JP5983498B2 - Intersection guidance system, method and program - Google Patents

Description

  The present invention relates to an intersection guidance system, method, and program for guiding an intersection.

  A technique is known in which a 3D arrow is superimposed and displayed at a position where a guidance intersection exists in a road image in front of a vehicle (see Patent Document 1). In Patent Document 1, when it is determined that there is another intersection before the guidance intersection, a 3D arrow is superimposed and displayed after the vehicle approaches the guidance intersection so that the guidance intersection and the intersection in front of the intersection can be sufficiently distinguished. Accordingly, it is possible to prevent the driver from misunderstanding that the 3D arrow is guiding the intersection at the front.

JP 2010-181363 A

  However, in Patent Document 1, even if a 3D arrow is superimposed and displayed after the vehicle has approached the guidance intersection so that the guidance intersection and the intersection in front of it can be sufficiently distinguished, the previous intersection is represented in the road image. The 3D arrow is displayed in a superimposed manner. Therefore, there is a problem that it is not possible to clearly determine which one of the guidance intersection shown in the road image and the previous intersection is guided by the 3D arrow.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a technology capable of clearly distinguishing a guidance intersection from other intersections.

  In order to achieve the above object, an intersection guidance system according to the present invention includes a guidance intersection obtaining unit that obtains a guidance intersection that is a guidance target intersection, and a proximity intersection that is an intersection existing on a route from the vehicle to the guidance intersection. A determination means for determining whether or not the vehicle exists and a first guidance image representing a graphic including a first approach graphic that is a graphic extending from the position of the vehicle to the guidance intersection when the adjacent intersection does not exist is superimposed on the front landscape of the vehicle When there is a proximity intersection, a second guidance image representing a graphic including a second entry graphic that is a graphic extending from the position between the proximity intersection and the guidance intersection to the guidance intersection is superimposed on the front landscape. Display means for displaying.

  In the above configuration, when there is a proximity intersection before the guidance intersection, the display means displays a second guidance image representing the second approach graphic extending from the position between the proximity intersection and the guidance intersection to the guidance intersection in the forward scenery. Superimpose. By this second approach graphic, it is possible to represent a route from the position ahead of the proximity intersection to the guidance intersection instead of the route from the current position of the vehicle to the proximity intersection. Therefore, even in a situation where a nearby intersection can be visually recognized in the forward scenery, it can be clearly determined that guidance is provided for a guidance intersection instead of a proximity intersection. On the other hand, when the proximity intersection does not exist before the guidance intersection, the display unit superimposes the first guidance image representing the first approach graphic extending from the position of the vehicle to the guidance intersection on the front landscape. The first approach graphic can represent a route from the current position of the vehicle to the guidance intersection.

  The guidance intersection acquisition unit only needs to acquire a guidance intersection that is a guidance target, and the guidance intersection may be an intersection on a planned travel route searched in advance as a route to reach the destination. More specifically, the guidance intersection may be an intersection on which the driver is likely to make a mistake in the traveling direction on the planned travel route. When the vehicle travels on the planned travel route, the adjacent intersection is also an intersection on the planned travel route. Proximity intersection is an intersection that is not an object of guidance, and is an intersection that exists on the route from the vehicle to the guidance intersection among the intersections on the planned travel route where the driver is less likely to make a mistake in the direction of travel than the guidance intersection. It may be. For example, when traveling on a planned travel route, an intersection where the amount of change in the direction of travel is greater than a nearby intersection may be used as a guidance intersection, and the degree of change in road scale (road width, number of lanes, road type, etc.) An intersection that is larger than a nearby intersection may be acquired as a guidance intersection. Furthermore, the proximity intersection may be an intersection whose distance from the guidance intersection is a threshold value or less. That is, the proximity intersection may be an intersection that is close to the guidance intersection to the extent that the guidance for the guidance intersection is mistaken as guidance for the proximity intersection.

  The determination means only needs to determine whether or not there is an adjacent intersection that exists on the route from the vehicle to the guidance intersection, and may determine whether or not there is an adjacent intersection that is not a guidance target on the route. . Note that the determination unit may determine whether or not there is an adjacent intersection based on the current position of the vehicle and the map information, or whether or not there is an adjacent intersection by recognizing an image obtained by capturing a front landscape. It may be determined whether or not.

  The first guidance image may be an image representing a graphic including a first entry graphic that is a graphic extending from the vehicle position to the guidance intersection, and the first entry graphic is generated on a road connecting from the vehicle position to the guidance intersection. The figure may be a figure. For example, the first approach figure may have a shape corresponding to a road shape of a road connecting from the position of the vehicle to the guidance intersection, or may have a linear shape connecting the position of the vehicle and the guidance intersection. Alternatively, it may be a graphic extending in the traveling direction from the position of the vehicle. The position where the first approach graphic ends on the guidance intersection side may be a position within the guidance intersection. The position of the vehicle may be a position closest to the vehicle in the projection area in the real space where the image is projected onto the forward scenery. When the first approach graphic is a graphic on the road surface of the road, the lower end of the forward scenery overlooking the road corresponds to the position closest to the vehicle in the projected area on the road surface. Note that the projection area may be an area in which an image is projected within a range in which an image can be superimposed in the front landscape. Further, the first guide image may be an image representing a graphic other than the first approach graphic together with the first approach graphic.

  The second guidance image may be an image representing a graphic including a second approach graphic that is a graphic extending from the position between the proximity intersection and the guidance intersection to the guidance intersection, and the second guidance image includes the proximity intersection and the guidance intersection. Any image may be used as long as it represents a graphic extending at least from the position between to the guidance intersection. For example, the second approach graphic may have a shape corresponding to the road shape of the road connecting the second guidance image from the position between the proximity intersection and the guidance intersection to the guidance intersection, or the proximity intersection and the guidance intersection. It may have a linear shape that connects the position between and the guidance intersection, or may be a figure extending in the direction of travel from the position between the proximity intersection and the guidance intersection. The position where the second approach graphic ends on the guidance intersection side may be a position within the guidance intersection. Further, the second guidance image may be an image representing a graphic other than the second approach graphic together with the second approach graphic.

  The display means may display the first guide image or the second guide image in accordance with the presence or absence of the proximity intersection, and displays an image representing the forward scenery (hereinafter referred to as the front image) together with the first guide image or the second guide image. May be. That is, the display means may display a front image on which the first guide image or the second guide image is superimposed. The forward image may be obtained by photographing the forward landscape with a camera, or may be obtained by drawing the forward landscape based on the map information. Further, the display means may not display the front image. That is, the display unit may be configured as a head-up display that displays the first guide image or the second guide image so as to be superimposed on an actual front view visually recognized by the driver through the windshield of the vehicle.

  The display means may set, as the second approach graphic, a graphic extending from the end of the proximity intersection side to the guidance intersection when the proximity intersection exists. Thereby, the route to the guidance intersection can be guided by the second approach graphic starting from the position closest to the vehicle in the range in which the erroneous recognition that the second guidance image guides the proximity intersection can be prevented.

  When the vehicle passes through the proximity intersection, the display means may consider that the proximity intersection does not exist and display the first guide image superimposed on the front landscape. When the vehicle passes through the proximity intersection, the proximity intersection is no longer confusing, so the route from the vehicle position to the guidance intersection can be clearly recognized by the first guidance image. Moreover, it can be recognized that the next traveling intersection has become a guidance intersection by the transition of the state of the guidance image. In addition, the case where the vehicle has passed the proximity intersection may be a case where the vehicle has passed a predetermined position (center position, front end position, front end position, etc.) of the proximity intersection, It may be a case where the image of the adjacent intersection is not included in the forward scenery.

