Information processing device

Abstract

To enable appropriate provision of route guidance.SOLUTION: When setting a superimposing position to be used to superimpose a route image showing a route to be followed by a mobile vehicle at each point in the route on a surrounding image, a first candidate superimposing position computed based on information regarding the altitude of a point is set as a superimposing position, at points other than points with interchanges on the route, and predetermined positions on the surrounding image are set as superimposing positions at at least some of the points with interchanges on the route.SELECTED DRAWING: Figure 8

Description

[Technical Field]

[0001] The present invention relates to an information processing device. [Background technology]

[0002] BACKGROUND ART Techniques for providing route guidance using AR (Augmented Reality) technology have been developed (for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2023-12793 Summary of the Invention [Problem to be solved by the invention]

[0004] When using AR technology for route guidance, an image showing the route (route image) is displayed as an AR object superimposed on an image of the surroundings of the moving object. At this time, the position where the route image is superimposed can be determined using, for example, information about the altitude or above sea level of each point on the route (altitude information).

[0005] Altitude information at a point of a grade separation where multiple roads intersect at a different altitude may include information about the altitude of only one of the intersecting roads, and may not include information about the altitudes of the other roads. For example, if the altitude information at the point of the grade separation does not include information about the altitude of the road on which the vehicle is traveling, the position at which the route image is superimposed at the point of the grade separation will be determined using information about the altitudes of roads other than the road on which the vehicle is traveling, and the route image will not be displayed in an appropriate position.

[0006] One example of a problem to be solved by the present invention is to provide appropriate route guidance. [Means for solving the problem]

[0007] In order to solve the above problem, the invention described in claim 1 comprises a peripheral image acquisition processing unit that acquires a peripheral image, which is an image of the surroundings of a moving body captured by an imaging device that moves together with the moving body; a superposition position setting unit that sets a superposition position on the peripheral image, at each point on the route, at which a route image showing the planned route of the moving body will be superimposed; and a first superposition candidate position calculation unit that calculates a first superposition candidate position, which is a candidate for the superposition position for each point on the route, based on information about the altitude of the point, wherein the superposition position setting unit sets the first superposition candidate position as the superposition position at points other than points of intersections on the route, and sets a predetermined position on the peripheral image as the superposition position at at least some of points of intersections on the route.

[0008] The invention described in claim 7 is an information processing method executed by a computer, comprising: a peripheral image acquisition processing step of acquiring a peripheral image, which is an image of the surroundings of a moving body captured by an imaging device moving together with the moving body; a superposition position setting step of setting, at each point on the route, a superposition position on the peripheral image, at which a route image showing the planned route of the moving body will be superimposed; and a first superposition candidate position calculation step of calculating a first superposition candidate position, which is a candidate for the superposition position for each point on the route, based on information regarding the altitude of the point, wherein the superposition position setting step sets the first superposition candidate position as the superposition position at points other than points of intersections on the route, and sets a predetermined position on the peripheral image as the superposition position at at least some of points of intersections on the route.

[0009] The invention described in claim 8 is an information processing program that causes a computer to execute the information processing method described in claim 7.

