JP4241350B2 - Mobile auxiliary guide device - Google Patents

Description

  The present invention relates to a moving body auxiliary guide device for assisting and guiding the operation of a moving body such as a vehicle, and more particularly to a moving body auxiliary guide device that is used in a navigation device and assists and guides the operation of a moving body.

  2. Description of the Related Art In general, a navigation device is known that measures the current position of a moving body such as a vehicle (hereinafter simply referred to as a vehicle) using a GPS (Global Positioning System) device and displays the current position of the vehicle together with a road map on a display device such as a display. In such a navigation device, the vehicle current location, the traveling direction of the vehicle, and the like are guided to the driver. Some vehicles detect obstacles or the like on the road with a sensor and notify the driver accordingly. However, with this type of navigation device, it is only necessary to notify the driver of the presence of an obstacle, etc., to recognize the obstacle on the road, and the recommended traveling direction and recommended speed that the vehicle should travel to the driver. It is difficult to give driving information such as (vehicle speed) to the driver and provide driving assistance guidance when driving the vehicle.

  On the other hand, when controlling an electric vehicle, the vehicle position data in the map database is based on GPS data and current location information corrected by checkpoint confirmation. Some are designed to perform appropriate danger avoidance control.

  Here, the steering device must be automatically activated when the vehicle is about to protrude from the lane or space where the vehicle should travel, and the vehicle such as a stop sign or railroad crossing at the intersection must always stop At a point on the road, the vehicle is automatically stopped, and the vehicle is automatically stopped or decelerated even when a vehicle or a person is present in front of the same lane and it is determined that the vehicle will collide at the same speed. I am doing so.

  In addition, the maximum speed is automatically controlled in the space designated by the vehicle in advance, the vehicle protrudes from the lane and collides with an obstacle, the accident that ignores the signal, the accident caused by the rear-end collision with the vehicle ahead , Accidents that occur when changing lanes, accidents that occur when turning right, accidents that hit pedestrians on the lane, etc., and quick brake operation against pedestrian jumping (for example, patent document) 1).

JP-A-2002-178864 (paragraph (0028) to paragraph (00115), FIGS. 1 to 11)

  Since the conventional mobile auxiliary guide device is configured as described above, it has an in-vehicle laser radar or an in-vehicle camera to automatically control the vehicle to prevent accidents. This relates to automatic control, and the vehicle's risk avoidance control may be performed even against the driver's intention.

  And in order to perform such danger avoidance control, it is necessary to detect the distance to the object (object) with the in-vehicle laser radar, and in order to detect the distance between the object and the vehicle in all directions of the vehicle, A large number of in-vehicle laser radars are required, and the in-vehicle laser radars must be arranged at least on the front side, rear side, and side surface side of the vehicle. For this reason, there existed a subject that the conventional mobile auxiliary | assistant guide apparatus will become expensive.

  The present invention has been made to solve the above-described problems, and an object thereof is to obtain a moving body auxiliary guidance device that can provide a driver with auxiliary guidance for operation of a moving body at a low cost and appropriately. To do.

  The moving body auxiliary guidance device according to the present invention detects the current position of the moving body, detects the azimuth of the moving body and the moving speed of the moving body, and notifies the current position on a map around the moving body. When the mobile object is guided, the area where the mobile object can move is extracted from the map data as a static movable area, and the static movable area is quantized and quantized. Dynamic region indicating the region in which the moving object can move according to the moving direction and moving speed of the moving object in the moving region in the stationary state using the quantized movable region. It is characterized in that a movable area is obtained, a recommended movement state recommended for movement of the moving body is determined according to the dynamic movable area, and the recommended moving state is notified to assist the moving body.

  In the present invention, an area where the moving body can move is extracted from the map data as a static movable area assuming that the moving body is stationary, and the static movable area is quantized to obtain a quantized movable area. After that, using the quantized movable area, a dynamic movable area indicating an area in which the moving body can move in accordance with the moving direction and moving speed of the moving body in the movable area in a stationary state is obtained. Therefore, the recommended moving condition recommended for moving the moving object is determined according to the dynamic moving possible area, and the recommended moving condition is output, so that it is cheap and appropriate for the driver to operate the moving object. There is an effect that auxiliary guidance can be performed.

