Car navigation device

• US 20050171688A1
• Filed: 01/21/2005
• Published: 08/04/2005
• Est. Priority Date: 01/30/2004
• Status: Abandoned Application

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation, Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Fujita, Teruhiko, Abou, Masatoshi
• Application Number:
  US11/038,280
• Publication Number:
  US 20050171688A1
• Time in Patent Office: Days
• US Class Current: 701/201
• CPC Class Codes: G01C 21/3602 Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera
• CPC Class Codes: G01C 21/3658 Lane guidance

Abstract

A travel direction designating unit designates a travel direction of a travel lane where a subject vehicle travels, by using an image of a paint photographed by an in-vehicle camera. On the other hand, a travel direction extracting unit extracts a travel direction in which the subject vehicle should travel in line with a route to a destination from the current position of the subject vehicle. Further, a determining unit determines whether the extracted travel direction in line with the route matches with the designated travel direction. It is thereby determined whether the subject vehicle travels towards a proper road.

Claims

1. A car navigation device provided in a vehicle, the car navigation device comprising:

a travel direction designating unit that designates a travel direction of a travel lane on a road where the vehicle travels;

a position detecting unit that detects a current position of the vehicle;

a road data storing unit that stores road data;

a route setting unit that sets a route from the detected current position to a destination based on the road data; and

a travel direction determining unit that determines whether the designated travel direction matches with an on-route travel direction that is a travel direction in line with the set route,

wherein a route guidance is performed based on a result determined by the travel direction determining unit.

2. The car navigation device of claim 1, further comprising:

a controlling unit that executes, when the designated travel direction does not match with the on-route travel direction, a control process that notifies an effect that the designated travel direction does not match with the on-route travel direction.

3. The car navigation device of claim 2,

wherein the controlling unit execute a control process that executes a travel direction change guidance that urges to change the designated travel direction to the on-route travel direction.

4. The car navigation device of claim 1, further comprising:

an imaging unit that photographs an image of a direction indicating object provided to a road for indicating a travel direction; and

an image recognizing unit that executes a recognizing process that recognizes the direction indicating object based on the photographed image,

wherein the travel direction designating unit designates the travel direction based on the recognized direction indicating object.

5. The car navigation device of claim 4,

wherein the direction indicating object provided to a road for indicating a travel direction includes a direction indicator provided on a road for indicating a travel direction.

6. The car navigation device of claim 4,

wherein the direction indicating object provided to a road for indicating a travel direction includes a destination sign provided over a road for indicating a destination.

7. The car navigation device of claim 4,

wherein, when the vehicle approaches a point on a single travel lane, wherein the point includes one of a branching point, a converging point, and an intersecting point, wherein multiple different travel directions are designated on the single travel lane while the vehicle approaches the point, the travel direction determining unit determines based on a travel direction designated closer to the point.

8. The car navigation device of claim 4,

wherein the imaging unit photographs an image including a white line provided on a road, and

wherein the image recognizing unit executes a recognizing process that recognizes the white line based on the photographed image,

the car navigation device, further comprising:

a white line movement detecting unit that detects a movement of the recognized white line;

a vehicle movement detecting unit that detects a movement distance and a movement direction of the vehicle; and

a travel lane change detecting unit that detects a travel lane change to a travel lane adjacent to the travel lane where the vehicle travels from at least one of two results detected by the white line movement detecting unit and the vehicle movement detecting unit,

wherein, when the travel lane change is detected, the travel direction determining unit determines using the travel direction designated after the travel lane change is completed.

9. The car navigation device of claim 8, further comprising:

a controlling unit that executes, when the designated travel direction does not match with the on-route travel direction, a control process that executes a travel direction change guidance that urges to change the travel direction where the vehicle travels, to the on-route travel direction,

wherein, when the travel lane change is detected after the control process is executed, the travel direction determining unit determines.

