KR20130027367A - A navigation apparatus and method for displaying course thereof - Google Patents

Abstract

A navigation device and a route display method are disclosed. The navigation device includes a navigation unit for calculating route information to an input destination, a camera unit for acquiring a front image of the vehicle, a first sensor unit for calculating the position of the driver's eyes in three-dimensional coordinates using a three-dimensional depth sensor, A front image is processed using augmented reality, and includes an image processing unit for matching the route information to the front image and a display unit for outputting the route information on the vehicle windshield, wherein the image processing unit is mounted on the vehicle windshield according to the change of the eye position. Correct the position of the output route information.

Description

A NAVIGATION APPARATUS AND METHOD FOR DISPLAYING COURSE THEREOF}

The present invention relates to a navigation device, and more particularly, to a method for displaying a path of a navigation device.

Background Art of the Invention There is a patent document relating to a vehicle navigation apparatus having a head-up display, and discloses the investigation of the windshield on the map data processed by the vehicle navigation system, the distance to the destination and the calculation result of the optimum route. have.

KR 523574 B1 2005. 10. 17 Drawings 2, 3

The present invention uses augmented reality (Augmented Reality) technology and head up display (HUD: Head Up Display) technology to display the route information on the windshield of the vehicle to match the exact road.

In addition, according to the present invention, the route information is displayed on the vehicle windshield so that the route information exactly matches the actual road according to the driver's eye position.

In addition, the present invention is to detect the gesture of the driver to use as an input signal of the navigation device.

According to an aspect of the present invention, a navigation device using augmented reality and a head-up display is disclosed.

According to an exemplary embodiment of the present invention, a navigation device includes a navigation unit for calculating route information to an input destination, a camera unit for acquiring a front image of a vehicle, and a 3D depth sensor using a 3D depth sensor. A first sensor unit to calculate the front image by using augmented reality, an image processing unit to match the path information to the front image, and a display unit to output the path information to the vehicle windshield, wherein the image processing unit Corrects the position of the route information output to the vehicle windshield according to the change of the position of the eye.

Here, the image processing unit calculates the position of the eye by calculating the three-dimensional coordinates of the head of the driver, and using the three-dimensional coordinates before and after the movement according to the movement of the head in the form of a movement vector Calculate and move the position of the route information output on the vehicle windshield according to the movement vector.

The apparatus may further include a second sensor unit configured to calculate the position of the driver's indicating means as three-dimensional coordinates using the three-dimensional depth sensor, and an input unit generating a command corresponding to the three-dimensional coordinates of the position of the indicating means. .

The second sensor unit calculates three-dimensional coordinates of the corresponding position as three-dimensional coordinates of the indicating means when the indicating means is positioned at a position of a virtual touch pad representing a predetermined number of buttons in the center portion of the steering wheel of the vehicle. do.

Here, the route information output on the vehicle windshield is a road guide line or a road guide arrow.

According to another aspect of the invention, a method is disclosed in which a navigation device indicates a route.

According to an embodiment of the present invention, a route display method includes calculating route information according to an input destination, acquiring a front image of a vehicle, and processing the front image by using augmented reality, wherein the route is displayed on the front image. Matching the information, outputting the route information to the vehicle front glass, calculating the position of the driver's eyes in three-dimensional coordinates using a three-dimensional depth sensor, and changing the front of the vehicle according to the change in the position of the eye Correcting the position of the route information output to the glass.

Here, the step of calculating the position of the driver's eye using the three-dimensional depth sensor in three-dimensional coordinates includes calculating the three-dimensional coordinates of the head of the driver to calculate the position of the eye. Compensating the position of the route information output to the vehicle windshield according to the change of the position may be calculated by using the three-dimensional coordinates before and after the movement according to the movement of the head in the form of a movement vector; And moving the position of the route information output on the vehicle windshield according to the movement vector.

The method may further include calculating a position of the driver's indicating means as three-dimensional coordinates using the three-dimensional depth sensor and generating a command corresponding to the three-dimensional coordinates of the position of the indicating means.

Here, the step of calculating the position of the driver's indicating means using the three-dimensional depth sensor in three-dimensional coordinates is the indication means at the position of the virtual touch pad representing a certain number of buttons in the center portion of the steering wheel of the vehicle. When located, the three-dimensional coordinates of the corresponding position is calculated as the three-dimensional coordinates of the indicating means.

