JP4899746B2 - Route guidance display device - Google Patents

Description

The present invention also relates to the route guidance display equipment to perform the route guidance to the searched destination.

  2. Description of the Related Art A navigation device has been devised and implemented that searches for a route to a set desired destination and provides route guidance for the searched route. In such a navigation device, for example, route guidance to a desired destination is performed while a map image corresponding to the current position of the vehicle drawn from map data is displayed on the in-vehicle monitor.

  At this time, the navigation device displays the route guidance information for guiding to the route on the map image, thereby driving the vehicle so that the vehicle can surely travel on the searched route. As such a map image, it has become mainstream to improve the user's understanding by generating a map image that is visually recognized as if it is viewed from the line of sight of the vehicle through the windshield. In this case, since traffic signs painted on the roads of buildings and roads that actually exist are also faithfully reproduced, the driver actually displays the scenery over the windshield and the image displayed on the in-vehicle monitor. It can be visually recognized without a sense of incongruity.

  The route guidance information is, for example, an arrow-shaped figure, and is superimposed on an appropriate position with an appropriate size on a map to be displayed on the in-vehicle monitor, so that the traveling direction of the route to be guided including the lane change instruction, the route It is possible to accurately instruct the right / left turn direction at the upper right / left turn point.

In such a navigation device, instead of the method of guiding the route while displaying the map on the in-vehicle monitor, the scenery image in front of the vehicle actually captured from the vehicle traveling by the in-vehicle camera mounted on the vehicle is displayed on the in-vehicle monitor. A method of guiding the route while making it happen has been devised (for example, see Patent Document 1).
Japanese Patent Laid-Open No. 10-281795

  However, when route guidance information such as an arrow-shaped figure is superimposed on a road image of a vehicle front image taken by a vehicle-mounted camera, visibility of the road surface of the traveling lane is reduced, for example, traveling by the host vehicle traveling There is a problem that it becomes difficult to grasp the road surface condition of the lane and the traffic signs painted on the road surface.

  In addition to the road image obtained by photographing the traveling lane necessary for route guidance, the vehicle front image photographed by the in-vehicle camera, for example, a vehicle traveling on an oncoming lane or another lane, a traveling lane Objects that are unnecessary for route guidance, such as nearby pedestrians and stationary objects, are reflected. When route guidance is executed by superimposing route guidance information such as an arrow-shaped figure as described above on a vehicle front image in which such an object is reflected, it is possible to provide accurate route guidance with poor visibility. There is a possibility that it cannot be done.

  This is because the route guidance information is displayed on the road image of the map image as seen by the line of sight from the windshield of the vehicle generated from the map data, road data, etc., as well as the vehicle forward image taken by the in-vehicle camera. The same applies to the case of superimposition. In this case, suddenly appearing obstacles such as vehicles and pedestrians are not displayed, but buildings existing around the road image stored in advance as data will be displayed. In addition, there is a problem in that the display of traffic signs painted on the road surface stored in advance as data is obstructed.

Therefore, the present invention has been proposed in view of the above-described circumstances, and it is possible to execute route guidance that ensures high visibility without reducing visibility of the road surface of the traveling lane on which the host vehicle travels. an object of the present invention is to provide a route guidance display equipment that can be.

  An image in which a route guidance graphic for guiding a route is generated, and the generated route guidance graphic is superimposed so as to clearly show a road image in an area other than the road image corresponding to the searched route in the route guidance image is displayed. indicate.

  ADVANTAGE OF THE INVENTION According to this invention, it becomes possible to perform the very favorable route guidance which ensured high visibility, without reducing the visibility of the road surface of the driving lane where a vehicle drive | works.

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

[First Embodiment]
First, the route guidance display device 1 shown as the first embodiment of the present invention will be described with reference to FIG. As shown in FIG. 1, the route guidance display device 1 includes an input unit 11, a vehicle position calculation unit 12, a map database 13, a camera device 14, a display device 15, and a control processing unit 20. . Such a route guidance display device 1 is mounted on a vehicle.

  The input unit 11 inputs a command for the route guidance display device 1, changes the setting of the route guidance display device 1, inputs a desired destination for which route guidance is desired, and is displayed on the display device 15 and proposed. It is used by the user when selecting a desired route from a plurality of routes. As the input unit 11, for example, various input devices such as a keyboard, a touch panel used in combination with the display device 15, a mouse, and a pointing device can be used. The input unit 11 may be a remote controller that remotely operates the route guidance display device 1.

  The vehicle position calculation unit 12 calculates the current position of the host vehicle in units of traveling lanes. The vehicle position calculation unit 12 uses GPS (Global Positioning System), DGPS (Differential GPS) that uses an FM broadcast radio wave transmitted by a reference station to correct errors in GPS measurement results and improve accuracy. Information provided from infrastructure prepared for detecting high-accuracy GPS information and travel lanes is acquired, and the current position of the host vehicle is calculated in units of travel lanes. Further, the vehicle position calculation unit 12 may calculate the position information by combining autonomous navigation. Furthermore, the vehicle position calculation unit 12 can calculate the current position of the vehicle with high accuracy by using position information provided via an optical beacon or a radio beacon, or by performing correction by map matching.

