JP2010266383A - Traffic sign recognition traveling guidance system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide "a traffic sign recognition traveling guidance system" capable of changing the distance to an intersection and that to a specific point along with traveling for display, even if a vehicle not mounting a navigation apparatus mounts a camera for photographing the front of the vehicle. <P>SOLUTION: A traffic sign is detected from an image obtained by photographing the front of a vehicle by a camera; and a character, distance, intersection display, or the like is recognized from the display content of the traffic sign for simplified display. Then, distance is subtracted according to the traveling distance of the vehicle for display. An own vehicle mark is moved for display according to traveling distance when displaying an intersection. When the intersection is passed, the display is ended and then the orientation of the vehicle is detected by input, or the like of a steering sensor, and a direction in which one made a turn at the intersection is displayed by displaying prescribed distance even after passing the intersection. A traffic sign without any intersections may be displayed only for expressways. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a road sign recognition travel guidance system that recognizes a road sign from a video of a camera that captures the front of a vehicle, and that can guide by subtracting the distance to a displayed point and the like.

  Many vehicles are equipped with a navigation device in recent years, and can travel to a destination reliably and safely. However, the fact is that less than half of Japan has such a navigation device, and its spread overseas is still low.

  On the other hand, recent vehicles are equipped with a camera that captures the outside of the vehicle for the safety of vehicle travel, and the captured image is displayed on a monitor. Systems that prevent accidents with pedestrians and sometimes do not come into contact with dangerous goods are widespread.

  In recent years, cameras that shoot outside the vehicle have become cheaper. In addition to the camera that shoots from the rear as described above, a camera that shoots the front and sides is installed, and the images taken by each camera are displayed on the monitor by switching the cameras appropriately. There are some that can be displayed. Furthermore, with the top view system, the captured images of these cameras are image-processed, and the surroundings of the vehicle are displayed on the monitor in an easy-to-understand manner as if the surroundings of the vehicle were photographed with a single camera installed above the vehicle. There is also a system called.

  Furthermore, for the camera that captures the front of the vehicle, for safety when the vehicle is about to enter an intersection with poor visibility, a camera that captures the left and right of the front of the vehicle is used. It is also being used for applications such as maintaining distance, and it is envisioned that these systems will become more popular.

  The use of a camera outside the vehicle as described above is very different from the function of the navigation device that guides the vehicle to the destination, and is used for safe driving by monitoring the surroundings of the vehicle. Many people think that a surveillance system with a camera outside the vehicle is important, even for those who do not think that a navigation device is necessary because the purpose is different.

  Therefore, there are many vehicles that do not have a navigation device even if they have a monitoring system that uses a camera outside the vehicle, and users who do not currently have a navigation device and do not have a monitoring system that uses a camera outside the vehicle In many cases, a surveillance system equipped with a camera outside the vehicle is installed rather than a navigation device. In particular, in recent years, there are many mobile phones that have a navigation function, such as those equipped with a navigation function, and thus a monitoring system having a camera outside the vehicle is often required rather than a navigation device. It is possible.

  As described above, it is conceivable that the number of cases in which a vehicle is not equipped with a navigation device and is equipped with a monitoring system using an outside-camera camera is increased. Even if the images of the cameras that shoot the left and right of the front of the vehicle are displayed on the monitor, the camera that shoots the front of the vehicle in the traveling direction is often watched by the driver in many cases. Since it is not necessary to display the captured image on a monitor, such a thing is not performed, and the captured image is used for image processing and displaying in various modes.

  However, since the camera that captures the front in the traveling direction of the vehicle always captures the front in the traveling direction of the vehicle, in addition to simply using it as an image for monitoring the surroundings of the vehicle, there are other effective usage methods. Development is desired. From this point of view, as a system that allows the driver to drive safely, a camera that captures the front of the vehicle in the traveling direction is installed, the captured image of the camera is processed, and a road sign is displayed from the captured image. Japanese Laid-Open Patent Publication No. 5-174294 (Patent Document 1) discloses a road sign reading device that recognizes and outputs the contents by voice so that the driver can travel safely without overlooking the road sign. ing.

