JP3796945B2 - Voice guidance navigation apparatus, voice guidance navigation method, and medium on which voice guidance navigation program is recorded - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a voice guidance navigation apparatus that performs guidance using a feature extracted based on image information.
[0002]
[Prior art]
Conventionally, navigation devices for route guidance have been known and have become widespread. This navigation apparatus has a normal display, and is based on displaying a map including a present location display here. When the destination is set, the optimum route to the destination is searched based on the stored map information. And in the travel where the route to the destination is set, the route is always displayed and route guidance is performed.
[0003]
In addition, while driving, the driver needs to watch the front and cannot watch the display. Therefore, guidance such as turning left and right is also performed by voice. That is, a guidance voice such as “XXm ahead xx intersection is to the left” is output from the speaker in front of the guidance intersection (branch point) that needs guidance, and the route is guided. As a result, the driver can obtain guidance from the ear while gazing at the front.
[0004]
Here, the name of an intersection is usually used to specify a branch point, but it is not always easy to understand. Therefore, Japanese Patent Application Laid-Open No. 4-1520 and Japanese Patent Application Laid-Open No. 4-324321 propose using a feature such as a building name existing at an intersection for guidance. By using such a feature, the branch point can be explained in an easy-to-understand manner to the driver, and more suitable route guidance can be performed.
[0005]
[Problems to be solved by the invention]
However, the thing using the above-mentioned features presupposes that the driver can easily find the features. However, depending on the position of the host vehicle, it may be difficult for the driver to find a feature. In such a case, there is a problem that the guidance is rather difficult to understand.
[0006]
The present invention has been made in order to solve the above-mentioned problems, and it is possible to provide a voice guidance for a vehicle capable of providing a voice guidance that is easy for the driver to understand by considering the positional relationship between the vehicle position and the feature. An object is to provide a navigation device.
[0007]
[Means for Solving the Problems]
The present invention relates to a voice guidance navigation apparatus that performs guidance to a vehicle driver by voice at a guidance intersection mounted on a vehicle and performs guidance, and obtains a shape of a feature near the guidance intersection and its position data. And a camera that acquires an image of a guidance intersection, and whether an image obtained by the camera is subjected to image processing and whether the image can be recognized by comparing the image processed image and the shape of the feature obtained by the acquisition unit. In the determination means for determining whether or not the feature object can be recognized in the determination means, voice guidance using the feature object is performed, and when the feature object cannot be recognized, the voice guidance not using the feature object a voice guidance unit for performing, in a case where the guidance for using the features thereof, depending on the position of the feature thereof, the speech using the characteristic object A guide timing control means for controlling the guidance start timing of the guide that is characterized by having a. In this way, since the guidance start time can be adjusted, it becomes easier to check the characteristic object. In addition, features can be confirmed by the camera.
[0008]
Further, the present invention is characterized in that the guide time control means further adjusts the guide start time according to the visibility of the feature. Since a small feature is guided at a distance, it is possible to prevent a problem that the feature cannot be found.
[0009]
Further, the present invention is characterized in that the acquisition means acquires data about a feature from an external database. It is not necessary to store the data of the characteristic object inside, and the apparatus configuration can be simplified. In addition, it is relatively easy to update an external database.
[0010]
In addition, the present invention is characterized in that the guidance time control means adds guidance on the relative direction of the feature from the vehicle position to the voice guidance sentence. Since guidance about directions is included, it is easy for the driver to recognize features.
[0011]
Further, the present invention provides a voice guidance navigation method in which guidance is provided to a vehicle driver by voice at a guidance intersection that is mounted on a vehicle and performs guidance, and acquires the shape of a feature near the guidance intersection and its position data. The image about the guidance intersection is acquired by the camera, the image obtained by the camera is image-processed, and the image processed image is compared with the acquired shape of the feature to determine whether the feature can be recognized. In this determination, when the feature can be recognized, the guidance start time of the voice guidance using the feature by the voice guidance unit is determined according to the position of the feature, and the determination is made. If the feature is not recognized in the judgment, the voice guidance means is used. And performing no voice guidance.