Embodiment 1 FIG.
FIG. 1 shows a mobile auxiliary guide apparatus according to Embodiment 1 for carrying out the present invention. In FIG. 1, the illustrated moving body auxiliary guidance apparatus is mounted on a moving body such as a vehicle (hereinafter referred to as a vehicle) and assists and guides the operation (progress) of the vehicle. The mobile auxiliary guide device includes a drive device (drive) 202, which reads map data from a medium 201 such as a DVD or a hard disk, and via an interface (I / F) circuit 206, an electronic control unit ( This is given to the navigation ECU) 207 below.

  Further, the mobile auxiliary guidance device includes a GPS receiver 203, a gyro 204, and a vehicle speed sensor 205. The GPS receiver 203 receives a GPS signal from a GPS satellite (not shown), The GPS data is given to the navigation ECU 207 through the F circuit 206 as GPS data. The gyro 204 detects an angular velocity when the vehicle turns and supplies it to the navigation ECU 207 as an angular velocity signal (voltage signal) via the I / F circuit 206. A vehicle speed sensor 205 detects the vehicle speed and detects a vehicle speed signal (pulse signal). ) To the navigation ECU 207 via the I / F circuit 206. This vehicle speed signal is detected for each predetermined travel distance.

  The navigation ECU 207 obtains the current location (absolute position and absolute orientation) of the vehicle according to the GPS data and the map data, and once writes the current location of the vehicle, the vehicle speed signal, and the angular velocity signal together with the map data in the external memory 208. On the other hand, an image recognition device with camera 211 is connected to the I / F circuit 206, and an image (video outside the vehicle) captured by a camera (not shown) mounted on the vehicle is the image recognition device with camera 211. As will be described later, the image recognition processing is performed, and the processed image data is provided to the navigation ECU 207 via the I / F circuit 206. The navigation ECU 207 temporarily stores the processed image data in the external memory 208. Then, the navigation ECU 207 performs vehicle operation guidance using the display device (display) 209 and the speaker 210 in accordance with each data stored in the external memory 208 as described later.

  FIG. 2 is a functional block diagram showing the functions of the navigation ECU 207. Referring to FIG. 2, although not shown in FIG. 1, the navigation ECU 207 is connected to an input means 104 for inputting a destination and the like. The ECU 207 includes map information acquisition means 101 that acquires map data from the medium 201 (FIG. 1), position detection means 102 that detects the position (current location) of the vehicle, azimuth speed detection means 103 that detects the azimuth and speed of the vehicle, and In addition to route search means 105 for searching for the optimum route to the destination, static moveable area extraction means 106, static moveable quantization means 107, dynamic moveable area calculation means 108, recommended movement state determination means 109 , Recommended movement state output means 110, image photographing angle detection means 112, planarization conversion means 113, and object (object) mapping means 11 The has. The image recognition apparatus with camera 211 is provided with a landscape image recognition unit 111.

  As will be described later, the landscape image recognition unit 111 recognizes an image (landscape image) in accordance with the azimuth velocity signal given from the azimuth velocity detection unit 103 to obtain processed image data, and the image photographing angle detection unit 112 converts the landscape image into a processed image data. It is determined what kind of bird's-eye view the bird's-eye view is. The planarization conversion means 113 converts the coordinates of the object in the landscape image into a plan view (first plan view) looking down from above and a plan view (second plan view) representing the height seen from the horizontal direction. .

  The static movable area extracting unit 106 extracts an area in which the vehicle can be moved from the map data as a static movable area assuming that the vehicle is stationary, and the object mapping unit 114 includes the position of the object in the movable area. Map and correct the map data. Then, the static movable area quantization means 107 quantizes the movable area and generates a quantized movable area. The dynamic movement area calculation means 108 calculates a dynamic movement area in the quantized movement area in consideration of the movement direction and movement speed indicating the movement state of the vehicle.

