Guiding apparatus, guiding method, and guiding program product

• US 9,046,380 B2
• Filed: 11/08/2011
• Issued: 06/02/2015
• Est. Priority Date: 11/30/2010
• Status: Expired due to Fees

• Current Assignee: Aisin AW Company Limited (Aisin Corp.)
• Original Assignee: Aisin AW Company Limited (Aisin Corp.)
• Inventors: Mori, Toshihiro, Sato, Yuji
• Primary Examiner(s): SAMPLE, JONATHAN L
• Application Number:
  US13/291,391
• Publication Number:
  US 20120136505A1
• Time in Patent Office: 1,302 Days
• Field of Search: None
• US Class Current: 1/1
• 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 21/3629 Guidance using speech or audio output, e.g. text-to-speech text to speech systems per se G10L13/00
• CPC Class Codes: G01C 21/3644 Landmark guidance, e.g. using POIs or conspicuous other objects
• CPC Class Codes: G01C 21/3655 Timing of guidance instructions

Abstract

In a guiding method, an object of interest existing in a vicinity of a guidance point, at which a driver of a vehicle needs guidance, on a travel path of the vehicle is retrieved. A recognizable range the driver will have is estimated based on at least one of (a) time required to provide guidance with respect to the object of interest and (b) time required for the driver to visually check the object of interest after receiving the guidance. The guidance with respect to the object of interest is provided when the object of interest exists in the estimated recognizable range.

Claims

1. A guiding apparatus, comprising:

a vehicle-speed detecting unit for detecting a speed of a vehicle;

an object-candidate retrieving unit for retrieving a candidate object of interest existing in a vicinity of a guidance point, at which a driver of the vehicle needs guidance, on a travel path of the vehicle;

a recognizable-range estimating unit for

determining a guidance distance required to provide guidance with respect to the candidate object of interest on the basis of (i) the vehicle speed detected by the vehicle-speed detecting unit and (ii) guidance output time required to provide guidance with respect to the candidate object of interest retrieved by the object-candidate retrieving unit, and

estimating a recognizable range the driver will have after the vehicle travels the determined guidance distance from a start of output of the guidance with respect to the candidate object of interest and before the vehicle reaches the guidance point, wherein the candidate object of interest is visually recognizable by the driver when the candidate object of interest exists in the recognizable range;

an object retrieving unit for retrieving, as an object of interest, the candidate object of interest when the candidate object of interest exists in the recognizable range estimated by the recognizable-range estimating unit; and

a guidance control unit for providing guidance with respect to the object of interest retrieved by the object retrieving unit.

2. The guiding apparatus according to claim 1, further comprising:

a camera for capturing an image in front of the vehicle in a direction of travel of the vehicle,

wherein

the recognizable-range estimating unit is arranged to estimate, as the recognizable range, an image obtained by excluding an area corresponding to the guidance distance from the image captured by the camera.

3. The guiding apparatus according to claim 1, wherein

the recognizable-range estimating unit is arranged to estimate the recognizable range on the basis of time required for the driver to visually check the object of interest.

4. The guiding apparatus according to claim 1, further comprising:

a priority determining unit,

wherein in response to a plurality of objects of interest retrieved by the object retrieving unit,

the priority determining unit is arranged to determine priorities of the plurality of objects of interest retrieved by the object retrieving unit, and

the guidance control unit is arranged to provide guidance with respect to one of the objects of interest with a highest priority determined by the priority determining unit among the plurality of objects of interest.

5. The guiding apparatus according to claim 1, further comprising:

a current-position detecting unit for detecting a current position of the vehicle used for determining the guidance point, at which the driver of the vehicle needs guidance, on the travel path of the vehicle.

6. The guiding apparatus according to claim 1, further comprising:

an object-information storage unit for storing guidance output time information used for determining the guidance output time required to provide guidance with respect to the candidate object of interest.

7. The guiding apparatus according to claim 1, wherein

the recognizable-range estimating unit is arranged to calculate the guidance output time required to provide guidance with respect to the candidate object of interest.

8. The guiding apparatus according to claim 7, wherein

the recognizable-range estimating unit is arranged to calculate the guidance output time based on a name or identifying description of the candidate object of interest.

9. The guiding apparatus according to claim 1, wherein

the recognizable-range estimating unit is arranged to estimate the recognizable range, in a map used for guidance along the travel path, as an area within a predetermined angle centered about a direction of travel of the vehicle.

