WO2021010602A2

WO2021010602A2 - Method and system for showing tbt information by utilizing hd map and hud

Info

Publication number: WO2021010602A2
Application number: PCT/KR2020/007851
Authority: WO
Inventors: 임예숙
Original assignee: 네이버랩스 주식회사
Priority date: 2019-07-17
Filing date: 2020-06-17
Publication date: 2021-01-21
Also published as: KR20210009529A; KR20210110265A; WO2021010602A3; KR102386312B1

Abstract

Disclosed are a method and system for showing TBT information by utilizing an HD map and an HUD. The method for showing TBT comprises: a step of turning on at least a portion of augmented objects, each of which is designated as an object for showing a TBT point with respect to TBT points on a map and set to be conditionally turned on; and a step of using the turned-on augmented object in showing the TBT point.

Description

Method and system to guide TBT information using HD map and HUD

The description below relates to a technique for providing turn-by-turn (TBT) guidance.

In general, HUD (Head Up Display) displays vehicle information and driving information to the driver through a windshield or combiner type located in front to minimize the driver's gaze movement while driving. It is a device that provides information so as not to distract attention.

As an example of a technology using HUD, Korean Patent Laid-Open Publication No. 10-2014-0080789 (published on July 01, 2014) discloses a technology for adaptively moving and displaying the HUD screen in the direction of the user's gaze. .

Conventionally, it is possible to provide a guide for safe driving by displaying one type of augmented guide object from the start to the end of driving based on the driving route searched based on the navigation. In addition, it is possible to visualize an impending event, action, or dangerous situation in the form of a display using Augmented Reality (AR) based on the vehicle's sensor system data.

It provides a TBT guidance method and system that can conditionally display AR objects for points classified as TBT on an HD map on a Head Up Display (HUD).

Provides a TBT guidance method and system that can be displayed on the HUD by specifying AR objects for all TBT points on the HD map, but changing only the AR objects of TBT points included in the navigation route to a visible state. do.

Provides a TBT guide method and system capable of displaying AR objects of different designs according to TBT types by classifying TBT types.

Provides a TBT guidance method and system capable of displaying an AR object by occlusion processing when an AR object is obscured by an obstacle recognized at a TBT point.

A turn-by-turn (TBT) guidance method executed on a computer device, wherein the computer device comprises at least one processor configured to execute computer readable instructions contained in a memory, and the TBT guidance method comprises: the at least Changing, by one processor, at least some of the augmented objects designated as objects for guiding the TBT points on the map and set as conditionally displayable states to a displayable state; And using, by the at least one processor, the augmented object changed to the displayable state for guiding the TBT point.

According to an aspect, the changing may include changing the augmented object to a displayable state according to a driving route searched for driving guidance.

According to another aspect, the changing may include: maintaining augmented objects of all TBT points on the map in a non-displayable off state; And switching the augmented object of the TBT point included in the searched driving route for driving guidance into a displayable on state.

According to another aspect, the changing may include: maintaining the augmented objects of all TBT points on the map in a non-displayable off state; And switching the augmented object of the TBT point included in the driving route searched for driving guidance and included in the guidance area displayed on the display device to a displayable ON state.

According to another aspect, the using may include displaying the augmented object changed to the displayable state on a display device installed in the vehicle at the time of guiding the TBT point.

According to another aspect, in the displaying, when the TBT point is a type guiding the rotation direction, an object representing the reference point of the rotation direction may be displayed on the display device as the augmented object.

According to another aspect, in the displaying, when the TBT point is a type guiding a driving direction, an object guiding the driving direction as the augmented object may be displayed on the display device.

According to another aspect, in the displaying, when the TBT point is a POI fixedly located on the map, the augmented object is displayed in a floating form on the display device before a predetermined distance of the POI. can do.

According to another aspect, in the displaying, when the TBT point is a guide point generated according to a route setting, the augmented object may be displayed in a floating form on the display device before a certain distance of the guide point. .