  The map database 13 stores various data necessary for route guidance, such as map data used for map matching and route guidance, road data, and icon data to be displayed on the map. The road data stored in the map database 13 includes the number of road lanes, road width information, and road undulation information. For the map database 13, for example, an optical disk, which is a removable storage medium, or an HD (Hard Disk) that is fixedly installed can be used. Further, as the map database 13, various removable media equipped with a semiconductor memory such as a flash memory may be used.

  The camera device 14 is an in-vehicle camera mounted on a vehicle, and is installed so as to be able to photograph a landscape in front of the vehicle. The camera device 14 uses, for example, a CCD (Charge Coupled Devices) that can capture a small and high-quality image as an image sensor. The vehicle front image photographed by the camera device 14 is output to the image composition unit 25 as an electrical signal.

  The display device 15 is an in-vehicle monitor that is mounted on a vehicle and displays a display image generated by the control processing unit 20. The display device 15 is, for example, a liquid crystal display or the like, and is installed at a position that is easily visible to a user who is mainly a driver. The display panel of the display device 15 may be a touch panel.

  The control processing unit 20 includes a route search unit 21, a route guidance graphic generation unit 22, a route guidance graphic conversion unit 23, a memory 24, an image composition unit 25, and a control unit 26.

  The route search unit 21 uses the current position of the host vehicle calculated by the vehicle position calculation unit 12 as a departure point, the route stored in the map database 13 for the route in the travel lane to the destination set by the user. Use it to calculate and search for routes.

  The route search unit 21 calculates a route that can reach the set destination with the shortest distance using, for example, the Dijkstra method. Further, the route calculated by the route search unit 21 may be a route that can reach the destination in the shortest time, or a route that satisfies a predetermined condition. The predetermined condition may be specified by the user, such as avoiding traffic jams. In addition, the route search unit 21 can calculate a route with high accuracy by acquiring traffic information that is information indicating a traffic jam provided from a traffic information center or the like.

  The route calculated by the route search unit 21 is output to the route guidance graphic generation unit 22 as route information.

  Based on the route information output from the route search unit 21, the route guidance graphic generation unit 22 generates a route guidance graphic for guiding to the route according to the guidance direction indicated by the branch point existing on the searched route. Generate.

  For example, the route guidance graphic is an arrow graphic YZ superimposed on the road image RG in the vehicle front image photographed by the camera device 14 as shown in FIG. By superimposing such a route guidance figure on the vehicle front image, the guidance direction at the branch point of the route calculated by the route search unit 21 can be visually presented. In the example shown in FIG. 2, it can be seen that the route can be followed by turning left at the nearest branch point from the vehicle front image on which the arrow graphic YZ as the route guidance graphic is superimposed.

  The route guidance graphic conversion unit 23 converts the route guidance graphic into an image corresponding to the vehicle forward image when superimposing the route guidance graphic on the vehicle forward image captured by the camera device 14 which is an image for route guidance. Convert coordinates. The route guidance graphic conversion unit 23 stores a route guidance graphic prepared in advance as a predetermined plane graphic in a storage unit (not shown), and coordinate conversion stored in the memory 24 in accordance with the control of the control unit 26. Perform coordinate transformation using an expression. The processing of the route guidance graphic conversion unit 23 will be described in detail later.

  The memory 24 stores a coordinate conversion formula used in the coordinate conversion processing by the route guidance graphic conversion unit 23.

  The image synthesizing unit 25 displays the route guidance graphic converted by the route guidance graphic conversion unit 23 and the route guidance graphic generated by the route guidance graphic generation unit 22 at a predetermined position of the vehicle front image taken by the camera device 14. Perform superimposing processing. The image synthesized by the image synthesis unit 25 is output to the display device 15.

  The control unit 26 is a control unit that comprehensively controls the route guidance display device 1. In addition, in the coordinate conversion processing of the route guidance graphic by the route guidance graphic conversion unit 23, the control unit 26 routes parameters determined by, for example, the installation position, the imaging direction, and the angle of view of the camera device 14 installed in the vehicle. This is given to the guide graphic conversion unit 23.

  Note that the route guidance display device 1 shown as the first embodiment of the present invention superimposes a route guidance figure on the vehicle front image taken by the camera device 14, but from the vehicle windshield. It is also possible to generate a map image that is visually recognized by a line of sight and to superimpose a route guidance figure on the map image.

  For example, the control unit 26 reads map data, road data, and the like from the map database 13, generates a navigation map as a route guidance image, and causes the display device 15 to display the map. At this time, the control unit 26 superimposes the route guidance graphic generated by the route guidance graphic generation unit 22 and the route guidance graphic converted by the route guidance graphic conversion unit 23 on the generated route guidance image and displays them. It is displayed via the device 15.

[Processing of Route Guidance Graphic Conversion Unit 23]
As described above, the route guidance graphic conversion unit 23 uses the coordinate conversion formula stored in the memory 24 to coordinate-convert the route guidance graphic into an image suitable for the vehicle front image. The route guidance graphic is a graphic that defines the width of the road image and blocks a partial area around the road image when the road image corresponding to the route searched by the route search unit 21 is looked down.