JP-A-5-174294

  As described above, a system has been proposed in which a road sign is recognized by a captured image of a camera that shoots in front of the traveling direction of the vehicle, and the driver can safely travel without overlooking the road sign. This system merely recognizes the road sign and informs the driver by voice, and there is no idea to use the recognized road display more effectively. In many cases, a road sign displays a distance such as a distance to a front intersection, and such distance information is not effectively used in the prior art.

  Therefore, the present invention recognizes the display content of the road display including the distance information by using the captured image of the camera that captures the front of the vehicle in the traveling direction, so that only necessary recognized road signs including the distance are included. Can be displayed by subtracting the distance displayed together with the distance traveled by the subsequent vehicle, and the distance to the point indicated by the road sign can be displayed in an easy-to-understand manner even for vehicles not equipped with a navigation device. It is a main object to provide a road sign recognition travel guidance system that can be used.

  In order to solve the above problems, a road sign recognition travel guidance system according to the present invention has a camera that captures the front of a vehicle, a road sign detection unit that detects a road sign from an image captured by the camera, and the road sign detection The road sign display content recognition unit for recognizing at least the characters and the distance among the display contents of the road sign detected by the unit, the characters and distances recognized by the road sign display content recognition unit are simply displayed, and the mileage of the vehicle And a simplified road guidance display unit for subtracting and displaying the recognized distance according to the above.

  Another road sign recognition travel guidance system according to the present invention is the road sign recognition travel guidance system, wherein the road sign display content recognition unit includes an intersection display recognition unit that recognizes an intersection display, and the simplified road guidance display unit Then, the intersection display recognized by the intersection display recognition unit, characters related to the intersection, and the distance to the intersection are displayed.

  In another road sign recognition travel guidance system according to the present invention, in the road sign recognition travel guidance system, the vehicle position mark is moved and displayed on the display of the intersection according to the travel distance of the vehicle. It is characterized by.

  Another road sign recognition travel guidance system according to the present invention is the road sign recognition travel guidance system, including an intersection passage detection unit that detects that a vehicle has passed an intersection, and the intersection passage detection unit has passed the intersection. When this is detected, the simplified road guidance display is terminated.

  In another road sign recognition travel guidance system according to the present invention, in the road sign recognition travel guidance system, when the vehicle mark is displayed on the intersection display on the simplified road guidance display unit, the vehicle has passed the intersection. Even if this is detected, the simple road guidance display is continued for a predetermined distance, the traveling direction detection unit for detecting the traveling direction of the vehicle detects the traveling direction of the vehicle at the intersection, and the traveling of the vehicle that has passed the intersection The vehicle position mark is displayed in an overlapping manner on the intersection display according to the direction.

  Another road sign recognition travel guidance system according to the present invention is the road sign recognition travel guidance system, further comprising a highway detection unit for detecting that the vehicle is traveling on a highway, The simplified road guidance display is performed only when it is detected that there is no intersection display on the detected road sign and when the highway detection unit detects that the vehicle is traveling on a highway. .

  Since the present invention is configured as described above, the distance between the recognized road signs is recognized by recognizing the display content of the road display including the distance information using the captured image of the camera that captures the front in the traveling direction of the vehicle. Since only necessary items including “” are displayed in a simplified manner, an easy-to-understand display can be performed. Further, since the distance displayed together with the travel distance of the subsequent vehicle can be subtracted and displayed, the distance to the point indicated by the road sign can be displayed in an easy-to-understand manner even in a vehicle not equipped with a navigation device. Furthermore, by displaying the position of the host vehicle in a superimposed manner during the display up to the intersection, it is possible to display at a glance the current traveling state of the vehicle. Further, by displaying the position of the own vehicle even after passing through the intersection, it is possible to notify whether the own vehicle has appropriately turned the intersection even if the navigation device is not installed.