  Further, the first guide image and the second guide image represent a graphic including an exit graphic that is a graphic extending along the exit road to be exited from the guide intersection at the guide intersection, and the display means has a vehicle approaching When passing through an intersection, the shape of the exit graphic may be changed so that the length becomes longer. From the perspective, it is felt that a longer image represents a nearby object. Therefore, the longer the exit graphic extending along the exit road, the easier it is to misunderstand that the exit graphic is a guide for a nearby intersection. On the other hand, since the length of the leaving graphic is made smaller than after passing through the proximity intersection before passing through the proximity intersection, it is possible to prevent the misunderstanding that the exit graphic guides the proximity intersection. Furthermore, since the length of the exit graphic is made larger after passing through the adjacent intersection than before passing through the adjacent intersection, the exit road can clearly guide the direction of the exit road. In addition, since it is possible to make a transition so that the length of the exit graphic becomes longer at the timing of passing through a nearby intersection, it is intuitively recognized that the next intersection to be driven has become a guide intersection to exit to the exit road it can.

  Further, the display means may set the width of the second approach graphic to be smaller as the length of the second approach graphic is larger when the adjacent intersection exists. From the perspective, it is felt that an image having a larger length and width represents a closer object. Therefore, as the length of the second approach graphic increases, it is easy to cause a misunderstanding that the second approach graphic indicates a route to the adjacent intersection. On the other hand, the larger the length of the second approach figure, the smaller the width of the second approach figure, thereby preventing the misunderstanding that the second approach figure shows a route to the adjacent intersection.

  The display means may set the width of the second approach figure larger as the width of the road on which the vehicle travels is larger when there is a close intersection. Thereby, the width of the road on which the vehicle travels can be intuitively understood. The width of the road on which the vehicle travels may be the width of the approach road on which the vehicle travels when entering the guidance intersection, or may be the average width of a plurality of connection roads connected to the guidance intersection. Good.

  Furthermore, the method of guiding a guidance intersection as in the present invention can also be applied as a program or method. In addition, the system, program, and method as described above may be realized as a single device, or may be realized by using components shared with each unit provided in the vehicle when realized by a plurality of devices. It can be assumed and includes various aspects. For example, it is possible to provide a navigation system, method, and program including the above-described devices. Further, some changes may be made as appropriate, such as a part of software and a part of hardware. Furthermore, the invention can be realized as a recording medium for a program for controlling the system. Of course, the software recording medium may be a magnetic recording medium, a magneto-optical recording medium, or any recording medium to be developed in the future.

It is a block diagram of a navigation apparatus. 2A and 2B are plan views of the road, and FIG. 2C is a view showing a non-accessing guide image. FIG. 3A is a diagram showing a front image in an unapproached state, FIG. 3B is a plan view of a road showing a first approach graphic and a leaving graphic, and FIG. 3C is a diagram showing a front image in the first approach state. 4A is a plan view of the road showing the second approach graphic and the exit graphic, FIG. 4B is a diagram showing a front image in the second approach state, and FIG. 4C is a graph showing the width ratio of the second approach graphic. It is a flowchart of an intersection guidance process.

Here, embodiments of the present invention will be described in the following order.
(1) Configuration of navigation device:
(1-1) Not approaching state:
(1-2) First approach state:
(1-3) Second approach state:
(2) Intersection guidance processing:
(3) Other embodiments:

(1) Configuration of navigation device:
FIG. 1 is a block diagram showing a configuration of a navigation device 10 as an intersection guidance system according to an embodiment of the present invention. The navigation device 10 is provided in the vehicle V. The navigation device 10 includes a control unit 20 and a recording medium 30. The control unit 20 includes a CPU, a RAM, a ROM, and the like, and executes a program stored in the recording medium 30 or the ROM. The recording medium 30 records map information 30a and display setting data 30b. The map information 30a includes node data for specifying the position of the node corresponding to the end point of the road (point in the intersection), link data indicating the road between the nodes, and the center line in the width direction of the road between the nodes. It includes shape interpolation point data for specifying the position of the set shape interpolation point.
The link data includes information indicating the width of the road between the nodes. The display setting data 30b is data in which various setting information for performing guidance display about intersections is recorded.

  The vehicle V includes a GPS receiver 41, a vehicle speed sensor 42, a gyro sensor 43, a camera 44, and a display 45. The GPS receiving unit 41 receives radio waves from GPS satellites and outputs a signal for calculating the current position of the vehicle V to the control unit 20 via an interface (not shown). The vehicle speed sensor 42 outputs a signal corresponding to the rotational speed of the wheels included in the vehicle V to the control unit 20. The gyro sensor 43 outputs a signal corresponding to the angular acceleration acting on the vehicle V to the control unit 20. Then, the control unit 20 sets a plurality of comparison target roads on which the vehicle V can exist based on the self-contained navigation information based on the signals output from the vehicle speed sensor 42 and the gyro sensor 43 and the map information 30a, and the GPS receiving unit 41 The roads to be compared are narrowed down based on the error circle of the GPS signal acquired in step (1). And the control part 20 performs the map matching process which pinpoints the road with the most similar shape as a self-contained navigation locus among the narrowed down comparison object roads as the traveling road which is the road on which the vehicle V is traveling, and The current position of the vehicle V is specified on the traveling road specified by the matching process. Specifically, the control unit 20 specifies the center line in the width direction on the traveling road based on the shape interpolation point data, and specifies the current position on the center line. The current position of the vehicle V is specified based on signals output from the GPS receiver 41, the vehicle speed sensor 42, the gyro sensor 43, and the like and the map information 30a. Furthermore, the control unit 20 specifies the current direction, which is the current traveling direction of the vehicle V, based on the signal from the gyro sensor 43, the locus of the current position, and the like.

  The camera 44 is an image sensor that captures a front landscape in front of the vehicle V and generates a front image representing the front landscape. The front image captured by the camera 44 is output to the control unit 20 via an interface (not shown). In the present embodiment, the camera 44 is provided at the center position in the width direction of the vehicle V, and the optical axis direction coincides with the current direction of the vehicle V. The display 45 is a video output device that outputs various guides based on the video signal output from the control unit 20. The display 45 displays a front image. The left-right direction of the front image corresponds to the left-right direction of the vehicle V, and an object image farther from the vehicle V on the road surface in real space is positioned above the front image. Further, the center of the lower side of the front image corresponds to the camera 44 (vehicle V), and the horizontal center line of the front image corresponds to the position of the front front of the vehicle V. The optical specifications (view angle, optical axis direction, distortion characteristics, etc.) of the camera 44 are recorded in the display setting data 30b.

The control unit 20 executes an intersection guide program 21. The intersection guidance program 21 includes a guidance intersection acquisition unit 21a, a determination unit 21b, and a display unit 21c.
The guidance intersection acquisition unit 21a is a module that causes the control unit 20 to execute a function of acquiring a guidance intersection that is an intersection to be guided. By the function of the guidance intersection acquisition unit 21a, the control unit 20 is an intersection on the planned travel route searched in advance as a route for reaching the destination, and the driver can make a mistake in the traveling direction on the planned travel route. An intersection with a high probability is acquired as a guide intersection.

  In the present embodiment, the function of the guidance intersection acquisition unit 21a causes the control unit 20 to search for a planned travel route for reaching the destination point based on the map information 30a and acquire information indicating the planned travel route. The scheduled travel route is composed of a series of roads on which the vehicle V should travel in order to reach the destination point. Note that the planned travel route may be a route acquired by the control unit 20 from an external device or a removable memory via communication or the like.

