WO2013080310A1

WO2013080310A1 - Image control device

Info

Publication number: WO2013080310A1
Application number: PCT/JP2011/077582
Authority: WO
Inventors: 宏平伊藤
Original assignee: パイオニア株式会社
Priority date: 2011-11-29
Filing date: 2011-11-29
Publication date: 2013-06-06

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

Image control device

The present invention relates to an image control apparatus that controls display of a vehicle guidance route.

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.

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.

JP 2008-76310 A

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.

The problems to be solved by the present invention include the above-mentioned problems as an example.

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.

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 | structure of the navigation apparatus of embodiment. 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. It is an example of the figure showing arrangement | positioning on the map coordinate in case the own vehicle goes to an intersection. 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. 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. 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. 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. It is an example of the figure showing arrangement | positioning of the guidance object on a map coordinate corresponding to FIG. 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. 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. 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. 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 | positioning of the guidance object on the map coordinate in the case of approaching the diagonal approach path by embodiment. 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. 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. 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. 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. 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 | generating and displaying a guidance object on the virtual wall surface standing along a reference position in display coordinates. 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. 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. 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. 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. 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. 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. 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.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

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.

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.

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.

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.

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. 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.

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. .

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.

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.

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.

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.

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.

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.

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.

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.

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.

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. .

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).

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.

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.

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.

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.

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.

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.

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.

Step S10 is entered, and map information is acquired from the storage medium 12c.

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).

The process proceeds to step S20, and the front camera 1 captures a front image.

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.

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.

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.

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.

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.

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).

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.

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).

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.

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.

This makes it possible to express the guidance direction intuitively for the entirety of the plurality of generated virtual wall surfaces 31a and 31b.

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.

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.

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. .

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.

In addition to the configuration described above, the display 3 displays the guiding object 31 in a semi-transparent state.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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) 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.

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.

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.

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.

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.

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.

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.

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.

In addition to those already described above, the methods according to the above-described embodiments and modifications may be used in appropriate combination.

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

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:
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.
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.
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.
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.
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. 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.
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.
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.
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.