Here, the route information output on the vehicle windshield is a road guide line or a road guide arrow.

The present invention may display the route information on the windshield of the vehicle so that the route information is exactly matched with the actual road using Augmented Reality technology and Head Up Display (HUD) technology.

In addition, according to the present invention, the route information may be displayed on the windshield of the vehicle so that the route information is exactly matched with the actual road.

In addition, the present invention can detect the gesture of the driver can be used as an input signal of the navigation device.

1 is a configuration diagram schematically illustrating a configuration of a navigation device.
2 to 4 are diagrams illustrating that the route information is output to the vehicle windshield.
5 is a view illustrating recognizing a position of a driver's indicating means.
6 is a flowchart illustrating a path display method of a navigation device.

The present invention may be variously modified and have various embodiments, and specific embodiments will be illustrated in the drawings and described in detail with reference to the accompanying drawings. It should be understood, however, that the invention is not intended to be limited to the particular embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings. In addition, numerals (e.g., first, second, etc.) used in the description of the present invention are merely an identifier for distinguishing one component from another.

Also, in this specification, when an element is referred to as being "connected" or "connected" with another element, the element may be directly connected or directly connected to the other element, It should be understood that, unless an opposite description is present, it may be connected or connected via another element in the middle.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description of the present invention, the same reference numerals will be used for the same means regardless of the reference numerals in order to facilitate the overall understanding.

1 is a configuration diagram schematically illustrating a configuration of a navigation device.

Referring to FIG. 1, the navigation device includes a navigation unit 10, a camera unit 20, an image processing unit 30, a first sensor unit 40, a second sensor unit 50, an input unit 60, and a display unit. 70 and the controller 80 are included.

The navigation unit 10 calculates route information to the input destination according to the driver's route search request. To this end, the navigation unit 10 may include a location information receiving module and a map database.

The location information receiving module is a module for checking or obtaining the current location of the navigation device. A representative example of the position information receiving module is a global position system (GPS) module. According to the present technology, the GPS module calculates information on a distance (distance) from three or more satellites, information on a time when the distance information is measured, and then applies trigonometry to the calculated distance information, It is possible to calculate three-dimensional position information according to latitude, longitude and altitude with respect to one point in one hour. Further, a method of calculating position and time information using three satellites and correcting an error of position and time information calculated using another satellite is also used. The GPS module continuously calculates the current position in real time and uses it to calculate speed information.

The camera unit 20 acquires a front image of the vehicle. For example, the camera unit 20 may be installed at the front of the vehicle to face the front of the vehicle, and in particular, may be installed to acquire a front image corresponding to the foreground seen by the driver through the vehicle windshield.

The first sensor unit 40 calculates the position of the driver's eyes in three-dimensional coordinates. For example, the first sensor unit 40 may calculate three-dimensional coordinates of the driver's head using the three-dimensional depth sensor, and the three-dimensional depth sensor may be mounted inside the vehicle to sense the driver's head. have. In this case, when the depth value (z-axis coordinate value) is included in a preset range, the first sensor unit 40 may recognize the corresponding three-dimensional coordinates as three-dimensional coordinates of the driver's head. In addition, the first sensor unit 40 may continuously sense and calculate and output three-dimensional coordinates of the head of the driver.

The image processor 30 matches the path information with the front image obtained by the camera unit 20. Here, the route information matched to the front image is output to the vehicle windshield through the display unit 70. Accordingly, the route information can be seen to match the actual road.

The image processor 30 may match the path information with the front image by processing the front image by using augmented reality.

For example, the image processor 30 may process the front image by augmented reality by image processing the front image acquired in two dimensions according to a preset algorithm and calculating three-dimensional information. In addition, the image processor 30 may display a point representing a predetermined distance along the road in the front image processed by the augmented reality, and match the route information according to the point.

The image processor 30 corrects the path information matched to the front image according to the position of the driver's eyes. For example, the path information output on the windshield of the vehicle may be viewed as an error is generated according to the position (ie, viewpoint) of the human eye. Thus, in order to correct this error, the image processor 30 may detect a change in the three-dimensional coordinates of the driver's head and change the position of the path information according to the change in the three-dimensional coordinates. This will be described with reference to FIGS. 2 to 4.

