates to an image control apparatus that controls display of a vehicle guidance route.
  • a route guidance graphic for guiding a route is generated, and the generated route guidance graphic is an area other than the road image corresponding to the searched route in the route guidance image.
  • a technique for superimposing a road image so as to clearly display a route guidance image on which a route guidance graphic is superimposed has been proposed.
  • the problems to be solved by the present invention include the above-mentioned problems as an example.
  • the invention according to claim 1 is an image control device, wherein the first region of the boundary portion of the first traveling lane from the current location to the intersection, and the right turn or A generating unit configured to generate a guidance object in each of the second regions of the boundary portion of the second traveling lane after the left turn; and an output unit configured to output the guidance object.
  • FIG. 1 It is a perspective view which shows an example of a structural example of the vehicle carrying the navigation apparatus of this invention. It is a block diagram which shows an example of the system configuration
  • FIG. 13 is a diagram illustrating a display example when a guidance object is superimposed and displayed in display coordinates corresponding to FIG. 12. It is an example of the figure showing arrangement
  • FIG. 15 is a diagram illustrating a display example when a guidance object is superimposed and displayed in display coordinates corresponding to FIG. 14. It is an example of the flowchart showing the control content which CPU of an imaging unit performs.
  • FIG. 20 is a diagram illustrating a display example in a case where a guidance object is superimposed and displayed in display coordinates corresponding to FIG. 19. It is a figure showing the example of a display at the time of producing
  • FIG. 1 It is a block diagram which shows an example of the system configuration
  • FIG. 1 is a perspective view showing a configuration example of a vehicle equipped with a navigation device as an image control device according to the present embodiment.
  • a part of the navigation device S is provided with a single front camera 1 at a position in front of a room mirror 101 in a vehicle 100 that is a moving body.
  • the front camera 1 is attached in a posture capable of capturing a front image of the vehicle 100.
  • FIG. 2 is a block diagram illustrating a hardware configuration example of the navigation device S.
  • the navigation device S includes a front camera 1, an imaging unit 2, and a display 3.
  • the front camera 1 corresponds to an imaging unit, and has a function of capturing a front image of the vehicle 100 described above using, for example, a CCD image sensor and outputting a corresponding signal to a CPU (described later) of the imaging unit 2.
  • the front camera 1 continuously captures the front image at short time intervals, thereby capturing the front image in the form of a moving image.
  • the display 3 corresponds to the output means of the present embodiment, and is composed of, for example, an LCD panel, and a front image captured by the front camera 1 based on an image signal input from a graphic controller (described later) of the imaging unit 2.
  • a graphic controller described later
  • the imaging unit 2 includes a CPU 11, a storage device 12, a GPS 13, and a graphic controller 14.
  • the CPU 11 has a function of controlling the navigation device S as a whole by performing various calculations according to the operation of a predetermined program and exchanging information with other units and outputting various control instructions.
  • the storage device 12 includes a ROM 12a, a RAM 12b, and a storage medium 12c.
  • the ROM 12a is an information storage medium in which various processing programs and other necessary information are written in advance.
  • the RAM 12b is an information storage medium on which information necessary for executing the various programs is written and read.
  • the storage medium 12c is a non-volatile information storage medium such as a flash memory or a hard disk, and stores map information, which will be described later, in advance.
  • the GPS 13 measures the current location of the vehicle 100 and acquires current position information and vehicle orientation.
  • the CPU 11 has a function of acquiring a guidance route by a predetermined route search based on current position information by the GPS 13, vehicle orientation, and map information stored in the storage medium 12c.
  • the graphic controller 14 has a function of acquiring image data from a video RAM (not shown) or the like under the control of the CPU 11 and displaying an image signal based on the image data on the display 3.
  • the graphic controller 14 in the example of the present embodiment outputs an image signal to the display 3 based on composite image data obtained by superimposing a later-described guidance object on the front image captured by the front camera 1. To do.
  • FIG. 3 is a diagram illustrating an example of a vehicle window scenery viewed from the inside of the vehicle 100 and a display on the display 3 corresponding thereto.
  • the display 3 is arranged at the center position of the instrument panel 102, the right side in the figure corresponds to the driver's seat, and the steering wheel 103 is arranged in front thereof. .
  • the vehicle 100 travels in a substantially straight traveling lane, and shows a state in which the vehicle 100 is following the front vehicle 100f in front of the traveling direction.
  • the front camera 1 provided on the back side (traveling direction side) of the room mirror 101 captures a forward image including the straight traveling lane and the forward vehicle 100f.
  • the display 3 displays a front image captured by the front camera 1.
  • the guidance object for route guidance is displayed on the front image on the display 3 by the route guidance function. Overlay and display.
  • the guidance object is superimposed and displayed only when the guidance route indicates the guidance direction because the guidance route turns right or left at a branch point such as an intersection.
  • FIG. 4 is a diagram schematically showing a planar positional relationship between the vehicle 100 and surrounding lanes and intersections based on the map information stored in the storage medium 12c.
  • the coordinates on the map screen indicating the positional relationship are referred to as map coordinates Xm-Ym.
  • the vehicle 100 is approaching the intersection of the crossroads, and the guidance route searched by the CPU 11 is a route that turns left at the intersection. That is, the guidance direction is a phrase that leads to the left.
  • FIG. 5 shows a display example when the front camera 1 displays on the display 3 a front image obtained by imaging the intersection corresponding to FIG. 4 and the surrounding lane.
  • the coordinates on the front image showing the three-dimensional arrangement relationship of the surrounding lanes and intersections as viewed from the front of the vehicle 100 are referred to as image coordinates Xi-Yi, and the coordinates in the display area of the display 3 are displayed. It is referred to as coordinates Xd-Yd.
  • the image coordinates Xi-Yi and the display coordinates Xd-Yd can be handled in the same manner.
  • the two lane outlines Lr shown in FIG. 5 and the road surface area indicated by shading will be described in detail later.
  • various forms can be considered as the guidance for guiding the guidance route searched for by the CPU 11.
  • the guidance direction is directly on the road surface area of the guidance route in the front image.
  • a form in which the arrow-shaped guidance object 30 that guides (the intersection left turn direction in the example of FIG. 4) is displayed in a superimposed manner is conceivable.
  • the guidance object 30 generated as a graphic image is superimposed and displayed so as to be overwritten with priority over all the display parts in the front image, so that the guidance object 30 is also superimposed and displayed on the image part of the preceding vehicle 100f. End up. For this reason, the visibility of the forward vehicle 100f that must be watched for safe travel is hindered, which is not preferable.
  • FIG. 7 a form in which an arrow-shaped guidance object 30 that guides the guidance direction is superimposed and displayed above the road surface area (position in the air) of the guidance route in the front image is also conceivable.
  • the bending position cannot be accurately grasped. For example, when there is an approach path parallel to the front and rear of the correct guide path as shown in the figure, it is difficult to know which one should be bent.
  • the guidance object 31 is displayed in a superimposed manner as shown in FIG. That is, the guidance object 31 is displayed in the reference area adjacent to the edge along the traveling direction of the road surface area corresponding to the correct guidance route in the display coordinates Xd-Yd of the front image.
  • the guidance object is displayed only when the guidance route turns right or left at a branch point such as an intersection, so the boundary of the driving lane from the current location to the intersection and the intersection are displayed.
  • a guidance object is generated and displayed at each boundary portion of the travel lane after turning right or left.
  • the road surface area corresponding to the guidance route in the display coordinates Xd-Yd is a display area corresponding to the route area 21 on the guidance route shown in shaded in the map coordinates Xm-Ym in FIG.
  • the road area 22 is also shaded in the display coordinates Xd-Yd of FIG.
  • the road surface area 22 shaded in FIG. 5 is set by the following method.
  • white lines applied on both sides of the actual driving lane, the boundary line between the road surface and the curb, or the edge of the asphalt road are detected by image recognition of the front image, and these are detected.
  • 100 is recognized as two lane contour lines Lr that form the contour of the own lane (the lane that can travel straight ahead).
  • region between these two lane outline Lr is detected as a road surface area
  • the two lane outlines Lr are also recognized in accordance with the direction and curvature of the curve on the front image. If the curvature of this curve changes in the middle, the two lane contour lines Lr are recognized giving priority to the curvature on the front side of the vehicle 100.
  • the guidance route after the left turn at the intersection on the map coordinates Xm-Ym shown in FIG. And the arrangement relationship with the vehicle 100 are grasped.
  • a road surface area corresponding to the guidance route after the left turn on the display coordinates Xd-Yd of the front image is detected.
  • the edge along the traveling direction with respect to the road surface area 22 of the guidance route at the display coordinates Xd-Yd that is, the region adjacent to the edges on both sides in the lane width direction of the guidance route is a reference for the display position of the guidance object.
  • This is an area (hatched areas 23a and 23b in FIG. 9 described later).
  • a guidance object that guides the guidance direction is displayed only when the guidance route turns right or left at a branch point such as an intersection.
  • the reference areas 23a and 23b are the display positions of the guidance object, respectively.
  • the boundary part of the travel lane from the present location to the intersection corresponds to the first area described in each claim
  • the boundary part of the travel lane after turning right or left through the intersection corresponds to the second area.
  • derivation objects 31a and 31b are produced
  • these guidance objects 31 are basically the travel lane from the current location to the intersection and the travel lane after turning right or left through the intersection.
  • the reference regions 23a and 23b adjacent to the respective border portions that is, the edge portions along the traveling direction of the guide route, are virtually arranged so as to be scattered at equal intervals.
  • each is a vertically long rectangular wall surface set to the same width and the same height (FIG. 9 is a plan view, and the height is not shown).
  • FIG. 9 is a plan view, and the height is not shown.
  • the virtual wall surfaces 31a and 31b of these guiding objects are both displayed in a semi-transparent state on the display screen shown in FIG. 8, and the virtual wall surfaces 31a and 31b are displayed on the display coordinates Xd-Yd set on the display screen.
  • the widths, heights, and arrangement intervals of the respective shapes of 31b are displayed at a reduced scale corresponding to the relative distance from the vehicle 100 (the smaller the distance, the smaller the distance).
  • the guidance objects 31a and 31b are generated only in the reference areas 23a and 23b adjacent to the outer peripheral edge when the guidance route turns right or left at a branch point such as an intersection. Further, the generation of the guiding objects 31a and 31b is omitted in the reference area (not shown) on the inner circumference side. Further, at the position that overlaps the forward lane in the traveling direction of the vehicle 100 in the display coordinates Xd-Yd, that is, at the position that overlaps the own lane behind the intersection in the display screen of FIG. 8, the guidance object 31a or 31b Generation is omitted.
  • the virtual wall surface 31c at the tip position of the row where the plurality of virtual wall surfaces 31a and 31b are connected that is, the leftmost position (the position farthest along the guiding direction) in the display coordinates Xd-Yd in FIG. It is generated in the shape of the arrowhead according to the guiding direction.
  • the plurality of virtual wall surfaces 31a, 31b, and 31c generated and displayed in this way are displayed as if they were a single guide rail virtually provided for the guide route in a mode in which they are integrated together.
  • the guidance direction at the intersection can be guided without overlapping the road surface area 22 of the guidance route.
  • the guiding object 31a or 31b is intermittent at a position overlapping with the own lane behind the intersection, but the width of the guiding object is increased at the end of the intermittent portion. By making it the same, continuity in the guiding direction can be expressed between the intermittent virtual wall surfaces 31a and 31b.
  • the guidance route turns left at the intersection of the crossroads as shown in FIG. 4 is shown.
  • the guidance route is guided as shown by the map coordinates Xm-Ym in FIG.
  • a plurality of virtual wall surfaces 31a and 31b of the object are arranged, and the corresponding virtual wall surfaces 31a and 31b are displayed as shown in the display example of FIG.
  • the generation of the guidance objects 31a and 31b is omitted in the reference area on the inner circumference side.
  • the guidance objects 31a and 31b are generated in all the reference areas on the outer circumference side, As shown in the display example of FIG. 13, the plurality of virtual wall surfaces 31 a and 31 b can be displayed without interruption.
  • the guidance objects 31a and 31b are generated, and the generation of the guidance object 31a or 31b is omitted at the position overlapping the own lane behind the intersection as shown in the display example of FIG.
  • FIG. 16 is an example of a flowchart showing control contents executed by the CPU 11 of the imaging unit 2 in order to realize the operation mode described above. This flow is called and executed at an appropriate time interval, for example, while the front camera 1 captures a front image in the form of a moving image.
  • step S5 the current location of the vehicle 100 is measured by the GPS 13, and the current position information and the vehicle direction are acquired.
  • Step S10 is entered, and map information is acquired from the storage medium 12c.
  • step S15 the positional relationship between the vehicle 100 and the guidance route is acquired based on the current position information and vehicle orientation acquired in step S5 and the map information acquired in step S10. Further, as described above, in the example of the present embodiment, the guidance objects 31a and 31b are generated and displayed only when making a right / left turn at an intersection or the like, so that the vehicle 100 does not pass through the intersection for a while at this time. When it is determined that the vehicle travels only in a straight lane, or when it is determined that the guidance route travels straight through the previous intersection, the following procedure is omitted and the flow is terminated (not shown).