It is a functional block diagram of the Example of this invention. It is an operation | movement flowchart of a road sign image recognition travel guidance process in the Example. FIG. 2 is an operational flowchart of a simplified distance guidance process for a road sign without an intersection display performed in step S13. It is a figure which shows the example which image | photographed the vehicle front with the front imaging | photography camera, (a) is the state which detects a road sign, (b) has shown the state which can recognize the display content of a road sign. It is a figure which shows the state which a vehicle drive | works in the simplified display from the state which can image | photograph the front of a vehicle with a front camera, and can recognize the content of a road sign, and approaches an intersection gradually. It is explanatory drawing which shows the state which continues the simplified display even if it passes the intersection during the simplified display of a road sign. It is a figure which shows the example of the road sign without an intersection display, and the simple display example in an expressway. It is a figure which shows the example of the road sign without an intersection display in the general road, and the simple display example.

  Embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a functional block diagram of an embodiment of a road sign recognition travel guidance system according to the present invention. In FIG. 1, a photographed image of a vehicle front photographing camera 1 that is a camera for photographing the front in the traveling direction of the vehicle is captured from the photographed image input unit 2 in this system. The vehicle front photographing camera 1 is a camera for a system for monitoring the surroundings of a vehicle or a camera for a system for monitoring a distance between a vehicle traveling in front of the vehicle, in addition to a camera installed for the system. The vehicle front camera used can be used.

  A road sign detection unit 3 detects a road sign from the image of the vehicle front shooting camera 1 captured by the captured image input unit 2. When recognizing the road indicator at this time, for example, an image taken in front of the traveling direction of the vehicle as shown in FIG. 4A is used in accordance with each distance on the left side of the portion recognized as a road. When there is a square signboard-shaped object of a predetermined size corresponding to each distance in the height of the area, and there are objects of a predetermined color such as blue, green, white, etc. There is a road sign by detecting that the position and size of the object continuously changes as the vehicle travels, and that characters and the like are written on the square signboard-like surface while monitoring as an object requiring attention. Can be detected.

  The road sign display content recognition unit 4 recognizes the content actually displayed on the road indicator when the road sign detection unit 3 detects the presence of a road sign in the photographed image. In that case, when the road display is detected as described above, the vehicle subsequently travels and approaches the road display detected earlier, for example, as shown in FIG. The display content is recognized by a still image when the ratio of the road sign in is sufficiently large and the display content is sufficiently recognizable.

  The distance display recognizing unit 5 in the road sign display content recognizing unit 4 extracts the road sign portion in the forward vehicle photographed image of FIG. 4B, as shown in FIG. Is recognized as “300”, which is a numerical value indicated as 300 m in the drawing, and “m”, which is a character related thereto.

  The character display recognition unit 6 in the road sign display content recognition unit 4 recognizes at least the characters “Matsumoto”, “Hirayu”, “Hida Airpark” and “Takayama” in the example shown in FIG. In the illustrated example, in addition, English letters such as “Matsumoto”, road numbers described on road direction indications such as “89” and “158”, road type symbols of national roads and prefectural roads surrounding which road numbers, etc. However, in the present invention, it is easier to see that the minimum necessary information is provided to the user, so only the characters as described above are recognized here.

  The intersection display recognizing unit 7 in the road sign display content recognizing unit 4 recognizes that there is a crossroad intersection in front of the vehicle traveling direction in the example shown in FIG. At this time, the road type symbol and the road number as described above are described in the arrow display of the road, but this is a predetermined format that appears regularly during the road display recognition. By recognizing it, it is possible to reliably recognize the display of the intersection.

  The simplified road guidance display unit 10 uses the data obtained after the above-described processing is performed by each function unit of the road sign display content recognition unit 4 with the camera as shown in FIG. The captured image is displayed in a simplified manner. In the example shown in the figure, the crossroad recognized by the intersection display recognition unit 7 is displayed in the center, and in particular, the road portion up to the crossroad intersection is displayed long. In the example of the figure, the characters recognized by the character display recognition unit 6 are arranged and displayed in the direction of each arrow. Further, in the example of the figure, the distance of “300 m” recognized by the distance display recognition unit 5 is displayed in an easy-to-understand manner that “300 m to the intersection”.