By the function of the guidance intersection acquisition unit 21a, the control unit 20 acquires an intersection that is an intersection on the planned travel route and the vehicle V exits with a turn as a guidance intersection. FIG. 2A is a plan view of a road including the intersection C (guide intersection C _G ). In the present embodiment, a link L is set for each road composed of lanes in which the vehicle V travels in the same direction. Link L is set. The shape of the link L can be specified by a line passing through a shape interpolation point set on the center line in the width direction of the road. In FIG. 2A, a link L on the planned travel route is indicated by a solid line, and a link L not on the planned travel route is indicated by a broken line. A plurality of connecting roads are connected at the intersection C, and a plurality of links L are connected at a node Q (white circle) set in the intersection C.
At the intersection C, the node Q is set for each intersection of the links L, and a plurality of nodes Q can be set at the single intersection C. Hereinafter, the notation of link L means a center line in the width direction of the road.

Control unit 20, based on information indicating a planned travel route, acquires the approach road R _I and departing road R _O for each intersection C on the planned travel route. The approach road R _I is a road on the planned travel route on which the vehicle V travels immediately before traveling on the intersection C, and the exit road R _O is a road on the planned travel route on which the vehicle V travels immediately after traveling on the intersection C. It is. Next, the control unit 20 acquires, as an intersection node Q _C , the node Q to which the incoming link L _I corresponding to the incoming road R _I and the outgoing link L _O corresponding to the outgoing road R _O are connected. Further, the control unit 20 acquires the approach direction and the exit direction at the intersection C. The approach direction is the direction of the approach road R _I (approach link L _I) at the intersection C, and the position of the closest shape interpolation point at the intersection C of shape interpolation points in approach road R _I of intersection node Q _C The direction of the vector connecting the position. The exit direction is a direction of departing road R _O (exit link L _O) of intersection C, and the position of the closest shape interpolation point at the intersection C of shape interpolation points in the departing road and position of the intersection node Q _C Is the direction of the vector connecting.

With the function of the guidance intersection acquisition unit 21a, the control unit 20 acquires, for each intersection C on the planned travel route, a turning angle A that is an angle formed by the exit direction with respect to the approach direction. In the present embodiment, the turning angle A when turning right is positive, and the turning angle A when turning left is negative. By the function of the guidance intersection acquisition unit 21a, the control unit 20 uses the intersection C on the planned travel route where the absolute value of the turning angle A is equal to or larger than a reference angle (for example, 30 degrees) recorded in the display setting data 30b as a guidance target intersection. Obtain as C. Then, the control unit 20 of the guide target intersection C present on the travel route, to obtain the intersection C of the vehicle V is now running as a guidance intersection C _G. In addition, in the case where the vehicle should exit on a leaving road other than a straight road, the greater the turning angle A, the higher the possibility that the driver will accidentally leave the vehicle V on the straight road.

Determining unit 21b is a module for executing the function of determining the control unit 20 whether the near intersection C _N is a crossing point C existing on a route from the vehicle V to the guidance intersection C _G exists. The proximity intersection C _N, of the intersection C is not a guidance target, is an intersection that exists on the route from the current position of the vehicle V to the guidance intersection C _G. The intersection C is not a guidance target, and an intersection C of the planned travel route to the turning angle A is less than the reference angle, a smaller intersection than likely that the driver wrong direction guiding intersection C _G.

FIG. 2A is a plan view of the road when the adjacent intersection C _N does not exist, and FIG. 2B is a plan view of the road when the adjacent intersection C _N exists. Control unit 20 of the function of the determination unit 21b determines whether the remaining distance S from the vehicle V to the guidance intersection C _G is when it becomes a threshold value S _th (eg 150 meters) or less, there is close intersection C _N To do. That is, the control unit 20, the current position and the guidance intersection on the link L columns between the node Q in C _G, if another node Q exists a node Q in the guide intersection C _G, near the intersection It is determined that C _N (intersection C where the other node Q is set) exists. Remaining distance S is an index indicating a greater proximity with respect to the guide intersection C _G of smaller value vehicle V. Therefore, the adjacent intersection C _N is located on the current position side of the guidance intersection C _G among the intersections C that are not guidance targets on the planned travel route, and the distance from the guidance intersection C _G is equal to or less than the threshold value S _th . Intersection C is meant. The control unit 20, as the position P _G guidance intersection C _G (black circles), to obtain the average position of the set node Q in the guide intersection C _G. The control unit 20 obtains a linear distance from the current position of the vehicle V to the position P _G guidance intersection C _G as remaining distance S.

In the present embodiment, the threshold S _th for the remaining distance S is the remaining distance S which can be considered the guidance intersection on the line F extending current heading from the vehicle V C _G is present, is recorded in the display setting data 30b Yes. For example, leave investigated for a number of intersection remaining distance S that the intersection C starts to exist visibly on a straight line F extending current heading from the vehicle V (the width and the curved shape is different intersection approach road R _I), the vehicle You may employ _| adopt as the threshold value _{Sth the} remaining distance S from which the probability that the intersection C exists visually on the straight line F extended from V to the present azimuth becomes a predetermined value (for example, 95%).

Display unit 21c is a module for executing a function of displaying a guide image for guiding an intersection C _G superimposed on the forward image to the control unit 20. That is, by the function of the display unit 21c, the control unit 20 generates a front image on which the guide image is superimposed, and causes the display 45 to display the front image. In the present embodiment, the guide image displayed by the control unit 20 is switched by the function of the display unit 21c depending on whether the state of the vehicle V is an unapproached state, a first approaching state, or a second approaching state. It is done.

(1-1) Not approaching state:
First, the unapproached state will be described. The non-approaching state, remaining distance S from the vehicle V to the guidance intersection C _G is greater state than the threshold S _th. Control unit 20 of the function of the display unit 21c superimposes the non-approaching state, the non-close guide image representing the traveling direction of the vehicle V at the guide intersection C _G in a portion other than the image of the guidance intersection C _G in the front image of the vehicle V And display.

FIG. 2C is a diagram showing a non-access guide image K. The non-access guide image K is an image obtained by combining the arrow image K ₁ and the connection line image K ₂ . The arrow image K ₁ has a first portion K _1a extending in the vertical direction and a second portion K _1b bent with respect to the first portion K _1a and having an arrow head at the tip. Upper arrow image K ₁ represents the front of the vehicle V, the lower arrow image K ₁ represents the rear of the vehicle V. The second portion K _1b is an angle with respect to the first portion K _1a corresponds to the turning angle A of the guide intersection C _G. Control unit 20 of the function of the display unit 21c acquires the arrow image K ₁ corresponding to the turning angle A of the guide intersection C _G from the recording medium 30, the non-close guide image K including the arrow image K ₁ in the front image The images are superimposed and displayed on the display 45.

Control unit 20 of the function of the display unit 21c, in non-approaching state, is displayed on the display 45 superimposed arrow image K ₁ in a portion other than the image of the guidance intersection C _G in the front image to the front image. The control unit 20, as a portion other than the image of the guidance intersection C _G in the front image, sets the superimposing position of the arrow image K ₁ in the portion above the vanishing point W in the front image. Specifically, the control unit 20 sets the overlapping position of the lower end of the arrow image K _{1 to} a position higher than the vanishing point W. Superimposed position of the lower end of the arrow image K ₁ may be any position higher than the vanishing point W, may be set at a constant height may be set to a lower position as the remaining distance S is reduced. The height of the vanishing point W in the front image can be specified based on the optical specification of the camera 44 recorded in the display setting data 30b.

