JP4105609B2 - 3D display method for navigation and navigation apparatus - Google Patents

Description

  The present invention relates to a navigation stereoscopic display method and a navigation apparatus, and is particularly suitable for a navigation apparatus having a function of stereoscopically displaying a building on a map.

  In general, a navigation device that guides driving of a vehicle not only displays a map around the current location, but also has a function of automatically setting and guiding a guidance route from the current location to the destination by specifying the destination. ing. This route guidance function uses map data to automatically search the route with the lowest cost from the current location to the destination by performing a simulation such as the breadth-first search (BFS) method or Dijkstra method, and guides the searched route. Set as a route.

  After the guide route is set, the guide route is drawn thickly with a different color so that it can be distinguished from other roads on the map image while the vehicle is running. And, by instructing the left and right turn along the guidance route, especially at the intersection (displaying an enlarged view of the intersection or guiding the direction of travel by voice), the driver can be quickly and safely to the destination, In addition, it can be surely guided.

  In this type of navigation device, various research and development have been carried out so that the user can use it more easily and can more reliably guide the user to the destination. As one of the technologies for this purpose, a bird's-eye view display that displays a map in a state of looking down from above the rear of the vehicle position to give a sense of perspective, and a three-dimensional stereoscopic image of a building or the like on the bird's-eye view map There is a stereoscopic display function that is displayed on the screen. If the latter stereoscopic display function is used, it is possible to compare the scenery that the driver is currently viewing with the stereoscopic image displayed on the navigation screen, and drive while checking this.

  In recent years, DVD-ROMs and hard disks having a large storage capacity have been developed, and an extremely large amount of image data can be stored. In addition, the processing speed of the image is improved due to the improved performance of the navigation device. Therefore, stereoscopic image data of many buildings or the like can be stored in a DVD-ROM or the like, and can be read and displayed as the vehicle travels.

  By the way, as described above, a navigation device generally displays a map around the current location starting from the own vehicle position while the vehicle is running, and the relationship between the destination and the own vehicle position in real time. It is not meant to be displayed. In order to know the positional relationship between the destination and the current location, all the route display functions that display all the guidance routes from the current location to the destination, and the route information provision function that displays the detailed guidance route information listed. However, in order to execute these functions, a user operation such as a remote control is required, and the procedure is complicated.

  Since it is most important for the user to arrive at the destination, the closer to the destination, the more important the positional relationship between the current location and the destination. For this reason, it is inconvenient that there is no means for knowing in real time while traveling the vehicle as viewed from the destination. Some navigation devices that display a map around the destination have been proposed in order to respond to a request that the user wants to check the situation around the destination (see, for example, Patent Documents 1 to 4).

Japanese Patent Laid-Open No. 9-134123 JP 2001-74480 A JP 2000-241175 A JP-A-8-201077

  In Patent Document 1, when a vehicle approaches the vicinity of the destination, the display is automatically changed to a display of a different database storing a detailed house map and the like near the destination. Patent Document 2 displays a narrow street between a route guidance end point and a destination, and assists traveling to the destination even after the route guidance is finished. In Patent Document 3, a map around the current location and a map around the destination are displayed on two screens. In Patent Document 4, a destination and a road around the destination are displayed in a plan view.

  However, all of the above Patent Documents 1 to 4 display a map around the destination in a plan view. On the other hand, if the map around the destination is displayed in 3D, the destination is hidden behind the building in cities with many buildings, and the situation around the destination is very difficult to understand. . This will be described with reference to FIG.

  FIG. 14 is a diagram illustrating a map display example when the host vehicle approaches the destination in the stereoscopic display mode. In FIG. 14, CM is a vehicle position mark indicating the current vehicle position, AW is an arrow indicating the destination, and BL1 and BL2 are three-dimensionally displayed buildings. In this map display, the location of the destination is provided to the user by the arrow AW.

  This map display shows that there is a destination behind building BL1, but the exact location of the destination (how far away from the intersection, etc.) and the situation around the destination (road width, I don't know anything about the availability of parking. For this reason, even when the vehicle approaches the destination, the details of the surrounding area are not known, which causes the driver to feel uneasy.

  The present invention has been made to solve such problems, and even when a map is displayed in three dimensions, the exact location of the destination, the surrounding situation, the positional relationship between the destination and the current location, etc. can be understood. The purpose is to make it easy to display.

  In order to solve the above-described problems, in the present invention, a map is displayed in a bird's-eye view while looking down at the destination from above the destination as viewed from the position of the vehicle, and a building is three-dimensionally displayed on the bird's-eye view map. Like to do.

  In a preferred embodiment of the present invention, the map is displayed in such a form that the destination is located at the lower part of the screen. In a further preferred aspect of the present invention, even when the destination is arranged in the lower part of the screen, if there is a building in front of the destination, the building in front of the destination is hidden.

  In a preferred aspect of the present invention, the map is displayed in a bird's eye view on an optimal scale that can display both the destination and the vehicle position simultaneously on one screen. In a further preferred aspect of the present invention, the map is displayed in a bird's eye view on an optimal scale such that the destination is located at the lower part of the screen and the vehicle position is located at the upper part of the screen. More preferably, the height of the viewpoint when displaying the bird's-eye view is gradually changed according to the distance between the destination and the vehicle position.