  The route guidance figure conversion unit 23 corresponds to the route guidance figure which is such a plane figure in correspondence with the vehicle front image photographed by the camera device 14, and performs coordinate conversion that gives a sense of perspective so as to become smaller as the distance increases. Execute.

  In addition, after executing the coordinate conversion, the route guidance graphic conversion unit 23 changes the shade of the color of the route guidance graphic or changes the transparency in order to give a sense of perspective. For example, the route guidance graphic conversion unit 23 darkens the color of a partial area of the route guidance graphic that has been coordinate-transformed so as to exist in the distance, and the partial area of the route guidance graphic that has been coordinate-transformed so as to exist in the vicinity. Make the color lighter. Further, for example, the route guidance graphic conversion unit 23 reduces the transparency of a partial area of the route guidance graphic that has been coordinate-transformed so that it exists in the distance, and one of the route guidance graphics that has been coordinate-transformed so that it exists nearby. Increase the transparency of partial areas.

  As described above, the route guidance graphic conversion unit 23 can further enhance the sense of perspective by changing the shade or color of the color of the route guidance graphic subjected to coordinate conversion.

  Subsequently, a coordinate conversion process executed by the route guidance graphic conversion unit 23 will be described with reference to FIGS. 3, 4, and 5 while deriving a coordinate conversion formula stored in the memory 24. FIG. 3 is a diagram showing a state in which the route guidance figures PL and PR are arranged on the left and right with respect to the road image RG viewed from above. Here, as shown in FIG. 3, an arrow Fw direction, which is the traveling direction of the vehicle, is set as a Y-axis, and a width direction of the road image RG is set as an X-axis, Set the XY coordinates. The XY coordinates are also called overhead coordinates as coordinates representing an overhead image.

  Such route guidance figures PL and PR, which are bird's-eye views, are visually recognized from a viewpoint E as shown in FIGS. 4 and 5 (FIG. 4 shows the Y axis and FIG. 5 shows the X axis) and are set at the display coordinates xy. When the perspective projection is performed on the screen, it can be converted into a figure having a sense of perspective that is visually recognized as being farther away when superimposed, corresponding to the vehicle front image captured by the camera device 14. That is, by converting the overhead coordinates XY into the display coordinates xy, the route guidance figures PL and PR can be converted into an image that can be superimposed on the vehicle front image.

  The coordinate transformation formula stored in the memory 24 that realizes such coordinate transformation can be derived from FIGS. 4 and 5 as follows.

  First, using FIG. 4, a formula for coordinate conversion from the Y axis of the overhead coordinates XY to the y axis of the display coordinates xy is derived. As shown in FIG. 4, when the distance from the viewpoint E to the display coordinate xy is DS, the y coordinate of an arbitrary point of the display coordinate xy is expressed by the following equation (1).

y = −DS · tan θ−DS · tan ω
= −DS (tan θ + tan ω) (1)
Also, as shown in FIG. 4, if the height from the overhead view coordinate XY to the viewpoint E is h, the Y coordinate of any point of the route guidance figures PL and PR developed on the overhead view coordinate XY is as follows: (2) shown in FIG.

Y = [h / sin (θ + ω)] · (1 / cos 2θ) + c
= [H / (tan θ + tan ω)] · (1 / cos 2θ) + c (2)
From this, from the formulas (1) and (2), the Y coordinate is as shown in the following formula (3).

Y = (− h · DS / cos 2θ) (1 / y) + c (3)
Here, assuming that b = h · DS / cos 2θ, the expression (3) becomes as shown in the expression (4).

Y = (− b / y) + c (4)
Subsequently, an equation for coordinate conversion from the X axis of the overhead coordinates XY to the x axis of the display coordinates xy is derived using FIG. As can be seen from FIG. 5, the X coordinate of an arbitrary point in the overhead coordinates XY and the x coordinate of an arbitrary point in the display coordinates xy are expressed by the following equation (5) from the relationship of the ratio of geometric figures. ing.

X / [(Y−c) · cos θ] = x / DS (5)
When formula (5) is arranged, formula (6) is obtained.

X = (cos θ / DS) × x (Y−c) (6)
When formula (6) is rearranged using formula (4), formula (7) is obtained.

X = (cos θ / DS) · x · (−b / y)
= −b (cos θ / DS) (x / y) (7)
Here, if a = b · (cos θ / DS), the expression (7) is as shown in the expression (8).

X = −a (x / y) (8)
The memory 24 stores the equations (4) and (8), which are coordinate transformation equations derived in this way, and the route guidance graphic transformation unit 23 uses the coordinate transformation equations stored in the memory 24. Thus, the X and Y coordinates of the route guidance figures PL and PR developed on the overhead view coordinates XY are converted into the x and y coordinates of the display coordinates xy. In equations (4) and (8), a, b, and c are constants determined by the installation position, imaging direction, angle of view, and the like of the camera device 14, and are determined by the installation of the camera device 14 in the vehicle. 26 to the route guidance graphic conversion unit 23.