According to another aspect, in the displaying, when an obstacle is recognized at the TBT point, the augmented object may be displayed by distinguishing a portion of the augmented object that overlaps the obstacle from a portion that does not overlap.

It provides a non-transitory computer-readable recording medium in which a program for executing the TBT guidance method on a computer is recorded.

A computer device comprising: at least one processor configured to execute computer readable instructions contained in a memory, wherein the at least one processor is designated as an object for guiding a TBT point for each TBT point on a map It provides a computer device, characterized in that changing at least some of the augmented objects set in a displayable state to a displayable state, and using the augmented object changed to the displayable state to guide the TBT point.

According to embodiments of the present invention, AR objects for points classified as TBT on a high-definition map HD map may be conditionally displayed on the HUD.

According to embodiments of the present invention, AR objects may be designated for all TBT points on an HD map, but only AR objects of TBT points included in the searched driving path of the navigation may be changed to a visible state and displayed.

According to embodiments of the present invention, it is possible to display AR objects of different designs according to the TBT type by classifying the TBT types.

According to embodiments of the present invention, when an AR object is covered by an obstacle recognized at a TBT point, a portion to be covered may be covered and displayed.

1 is a block diagram illustrating an example of an internal configuration of a computer device according to an embodiment of the present invention.

2 is a diagram illustrating an example of components that may be included in a processor of a computer device according to an embodiment of the present invention.

3 is a flowchart showing an example of a TBT guidance method that can be performed by a computer device according to an embodiment of the present invention.

4 illustrates an example of a process of automatically designating an AR object to be turned on from an HD map according to an embodiment of the present invention.

5 to 9 are diagrams illustrating examples of designing AR objects for each TBT type in an embodiment of the present invention.

10 shows an example of a method of processing an AR object at a TBT point according to an embodiment of the present invention.

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

Embodiments of the present invention relate to a technique for providing turn-by-turn (TBT) guidance.

In the embodiments including those specifically disclosed in this specification, the AR object of the point classified as the TBT guide point on the HD map can be changed and displayed in a visible state according to the conditional, through which information transmission efficiency, information perception, etc. Significant advantages can be achieved in terms of information guidance.

1 is a block diagram showing an example of a computer device according to an embodiment of the present invention. For example, the TBT guidance system according to embodiments of the present invention may be implemented by the computer device 100 shown through FIG. 1.

As shown in FIG. 1, the computer device 100 is a component for executing the TBT guidance method according to embodiments of the present invention, and includes a memory 110, a processor 120, a communication interface 130, and an input/output interface. It may include (140).

The memory 110 is a computer-readable recording medium and may include a permanent mass storage device such as a random access memory (RAM), read only memory (ROM), and a disk drive. Here, a non-destructive large-capacity recording device such as a ROM and a disk drive may be included in the computer device 100 as a separate permanent storage device separate from the memory 110. In addition, an operating system and at least one program code may be stored in the memory 110. These software components may be loaded into the memory 110 from a computer-readable recording medium separate from the memory 110. Such a separate computer-readable recording medium may include a computer-readable recording medium such as a floppy drive, disk, tape, DVD/CD-ROM drive, and memory card. In another embodiment, software components may be loaded into the memory 110 through a communication interface 130 other than a computer-readable recording medium. For example, software components may be loaded into the memory 110 of the computer device 100 based on a computer program installed by files received through the network 160.

The processor 120 may be configured to process instructions of a computer program by performing basic arithmetic, logic, and input/output operations. Instructions may be provided to the processor 120 by the memory 110 or the communication interface 130. For example, the processor 120 may be configured to execute a command received according to a program code stored in a recording device such as the memory 110.

The communication interface 130 may provide a function for the computer device 100 to communicate with other devices through the network 160. For example, requests, commands, data, files, etc., generated by the processor 120 of the computer device 100 according to a program code stored in a recording device such as the memory 110, are transmitted through the network ( 160) can be delivered to other devices. Conversely, signals, commands, data, files, etc. from other devices may be received by the computer device 100 through the communication interface 130 of the computer device 100 via the network 160. Signals, commands, data, etc. received through the communication interface 130 may be transferred to the processor 120 or the memory 110, and the file, etc. may be a storage medium (described above) that the computer device 100 may further include. Permanent storage).