[0010] The invention described in claim 9 is a computer-readable storage medium storing the information processing program described in claim 8. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a diagram illustrating a route guidance device 100 according to an embodiment of the present invention. [Figure 2] FIG. 10 is a diagram illustrating an example of a route image display. [Figure 3] FIG. 10 is a diagram illustrating an example of a route image display. [Figure 4] FIG. 2 illustrates an example of a control unit 110. [Figure 5] 10 is a diagram showing an example of a processing operation executed by a control unit 110. FIG. [Figure 6] FIG. 10 illustrates an example of a superimposition position setting section 114. [Figure 7] FIG. 10 is a diagram illustrating an example of a route image display at an intersection. [Figure 8] 10 is a diagram showing an example of a processing operation executed in a superimposition position setting unit 114. FIG. [Figure 9] 10 is a diagram showing an example of a processing operation executed in a superimposition position setting unit 114. FIG. [Figure 10] 10 is a diagram showing an example of a processing operation executed in a superimposition position setting unit 114. FIG. [Figure 11] FIG. 10 is a diagram for explaining estimation of altitude information at a point of an overpass. [Figure 12] 10 is a diagram showing an example of a processing operation executed in a superimposition position setting unit 114. FIG. [Figure 13] 10 is a diagram showing an example of a processing operation executed in a superimposition position setting unit 114. FIG. [Figure 14] FIG. 10 is a diagram for explaining estimation of altitude information at a point of an overpass. [Figure 15] 10 is a diagram showing an example of a processing operation executed in a superimposition position setting unit 114. FIG. [Figure 16] 10 is a diagram showing an example of a processing operation executed in a superimposition position setting unit 114. FIG. [Figure 17] 10 is a diagram showing an example of a processing operation executed in a superimposition position setting unit 114. FIG. [Figure 18]10 is a diagram showing an example of a processing operation executed in a superimposition position setting unit 114. FIG. [Figure 19] 10 is a diagram showing an example of a processing operation executed in a superimposition position setting unit 114. FIG. [Figure 20] 10 is a diagram showing an example of a processing operation executed in a superimposition position setting unit 114. FIG. [Figure 21] FIG. 2 illustrates an example of a route information acquisition processing unit 111. DETAILED DESCRIPTION OF THE INVENTION

[0012] An information processing device according to one embodiment of the present invention includes a peripheral image acquisition processing unit that acquires a peripheral image, which is an image of the surroundings of a moving object captured by an imaging device traveling with the moving object; a superimposition position setting unit that sets a superimposition position on the peripheral image at each point on the route, where a route image showing a planned route of the moving object is to be superimposed; and a first superimposition candidate position calculation unit that calculates a first superimposition candidate position, which is a candidate for the superimposition position for each point on the route, based on information regarding the altitude of the point. The superimposition position setting unit sets the first superimposition candidate position as the superimposition position at points other than intersections on the route, and sets a predetermined position on the peripheral image as the superimposition position at at least some of intersections on the route. Therefore, in this embodiment, it is possible to appropriately display a route image even at intersections. As a result, this embodiment enables appropriate route guidance.

[0013] The present invention may further include a road surface detection unit that detects the road surface of a road on which the moving object is traveling, and the superimposition position setting unit may set a predetermined position on the surrounding image as the superimposition position if a camera that captures the surrounding image is fixed at a point of an overpass on the route, and may set the superimposition position based on the road surface detected by the road surface detection unit if the camera is not fixed. This makes it possible to more appropriately display a route image at a point of an overpass.

[0014] The superimposition position setting unit may set a predetermined position on the peripheral image as the superimposition position if a camera that captures the peripheral image is fixed at least in part at a point of a grade separation on the route, and if the camera is not fixed, may set the superimposition position based on altitude information of each point before and after the grade separation. In this way, it is possible to more appropriately display a route image at a grade separation point with light processing.

[0015] The system may further include a road surface detection unit that detects the road surface of the road on which the moving object is traveling, and the superimposition position setting unit may set a predetermined position on the peripheral image as the superimposition position if the image capturing device is fixed at least in part at a point of a grade separation on the route, set the superimposition position based on altitude information of points before and after the grade separation if the image capturing device is not fixed and the width of the road that intersects with the road on which the moving object is traveling at the grade separation is within a predetermined length, and set the superimposition position based on the road surface detected by the road surface detection unit if the image capturing device is not fixed and the width of the road that intersects with the road on which the moving object is traveling at the grade separation is greater than the predetermined length. This makes it possible to more appropriately display the route image at grade separations while reducing the amount of heavy processing.

[0016] The superimposition position setting unit may be configured to set the first superimposition candidate position as the superimposition position if the reliability of the first superimposition candidate position at a point of an overpass on the route satisfies a predetermined criterion.The superimposition position setting unit may be configured to determine that the reliability of the first superimposition candidate position for each point of an overpass on the route satisfies the predetermined criterion if a change in the first superimposition candidate position is equal to or less than a predetermined value.This makes it possible to more appropriately display a route image at points of overpasses.