  In this way, the route guidance figures PL and PR converted by the route guidance figure conversion unit 23 are changed into a shape as shown in FIG. 6, for example, and are superimposed on the vehicle front image taken by the camera device 14. In such a case, the image is displayed through the display device 15 as shown in FIGS. That is, when the route guidance figures PL and PR are superimposed on the route guidance image, they are superimposed so as to clearly show the road image in a region other than the road image corresponding to the searched route.

  Also, as shown in FIGS. 6, 7, and 8, the shades of the colors of the route guidance figures PL and PR are not uniform and are changed so as to emphasize perspective.

  The route guidance figures PL and PR are figures that define the width of the road image and have a shape that blocks a part of the area around the road image. However, the route guidance figures PL and PR are not necessarily provided as shown in FIGS. It is not necessary to leave the road image corresponding to the traveling lane to be covered and cover the entire area up to the end of the route guidance image. When there are a plurality of traveling lanes, for example, as shown in FIG. Only the road image of the travel lane adjacent to the travel lane for route guidance may be blocked.

  This makes it possible to clarify the traveling lane for route guidance and to visually recognize the surrounding environment satisfactorily while blocking the obstacle from being visually recognized.

[Processing Operation of Route Guidance Display Device 1]
Next, the processing operation of the route guidance display device 1 will be described using the flowchart shown in FIG.

  In step S <b> 1, the control unit 26 sets a desired destination input by the user to the route search unit 21. In addition to the destination, the user may set a waypoint. In the following description, it is assumed that the waypoint is not set and only the destination is set.

  In step S <b> 2, the control unit 26 controls the route search unit 21 to calculate an optimum route from the current position of the host vehicle calculated by the vehicle position calculation unit 12 to the set destination, and performs route search. Execute. The route search unit 21 calculates, for example, a route that can travel in the shortest time or the shortest distance as an optimal route. At this time, the route search unit 21 may calculate an optimum route using traffic information provided from a traffic information center or the like.

  In step S <b> 3, the control unit 26 sets a desired route selected by the user from a plurality of route search results calculated by the route search unit 21 as a route for executing route guidance.

  In step S4, the control unit 26 controls the route guidance graphic conversion unit 23 to coordinate-convert the route guidance graphics PL and PR. At this time, the route guidance graphic conversion unit 23 changes the shade of color or the transparency of the color of the route guidance graphics PL and PR subjected to coordinate conversion.

  In step S <b> 5, the control unit 26 controls the image composition unit 25 to superimpose the route guidance figures PL and PR on the vehicle front image captured by the camera device 14. Then, the vehicle front image on which the route guidance figures PL and PR are superimposed is displayed via the display device 15, and the route guidance is started. At this time, the control unit 26 extracts the position of the road image obtained by photographing the road by performing image processing on the vehicle front image photographed by the camera device 14, and corrects the position of the route guidance figures PL and PR to be superimposed. You may do it.

  In step S6, the control unit 26 determines whether there is a branch point in the route searched by the route search unit 21 and set by the user. If it is determined that there is a branch point, the control unit 26 proceeds to step S7. If it is determined that there is no branch point, the control unit 26 proceeds to step S11.

  In step S <b> 7, the control unit 26 controls the route guidance graphic generation unit 22 to generate a route guidance graphic at the latest branch point based on the route searched by the route search unit 21 and set by the user in units of driving lanes. .

  In step S8, the control unit 26 determines whether the distance from the current position of the vehicle calculated by the vehicle position calculation unit 12 to the branch point is within a predetermined threshold. When the distance to the branch point is within the predetermined threshold, the control unit 26 proceeds to step S9. On the other hand, when the distance to the branch point is longer than the predetermined threshold, the control unit 26 returns the process to step S6. .

  In step S <b> 9, the control unit 26 controls the image composition unit 25 to superimpose the route guidance graphic generated by the route guidance graphic generation unit 22 on the vehicle forward image captured by the camera device 14. And the vehicle front image which superimposed the route guidance figure is displayed via the display apparatus 15, and the route guidance in a branch point is started.

  In step S10, the control unit 26 determines whether or not the vehicle has passed a branch point based on the current position of the vehicle calculated by the vehicle position calculation unit 12. When the control unit 26 passes the branch point, the process proceeds to step S11. When the control unit 26 does not pass the branch point, the control unit 26 returns the process to step S9.

  In step S11, the control unit 26 determines whether the destination set in step S1 or the vicinity of the destination has been reached. If the control unit 26 has not yet reached the destination or the vicinity of the destination, the control unit 26 returns the process to step S6. If the control unit 26 has reached the destination or the vicinity of the destination, the route guidance is terminated.

[Effect of the first embodiment]
As described above, the route guidance display device 1 shown as the first embodiment of the present invention is controlled by the control unit 26 in a region other than the road image corresponding to the searched route in the route guidance image. The route guidance figures PL and PR are superimposed so as to clearly show the road image.

  Accordingly, it is possible to execute very good route guidance that ensures high visibility without reducing the visibility of the road surface of the traveling lane in which the vehicle travels.