  According to the present invention configured as described above, since the building is stereoscopically displayed on the basis of the destination, based on the viewpoint when the destination is viewed from above, it is difficult for the building to be stereoscopically displayed in front of the destination. Thus, it is possible to eliminate the inconvenience that the destination is hidden behind the building in front. As a result, the user can clearly check the exact position of the destination and the surrounding situation.

  Further, when the map is displayed in such a form that the destination is located at the lower part of the screen, the building is hardly displayed in three dimensions before the destination. In addition, if the building in front of the destination is hidden, it is possible to prevent the 3D display of the building from being always displayed in front of the destination, so that the state around the destination can be confirmed securely. Will be able to.

  Further, when the map is displayed on a scale that can display the destination and the vehicle position at the same time in one screen, the positional relationship between the destination and the current location can be provided in an easily understandable form. If the map is displayed at an optimal scale such that the destination is at the lower part of the screen and the vehicle position is at the upper part of the screen, the information from the current position to the destination is fully used using the entire screen. Can be displayed. At this time, by displaying the map while gradually changing the height of the viewpoint according to the distance between the destination and the vehicle position, the vehicle position is substantially fixed to the upper part of the screen even on the same scale map. Can show.

(First embodiment)
Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram illustrating a configuration example of a navigation device according to the first embodiment.

  In FIG. 1, reference numeral 100 denotes a navigation control device, which controls the entire navigation device. Reference numeral 11 denotes a recording medium such as a DVD-ROM, which stores various types of map data necessary for map display, route search, and the like. Here, the DVD-ROM 11 is used as a recording medium for storing the map data, but other recording media such as a CD-ROM and a hard disk may be used.

  The map data recorded on the DVD-ROM 11 includes various data such as map matching and route search in addition to drawing unit data (various data relating to roads, buildings and facilities existing on the map) necessary for map display. It includes road unit data necessary for processing and intersection unit data representing details of the intersection. The above drawing unit data includes position data of buildings and the like, polygon data necessary for three-dimensional display of buildings, and the like.

  In the following, when the map data is simply referred to, it means the data excluding position data such as buildings and polygon data. Further, the position data of the building and the polygon data are collectively referred to as building data.

  Reference numeral 12 denotes a VICS receiver, which performs two-way communication with radio wave beacon transmitters / receivers mainly installed on highways and mainly uses optical beacon transmitters / receivers installed on general roads. By performing two-way communication via light between them, the VICS road traffic information sent from the VICS center is received. The received VICS road traffic information is output to the navigation control device 100.

  Reference numeral 13 denotes an operation unit such as a remote control, a touch panel, or an operation switch. The user sets various types of information (for example, a route guidance destination or waypoint) to the navigation control device 100, or performs various operations (for example, Menu selection operation, enlargement / reduction operation, manual map scrolling, numerical input, etc.). A mode switching operation between a flat display and a three-dimensional display can also be performed by the operation unit 13.

  Reference numeral 14 denotes a self-contained navigation sensor for measuring the current position of the vehicle, a distance sensor (vehicle speed sensor) 14a for detecting a moving distance of the vehicle by outputting one pulse for each predetermined traveling distance, and a rotation angle of the vehicle. And an angular velocity sensor (relative azimuth sensor) 14b such as a vibration gyro for detecting (moving azimuth). The self-contained navigation sensor 14 detects the relative position and direction of the vehicle by the distance sensor 14a and the angular velocity sensor 14b, and outputs the information to the navigation control device 100.

  Reference numeral 15 denotes a GPS receiver for measuring the current position of the vehicle. The GPS antenna 16 receives radio waves transmitted from a plurality of GPS satellites, and performs a three-dimensional positioning process or a two-dimensional positioning process to obtain the absolute position of the vehicle. The position and direction are calculated (the vehicle direction is calculated based on the current vehicle position and the current vehicle position one sampling time ΔT before). Then, the calculated information on the absolute position and direction of the vehicle is output to the navigation control device 100 together with the positioning time.

  Reference numeral 17 denotes an image display device that displays an image generated by the control of the navigation control device 100. On the screen of the image display device 17, map information in a range including the vehicle position and the destination is displayed together with the vehicle position mark, the destination mark, and the like. In addition, a guidance route is displayed on the map, and an enlarged view of the intersection is displayed when the position of the vehicle approaches the guidance intersection. Further, when the stereoscopic display function is selected, buildings along the road are stereoscopically displayed.

  Next, in the internal configuration of the navigation control apparatus 100, reference numeral 21 denotes a map buffer, which temporarily stores map data read from the DVD-ROM 11. A stereoscopic image buffer 22 temporarily stores building data read from the DVD-ROM 11. A ROM reading control unit 23 controls reading of map data and building data from the DVD-ROM 11.

  The ROM read control unit 23 inputs vehicle current position information after map matching processing from a map matching control unit 28 described later, destination position information from a guidance route control unit 29 described later, and the like. Then, an instruction to read out map data and building data in a predetermined range including the current vehicle position and destination is output. As a result, map data and building data necessary for map display and building stereoscopic display are read from the DVD-ROM 11 and stored in the map buffer 21 and the stereoscopic image buffer 22.