FIG. 3A is a diagram illustrating a front image on which the non-access guide image K is superimposed. As shown in FIG. 3A, the higher region J than vanishing point W, since there is no image of the basic road, the portion other than the image (hatched) of the guidance intersection C _G an arrow image K ₁ in the front image Can be superimposed.

Control unit 20 of the function of the display unit 21c displays the non-close state, the display 45 and superimposes the connecting line image K ₂ for connecting the image guide intersection C _G in the front image and the arrow image K ₁ in the front image Let Control unit 20 sets the superimposing position of the lower end of the connecting line image K ₂ to the position of the front image corresponding to the position P _G guidance intersection C _G. Control unit 20, guidance intersection C of the position P _G of _G obtained based on the node data of the map information 30a, the current position and the guidance based on the current and optical specifications of orientation and the camera 44 intersection C _G of the vehicle V A position in the front image corresponding to the position P _G of the current position is acquired.
Of course, the control unit 20 may identify a location in the front image corresponding to the position P _G guidance intersection C _G by the image recognition in the front image. Then, the control unit 20 of the function of the display unit 21c, the arrow image upper end connected to the lower end of the K _1, the connection position to the length of the lower end is connected in the forward image corresponding to the position P _G of the guidance intersection C _G A line image K ₂ is generated. In the present embodiment, the control unit 20, the reference line U of the longitudinal direction passes through the position in front image corresponding to the position P _G of the guidance intersection C _G is such that bisects the arrow image K ₁ in the lateral direction to set the superimposing position in the lateral direction of the arrow image K _1.

(1-2) First approach state:
Next, the first approach state will be described. The first approach state is a state in which the remaining distance S from the vehicle V to the guidance intersection C _G is equal to or less than the threshold S _th and there is no adjacent intersection C _N on the route from the vehicle V to the guidance intersection C _G. is there. Further, when the vehicle V passes through the proximity intersection C _N by the function of the display unit 21c, the control unit 20 considers that the proximity intersection C _N does not exist and assumes that the vehicle V is in the first approach state. Therefore, the first approach state is a state in which there is no adjacent intersection C _N from the beginning after the timing when the remaining distance S to the guidance intersection C _G becomes equal to or less than the threshold value S _th, and there is an adjacent intersection C _N from the middle. Including the state that has stopped. Therefore, the vehicle V travels to the position shown by a broken line in FIG. 2B, even when passing through the near intersection C _N, are considered first approaching state.

Control unit 20 of the function of the display unit 21c, in a first approach the absence of close intersection C _N on the path from the vehicle V to the guidance intersection C _G, is a figure which extends from the position of the vehicle V to the guidance intersection C _G A first guide image G1 representing a graphic including the first approach graphic I1 is displayed superimposed on the front image. Control unit 20 of the function of the display unit 21c includes a exit figure O is a figure which extends along the guide intersection C departing road should exit at the guide intersection C _G from _G R _O, and a first entrance figure I1 A first guide image G1 representing a graphic is displayed superimposed on the front image.

FIG. 3B is a plan view of the road showing the first entry graphic I1 and the exit graphic O. FIG. Incidentally, FIG. 3B, the vehicle V travels to the position shown by a broken line in FIG. 2B, it illustrates a first ingress figure I1 when passing through the near intersection C _N and exit geometry O. The first entry figure I1 is a figure which extends from the position of the vehicle V to the guidance intersection C _G, a figure on the road surface having a shape along the entry line a1 extending from the position of the vehicle V to the bending point b2. Control unit 20 of the function of the display unit 21c, the guidance intersection a position within the C _G, approach road R and departing road R _O side of the extension line of the end e1 of the _I, departing road R _O exit link corresponding to L The position of the intersection with _O is acquired as the position of the bending point b2. Control unit 20, a half w / 2 only exit road R _O side line is moved in the width w of the entrance road R incoming link corresponds to _I L _I the approach road R _I, departing road of the entrance road R _I It is obtained as an extension e1 end of R _O side. Note that the position of the vehicle V to which the approach line a1 is connected is the actual position of the vehicle V, and is not the current position specified on the link L corresponding to the traveling road.

In the present embodiment, the exit road R _O is a right turn road. Exit figure O is a figure which extends along the guide intersection C departing road should exit at the guide intersection C _G from _G R _O. By the function of the display unit 21c, the control unit 20 has a shape along the exit line a2 connecting the bending point b1 and the end point b2, and a figure on the road surface having an arrow head at the end on the end point b2 side. Is acquired as the exit figure O. Control unit 20, on exiting link L _O corresponding to departing road R _O, to obtain the position moved to by departing road R _O side width w of the entrance road R _I from the bending point b1 as the position of the end point b2. Thus, exit figure O in the first approaching state is a graphic having a length in the width w of the entrance road R _I.

With the function of the display unit 21c, the control unit 20 generates an image equivalent to an image obtained by capturing the first entry graphic I1 and the exit graphic O with the camera 44 of the vehicle V as the first guide image G1, and the first guidance The image G1 is superimposed on the front image, and the front image is displayed on the display 45. By setting the first entry figure I1 and the exit figure O in the real space, the control unit 20 determines the first entry figure I1 based on the current position, the current direction, and the optical specifications of the camera 44. A first guide image G1 obtained by photographing the leaving figure O with the camera 44 of the vehicle V can be generated. FIG. 3C is a diagram showing a first guide image G1 representing the first entry graphic I1 and the exit graphic O. Control unit 20 of the function of the display unit 21c, the larger the width w of the entrance road R _I is, to set the width of the exit figure O and the first entry figure I1 increases. In the present embodiment, the control unit 20, so that the width obtained by multiplying the predetermined width ratio (e.g. 50%) to the width w of the entrance road R _I, except exit figure O (head first enters figure I1 ) Width.

(1-3) Second approach state:
Next, the second approach state will be described. The second approach state, the guidance intersection remaining distance S to C _G or less the threshold value S _th, and a path state near the intersection C _N are present on from the vehicle V to the guidance intersection C _G. Due to the function of the display unit 21c, the control unit 20 causes the position between the adjacent intersection C _N and the guidance intersection C _G in the second approach state where the proximity intersection C _N exists on the route from the vehicle V to the guidance intersection C _G. a second guide image G2 representing a graphic including a second ingress figure I2 is a figure which extends to the guidance intersection C _G superimposed on the forward image from display. Specifically, the control unit 20 of the function of the display unit 21c, in the second approaching state, sets the figure extending from the guide intersection C _G side end in the near intersection C _N to the guidance intersection C _G as the second entry figure I2 . The control unit 20 of the function of the display unit 21c, and the exit graphic O is a figure extending along the exit road R _O should exit from the guidance intersection C _G at the guide intersection C _G, the second entry figure I2 A second guide image G2 representing a figure including is superimposed on the front image and displayed.