  In addition, the route guidance graphic conversion unit 23 corresponds to the route guidance image on which the route guidance graphics PL and PR are superimposed, so that the route guidance graphic has a shape indicating perspective, a shade indicating perspective, or transparency. By converting PL and PR, it is possible to realize more realistic route guidance that emphasizes perspective while making a more natural figure corresponding to an image for route guidance.

  The route guidance figures PL and PR are shapes that define the width of the road image corresponding to the searched route in the route guidance image and shield a partial area around the road image.

  Therefore, for example, when an image for route guidance is a vehicle front image taken by the camera device 14, a vehicle traveling in an oncoming lane or another lane, a pedestrian in the vicinity of the traveling lane, a stationary object For example, it is possible to eliminate unnecessary objects for route guidance from the field of view and to ensure the visibility of traffic signs painted on the road surface.

  Further, as a route guidance image, not only a vehicle front image taken by the camera device 14 but also a map image that is visually recognized by a line of sight from a vehicle windshield generated from map data, road data, and the like. Even in this case, since buildings existing around the road image stored in advance as data are displayed, objects unnecessary for route guidance can be excluded from view and painted on the road surface. Visibility such as traffic signs can be secured.

[Second Embodiment]
Next, a route guidance display device 2 shown as a second embodiment of the present invention will be described with reference to FIG.

  As shown in FIG. 11, the route guidance display device 2 shown as the second embodiment of the present invention has a branch point distance calculation unit 27 in addition to the configuration of the route guidance display device 1 shown as the first embodiment described above. Is just added. Therefore, the functional units that are the same as those of the route guidance display device 1 are denoted by the same reference numerals, description thereof is omitted, and description is appropriately made as necessary.

  The route guidance display device 2 changes the shape of the route guidance graphic according to the distance from the current position of the vehicle to the branch point, or changes the transparency of the route guidance graphic that has shielded a partial area around the road image. By doing so, it is possible to more clearly present the visibility of the traveling lane when the lane of the vehicle is changed and the direction of guidance at the branch point. The route guidance display device 2 includes a branch point distance calculation unit 27 that calculates the distance between the current position of the vehicle and the branch point in order to execute such processing for changing the shape of the route guide graphic.

  The branch point distance calculation unit 27 uses the current position of the vehicle calculated by the vehicle position calculation unit 12 and information regarding the position of the branch point that generates the route guidance graphic provided from the route guidance graphic generation unit 22. The distance from the current position of the vehicle to the branch point is calculated. The distance from the current position of the vehicle to the branch point calculated by the branch point distance calculation unit 27 is output to the route guidance graphic conversion unit 23 as distance information.

  The route guidance graphic conversion unit 23 superimposes the route guidance graphic on the vehicle forward image captured by the camera device 14 using the coordinate conversion formula stored in the memory 24 as in the above-described route guidance display device 1. And a change process of the route guidance graphic is executed based on the distance information from the current position of the vehicle to the branch point calculated by the branch point distance calculating unit 27. In addition, the route guidance graphic conversion unit 23 changes the transparency of the route guidance graphic based on the distance information from the current position of the vehicle to the branch point calculated by the branch point distance calculation unit 27.

  Note that the route guidance display device 2 shown as the second embodiment of the present invention superimposes the route guidance figure on the vehicle front image taken by the camera device 14, but from the vehicle windshield. It is also possible to generate a map image that is visually recognized by a line of sight and to superimpose a route guidance figure on the map image.

[Processing of Route Guidance Graphic Conversion Unit 23]
Specifically, the route guidance graphic conversion unit 23 processes the route guidance graphic according to the distance information from the current position of the vehicle to the branch point. In the vicinity of the branch point where the guidance direction is instructed, the driver changes the driving lane to be changed. A processing method (first change processing method) that can be reliably presented, and a processing method (second change process) that increases the visibility of the instructed guiding direction in the vicinity of the branch point. Method).

(1) First Change Processing Method First, the first change processing method for the route guidance graphic by the route guidance graphic conversion unit 23 will be described. As described above, the first change processing method is a processing method that enables the driver to be surely presented with the driving lane to be changed near the branch point where the guidance direction is indicated.

  As the first change processing method, there are two types of methods corresponding to the distance level (first distance level, second distance level) between the current position of the vehicle and the branch point. The distance level between the current position of the vehicle and the branch point has a certain margin, the first distance level including the start point for starting the change of the route guidance graphic, and the branch point more than the first distance level. The second distance level.

  First, the route guidance graphic conversion unit 23 uses the coordinate conversion formula stored in the memory 24 to convert the route guidance graphic converted into an image suitable for the vehicle front image from the branch point distance calculation unit 27. From the output distance information, a road image whose width is defined by the route guidance graphic is instructed at the branch point according to the fact that the distance between the current position of the vehicle and the branch point has reached the first distance level. Change to move to the direction of guidance.

  For example, when the right turn direction is instructed at the branch point, the route guidance graphic conversion unit 23 changes the route guidance graphics PL and PR shown in FIG. 6 to the route guidance graphics PL and PR shown in FIG. Let As shown in FIG. 12, the route guidance graphic conversion unit 23 turns the route guidance graphics PL and PR to the right direction that is the guidance direction indicated by the branch point of the road image whose width is defined by the route guidance graphics PL and PR. Change to move in the direction side.