  The recommended movement state determination unit 109 determines whether or not the object should be avoided in the dynamically movable region, determines what kind of movement can be recommended based on the determination result, and determines the final recommended movement state. It is output from the recommended movement status output means 110 and displayed on the display 209 shown in FIG. The navigation ECU 207 displays a map on the display 209 according to the map data and the vehicle current location, and displays the vehicle current location on the map.

Next, the operation will be described.
Referring to FIGS. 2 and 3, when the moving body auxiliary guidance device operates, map information acquisition means 101 performs vehicle current location (moving body position), vehicle speed, vehicle direction (traveling direction), and route (route information). Accordingly, map data (road data) in the vicinity of the vehicle current location is acquired (step ST1). Then, based on the map data, the static movable area extracting means 106 extracts an area in which the vehicle can travel when it is assumed that the vehicle is stationary as a static movable area (step ST2). A landscape image recognition unit 111 recognizes a landscape image captured by a camera and sets it as processed image data. For example, the landscape image recognition unit 111 recognizes the landscape image, quantizes white lines and obstacles (hereinafter collectively referred to as objects) on the road, and obtains quantized data (step ST3).

  The image shooting angle detection means 112 adjusts the overhead view angle of the static movable area to make it three-dimensional (3D) to form a 3D movable area, and determines the image shooting angle according to the 3D movable area and the quantized data. (Step ST4). The flattening conversion unit 113 flattens the coordinates of the quantized data in the horizontal direction and the vertical direction according to the image photographing angle to obtain flattened data (step ST5). The object mapping means 114 maps the planarization data (horizontal coordinates and vertical coordinates) to the static movable area, thereby calculating the size, height, and distance from the vehicle (step ST6). .

  The static movable area quantization means 107 quantizes the static movable area, obtains a quantized movable area, and adds the object to the quantized movable area (step ST7). Then, the dynamically movable area calculating means 108 obtains an area in which the vehicle can move from the quantized movable area as a dynamically movable area according to the speed of the vehicle (step ST8). The recommended movement state determination means 109 determines whether or not an obstacle can be avoided from the dynamically movable area, determines a recommended vehicle movement state (step ST9), and recommends movement as the recommended movement state. Output from the status output means 110 (step ST10).

  Here, with reference to FIG. 4, the operation of the static movable area extracting unit 106 will be further described. First, the static movable area extracting unit 106 acquires map data corresponding to the traveling direction of the vehicle from the map information acquiring unit 101 (step ST11), and whether or not the vehicle is traveling on the road of the map data. Is determined (step ST12). If it is determined that the vehicle is traveling on the road, the static movable area extracting means 106 distinguishes between the road that cannot be passed or the road that is not allowed to pass and the road that is allowed to pass, and there is an obstacle such as a restriction. A point and a section are determined (step ST13).

  Then, the static movable area extracting unit 106 adds map data correction information such as an obstacle point and the number of lanes from the data obtained from the object mapping unit 114 to the map data, and stores it as corrected map data (step ST14). ). If it is determined in step ST12 that the vehicle is not traveling on the road, the static movable area extracting unit 106 ends the process.

  FIG. 5 shows an example of map data extracted corresponding to the vehicle traveling direction. In FIG. 5, reference numeral “501” represents the area of the read map data, and reference numeral “502” represents the area of the map data to be extracted corresponding to the vehicle traveling direction. Reference numerals “503” and “504” represent roads on the map data that cannot pass and points on the map data where there are obstacles. Reference numeral “505” represents a road that can be passed on the map data, and reference numerals “506” and “507” respectively represent points where there are obstacles output from the object mapping means 114 and lane number error information on the map data. Represents a road reflecting

  With reference to FIG. 6, the operation of the static movable area quantization means 107 will be further described. The static movable area quantization means 107 uses road width data for the map data (that is, the static movable area) extracted in correspondence with the vehicle traveling direction output from the static movable area extraction means 106. For a road with a width, the width is given by the width of the road, and quantization is performed (step ST15). Then, the static movable area quantization means 107 calculates, for a road with no road width data and a road with a number of lanes, one lane as a predetermined width, widths and quantizes (step ST16). ). Furthermore, the static movable area quantization means 107 is fixed for roads without road width data and roads with no lane numbers (for example, when there is no landscape data (night, rain, etc.) and when there is no map data). The width defined in advance as the number of lanes is calculated, and the width is added and quantized (step ST17).