FIG. 4A is a plan view of a road for explaining the second entry graphic I2 and the exit graphic O. FIG. 4A shows the second entry graphic I2 and the exit graphic O when the vehicle V travels at the position indicated by the solid line in FIG. 2B. The second entry figure I2 is a figure which extends from the guide intersection C _G side end in the near intersection C _N to the guidance intersection C _G. By the function of the display unit 21c, the control unit 20 sets a figure having a shape along the approach line a3 extending from the start point b3 to the bending point b4 as the second approach figure I2. Control unit 20, proximity intersection of the connecting road to be connected to C _N, and most guide intersection C _G guide connecting road that exist side intersection C _G side of the extension line of the edge e2, a straight line extending current heading from the vehicle V The position of the intersection point with F is set as the position of the start point b3. That is, the start point b3 is set to guidance intersection C _G side end in the near intersection C _N. Control unit 20, proximity intersection of the connecting road to be connected to C _N, and most guide intersection C to _G link corresponding to the connecting road that exist side L, half u / 2 only guide intersection C of the width u of the connecting road A line translated to the _G side is acquired as an extension line e2. Further, the control unit 20 acquires the position of the intersection of F extending in the current direction from the vehicle V and the exit link L _O corresponding to the exit road R _O as the bending point b4. In the second approach state, guidance for intersections remaining distance S C _G is less than or equal to the threshold S _th, can be considered guide intersection C _G on the line F extending current heading from the vehicle V is present. Thus, the bending point b4 is a position within the guide intersection C _G. In the description of the second approach state, the approach road R _I, rather than near the intersection C _N, means a road which runs when the vehicle V enters the guidance intersection C _G.

Control unit 20 of the function of the display unit 21c, the larger the width w of the entrance road R _I is, to set the width of the exit figure O and the first entry figure I1 increases. Control unit 20, so that the width obtained by multiplying the predetermined width ratio to the width w (e.g. 50%) of the approach road R _I, the width of the first entrance figure I1 exit figure O (excluding the head) To do.

Exit figure O is a figure which extends along the guide intersection C departing road should exit at the guide intersection C _G from _G R _O. With the function of the display unit 21c, the control unit 20 has a shape along the exit line a4 extending from the bending point b4 to the end point b5, and exits a figure on the road surface having an arrow head at the end on the end point b5 side. Get as figure O. Control unit 20 of the function of the display unit 21c, on the exit link L _O corresponding to departing road R _O, half the width w of the entrance road R _I from the bending point b4 moved to w / 2 only exit road R _O side The position is acquired as the end point b5. Thus, exit figure O in the second approach state, a graphic having a half length of w / 2 of the width w of the entrance road R _I. Furthermore, the exit line a4 extending from the bending point b4 to the end point b5 is a line on the exit link L _O corresponding to departing road R _O, the direction of the line along the exit road R _O.

  With the function of the display unit 21c, the control unit 20 generates an image equivalent to an image obtained by capturing the second entry graphic I2 and the exit graphic O with the camera 44 of the vehicle V as the second guide image G2, and the second guidance The image G2 is superimposed on the front image, and the front image is displayed on the display 45. By setting the second entry figure I2 and the exit figure O in the real space, the control unit 20 determines the second entry figure I2 based on the current position, the current direction, and the optical specifications of the camera 44. A second guide image G2 obtained by photographing the exit figure O with the camera 44 of the vehicle V can be generated. FIG. 4B is a diagram showing a front image on which a second guide image G2 representing the second entry figure I2 and the exit figure O is superimposed.

The control unit 20 of the function of the display unit 21c, when the vehicle V passes the proximity intersection C _N, changing the shape of exit figure O as the length becomes longer. As described above, when the vehicle V passes the proximity intersection C _N by the function of the display unit 21c, the control unit 20 considers that the proximity intersection C _N does not exist and assumes that the vehicle V is in the first approach state. . Therefore, the vehicle V transits from the second approach state to the first approach state at the timing when the vehicle V passes the close intersection C _N. As described above, the exit graphic O in the second approach state before the vehicle V passes through the near intersection C _N is a graphic having a half length of w / 2 of the width w of the entrance road R _I. On the other hand, exit figure O in the first approaching state after the vehicle V has passed the proximity intersection C _N is a graphic having a length in the width w of the entrance road R _I. The width w of the entrance road R _I, since the vehicle V is unchanged before and after passing through the near intersection C _N, the length of the exit geometry O at a timing at which the vehicle V passes through the near intersection C _N becomes longer.

In the above configuration, when the adjacent intersection C _N is present before the guidance intersection C _G , the control unit 20 performs the second approach extending from the position between the proximity intersection C _N and the guidance intersection C _G to the guidance intersection C _G. A second guide image G2 representing the graphic I2 is superimposed on the front image. This second approach graphic I2, rather than the route from the current position of the vehicle V to close the intersection C _N, can represent a path from the previous position to the guide intersection C _G than near the intersection C _N. Accordingly, even in a situation where the near intersection C _N can be visually recognized in the front image, proximate the intersection C _N without clearly determine the guide intersection C _G guide is about. On the other hand, if there is no close intersection C _N before the guidance intersection C _G, the control unit 20, a first guide image G1 which represents the first entry figure I1 extending from the position of the vehicle V to the guidance intersection C _G forward image Superimpose. This first entry figure I1, can represent a path from the current position of the vehicle V to the guide intersection C _G.

Further, as shown in FIG. 4A, the second ingress figure I2 is a figure which extends from the guide intersection C _G side end in the near intersection C _N to the guidance intersection C _G. Therefore, within the range that can prevent the erroneous recognition of the second guide image G2 guides the proximity intersection C _N, can guide the route to the guidance intersection C _G by a second ingress figure I2 starting from a position closest to the vehicle V. Note that when the vehicle V passes the proximity intersection C _N , the proximity intersection C _N is no longer confusing. Therefore, the guidance intersection C _G is displayed from the position of the vehicle V by displaying the first guidance image G1 in the first approach state. The route up to can be clearly recognized. Further, by the guide image is changed, an intersection C next traveling can be recognized that it is now the guidance intersection C _G.

Moreover, it is felt that the longer the image, the closer the object is represented by the perspective. Therefore, the longer the exit graphic O extending along the exit road R _O , the easier it is to misunderstand that the exit graphic O is a guide for the proximity intersection C _N. In contrast, the control unit 20, when the vehicle V passes the proximity intersection C _N, to change the shape of the exit figure O as the length becomes longer, before passing through the near intersection C _N, proximity it is possible to reduce the length of the exit geometry O than after passing the intersection C _N. Therefore, it is possible to prevent a misunderstanding that the exit graphic O is a guide for the adjacent intersection C _N. Further, since it is possible to make a transition so that the length of the exit figure O becomes longer at the timing of passing through the adjacent intersection C _N , the next intersection C to be traveled becomes the guidance intersection C _G to exit to the exit road R _O. It can be recognized intuitively. Further, the control unit 20, the larger the width w of the entrance road R _I is, for setting the width of the first guide image G1 large, intuitive width w of the entrance road R _I.

(2) Intersection guidance processing:
FIG. 5 is a flowchart of the intersection guidance process. Intersection guidance process, each time the remaining distance S from the vehicle V to the guidance intersection C _G is updated, a process of updating the image displayed on the display 45. First, the control unit 20 acquires route information by the function of the guidance intersection acquisition unit 21a (step S100). That is, the control unit 20 searches for a planned travel route for reaching the destination point based on the map information 30a, and acquires information indicating the planned travel route. Next, the control unit 20 acquires the current position and the current direction of the vehicle V by the function of the determination unit 21b (step S105). Furthermore, the control part 20 acquires a front image by the function of the display part 21c (step S110).

Next, the control unit 20 of the function of the display unit 21c acquires the traveling direction in the guided intersection C _G (step S115). First, the control unit 20 determines the next intersection where the vehicle V travels among the intersections on the planned travel route in which the turning angle A, which is the angle formed by the exit direction with respect to the approach direction with respect to the intersection, is equal to or greater than the threshold value. Get as _G. Then, the control unit 20 obtains the pivot angle A of the guide intersection C _G as a traveling direction of the guide intersection C _G. Next, the control unit 20 of the function of the display unit 21c acquires the remaining distance S to the guide intersection C _G (step S120). That is, the control unit 20 obtains a linear distance from the current position of the vehicle V to the position P _G guidance intersection C _G as remaining distance S.