  In this way, when the route guidance figures PL and PR as shown in FIG. 12 changed by the route guidance figure conversion unit 23 are superimposed on the vehicle front image taken by the camera device 14, FIG. The displayed image is displayed through the display device 15.

  As a result, as shown in FIG. 13, the visibility of the traveling lane where the lane is changed in front of the branch point is improved, and the guidance direction at the branch point indicated by the route guidance graphic IM superimposed on the route guidance image is improved. I can grasp it.

  Next, the route guidance graphic conversion unit 23 uses the coordinate conversion formula stored in the memory 24 to convert the route guidance graphic converted into an image suitable for the vehicle front image into the branch point distance calculation unit 27. From the distance information output from the vehicle, the width of the road image is widened in the direction of guidance indicated by the branch point when the distance between the current position of the vehicle and the branch point has reached the second distance level. Change.

  For example, when the right turn direction is instructed at the branch point, the route guidance graphic conversion unit 23 changes the route guidance graphics PL and PR shown in FIG. 13 to the route guidance graphics PL and PR shown in FIG. Let As shown in FIG. 14, the route guidance graphic conversion unit 23 selects the width of the road image of the route guidance graphic PR on the guidance direction side indicated by the branch point, here, the right turn direction side, among the route guidance graphics PL and PR. The side L1 that defines the width of the road image is changed with a bulge inward so as to widen the width of the road image.

  FIG. 15 is a diagram showing route guidance figures PL and PR when the vehicle further approaches the branch point. As shown in FIG. 15, when the second distance level is reached and the branch point is further approached, the side L1 of the route guidance graphic PR is further changed to bulge inward so as to widen the width of the road image. Will be.

  When the route guidance graphics PL and PR as shown in FIG. 15 changed by the route guidance graphics conversion unit 23 in this way are superimposed on the vehicle front image photographed by the camera device 14 as shown in FIG. Displayed as a simple image via the display device 15.

  As a result, as shown in FIG. 16, the visibility of the traveling lane where the lane is changed in front of the branch point is improved, and the guidance direction at the branch point indicated by the route guidance graphic IM superimposed on the route guidance image is improved. I can grasp it.

(2) Second Change Processing Method Next, a second change processing method for the route guidance graphic by the route guidance graphic conversion unit 23 will be described. As described above, the second change processing method is a processing method that can improve the visibility on the side of the instructed guidance direction in the vicinity of the branch point where the guidance direction is instructed.

  In the second change processing method, the route guidance graphic conversion unit 23 branches the route guidance graphic coordinate-converted into an image suitable for the vehicle front image using the coordinate conversion formula stored in the memory 24. Based on the distance information output from the point distance calculation unit 27, the guidance direction indicated at the branch point in response to the distance between the current position of the vehicle and the branch point being very close to the branch point. Change to increase the transparency of the route guidance figure on the side.

  For example, when the right turn direction is instructed at the branch point, the route guidance graphic conversion unit 23, as shown in FIG. 17, among the route guide graphics PL and PR, the guidance direction side indicated at the branch point, here, The transparency of the route guidance figure PR on the right turn direction side is increased so that the state of the route guidance image on which the route guidance figure PR is superimposed can be visually recognized.

  As a result, as shown in FIG. 17, it is possible to clearly see the state on the guidance direction side guided at the branch point, for example, the road surface condition in the traveling direction and the traffic sign painted on the road surface, and the route guidance. The guidance direction at the branch point indicated by the route guidance graphic IM superimposed on the image can be grasped well.

  At this time, the transparency of the route guidance figure PL on the opposite side to the route guidance direction may be reduced to make it opaque. Thereby, it is possible to emphasize that the guidance is in the direction in which the route guidance graphic PR whose visibility is improved by increasing the transparency without superimposing the route guidance graphic IM.

(3) Development of First Change Processing Method As described above, the route guidance graphic conversion unit 23 ensures that the driving lane to be changed in the vicinity of the branch point where the guidance direction is indicated is the driver as the first change processing method. The shape of the route guidance figure was changed so that it can be presented.

  At this time, the route guidance graphic conversion unit 23 changes the shape of the route guidance graphic superimposed on the guidance direction side indicated by the branch point so as to be lower in the height direction in the image for route guidance, and instructs at the branch point. The shape of the route guidance figure superimposed on the opposite side of the direction is changed so as to be higher in the height direction in the route guidance image.

  For example, when the right turn direction is instructed at the branch point, the route guidance graphic conversion unit 23 changes the route guidance graphics PL and PR shown in FIG. 12 to the route guidance graphics PL and PR shown in FIG. Let As shown in FIG. 18, the route guidance graphic conversion unit 23 changes the sides L2 and L3 defining the height directions of the route guidance graphics PL and PR so as to be inclined rightward from the horizontal state.

  In this way, when the route guidance figures PL and PR as shown in FIG. 18 changed by the route guidance figure conversion unit 23 are superimposed on the vehicle front image taken by the camera device 14, FIG. The displayed image is displayed through the display device 15.