  • step S20 the front camera 1 captures a front image.
  • step S25 a road surface area corresponding to the guidance route is set in the display coordinates Xd-Yd of the front image.
  • the road surface area is set by the method based on the image recognition of the two lane outlines Lr in the front image and the arrangement relationship acquired in step S15.
  • step S30 in the reference region adjacent to the edge along the traveling direction of the road surface region set in step S25, the display reference position serving as the display reference for each of the virtual wall surfaces 31a and 31b of each guiding object is displayed on the map.
  • the coordinate Xm-Ym is obtained at equal intervals.
  • the display reference position overlapping with the own lane in the display coordinates Xd-Yd is omitted.
  • the guidance route turns right or left, it is obtained only from the reference area on the outer peripheral side.
  • step S35 the scales of the virtual wall surfaces 31a and 31b of each guidance object are calculated according to the relative relationship between the vehicle 100 and each display reference position viewed at the map coordinates Xm-Ym.
  • the steps S15, S25, S30, and S35 correspond to the generating means described in each claim.
  • step S40 where the virtual wall surfaces 31a and 31b of each guiding object are superimposed on the front image at a scale corresponding to each display reference position in the display coordinates Xd-Yd, and the combined image is displayed on the display 3. Then, this flow ends.
  • step S15 for obtaining the guidance route for guiding the vehicle 100
  • the procedure of step S25 for setting the road surface area corresponding to the guidance route in the display coordinates Xd-Yd on the display 3
  • the guidance objects 31a, 31b and 31c displayed in the display coordinates Xd-Yd are as if they were a single guide rail or roadside belt virtually provided for the guidance route. It is displayed and the driver can be guided intuitively in the guidance direction at a branch point such as an intersection. As a result, the guidance direction can be clearly guided and displayed without overlapping the guidance objects 31a, 31b and 31c for route guidance on the road surface area of the guidance route in the front image. That is, the guiding objects 31a, 31b, and 31c are intermittent at positions overlapping with the vehicle ahead, but between the intermittent guiding objects 31a and 31b by making the width of the guiding object the same at the end of the intermittent portion. The continuity of the guiding direction can be expressed.
  • the guiding objects 31a and 31b are erected upward from the interspersed positions in the reference area (in the first and second areas corresponding to the boundary portions), and sequentially Are a plurality of virtual wall surfaces 31a and 31b facing directly to the front of the vehicle 100 (corresponding to a moving body).
  • the driver can intuitively grasp the change in the curvature of the curve with respect to the depth of the guidance route, particularly when the lane is curved, by the way the corners of each virtual wall 31 are arranged. For this reason, safer steering can be supported.
  • the plurality of virtual wall surfaces 31 generated in the same reference area are displayed in the form of a single guide rail that is integrated together.
  • the width, height, and separation distance of the virtual wall surfaces 31a and 31b of the guidance object in the display coordinates Xd-Yd are set on the guidance path. It produces
  • the perspective according to the relative distance between the vehicle 100 and each guiding object 31 on the map coordinates Xm-Ym can be expressed on the display coordinates Xd-Yd.
  • the driver can intuitively grasp the contour of the guide route by the way the corners of the virtual wall surfaces 31 are arranged, and can support safer steering.
  • the generation of the guiding objects 31a and 31b is omitted at a position overlapping the front lane in the traveling direction of the vehicle 100 in the display coordinates Xd-Yd. .
  • the display 3 displays the guiding object 31 in a semi-transparent state.
  • the guidance object 31 is generated in each reference region on both sides in the lane width direction of each traveling lane.
  • generating and displaying the guidance objects 31a and 31b only on the outer peripheral side is particularly effective on a large road having a plurality of lanes on one side.
  • the vehicle 100 is likely to turn left before the intersection.
  • the lane changes to the leftmost lane.
  • guidance objects 31a and 31b are generated and displayed on the outer periphery side of the center lane.
  • the guidance objects 31a and 31b may be generated and displayed on the outer peripheral side of the rightmost lane.
  • the guidance objects 31a and 31b are generated and displayed based on the lane that the vehicle 100 is traveling at that time. The route can be shown most clearly.
  • the positions of the guiding objects 31a and 31b may be changed to the outer peripheral side of the leftmost lane accordingly.
  • the guidance objects 31a and 31b are generated and displayed on the outer peripheral side of the rightmost lane, it is preferable for safety because it is easy to visually recognize other vehicles traveling in the rightmost lane. In any case, as described above, the effect of easily confirming the entrainment on the inner peripheral side when turning left at the intersection can be obtained.
  • the inner guidance object 31a or 31b may be displayed.
  • the guide objects 31a and 31b are virtual wall surfaces 31a and 31b erected upward from the reference area as in the present embodiment, as shown by the map coordinates Xm-Ym in FIG.
  • the guiding objects 31a and 31b are generated in the reference areas on both sides in the lane width direction only on the side. Then, as shown in the display example of FIG. 18, it is necessary to deform (adjust the height) so that only the guide object 31 a on the inner peripheral side does not overlap the road surface area of the guide path.
  • a front camera 1 (corresponding to an imaging unit) that is mounted on the vehicle 100 and captures a front image of the vehicle, and the procedure of step S25 is performed by the front camera 1.
  • a reference area corresponding to each traveling lane is set by image recognition, and the display 3 uses the display coordinates Xd-Yd of the display screen as the image coordinates Xi-Yi.
  • the guidance object 31 is superimposed on the front image and displayed.
  • the guidance objects 31a and 31b are generated and displayed only when the guidance route turns right or left at a branch point such as an intersection.
  • the present invention is not limited to this.
  • a plurality of guidance objects are provided in the reference areas on both sides in the lane width direction of the guidance route.
  • the virtual wall surface 31 may be generated and displayed. Thereby, it can be clearly shown that the guidance direction is straight.
  • a plurality of virtual wall surfaces 31 are displayed side by side so as to sandwich a road surface area of only the own lane.
  • the guidance object 31 may be generated and displayed on both sides of the guidance route in the lane width direction, and generation and display may be omitted as necessary. May be.
  • the guidance object is generated by the plurality of virtual wall surfaces 31a and 31b that face each other in front of the vehicle, but the present invention is not limited to this.
  • the guidance object may be generated using virtual wall surfaces 32 a and 32 b that are provided upward in the reference region. In this way, the guidance objects 32a and 32b can be simply generated and displayed, so that the processing burden can be reduced, and the display mode on the display 3 is simplified and easy to see.
  • the virtual wall surfaces 33a and 33b having the same height may be generated without calculating the scale for expressing perspective.
  • an arrow along the guiding direction is drawn in the wall surface, and a sense of perspective is expressed by the width of the arrow.
  • the virtual wall surfaces 33a and 33b are intermittent at the position overlapping with the front lane, but the interval between the virtual wall surfaces 33a and 33b is intermittent by setting the same arrow width at the end of the intermittent portion. Can express the continuity of the guiding direction.
  • the visibility of road surface areas other than the guidance route such as the oncoming lane can be improved by sufficiently reducing the height of the virtual wall surfaces 34a and 34b. In this case, it is desirable to improve the visibility by lowering the transparency of the virtual wall surfaces 34a and 34b.
  • the guidance object may be generated by virtual roadside bands 35a and 35b along the reference area with a predetermined width.
  • the virtual roadside bands 35a and 35b are generated in a form equivalent to a white line virtually applied on the ground surface and do not have a height upward from the reference region.
  • the guidance route turns right or left at a branch point such as an intersection, even if the virtual roadside bands 35a and 35b are generated and displayed over the entire reference area on the inner circumference side, the road surface area of the guidance route
  • the guidance direction can be clearly guided without overlapping.
  • the visibility of traffic lights and road signs around lanes other than the guidance route such as the oncoming lane can be improved.
  • the guidance route goes straight at the intersection, it is displayed as shown in FIG.
  • a guiding object is displayed on a head-up display
  • a composite image in which a guiding object is superimposed on a front image captured by the front camera 1 is displayed on a single display.
  • the display coordinates Xd-Yd may be arranged so as to coincide with the driver's field of view through the window glass of the vehicle 100, and a head-up display that displays the guidance object on the window glass may be provided.
  • FIG. 26 is a block diagram showing a hardware configuration example of the navigation device SA of the present modification corresponding to FIG. 2 of the above embodiment.
  • the navigation apparatus SA of the present modification does not have the front camera 1, has a head-up display projector 4 and a combiner 5 instead of the display 3, and the other hardware configuration is the above. It is equivalent to the embodiment.
  • the graphic controller 14 outputs an image signal including only the image data of the guiding object without including the front image.
  • FIG. 27 corresponding to FIG. 3 of the above embodiment is a diagram showing an example of a vehicle window scenery viewed from the inside of the vehicle 100 and a display of a head-up display corresponding thereto.
  • the head-up display projector 4 is fixed to the ceiling roof above the driver's seat located on the right side in the figure.
  • a combiner 5 is provided so as to cover the projection range of the head-up display projector 4 on the front side of the windshield 104.
  • the head-up display projector 4 and the combiner 5 correspond to output means and a display device.
  • a guidance object 31a is appropriately provided on the front surface of the combiner 5 having a function as a half mirror. And 31b are projected and displayed.
  • FIG. 28 is a schematic view of the aspect of projection display on the windshield by the head-up display as seen from the side.
  • the head-up display projector 4 sets the display coordinates Xd-Yd on the combiner 5 having a function as a half mirror, and projects and displays the images of the guiding objects 31a and 31b on the reference area.
  • the display coordinates Xd-Yd are set so as to coincide with the driver's field of view through the window glass of the vehicle 100, so that the driver is as if in the front field of view through the windshield 104. It can be visually recognized that the guiding objects 31a and 31b are provided at positions along the edge of the road surface area of the guiding path.
  • the height of the driver's seat (eyeball)
  • the position of the display coordinates Xd-Yd of the head-up display projector 4 needs to be appropriately adjusted according to the height position).
  • the setting of the road surface area of the guidance route on the display coordinates Xd-Yd is based on the current position information, the vehicle direction, and the map information together with the image recognition of the lane outline Lr in the front image. It was set from the arrangement relationship between the vehicle 100 and the guidance route obtained in the above. However, in the present modification, the road surface area of the guidance route on the display coordinates Xd-Yd is set only by the arrangement relationship.
  • the head-up display projector 4 and the combiner 5 use the windshield 104 (equivalent to a window glass) of the vehicle 100.
  • the display coordinates Xd-Yd are arranged so as to coincide with the driver's field of view, and the guiding objects 31a and 31b are displayed so as to overlap with the driver's field of view.
  • the head-up display is configured by projecting and displaying the images of the guiding objects 31a and 31b from the head-up display projector 4 on the combiner 5 provided on the front side of the windshield 104.
  • the present invention is not limited to this.
  • a transmissive liquid crystal panel or the like may be provided on the windshield itself, and a guidance object may be displayed by its own light emission.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Navigation (AREA)

Abstract

[Problem] To display the recommended direction in unambiguous fashion on a road surface region of a recommended route in a forward image, without any overlapping with route indicating objects. [Solution] With respect to the road surface region (22) of the recommended route in the display coordinates Xd-Yd of the display (3), the regions adjacent to the edges along the direction of travel (i.e. the borders of the lane along which the vehicle is travelling) i.e. the edges on both sides in the lane width direction of the recommended route are designated as reference regions for the position of display of the indicating objects (31). Indicating objects are generated in the form of a plurality of virtual wall faces (31a) and (31b) erected so as to extend upwards from these reference positions. These indicating objects (31a) and (31b) are arranged in virtual fashion at equal intervals in the reference regions adjacent to the borders along the direction of travel of the recommended route and are each respectively displayed in a semitransparent state by long rectangular wall faces vertically set to the same width and same height; also, their respective width, height and separation intervals are compressed in accordance with relative distance with respect to the vehicle (100) in question.

Description

画像制御装置Image control device
 本発明は、車両の誘導経路の表示を制御する画像制御装置に関する。 The present invention relates to an image control apparatus that controls display of a vehicle guidance route.
 従来より、車両に搭載されたカメラで周囲の画像を撮像し、別途ナビゲーション装置などで検索した誘導経路を案内するオブジェクトを上記周囲画像に重畳表示する技術が利用されている。 Conventionally, a technique has been used in which a surrounding image is picked up by a camera mounted on a vehicle, and an object for guiding a guidance route separately searched by a navigation device or the like is superimposed on the surrounding image.
 例えば、特許文献1に記載されているように、経路を案内する経路案内図形を生成し、生成した経路案内図形を経路案内用の画像中の探索された経路に該当する道路画像上以外の領域に、道路画像を明示するように重畳させ、経路案内図形を重畳された経路案内用の画像を表示する技術が提案されている。 For example, as described in Patent Document 1, a route guidance graphic for guiding a route is generated, and the generated route guidance graphic is an area other than the road image corresponding to the searched route in the route guidance image. On the other hand, a technique for superimposing a road image so as to clearly display a route guidance image on which a route guidance graphic is superimposed has been proposed.