The input/output interface 140 may be a means for an interface with the input/output device 150. For example, the input device may include a device such as a microphone, keyboard, camera, or mouse, and the output device may include a device such as a display and a speaker. As another example, the input/output interface 140 may be a means for interfacing with a device in which input and output functions are integrated into one, such as a touch screen. The input/output device 150 may be configured with the computer device 100 and one device.

In addition, in other embodiments, the computer device 100 may include fewer or more components than the components of FIG. 1. However, there is no need to clearly show most of the prior art components. For example, the computer device 100 may be implemented to include at least a portion of the input/output device 150 described above, or may further include other components such as a transceiver and a database.

The communication method is not limited, and not only a communication method using a communication network (for example, a mobile communication network, wired Internet, wireless Internet, broadcasting network) that the network 160 may include, but also short-range wired/wireless communication between devices may be included. have. For example, the network 160 includes a personal area network (PAN), a local area network (LAN), a campus area network (CAN), a metropolitan area network (MAN), a wide area network (WAN), and a broadband network (BBN). , Internet, and the like. In addition, the network 160 may include any one or more of a network topology including a bus network, a star network, a ring network, a mesh network, a star-bus network, a tree or a hierarchical network, etc. Not limited.

FIG. 2 is a diagram showing an example of components that can be included in a processor of a computer device according to an embodiment of the present invention, and FIG. 3 is a TBT guide that can be performed by a computer device according to an embodiment of the present invention. It is a flow chart showing an example of the method.

As shown in FIG. 2, the processor 120 may include a point selection unit 201, a state change unit 202, and a TBT guide unit 203. Components of the processor 120 may be expressions of different functions performed by the processor 120 according to a control command provided by at least one program code. For example, the point selection unit 201 may be used as a functional expression that operates to control the computer device 100 so that the processor 120 selects a TBT point.

The processor 120 and components of the processor 120 may perform steps S310 to S330 included in the TBT guidance method of FIG. 3. For example, the processor 120 and the components of the processor 120 may be implemented to execute an instruction according to the code of the operating system included in the memory 110 and the at least one program code described above. Here, at least one program code may correspond to a code of a program implemented to process the TBT guide method.

Depending on the embodiment, the server system and the local device of the vehicle driver may be distributed and implemented, and the server system and the local device may be implemented with the computer apparatus 100 described with reference to FIG. 1. For example, path setting and object control included in the path are performed by a server, and when path information and control signals are transmitted from the server to a local device, path guidance and object display may be performed locally using the HUD.

The TBT guidance method may not occur in the order shown, and some of the steps may be omitted or an additional process may be further included.

The processor 120 may load the program code stored in the program file for the TBT guidance method into the memory 110. For example, a program file for the TBT guidance method may be stored in a permanent storage device that is separate from the memory 110, and the processor 120 stores a program code from a program file stored in a permanent storage device through a bus. The computer device 100 may be controlled to be loaded onto 110). At this time, each of the processor 120 and the point selection unit 201, the state change unit 202, and the TBT guide unit 203 included in the processor 120 is a corresponding part of the program code loaded into the memory 110 It may be different functional expressions of the processor 120 for executing the subsequent steps S310 to S330 by executing the command of. In order to execute steps S310 to S330, the processor 120 and components of the processor 120 may directly process an operation according to a control command or control the computer device 100.

The TBT guidance system according to embodiments of the present invention may be implemented in the form of a vehicle application, and the processor 120 may provide navigation based on an HD map, that is, driving guidance. HD map refers to a high-precision map for providing detailed road and surrounding terrain information to autonomous vehicles, etc., and has an accuracy of within 10 cm of error range, as well as lane-level information such as road center line and boundary line, as well as traffic lights and signs. , Curb, road mark, and various structures in 3D digital form.