  The simplified road guidance display unit 10 displays the information recognized by the road sign display content recognition unit 4, and the distance subtraction display unit 11 changes the distance to the intersection as the vehicle subsequently travels. In order to show the state of being, the distance to the intersection is subtracted and displayed according to the travel distance. At that time, vehicle speed data for displaying the vehicle speed is input by the vehicle travel speed data input unit 16, and the travel distance is calculated by multiplying the speed by the travel distance calculation unit 17, thereby displaying a simple road guidance display. To the unit 10. The distance subtraction display unit 11 subtracts the travel distance from the previously displayed distance and displays the numerical value as shown in FIG. 5C, for example.

  In the example of FIG. 5 (c), the road sign is first recognized, and then it is detected from the photographed image of the camera that the road sign is almost passed, and the distance from that point is subtracted as described above. As a result, it is displayed that the current distance is 200 m. Furthermore, the same figure (d) has shown the display state when it becomes 50m to an intersection. Such distance display may be performed continuously or every predetermined distance.

  In the vehicle position display unit 12 of the simplified road guidance display unit 10, in the road sign at the intersection as shown in FIG. 5 (b), the first 300m point is from the most intersection with the road part up to the intersection being displayed long. A vehicle position mark is displayed at a far position. Thereafter, in a state where the distance from the intersection is 200 m as shown in FIG. 5C, the vehicle position mark is displayed closer to the intersection than the previous display position. Further, as shown in FIG. 4D, in the state where the distance is 50 m from the intersection, the vehicle position mark is displayed closer to the intersection. In addition to continuously displaying such vehicle position marks, for example, the vehicle position marks may be displayed every predetermined distance or every predetermined time in synchronization with the display of the distance to the intersection.

  In the example of FIG. 1, the speed data of the vehicle travel speed data input unit 16 is also used by the highway travel detection unit 18 to determine whether or not the vehicle is currently traveling on the highway. That is, as described later, when driving on a highway, there are interchanges, branch roads, gates that get off the highway, etc. as modes similar to intersections, but the display up to such points is the same as above Although the present invention can be carried out according to the present invention, road signs other than the signs for points similar to the above intersections, for example, as shown in FIGS. 7 (a) and 8 (a), Some simply display the distance to a particular point.

  In order to apply the present invention to such road signs, the above-mentioned display can be performed by recognizing the display contents of the road signs. Therefore, it is not always necessary to drive on the nearest road part, and in many cases, it is used as a mere guide. On the other hand, in the case of an expressway, there is almost no other way than traveling on the road as it is, and therefore the present invention can be used effectively at this time. Therefore, when the highway travel detection unit 18 detects that the vehicle is traveling at a speed of 100 km / h or more, or is continuously traveling at a speed of 80 km / h or more for a predetermined distance such as 2 km, the current vehicle is a highway. Is detected as traveling.

  When the highway travel detection unit 18 detects that the vehicle is currently traveling on the highway, in addition to the road signs related to the intersection similar to the intersection as described above, as shown in FIG. The present invention is also implemented when a road sign indicating a distance display to a specific point is simply recognized. Therefore, a detection signal traveling on a highway is output to the simplified road guidance display unit 10, and when such a road sign is detected, the distance display recognition unit 5 recognizes the character display recognition unit 6 as a result. The results recognized in step 1 and the display on the distance subtraction display unit 11 are displayed so as to display as shown in FIGS.

  The intersection passage detection unit 13 detects that the vehicle has passed the intersection in order to terminate the display after passing the intersection when the simplified display as described above and the subtraction display of the distance to the intersection are performed in the present invention. Perform the process. As an aspect of this intersection passage detection unit 13, a distance subtraction type intersection passage detection unit 14 is provided, and as a result of the distance subtraction as described above, when the distance becomes zero and further minus, the intersection has been passed. Is detected.