  Further, when the vehicle further approaches the branch point, the route guidance graphic conversion unit 23 corresponds to the above-described route guidance graphics PL and PR of FIGS. 14 to 17 as shown in FIGS. 20 to 23. The sides L2 and L3 defining the height directions of the route guidance figures PL and PR are changed so as to be inclined obliquely to the right from the horizontal state.

  That is, as shown in FIGS. 18 to 23, the route guidance graphic conversion unit 23 superimposes the route guidance graphic PR on the right turn direction side, which is the guidance direction side indicated by the branch point, as the vehicle approaches the branch point. The shape of the route guidance figure PL that is superimposed on the opposite side to the direction indicated by the branch point is changed in the height direction in the route guidance image. Change to be higher.

  Thereby, for example, even if there is no route guidance figure IM to be superimposed on the road image, the guidance direction indicated by the branch point can be understood at a glance, and at the same time, You can call attention to buildings and landmarks.

  In the example described above, the route guidance figures PL and PR are changed so that the sides L2 and L3 defining the height directions of the route guidance figures PL and PR are inclined rightward from the horizontal state. As shown, the route guidance graphic PR on the moving side may be changed by changing the lane. In this way, if only the route guidance figure PR on the moving side is changed by changing the lane, the guidance direction indicated at the branch point as described above can be understood at a glance while the calculation processing is less. At the same time, it is possible to call attention to buildings, landmarks, etc. in the direction in which the vehicle is guided.

[Processing Operation of Route Guidance Display Device 2]
Next, the processing operation of the route guidance display device 2 will be described using the flowchart shown in FIG. In the flowchart shown in FIG. 25, only the processing step of Step S9a is added to the flowchart showing the processing operation of the route guidance display device 1 in FIG. Therefore, the overlapping process steps are given the same numbers and the description thereof is omitted, and only the added process steps are described.

  In step S9a, the control unit 26 controls the route guidance figure conversion unit 23, and the route superimposed on the route guidance image according to the distance from the current position of the vehicle calculated by the vehicle position calculation unit 12 to the branch point. The process of changing the guide figures PL and PR is started.

[Effect of the second embodiment]
As described above, the route guidance display device 2 shown as the second embodiment of the present invention provides route guidance according to the distance between the current position of the vehicle and the branch point that is present on the route and indicates a predetermined guidance direction. Change the shape of the figure. For example, as the current position of the vehicle approaches the branch point, the shape of the route guidance graphic is moved to the direction of the guidance direction indicated by the branch point as the position of the road image whose width is defined by the route guidance graphic. Change. Further, as the current position of the vehicle approaches the branch point, the shape of the route guidance figure is changed so as to widen the width of the road image toward the guidance direction indicated by the branch point.

  Thereby, the visibility of the traveling lane where the lane is changed before the branch point can be improved, and the guidance direction at the branch point can be grasped well.

  Further, as the current position of the vehicle approaches the branch point, the shape of the route guidance figure superimposed on the guidance direction side indicated by the branch point is changed so as to be lower in the height direction in the route guidance image.

  In this way, changing only the route guidance figure on the moving side by changing the lane makes it possible to understand at a glance the direction of guidance indicated at the branch point while at the same time reducing the amount of calculation processing, It is possible to call attention to buildings, landmarks, etc. in the vehicle traveling direction.

  Furthermore, as the current position of the vehicle approaches the branch point, the shape of the route guidance figure superimposed on the opposite side of the guidance direction indicated by the branch point changes so as to increase in the height direction in the route guidance image. Let

  Thereby, for example, even if there is no route guidance figure IM to be superimposed on the road image, the guidance direction indicated by the branch point can be understood at a glance, and at the same time, You can call attention to buildings and landmarks.

  Further, the transparency of the route guidance figure that blocks a partial area around the road image is changed according to the distance between the current position of the vehicle and a branch point that is present on the route and indicates a predetermined guidance direction. For example, as the current position of the vehicle approaches the branch point, it changes so as to increase the transparency of the route guidance figure superimposed on the guidance direction side indicated at the branch point, and on the opposite side to the guidance direction indicated at the branch point Is changed so as to reduce the transparency of the route guidance figure superimposed on the.

  As a result, it is possible to clearly see the state on the guidance direction side guided at the branch point, for example, the road surface condition in the traveling direction and the traffic sign painted on the road surface, and the route guidance superimposed on the route guidance image The guiding direction at the branch point indicated by the figure IM can be grasped well.

  At this time, the transparency of the route guide figure on the side opposite to the route guidance direction may be reduced to make it opaque. Accordingly, it is possible to emphasize that the guidance is in the direction in which the route guidance graphic having the visual line improved by increasing the transparency without overlapping the route guidance graphic IM.

  The above-described embodiment is an example of the present invention. For this reason, the present invention is not limited to the above-described embodiment, and various modifications can be made depending on the design and the like as long as the technical idea according to the present invention is not deviated from this embodiment. Of course, it is possible to change.