特開2008-76310号公報JP 2008-76310 A
 しかしながら、上記従来技術では、車両が分岐点へと近付くにつれ、分岐点で指示された誘導方向側である右折方向側に重畳する経路案内図形の形状を経路案内用の画像における高さ方向において低くなるように変化させ、分岐点で指示された方向とは逆側に重畳する経路案内図形の形状を経路案内用の画像における高さ方向において高くなるように変化させていた。しかしこの場合には、経路案内図形と分岐点との正確な位置関係が把握しにくい、また、経路案内図形と分岐点との位置関係を明確にしようとすると、経路案内図形と経路誘導図形が重複して表示される恐れがあり、誘導方向を明確に案内表示することができない。そのため、前方画像中の誘導経路の路面領域上に経路案内のためのオブジェクトを何ら重複させずに誘導方向を明確に案内表示できる技術が要望されていた。 However, in the above prior art, as the vehicle approaches the branch point, the shape of the route guidance figure superimposed on the right turn direction side, which is the guidance direction side indicated by the branch point, becomes lower in the height direction in the route guidance image. The shape of the route guidance figure superimposed on the opposite side of the direction indicated by the branch point is changed so as to be higher in the height direction in the route guidance image. However, in this case, it is difficult to grasp the exact positional relationship between the route guidance graphic and the branch point, and when trying to clarify the positional relationship between the route guidance graphic and the branch point, the route guidance graphic and the route guidance graphic are There is a risk of overlapping display, and the guidance direction cannot be clearly displayed. Therefore, there has been a demand for a technique that can clearly guide and display the guidance direction without overlapping any object for route guidance on the road surface area of the guidance route in the front image.
 本発明が解決しようとする課題には、上記した問題が一例として挙げられる。 The problems to be solved by the present invention include the above-mentioned problems as an example.
 上記課題を解決するために、請求項1記載の発明は、画像制御装置であって、現在地から交差点までの第1の走行車線の境界部の第1の領域、および、交差点を介して右折または左折した後の第2の走行車線の境界部の第2の領域に夫々誘導オブジェクトを生成する生成手段と、前記誘導オブジェクトを出力する出力手段と、を備える。 In order to solve the above-mentioned problem, the invention according to claim 1 is an image control device, wherein the first region of the boundary portion of the first traveling lane from the current location to the intersection, and the right turn or A generating unit configured to generate a guidance object in each of the second regions of the boundary portion of the second traveling lane after the left turn; and an output unit configured to output the guidance object.
本発明のナビゲーション装置を搭載した車両の構成例の一例を示す斜視図である。It is a perspective view which shows an example of a structural example of the vehicle carrying the navigation apparatus of this invention. 実施形態のナビゲーション装置のシステム構成の一例を示すブロック図である。It is a block diagram which shows an example of the system configuration | structure of the navigation apparatus of embodiment. 車両の車内から見た車窓風景及びこれに対応するディスプレイの表示の一例を示す図である。It is a figure which shows an example of the display of the vehicle window scenery seen from the vehicle interior of a vehicle, and the display corresponding to this. 自車両が交差点へ向かう場合の地図座標上の配置を表した図の一例である。It is an example of the figure showing arrangement | positioning on the map coordinate in case the own vehicle goes to an intersection. 図4に示した交差点への走行中にフロントカメラで撮像した前方画像のみをディスプレイに表示した場合の表示例を表した図である。It is the figure showing the example of a display at the time of displaying only the front picture imaged with the front camera during the run to the intersection shown in Drawing 4 on a display. 表示座標中における誘導経路の路面領域上にそのまま誘導方向を案内する矢印形状の誘導オブジェクトを重畳表示した場合の表示例を表した図である。It is a figure showing the example of a display at the time of superimposing and displaying the arrow-shaped guidance object which guides a guidance direction as it is on the road surface area of a guidance route in display coordinates. 表示座標中における誘導経路の路面領域の上方位置に誘導方向を案内する矢印形状の誘導オブジェクトを重畳表示した場合の表示例を表した図である。It is a figure showing the example of a display at the time of superimposing and displaying the arrow-shaped guidance object which guides a guidance direction to the upper position of the road surface area of a guidance route in display coordinates. 左折する場合で実施形態により表示座標中に誘導オブジェクトを重畳表示した場合の表示例を表した図である。It is a figure showing the example of a display when a guidance object is superimposed and displayed in a display coordinate by an embodiment when turning left. 図8に対応して地図座標上における誘導オブジェクトの配置を表した図の一例である。It is an example of the figure showing arrangement | positioning of the guidance object on a map coordinate corresponding to FIG. 実施形態により右折する場合の地図座標上における誘導オブジェクトの配置を表した図の一例である。It is an example of the figure showing arrangement | positioning of the guidance object on the map coordinate in the case of turning right by embodiment. 図10に対応して表示座標中に誘導オブジェクトを重畳表示した場合の表示例を表した図である。It is a figure showing the example of a display at the time of carrying out a superposition display of a guidance object in display coordinates corresponding to Drawing 10. 実施形態によりT字路を左折する場合の地図座標上における誘導オブジェクトの配置を表した図の一例である。It is an example of the figure showing arrangement | positioning of the guidance object on the map coordinate in the case of turning left at T junction by embodiment. 図12に対応して表示座標中に誘導オブジェクトを重畳表示した場合の表示例を表した図である。FIG. 13 is a diagram illustrating a display example when a guidance object is superimposed and displayed in display coordinates corresponding to FIG. 12. 実施形態により斜めの進入路に進入する場合の地図座標上における誘導オブジェクトの配置を表した図の一例である。It is an example of the figure showing arrangement | positioning of the guidance object on the map coordinate in the case of approaching the diagonal approach path by embodiment. 図14に対応して表示座標中に誘導オブジェクトを重畳表示した場合の表示例を表した図である。FIG. 15 is a diagram illustrating a display example when a guidance object is superimposed and displayed in display coordinates corresponding to FIG. 14. イメージングユニットのCPUが実行する制御内容を表すフローチャートの一例である。It is an example of the flowchart showing the control content which CPU of an imaging unit performs. 地図座標上において内周側の基準位置に誘導オブジェクトを生成した場合の配置を表した図の一例である。It is an example of the figure showing arrangement | positioning at the time of producing | generating a guidance object in the reference position of the inner periphery side on map coordinates. 図17に対応して表示座標中に変形した誘導オブジェクトを重畳表示した場合の表示例を表した図である。It is the figure showing the example of a display at the time of superimposing and displaying the guidance object deform | transformed in the display coordinate corresponding to FIG. 実施形態により直進する場合の地図座標上における誘導オブジェクトの配置を表した図の一例である。It is an example of the figure showing arrangement | positioning of the guidance object on the map coordinate in the case of going straight by embodiment. 図19に対応して表示座標中に誘導オブジェクトを重畳表示した場合の表示例を表した図である。FIG. 20 is a diagram illustrating a display example in a case where a guidance object is superimposed and displayed in display coordinates corresponding to FIG. 19. 表示座標中に基準位置に沿って立設する仮想壁面で誘導オブジェクトを生成、表示した場合の表示例を表した図である。It is a figure showing the example of a display at the time of producing | generating and displaying a guidance object on the virtual wall surface standing along a reference position in display coordinates. 表示座標中に誘導方向の矢印を描画した同一高さの仮想壁面で誘導オブジェクトを生成、表示した場合の表示例を表した図である。It is a figure showing the example of a display at the time of producing | generating and displaying a guidance object on the virtual wall surface of the same height which drawn the arrow of the guidance direction in the display coordinate. 表示座標中に高さの低い仮想壁面で誘導オブジェクトを生成、表示した場合の表示例を表した図である。It is a figure showing the example of a display at the time of producing | generating and displaying a guidance object with the virtual wall surface with low height in display coordinates. 表示座標中に左折する場合の仮想路側帯で誘導オブジェクトを生成、表示した場合の表示例を表した図である。It is a figure showing the example of a display at the time of producing | generating and displaying a guidance object in the virtual roadside zone | band at the time of turning left in display coordinates. 表示座標中に直進する場合の仮想路側帯で誘導オブジェクトを生成、表示した場合の表示例を表した図である。It is a figure showing the example of a display at the time of producing | generating and displaying a guidance object in the virtual roadside belt | band | zone at the time of going straight in display coordinates. ヘッドアップディスプレイプロジェクターとコンバイナを備えた場合のナビゲーション装置のシステム構成の一例を示すブロック図である。It is a block diagram which shows an example of the system configuration | structure of a navigation apparatus at the time of providing a head-up display projector and a combiner. 車両の車内から見た車窓風景及びこれに対応するヘッドアップディスプレイの表示の一例を示す図である。It is a figure which shows an example of the display of the vehicle window scenery seen from the vehicle inside of a vehicle, and the head-up display corresponding to this. ヘッドアップディスプレイによるコンバイナへの投影表示の態様を側方から見た模式図である。It is the schematic diagram which looked at the aspect of the projection display to the combiner by a head-up display from the side.
 以下、本発明の実施形態を図面を参照しつつ説明する。 Hereinafter, embodiments of the present invention will be described with reference to the drawings.
 図1は、本実施形態に係る画像制御装置としてのナビゲーション装置を搭載した車両の構成例を示す斜視図である。この図1において、ナビゲーション装置Sの一部は、移動体である車両100の車内におけるルームミラー101の前方側位置に単独のフロントカメラ1を設けている。フロントカメラ1は、当該車両100の前方画像を撮像可能な姿勢で取り付けられている。 FIG. 1 is a perspective view showing a configuration example of a vehicle equipped with a navigation device as an image control device according to the present embodiment. In FIG. 1, a part of the navigation device S is provided with a single front camera 1 at a position in front of a room mirror 101 in a vehicle 100 that is a moving body. The front camera 1 is attached in a posture capable of capturing a front image of the vehicle 100.
 図2は、ナビゲーション装置Sのハードウェア構成例を示すブロック図である。この図2において、ナビゲーション装置Sは、フロントカメラ1、イメージングユニット2、ディスプレイ3を有している。 FIG. 2 is a block diagram illustrating a hardware configuration example of the navigation device S. In FIG. 2, the navigation device S includes a front camera 1, an imaging unit 2, and a display 3.
 フロントカメラ1は撮像手段に相当し、例えばCCD撮像素子などを利用して上述した当該車両100の前方画像を撮像し、対応する信号をイメージングユニット2のCPU(後述)へ出力する機能を有する。なお、本実施形態の例では、このフロントカメラ1が短い時間間隔で前方画像を撮像し続けることで、前方画像を動画の形態で撮像する。 The front camera 1 corresponds to an imaging unit, and has a function of capturing a front image of the vehicle 100 described above using, for example, a CCD image sensor and outputting a corresponding signal to a CPU (described later) of the imaging unit 2. In the example of the present embodiment, the front camera 1 continuously captures the front image at short time intervals, thereby capturing the front image in the form of a moving image.
 ディスプレイ3は本実施形態の出力手段に相当し、例えばLCDパネルなどで構成されて、イメージングユニット2のグラフィックコントローラ(後述)から入力された画像信号に基づき、上記フロントカメラ1で撮像された前方画像に後述の誘導オブジェクトを重畳させた合成画像を表示する機能を有する。 The display 3 corresponds to the output means of the present embodiment, and is composed of, for example, an LCD panel, and a front image captured by the front camera 1 based on an image signal input from a graphic controller (described later) of the imaging unit 2. Has a function of displaying a composite image in which a guidance object described later is superimposed.
 イメージングユニット2は、CPU11、記憶装置12、GPS13、グラフィックコントローラ14を有している。 The imaging unit 2 includes a CPU 11, a storage device 12, a GPS 13, and a graphic controller 14.
 CPU11は、所定のプログラムの動作によって各種の演算を行うとともに、他の各部との間で情報の交換や各種の制御指示を出力することで、ナビゲーション装置S全体を制御する機能を有する。 The CPU 11 has a function of controlling the navigation device S as a whole by performing various calculations according to the operation of a predetermined program and exchanging information with other units and outputting various control instructions.
 記憶装置12は、ROM12a、RAM12b、及び記憶媒体12cを有する。ROM12aは、各種の処理プログラムやその他必要な情報が予め書き込まれた情報記憶媒体である。RAM12bは、上記各種のプログラムを実行する上で必要な情報の書き込み及び読み出しが行われる情報記憶媒体である。記憶媒体12cは、例えばフラッシュメモリ、ハードディスクなどの不揮発性の情報記憶媒体であり、後述する地図情報などを予め記憶している。 The storage device 12 includes a ROM 12a, a RAM 12b, and a storage medium 12c. The ROM 12a is an information storage medium in which various processing programs and other necessary information are written in advance. The RAM 12b is an information storage medium on which information necessary for executing the various programs is written and read. The storage medium 12c is a non-volatile information storage medium such as a flash memory or a hard disk, and stores map information, which will be described later, in advance.