[0012]
The present invention also provides a voice guidance navigation apparatus mounted on a vehicle, a medium in which a voice guidance navigation program to output guidance to the vehicle driver by voice in the guidance intersection for performing guidance, the voice guidance The navigation device acquires the shape of the feature near the guidance intersection and its position data, causes the camera to obtain an image of the guidance intersection, performs image processing on the image obtained by the camera, and obtains the image processed image and the acquisition In this determination, if the feature can be recognized, the feature by the voice guidance means is determined according to the position of the feature. things together to determine a guidance start timing of the voice guidance using, when it is time to said determined characteristics thereof Meta to perform the voice guidance, in the determination, when the characteristic object can not be recognized, characterized in that to perform the voice guidance that does not utilize the features thereof to the voice guidance unit.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention (hereinafter referred to as embodiments) will be described with reference to the drawings.
[0014]
FIG. 1 is a block diagram illustrating an overall configuration of an apparatus according to an embodiment. A camera 10 is mounted on the vehicle. The camera 10 is composed of a CCD camera or the like, and acquires an image in front of the vehicle. An image processing unit 12 is connected to the camera 10, and the image processing unit 12 performs various processes on image data supplied from the camera 10. For example, preprocessing for binarizing image data supplied from the camera 10, extracting various shapes, and performing processing for determining whether or not an ID sign of a predetermined shape exists in the navigation control unit 14 to be described later I do. Note that this image processing unit may perform the determination up to whether or not an ID signature exists.
[0015]
A navigation control unit 14 is connected to the image processing unit 12. The navigation control unit 14 performs various processes for navigation. The navigation control unit 14 is connected to a DGPS device 16 for detecting the current position, from which current position information is supplied. The DGPS device 16 performs relatively accurate position detection by combining position information obtained by GPS (Global Positioning System) with error information obtained from a fixed station on the ground.
[0016]
A map database 18 is connected to the navigation control unit 14. The map database 18 stores various map data necessary for route guidance and map display, and is composed of, for example, a CDROM. It is also preferable that the map database 18 is constituted by a RAM or the like, and only necessary data is acquired from outside and stored therein. Furthermore, an ID signature database 20 is connected to the navigation control unit 14. The ID sign database 20 stores the shape and size of various signboards that are characteristic objects at intersections and the like, and guidance sentences using the shapes and sizes. The ID signature database 20 may be composed of a CDROM or the like and may be prepared in advance. However, it is preferable to obtain necessary items from the outside and store them. In this embodiment, the ID sign database 20 is composed of RAM. .
[0017]
In addition, a display 22 is connected to the navigation control unit 14, and a speaker 26 is connected via a voice synthesis unit 24. The display 22 performs various displays for route guidance. A touch panel is formed on the front surface of the display 22 so that various inputs can be made based on the display. The voice synthesizer 24 performs voice synthesis based on the data supplied from the navigation control unit 14 to create a voice signal, and supplies the voice signal to the speaker 26, thereby outputting a desired voice from the speaker 26. .
[0018]
Further, a communication unit 28 is connected to the navigation control unit 14, and data communication with the outside is performed via the communication unit 28. The communication unit 28 is configured by, for example, a mobile phone connected via a modem, but it is also preferable to include a communication device that performs communication with a radio wave beacon, an optical beacon, a communication device that performs satellite communication, and the like. It is.
[0019]
A vehicle communication unit (mobile phone) 28 is connected to an information center 34 via a radio base station 30 and a public line network 32. The information center 34 has a database 36 that stores various types of information, and provides various types of data in response to requests from vehicles.
[0020]
Next, an operation when a route is set in the vehicle will be described with reference to FIG. First, when setting a route, a destination is set in the same manner as a normal navigation device. The destination can be set on a map or input from various information such as a facility name and address. When this destination is set, the optimum route is searched based on the map information in the map database 18, and the route to the destination is set based on this result (S11).
[0021]
When the route is set in this way, data on guidance points such as a branch point for making a right / left turn on the set route is extracted (S12). And the data about these guidance points are transmitted to the information center 34, and the transmission of the ID sign data about the guidance points is requested (S13).
[0022]
Here, the data about the guidance point may be data for directly specifying the branch point, or data for specifying the area including the set route.