Next, the control unit 20 of the function of the display unit 21c determines whether the vehicle V has passed the guidance intersection C _G (step S125). Specifically, when the remaining distance S is 0, the control unit 20 determines that the guidance intersection _CG has been passed. If the vehicle V is determined to have passed the guidance intersection C _G (step S125: Y), the control unit 20, the process returns to step S100. That is, the control unit 20, when already passed the vehicle V is the guide intersection C _G, as there is no need to continue the information about the guidance intersection C _G that was guided the traveling direction until now, the next guide intersection C _G Execute the process for.

On the other hand, when the vehicle V is not determined to have passed the guidance intersection C _G (step S125: N), the control unit 20 of the function of the display unit 21c, the remaining distance S to the guidance intersection C _G is the threshold S _th or less It is determined whether or not (step S130). That is, the control unit 20 determines whether the access degree is equal to or higher than the threshold with respect to the guide intersection C _G. Then, when the remaining distance S to the guidance intersection C _G is not determined to be equal to or less than the threshold value S _th (step S130: N), the control unit 20 of the function of the display unit 21c generates a non-close guide image K The non-access guide image K is superimposed on the front image, and the front image is displayed on the display 45 (step S135).

Hereinafter, the process of step S135 (display process in an inaccessible state) will be described. First, the control unit 20 acquires the direction of the approach road R _I of the guide intersection C _G departing road R _O swivel angle A and the direction is an angle formed. Then, the control unit 20, the second against an arrow image K ₁ (first portion K _1a of the second portion K _1b is the angle relative to the first portion K _1a corresponding to the turning angle A of the guide intersection C _G portion K _1b is an angle to get the arrow image K ₁₎ within the turning angle a and the predetermined angle in the guide intersection C _G from the recording medium 30 (FIG. 2C). Further, the control unit 20 sets the superimposing position of the lower end of the arrow image K ₁ at a position higher than the vanishing point W in the front image. Next, the control unit 20 sets the superimposing position of the lower end of the connecting line image K ₂ to the position of the front image corresponding to the position P _G guidance intersection C _G. Then, the control unit 20 of the function of the display unit 21c, the upper end of the connecting line image K ₂ is connected to the lower end of the arrow image K _1, the lower end of the connecting line image K ₂ corresponds to the position P _G of the guidance intersection C _G The connection line image K ₂ is superimposed on the front image together with the arrow image K ₁ so as to connect to a position in the front image, and the front image is displayed on the display 45 (FIG. 3A).

On the other hand, when the remaining distance S to the guidance intersection C _G is determined to be below the threshold S _th (step S130: Y), the control unit 20 of the function of the determination unit 21b, or near the intersection C _N is present whether Is determined (step S140). That is, the control unit 20, among the intersection C is not a guidance target on the travel route, in the current position side than the guide intersection C _G, and the guidance intersection C distance between _G threshold S _th following intersection C It is determined whether or not there is an adjacent intersection C _{N that} is. When it is not determined that the adjacent intersection _CN exists (step S140: N), the control unit 20 generates the first guide image G1 by the function of the display unit 21c, and superimposes the first guide image G1 on the front image. Then, the front image is displayed on the display 45 (step S150). The first guide image G1, an image representing a shape that contains a first entry figure I1 is a figure which extends from the position of the vehicle V to the guidance intersection C _G. The first guide image G1 is an image representing a shape that contains an exit figure O is a figure which extends along the guide intersection C departing road should exit at the guide intersection C _G from _G R _O (FIG. 3B, 3C).

Hereinafter, the process of step S150 (the display process of the first approach state) will be described. First, the control unit 20 of the function of the display unit 21c, based on the link data and the shape interpolation data of the map information 30a, and enters the link L _I corresponding to approach road R _I, exit link corresponding to the departing road R _O L _O and the width w of the approach road R _I are acquired. Next, the control unit 20 is a position in the guide intersection C _G, the approach road R _I of the departing road R _O side end extension e1, the exit link L _O corresponding to departing road R _O The position of the intersection is set as the position of the bending point b1. The control unit 20, the incoming link L _I corresponding to approach road R _I half line is moved by road to exit R _O side w / 2 of the width w of the approach road R _I, the approach road R _I It is set as departing road R _O side of the extension line of the edge e1. Then, the control unit 20, on the links L corresponding to departing road R _O, to set the position moved to by departing road R _O side width w of the entrance road R _I from the bending point b1 as the position of the end point b2.

  Further, the control unit 20 acquires the position in the front image corresponding to the bending point b1 and the end point b2 based on the current position, the current direction, and the optical specifications of the camera 44 by the function of the display unit 21c. And the control part 20 acquires the straight line which connects the position in the front image corresponding to the midpoint c of the lower side of a front image, and the bending point b1 as a straight line in the front image corresponding to the approach line a1. Since the front image is taken so that the road surface of the road is viewed from above, the midpoint c of the lower side of the front image corresponds to the position closest to the vehicle V in the projected area on the road surface projected in the front image. . That is, the midpoint c on the lower side of the front image corresponds to the position of the vehicle V in the front image.

Next, the control unit 20 uses a straight line connecting the position in the front image corresponding to the bending point b1 and the position in the front image corresponding to the end point b2 as a straight line in the front image corresponding to the exit line a2. Get as. And the control part 20 is the arrow-shaped 1st guide image G1 which becomes line symmetrical about the broken line comprised in the straight line in the front image corresponding to the approach line a1, and the straight line in the front image corresponding to the leaving line a2. Is generated. When generating a first guide image G1, the control unit 20 of the function of the display unit 21c, the larger the width w of the entrance road R _I is, to set the width of the first guide image G1 increases.

In the present embodiment, in order to set the position of the departing road R _O side end of the approach road R _I a bending point b1, the connecting the position of the vehicle V traveling on approach road R _I and folding point b1 1 it can be inclined toward the entrance graphic I1 road to exit R _O side. This allows enhancement to guide the direction of the departing road R _O in the guide intersection C _G. Thus, even when the direction of the exit road R _O at the guidance intersection C _G is emphasized, in the first approach state where the image of the proximity intersection C _N does not exist in the front image, the timing suitable for turning at the proximity intersection C _N The vehicle V can be turned after waiting. The first guide image G1 may be prepared in advance on the recording medium 30, and the control unit 20 records the first guidance image G1 recorded on the recording medium 30 for each combination of the position of the bending point b1 and the position of the end point b2. One guide image G1 may be acquired, or the first guide image G1 recorded on the recording medium 30 may be deformed according to the combination of the position of the bending point b1 and the position of the end point b2.

On the other hand, when it is determined that the adjacent intersection C _N exists (step S140: Y), the control unit 20 determines whether the vehicle V has passed the adjacent intersection C _N by the function of the display unit 21c (step S145). ). The control unit 20 determines the remaining distance S is, when it becomes less than the linear distance between the position P _G guidance intersection C _G and the position P _N of the near intersection C _N, and the vehicle V has passed the proximity intersection C _N To do. The position P _N of the near intersection C _N, the average position of the set node Q in proximity intersection C _N. The control unit 20, a predetermined position of the vehicle V is near an intersection C _N (position of the current position side of the end position or the like of the proximity intersection C _N-side end) when passing through the vehicle V is near an intersection C _N May be determined to have passed. If the vehicle V is determined to have passed the proximity intersection C _N (step S145: Y), the control unit 20 of the function of the display unit 21c executes the processing in step S150 (first display processing approaching state). That is, the control unit 20 regards the near intersection C _N does not exist, executes a display process of the first proximity condition.