10. The car navigation device of claim 4, further comprising:

an instructing unit that gives an instruction of executing the recognizing process to the image recognizing unit when the vehicle enters within a given distance to a point that includes at least one of a branching point, a converging point, and an intersecting point, wherein a position corresponding to the point is stored in the road data storing unit,

wherein the image recognizing unit executes the recognizing process when the instruction is received.

11. The car navigation device of claim 10,

wherein the road data storing unit stores as the road data the number of travel lanes on the road, and

wherein the instructing unit gives the instruction of executing the recognizing process when the vehicle enters within the given distance to the point.

12. The car navigation device of claim 4, further comprising:

a road data obtaining unit that obtains road information including at least one of traffic congestion information and road surface information relating to the travel direction where the vehicle travels;

an object detecting unit that detects an obstacle present ahead of the vehicle;

a wiper detecting unit that detects an operation of a wiper of the vehicle;

a rain detecting unit that detects raining on the vehicle; and

a state determining unit that determines whether it is difficult to recognize the image based on at least one of a result obtained by the road data obtaining unit, a result detected by the object detecting unit, a result detected by the wiper detecting unit, and a result detected by the rain detecting unit,

wherein the image recognizing unit includes a recognizing process prohibiting unit that prohibits, when it is determined that it is difficult to recognize the image, the image recognizing process from being executed.

13. The car navigation device of claim 1, further comprising:

a different-vehicle travel-lane information obtaining unit that externally obtains different-vehicle travel-lane information including a travel direction of a travel lane where a different vehicle travels and a vehicle registration number of the different vehicle;

a license plate imaging unit that photographs an image of a license plate of a preceding vehicle ahead of the vehicle;

a license plate image recognizing unit that executes a recognizing process that recognizes a vehicle registration number of the preceding vehicle based on the photographed image; and

a travel lane information extracting unit that extracts travel lane information including the recognized vehicle registration number from the different-vehicle travel-lane information obtained by the different-vehicle travel-lane information obtaining unit,

wherein the travel direction designating unit designates, as the travel direction of the travel lane where the vehicle travels, a travel lane included in the extracted travel lane information.

14. The car navigation device of claim 1, further comprising:

a white line imaging unit that photographs an image of a white line provided on a road;

a white line image recognizing unit that executes a recognizing process that recognizes the white line based on the photographed image;

a travel lane recognizing unit that recognizes a number of travel lanes on the road where the vehicle travels and a current position of the travel lane where the vehicle travels, based on a number of the recognized white lines and positions of the recognized white lines,

wherein the travel direction designating unit designates the travel direction based on the recognized number of travel lanes and the recognized current position of the travel lane where the vehicle travels.

15. The car navigation device of claim 14, further comprising:

a white line movement detecting unit that detects a movement of the recognized white line;

a vehicle movement detecting unit that detects a movement distance and a movement direction of the vehicle; and

a travel lane change detecting unit that detects a travel lane change to a travel lane adjacent to the travel lane where the vehicle travels, from at least one of two results detected by the white line movement detecting unit and the vehicle movement detecting unit,

wherein, when the travel lane change is detected, the travel direction determining unit determines using the travel direction designated after the travel lane change is completed.

16. The car navigation device of claim 15, further comprising:

a controlling unit that executes, when the designated travel direction does not match with the on-route travel direction, a control process that executes a travel direction change guidance that urges to change the designated travel direction to the on-route travel direction,

wherein, when the travel lane change is detected after the control process is executed, the travel direction determining unit determines.

17. The car navigation device of claim 1,

wherein the road data storing unit stores as the road data road data including travel directions of respective travel lanes of the road, and

wherein the travel direction designating unit designates the travel direction by retrieving from the road data a travel direction of a travel lane corresponding to the current position of the vehicle.