  FIG. 7 shows the result of quantization by the static movable area quantization means 107. In FIG. 7, reference numeral “701” represents a result of quantizing a road width of 5.5 meters, reference numeral “702” represents a result of quantizing a road having four lanes, and reference numeral “703” represents an unexamined result. The result of quantizing the road as one lane having a fixed number of lanes is shown.

  Here, the operation of the landscape image recognition unit 111 will be described in detail. Referring to FIG. 8, landscape image recognition unit 111 determines whether the vehicle is moving in the direction of travel, for example, a turn indicator (winker) or a back check (backward) or the like, and confirms the entrainment and the back. The image recognition device with camera 211 (FIG. 2) is instructed to perform image recognition in a predetermined direction (step ST18). The landscape image recognition unit 111 performs processing on the landscape image obtained by the camera as follows.

  First, the landscape image recognition unit 111 recognizes the road width from the landscape image (step ST19) and recognizes the lane (step ST20). Thereafter, the landscape image recognition unit 111 recognizes whether there is a structure such as a tunnel entrance (step ST21), and recognizes whether there is a stopped obstacle or the like based on the traveling speed of the vehicle. (Step ST22). Then, the landscape image recognizing unit 111 recognizes whether there is another moving body that is moving based on the traveling speed of the vehicle (step ST23).

  FIG. 9 schematically shows an actual landscape image. In FIG. 9, reference numeral “901” represents a recognized road, and reference numeral “902” represents a recognized lane. Reference numeral “903” is a recognized structure such as a tunnel entrance, and reference numerals “904” and “905” are a recognized stop obstacle and another recognized moving body, respectively.

  With reference to FIG. 10, the image photographing angle detecting unit 112 will be further described. The image photographing angle detecting unit 112 first acquires a road area recognized by the landscape image recognizing unit 111 (step ST24). Further, the landscape photographing angle detection unit 112 acquires the static movable region extracted by the static movable region extraction unit 106 (step ST25), and performs a predetermined width on the static movable region. To quantize (step ST26). Thereafter, the landscape photographing angle detection means 112 performs bird's-eye view and bird's-eye view (position of the driver's eyes) for each minimum unit, compares the bird's-eye view of the quantized width road and the road area, The matching overhead angle and viewpoint are selected (step ST27). Then, the image shooting angle detection means 112 averages the selected overhead angle and viewpoint (step ST28).

  In step ST27, first, the reference Y-axis coordinate value, for example, the road width on the lower side of the screen is compared with each other, and the enlargement or reduction ratio is determined. The processing is performed from the median angle of 45 degrees, and then divided into halves in units of 22.5 degrees to select the most similar overhead angle. Then, the viewpoint is selected following the same procedure. Further, the areas of the quantized movable area and the recognized road area are compared to make a similar determination (note that the selection may be performed by sampling a plurality of times, for example, by averaging).

  Further, the image photographing angle detection means 112 obtains gradient information and stores this gradient information. For example, when a bird's-eye view angle shift of a predetermined value or more (for example, 5 ° or more) occurs with respect to the bird's-eye view angle selected in step ST27, the relationship between the current bird's-eye view angle and the selected bird's-eye angle is obtained. Is stored in the external memory as gradient information.

  FIG. 11 schematically shows a processing result by the image capturing angle detection unit 112. In FIG. 11, FIGS. 11A to 11C show determination of enlargement or reduction magnification, which is the first procedure for bird's-eye view in step ST27, and the road width shown in FIG. Thus, the state shown in FIG. FIGS. 11D to 11F show selection of the most similar overhead angle in step ST26. Here, the state shown in FIG. 11E is reduced to a state shown in FIG. 11F by narrowing the range from 45 degrees to 22.5 degrees. FIGS. 11G to 11I show selection of the most similar viewpoint in step ST26. Here, the state shown in FIG. 11 (h) is gradually narrowed in front of the viewpoint to be the state shown in FIG. 11 (i).