  Reference numeral 24 denotes a VICS information buffer which sequentially stores VICS road traffic information output from the VICS receiver 12. An external signal input unit 25 inputs an operation signal corresponding to the operation state from the operation unit 13. A vehicle position / orientation calculation unit 26 calculates an absolute own vehicle position (estimated vehicle position) and vehicle direction based on data on the relative position and direction of the own vehicle output from the autonomous navigation sensor 14. To do. Reference numeral 27 denotes a data storage unit, which sequentially stores data on the absolute position and direction of the vehicle output from the GPS receiver 15.

  The map matching control unit 28 described above includes the map data read into the map buffer 21, the estimated vehicle position and vehicle direction data based on the autonomous navigation sensor 14 calculated by the vehicle position / orientation calculation unit 26, and data. Using the vehicle position data and the vehicle orientation data from the GPS receiver 15 stored in the storage unit 27, map matching processing by a projection method or the like is performed for each vehicle travel distance, and the travel position of the vehicle is determined from the map data. Correct the position on the road.

  The above-described guidance route control unit 29 uses the map data stored in the map buffer 21 to search for the guidance route with the lowest cost connecting the current location to the destination. A guidance route memory 30 stores guidance route data (a set of nodes from the current location to the destination) set by the guidance route control unit 29.

  That is, when the destination of the route search is set by the operation of the operation unit 13, the guidance route control unit 29 stores the destination data in the guidance route memory 30. Further, when a route search instruction is issued by operating the operation unit 13, the vehicle position corrected by the map matching control unit 28 is set as departure point data and stored in the guidance route memory 30. Then, a travel route connecting the starting point and the destination stored in the guide route memory 30 under a predetermined condition is searched, and the result is further stored in the guide route memory 30.

  A map drawing unit 31 generates map image data necessary for displaying a map (plan view) on the image display device 17 based on the map data stored in the map buffer 21. Reference numeral 32 denotes a VRAM (video RAM), which temporarily stores map image data generated by the map drawing unit 31. Reference numeral 33 denotes a read control unit which controls reading of map image data from the VRAM 32. That is, the map image data generated by the map drawing unit 31 is temporarily stored in the VRAM 32, and the map image data for one screen is read by the read control unit 33.

  Reference numeral 34 denotes a stereoscopic image drawing unit, which is based on the map data stored in the map buffer 21 and the building data stored in the stereoscopic image buffer 22, and a map (a building, a bridge, a tower, etc.) on the bird's eye view. ) 3D image data necessary for 3D display. Reference numeral 35 denotes a stereoscopic image position detection unit that detects the position of the building drawn by the stereoscopic image drawing unit 34 on the map.

  A stereoscopic image adjustment unit 36 is viewed from above the destination based on the building position information input from the stereoscopic image position detection unit 35 and the destination position information read from the guidance route memory 30. It is determined whether or not there is a building in front of the destination, and when there is such a building, the stereoscopic image data of the building drawn by the stereoscopic image drawing unit 34 is deleted.

  The stereoscopic image drawing unit 34, the stereoscopic image position detection unit 35, and the stereoscopic image adjustment unit 36 described above constitute the destination reference image drawing means of the present invention. In addition, although the example which the three-dimensional image drawing part 34 draws a bird's-eye view was demonstrated here, you may make it the map drawing part 31 draw this.

  Reference numeral 37 denotes an intersection guide unit that performs intersection guidance based on the vehicle position information from the map matching control unit 28, the guidance intersection information calculated by the guidance route control unit 29, and the map data from the map buffer 21. For example, when the vehicle approaches within a predetermined distance from a guidance intersection in front of the guidance route, an enlarged plan view image of the guidance map of the approaching intersection is obtained based on the intersection enlarged map data stored in the map buffer 21. Generate and output. In addition, a guidance voice signal is output to an external audio unit (not shown) in order to perform voice guidance such as “Please turn right at the next signal”.

  Reference numeral 38 denotes a VICS information display unit which outputs the VICS road traffic information to the image composition unit 42 in order to display the VICS road traffic information stored in the VICS information buffer 24 on the image display device 17. Reference numeral 39 denotes an operation screen generation unit that generates and outputs an operation screen necessary for performing various operations using the operation unit 13. Reference numeral 40 denotes various mark generation units that generate and output vehicle position marks displayed at the vehicle position after the map matching processing, various landmarks that display a gas station, a convenience store, and the like.

  A guidance route drawing unit 41 generates drawing data for the guidance route using the result of the route search process stored in the guidance route memory 30. In other words, from the guidance route data stored in the guidance route memory 30, the one included in the map area drawn in the VRAM 32 at that time is selectively read out, and is superimposed on the map image in a predetermined color different from other roads. Draws a boldly emphasized guide route.

  The above-described image composition unit 42 adds the three-dimensional image adjustment unit 36, the intersection guide unit 37, the VICS information display unit 38, the operation screen generation unit 39, and the various mark generation units 40 to the map image data read by the read control unit 33. Then, the image data output from each of the guide route drawing units 41 are overlapped to perform image synthesis and output to the image display device 17. As a result, the synthesized image is displayed on the screen of the image display device 17.