 GPS13は、車両100の現在地の測位を行い現在位置情報と車両方位を取得する。CPU11は、GPS13による現在位置情報、車両方位および上記記憶媒体12cで記憶している地図情報に基づいて所定の経路探索により誘導経路を取得する機能を有する。 The GPS 13 measures the current location of the vehicle 100 and acquires current position information and vehicle orientation. The CPU 11 has a function of acquiring a guidance route by a predetermined route search based on current position information by the GPS 13, vehicle orientation, and map information stored in the storage medium 12c.
 グラフィックコントローラ14は、CPU11の制御によってビデオRAM(図示せず)などから画像データを取得し、この画像データに基づく画像信号を上記ディスプレイ3に表示させる機能を有する。なお、上述したように、本実施形態の例におけるこのグラフィックコントローラ14は、上記フロントカメラ1で撮像された前方画像に後述の誘導オブジェクトを重畳させた合成画像データに基づく画像信号をディスプレイ3に出力する。 The graphic controller 14 has a function of acquiring image data from a video RAM (not shown) or the like under the control of the CPU 11 and displaying an image signal based on the image data on the display 3. As described above, the graphic controller 14 in the example of the present embodiment outputs an image signal to the display 3 based on composite image data obtained by superimposing a later-described guidance object on the front image captured by the front camera 1. To do.
 図3は、車両100の車内から見た車窓風景及びこれに対応するディスプレイ3の表示の一例を示す図である。この図3に示す例において、インストゥルメントパネル102の中央位置に上記ディスプレイ3が配置されており、また図中の右側が運転席に対応して、その前方にステアリングホィール103が配置されている。 FIG. 3 is a diagram illustrating an example of a vehicle window scenery viewed from the inside of the vehicle 100 and a display on the display 3 corresponding thereto. In the example shown in FIG. 3, the display 3 is arranged at the center position of the instrument panel 102, the right side in the figure corresponds to the driver's seat, and the steering wheel 103 is arranged in front thereof. .
 図示する例では、当該車両100はほぼ直線の走行車線を走行しており、その走行方向前方にいる前方車両100fに追従している状態を示している。ルームミラー101の裏側(進行方向側)に備えられているフロントカメラ1は、上記直線の走行車線と前方車両100fを含んだ前方画像を撮像している。そして、ディスプレイ3は、フロントカメラ1が撮像した前方画像を表示している。 In the illustrated example, the vehicle 100 travels in a substantially straight traveling lane, and shows a state in which the vehicle 100 is following the front vehicle 100f in front of the traveling direction. The front camera 1 provided on the back side (traveling direction side) of the room mirror 101 captures a forward image including the straight traveling lane and the forward vehicle 100f. The display 3 displays a front image captured by the front camera 1.
 ここで、運転者が事前にCPU11の経路探索機能によって目的地までの誘導経路を探索させていた場合には、その経路誘導機能によってディスプレイ3には経路誘導のための誘導オブジェクトを上記前方画像に重畳させて表示する。なお、本実施形態の例においては、交差点などの分岐点で誘導経路が右左折するためにその誘導方向を示す場合にだけ上記誘導オブジェクトを重畳表示する仕様とする。以下、そのような誘導オブジェクトの生成手法及び表示例を順次説明する。 Here, when the driver has previously searched the guidance route to the destination by the route search function of the CPU 11, the guidance object for route guidance is displayed on the front image on the display 3 by the route guidance function. Overlay and display. In the example of the present embodiment, the guidance object is superimposed and displayed only when the guidance route indicates the guidance direction because the guidance route turns right or left at a branch point such as an intersection. Hereinafter, a method for generating such a guidance object and display examples will be sequentially described.
 ここで、例として当該車両100が図4に示すような十字路の交差点に向かって走行している場合を説明する。なお、図4は、記憶媒体12cが記憶する地図情報に基づいて、車両100と周囲の車線及び交差点との平面的な位置関係を模式的に示す図であり、以下においてこのような平面的な位置関係を示す地図画面上の座標を地図座標Xm-Ymという。この図4に図示する例では、当該車両100が十字路の交差点に向かって接近しつつあり、CPU11が探索した誘導経路ではこの交差点を左折する経路となっている。つまり、誘導方向は左方向へ誘導する方句となる。 Here, as an example, a case will be described in which the vehicle 100 is traveling toward a crossing intersection as shown in FIG. FIG. 4 is a diagram schematically showing a planar positional relationship between the vehicle 100 and surrounding lanes and intersections based on the map information stored in the storage medium 12c. The coordinates on the map screen indicating the positional relationship are referred to as map coordinates Xm-Ym. In the example illustrated in FIG. 4, the vehicle 100 is approaching the intersection of the crossroads, and the guidance route searched by the CPU 11 is a route that turns left at the intersection. That is, the guidance direction is a phrase that leads to the left.
 図5は、上記フロントカメラ1で上記図4に対応した交差点とその周囲の車線を撮像した前方画像をディスプレイ3に表示させた際の表示例を表している。以下において、図示するように車両100の前方から見た周囲の車線及び交差点の立体的な配置関係を示す前方画像上の座標を画像座標Xi-Yiといい、ディスプレイ3の表示領域における座標を表示座標Xd-Ydという。本実施形態の例では、ディスプレイ3の表示領域全体で前方画像を表示するため、上記画像座標Xi-Yiと上記表示座標Xd-Ydは一致して同等に扱うことができる。また、この図5中に示す2本の車線輪郭線Lrと、網掛けで表示されている路面領域については後に詳述する。 FIG. 5 shows a display example when the front camera 1 displays on the display 3 a front image obtained by imaging the intersection corresponding to FIG. 4 and the surrounding lane. In the following, as shown in the drawing, the coordinates on the front image showing the three-dimensional arrangement relationship of the surrounding lanes and intersections as viewed from the front of the vehicle 100 are referred to as image coordinates Xi-Yi, and the coordinates in the display area of the display 3 are displayed. It is referred to as coordinates Xd-Yd. In the example of the present embodiment, since the front image is displayed in the entire display area of the display 3, the image coordinates Xi-Yi and the display coordinates Xd-Yd can be handled in the same manner. Further, the two lane outlines Lr shown in FIG. 5 and the road surface area indicated by shading will be described in detail later.
 ここで、CPU11が探索した誘導経路を案内する表示として多様な形態が考えられるが、例えば上記図5に対応する図6に示すように、前方画像中における誘導経路の路面領域上にそのまま誘導方向(図4の例の交差点左折方向)を案内する矢印形状の誘導オブジェクト30を重畳表示する形態が考えられる。しかしこの場合には、グラフィック画像で生成される誘導オブジェクト30が前方画像中の全ての表示部分に優先して上書きするよう重畳表示されるため、前方車両100fの画像部分に対しても重畳表示されてしまう。このため、安全に走行する上で注視しなければならない前方車両100fの視認性を阻害してしまい好ましくない。 Here, various forms can be considered as the guidance for guiding the guidance route searched for by the CPU 11. For example, as shown in FIG. 6 corresponding to FIG. 5, the guidance direction is directly on the road surface area of the guidance route in the front image. A form in which the arrow-shaped guidance object 30 that guides (the intersection left turn direction in the example of FIG. 4) is displayed in a superimposed manner is conceivable. However, in this case, the guidance object 30 generated as a graphic image is superimposed and displayed so as to be overwritten with priority over all the display parts in the front image, so that the guidance object 30 is also superimposed and displayed on the image part of the preceding vehicle 100f. End up. For this reason, the visibility of the forward vehicle 100f that must be watched for safe travel is hindered, which is not preferable.
 また、図7に示すように、前方画像中における誘導経路の路面領域の上方位置(空中の位置)に誘導方向を案内する矢印形状の誘導オブジェクト30を重畳表示する形態も考えられる。しかしこの場合には、曲がる位置が正確に把握できず、例えば図示するように正しい誘導経路と前後してそれと平行な進入路がある場合にはどちらで曲がればよいか分かりにくい。 Further, as shown in FIG. 7, a form in which an arrow-shaped guidance object 30 that guides the guidance direction is superimposed and displayed above the road surface area (position in the air) of the guidance route in the front image is also conceivable. However, in this case, the bending position cannot be accurately grasped. For example, when there is an approach path parallel to the front and rear of the correct guide path as shown in the figure, it is difficult to know which one should be bent.
 そこで本実施形態では、図8に示すように誘導オブジェクト31を重畳表示する。すなわち、前方画像の表示座標Xd-Yd中において、正しい誘導経路に対応する路面領域の走行方向に沿った縁部に隣接する基準領域に誘導オブジェクト31を表示する。言い換えると、本実施形態の例では上述したように交差点などの分岐点において誘導経路が右左折する場合にだけ誘導オブジェクトを表示することから、現在地から交差点までの走行車線の境界部、および交差点を介して右折または左折した後の走行車線の境界部のそれぞれに誘導オブジェクトを生成、表示する。ここで、表示座標Xd-Yd中における誘導経路に対応した路面領域とは、上記図4の地図座標Xm-Ym中において網掛け表示している誘導経路上の経路領域21に対応する表示領域であり、上記図5の表示座標Xd-Yd中において同様に網掛け表示した路面領域22である。 Therefore, in this embodiment, the guidance object 31 is displayed in a superimposed manner as shown in FIG. That is, the guidance object 31 is displayed in the reference area adjacent to the edge along the traveling direction of the road surface area corresponding to the correct guidance route in the display coordinates Xd-Yd of the front image. In other words, in the example of this embodiment, as described above, the guidance object is displayed only when the guidance route turns right or left at a branch point such as an intersection, so the boundary of the driving lane from the current location to the intersection and the intersection are displayed. A guidance object is generated and displayed at each boundary portion of the travel lane after turning right or left. Here, the road surface area corresponding to the guidance route in the display coordinates Xd-Yd is a display area corresponding to the route area 21 on the guidance route shown in shaded in the map coordinates Xm-Ym in FIG. The road area 22 is also shaded in the display coordinates Xd-Yd of FIG.
 本実施形態においては、この図5中で網掛け表示した路面領域22を以下の手法により設定する。まず、図示するように実際の走行車線の両側に塗布されている白線や、路面と縁石との境界線や、又はアスファルト道路の縁部などを前方画像の画像認識により検出し、これらを当該車両100が現在走行している自車線(道なりに直進可能な車線)の輪郭を形成する2本の車線輪郭線Lrとして認識する。そして、これら2本の車線輪郭線Lrに挟まれた領域が自車線上の路面領域として検出される。なお、特に図示しないが、例えば自車線がカーブ状である場合には、上記2本の車線輪郭線Lrも、前方画像上におけるそのカーブの方向と曲率に合わせて認識される。もし、このカーブの曲率が途中で変化する場合には、当該車両100の手前側の曲率を優先して2本の車線輪郭線Lrが認識される。 In this embodiment, the road surface area 22 shaded in FIG. 5 is set by the following method. First, as shown in the figure, white lines applied on both sides of the actual driving lane, the boundary line between the road surface and the curb, or the edge of the asphalt road are detected by image recognition of the front image, and these are detected. 100 is recognized as two lane contour lines Lr that form the contour of the own lane (the lane that can travel straight ahead). And the area | region between these two lane outline Lr is detected as a road surface area | region on the own lane. Although not particularly illustrated, for example, when the own lane is curved, the two lane outlines Lr are also recognized in accordance with the direction and curvature of the curve on the front image. If the curvature of this curve changes in the middle, the two lane contour lines Lr are recognized giving priority to the curvature on the front side of the vehicle 100.
 そして、記憶媒体12cが記憶している地図情報とGPS13で検出した当該車両100の現在位置及び車両方位とに基づいて、上記図4に示した地図座標Xm-Ym上における交差点左折後の誘導経路の形状及び当該車両100との配置関係を把握する。これに対応して、前方画像の表示座標Xd-Yd上における左折後の誘導経路に対応した路面領域を検出する。上記の自車線の路面領域と、この左折後の誘導経路の路面領域を重ね合わせ、交差点より奥側(表示座標Xd-Yd上の上側)に位置する自車線の路面領域を除くことで、上記図5中において網掛け表示で示したような誘導経路の路面領域22を設定できる。 Then, based on the map information stored in the storage medium 12c and the current position and vehicle direction of the vehicle 100 detected by the GPS 13, the guidance route after the left turn at the intersection on the map coordinates Xm-Ym shown in FIG. And the arrangement relationship with the vehicle 100 are grasped. Correspondingly, a road surface area corresponding to the guidance route after the left turn on the display coordinates Xd-Yd of the front image is detected. By overlapping the road surface area of the own lane and the road surface area of the guidance route after the left turn, by removing the road area of the own lane located on the back side (upper side on the display coordinates Xd-Yd) from the intersection, The road surface area 22 of the guide route as shown by the shaded display in FIG. 5 can be set.