In step S310, the point selection unit 201 selects TBT points included in the driving route searched for navigation guidance from among points pre-classified as TBT guidance points on the HD map (hereinafter, referred to as'TBT points'). I can. Through the HD map-based navigation, the TBT point in the driving context can be determined as the point at which the driver has the most difficulty in making decisions or is confused while driving. For specific and clear TBT guidance, a virtual object augmented as a guide object (hereinafter, referred to as'AR object') can be designated for at least some TBT points on the HD map, and the AR object can be used for TBT guidance. It is possible to designate a guide object to all TBT points on the HD map, and in some cases, it is also possible to selectively designate a guide object by selecting a TBT point meeting a predetermined criterion. For example, when there is another branch within the reference distance (e.g., 100m) from the intervening branch, or when the number of running paths at the intersection is more than the reference number (e.g., five distances, etc.) I can. The point selection unit 201 may select a TBT point included in a driving route searched for a destination set by a vehicle driver from among all TBT points in which a guide object on the HD map is designated in order to utilize the AR object for TBT guidance. .

In step S320, the state changer 202 may change the AR object of the TBT point selected on the HD map to a state in which the selected TBT point can be displayed in a visible and displayable state (turn on). For all TBT points in which the guide object on the HD map is specified, the AR object remains invisible (turn off) by default, but conditionally, that is, the corresponding TBT set to be visible only for the TBT points included in the navigation route. At least some of the AR objects at the point may be converted into a displayable turn-on state. In other words, the state changer 202 may change at least some of the augmented objects that are set as conditionally displayable states by being designated as objects for guiding the TBT points on the map to the displayable state. After selecting all TBT points included in the corresponding driving route for the entire driving route searched for the destination, the AR object of the selected TBT point may be switched to a turn-on state. Another example is the process of converting the AR object of the selected TBT point to a turn-on state by selecting TBT points included in the driving route of some sections ahead in units of a specified section (e.g., 10 km) in the driving route searched for the destination. You can also repeat

In step S330, the TBT guide unit 203 is an AR object that has been turned on for the corresponding TBT point at the time of guiding the TBT point included in the corresponding driving route during the process of guiding the searched driving route for the destination. May be displayed on at least one display device installed in the vehicle. The computer device 100 may be connected to a display device such as a HUD installed in a vehicle or a front display device such as a navigation terminal, and the TBT guide unit 203 shows an AR object through a display device installed in the vehicle to be used for TBT guidance. I can. The HUD will be described as a representative example of a display device for displaying an AR object used for TBT guidance.

Accordingly, the processor 120 may conditionally change the AR object of the TBT point on the HD map to a visible state only when it is included in the searched driving route, and display it on the HUD.

4, in step S401, when a destination is set by the driver of the vehicle, the processor 120 searches for a driving route to the destination using an HD map and starts driving guidance based on the found driving route. do.

In step S402, the processor 120 determines whether the TBT point within a certain radius based on the current position of the vehicle on the HD map is a TBT point included in the searched driving route.

In step S403, if the TBT point within a certain radius is not a TBT point included in the searched driving route as a result of the determination in step S402, the processor 120 maintains the AR object of the corresponding TBT point in a non-displayable off state. .

In step S404, if the TBT point within a certain radius corresponds to the TBT point included in the searched driving route as a result of the determination in step S402, the corresponding TBT point is a guide area currently displayed on the HUD, That is, it is determined whether it is included in the field of view (FOV).

As a result of the determination in step S404, if the TBT point within a certain radius is not included in the FOV of the HUD, the processor 120 maintains the AR object of the corresponding TBT point in a non-displayable off state.

The processor 120 does not use the AR object for TBT guidance even if the AR object is designated on the HD map in the case of a TBT point that is not included in the searched driving path or is not included in the FOV of the HUD.

In step S405, the processor 120 changes the AR object of the corresponding TBT point to a displayable ON state when the TBT point within a certain radius is included in the FOV of the HUD as a result of the determination in step S404.