  Next, the operation of the planarization conversion unit 113 will be described with reference to FIG. 12. In planarization, the bird's-eye angle and the viewpoint obtained by the image photographing angle detection unit 112 are used. The flattening conversion unit 113 determines whether the object recognized by the landscape image recognition unit 111 has a height according to a preset table (step ST29). In this table, objects having a height are defined as, for example, other moving objects, signs, tunnel entrances, bridges / elevated structures, and crossings.

  The flattening conversion means 113 divides the object having a height into a coordinate group that is flattened in the X and Y directions and a coordinate group that is flattened in the Z direction (step ST30). Planarized coordinate transformation is performed in the X and Y directions according to the viewpoint (step ST31). In step ST29, the object (for example, a white line) determined to have no height is also subjected to planar coordinate conversion in the X and Y directions according to the overhead angle and viewpoint in step ST31. Further, the planarization conversion unit 113 performs planarization coordinate conversion on a coordinate group to be planarized in the Z direction for an object having a height (step ST32), and identifies the coordinate and object after conversion into a predetermined storage area. The recognition ID is stored (step ST33).

  The above-mentioned recognition ID recognizes, for example, a road surface, a white line, a lane, a fixed obstacle, a variable obstacle, another moving body, a sign, and the like. The signal is a signal indicating the speed limit of the moving object. For example, with respect to the other moving body, the classification of the large other moving body, the small other moving body, the bicycle, the two-wheeled vehicle, and the pedestrian may be performed in more detail. Further, the X and Y directions may be further converted into latitude and longitude directions. Furthermore, with respect to an object having a height, for a portion that cannot be seen from the vehicle, typical model data may be prepared in advance, and the portion that cannot be seen may be transplanted from the representative model data. It may be determined whether or not it is another moving body according to the above.

  FIG. 13 shows the result processed by the planarization conversion means 113. 13A and 13B show a state in which the moving body is planarized in the X and Y directions, and FIGS. 13C and 13D show the moving body in the Z direction (height direction). The state which planarized is shown.

  Further, the operation of the object mapping unit 114 will be described with reference to FIG. 14. In the object mapping unit 114, the object having the height obtained by the planarization conversion unit 113 is converted into the static movable region quantization unit 107. (Step ST34). The object mapping unit 114 may add a static object having the height obtained by the planarization conversion unit 113 to the map data by the map information acquisition unit 101. The format for storing the map data may be registered as a three-dimensional polygon such as VRML, or may be registered as data of a plane coordinate group and height.

  Further, the object mapping means 114 compares the lane obtained from the planarization conversion means 113 with the lane in which the vehicle is traveling, and if they do not match, the object mapping means 114 determines the lane in which the vehicle is traveling as the planarization conversion means. Replace with the lane obtained in step 113.

  FIG. 15 schematically shows map data stored by the object mapping means 114. In FIG. 15, reference numeral “1501” represents a static object having a height decomposed in the X and Y directions. ing. Reference numeral “1502” represents a road line stored in advance in map data, reference numeral “1503” represents a static object having a height, and reference numeral “1504” represents a static object as map data. The point to memorize is shown. Note that the point is registered according to a predetermined rule such as a midpoint of the object.

  Referring to FIG. 16, the operation of the dynamically movable area calculating unit 108 will be described. The dynamic movable area calculating unit 108 obtains a vehicle vector according to the moving direction and the vehicle speed of the vehicle, and calculates the maximum deceleration and the maximum The vehicle vector that changes direction is sequentially obtained from the previous vehicle vector until the minimum speed is reached (step ST35). Then, the dynamic movement area calculation unit 108 adds the quantized movement area obtained by the static movement area quantization unit 107 to the right or left direction of the route direction and the vehicle vector calculated in advance. Then, a dynamically movable area is extracted (step ST36).

  The addition may be terminated when the vehicle vector is opposite to the previously calculated route direction, or when the destination is in the vicinity of the vehicle or the vehicle arrives at the destination parking lot. In this case, the vehicle vector may be based on not only the moving direction of the vehicle but also the turnover considering the vehicle vector in the reverse direction. Further, for example, when the moving body is a vehicle, the dynamic movable area is a static movable area that gives the highest priority to the own vehicle traveling lane, and another static lane that gives priority to the other traveling lane. You may make it consider the movable area | region and the static movable area | region which gives priority to the driving lane of an opposite lane most.