 そして、この表示座標Xd-Ydにおける誘導経路の路面領域22に対してその走行方向に沿った縁部、つまり誘導経路の車線幅方向両側の縁部に隣接する領域が誘導オブジェクトの表示位置の基準領域(後述の図9中の斜線領域23aおよび23b)となる。ここで、上述したように本実施形態の例では、誘導経路が交差点などの分岐点で右左折する場合にだけその誘導方向を案内する誘導オブジェクトを表示する。このため、現在地から交差点までの走行車線(第1の走行車線に相当)の境界部と、交差点を介して右折または左折した後の走行車線(第2の走行車線に相当)の境界部が、それぞれ誘導オブジェクトの表示位置の基準領域23aおよび23bとなる。なお、現在地から交差点までの走行車線の境界部が、各請求項記載の第1の領域に相当し、交差点を介して右折または左折した後の走行車線の境界部が第2の領域に相当する。 Then, the edge along the traveling direction with respect to the road surface area 22 of the guidance route at the display coordinates Xd-Yd, that is, the region adjacent to the edges on both sides in the lane width direction of the guidance route is a reference for the display position of the guidance object. This is an area (hatched areas 23a and 23b in FIG. 9 described later). Here, as described above, in the example of the present embodiment, a guidance object that guides the guidance direction is displayed only when the guidance route turns right or left at a branch point such as an intersection. For this reason, the boundary of the travel lane from the current location to the intersection (corresponding to the first travel lane) and the boundary of the travel lane after turning right or left through the intersection (corresponding to the second travel lane) The reference areas 23a and 23b are the display positions of the guidance object, respectively. In addition, the boundary part of the travel lane from the present location to the intersection corresponds to the first area described in each claim, and the boundary part of the travel lane after turning right or left through the intersection corresponds to the second area. .
 そして本実施形態の例では、図8に示すように、これらの基準領域から上方に延びるように仮想的に立設させた複数の壁面の形態で誘導オブジェクト31aおよび31bを生成する。これらの誘導オブジェクト31は、上記図4に対応する図9の地図座標Xm-Ym上で見た場合、基本的に現在地から交差点までの走行車線と交差点を介して右折または左折した後の走行車線のそれぞれの境界部、つまり誘導経路の走行方向に沿った縁部に隣接する基準領域23aおよび23bの領域において等間隔に点在するよう仮想的に配置されている。また地図座標Xm-Ym上で見て、それぞれが同じ幅と同じ高さ(図9は平面図であるため高さについては図示を省略)に設定された縦に長い矩形形状の壁面であって、いずれも逐次当該車両100の正面に正対する向きで仮想的に設けられている。つまり、全ての仮想壁面31aおよび31bは、交差点を曲がるタイミングの前後にかかわらず常に車両100の運転者から見て正対した矩形形状に見えるよう設けられる。そして、これら誘導オブジェクトの仮想壁面31aおよび31bは、図8に示す表示画面においていずれも半透過状態で表示されるとともに、その表示画面上に設定された表示座標Xd-Yd上で仮想壁面31aおよび31bそれぞれの形状の幅や高さ、および配置間隔が当該車両100との相対距離に応じた縮尺(離間しているものほど縮小)で表示されている。 And in the example of this embodiment, as shown in FIG. 8, the induction | guidance | derivation objects 31a and 31b are produced | generated by the form of the several wall surface erected virtually so that it may extend upwards from these reference | standard area | regions. When viewed on the map coordinates Xm-Ym in FIG. 9 corresponding to FIG. 4, these guidance objects 31 are basically the travel lane from the current location to the intersection and the travel lane after turning right or left through the intersection. Of the reference regions 23a and 23b adjacent to the respective border portions, that is, the edge portions along the traveling direction of the guide route, are virtually arranged so as to be scattered at equal intervals. Further, when viewed on the map coordinates Xm-Ym, each is a vertically long rectangular wall surface set to the same width and the same height (FIG. 9 is a plan view, and the height is not shown). These are virtually provided in a direction facing the front of the vehicle 100 sequentially. That is, all the virtual wall surfaces 31a and 31b are provided so as to always look like a rectangular shape facing the driver of the vehicle 100 regardless of before and after the timing of turning at the intersection. The virtual wall surfaces 31a and 31b of these guiding objects are both displayed in a semi-transparent state on the display screen shown in FIG. 8, and the virtual wall surfaces 31a and 31b are displayed on the display coordinates Xd-Yd set on the display screen. The widths, heights, and arrangement intervals of the respective shapes of 31b are displayed at a reduced scale corresponding to the relative distance from the vehicle 100 (the smaller the distance, the smaller the distance).
 なお、本実施形態の例では、誘導経路が交差点などの分岐点を右左折する場合で、その外周側の縁部に隣接する基準領域23aおよび23bにおいてのみ誘導オブジェクト31aおよび31bを生成しており、内周側の基準領域(特に図示せず)では誘導オブジェクト31aおよび31bの生成を省略している。また、表示座標Xd-Yd中において当該車両100の進行方向の前方車線に重複する位置、つまり図8の表示画面中において交差点より奥側の自車線と重複する位置では、誘導オブジェクト31aまたは31bの生成を省略している。さらに、これら複数の仮想壁面31aおよび31bが連なる列の先端位置、つまり図8の表示座標Xd-Yd中において最も左側の位置(誘導方向に沿って最も離れた位置)にある仮想壁面31cは、誘導方向に従う矢印の矢先の形状で生成されている。 In the example of this embodiment, the guidance objects 31a and 31b are generated only in the reference areas 23a and 23b adjacent to the outer peripheral edge when the guidance route turns right or left at a branch point such as an intersection. Further, the generation of the guiding objects 31a and 31b is omitted in the reference area (not shown) on the inner circumference side. Further, at the position that overlaps the forward lane in the traveling direction of the vehicle 100 in the display coordinates Xd-Yd, that is, at the position that overlaps the own lane behind the intersection in the display screen of FIG. 8, the guidance object 31a or 31b Generation is omitted. Furthermore, the virtual wall surface 31c at the tip position of the row where the plurality of virtual wall surfaces 31a and 31b are connected, that is, the leftmost position (the position farthest along the guiding direction) in the display coordinates Xd-Yd in FIG. It is generated in the shape of the arrowhead according to the guiding direction.
 このようにして生成、表示される複数の仮想壁面31a,31bおよび31cは、それら全体が一体にまとめられた態様であたかも誘導経路に対して仮想的に設けた単一のガイドレールのように表示され、当該誘導経路の路面領域22に重複することなく交差点における誘導方向を案内できる。ここで、複数の仮想壁面31a、31bおよび31cは、交差点より奥側の自車線と重複する位置で誘導オブジェクト31aまたは31bが間欠しているが、その間欠部分の端部で誘導オブジェクトの幅を同じにすることで間欠した仮想壁面31aおよび31bの間で誘導方向の連続性を表現できる。 The plurality of virtual wall surfaces 31a, 31b, and 31c generated and displayed in this way are displayed as if they were a single guide rail virtually provided for the guide route in a mode in which they are integrated together. The guidance direction at the intersection can be guided without overlapping the road surface area 22 of the guidance route. Here, in the plurality of virtual wall surfaces 31a, 31b and 31c, the guiding object 31a or 31b is intermittent at a position overlapping with the own lane behind the intersection, but the width of the guiding object is increased at the end of the intermittent portion. By making it the same, continuity in the guiding direction can be expressed between the intermittent virtual wall surfaces 31a and 31b.
 なお、以上においては上記図4に示したように誘導経路が十字路の交差点で左折する場合の例を示したが、右折する場合には図10の地図座標Xm-Ymで示す例のように誘導オブジェクトの複数の仮想壁面31aおよび31bが配置され、図11の表示例で示すようにそれぞれ対応する仮想壁面31aおよび31bが表示される。この場合にも、内周側の基準領域では誘導オブジェクト31aおよび31bの生成を省略している。 In the above, the example in which the guidance route turns left at the intersection of the crossroads as shown in FIG. 4 is shown. However, in the case of turning right, the guidance route is guided as shown by the map coordinates Xm-Ym in FIG. A plurality of virtual wall surfaces 31a and 31b of the object are arranged, and the corresponding virtual wall surfaces 31a and 31b are displayed as shown in the display example of FIG. Also in this case, the generation of the guidance objects 31a and 31b is omitted in the reference area on the inner circumference side.
 また、図12の地図座標Xm-Ymで示す例のように、自車線が途切れるT字路の交差点で左折する場合には、外周側の全ての基準領域で誘導オブジェクト31aおよび31bを生成し、図13の表示例で示すように複数の仮想壁面31aおよび31bの列を途切れることなく表示できる。 In addition, as shown in the map coordinates Xm-Ym of FIG. 12, when turning left at the intersection of the T-shaped road where the own lane is interrupted, the guidance objects 31a and 31b are generated in all the reference areas on the outer circumference side, As shown in the display example of FIG. 13, the plurality of virtual wall surfaces 31 a and 31 b can be displayed without interruption.
 また、図14の地図座標Xm-Ymで示す例のように、交差点から斜めに進入する経路へ誘導する場合(左斜め前方に左折する場合)には、基本的に外周側の基準領域にのみ誘導オブジェクト31aおよび31bを生成し、図15の表示例で示すように交差点より奥側の自車線と重複する位置では、誘導オブジェクト31a又は31bの生成を省略している。 Also, as in the example shown by the map coordinates Xm-Ym in FIG. 14, when guiding to a path that enters diagonally from an intersection (when turning left to the left forward), basically only in the reference area on the outer peripheral side. The guidance objects 31a and 31b are generated, and the generation of the guidance object 31a or 31b is omitted at the position overlapping the own lane behind the intersection as shown in the display example of FIG.
 図16は、以上説明した動作態様を実現するために、イメージングユニット2のCPU11が実行する制御内容を表すフローチャートの一例である。なお、このフローは、フロントカメラ1が動画の形態で前方画像を撮像している間に、例えば適宜の時間間隔で呼び出されて実行する。 FIG. 16 is an example of a flowchart showing control contents executed by the CPU 11 of the imaging unit 2 in order to realize the operation mode described above. This flow is called and executed at an appropriate time interval, for example, while the front camera 1 captures a front image in the form of a moving image.
 図16において、まずステップS5において、GPS13によって車両100の現在地の測位を行い、現在位置情報と車両方位を取得する。 In FIG. 16, first, in step S5, the current location of the vehicle 100 is measured by the GPS 13, and the current position information and the vehicle direction are acquired.
 ステップS10へ移り、記憶媒体12cから地図情報を取得する。 Step S10 is entered, and map information is acquired from the storage medium 12c.
 ステップS15へ移り、上記ステップS5で取得した現在位置情報と車両方位、及び上記ステップS10で取得した地図情報に基づいて車両100と誘導経路との配置関係を取得する。また、上述したように本実施形態の例では、交差点などで右左折する場合にだけ誘導オブジェクト31aおよび31bを生成、表示することから、この時点で車両100がしばらくの間交差点を通過せずに直線車線のみ走行すると判断された場合、もしくは誘導経路が直前の交差点を直進すると判断された場合には、以降の手順を省略してこのままフローを終了する(特に図示せず)。 The process moves to step S15, and the positional relationship between the vehicle 100 and the guidance route is acquired based on the current position information and vehicle orientation acquired in step S5 and the map information acquired in step S10. Further, as described above, in the example of the present embodiment, the guidance objects 31a and 31b are generated and displayed only when making a right / left turn at an intersection or the like, so that the vehicle 100 does not pass through the intersection for a while at this time. When it is determined that the vehicle travels only in a straight lane, or when it is determined that the guidance route travels straight through the previous intersection, the following procedure is omitted and the flow is terminated (not shown).
 ステップS20へ移り、フロントカメラ1で前方画像を撮像する。 The process proceeds to step S20, and the front camera 1 captures a front image.
 ステップS25へ移り、前方画像の表示座標Xd-Yd中において誘導経路に対応する路面領域を設定する。ここで、上述したように、前方画像中の2本の車線輪郭線Lrの画像認識と上記ステップS15で取得した配置関係に基づく手法により路面領域の設定を行う。 The process proceeds to step S25, and a road surface area corresponding to the guidance route is set in the display coordinates Xd-Yd of the front image. Here, as described above, the road surface area is set by the method based on the image recognition of the two lane outlines Lr in the front image and the arrangement relationship acquired in step S15.
 ステップS30へ移り、上記ステップS25で設定した路面領域の進行方向に沿った縁部に隣接する基準領域中において、各誘導オブジェクトの仮想壁面31aおよび31bそれぞれの表示の基準となる表示基準位置を地図座標Xm-Ymにおいて等間隔となるよう求める。ただし、表示座標Xd-Yd中において自車線と重複する表示基準位置を省略する。また、誘導経路が右左折する場合には外周側の基準領域のみで求める。 Moving to step S30, in the reference region adjacent to the edge along the traveling direction of the road surface region set in step S25, the display reference position serving as the display reference for each of the virtual wall surfaces 31a and 31b of each guiding object is displayed on the map. The coordinate Xm-Ym is obtained at equal intervals. However, the display reference position overlapping with the own lane in the display coordinates Xd-Yd is omitted. In addition, when the guidance route turns right or left, it is obtained only from the reference area on the outer peripheral side.