Accordingly, all TBT points on the HD map are basically always kept in an off state, and in the case of a TBT point included in the searched driving path and entering the FOV of the HUD, the AR object can be turned on.

In step S406, the processor 120 determines whether an obstacle exists in the FOV of the HUD. For example, the processor 120 determines whether an obstacle overlapping the AR object of the corresponding TBT point exists around the TBT point included in the FOV of the HUD among the TBT points included in the driving path, or between the vehicle and the TBT point. I can judge. The processor 120 may recognize an obstacle positioned around the TBT point or between the vehicle and the TBT point through a camera or sensor installed in the vehicle, ADAS (Advanced Driving Assistance System) sensing, or the like.

In step S407, the processor 120 may display the AR object of the TBT point on the HUD in a basic display form when an obstacle overlapping with the AR object of the TBT point is not recognized as a result of the determination in step S406. .

In step S408, when an obstacle overlapping the AR object of the corresponding TBT point is recognized at the TBT point as a result of the determination in step S408, the AR object of the corresponding TBT point may be masked and displayed on the HUD. When the AR object overlaps the obstacle recognized at the TBT point, the processor 120 may display the overlapping portion by covering the overlapped portion. At this time, the occlusion treatment may mean that the part that overlaps with the obstacle is displayed differently from when there is no obstacle.For example, the part covered by the obstacle is displayed with a dotted line, or a different color, shading treatment, or transparency is applied. The part that is covered by the back and the part that is not covered can be marked separately.

Accordingly, regardless of the presence or absence of an obstacle at the TBT point, the AR object at the corresponding TBT point may be recognized, and at the same time, a portion covered by the obstacle may be more naturally displayed.

According to an embodiment, step S404 in FIG. 4 may be omitted. That is, the processor 120 can turn on the AR object of the TBT point included in the driving route in a displayable state, regardless of whether the TBT point is included in the FOV of the HUD, and the on (on) AR object When is included in the FOV of the HUD, the corresponding AR object can be displayed on the HUD. In the example in which step S404 is omitted, if the answer is "Yes" in step S402, the process proceeds to step S405.

The processor 120 may classify the TBT types during TBT guidance and display AR objects of different designs according to the TBT types.

(1) Travel direction TBT

: In TBT, it is a type that clarifies the actual driving direction when the possibility of various directions exists.

For example, as shown in FIG. 5, a straight direction TBT 501, a left direction TBT 502, a rotary 10 o'clock TBT 503, and the like may correspond to the driving direction TBT. In the case of the straight direction TBT 501, the guide is guided in a manner of inducing "go straight in the direction of A (circle bracket A)", and in the case of the left direction TBT 502, the guide is guided in a manner of inducing the "left direction where A is located" In the case of the TBT 503 at 10 o'clock in the rotary, it is guided in a manner of guiding "10 o'clock in the direction of the A". In addition to these TBTs, a TBT for guiding a high-pass toll gate entry direction and a highway entry direction may also be included in the driving direction TBT.

Referring to FIG. 6, the processor 120 may display on the HUD 610 an AR object inducing a predetermined driving direction at a TBT point for guiding the driving direction. The AR object of the driving direction TBT may include a driving guide line object 601 and a direction guiding object 603, wherein the driving guide line object 601 and the direction guiding object 603 correspond to the road floor in front of the vehicle and are exposed. It can be displayed in a design that can guide the driving direction in the form.

(2) Direction of rotation TBT

: This type is a reference point for rotation or direction change in TBT, and is a type that clarifies the direction of rotation.

As shown in Fig. 7, for guiding the rotation direction at the branch point, for example, a right-turn TBT 701, a U-turn TBT 702, a right 4 o'clock TBT 703, etc. may correspond to the rotation direction TBT. have. In the case of the right turn TBT 701, the guide is guided by inducing a “turn around A to the right (clockwise direction)”, and in the case of the U-turn TBT 702, the “U-turn around A to the left (counterclockwise)” In the case of the TBT 703 at 4 o'clock on the right, "turn around A to the right (clockwise) and guide 4 o'clock".