  The right / left turn detection type intersection passage detection unit 15 of the intersection passage detection unit 13 performs subtraction processing to the intersection by a signal from the snake angle sensor input unit 21 that inputs a signal of the snake angle sensor that detects the operation of the steering wheel of the vehicle. The driver detects that the driver has turned to the right or left by operating the steering wheel from a point where the vehicle is almost zero, or detects that the driver has traveled the intersection more than a predetermined distance without operating the steering wheel. By the detection, it is possible to detect which direction the vehicle passes through the intersection and in which direction.

  When the signal from the intersection passage detection unit 13 is output to the simplified road guidance display unit 10 and the distance subtraction type intersection passage detection unit 14 detects that the vehicle has passed the intersection, or when it detects that the vehicle has left and right in the vicinity of the intersection, The vehicle detects that the vehicle has passed the intersection and stops the simplified display currently displayed on the monitor 25 from the simplified road guidance display unit 10 via the simplified road guidance display output unit 19.

  However, when using the function of the right / left turn detection type intersection passage detection unit 15 in the intersection passage detection unit 13, the traveling direction from the intersection can be detected. For example, in a complicated intersection as shown in FIG. The direction in which the vehicle has passed the intersection is detected by a signal from the snake angle sensor input unit, or when a separate gyro function is provided, the traveling direction detection unit 22 detects the traveling direction by the detection signal, and the intersection is correspondingly detected. Even after passing, the simplified display can be continued for a while, for example, 50 m, and it can be confirmed whether the road on which the driver is traveling is a desired road.

  The present invention as described above can be operated in sequence according to the operation flow of FIGS. 2 and 3, for example. In the example of the road sign image recognition travel guidance process shown in FIG. 2, a road sign is first detected from the image of the front photographing camera (step S1). The process is as follows. When a road sign is present in front of the vehicle front shot image and the road sign is present ahead, the camera operates as described above in the road sign detection unit 3 of FIG. By doing so, a desired road sign can be detected.

  Thereafter, it is determined whether or not the detected road sign has been photographed to a predetermined size or more (step S2). If the road sign is not a predetermined size, this process is repeated until the predetermined size is obtained. wait. In this process, the same operation is performed when it is determined that a new road sign is detected in step S25 of FIG. Here, when it is determined that the display content of the road sign is sufficiently large to be recognized, the display content of the road sign is recognized (step S3).

  That is, it is detected that there is a road sign-like thing in the photographed image of the front camera as shown in FIG. 4 (a), and the road sign is confirmed by the subsequent continuous detection. When the sign is displayed sufficiently large as shown in FIG. 6B, the display content of the road sign is recognized in step S3. The display content recognition process at this time is performed as described above in the road sign display content recognition unit 4 of FIG.

  Thereafter, it is determined whether or not the road sign includes a distance guidance display (step S4). Here, when it is determined that the distance guidance display is not included, the process returns to step S1 again, and this process is continued until a road sign is photographed thereafter. If it is determined in step S4 that the road sign includes a distance guidance display, the recognized distance data is stored (step S5). Next, it is determined whether or not the road sign displays intersection guidance (step S6). If it is determined that the intersection guidance is not displayed, a simplified distance guidance process for a road sign without an intersection display shown in FIG. 3 as described later is performed (step S13).

When it is determined in step S6 that the road sign is displaying the intersection guidance, the recognized road sign is simply displayed. This process is performed as described above in the simplified display section 10 of FIG.
In the simplified display, for example, the display as shown in FIG. Thereafter, in the example of FIG. 2, the vehicle position mark is displayed in the direction of the intersection. Here, for example, a display such as the vehicle position mark in FIG.

  Thereafter, it is determined whether or not the vehicle has traveled a predetermined distance. When it is determined that the vehicle has not yet traveled a predetermined distance such as 50 m, for example, the process of step S9 is repeated to wait, and when it is determined that the vehicle has traveled a predetermined distance, step S10 is performed. Proceed to and subtract the distance in the simplified display. Along with this processing, the vehicle position mark being displayed in a simplified manner is moved a predetermined distance toward the intersection (step S11).