18. The car navigation device of claim 1, further comprising:

an indicator imaging unit that photographs an image of a direction indicator provided on a road for indicating a travel direction;

an indicator image recognizing unit that executes a recognizing process that recognizes the direction indicator based on the photographed image, wherein the travel direction designating unit includes a first designating unit that designates the travel direction based on the recognized direction indicator;

a sign imaging unit that photographs an image of a destination sign provided over a road for indicating a destination;

a sign image recognizing unit that executes a recognizing process that recognizes the destination sign based on the photographed image, wherein the travel direction designating unit includes a second designating unit that designates the travel direction based on the recognized destination sign;

a different-vehicle travel-lane information obtaining unit that externally obtains different-vehicle travel-lane information including a travel direction of a travel lane where a different vehicle travels and a vehicle registration number of the different vehicle;

a license plate imaging unit that photographs an image of a license plate of a preceding vehicle ahead of the vehicle;

a license plate image recognizing unit that executes a recognizing process that recognizes a vehicle registration number of the preceding vehicle based on the photographed image;

a travel lane information extracting unit that extracts travel lane information including the recognized vehicle registration number from the different-vehicle travel-lane information obtained by the different-vehicle travel-lane information obtaining unit, wherein the travel direction designating unit includes a third designating unit that designates, as the travel direction where the vehicle travels, a travel lane included in the extracted travel lane information based on the recognized destination sign;

a white line imaging unit that photographs an image of a white line provided on a road;

a white line image recognizing unit that executes a recognizing process that recognizes the white line based on the photographed image;

a travel lane recognizing unit that recognizes a number of travel lanes on the road where the vehicle travels and a current position of the travel lane where the vehicle travels, based on a number of the recognized white lines and positions of the recognized white lines, wherein the travel direction designating unit includes a fourth designating unit that designates the travel direction based on the recognized number of travel lanes and the recognized current position of the travel lane where the vehicle travels,

wherein the road data storing unit stores as the road data road data including travel directions of respective travel lanes of the road,

wherein the travel direction designating unit includes a fifth designating unit that designates the travel direction by retrieving a travel direction of a travel lane corresponding to the current position of the vehicle from the road data; and

a travel direction concluding unit that concludes a travel direction of the travel lane where the vehicle travels based on at least two results of five results respectively designated by the first designating unit, the second designating unit, the third designating unit, the fourth designating unit, and the fifth designating unit,

wherein the travel direction determining unit determines whether the travel direction concluded by the travel direction concluding unit matches with the on-route travel direction.

19. The car navigation device of claim 18, further comprising:

a road data obtaining unit that obtains road information including at least one of traffic congestion information and road surface information relating to the travel direction where the vehicle travels;

an object detecting unit that detects an obstacle present ahead of the vehicle;

a wiper detecting unit that detects an operation of a wiper of the vehicle;

a rain detecting unit that detects raining on the vehicle; and

a state determining unit that determines whether it is difficult to recognize the image based on at least one of a result obtained by the road data obtaining unit, a result detected by the object detecting unit, a result detected by the wiper detecting unit, and a result detected by the rain detecting unit,

wherein the image recognizing unit includes a recognizing process prohibiting unit that prohibits, when it is determined that it is difficult to recognize the image, the image recognizing process from being executed, and

wherein, when the image recognizing process is prohibited from being executed by the recognizing process prohibiting unit, the travel direction concluding unit concludes the designated travel direction based on at least one result of two results respectively designated by the third designating unit and the fifth designating unit.

20. The car navigation device of claim 18, further comprising:

a controlling unit that executes, when the concluded travel direction does not match with the on-route travel direction, a control process that notifies an effect that the concluded travel direction does not match with the on-route travel direction.

21. The car navigation device of claim 20,

wherein the controlling unit execute a control process that executes a travel direction change guidance that urges to change the concluded travel direction to the on-route travel direction.

22. The car navigation device of claim 1, further comprising:

a transmitting unit that externally transmits travel lane information including the designated travel lane and a vehicle registration number of the vehicle.

23. The car navigation device of claim 18, further comprising:

a transmitting unit that externally transmits travel lane information including the concluded travel lane and a vehicle registration number of the vehicle.