  FIG. 2 is a diagram showing an example of a navigation screen displayed in the stereoscopic display mode by the navigation device configured as described above. In FIG. 2, CM is a vehicle position mark indicating the current vehicle position, TM is an arrow indicating a guidance route, PM is a destination mark indicating a destination, TML is a final route to the destination, BL1, BL2, BL3,・ ・ ・ ・ Is a three-dimensional building.

  As shown in FIG. 2, in the present embodiment, a bird's-eye view map is displayed in a state where the destination PM is looked down from above the destination PM as seen from the vehicle position CM, and on the bird's-eye view map. A plurality of buildings BL1, BL2, BL3,.

  Here, the viewpoint of looking down at the destination PM from the rear sky is, for example, as shown in FIG. 3 (a), x degrees with respect to the direction from the vehicle position CM to the destination PM (counterclockwise is a positive direction − Any angle satisfying 90 ≦ x ≦ 90) is set. The example of FIG. 2 corresponds to the case of x≈45.

  Further, as shown in FIG. 3B, the viewpoint of looking down at the destination PM from the rear sky is set to x degrees (0 ≦ x ≦ 180 with the counterclockwise direction being the positive direction) with respect to the final route TML to the destination PM. It may be set in a direction that forms an arbitrary angle satisfying. In such a condition, the example of FIG. 2 corresponds to the case of x≈135.

  In the example of FIG. 3A, the stereoscopic image drawing unit 34 sets a viewpoint that forms x degrees with respect to the direction from the vehicle position after movement to the destination every time the vehicle moves by a predetermined distance or a predetermined time. The three-dimensional map image detected from the viewpoint is sequentially drawn. Thereby, on the navigation screen, the three-dimensional map appears to rotate little by little as the vehicle moves. At this time, the relative direction between the vehicle position mark CM and the destination mark PM hardly changes, and only the distance between them approaches as the vehicle moves.

  On the other hand, in the example of FIG. 3B, the viewpoint of looking down at the destination from behind is not related to the position of the vehicle, so the direction in which the three-dimensional map is viewed on the navigation screen is regardless of the movement of the vehicle. It remains fixed. Instead, the vehicle position mark CM appears to move little by little on the map as the vehicle moves.

  In the example of FIG. 2, the destination PM is arranged at the lower part of the navigation screen (below the center of the screen, preferably near the bottom of the screen). In this way, the three-dimensional display of the building is reduced before the destination PM as seen from the rear of the destination PM. Furthermore, in this embodiment, it is determined whether or not there is a building between the destination PM, and if there is, the building is not displayed. As a result, even if the destination PM is arranged at the lower part of the screen, even if there is a building in front of the destination PM, the building is not always displayed in front of the destination PM. can do.

  In this way, by displaying the map in a three-dimensional manner in a state of looking down from behind the destination PM instead of over the rear of the vehicle position CM, the destination of the building in front is like the conventional example shown in FIG. It is possible to eliminate the inconvenience of being hidden behind the screen. As a result, as shown in FIG. 2, the surroundings of the destination PM (the exact position of the destination PM and its position are not disturbed by the building BL1 in front of the destination PM when viewed from the vehicle position CM. The surrounding road width or the presence or absence of a parking lot, etc.) can be clearly confirmed.

  In the above example, the vehicle position mark CM is not displayed on the navigation screen when the vehicle position is outside the map area shown in FIG. 2, but from the time when the vehicle position enters the map area. It will be displayed on the navigation screen. Therefore, as shown in FIG. 4, the navigation screen is divided into a plurality of areas (two in the vertical direction in the example of FIG. 4), a large-scale map with a large scale is displayed in the first area, and the second area ( A detailed map with a small scale may be displayed around the destination).

  The three-dimensional map shown in FIG. 4 is a three-dimensional map viewed from behind the destination PM, and the display scale is set for each divided region so that all the routes from the current position CM to the destination PM are within the screen. It is generated by changing. Although the screen is divided into two areas here, it may be divided into more areas and displayed on a map with the display scale changed stepwise.

  In addition, the navigation screen is divided into two screens, and a map around the current location (a planar map or a three-dimensional map showing the position of the vehicle viewed from behind) is displayed on the first screen, and the second screen is displayed. A three-dimensional map around the destination (a three-dimensional map representing a map and a building with the destination looked down from above) may be displayed.

  5 to 8 are diagrams showing examples of two-screen display. Among these, FIG. 5 shows an example of a screen displayed when the distance from the vehicle position CM to the destination PM is a long distance (for example, a predetermined distance or longer). In FIG. 5, the first screen 51 displays a plane map around the vehicle position according to the scale specified by the user. The second screen 52 displays a three-dimensional map similar to FIG.

  FIG. 6 shows an example of a screen that is displayed when the distance from the vehicle position CM to the destination PM is a short distance (for example, a predetermined distance or less). When the vehicle position CM approaches within a predetermined distance from the destination PM as the vehicle travels, the screen of FIG. 5 is automatically switched to the screen of FIG. The map is displayed in detail as in FIG.