  FIG. 17 schematically shows the dynamically movable area calculated by the dynamically movable area calculating means 108. In FIG. 17, reference numeral “1701” represents a statically movable area, and reference numeral “1702” represents an area in a route direction obtained in advance. Reference numeral “1703” indicates a vehicle vector, a counterclockwise vector is indicated by reference numeral “1704”, and a clockwise vector is indicated by reference numeral “1705”. Reference numerals “1706” and “1707” represent a dynamically movable area and a vehicle position, respectively.

  With reference to FIG. 18, the operation of the recommended movement state determination unit 109 will be described. The recommended movement state determination means 109 determines whether there is an instruction to stop an obstacle or a signal in front of the lane where the vehicle moves within the dynamically movable area, or whether there is a movable width ( If it does not exist, the recommended movement state determination means 109 proceeds to step ST38, and if present, the process proceeds to step ST39. At this time, the information such as the red signal or the crossing during the interruption may be, for example, a front image recognition result by a camera or the like, or may be information given from a roadside device such as a beacon or DSRC.

  In step ST38, the movement recommendation state determination unit 109 generates a movement recommendation vector along the movement lane. This travel recommendation vector takes into account the acceleration and maximum centrifugal force considering the limit acceleration / deceleration with respect to the prescribed moving speed of the road etc., based on a predetermined threshold from the center or left and right lane lines of the lane where the vehicle moves It is used when determining the recommended movement state based on the azimuth change. For example, the smallest value is selected in the equation of acceleration × weight α + azimuth change × weight β.

  On the other hand, in step ST39, the recommended movement state determination unit 109 classifies the objects that are in front obstacles into other moving bodies, fixed obstacles, and variable obstacles for each lane. If it is a variable obstacle, the process proceeds to step ST40, and if it is not a variable obstacle, the process proceeds to step ST41. In step ST40, the recommended movement state determination unit 109 sets the recommended movement state for deceleration so as to stop the movement. At this time, when calculating the recommended movement vector, as described in step ST38, the reference for the vehicle to move is set as a dynamically movable area in the route direction having a width through which the vehicle passes.

  On the other hand, in step ST41, the movement recommendation state determination unit 109 proceeds to step ST42 if the object ahead is a fixed obstacle, and proceeds to step ST43 if it is not a fixed obstacle. In step ST42, the recommended movement state determination unit 109 sets the recommended movement state in which the vehicle proceeds to another lane. At this time, when calculating the recommended movement vector, as described in step ST38, the reference for the vehicle to move is set as a dynamically movable area in the route direction having a width through which the vehicle passes.

  In step ST43, if the forward object is another moving body and the moving object is different from a vehicle such as a pedestrian, the recommended movement state determination unit 109 replaces this with a variable obstacle and returns to step ST40. If it is not a moving body different from vehicles, such as a pedestrian, it will progress to step ST44. In step ST44, if the moving speed of the other moving body in front is extremely slower than the prescribed speed limit of the road or the like, for example, less than the speed limit × 0.5, the recommended travel state determination unit 109 The situation of the obstacle is judged, there is no fixed obstacle and variable obstacle, and the moving speed of the other moving body in the other lane is, for example, speed × 0.3 compared with the moving speed of the other moving body in front. If it is fast as described above, the process proceeds to step ST42. On the other hand, if it is not in the above-described state in step ST44, the recommended movement state determination unit 109 proceeds to step ST45.

  In step ST45, the recommended movement state determination unit 109 sets the recommended movement state along the movement lane according to the moving speed of the other moving body in front. In this case, when calculating the recommended movement vector, as described in step ST38, the moving speed of the other moving body in front is set as the upper limit as the reference for moving the vehicle.

  FIG. 19 shows the state of the movement recommendation vector VT output from the movement recommendation state output means 110. As shown in FIG. 20, the acceleration / deceleration of the movement recommendation vector is shown on the display 209 (FIG. 1). In addition, the degree of depression of the accelerator and the brake, the steering wheel rotation direction, and the rotation angle are shown according to the change in direction. Note that, as described above, automatic driving of a moving body such as a vehicle may be performed based on the recommended movement vector.