  As a result, the display state shown in FIG. 5B changes to the display shown in FIG. 5C, and even if the driver does not have the navigation device, the intersection portion is as if it is an enlarged view of the intersection of the navigation device. Is clearly displayed on the monitor screen, and an operation such as turning right or left in a desired direction can be reliably performed according to the display.

  Thereafter, in step S12, it is determined whether or not the vehicle has passed the intersection. Here, for example, when the distance to the intersection becomes 0 km, or when it is detected that the position estimated to be an intersection is turned left or right, it can be determined that the vehicle has passed the intersection. If it is determined that the vehicle has not yet passed through the intersection, the process returns to step S9 and the operation is repeated. When it is determined that the vehicle has passed the intersection, the series of road display simplified display processing ends, and the process returns to step S1 to repeat the operation (step S14).

  In the example of FIG. 2, an example is shown in which the simplified display of the road sign is terminated immediately after passing the intersection. However, the display is continued until the vehicle travels for example 50 m after passing the intersection, and the snake of FIG. You may make it display the left-right turn direction etc. in an intersection using the signal of the angle sensor input part 21. FIG. In that case, for example, on a complicated road as shown in FIG. 6A, it is possible to indicate in which direction the vehicle is actually bent in FIG. 6B or FIG.

  The process of step S13 in FIG. 2 is performed as shown in FIG. That is, in the simplified distance guidance processing of the road sign without intersection display in FIG. 3, when it is determined in step S6 in FIG. 2 that the road sign does not display the intersection guidance, for example, as shown in FIG. A road sign that sequentially displays the distance to a specific point is detected. In the example shown in the figure, it is a sign indicating the direction and distance on the expressway, indicating that it is 1 km to Yokohama 4th IC, 26 km to Atsugi IC 5th IC, and 153 km to Shizuoka IC.

  In the example of the simplified distance guidance process for road signs without intersection display in FIG. 3, it is first determined whether or not the vehicle is traveling on an expressway. That is, for example, the distance display on a general road as shown in FIG. 8 (a) merely shows the approximate distance to each displayed city, and the distance greatly changes when traveling on various roads. Therefore, the example shown in FIG. 3 shows an example in which the present invention is applied to a road sign without an intersection display only when driving along a highway that accurately represents the distance if the vehicle travels along the road. Yes. However, the present invention can also be implemented for road signs on general roads as shown in FIG.

  When it is determined in step S21 that the vehicle is not traveling on the highway, the process proceeds to step S30 and returns to step S1 in FIG. On the other hand, when it is determined in step S21 that the vehicle is traveling on the highway, the recognized road sign is simply displayed (step S22). In this case, for example, when the road sign in FIG. 7A is recognized, as shown in FIG. 7B, a simplified display excluding various symbols and a pseudonym is performed.

  Next, in the example shown in FIG. 3, it is determined whether or not a new road sign is detected while the simplified display is continued (step S23). When it is determined that a new road sign is detected, the process returns to step S1 in FIG. 2 and the above operation is repeated for the newly detected road sign. By such an operation, when a new display as shown in FIG. 7D, for example, is detected during the guidance display of the distance to each point shown in FIG. 7A, the road sign is based on this road sign. Guidance will be provided by simplified display. As a result, in addition to detecting and displaying a completely new road sign, by recognizing a road display whose distance has been changed even on the same road display, the distance displayed by subtraction due to the vehicle running is gradually shifted from the actual distance. It is possible to correct the display with the new road sign.

  When it is determined in step S23 that a new road sign is not detected, it is determined whether or not the vehicle has traveled a predetermined distance (step S24). When the vehicle has not traveled a predetermined distance such as 1 km, the process returns to step S22 to When the operation is repeated and it is determined in step S24 that the vehicle has traveled a predetermined distance, the distance to the guide point is displayed in a subtracted manner (step S25). Thereafter, in the example shown in FIG. 3, it is determined whether or not there is a point where the remaining is 0 km among the distances to one or a plurality of guide points (step S26). Here, when it is determined that there is a point where the distance to the guide point is 0 km, the display of the guide point where the distance is 0 km is deleted (step S27).