 ステップS35へ移り、地図座標Xm-Ymで見た当該車両100と各表示基準位置との相対に応じて各誘導オブジェクトの仮想壁面31aおよび31bの縮尺を算出する。なお、上記ステップS15、S25、S30、およびS35の手順が各請求項記載の生成手段に相当する。 The process proceeds to step S35, and the scales of the virtual wall surfaces 31a and 31b of each guidance object are calculated according to the relative relationship between the vehicle 100 and each display reference position viewed at the map coordinates Xm-Ym. The steps S15, S25, S30, and S35 correspond to the generating means described in each claim.
 ステップS40へ移り、表示座標Xd-Yd中の各表示基準位置にそれぞれ対応する縮尺で各誘導オブジェクトの仮想壁面31aおよび31bを前方画像に重畳し、その合成画像をディスプレイ3に表示する。そしてこのフローを終了する。 The process proceeds to step S40, where the virtual wall surfaces 31a and 31b of each guiding object are superimposed on the front image at a scale corresponding to each display reference position in the display coordinates Xd-Yd, and the combined image is displayed on the display 3. Then, this flow ends.
 以上説明したように、上記実施形態のナビゲーション装置Sにおいては、現在地から交差点までの走行車線(第1の走行車線に相当)の境界部(第1の領域に相当)、および、交差点を介して右折または左折した後の走行車線(第2の走行車線に相当)の境界部(第2の領域に相当)に夫々誘導オブジェクト31aおよび31bを生成するステップS15、S25、S30、およびS35の手順(生成手段に相当)と、前記誘導オブジェクト31aおよび31bを出力するディスプレイ3(出力手段に相当)と、を備える。 As described above, in the navigation device S of the above embodiment, the boundary (corresponding to the first region) of the traveling lane (corresponding to the first traveling lane) from the current location to the intersection, and the intersection Steps S15, S25, S30, and S35 for generating the guiding objects 31a and 31b at the boundary portions (corresponding to the second region) of the traveling lane (corresponding to the second traveling lane) after turning right or left (respectively) And a display 3 (corresponding to output means) for outputting the guiding objects 31a and 31b.
 つまり、車両100を誘導すべき誘導経路を取得するステップS15の手順と、ディスプレイ3の表示座標Xd-Yd中において前記誘導経路に対応する路面領域を設定するステップS25の手順と、前記路面領域の走行方向に沿った縁部に略隣接する基準領域に誘導オブジェクト31を生成するステップS30、S35の手順(以上、生成手段に相当)と、前記誘導オブジェクト31を前記表示座標Xd-Ydに対応して表示するディスプレイ3(出力手段に相当)と、を有する。 That is, the procedure of step S15 for obtaining the guidance route for guiding the vehicle 100, the procedure of step S25 for setting the road surface area corresponding to the guidance route in the display coordinates Xd-Yd on the display 3, and the road surface region Steps S30 and S35 for generating the guiding object 31 in the reference area substantially adjacent to the edge along the traveling direction (hereinafter referred to as generating means), and the guiding object 31 corresponding to the display coordinates Xd-Yd Display 3 (corresponding to output means).
 このようにすると、表示座標Xd-Yd中に表示される誘導オブジェクト31a、31bおよび31cは、それら全体が誘導経路に対してあたかも仮想的に設けた単一のガイドレールや路側帯などのように表示され、運転者に対して交差点などの分岐点における誘導方向を直感的に案内させることができる。この結果、前方画像中の誘導経路の路面領域上に経路案内のための誘導オブジェクト31a、31bおよび31cを何ら重複させずに誘導方向を明確に案内表示できる。つまり、誘導オブジェクト31a、31b、31cは前方車両に重複する位置で間欠しているが、その間欠部分の端部で誘導オブジェクトの幅を同じにすることで間欠した誘導オブジェクト31aおよび31bの間で誘導方向の連続性を表現できる。 In this way, the guidance objects 31a, 31b and 31c displayed in the display coordinates Xd-Yd are as if they were a single guide rail or roadside belt virtually provided for the guidance route. It is displayed and the driver can be guided intuitively in the guidance direction at a branch point such as an intersection. As a result, the guidance direction can be clearly guided and displayed without overlapping the guidance objects 31a, 31b and 31c for route guidance on the road surface area of the guidance route in the front image. That is, the guiding objects 31a, 31b, and 31c are intermittent at positions overlapping with the vehicle ahead, but between the intermittent guiding objects 31a and 31b by making the width of the guiding object the same at the end of the intermittent portion. The continuity of the guiding direction can be expressed.
 上述した構成に加えてさらに、前記誘導オブジェクト31aおよび31bは、前記基準領域中(各境界部に対応する第1、第2の領域中)の点在位置から上方に立設し、逐次その時点の車両100(移動体に相当)の正面に正対する向きの複数の仮想壁面31aおよび31bである。 In addition to the above-described configuration, the guiding objects 31a and 31b are erected upward from the interspersed positions in the reference area (in the first and second areas corresponding to the boundary portions), and sequentially Are a plurality of virtual wall surfaces 31a and 31b facing directly to the front of the vehicle 100 (corresponding to a moving body).
 このようにすると、運転者は誘導経路の輪郭、特に車線がカーブ状である場合などの奥行きに対するカーブの曲率の変化を、各仮想壁面31の角部の並び方により直感的に把握できる。このため、より安全な操舵を支援できる。 In this way, the driver can intuitively grasp the change in the curvature of the curve with respect to the depth of the guidance route, particularly when the lane is curved, by the way the corners of each virtual wall 31 are arranged. For this reason, safer steering can be supported.
 上述した構成に加えてさらに、同じ基準領域中に生成される前記複数の仮想壁面31どうしは、一体にまとめられた態様の単一のガイドレールの形態で表示される。 In addition to the above-described configuration, the plurality of virtual wall surfaces 31 generated in the same reference area are displayed in the form of a single guide rail that is integrated together.
 これにより、複数生成される仮想壁面31aおよび31bの全体で誘導方向を直感的に把握できるよう表現できる。 This makes it possible to express the guidance direction intuitively for the entirety of the plurality of generated virtual wall surfaces 31a and 31b.
 上述した構成に加えてさらに、前記ステップS30、S35の手順では、前記表示座標Xd-Yd中における前記誘導オブジェクトの仮想壁面31aおよび31bの幅、高さ、および離間距離を、前記誘導経路上におけるそれぞれの当該車両100との相対距離に応じた縮尺で生成する。 In addition to the configuration described above, in the steps S30 and S35, the width, height, and separation distance of the virtual wall surfaces 31a and 31b of the guidance object in the display coordinates Xd-Yd are set on the guidance path. It produces | generates by the reduced scale according to the relative distance with each said said vehicle 100. FIG.
 このようにすると、地図座標Xm-Ym上において当該車両100と各誘導オブジェクト31それぞれの相対距離に応じた遠近感を表示座標Xd-Yd上で表現することができる。これにより、さらに運転者は誘導経路の輪郭を各仮想壁面31の角部の並び方により直感的に把握でき、より安全な操舵を支援できる。 In this way, the perspective according to the relative distance between the vehicle 100 and each guiding object 31 on the map coordinates Xm-Ym can be expressed on the display coordinates Xd-Yd. Thereby, the driver can intuitively grasp the contour of the guide route by the way the corners of the virtual wall surfaces 31 are arranged, and can support safer steering.
 上述した構成に加えてさらに、前記ステップS30、S35の手順では、前記表示座標Xd-Yd中において前記車両100の進行方向の前方車線に重複する位置では前記誘導オブジェクト31aおよび31bの生成を省略する。 In addition to the configuration described above, in the procedure of steps S30 and S35, the generation of the guiding objects 31a and 31b is omitted at a position overlapping the front lane in the traveling direction of the vehicle 100 in the display coordinates Xd-Yd. .
 このようにすると、交差点などの分岐点で誘導方向に従った操舵を行い損ねた場合でも安全に走行し続けることが可能な前方の車線及び前方の信号機の視認性を明瞭に維持できるため、運転者に安心感を与えるとともに運転の安全性を確保できる。 In this way, the visibility of the front lane and the front traffic light that can continue to travel safely even when steering according to the guidance direction is missed at a branch point such as an intersection can be clearly maintained. This gives a sense of security to the driver and ensures driving safety.
 上述した構成に加えてさらに、前記ディスプレイ3は、前記誘導オブジェクト31を半透過状態で表示する。 In addition to the configuration described above, the display 3 displays the guiding object 31 in a semi-transparent state.
 このようにすると、誘導オブジェクト31aおよび31bと重複する対向車線や誘導経路以外の路面上の他車両やその周囲の信号機及び標識などの視認性を確保できるため、運転者に安心感を与えるとともに運転の安全性を確保できる。 In this way, the visibility of other vehicles on the road surface other than the oncoming lanes and guidance routes that overlap with the guidance objects 31a and 31b and the traffic lights and signs around them can be ensured, which gives the driver a sense of security and driving. Can be secured.
 上述した構成に加えてさらに、前記ステップS30、S35の手順では、前記誘導オブジェクト31を各走行車線それぞれの車線幅方向両側の各基準領域に生成する。 In addition to the above-described configuration, in the steps S30 and S35, the guidance object 31 is generated in each reference region on both sides in the lane width direction of each traveling lane.
 このようにすると、交差点などの分岐点においても、誘導オブジェクト31aおよび31bに挟まれた直進の誘導経路のみが明瞭な視認性を確保できるため、誘導方向が直進であることを明確に案内できる。 In this way, even at a branching point such as an intersection, only a straight guide route sandwiched between the guide objects 31a and 31b can ensure clear visibility, so that the guide direction can be clearly guided.
 上述した構成に加えてさらに、前記ステップS30、S35の手順では、前記誘導経路が交差点などの分岐点で右左折する場合、その内周側に対応する基準領域の前記誘導オブジェクト31を省略する。 In addition to the above-described configuration, in the procedure of steps S30 and S35, when the guidance route turns right or left at a branch point such as an intersection, the guidance object 31 in the reference area corresponding to the inner circumference side is omitted.
 このようにすると、交差点などの分岐点において、誘導経路の右左折を案内するのに最低限必要な外周側の基準領域の誘導オブジェクト31aおよび31bだけを表示させて、案内にあまり影響のない内周側の誘導オブジェクト31aおよび31bの表示を省略できる。これにより、CPU11における誘導オブジェクト31aおよび31bの生成処理、描画処理の負担を軽減でき、その分だけより高速でリアルタイムな処理が可能となる。また、このように内周側に何ら誘導オブジェクトを表示させないことで、交差点において曲がる側の視界を明瞭にして安全を確保できる利点がある。例えば、上記図8に示すような左折の場合には、交差点で左折する際の内周側の巻き込み確認を容易に行える。 In this way, only the guidance objects 31a and 31b in the reference area on the outer peripheral side, which is the minimum necessary for guiding the right / left turn of the guidance route, are displayed at a branch point such as an intersection, and the guidance is not significantly affected. The display of the circumferential guidance objects 31a and 31b can be omitted. As a result, it is possible to reduce the burden of the generation processing and drawing processing of the guidance objects 31a and 31b in the CPU 11, and it is possible to perform real-time processing at a higher speed by that much. In addition, by not displaying any guiding object on the inner peripheral side in this way, there is an advantage that the field of view on the side that bends at the intersection can be clarified and safety can be ensured. For example, in the case of a left turn as shown in FIG. 8 above, it is possible to easily check the inner periphery when making a left turn at an intersection.
 また、上記のように交差点などの分岐点において右左折する際、外周側のみに誘導オブジェクト31aおよび31bを生成、表示することは特に片側に複数車線を有する大きな道路で有効である。例えば、特に図示しないが、片側3車線の道路において初めに中央の車線を走行しており、交差点での誘導方向が左折方向である場合には、当該車両100が交差点の手前で左折しやすいように最も左側の車線に車線変更するケースが多い。このときに内周側に何ら誘導オブジェクトを表示させないことで、交差点の手前で車線変更する際においてもその移動方向の視界を明瞭にして安全を確保できる利点がある。 In addition, when making a right or left turn at a branch point such as an intersection as described above, generating and displaying the guidance objects 31a and 31b only on the outer peripheral side is particularly effective on a large road having a plurality of lanes on one side. For example, although not specifically illustrated, when the vehicle is traveling in the center lane first on a three-lane road, and the guidance direction at the intersection is the left turn direction, the vehicle 100 is likely to turn left before the intersection. In many cases, the lane changes to the leftmost lane. By not displaying any guidance object on the inner circumference side at this time, there is an advantage that the visibility in the moving direction can be clear and safety can be ensured even when the lane is changed before the intersection.