  According to the first embodiment, an area where the moving body is movable is extracted from the map data as a static movable area assuming that the moving body is stationary, and the static movable area is quantized to be quantized and movable. As a region, a dynamic movable region indicating a region in which the movable body can move according to a moving direction and a moving speed of the movable body in the movable region in a stationary state using the quantized movable region. In addition, since it is configured to determine the recommended movement state recommended for the movement of the moving body in accordance with the dynamic movable area, it is possible to appropriately assist the driving of the moving body to the driver at a low cost. There is an effect that can be done.

  According to the first embodiment, the recommended movement direction is determined according to the restriction and obstacle in the road form in the predetermined direction. Therefore, the recommended movement state is accurately determined while avoiding the restriction and obstacle in the road form. There is an effect that can be done.

  According to the first embodiment, the acceleration / deceleration and the speed change during the movement of the moving body are predicted according to the movement recommendation vector indicating the recommended movement state, and the direction and the speed are guided during the movement of the moving body. Since it comprised so, there exists an effect that a driver | operator can operate a moving body easily.

  According to the first embodiment, when the direction and speed of the moving body are guided, the desired state of the accelerator, the brake, and the steering wheel is notified, so that the driver can perform the preferable operation of the moving body very easily. There is an effect that can be.

  According to the first embodiment, the front landscape of the moving body is photographed and recognized as a landscape image, the bird's-eye view angle of the landscape image is determined, and the coordinates of the object in the landscape image are moved upward based on the bird's-eye view angle. After converting the first plan view looking down from above and the second plan view showing the height seen from the horizontal direction, the object is mapped in the static movable area according to the first and second plan views. Since the map data is configured to be corrected, an object that is not in the map data can be displayed on the map data, and in consideration of such an object, the driver can be guided to the moving body. is there.

  According to the first embodiment, since the current position of the moving body is corrected according to the position information indicating the position of the object and the forward or backward movement of the moving body is determined, the moving body is accurately guided. There is an effect that can be performed.

  According to the first embodiment, since the position information indicating the position of the object is stored and the gradient of the road ahead is stored as the map data, the map data is always corrected based on the current state, and the corrected There is an effect that it is possible to assist the mobile body using the map data.

It is a block diagram which shows the mobile body auxiliary | assistant guide apparatus by Embodiment 1 of this invention. It is a functional block diagram which shows the function of the image recognition apparatus with a camera and navigation ECU shown in FIG. It is a flowchart for demonstrating schematically operation | movement of the mobile body auxiliary | assistant guide apparatus shown in FIG. It is a flowchart for demonstrating operation | movement of the statically movable area | region extraction means shown in FIG. It is a figure which shows an example of the map data taken out corresponding to the advancing direction of the vehicle. It is a flowchart for demonstrating operation | movement of the static movable area quantization means shown in FIG. It is a figure which shows an example of the result of having quantized the static movable area | region by the static movable area quantization means shown in FIG. It is a flowchart for demonstrating operation | movement of the landscape image recognition means shown in FIG. It is a figure which shows an example of the landscape image recognized by the landscape image recognition means shown in FIG. It is a flowchart for demonstrating operation | movement of the image photographing angle detection means shown in FIG. It is a figure which shows an example of the image shooting angle detected by the image shooting angle detection means shown in FIG. It is a flowchart for demonstrating operation | movement of the planarization conversion means shown in FIG. It is a figure which shows an example of the result planarized by the planarization conversion means shown in FIG. It is a flowchart for demonstrating operation | movement of the object mapping means shown in FIG. It is a figure which shows an example of the information memorize | stored as map data by the object mapping means shown in FIG. It is a flowchart for demonstrating operation | movement of the dynamic movement possible area | region calculating means shown in FIG. It is a figure which shows an example of the result (dynamic movement possible area | region) calculated | required by the dynamic movement possible area | region calculating means shown in FIG. It is a flowchart for demonstrating operation | movement of the movement recommendation state determination means shown in FIG. It is a figure which shows an example of the movement recommendation vector calculated | required by the movement recommendation state determination means shown in FIG. It is a figure which shows an example of the display output from the movement recommendation state output means shown in FIG.