On the other hand, when the vehicle V is not determined to have passed the proximity intersection C _N (step S145: N), the control unit 20 of the function of the display unit 21c generates a second guide image G2, the second guide image G2 is superimposed on the front image, and the front image is displayed on the display 45 (step S155). The second guide image G2 is an image representing a graphic including a second approach graphic I2 that is a graphic extending from the position between the proximity intersection C _N and the guidance intersection C _G to the guidance intersection C _G. Further, the second guide image G2, an image representing a shape that contains an exit figure O is a figure which extends along the guide intersection C departing road should exit at the guide intersection C _G from _G R _O (FIG. 4A, 4B).

Hereinafter, the process of step S155 (second approach state display process) will be described. Based on the map information 30a, the current position, the current orientation, and the optical specifications of the camera 44, the control unit 20 uses the function of the display unit 21c to make the guidance intersection C _G most of the connecting roads connected to the adjacent intersection C _N. A line in the forward image corresponding to the extension line e2 at the end of the guidance road _CG side of the connecting road existing in the road is acquired. Furthermore, the control unit 20 acquires a line in the front image corresponding to the link L corresponding to the exit road R _O based on the map information 30a, the current position, the current direction, and the optical specifications of the camera 44. Further, the control unit 20 acquires the horizontal bisector of the front image as a line in the front image corresponding to F extending from the vehicle V in the current direction. The camera 44 is provided at the center position in the width direction of the vehicle V, and the optical axis direction coincides with the current direction of the vehicle V. Therefore, the horizontal bisector of the front image is F extending from the vehicle V to the current direction. It becomes a line in the corresponding front image.

Next, the control unit 20 is closest to the guide intersection C _G among the horizontal bisector of the front image corresponding to F extending in the current direction from the vehicle V and the connecting road connected to the adjacent intersection C _N. The position of the intersection with the line in the front image corresponding to the extension line e2 at the end of the guidance intersection _CG side of the existing connected road is acquired as the position in the front image corresponding to the start point b3. Further, the control unit 20 determines the position of the intersection of the line in the front image corresponding to F extending in the current direction from the vehicle V and the line in the front image corresponding to the exit link L _O corresponding to the exit road R _O. , And is acquired as a position in the front image corresponding to the bending point b4.

Next, by the function of the display unit 21c, the control unit 20 determines the position in the front image corresponding to the bending point b4 based on the current position, the current direction, and the optical specification of the camera 44, as the bending point in the real space. Convert to position b4. Then, on the exit link L _O corresponding to the exit road R _O , the control unit 20 determines the position moved from the bending point b4 to the exit road R _O side by half w / 2 of the width w of the approach road R _I. Acquired as the position of the end point b5 in the space. Furthermore, the control unit 20 acquires a position in the front image corresponding to the end point b5 based on the current position, the current direction, and the optical specifications of the camera 44. By the above, the control part 20 can acquire the position in the front image corresponding to each of the start point b3, the bending point b4, and the end point b5.

  Next, the control unit 20 sets a straight line connecting the position in the front image corresponding to the start point b3 and the position in the front image corresponding to the bending point b4 to the line in the front image corresponding to the approach line a3. Get as. The approach line a3 is a line on a bisector in the horizontal direction of the front image. Similarly, the control unit 20 uses a straight line connecting the position in the front image corresponding to the bending point b4 and the position in the front image corresponding to the end point b5 as a line in the front image corresponding to the exit line a4. Get as. Then, the control unit 20 has an arrow-shaped second guide image G2 that is line-symmetric with respect to a broken line composed of a straight line in the forward image corresponding to the approach line a3 and a straight line in the forward image corresponding to the exit line a4. Is generated.

When generating a second guide image G2, the control unit 20 of the function of the display unit 21c, the larger the width w of the entrance road R _I is, to set the width of the second guide image G2 increases. With the function of the display unit 21c, the control unit 20 causes the display 45 to display the second guide image G2 generated as described above, superimposed on the front image. Note that the second guide image G2 may be prepared in advance on the recording medium 30, and the control unit 20 controls the recording medium 30 for each combination of the position of the start point b3, the position of the bending point b4, and the position of the end point b5. The second guide image G2 recorded on the recording medium 30 may be acquired, or the second guide image G2 recorded on the recording medium 30 may be obtained from the positions of the start point b3, the bending point b4, and the end point b5. You may make it change according to a combination.

(3) Other embodiments:
In the embodiment, the control unit 20 of the function of the display unit 21c, so that the width obtained by multiplying the predetermined width ratio to the width w of the entrance road R _I, the width of the exit geometry O and entering graphic I1, I2 However, the width ratio may be switched between the first approach state and the second approach state. For example, in the second approaching state proximity intersection C _N is present may be smaller width ratio than the first approaching state proximity intersection C _N is not present. In this way, by reducing the width of the second entry graphic I2 and the exit graphic O in the second approach state where the close intersection C _N exists, the second approach graphic I2 and the exit graphic O are close to each other due to a sense of perspective. It can be prevented that the intersection C _N is misrecognized as guidance. It should be noted that, necessarily entering road R entry figure I1 depending on the width w of _I, I2 and there is no need to set the width of the exit figure O, entering according to the width of the road width and the surrounding exit road R _O figure I1 , I2 and the width of the leaving figure O may be set. Further, the widths of the entry graphics I1 and I2 and the exit graphic O do not necessarily have to be set according to the width of the road.

Furthermore, the control part 20 may set the width | variety of the 2nd approach figure I2 small, so that the length of the 2nd approach figure I2 is large, when the adjacent intersection _CN exists by the function of the display part 21c. As shown in FIG. 4C, the control unit 20, the length is larger in the entry line a3 (second entry figure I2), is set smaller width ratio to the width w of the entrance road R _I of the second entry figure I2 Also good. From the perspective, it is felt that an image having a larger length and width represents a closer object. Thus, as the length of the second entry figure I2 is large, the second ingress figure I2 is cause misunderstanding that shows the path to the near intersection C _N easy. In contrast, as the length of the second entry figure I2 is large, by reducing the width of the second entrance figure I2, second ingress figure I2 can be prevented from misunderstanding that shows the path to the near intersection C _N .

Furthermore, in the said embodiment, although the structure which displays the non-access guide image K in an unapproached state was employ | adopted, the control part 20 does not display the non-access guide image K in an unapproached state, but the remaining distance S is a threshold value The first guide image G1 or the second guide image G2 may be displayed for the first time at the stage when it becomes _Sth or less. In the above embodiment, the proximity intersection C _N is the distance between the guide intersection C _G was threshold S _th following intersection C, small determination distance less than the distance threshold S _th for the guidance intersection C _G May be the intersection C. Even if the first guidance image G1 is displayed, this determination distance may be a lower limit value of a distance that does not cause a possibility that the first guidance image G1 is a guidance for the adjacent intersection C _N , and is not necessarily determined. It does not have to coincide with the remaining distance S when the display is changed from the approaching state.