Referring to FIG. 8, the processor 120 may display an AR object guiding a rotation direction and a rotation reference point determined at a TBT point for guiding the rotation direction on the HUD 610. The AR object of the rotation direction TBT may include a rotation reference point object 803. At this time, the driving guide line object 801 guiding the driving route may be displayed together with the object 803, and the driving guide line object 801 may guide the driving direction in a form that is exposed in correspondence with the road floor in front of the vehicle. The rotation reference point object 803 may be displayed in a form in which a virtual object having a predetermined height (z-axis height) is standing on a road surface or a road sloping stone, which is a reference point for rotation.

When there are two or more branch points within a predetermined radius, the processor 120 may display an AR object in the rotation direction TBT that guides the rotation reference point with respect to the branch point included in the driving path.

(3) Fixed POI TBT

: Corresponds to the type that clarifies the POI that is always fixedly located on the HD map.

For example, a rest area, a gas station, a drowsy shelter, etc. may correspond to the fixed POI TBT.

(4) Floating POI TBT

: Corresponds to the type that clarifies the POI set by the driver during the route setting process.

As a guide point generated according to a route setting, for example, a waypoint or a destination may correspond to the floating POI TBT.

Fixed POI TBT and floating POI TBT are TBT information for the purpose of notifying that you are almost arriving near the POI at the time of guidance even if it is not visible from the driver's view, or for asking whether to stop at the POI, so they are floated on the ground. Can be marked with According to this, even if the POI point is not yet visible, the driver can make a decision on whether to park/stop before reaching the POI by referring to the fixed POI TBT or the floating POI TBT.

Referring to FIG. 9, the processor 120 displays the AR object 901 of the corresponding TBT on the HUD 610 before a certain distance to arrive at the fixed POI TBT point and the floating POI TBT point, but the corresponding POI is actually located. The AR object 901 may be displayed in a floating form at a location corresponding to the point.

When an obstacle is recognized at the TBT point, the processor 120 may mask the AR object at the TBT point and display it on the HUD. When an obstacle exists between the HUD and the virtual position of the AR object turned on at the TBT point, a portion of the AR object covered by the obstacle may be processed and displayed to be visually distinguished.

For example, referring to FIG. 10, a driving guide line object 1001 and a direction guiding object 1003 are displayed as AR objects through the HUD 610 in the driving direction TBT. At this time, the driving guide line object 1001 and the direction When the guidance object 1003 is covered by a vehicle located in front, the covered part may be processed and displayed as a dotted line.

The AR object is used for TBT guidance by expressing the obstructed and unobstructed portions in a visually distinct way, and displaying the AR object in a form that allows recognition of the AR object regardless of the obstacle, rather than omitting the obscured portion completely by obstruction. I can.

The apparatus described above may be implemented as a hardware component, a software component, and/or a combination of a hardware component and a software component. For example, the devices and components described in the embodiments are a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), a programmable gate array (PLU). It may be implemented using one or more general purpose computers or special purpose computers, such as a logic unit), a microprocessor, or any other device capable of executing and responding to instructions. The processing device may execute an operating system (OS) and one or more software applications executed on the operating system. In addition, the processing device may access, store, manipulate, process, and generate data in response to the execution of software. For the convenience of understanding, although it is sometimes described that one processing device is used, one of ordinary skill in the art, the processing device is a plurality of processing elements and/or a plurality of types of processing elements. It can be seen that it may include. For example, the processing device may include a plurality of processors or one processor and one controller. In addition, other processing configurations are possible, such as a parallel processor.

The software may include a computer program, code, instructions, or a combination of one or more of these, configuring the processing unit to behave as desired or processed independently or collectively. You can command the device. Software and/or data may be embodyed in any type of machine, component, physical device, computer storage medium or device to be interpreted by the processing device or to provide instructions or data to the processing device. have. The software may be distributed over networked computer systems and stored or executed in a distributed manner. Software and data may be stored on one or more computer-readable recording media.