  7 and 8 show that when the route from the originally set guide route to the destination PM changes significantly (the guide route to the destination PM is re-searched by the reroute function of the guide route control unit 29). Example of screen displayed in

  Among these, FIG. 7 shows a display example when a stereoscopic display viewpoint is set as shown in FIG. According to this example, after the reroute, the three-dimensional map around the destination is rotated so that the direction in which the vehicle position CM can be seen from the destination PM is almost the same as that before the reroute. On the other hand, FIG. 8 shows a display example when a stereoscopic display viewpoint is set as shown in FIG. According to this example, the three-dimensional map does not rotate after reroute, and the guidance route from the vehicle position CM to the destination PM changes from TM1 to TM2.

  As described above in detail, according to the present embodiment, the map and the building are displayed in a three-dimensional manner with the destination looking down from the sky above the destination as seen from the position of the host vehicle. You can eliminate the inconvenience of hiding behind the building. As a result, the user can clearly check the situation around the destination.

  In the above-described embodiment, the example of FIGS. 3A and 3B has been described as the condition for the viewpoint of looking down at the destination from behind. In both cases, the value of the angle x is fixed, but this may be a variable value. For example, based on the position information of the building detected by the three-dimensional image position detection unit 35 and the position information of the destination read from the guidance route memory 30, the building is located in front of the destination as viewed from above the destination. It is also possible to search for an angle x having no angle and draw a stereoscopic image in a state of looking down from the rear sky forming the angle x. If no such angle exists, a fixed angle x as shown in FIG. 3 (a) or 3 (b) may be adopted to hide the building in front of the destination.

  Moreover, although the said embodiment demonstrated the example which hides the building when the building exists before the destination, it is not limited to this. For example, the building in front may be semi-transparent (displayed so that the building is represented by a frame and the roads and buildings behind it are visible).

  In addition, the building in front of the destination is normally displayed, the height information of the building in front of the destination, and the relative positional relationship information between the building and the destination (for example, the building and the destination Based on the width information of the road in between, the map may be displayed with the height of the viewpoint changed so that the destination can be seen from above the building in front of the destination.

  FIG. 9 is a block diagram showing a configuration example of the navigation device in this case. In FIG. 9, components having the same reference numerals as those shown in FIG. 1 have the same functions, and thus redundant description is omitted here. In the example shown in FIG. 9, a stereoscopic image drawing unit 45 having a different function is provided instead of the stereoscopic image drawing unit 34 shown in FIG. 1. A table information storage unit 46 is further provided.

  The table information storage unit 46 indicates how far the destination is from the building in front of it, how high the building is, and how high the viewpoint is to see the destination. The table information is stored in advance. The three-dimensional image drawing unit 45 includes the height information of the building in front of the destination (included in the building data stored in the three-dimensional image buffer 22) and the road width information between the building and the destination ( The height of the viewpoint at which the destination can be seen is obtained by referring to the table information described above based on the map data stored in the map buffer 21). Then, a three-dimensional image is drawn in a state where the destination is looked down from the obtained viewpoint height.

  If the height information of the building in front of the destination and the width information of the road between the destination and the building in front of the destination do not match any of the conditions stored in the table information Judge that you cannot see your destination no matter how high your viewpoint. In this case, the three-dimensional image drawing unit 45 draws a three-dimensional image from a specified height, and the three-dimensional image adjustment unit 36 erases the image data of the corresponding building so as to hide the troublesome building.

(Second Embodiment)
Next, a second embodiment of the present invention will be described. FIG. 10 is a block diagram illustrating a configuration example of the navigation device according to the second embodiment. In FIG. 10, components having the same reference numerals as those shown in FIG. 1 have the same functions, and thus redundant description is omitted here.

  The second embodiment shown in FIG. 10 includes a ROM read control unit 51 and a three-dimensional image drawing unit 52 having different functions instead of the ROM read control unit 23 and the three-dimensional image drawing unit 34 shown in FIG. ing.

  The ROM read control unit 51 sets the distance information between the destination and the vehicle position input from the guidance route control unit 29 (the vehicle current position information input from the map matching control unit 28 and the guidance route memory 30). Based on the location information of the destination), the map data and the building data of the scale in which both the destination and the vehicle position are simultaneously included in one screen are read from the DVD-ROM 11. At this time, the ROM read control unit 51 selects an optimum scale such that the destination is at the lower part of the screen and the current vehicle position is at the upper part of the screen.

  The map data recorded on the DVD-ROM 11 is a unit called a level from a high-level map (wide area scale) for overlooking a wide area to a low-level map (small area scale) describing a narrow area in detail. Are managed in layers. Each level is divided in units of rectangular areas called sections partitioned by predetermined longitude and latitude. The map data of each section can be read by the ROM reading control unit 51 specifying the section number.