[0023]
The information center 34 prepares ID sign data for the guide point and transmits it by an operation as described later. Therefore, the ID sign data sent is received on the vehicle side (S14). Next, the acquired ID sign data is compared with the set route, and relative data such as the position of the ID sign and the direction of the left / right turn at the guidance point is detected (S15). Then, the guidance text is determined based on the detected data, and stored in the ID signature database 20 together with the ID signature data (S16).
[0024]
Next, the operation in the information center 34 will be described with reference to FIG. First, it is determined whether there is a request for ID sign data at a guidance point from a vehicle (S21). If YES in this determination, it is determined whether there is ID sign data for the provided guidance point (S22). For example, in the guidance of the branch point, it is determined whether or not an ID sign such as “a sign of a gas station named OO” is set in relation to the guidance point.
[0025]
And if it is YES by determination of this S22, ID signature data will be acquired from the database 36 (S23). The ID sign data includes image data regarding the shape of the ID sign, an existing position (latitude, longitude, height), an explanatory note, and the like. Note that such ID sign data does not necessarily have to be stored permanently in the information center 34. For example, the information center 34 may receive image data from a traveling vehicle and automatically store those that have utility value. Next, the acquired ID sign data is processed for vehicle transmission (S24) and distributed to the vehicle (S25). If there is no data in S22, data indicating that there is no ID sign data is transmitted in S25. In this case, an intersection name that does not use ID sign data may be transmitted.
[0026]
If all the data regarding where the ID sign is stored is stored in the ID sign database 20 on the vehicle side, there is no need for communication operation with the information center 34, and for storing the ID sign data as described above. All operations can be performed on the vehicle side. It is also possible to provide the destination to the information center 34 to set the route to the destination and to create ID sign data all at the information center 34.
[0027]
Next, the operation when traveling while setting a route will be described with reference to FIG. First, during traveling, the current position is always detected based on information from the DGPS device 16 and the like. Therefore, it is determined whether the guide point is within 500 m (S31). If the determination is YES, ID sign data for the guidance point is read from the ID sign database 20 (S32). Then, the direction of the ID sign is specified from the current position (S33). That is, the direction in which the ID sign can be seen from the current position is specified from the current position (including the lane) and data such as the position and size of the ID sign data.
[0028]
Next, the image obtained by the camera 10 is compared with the data about the shape of the read ID sign, and the image recognition for the ID sign is performed (S34). For example, if the ID sign is a sign of a OO gas station, the logo data and the image obtained by the camera 10 are compared. Then, it is determined whether the ID signature has been recognized (S35).
[0029]
If YES in this determination, the guidance time is determined (S36). This guidance time is determined in consideration of, for example, the size and visibility of a signboard, which is an ID sign, and the vehicle speed. That is, there is a timing at which a signboard or the like is likely to be seen when the vehicle is traveling. Therefore, the guidance time is determined so that the guidance text is output at that timing. That is, the guidance time is determined based on the vehicle position detected in S15 and the relative position of the ID sign.
[0030]
In particular, there are times when an ID sign such as a signboard is hidden behind other buildings. Therefore, it is important to select the timing when the ID sign can be seen. Furthermore, it takes a certain amount of time to output the guidance text. Therefore, it is also preferable to change the output start time of guidance according to the vehicle speed. Also, some ID signs are very easy to understand, while others are not so easy to understand. If it is very easy to understand, guidance including an ID sign may be simply performed at the timing of normal route guidance at the guidance point. On the other hand, if it is not so easy to understand, it is preferable to provide guidance a little earlier, including explanation of the ID sign. It is also preferable to change the timing of guidance according to the size of a signboard or the like.
[0031]
Then, it is determined whether or not the guidance time has come (S37), and when the guidance time comes, guidance using the ID sign is performed (S38). For example, a guidance such as “The intersection at the end of the petrol station is to the right.” Here, when the ID sign cannot be seen at normal timing, it is also suitable to give guidance such as “If you go a little further, you will see the gas station. is there.
[0032]
Furthermore, it is also preferable to include the direction in which the ID sign exists in the guidance sentence. For example, “To the right, the intersection at the front of the XX petrol station is to the right.” “To the right, the intersection at the front of the XX car dealership is to the right.” "The signal in front of the signboard is on the left."