  In the example shown in FIG. 7 by this processing, the display is erased as shown in FIG. 7C by passing 1 km from the state where the simplified display shown in FIG. The distance of other points is displayed by subtracting 1 km. FIG. 7D shows a state when it is determined that a new road sign is detected in step S23 in FIG. 3. When this road sign is detected during the traveling as described above, FIG. Returning to step S1, the process is repeated.

  When it is determined in step S26 that there is no point where the remaining distance is 0 km among the distances to the guide point, the process returns to step S22 and the above operation is repeated. After erasing the display of the guide point that has become 0 km in step S27, it is determined whether or not all the guide points have become 0 km. When it is determined that all the guide points have not yet become 0 km, step S22 is performed. Returning to FIG. 2, the above operation is repeated, and when all the guide points become 0 km, all the guidance is completed, so the process returns to step S1 in FIG. 2 and the operation is newly repeated (step S30).

  In the example shown in FIG. 3, an example in which the present invention is applied to a road sign without an intersection display only when driving on a highway is shown. For example, a general road running as shown in FIG. By applying the present invention even when a road sign without an intersection display is detected, an area having a small number of roads and continuous long roads such as the Hokkaido road shown in FIG. (D) is displayed and the present invention can be used effectively.

DESCRIPTION OF SYMBOLS 1 Vehicle front photographing camera 2 Photographed image input part 3 Road sign detection part 4 Road sign display content recognition part 5 Distance display recognition part 6 Character display recognition part 7 Intersection display recognition part 10 Simplified road guidance display part 11 Distance subtraction display part 12 Vehicle Position display unit 13 Intersection passage detection unit 14 Distance subtraction type intersection passage detection unit 15 Right / left turn detection type intersection passage detection unit 16 Vehicle travel speed data input unit 17 Travel distance calculation unit 18 Highway travel detection unit 19 Simplified road guidance display output unit 20 Monitor 21 Snake Angle Sensor Input Unit 22 Traveling Direction Detection Unit

Claims (6)

A camera that captures the front of the vehicle,
A road sign detection unit for detecting a road sign from an image taken by the camera;
Of the display contents of the road sign detected by the road sign detection unit, the road sign display content recognition unit for recognizing at least characters and distance,
A simplified road guidance display unit that displays characters and distances recognized by the road sign display content recognition unit in a simplified manner and subtracts and displays the recognized distances according to the travel distance of the vehicle. Road sign recognition travel guidance system. The road sign display content recognition unit includes an intersection display recognition unit that recognizes an intersection display,
The road sign recognition travel guidance system according to claim 1, wherein the simplified road guidance display unit displays the intersection display recognized by the intersection display recognition unit, the characters related to the intersection, and the distance to the intersection. .   3. The road sign recognition guide traveling system according to claim 2, wherein the vehicle position mark is displayed on the intersection display by moving according to the travel distance of the vehicle. An intersection passage detection unit that detects that the vehicle has passed the intersection,
3. The road sign recognition travel guidance system according to claim 2, wherein when the intersection detection unit detects that the vehicle has passed an intersection, the simplified road guidance display is terminated. ,   When the vehicle information mark is displayed on the intersection display on the simplified road guidance display unit, the simplified road guidance display is continued for a predetermined distance even if it is detected that the vehicle has passed the intersection. A traveling direction detector for detecting the vehicle detects the traveling direction of the vehicle at the intersection, and displays the vehicle position mark superimposed on the intersection display in accordance with the traveling direction of the vehicle that has passed the intersection. Item 4. A road sign recognition travel guidance system according to item 3. Furthermore, it has a highway detection unit that detects that it is traveling on a highway,
The simplified road guidance display only when it is detected that there is no intersection display on the road sign detected by the road sign display content recognition unit, and when the highway detection unit detects that the vehicle is traveling on a highway. The road sign recognition travel guidance system according to claim 1, wherein:

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