2 to 4 are diagrams illustrating that the route information is output to the vehicle windshield. Route information output to the vehicle windshield 100 may be displayed in the form of a road guide line or a road guide arrow 102 matched to the actual road 101. In addition, the output route information may include driving speed information, traveling direction information, road information, and the like.

First, it is assumed that the road guide line 102 matched to the front image by the image processor 30 appears as shown in FIG. 2. In this case, it is assumed that the position of the driver's eye 103 is a preset reference position.

Then, as shown in FIG. 3, when the position of the driver's eye 103 moves to the left, the road guide line 102 that the driver sees may move to the right. At this time, the image processing unit 30 recognizes a change in the position of the driver's eyes using the three-dimensional coordinates of the driver's head calculated by the first sensor unit 40, and the road guide line ( 102 may be moved.

That is, as shown in FIG. 4, the image processing unit 30 moves the road guide line 102 to the left as the position of the driver's eye 103 moves to the left, so that the road guide line 102 is the actual road. Can be shown to match.

For example, the image processor 30 may calculate the movement direction and the size in the form of a movement vector by using three-dimensional coordinates before and after the movement of the position of the driver's eye 103. Subsequently, the image processor 30 may move the road guide line 102 in the calculated movement direction by the calculated size or in proportion to the calculated size.

The second sensor unit 50 calculates the position of the driver's indicating means in three-dimensional coordinates. For example, the indicating means may be a fingertip or a touch pen of the driver, and the second sensor unit 50 may calculate three-dimensional coordinates of the indicating means of the driver by using a three-dimensional depth sensor. The 3D depth sensor may be mounted in the vehicle to sense the driver's indicating means. In this case, when the depth value (z-axis coordinate value) is included in a preset range, the second sensor unit 50 may recognize the corresponding three-dimensional coordinates as three-dimensional coordinates for the driver's indicating means. For example, referring to FIG. 5, FIG. 5 is a diagram illustrating recognizing a position of a driver's indicating means. As illustrated in FIG. 5, a virtual touch pad 201 representing a predetermined number of buttons may be attached or drawn to a central portion of the steering wheel 200 installed in a vehicle. Thus, when the driver's instruction means is located at the position of the virtual touch pad 201, the second sensor unit 50 may calculate three-dimensional coordinates of the corresponding position as three-dimensional coordinates with respect to the driver's instruction means. Here, the calculated 3D coordinates may be calculated for each button of the virtual touch pad 201.

The input unit 60 generates a command corresponding to the three-dimensional coordinates of the indicating means calculated through the second sensor unit 50. In addition, the input unit 60 may include a plurality of operation units for receiving various commands from a user. For example, the operation units may be manufactured with a key pad, a touch pad (static pressure / capacitance), a wheel key, a jog switch, and the like.

The display unit 70 outputs route information processed by the image processor 30 to the vehicle windshield.

The controller 80 typically controls the overall operation of the navigation device 100. In particular, the controller 80 may control the image processor 30 to match the path information with the front image. In addition, the controller 80 may control the first sensor unit 40 to calculate the eye position of the driver and the image processor 30 to correct the position of the path information output to the windshield according to the eye position. have. In addition, the controller 80 may control the second sensor unit 40 to calculate the position of the driver's indicating means.

6 is a flowchart illustrating a path display method of a navigation device.

In operation S610, the navigation device receives a destination from the driver. For example, the navigation device may calculate the position of the driver's indicating means in three-dimensional coordinates through a three-dimensional depth sensor and perform a command according to an input signal corresponding to the three-dimensional coordinates.

In operation S620, the navigation apparatus calculates route information according to the destination. For example, the navigation device may acquire the current location of the vehicle using the location information module and calculate route information from the current location to the destination using map data stored in the map database.

In operation S630, the navigation device acquires a forward image. For example, the front image may be obtained as an image corresponding to the foreground seen by the driver through the vehicle windshield.

In operation S640, the navigation device matches path information with the acquired front image. That is, the navigation device may match the path information with the front image by augmented reality processing the front image.

In step S650, the navigation device outputs the route information matched to the front image on the vehicle windshield.

In operation S660, the navigation device calculates the eye position of the driver. For example, the navigation device may calculate the driver's head position in three-dimensional coordinates through the three-dimensional depth sensor.

In operation S670, the navigation device corrects the position of the route information output on the vehicle windshield according to the driver's eye position. For example, the navigation device may correct the position of the route information output to the vehicle windshield according to the change of the position of the driver's head with respect to the reference position.