  Based on the map data stored in the map buffer 21 and the building data stored in the stereoscopic image buffer 22, the stereoscopic image drawing unit 52 is based on a bird's eye view on a scale in which the destination and the vehicle position are simultaneously included in one screen. Three-dimensional image data necessary for three-dimensional display of the building on the map and the bird's-eye view is generated. At this time, the stereoscopic image drawing unit 52 changes the stereoscopic image data while gradually changing the height of the viewpoint when displaying the bird's eye view according to the distance between the destination and the position of the vehicle that sequentially changes as the vehicle travels. Redraw sequentially.

  Next, the operation of the navigation device according to the second embodiment configured as described above will be described. FIG. 11 is a diagram illustrating an operation example related to map scale switching and viewpoint height change according to the second embodiment. FIG. 12 is a diagram illustrating a screen display example by switching the map scale.

  As shown in FIG. 11, in the present embodiment as well as in the first embodiment, the destination PM and the vehicle positions CM1 to CM3 are projected from the viewpoint set above the destination PM as a starting point. A map based on a bird's eye view is displayed, and a plurality of buildings are three-dimensionally displayed on the bird's eye view map.

  At this time, the map is displayed while appropriately switching to an optimal scale such that the destination PM is located at the lower part of the screen and the vehicle positions CM1 to CM3 are located at the upper part of the screen. That is, in the example of FIG. 11, map data MP1 of 20 [km] scale, map data MP2 of 1 [km] scale, map data MP3 of 10 [m] scale are prepared as map data in the DVD-ROM 11. Suppose.

  In this case, when the vehicle position CM1 is within the range D of 20 [km] ≧ D> 1 [km] with respect to the destination PM, a map MP1 of 20 [km] scale is displayed, and the destination PM and When the vehicle distance CM2 is within the range of 1 [km] ≧ D> 10 [m], the map MP2 of 1 [km] scale is displayed and the distance D to the destination PM is 10 [m]. When the vehicle position CM3 is within the range of ≧ D, the map MP3 of 10 [m] scale is displayed.

  That is, for example, the host vehicle position CM1 moves toward the destination PM on the map MP1 of 20 [km] scale, and the distance between the destination PM and the host vehicle position CM1 is the next 1 [km] scale. When the value becomes smaller, the map MP1 on the 20 [km] scale is switched to the next map MP2 on the 1 [km] scale and displayed. Switching from the 1 [km] scale map MP2 to the 10 [m] scale map MP3 is performed in the same manner.

  In this way, by displaying the map scale while appropriately switching the map according to the distance between the destination PM and the vehicle positions CM1 to CM3, as shown in FIG. 12, how close the vehicle position is to the destination. The destination PM is fixedly displayed at the lower part of the screen (preferably near the center at the bottom of the screen), and the vehicle positions CM1 to CM3 are displayed at the upper part of the screen (preferably near the center at the top of the screen). can do.

  Further, in the present embodiment, the map is displayed while gradually changing the height of the viewpoint according to the distance between the destination PM and the vehicle positions CM1 to CM3 that change sequentially. That is, in the example of FIG. 11, immediately after switching to the map [MP1] of 20 [km] scale, the 3D map data projected from the position of the viewpoint VW1 is drawn. Thereafter, each time the host vehicle position CM1 advances by a predetermined distance or a predetermined angle, the three-dimensional map data is sequentially drawn while gradually decreasing the height of the viewpoint VW1.

  Immediately after switching from the map MP1 of 20 [km] scale to the map MP2 of 1 [km] scale, the stereoscopic map data projected from the position of the viewpoint VW2 is drawn. Similarly, each time the host vehicle position CM2 advances by a predetermined distance or a predetermined angle, the three-dimensional map data is redrawn while gradually decreasing the height of the viewpoint VW2. Immediately after switching to the 10 [m] scale map MP3, the 3D map data projected from the position of the viewpoint VW3 is drawn.

  After the map MP3 is switched to the minimum scale (10 [m] scale), the vehicle position CM3 is drawn so as to gradually move toward the destination PM as the vehicle travels. In the meantime, the height of the viewpoint VW3 is gradually lowered to approach the height of the actual destination PM. Then, when the final destination PM is finally reached, the 3D map data viewed from the height of the destination PM is drawn.

  FIG. 13 is a diagram illustrating a screen display example of a map image around the destination. When the destination PM is on the upper floor in the building, as shown in FIG. 13A, the map is displayed from the viewpoint of looking into the vehicle from the upper floor of the destination PM. On the other hand, when the destination PM is on the ground, as shown in FIG. 13B, the map is displayed from the viewpoint of looking at the vehicle from the position of the eyes on the ground.

  In this way, not only the map scale is simply switched according to the distance between the destination PM and the vehicle positions CM1 to CM3, but the map is sequentially changed so that the heights of the viewpoints VW1 to VW3 are gradually lowered. By redrawing, the own vehicle positions CM1 to CM3 can be displayed almost fixed at the upper part of the screen (near the center of the uppermost part of the screen).

  That is, by simply switching the map scale, the vehicle positions CM1 to CM3 move slightly toward the destination PM in the upper part of the screen while using the map of the same scale during the switching. On the other hand, by gradually reducing the height of the viewpoints VW1 to VW3, the vehicle positions CM1 to CM3 can be used even when the same scale map is being used due to the compression effect of the distance obtained when bird's-eye view from a lower position. It is possible to make it appear to move little at the upper part of the screen.