It is a figure for demonstrating the structure of the route guidance display apparatus shown as the 1st Embodiment of this invention. It is the figure which showed an example of the route guidance figure. It is a figure for demonstrating the route guidance figure before coordinate transformation. It is a figure used in order to derive | lead-out a coordinate transformation type | formula. It is a figure used in order to derive | lead-out a coordinate transformation type | formula. It is the figure which showed an example of the route guidance figure after coordinate conversion. It is the figure which showed a mode that the said route guidance figure was superimposed on the image for route guidance. It is the figure which showed a mode that the said route guidance figure was superimposed on the image for route guidance. It is the figure which showed the variation of a route guidance figure. It is a flowchart for demonstrating the processing operation of the route guidance display apparatus shown as the 1st Embodiment of this invention. It is a figure for demonstrating the structure of the route guidance display apparatus shown as the 2nd Embodiment of this invention. It is the figure which showed an example of the route guidance figure after the coordinate transformation changed with the approach to a branch point. It is the figure which showed a mode that the said route guidance figure was superimposed on the image for route guidance. It is the figure which showed a mode that the said route guidance figure was superimposed on the image for route guidance. It is the figure which showed an example of the route guidance figure after the coordinate transformation changed with the approach to a branch point. It is the figure which showed a mode that the said route guidance figure was superimposed on the image for route guidance. It is the figure which showed a mode that the said route guidance figure was superimposed on the image for route guidance. It is the figure which showed an example of the route guidance figure after the coordinate transformation changed with the approach to a branch point. It is the figure which showed a mode that the said route guidance figure was superimposed on the image for route guidance. It is the figure which showed a mode that the said route guidance figure was superimposed on the image for route guidance. It is the figure which showed an example of the route guidance figure after the coordinate transformation changed with the approach to a branch point. It is the figure which showed a mode that the said route guidance figure was superimposed on the image for route guidance. It is the figure which showed a mode that the said route guidance figure was superimposed on the image for route guidance. It is the figure which showed an example of the route guidance figure after the coordinate transformation changed with the approach to a branch point. It is a flowchart for demonstrating the processing operation of the route guidance display apparatus shown as the 2nd Embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Route guidance display apparatus 2 Route guidance display apparatus 11 Input part 12 Vehicle position calculation part 13 Map database 14 Camera apparatus 15 Display apparatus 20 Control processing part 21 Route search part 22 Route guidance figure generation part 23 Route guidance figure conversion part 24 Memory 25 Image composition unit 26 Control unit 27 Branch point distance calculation unit

Claims (9)

A route guidance display device for displaying a route searched for from a current position of a vehicle to a destination on a route guidance image for route guidance,
Route guidance graphic generation means for generating a route guidance graphic for guiding the route;
Corresponding to the route guidance image on which the route guidance graphic is superimposed, the conversion means for converting the route guidance graphic so as to have a shape showing perspective, lightness or transparency showing perspective, and the conversion means Superimposing means for superimposing the converted route guidance graphic so as to clearly indicate the road image on a region other than the road image corresponding to the searched route in the route guidance image;
A route guidance display device, comprising: a display unit configured to display an image for route guidance on which the route guidance graphic is superimposed by the superimposing unit. The route guidance graphic generation means defines a width of a road image corresponding to the searched route in the route guidance image, and displays a graphic having a shape shielding a partial area around the road image. The route guidance display device according to claim 1 , wherein the route guidance display device is generated as a figure. Claim 2, characterized in that it comprises a current position and according to the distance between the branch point to indicate the predetermined guidance direction exists on the path, the shape changing means for changing the shape of the route guidance graphic of the vehicle The route guidance display device described. The shape changing means, as the current position of the vehicle approaches the branch point,
The shape of the route guidance graphic of claim 3, wherein the changing to move the position of the road image defined width in the route guide figure in the induction direction instructed by the branch point Route guidance display device. The shape changing means, as the current position of the vehicle approaches the branch point,
The route guidance display device according to claim 4 , wherein the shape of the route guidance figure is changed so as to widen the width of the road image toward the guidance direction indicated by the branch point. The shape changing means, as the current position of the vehicle approaches the branch point,
The route guidance display according to claim 3 , wherein the shape of the route guidance figure superimposed on the guidance direction side indicated by the branch point is changed to be lower in the height direction in the image for route guidance. apparatus. The shape changing means, as the current position of the vehicle approaches the branch point,
The shape of the route guidance graphic above a guidance direction that is indicated by the branch point to be superimposed on the opposite side, according to claim 6, wherein the changing to be higher in the height direction of the image for the route guidance Route guidance display device. Transparency changing means for changing the transparency of a route guide figure that blocks a partial area around the road image according to the distance between the current position of the vehicle and a branch point that exists on the route and indicates a predetermined guidance direction The route guidance display device according to any one of claims 2 to 7 , further comprising: The transparency changing means, as the current position of the vehicle approaches the branch point,
Change to increase the transparency of the route guidance graphic superimposed on the guidance direction side indicated by the branch point,
The route guidance display device according to claim 8 , wherein the route guidance display device is changed so as to reduce the transparency of the route guidance figure superimposed on the opposite side to the guidance direction indicated by the branch point.