[0033]
It is also preferable to include a plurality of ID signs before reaching the intersection of the guide points. For example, it is possible to provide guidance such as “pass the XX petrol station on the left and turn left at the intersection in front of XX restaurant”. In addition, when the intersection of the guidance points has passed, it is preferable to provide guidance for the next guidance point (or final destination). For example, a guidance such as “I will go straight toward XX for a while” is output.
[0034]
If NO in S35 and the ID signature cannot be recognized, normal guidance is provided (S39). For example, a guidance such as “300m ahead, left at XX intersection” is output.
[0035]
In addition, there are various kinds of guidance sentences for such voice output, which are basically acquired as text data from the outside. Therefore, the voice synthesizer 24 obtains a voice signal.
[0036]
Thus, according to this embodiment, the timing of guidance is determined according to the position of the ID sign. Accordingly, when the vehicle comes to a position where the ID sign can be seen well, a guidance sentence using the ID sign can be output. Further, by adjusting the guide timing according to the vehicle speed, it is possible to guide at a more preferable timing. Furthermore, the driver can easily recognize the ID sign by adding a word about the direction in which the ID sign can be seen to the guidance sentence. In addition, the ID sign can be more easily recognized by adjusting the guidance timing according to the size of the ID sign, ease of viewing, and the like.
[0037]
In the present embodiment, when the ID signature can be recognized, guidance using the ID signature is performed. For this reason, it is possible to prevent the guidance using the ID sign from being performed when the ID sign cannot be seen due to illegal parking or rebuilding of the building. Also, if the information center 34 obtains image data from a vehicle that is always running and updates the data about the ID sign, guidance using the latest information can always be performed.
[0038]
Further, in the guidance to the destination, it is possible to guide near the final destination by using ID signs around the destination. In particular, the final destination is often a variety of stores, facilities, parking lots, and the like, and the ID sign itself is often the final destination. In such a case, guidance to the final destination itself can be performed.
[0039]
Further, the above-described operation in the navigation control unit 14 is achieved by executing a program stored in a ROM or the like. However, it is also preferable to load this program from the outside and store it in the EEPROM. Such a program to be loaded can be stored in a CD-ROM or the like, provided via communication, or the like. In particular, it is also preferable that the information center 34 provides by communication of the navigation control unit 14. It is also preferable to store the first program in the navigation device 14 in advance and upgrade the version by CDROM or communication. It is also preferable to store the program in the map database 18.
[0040]
The ID sign includes a building and the like. In this case, it is preferable to have three-dimensional data and change the shape data according to the viewing direction. In the above-described guidance, an intersection or the like is used as a guidance point, but it is also preferable to use an ID sign for guidance for confirmation at a passing point. In addition, since the easy-to-see ID sign often differs between daytime and nighttime, it is also preferable to change the ID sign according to the brightness.
[0041]
Furthermore, it is also preferable to obtain voice guidance by acquiring data on a target (ID sign) that is easily visible to the driver. In this case, the data about the target may not be acquired from the outside, but may be acquired by reading out data stored in the in-vehicle map database 18 or the like. Further, it is not always necessary to recognize an image.
[0042]
For example, when traveling on a route as shown in FIG. 5, “restaurant XX”, “OO petrol station”, etc., which are easy for the driver to visually recognize, are used as ID signs. And the distance to the guidance point (intersection branch, merge, etc.) and so on, such as "Turn left at the intersection 500m from the restaurant XX", "Left the next intersection at the XX petrol station" Guidance including relative expressions such as the number of branch points. Thus, not only the target around the guidance point but also the guidance using the target that can be surely seen on the route can provide easy-to-understand guidance and improve the driver's sense of security.
[0043]
Furthermore, during traveling on a simple road, it is also preferable to perform guidance using a target that is easily visible to the driver during traveling. For example, as shown in FIG. 6, instead of or in addition to the conventional guidance of “It ’s been about 10 km for a while”, the goal of “going straight about 50 km from XX station.” Provide guidance using objects. As a result, the driver's sense of security can be improved. In addition, such guidance is performed for the driver's driving psychological stability, and it is preferable that the guidance is performed at a frequency (once every several minutes) that does not cause inconvenience.