  Since the destination PM can be displayed at a lower part of the screen and the vehicle positions CM1 to CM3 are substantially fixed to the upper part of the screen, the positional relationship between the destination PM and the vehicle positions CM1 to CM3 is provided to the user in an easily understandable form be able to. Further, the distance from the vehicle positions CM1 to CM3 to the destination PM can be as large as possible in the screen, and the guidance route between them can be displayed fully over the entire screen.

  As described above in detail, according to the second embodiment, as in the first embodiment, the map and the building are displayed in a three-dimensional manner with the destination looking down from the sky above the destination as seen from the vehicle position. As a result, it is possible to eliminate the inconvenience that the destination is hidden behind the building in front. As a result, the user can clearly check the situation around the destination.

  In the second embodiment, since the map is displayed while appropriately switching the map scale so that the destination and the vehicle position can be simultaneously displayed on one screen, the user can display the map around the destination. You can intuitively understand not only the situation but also the positional relationship between the destination and the current location. In addition, since the height of the viewpoint is gradually changed according to the distance between the destination and the vehicle position, the information from the current location to the destination is fully displayed on the screen using the screen effectively. be able to.

  In the second embodiment, the example in which the vehicle scales CM1 to CM3 and the destination PM select a map scale that falls within one screen has been described. However, the present invention is not limited to this. For example, when the guidance route is bent significantly, or when a stopover is set relatively far away, the vehicle positions CM1 to CM3 and the destination PM may be within one screen. In some cases, a part of the guide route in the meantime does not fit within one screen. In order to cope with such a case, a map scale may be selected as appropriate so that the own vehicle positions CM1 to CM3 and the destination PM, and further, all the guidance routes between them are within one screen.

  Moreover, although the said embodiment demonstrated the example which switches and displays the map of the discrete scale prepared beforehand, it was not limited to this. For example, every time the vehicle moves by a predetermined distance or a predetermined angle, a map of a scale corresponding to the distance between the vehicle positions CM1 to CM3 and the destination PM at that time is generated by interpolation calculation and redrawn sequentially. Anyway.

  For example, when the host vehicle position CM1 is within the range of 20 [km] ≧ D> 1 [km], the distance D to the destination PM is 20 [km] scale according to the position of the host vehicle position CM1. And a 1 [km] scale map are interpolated to sequentially generate and redraw a scale map corresponding to the distance D at that time. Even in this case, it can be seen that the vehicle positions CM1 to CM3 hardly move in the upper part of the screen.

  The stereoscopic display methods according to the first and second embodiments described above can be realized by any of a hardware configuration, a DSP, and software. For example, when realized by software, the navigation control apparatus 100 of each embodiment is actually configured by including a CPU or MPU of a computer, RAM, ROM, and the like, and is realized by operating a program stored in the RAM or ROM. it can.

  Therefore, it can be realized by recording a program that causes a computer to perform the functions of each embodiment on a recording medium such as a CD-ROM and causing the computer to read the program. As a recording medium for recording the program, a flexible disk, a hard disk, a magnetic tape, an optical disk, a magneto-optical disk, a DVD, a nonvolatile memory card, and the like can be used in addition to the CD-ROM.

  Some recent navigation devices have a communication function, and others can be used by connecting to a mobile phone having the communication function. In the case of this type of navigation device, the functions of the above-described embodiments can also be realized by downloading the program to a computer via a network such as the Internet.

  Further, in order to realize the functions of the navigation control apparatus 100 according to each embodiment in a network environment, all or a part of the programs may be executed by another computer.

  In addition, the functions of the respective embodiments are realized by executing a program supplied by a computer, and the program is jointly operated with an OS (operating system) or other application software running on the computer. This is also the case when the functions of the embodiments are realized, or when all or part of the processing of the supplied program is performed by a function expansion board or function expansion unit of the computer to realize the functions of the embodiments. The program is included in an embodiment of the present invention.

  In addition, each of the first and second embodiments described above is merely an example of implementation in carrying out the present invention, and the technical scope of the present invention should not be interpreted in a limited manner. It will not be. In other words, the present invention can be implemented in various forms without departing from the spirit or main features thereof.

  The present invention provides a navigation device having a function of stereoscopically displaying a building on a map so that the accurate position of the destination, the surrounding situation, the positional relationship between the destination and the current location, and the like can be easily displayed in a stereoscopic manner. Useful for.