 さらにこのような片側3車線の道路において、初めに中央の車線を走行していて交差点で左折方向を誘導する際には、その中央の車線の外周側に誘導オブジェクト31aおよび31bを生成、表示してもよいし、最も右側の車線の外周側に誘導オブジェクト31aおよび31bを生成、表示してもよい。中央の車線の外周側に誘導オブジェクト31aおよび31bを生成、表示した場合には、当該車両100がその時点で走行している車線そのものを基準に誘導オブジェクト31aおよび31bを生成、表示するので、誘導経路を最も明確に示すことができる。またこの後に当該車両100が交差点の手前で最も左側の車線に車線変更した場合には、それに合わせて最も左側の車線の外周側に誘導オブジェクト31aおよび31bの位置を変更してもよい。また一方、最も右側の車線の外周側に誘導オブジェクト31aおよび31bを生成、表示した場合には、最も右側の車線を走行する他車両を視認しやすくなるので安全上好ましい。いずれの場合でも、上述したように交差点で左折する際の内周側の巻き込み確認を容易に行える効果が得られる。 Furthermore, on such a three-lane road on one side, when driving in the center lane first and guiding the left turn direction at the intersection, guidance objects 31a and 31b are generated and displayed on the outer periphery side of the center lane. Alternatively, the guidance objects 31a and 31b may be generated and displayed on the outer peripheral side of the rightmost lane. When the guidance objects 31a and 31b are generated and displayed on the outer peripheral side of the center lane, the guidance objects 31a and 31b are generated and displayed based on the lane that the vehicle 100 is traveling at that time. The route can be shown most clearly. Further, when the vehicle 100 subsequently changes to the leftmost lane before the intersection, the positions of the guiding objects 31a and 31b may be changed to the outer peripheral side of the leftmost lane accordingly. On the other hand, when the guidance objects 31a and 31b are generated and displayed on the outer peripheral side of the rightmost lane, it is preferable for safety because it is easy to visually recognize other vehicles traveling in the rightmost lane. In any case, as described above, the effect of easily confirming the entrainment on the inner peripheral side when turning left at the intersection can be obtained.
 なお、表示座標Xd-Yd中における誘導経路の路面領域のより正確な表示を優先するために、内周側の誘導オブジェクト31aまたは31bを表示させてもよい。本実施形態のように誘導オブジェクト31aおよび31bが基準領域から上方に立設する仮想壁面31aおよび31bの場合には、図17の地図座標Xm-Ymで示す例のように、自車線の交差点手前側においてのみ車線幅方向両側の基準領域で誘導オブジェクト31aおよび31bを生成する。そして、図18の表示例で示すように、内周側の誘導オブジェクト31aだけ誘導経路の路面領域に重複しないよう変形(高さを調整)させる必要がある。 Note that in order to prioritize more accurate display of the road surface area of the guidance route in the display coordinates Xd-Yd, the inner guidance object 31a or 31b may be displayed. In the case where the guide objects 31a and 31b are virtual wall surfaces 31a and 31b erected upward from the reference area as in the present embodiment, as shown by the map coordinates Xm-Ym in FIG. The guiding objects 31a and 31b are generated in the reference areas on both sides in the lane width direction only on the side. Then, as shown in the display example of FIG. 18, it is necessary to deform (adjust the height) so that only the guide object 31 a on the inner peripheral side does not overlap the road surface area of the guide path.
 上述した構成に加えてさらに、前記車両100に搭載して当該車両の前方画像を撮像するフロントカメラ1(撮像手段に相当)を有し、前記ステップS25の手順は、前記フロントカメラ1が撮像した前記前方画像の画像座標Xi-Yi中において、各走行車線にそれぞれ対応する基準領域を画像認識により設定し、前記ディスプレイ3は、その表示画面の前記表示座標Xd-Ydを前記画像座標Xi-Yiに一致させることで、前記前方画像に前記誘導オブジェクト31を重畳させて表示する。 In addition to the above-described configuration, it further includes a front camera 1 (corresponding to an imaging unit) that is mounted on the vehicle 100 and captures a front image of the vehicle, and the procedure of step S25 is performed by the front camera 1. In the image coordinates Xi-Yi of the front image, a reference area corresponding to each traveling lane is set by image recognition, and the display 3 uses the display coordinates Xd-Yd of the display screen as the image coordinates Xi-Yi. The guidance object 31 is superimposed on the front image and displayed.
 このようにすると、運転者が視認する前方視界と同等の前方画像に対し、その表示座標Xd-Yd(本実施形態では画像座標Xi-Yiと一致)における誘導経路の路面領域の配置に適切に対応した位置と縮尺で誘導オブジェクトの各仮想壁面31aおよび31bを重畳表示できる。 In this way, for the front image equivalent to the front field of view visually recognized by the driver, it is appropriate for the arrangement of the road surface area of the guidance route at the display coordinates Xd-Yd (in the present embodiment, coincident with the image coordinates Xi-Yi). The virtual wall surfaces 31a and 31b of the guidance object can be superimposed and displayed at the corresponding position and scale.
 なお、上記実施形態では、交差点などの分岐点で誘導経路が右左折する場合にだけ誘導オブジェクト31aおよび31bを生成、表示していたが、本発明はこれに限られない。他にも、図19の地図座標Xm-Ymで示す例のように誘導経路が十字路の交差点で直進する場合に対して、誘導経路の車線幅方向両側いずれの基準領域にも誘導オブジェクトの複数の仮想壁面31を生成、表示させてもよい。これにより、誘導方向が直進であることを明確に示すことができる。この場合には、図20の表示例で示すように自車線だけの路面領域を挟むように複数の仮想壁面31が並んで表示される。また、交差点などの分岐点が所定距離以上離れた直線車線においては、同様に誘導経路の車線幅方向両側に誘導オブジェクト31を生成、表示してもよいし、必要に応じて生成、表示を省略してもよい。 In the above embodiment, the guidance objects 31a and 31b are generated and displayed only when the guidance route turns right or left at a branch point such as an intersection. However, the present invention is not limited to this. In addition, in the case where the guidance route goes straight at the intersection of the cross road as in the example shown by the map coordinates Xm-Ym in FIG. 19, a plurality of guidance objects are provided in the reference areas on both sides in the lane width direction of the guidance route. The virtual wall surface 31 may be generated and displayed. Thereby, it can be clearly shown that the guidance direction is straight. In this case, as shown in the display example of FIG. 20, a plurality of virtual wall surfaces 31 are displayed side by side so as to sandwich a road surface area of only the own lane. Also, in a straight lane where a branch point such as an intersection is more than a predetermined distance, the guidance object 31 may be generated and displayed on both sides of the guidance route in the lane width direction, and generation and display may be omitted as necessary. May be.
 また、上記実施形態では、誘導オブジェクトを逐次車両の正面に正対させた複数の仮想壁面31aおよび31bで生成していたが、本発明はこれに限られない。他にも、図21の表示例に示すように、基準領域でそれぞれ上方に立設する仮想壁面32aおよび32bで誘導オブジェクトを生成してもよい。このようにすると、誘導オブジェクト32aおよび32bを簡略的に生成、表示できるためその分の処理負担を軽減でき、またディスプレイ3上での表示態様が簡略化されて見やすくなる。 In the above-described embodiment, the guidance object is generated by the plurality of virtual wall surfaces 31a and 31b that face each other in front of the vehicle, but the present invention is not limited to this. In addition, as shown in the display example of FIG. 21, the guidance object may be generated using virtual wall surfaces 32 a and 32 b that are provided upward in the reference region. In this way, the guidance objects 32a and 32b can be simply generated and displayed, so that the processing burden can be reduced, and the display mode on the display 3 is simplified and easy to see.
 さらに、図22の表示例に示すように遠近感を表現するための縮尺の算出を省略した同じ高さの仮想壁面33aおよび33bで生成してもよい。なお、この図22中に示す仮想壁面33aおよび33bでは、誘導方向に沿った矢印をその壁面中に描画しており、その矢印の幅で遠近感を表現している。この仮想壁面33aおよび33bは、上述したように前方車線に重複する位置で間欠しているが、その間欠部分の端部で矢印の幅を同じにすることで間欠した仮想壁面33aおよび33bの間で誘導方向の連続性を表現できる。 Further, as shown in the display example of FIG. 22, the virtual wall surfaces 33a and 33b having the same height may be generated without calculating the scale for expressing perspective. Note that, in the virtual wall surfaces 33a and 33b shown in FIG. 22, an arrow along the guiding direction is drawn in the wall surface, and a sense of perspective is expressed by the width of the arrow. As described above, the virtual wall surfaces 33a and 33b are intermittent at the position overlapping with the front lane, but the interval between the virtual wall surfaces 33a and 33b is intermittent by setting the same arrow width at the end of the intermittent portion. Can express the continuity of the guiding direction.
 また、図23の表示例に示すように、仮想壁面34aおよび34bの高さを十分低くすることで、対向車線などの誘導経路以外の路面領域の視認性を向上させることもできる。この場合には、各仮想壁面34aおよび34bの透過度を低くしてその視認性を向上させることが望ましい。 Further, as shown in the display example of FIG. 23, the visibility of road surface areas other than the guidance route such as the oncoming lane can be improved by sufficiently reducing the height of the virtual wall surfaces 34a and 34b. In this case, it is desirable to improve the visibility by lowering the transparency of the virtual wall surfaces 34a and 34b.
 また、図24の表示例に示すように、所定幅で基準領域に沿った仮想路側帯35aおよび35bで誘導オブジェクトを生成してもよい。この仮想路側帯35aおよび35bは、地表面上に仮想的に塗布された白線と同等の形態で生成され、基準領域から上方への高さを有しない。このようにすると、誘導経路が交差点などの分岐点で右左折する場合で、内周側の基準領域全体に渡って仮想路側帯35aおよび35bを生成、表示しても、誘導経路の路面領域に重複することなく誘導方向を明瞭に案内できる。また、対向車線などの誘導経路以外の車線の周囲の信号機や道路標識などの視認性も向上できる。なお、誘導経路が交差点で直進する場合には、図25のように表示される。 Further, as shown in the display example of FIG. 24, the guidance object may be generated by virtual roadside bands 35a and 35b along the reference area with a predetermined width. The virtual roadside bands 35a and 35b are generated in a form equivalent to a white line virtually applied on the ground surface and do not have a height upward from the reference region. In this way, when the guidance route turns right or left at a branch point such as an intersection, even if the virtual roadside bands 35a and 35b are generated and displayed over the entire reference area on the inner circumference side, the road surface area of the guidance route The guidance direction can be clearly guided without overlapping. In addition, the visibility of traffic lights and road signs around lanes other than the guidance route such as the oncoming lane can be improved. In addition, when the guidance route goes straight at the intersection, it is displayed as shown in FIG.
 なお、本発明は、上記実施形態に限られるものではなく、その趣旨及び技術的思想を逸脱しない範囲内で種々の変形が可能である。 The present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit and technical idea thereof.
 (1)誘導オブジェクトをヘッドアップディスプレイで表示させる場合
 上記実施形態では、フロントカメラ1で撮像した前方画像に対して誘導オブジェクトを重畳表示させた合成画像を単独のディスプレイに表示させていたが、本発明はこれに限られない。例えば、車両100のウィンドウガラスを介した運転者の視界と一致させるよう表示座標Xd-Ydを配置し、当該ウィンドウガラス上に誘導オブジェクトを表示するヘッドアップディスプレイを備えてもよい。
(1) When a guiding object is displayed on a head-up display In the above embodiment, a composite image in which a guiding object is superimposed on a front image captured by the front camera 1 is displayed on a single display. The invention is not limited to this. For example, the display coordinates Xd-Yd may be arranged so as to coincide with the driver's field of view through the window glass of the vehicle 100, and a head-up display that displays the guidance object on the window glass may be provided.
 図26は、上記実施形態の図2に対応して本変形例のナビゲーション装置SAのハードウェア構成例を示すブロック図である。この図26において、本変形例のナビゲーション装置SAはフロントカメラ1を有しておらず、ディスプレイ3の代わりにヘッドアップディスプレイプロジェクター4およびコンバイナ5を有しており、それ以外のハードウェア構成は上記実施形態と同等である。ただし、グラフィックコントローラ14からは、前方画像を含まずに誘導オブジェクトの画像データのみによる画像信号が出力される。 FIG. 26 is a block diagram showing a hardware configuration example of the navigation device SA of the present modification corresponding to FIG. 2 of the above embodiment. In FIG. 26, the navigation apparatus SA of the present modification does not have the front camera 1, has a head-up display projector 4 and a combiner 5 instead of the display 3, and the other hardware configuration is the above. It is equivalent to the embodiment. However, the graphic controller 14 outputs an image signal including only the image data of the guiding object without including the front image.