Further, the control unit 20 of the function of the display unit 21c, when the vehicle V passes the proximity intersection C _N, may not change the shape of the exit figure O as the length becomes longer. For example, the control unit 20, in both the first approaching state and a second proximity condition may be set the length of the exit geometry O the same length as the width w of the entrance road R _I. Further, the shapes of the entry figures I1, I2 and the exit figure O are not limited to the shapes of the above-described embodiment. Start point b3 in the second approaching state, near an intersection C _N and the guide may be set between the intersections C _G, may be set to an intermediate point, for example a proximity intersection C _N and the guidance intersection C _G and, the distance from the guide intersection C _G may be set at a point a predetermined distance. Furthermore, ingress figure I1, I2 may be any shape that extends to the guidance intersection C _G, the control unit 20 may be set bending points b1, b4 in the guide intersection C _G. The control unit 20 may be set to the end point b2, b5 road to exit R _O side of the bending point b1, b4, may set the end point b2, b5 in the guide intersection C _G, End point b2, b5 may be a set on departing road R _O. Further, the control unit 20 determines that the parallelism between the direction of the exit lines a2 and a4 connecting the bending points b1 and b4 and the end points b2 and b5 and the direction of the exit link L _O corresponding to the exit road R _O is a predetermined reference. The end points b2 and b5 may be set as described above.

In the above-described embodiment, an example in which each road is linear is shown, but the shape of each road may not be linear. If the road from the vehicle V to the guidance intersection C _G is curved in a first approaching state, the control unit 20, by setting the entry line a1 so as to be parallel to the links L corresponding to roads that the curved That's fine. If the approach road R _I in the second approaching state is curved, the control unit 20, by setting the entry line a3 so as to be parallel to the approach link L _I corresponding to approach road R _I that the curved Good. With the function of the display unit 21c, the control unit 20 may acquire positions in the front image corresponding to the bending points b1, b4, the start point b3, and the end points b2, b5 based on the image recognition of the front image. For example, the control unit 20 recognizes an image of an end line (end marking line, curbstone, etc.) on the exit road R _O side of the approach road R _I by a known line recognition method, and on the extension line of the image of the line You may acquire the position in the front image corresponding to the bending point b1 in a 1st approach state.

By the function of the guide intersection acquisition unit 21a, the control unit 20 causes the change in the road scale (road width, number of lanes, road type, etc.) between the approach road R _I and the exit road R _O to be larger than the adjacent intersection C _N. C may be acquired as a guide intersection C _G. Further, by the function of the determination unit 21b, the control unit 20 may determine whether or not the adjacent intersection C _N exists based on the image recognition of the forward image. For example, the control unit 20, which is formed on the guide intersection C _G side of the front image based on the image recognition may be determined whether the vehicle V has passed the proximity intersection C _N, proximity intersection C _N Stop when the image of such lines and crosswalks disappeared from the front image, it may be determined that the vehicle V has passed the proximity intersection C _N.

  In the embodiment, the front image may be obtained by drawing a front landscape based on the map information 30a. When the front landscape is drawn based on the map information 30a, the guide images K, G1, G2 may be drawn simultaneously with the front image. Here, the guidance images K, G1, and G2 are displayed on the display 45 so as to be superimposed on the front scenery. As a result, the guidance images K, G1, and G2 are displayed on the display 45. G2 may be superimposed on the front scenery. For example, the display 45 may display at least the guide images K, G1, and G2, and may not display the front image. That is, the display 45 may superimpose the guidance images K, G1, and G2 on the actual front scenery that the driver visually recognizes through the windshield of the vehicle V. For example, the guide image K, G1, G2 may be superimposed on the actual front scenery by making the display 45 a semi-transmissive type so that the actual front scenery can be seen through the display 45.

DESCRIPTION OF SYMBOLS 10 ... Navigation apparatus, 20 ... Control part, 21 ... Intersection guidance program, 21a ... Guidance intersection acquisition part, 21b ... Determination part, 21c ... Display part, 30 ... Recording medium, 30a ... Map information, 30b ... Display setting data, 41 DESCRIPTION OF SYMBOLS ... GPS receiving part, 42 ... Vehicle speed sensor, 43 ... Gyro sensor, 44 ... Camera, 45 ... Display, A ... Turning angle, _CN ... Proximity intersection, _CG ... Guidance intersection, G1 ... First guidance image, G2 ... First 2 guide images, I1 ... first entry graphic, I2 ... second entry graphic, O ... exit graphic, L ... link, L _I ... entry link, L _O ... exit link, P _G ... position, Q ... node, Q _C ... intersection node, R _I ... approach road, R _O ... exit road, S ... remaining distance.

Claims (7)

Guided intersection acquisition means for acquiring a guided intersection that is an intersection to be guided;
Determining means for determining whether or not there is an adjacent intersection that is an intersection existing on a route from a vehicle to the guidance intersection;
When the adjacent intersection does not exist, a first guidance image representing a graphic including a first approach graphic that is a graphic extending from the position of the vehicle to the guidance intersection is displayed superimposed on the front landscape of the vehicle,
When the adjacent intersection exists, a second guidance image representing a graphic including a second approach graphic that is a graphic extending from a position between the adjacent intersection and the guidance intersection to the guidance intersection is superimposed on the front landscape. Display means for displaying;
Equipped with a,
The display means sets, when the adjacent intersection exists, a graphic extending from the guidance intersection side end of the adjacent intersection to the guided intersection as the second approach graphic;
An intersection guidance system. When the vehicle passes the proximity intersection, the display means regards that the proximity intersection does not exist, and displays the first guidance image superimposed on the front landscape.
The intersection guidance system according to claim 1 . The first guide image and the second guide image represent a graphic including an exit graphic that is a graphic extending along the exit road that should exit from the guide intersection at the guide intersection,
The display means changes the shape of the exit graphic so that the length becomes longer when the vehicle passes the proximity intersection,
The intersection guidance system according to claim 2 . The display means sets the width of the second entry graphic to be smaller as the length of the second entry graphic is larger when the adjacent intersection exists.
The intersection guidance system according to any one of claims 1 to 3 . The display means sets the width of the second approach figure larger as the width of the road on which the vehicle travels is larger when the adjacent intersection exists.
The intersection guidance system according to any one of claims 1 to 3 . A guided intersection acquisition step of acquiring a guided intersection that is an intersection to be guided;
A determination step of determining whether there is an adjacent intersection that is an intersection existing on a route from a vehicle to the guidance intersection;
When the adjacent intersection does not exist, a first guidance image representing a graphic including a first approach graphic that is a graphic extending from the position of the vehicle to the guidance intersection is displayed superimposed on the front landscape of the vehicle,
When the adjacent intersection exists, a second guidance image representing a graphic including a second approach graphic that is a graphic extending from a position between the adjacent intersection and the guidance intersection to the guidance intersection is superimposed on the front landscape. A display process to display ;
Only including,
In the display step, when the adjacent intersection exists, a graphic extending from the end on the guided intersection side at the adjacent intersection to the guided intersection is set as the second approach graphic.
Intersection guide method. A guided intersection acquisition function for acquiring a guided intersection that is an intersection to be guided;
A determination function for determining whether there is an adjacent intersection that is an intersection existing on a route from a vehicle to the guidance intersection;
When the adjacent intersection does not exist, a first guidance image representing a graphic including a first approach graphic that is a graphic extending from the position of the vehicle to the guidance intersection is displayed superimposed on the front landscape of the vehicle,
When the adjacent intersection exists, a second guidance image representing a graphic including a second approach graphic that is a graphic extending from a position between the adjacent intersection and the guidance intersection to the guidance intersection is superimposed on the front landscape. Display function to display,
To the computer ,
With the display function, when the adjacent intersection exists, the computer sets, as the second approach graphic, a graphic extending from the guide intersection side end of the adjacent intersection to the guided intersection.
Intersection guidance program.

Images