10. The guiding apparatus according to claim 1, further comprising:

a camera for capturing an image in front of the vehicle in a direction of travel of the vehicle,

wherein

the recognizable-range estimating unit is arranged to estimate, as the recognizable range, an image obtained by excluding, from the image captured by the camera, (i) an area corresponding to the guidance distance and (ii) a further area corresponding to time required for the driver to visually check the candidate object of interest.

11. The guiding apparatus according to claim 10, wherein the time required for the driver to visually check the candidate object of interest is a fixed value.

12. The guiding apparatus according to claim 10, wherein the time required for the driver to visually check the candidate object of interest is a learned value based on a line of sight of the driver.

13. The guiding apparatus according to claim 10, wherein the time required for the driver to visually check the candidate object of interest is a variable value depending on a position of the candidate object of interest with respect to a direction of travel of the vehicle or existence of obstacles between the candidate object of interest and the vehicle.

14. A guiding method performed by a guiding apparatus, the guiding apparatus having a vehicle-speed detecting unit and a controller, the method comprising:

detecting, by the vehicle-speed detecting unit, a speed of a vehicle;

retrieving, by the controller, a candidate object of interest existing in a vicinity of a guidance point, at which a driver of the vehicle needs guidance, on a travel path of the vehicle;

determining, by the controller, a guidance distance required to provide guidance with respect to the candidate object of interest on the basis of (i) the detected vehicle speed and (ii) guidance output time required to provide guidance with respect to the retrieved candidate object of interest;

estimating, by the controller, a recognizable range the driver will have after the vehicle travels the determined guidance distance from a start of output of the guidance with respect to the candidate object of interest and before the vehicle reaches the guidance point, wherein the candidate object of interest is visually recognizable by the driver when the candidate object of interest exists in the recognizable range;

retrieving, as an object of interest, the candidate object of interest when the candidate object of interest exists in the estimated recognizable range; and

providing, by the controller, guidance with respect to the retrieved object of interest.

15. The method according to claim 14, further comprising:

capturing, by a camera, an image in front of the vehicle in a direction of travel of the vehicle,

wherein the recognizable range is estimated as an image obtained by excluding an area corresponding to the guidance distance from the image captured by the camera.

16. The method according to claim 14, wherein

the recognizable range is estimated on the basis of time required for the driver to visually check the object of interest.

17. The method according to claim 14, further comprising, in response to a plurality of retrieved objects of interest,

determining priorities of the plurality of retrieved objects of interest;

and

providing guidance with respect to one of the objects of interest with a highest priority among the plurality of retrieved objects of interest.

18. The guiding apparatus according to claim 14, further comprising:

detecting, by a current-position detecting unit of the guiding apparatus, a current position of of the vehicle; and

determining, by the controller, the guidance point on the basis of the detected current position.

19. A guiding program product, comprising a non-transitory computer-readable recording medium containing therein a guiding program for, when executed by a controller, causing the controller to execute a guiding method, the guiding method comprising:

retrieving a candidate object of interest existing in a vicinity of a guidance point, at which a driver of a vehicle needs guidance, on a travel path of the vehicle;

determining a guidance distance required to provide guidance with respect to the candidate object of interest on the basis of (i) a detected speed of the vehicle and (ii) guidance output time required to provide guidance with respect to the retrieved candidate object of interest;

estimating a recognizable range the driver will have after the vehicle travels the determined guidance distance from a start of output of the guidance with respect to the candidate object of interest and before the vehicle reaches the guidance point, wherein the candidate object of interest is visually recognizable by the driver when the candidate object of interest exists in the recognizable range;

retrieving, as an object of interest, the candidate object of interest when the candidate object of interest exists in the estimated recognizable range; and

providing guidance with respect to the retrieved object of interest.

20. A guiding method performed by a controller, the method comprising:

retrieving, by the controller, a landmark of interest existing in a vicinity of a guidance point, at which a driver of a vehicle needs guidance, on a travel path of the vehicle;

estimating, by the controller, a recognizable range the driver will have from a start of output of the guidance with respect to the landmark of interest and before the vehicle reaches the guidance point, wherein the landmark of interest is visually recognizable by the driver when the landmark of interest exists in the recognizable range;

providing, by the controller, the guidance with respect to the landmark of interest when the landmark of interest exists in the estimated recognizable range.