Explanation of symbols

  101 map information acquisition means, 102 position detection means, 103 azimuth velocity detection means, 104 input means, 105 route search means, 106 static moveable area extraction means, 107 static moveable area quantization means, 108 dynamically moveable Area calculation means, 109 movement recommendation state determination means, 110 movement recommendation state output means, 111 landscape image recognition means, 112 image photographing angle detection means, 113 flattening conversion means, 114 object mapping means, 201 disk (medium), 202 drive Device (Drive), 203 GPS receiver, 204 Gyro, 205 Vehicle speed sensor, 206 I / F circuit, 207 Electronic control unit (Navi ECU), 208 External memory, 209 Display, 210 Speaker, 211 Image recognition device with camera.

Claims (12)

A position detecting means for detecting a current position of the moving body; and an azimuth speed detecting means for detecting a moving direction of the moving body and a moving speed of the moving body, and the current position on a map around the moving body. In the moving body auxiliary guidance device that guides the moving body by informing
A static movable area extracting means for extracting, as a static movable area, an area where the movable body can move from map data as the movable body is stationary;
A static movable region quantization means for quantizing the static movable region into a quantized movable region;
Using the quantized movable region, a dynamic movable region indicating a region in which the movable body can move according to a moving direction and a moving speed of the movable body in the movable region in a stationary state. Dynamic moving area calculation means to be obtained;
Recommended movement state determination means for determining a recommended movement state for recommending movement of the moving body according to the dynamic movable area;
A moving body auxiliary guide device comprising a recommended movement state output means for outputting the recommended movement state.   The static movable area extracting means is configured to extract a static movable area according to a road shape in a predetermined direction corresponding to a predetermined priority order based on a direction in which the moving body travels. The moving body auxiliary guide device according to claim 1.   The mobile auxiliary guidance apparatus according to claim 1, wherein the recommended movement state determination means determines the recommended movement direction in accordance with restrictions and obstacles in a road configuration in a predetermined direction.   The moving body auxiliary guide apparatus according to claim 1, wherein the moving recommended state includes at least an azimuth and a speed at which the moving body should move.   The moving body auxiliary guide apparatus according to claim 1, wherein the moving recommended state includes a moving recommendation vector indicating a recommended traveling direction of the moving body.   The recommended movement state determination means predicts acceleration / deceleration and speed change during the movement of the moving body according to the recommended movement vector, and guides at least the direction and speed when the moving body moves. The moving body auxiliary guide device according to claim 1.   The moving body auxiliary guide device according to claim 1, wherein the recommended moving state determination means notifies at least a desirable state of an accelerator, a brake, and a handle when guiding the direction and speed of the moving body. . Landscape image recognition means for photographing at least the front landscape of the moving object and recognizing it as a landscape image;
Image photographing angle detection means for determining a bird's-eye view angle of the landscape image and making it a bird's-eye view;
Planarization conversion means for converting the coordinates of the object in the landscape image into a first plan view looking down from above based on the overhead angle and a second plan view showing the height seen from the horizontal direction;
2. The moving object assist according to claim 1, further comprising object mapping means for mapping the object in a statically movable area and correcting map data in accordance with the first and second plan views. Guide device.   The image photographing angle detecting means detects the photographing angle and magnification according to the viewpoint of the bird's eye view or the height of the moving object, the bird's eye angle, and the magnification, and determines the gradient of the road ahead. Item 9. A moving body auxiliary guide device according to item 8.   The static movable area extracting means subdivides the static movable area based on a moving state of the moving object and the object, a white line of a traveling road, a road shoulder, and the number of lanes. The moving body auxiliary guide device according to 1.   The position detecting means corrects the current position of the moving body in accordance with position information indicating the position of the object obtained from the object mapping means, and determines forward or backward movement of the moving body. Item 4. A moving body auxiliary guide device according to item 1.   The moving body auxiliary guidance apparatus according to claim 1, further comprising storage means for storing position information indicating the position of the object obtained from the object mapping means and storing the gradient of the road ahead as map data.

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