It is a block diagram which shows the structural example of the navigation apparatus by 1st Embodiment. It is a figure which shows the example of the navigation screen displayed at the time of the stereoscopic display mode by the navigation apparatus of 1st Embodiment. It is a figure which shows the example of how to take the viewpoint which looks down at a destination from back sky. It is a figure which shows the other example of the navigation screen displayed at the time of a stereoscopic display mode with the navigation apparatus of 1st Embodiment. It is a figure which shows the example of a display which divided | segmented the navigation screen into 2 screens, and is a figure which shows the example of a screen displayed when the distance from the own vehicle position to the destination is a long distance. It is a figure which shows the example of a display which divided | segmented the navigation screen into 2 screens, and is a figure which shows the example of a screen displayed when the distance from the own vehicle position to the destination is a short distance. It is a figure which shows the example of a display which divided | segmented the navigation screen into 2 screens, and is a figure which shows the example of a screen displayed when reroute is performed. It is a figure which shows the example of a display which divided | segmented the navigation screen into 2 screens, and is a figure which shows the other example of a screen displayed when a reroute is performed. It is a block diagram which shows the other structural example of the navigation apparatus by 1st Embodiment. It is a block diagram which shows the structural example of the navigation apparatus by 2nd Embodiment. It is a figure which shows the operation example regarding the change of the map scale by 2nd Embodiment, and the change of a viewpoint height. It is a figure which shows the example of a screen display by switching of a map scale. It is a figure which shows the example of a screen display of the map image around the destination by 2nd Embodiment. It is a figure which shows the example of the conventional screen display.

Explanation of symbols

21 Map buffer 22 Stereo image buffer 31 Map drawing unit 32 VRAM
33 Reading Control Unit 34 Stereo Image Drawing Unit 35 Stereo Image Position Detection Unit 36 Stereo Image Adjustment Unit 45 Stereo Image Drawing Unit 46 Table Information Storage Unit 51 ROM Read Control Unit 52 Stereo Image Drawing Unit

Claims (17)

In the three-dimensional display method for navigation which displays a building three-dimensionally on a map,
A three-dimensional navigation display characterized by displaying a bird's-eye view of the map with the above-mentioned destination looking down from above the destination as seen from the position of the vehicle and displaying the building in a three-dimensional manner on the map of the bird's-eye view Method. The viewpoint of looking down at the destination from above is set in the sky in the direction of x degrees (0 ≦ x ≦ 180) in the horizontal plane with respect to the final route to the destination. The three-dimensional display method for navigation as described. The viewpoint of looking down at the destination from above is set in the sky in the direction of x degrees (−90 ≦ x ≦ 90) in the horizontal plane with respect to the direction from the vehicle position to the destination. The three-dimensional display method for navigation according to claim 1.   2. The three-dimensional display method for navigation according to claim 1, wherein the map is displayed in such a manner that the destination is located at a lower part of the screen.   5. The three-dimensional display method for navigation according to claim 4, wherein when the destination is viewed from above the rear, the building in front of the destination is hidden.   When the destination is viewed from above, the building in front of the destination is also displayed, the height information of the building in front of the destination, and the relative positional relationship information between the building and the destination The navigation solid according to claim 1, wherein a map is displayed with a different viewpoint height so that the destination can be seen from above a building in front of the destination. Display method.   The screen is divided into a plurality of parts, a map is displayed on the first screen with the vehicle position viewed from the rear, and the second screen is a bird's-eye view of the map with the destination looked down from above. The 3D display method for navigation according to claim 1, wherein the 3D display of the building is displayed on the map of the bird's eye view.   Based on distance information between the destination and the vehicle position, a map display is performed while appropriately switching at least a scale that can display both the destination and the vehicle position simultaneously on one screen. The three-dimensional display method for navigation according to claim 1, wherein:   The three-dimensional display method for navigation according to claim 8, wherein the scale is switched so that the destination is located at a lower part of the screen and the vehicle position is located at an upper part of the screen.   The map display according to claim 8 or 9, wherein a map is displayed while changing a height of a viewpoint overlooking the destination based on distance information between the destination and the vehicle position. 3D display method for navigation. Draw a map with a bird's-eye view in a state of looking down on the destination from the sky above the destination as seen from the vehicle position, and a destination reference image drawing means for drawing a building three-dimensionally on the map of the bird's-eye view,
A navigation apparatus comprising: display control means for controlling to display a destination-based stereoscopic image drawn by the destination-reference image drawing means on a display device.   12. The navigation apparatus according to claim 11, wherein the destination reference image drawing means draws a map in such a form that the destination is located at a lower part of the screen.   The destination reference image drawing means draws another building in such a form that the destination can be seen without drawing the building in front of the destination when the destination is viewed from above the rear. The navigation device according to claim 12, wherein A current location reference image drawing means for drawing a map in a state where the vehicle position is viewed from behind,
The display control means divides the screen of the display device into a plurality of parts, displays the current location reference image drawn by the current location reference image drawing means on the first screen, and displays the second screen on the second screen. 12. The navigation apparatus according to claim 11, wherein control is performed so as to display a destination-based stereoscopic image drawn by the destination-reference image drawing means.   Based on the distance information between the destination and the vehicle position, the destination reference image drawing means has a scale capable of simultaneously displaying at least both the destination and the vehicle position on one screen. The navigation apparatus according to claim 11, wherein the map is drawn while switching appropriately.   The destination reference image rendering means moves the vehicle position toward the destination on a map of a certain scale, and the distance between the destination and the vehicle position is a value of the next scale. 16. The navigation device according to claim 15, wherein when the size becomes smaller, the map is drawn by switching from the certain scale to the next scale.   The destination reference image drawing means draws a map while changing a height of a viewpoint overlooking the destination based on distance information between the destination and the vehicle position. The navigation device according to 15 or 16.

Images