[0044]
【The invention's effect】
As described above, according to the present invention, since the start time of guidance is adjusted according to the position where the feature is present, easy-to-understand guidance using the feature can be performed at an appropriate timing.
[Brief description of the drawings]
FIG. 1 is a block diagram showing an overall configuration.
FIG. 2 is a flowchart when setting a route;
FIG. 3 is a flowchart in the center.
FIG. 4 is a flowchart during traveling.
FIG. 5 is a diagram showing a specific example of guidance.
FIG. 6 is a diagram showing a specific example of guidance.
[Explanation of symbols]
10 cameras, 12 image processing units, 14 navigation control units, 16 DGPS devices, 18 map databases, 20 ID sign databases, 22 displays, 24 speech synthesis units, 26 speakers, 28 communication units, 30 radio base stations, 32 public telephone lines , 34 Information center, 36 database.

Claims (10)

In a voice guidance navigation apparatus that performs guidance to a vehicle driver by voice at a guidance intersection that is installed in a vehicle and performs guidance ,
Acquisition means for acquiring the shape of the feature near the guidance intersection and its position data;
A camera that acquires an image of the guidance intersection;
A determination unit that performs image processing on an image obtained by the camera and determines whether the feature can be recognized by comparing the image processed image and the shape of the feature obtained by the acquisition unit;
In this determination means, when a feature can be recognized, voice guidance using the feature is performed, and when the feature cannot be recognized, voice guidance means for performing voice guidance without using the feature;
When performing the guidance using the feature, a guidance timing control means for controlling the guidance start timing of the guidance by voice using the feature according to the position of the feature;
A voice guidance navigation apparatus comprising: The apparatus of claim 1.
The voice guidance navigation apparatus characterized in that the guidance time control means further adjusts the guidance start time according to the visibility of a feature. The apparatus according to claim 1 or 2,
The voice guidance navigation apparatus characterized in that the acquisition means acquires data on a feature from an external database. The device according to any one of claims 1 to 3,
The said guidance time control means adds the guidance regarding the relative direction from the own vehicle position of a feature to the said voice guidance sentence, The voice guidance navigation apparatus characterized by the above-mentioned. In a voice guidance navigation method in which guidance is provided to a vehicle driver by voice at a guidance intersection that is installed in a vehicle and performs guidance .
Obtain the shape of the feature near the guidance intersection and its position data,
Obtain an image of the guidance intersection with the camera,
The image obtained by the camera is subjected to image processing, and it is determined whether or not the feature can be recognized by comparing the image processed image and the shape of the acquired feature.
In this determination, when the feature can be recognized, the guidance start time of the voice guidance using the feature by the voice guidance unit is determined according to the position of the feature, and the determined time is determined. When it becomes, perform voice guidance including the feature,
In the determination, if the feature cannot be recognized , the voice guidance navigation method characterized by performing voice guidance without using the feature in the voice guidance means . The method of claim 5, wherein
A voice guidance navigation method characterized in that data on the feature is acquired from an external center by communication. A voice recording navigation device mounted on a vehicle is a medium that records a voice guidance navigation program for outputting guidance to a vehicle driver by voice at a guidance intersection where guidance is performed ,
The voice guidance navigation device ,
Get the shape of the feature near the guidance intersection and its location data,
Let the camera obtain an image of the guidance intersection,
The image obtained by the camera is subjected to image processing, and the image processed image is compared with the acquired feature shape to determine whether the feature can be recognized,
In this determination, when the feature can be recognized, the guidance start time of the voice guidance using the feature by the voice guidance unit is determined according to the position of the feature, and the determined time is determined. When it becomes, voice guidance including the feature is performed ,
In the determination, if a feature cannot be recognized, a medium on which is recorded a voice guidance navigation program that causes the voice guidance means to perform voice guidance without using the feature. The medium of claim 7,
The medium in which the voice guidance navigation program further adjusts the guidance start time according to the visibility of a feature. The medium according to claim 7 or 8,
The voice guidance navigation program stores data on a feature object from an external database. The medium according to any one of claims 7 to 9,
The voice guidance navigation program stores a voice guidance navigation program in which a guidance on a relative direction of a feature from the vehicle position is added to the voice guidance sentence.

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