On the other hand, the path display method according to an embodiment of the present invention can be implemented in the form of program instructions that can be executed through various electronic means for processing information can be recorded in the storage medium. The storage medium may include program instructions, data files, data structures, etc. alone or in combination.

Program instructions to be recorded on the storage medium may be those specially designed and constructed for the present invention or may be available to those skilled in the art of software. Examples of storage media include magnetic media such as hard disks, floppy disks and magnetic tape, optical media such as CD-ROMs, DVDs, and magnetic-optical media such as floppy disks. hardware devices specifically configured to store and execute program instructions such as magneto-optical media and ROM, RAM, flash memory, and the like. In addition, the above-described medium may be a transmission medium such as an optical or metal wire, a waveguide, or the like including a carrier wave for transmitting a signal specifying a program command, a data structure, and the like. Examples of program instructions include machine language code such as those produced by a compiler, as well as devices for processing information electronically using an interpreter or the like, for example, a high-level language code that can be executed by a computer.

The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the present invention, and vice versa.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention as defined in the appended claims. It will be understood that the invention may be varied and varied without departing from the scope of the invention.

10: navigation unit
20: camera unit
30: image processing unit
40: first sensor unit
50: second sensor unit
60: input unit
70:
80: control unit

Claims (10)

A navigation unit for calculating route information to an input destination;
A camera unit for acquiring a front image of the vehicle;
A first sensor unit which calculates the position of the driver's eyes in three-dimensional coordinates using a three-dimensional depth sensor;
An image processor which processes the front image using augmented reality and matches the path information with the front image; And
Including a display unit for outputting the route information on the vehicle windshield,
And the image processing unit corrects the position of the route information output to the vehicle windshield according to the change of the position of the eye.
The method of claim 1,
The image processing unit calculates the position of the eye by calculating the three-dimensional coordinates of the head of the driver, and calculates the movement direction and size in the form of a movement vector by using three-dimensional coordinates before and after the movement according to the movement of the head. And move the position of the route information output on the vehicle windshield according to the movement vector.
The method of claim 1,
A second sensor unit which calculates the position of the driver's indicating means in three-dimensional coordinates using the three-dimensional depth sensor; And
And an input unit for generating a command corresponding to the three-dimensional coordinates of the position of the indicating means.
The method of claim 3,
The second sensor unit calculates the three-dimensional coordinates of the position as the three-dimensional coordinates of the indicating means when the indicating means is located at the position of the virtual touch pad representing a certain number of buttons in the center of the steering wheel of the vehicle. A navigation device characterized by the above-mentioned.
The method of claim 1,
The route information output on the vehicle windshield is a road guide line or a road guide arrow.
In the way a navigation device displays a route,
Calculating route information according to the input destination;
Obtaining a front image of the vehicle;
Processing the front image by using augmented reality and matching the path information to the front image;
Outputting the route information to the vehicle windshield;
Calculating the position of the driver's eyes in three-dimensional coordinates using a three-dimensional depth sensor; And
And correcting the position of the route information output on the vehicle windshield according to the change of the position of the eye.
The method according to claim 6,
The step of calculating the position of the driver's eyes in 3D coordinates using the 3D depth sensor
Calculating the position of the eye by calculating three-dimensional coordinates of the head of the driver,
Correcting the position of the route information output to the vehicle windshield according to the change of the position of the eye
Calculating a moving direction and a magnitude in the form of a moving vector by using three-dimensional coordinates before and after moving according to the movement of the head; And
And moving the position of the route information output to the vehicle windshield according to the movement vector.
The method according to claim 6,
Calculating the position of the driver's indicating means in three-dimensional coordinates using the three-dimensional depth sensor; And
And generating a command corresponding to the three-dimensional coordinates of the position of the indicating means.
9. The method of claim 8,
The step of calculating the position of the driver's indicating means by the three-dimensional coordinates using the three-dimensional depth sensor
If the indicating means is located at the position of the virtual touch pad representing a certain number of buttons in the center portion of the steering wheel of the vehicle, the route display comprising calculating the three-dimensional coordinates of the corresponding position as the three-dimensional coordinates of the indicating means. Way.
The method according to claim 6,
The route information output on the vehicle windshield is a route guide line or a route guide arrow.

Images