The method according to the embodiment may be implemented in the form of program instructions that can be executed through various computer means and recorded in a computer-readable medium. In this case, the medium may be one that continuously stores a program executable by a computer, or temporarily stores a program for execution or download. In addition, the medium may be a variety of recording means or storage means in a form in which a single or several pieces of hardware are combined, but is not limited to a medium directly connected to a computer system, but may be distributed on a network. Examples of media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical recording media such as CD-ROMs and DVDs, magnetic-optical media such as floptical disks, and And ROM, RAM, flash memory, and the like may be configured to store program instructions. In addition, examples of other media include an app store that distributes applications, a site that supplies or distributes various software, and a recording medium or a storage medium managed by a server.

As described above, although the embodiments have been described by the limited embodiments and drawings, various modifications and variations are possible from the above description by those of ordinary skill in the art. For example, the described techniques are performed in a different order from the described method, and/or components such as a system, structure, device, circuit, etc. described are combined or combined in a form different from the described method, or other components Alternatively, even if substituted or substituted by an equivalent, an appropriate result can be achieved.

Therefore, other implementations, other embodiments, and claims and equivalents fall within the scope of the claims to be described later.

Claims

In the TBT (turn-by-turn) guidance method executed on a computer device,

The computer device includes at least one processor configured to execute computer readable instructions contained in a memory,

The above TBT guidance method,

Changing, by the at least one processor, at least some of the augmented objects designated as an object for guiding the TBT points on the map and set to a conditionally displayable state to a displayable state; And

Using the augmented object changed to the displayable state for guidance of the TBT point by the at least one processor

TBT guidance method comprising a.
The method of claim 1,

The changing step,

Changing the augmented object to a displayable state according to the searched driving route for driving guidance

TBT guidance method comprising a.
The method of claim 1,

The changing step,

Maintaining augmented objects of all TBT points on the map in a non-displayable off state; And

Step of switching the augmented object of the TBT point included in the searched driving route for driving guidance into a displayable ON state

TBT guidance method comprising a.
The method of claim 1,

The changing step,

Maintaining augmented objects of all TBT points on the map in a non-displayable off state; And

Switching the augmented object of the TBT point included in the guide area displayed on the display device to a displayable ON state while being included in the searched driving route for driving guidance

TBT guidance method comprising a.
The method of claim 1,

The step of using,

Displaying the augmented object changed to the displayable state on a display device installed in the vehicle at the time of guiding the TBT point

TBT guidance method comprising a.
The method of claim 5,

The displaying step,

When the TBT point is a type guiding the rotation direction, displaying an object representing the reference point of the rotation direction as the augmented object on the display device

TBT guidance method, characterized in that.
The method of claim 5,

The displaying step,

When the TBT point is a type guiding a driving direction, displaying an object guiding the driving direction as the augmented object on the display device

TBT guidance method, characterized in that.
The method of claim 5,

The displaying step,

When the TBT point is a POI fixedly positioned on the map, displaying the augmented object in a floating form on the display device before a predetermined distance of the POI

TBT guidance method, characterized in that.
The method of claim 5,

The displaying step,

When the TBT point is a guide point generated according to a route setting, displaying the augmented object in a floating form on the display device before a certain distance of the guide point

TBT guidance method, characterized in that.
The method of claim 5,

The displaying step,

When an obstacle is recognized at the TBT point, displaying the augmented object by separating a portion of the augmented object that overlaps the obstacle from a non-overlapping portion

TBT guidance method, characterized in that.
A non-transitory computer-readable recording medium in which a program for executing the TBT guidance method of any one of claims 1 to 10 on a computer is recorded.
In the computer device,

At least one processor configured to execute computer readable instructions contained in memory

Including,

The at least one processor,

For each TBT point on the map, at least some of the augmented objects designated as an object for guiding the TBT point and set to conditionally displayable state are changed to a displayable state,

Using the augmented object changed to the displayable state for guidance of the TBT point

Computer device, characterized in that.