 上記実施形態の図3に対応する図27は、車両100の車内から見た車窓風景及びこれに対応するヘッドアップディスプレイの表示の一例を示す図である。この図27に示す例において、図中の右側に位置する運転席の上方でヘッドアップディスプレイプロジェクター4が天井ルーフに固定されている。また、フロントガラス104の前面側でヘッドアップディスプレイプロジェクター4の投影範囲を覆うようにコンバイナ5が設けられている。このヘッドアップディスプレイプロジェクター4とコンバイナ5は出力手段及び表示装置に相当し、上記グラフィックコントローラ14から出力された画像信号に基づいて、適宜にハーフミラーとしての機能を有するコンバイナ5の前面に誘導オブジェクト31aおよび31bの映像を投影表示する。 FIG. 27 corresponding to FIG. 3 of the above embodiment is a diagram showing an example of a vehicle window scenery viewed from the inside of the vehicle 100 and a display of a head-up display corresponding thereto. In the example shown in FIG. 27, the head-up display projector 4 is fixed to the ceiling roof above the driver's seat located on the right side in the figure. A combiner 5 is provided so as to cover the projection range of the head-up display projector 4 on the front side of the windshield 104. The head-up display projector 4 and the combiner 5 correspond to output means and a display device. Based on the image signal output from the graphic controller 14, a guidance object 31a is appropriately provided on the front surface of the combiner 5 having a function as a half mirror. And 31b are projected and displayed.
 図28は、上記ヘッドアップディスプレイによるフロントガラスへの投影表示の態様を側方から見た模式図である。ヘッドアップディスプレイプロジェクター4は、ハーフミラーとしての機能を有するコンバイナ5上に表示座標Xd-Ydを設定してその基準領域に誘導オブジェクト31aおよび31bの映像を投影表示する。ここで、上記表示座標Xd-Ydを、車両100のウィンドウガラスを介した運転者の視界と一致させる配置に設定していることで、運転者はあたかもフロントガラス104を介した前方視界中において、誘導経路の路面領域の縁部に沿った位置に誘導オブジェクト31aおよび31bが設けられているよう視認できる。 FIG. 28 is a schematic view of the aspect of projection display on the windshield by the head-up display as seen from the side. The head-up display projector 4 sets the display coordinates Xd-Yd on the combiner 5 having a function as a half mirror, and projects and displays the images of the guiding objects 31a and 31b on the reference area. Here, the display coordinates Xd-Yd are set so as to coincide with the driver's field of view through the window glass of the vehicle 100, so that the driver is as if in the front field of view through the windshield 104. It can be visually recognized that the guiding objects 31a and 31b are provided at positions along the edge of the road surface area of the guiding path.
 この場合、表示座標Xd-Yd上における誘導オブジェクト31aおよび31bの基準領域と、運転者の前方視界における路面領域の縁部の位置との整合を図るために、運転者の座高の高さ(眼球の高さ位置)に応じて、ヘッドアップディスプレイプロジェクター4の表示座標Xd-Ydの配置も適宜調整する必要がある。なお、上記実施形態では、表示座標Xd-Yd上における誘導経路の路面領域の設定を、前方画像中の車線輪郭線Lrの画像認識と併せて、現在位置情報、車両方位、及び地図情報に基づいて求めた車両100と誘導経路との配置関係から設定した。しかし、本変形例では上記配置関係だけで、表示座標Xd-Yd上における誘導経路の路面領域を設定する。 In this case, in order to align the reference area of the guidance objects 31a and 31b on the display coordinates Xd-Yd with the position of the edge of the road surface area in the driver's front field of view, the height of the driver's seat (eyeball) The position of the display coordinates Xd-Yd of the head-up display projector 4 needs to be appropriately adjusted according to the height position). In the embodiment described above, the setting of the road surface area of the guidance route on the display coordinates Xd-Yd is based on the current position information, the vehicle direction, and the map information together with the image recognition of the lane outline Lr in the front image. It was set from the arrangement relationship between the vehicle 100 and the guidance route obtained in the above. However, in the present modification, the road surface area of the guidance route on the display coordinates Xd-Yd is set only by the arrangement relationship.
 以上説明したように、上記変形例のナビゲーション装置SAにおいては、前記ヘッドアップディスプレイプロジェクター4およびコンバイナ5(出力手段、表示装置に相当)は、前記車両100のフロントガラス104(ウィンドウガラスに相当)を介した運転者の視界と一致させるよう前記表示座標Xd-Ydを配置し、前記運転者の視界と重なるよう前記誘導オブジェクト31aおよび31bを表示する。 As described above, in the navigation device SA of the above-described modified example, the head-up display projector 4 and the combiner 5 (equivalent to an output means and a display device) use the windshield 104 (equivalent to a window glass) of the vehicle 100. The display coordinates Xd-Yd are arranged so as to coincide with the driver's field of view, and the guiding objects 31a and 31b are displayed so as to overlap with the driver's field of view.
 このようにすると、運転者がフロントガラス104を介して視認する前方視界そのものに位置が整合した誘導オブジェクト31aおよび31bの映像を投影表示できるため、運転者は視線を大きく移動させることなく誘導オブジェクト31aおよび31bを視認でき、運転に集中することができる。 In this way, since the video of the guidance objects 31a and 31b whose positions are aligned with the front field of view that the driver visually recognizes through the windshield 104 can be projected and displayed, the driver does not move the line of sight greatly. And 31b can be visually recognized, and the user can concentrate on driving.
 なお、上記変形例では、フロントガラス104の前面側に設けたコンバイナ5に対してヘッドアップディスプレイプロジェクター4から誘導オブジェクト31aおよび31bの映像を投影表示することでヘッドアップディスプレイを構成していたが、本発明はこれに限られない。他にも、フロントガラス自体に例えば透過型の液晶パネル等を設け、その自発光により誘導オブジェクトを表示するなどの構成としてもよい。 In the above modification, the head-up display is configured by projecting and displaying the images of the guiding objects 31a and 31b from the head-up display projector 4 on the combiner 5 provided on the front side of the windshield 104. The present invention is not limited to this. In addition, for example, a transmissive liquid crystal panel or the like may be provided on the windshield itself, and a guidance object may be displayed by its own light emission.
 また、以上既に述べた以外にも、上記実施形態や各変形例による手法を適宜組み合わせて利用しても良い。 In addition to those already described above, the methods according to the above-described embodiments and modifications may be used in appropriate combination.
 1       フロントカメラ(撮像手段に相当)
 2       イメージングユニット
 3       ディスプレイ(出力手段に相当)
 4       ヘッドアップディスプレイプロジェクター(出力手段、表示装置に相当)
 5       コンバイナ(出力手段、表示装置に相当)
 11      CPU
 12      記憶装置
 12c     記憶媒体
 13      GPS
 14      グラフィックコントローラ
 21,22   路面領域
 23a,23b 基準領域
 30      誘導オブジェクト
 31,31a, 仮想正対壁面、誘導オブジェクト(仮想壁面に相当)
31b,31c
 32      仮想壁面、誘導オブジェクト
 33      仮想壁面、誘導オブジェクト
 34      仮想壁面、誘導オブジェクト
 35      仮想路側帯、誘導オブジェクト
 100     車両
 S,SA    ナビゲーション装置
 Lr      車線輪郭線
 
1 Front camera (equivalent to imaging means)
2 Imaging unit 3 Display (equivalent to output means)
4 Head-up display projector (equivalent to output means and display device)
5 Combiner (equivalent to output means and display device)
11 CPU
12 storage device 12c storage medium 13 GPS
14 Graphic controller 21, 22 Road surface area 23a, 23b Reference area 30 Guide object 31, 31a, virtual facing wall surface, guide object (corresponding to virtual wall surface)
31b, 31c
32 Virtual wall surface, guidance object 33 Virtual wall surface, guidance object 34 Virtual wall surface, guidance object 35 Virtual roadside zone, guidance object 100 Vehicle S, SA Navigation device Lr Lane outline

Claims (10)

  1.  現在地から交差点までの第1の走行車線の境界部の第1の領域、および、交差点を介して右折または左折した後の第2の走行車線の境界部の第2の領域に夫々誘導オブジェクトを生成する生成手段と、
    前記誘導オブジェクトを出力する出力手段と、
    を備えることを特徴とする画像制御装置。
    A guidance object is generated in each of the first region at the boundary of the first traveling lane from the current location to the intersection and the second region at the boundary of the second traveling lane after turning right or left through the intersection. Generating means for
    Output means for outputting the guidance object;
    An image control apparatus comprising:
  2.  前記誘導オブジェクトは、前記第1の領域中および前記第2の領域中の点在位置から上方に立設し、逐次その時点の前記移動体の正面に正対する向きの複数の仮想壁面であることを特徴とする請求項1記載の画像制御装置。 The guiding object is a plurality of virtual wall surfaces that are erected upward from the dotted positions in the first area and the second area, and that face each other in front of the moving body at that time. The image control apparatus according to claim 1.
  3.  前記第1の領域中および前記第2の領域中に生成される前記複数の仮想壁面どうしは、一体にまとめられた態様の単一のガイドレールの形態で表示されることを特徴とする請求項2記載の画像制御装置。 The plurality of virtual wall surfaces generated in the first region and the second region are displayed in the form of a single guide rail that is integrated together. 2. The image control apparatus according to 2.
  4.  前記誘導オブジェクトは、前記前記第1の領域および前記第2の領域でそれぞれ上方に立設する仮想壁面であることを特徴とする請求項1記載の画像制御装置。 2. The image control apparatus according to claim 1, wherein the guiding object is a virtual wall surface standing upward in each of the first area and the second area.
  5.  前記誘導オブジェクトは、所定幅で前記第1の領域および前記第2の領域の仮想路側帯であることを特徴とする請求項1記載の画像制御装置。 The image control apparatus according to claim 1, wherein the guiding object is a virtual roadside band of the first area and the second area with a predetermined width.
  6.  前記生成手段は、前記誘導オブジェクトの幅、高さ、および離間距離を、それぞれの当該移動体との相対距離に応じた縮尺で生成することを特徴とする請求項1乃至5のいずれか1項に記載の画像制御装置。 The said generation means produces | generates the width | variety of the said guidance object, height, and a separation distance with the reduced scale according to the relative distance with each said moving body, The one of Claims 1 thru | or 5 characterized by the above-mentioned. The image control apparatus described in 1.
  7.  前記生成手段は、前記移動体の進行方向の前方車線に重複する位置では前記誘導オブジェクトの生成を省略することを特徴とする請求項1乃至6のいずれか1項に記載の画像制御装置。 7. The image control apparatus according to claim 1, wherein the generation unit omits generation of the guidance object at a position overlapping with a forward lane in the traveling direction of the moving body.
  8.  前記生成手段は、前記誘導オブジェクトを前記第1の走行車線および前記第2の走行車線それぞれの車線幅方向両側の前記第1の領域および前記第2の領域に生成することを特徴とする請求項1乃至7のいずれか1項に記載の画像制御装置。 The generation means generates the guidance object in the first region and the second region on both sides in the lane width direction of the first traveling lane and the second traveling lane, respectively. The image control apparatus according to any one of 1 to 7.
  9.  さらに、前記移動体に搭載して当該移動体の周囲の画像を撮像する撮像手段を有し、
     前記生成手段は、
     前記撮像手段が撮像した前記画像の画像座標中において、前記第1の走行車線と前記第2の走行車線にそれぞれ対応する前記第1の領域および前記第2の領域を画像認識により設定し、
     前記出力手段は、
     その表示画面の表示座標を前記画像座標に一致させることで、前記画像に前記誘導オブジェクトを重畳させて表示する単独のディスプレイであることを特徴とする請求項2乃至8のいずれか1項に記載の画像制御装置。
    Furthermore, it has an imaging unit that is mounted on the mobile body and captures an image around the mobile body,
    The generating means includes
    In the image coordinates of the image captured by the imaging unit, the first region and the second region corresponding to the first traveling lane and the second traveling lane are set by image recognition,
    The output means includes
    9. The single display according to claim 2, wherein the display coordinates of the display screen are made to coincide with the image coordinates to display the guidance object superimposed on the image. Image control device.
  10.  前記出力手段は、前記移動体のウィンドウガラスを介した運転者の視界と一致させるようその表示座標を配置し、前記運転者の視界と重なるよう前記誘導オブジェクトを表示する表示装置であることを特徴とする請求項2乃至8のいずれか1項に記載の画像制御装置。
     
    The output means is a display device that arranges display coordinates so as to coincide with the driver's field of view through the window glass of the moving body, and displays the guidance object so as to overlap the driver's field of view. The image control apparatus according to any one of claims 2 to 8.
PCT/JP2011/077582 2011-11-29 2011-11-29 Image control device WO2013080310A1 (en)

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JP2014029279A (en) * 2012-07-31 2014-02-13 Aisin Aw Co Ltd Prediction locus guidance system, method, and program
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WO2018207308A1 (en) * 2017-05-11 2018-11-15 三菱電機株式会社 Display control device and display control method
WO2018211591A1 (en) * 2017-05-16 2018-11-22 三菱電機株式会社 Display control device and display control method
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JP7334460B2 (en) 2019-04-26 2023-08-29 富士通株式会社 Work support device and work support method
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