[0017] An information processing method according to one embodiment of the present invention is an information processing method executed by a computer, and includes: a peripheral image acquisition process for acquiring a peripheral image, which is an image of the surroundings of a moving object captured by an imaging device traveling with the moving object; a superposition position setting process for setting, at each point on the route, a superposition position on the peripheral image at which a route image showing a planned route of the moving object is to be superimposed; and a first superposition candidate position calculation process for calculating a first superposition candidate position, which is a candidate for the superposition position for each point on the route, based on information regarding the altitude of the point. The superposition position setting process sets the first superposition candidate position as the superposition position at points other than intersections on the route, and sets a predetermined position on the peripheral image as the superposition position at at least some of intersections on the route. Therefore, in this embodiment, it is possible to appropriately display a route image even at intersections. As a result, this embodiment enables appropriate route guidance.

[0018] An information processing program according to an embodiment of the present invention causes a computer to execute the above-described information processing method, thereby making it possible to provide appropriate route guidance in this embodiment.

[0019] A storage medium according to one embodiment of the present invention stores the information processing program, which allows the information processing program to be distributed as a standalone program rather than being incorporated into a device, making it easy to perform version upgrades, etc. [Example]

[0020] <Route guidance device 100> FIG. 1 is a diagram illustrating a route guidance device 100 according to an embodiment of the present invention. The route guidance device 100 is a device for displaying guidance of a route along which a moving object is scheduled to travel, for example, using AR technology. For example, as shown in FIGS. 2 and 3, the route guidance device 100 displays an image (route image) showing a route as an AR object, superimposed on an image (peripheral image) of the periphery of the moving object (for example, ahead of the moving object). In the example shown in FIG. 2, a route image RP (an arrow in the example shown in FIG. 2) for one point on a road L1 on the route is superimposed on a peripheral image (an image ahead of the moving object in the example shown in FIG. 2). In the example shown in FIG. 3, route images RP1, RP2, RP3, and RP4 (arrows in the example shown in FIG. 3) for multiple points on a road L1 on the route are superimposed on a peripheral image (an image ahead of the moving object in the example shown in FIG. 3).

[0021] The route guidance device 100 includes a control unit 110, a communication unit 120, an input unit 130, a storage unit 140, and a display unit 150. The route guidance device 100 may be a device that moves together with a moving object (for example, an in-vehicle device (e.g., a navigation system) installed in a vehicle as a moving object, or a mobile terminal device (e.g., a smartphone) carried by a passenger in a vehicle as a moving object or carried by a pedestrian as a moving object), or may be a device (e.g., a server device) installed outside the moving object. When the route guidance device 100 is a device that moves together with a moving object, the route guidance device 100 may further include a position information acquisition unit 160 and an imaging unit 170.

[0022] The control unit 110 is an information processing device that processes information such as a computer. The communication unit 120 is a communication device that transmits and receives information to and from other devices. The input unit 130 is an input device that receives information input from a button, keyboard, touch panel, microphone, camera, or the like. The storage unit 140 is a storage device that stores information such as a memory, hard disk, or solid state drive. The display unit 150 is a display device that displays information such as a display. The position information acquisition unit 160 is a position information acquisition device that acquires information about the current position of a mobile object. For example, the position information acquisition unit 160 has an antenna that receives radio waves transmitted from satellites that constitute a Global Navigation Satellite System (GNSS), including a Global Positioning System (GPS), and acquires information about the current position of the mobile object (in other words, the current position of the route guidance device 100) based on the radio waves received by the antenna. The position information acquisition unit 160 also includes an inertial measurement unit (IMU) and acquires information about the attitude of the route guidance device 100. The photographing unit 170 is a photographing device such as a camera that photographs the periphery of a moving object (for example, in front of the moving object) and generates an image of the periphery of the photographed moving object.

[0023] 4 is a diagram showing an example of the control unit 110. The control unit 110 has a route information acquisition processing unit 111, a surrounding image acquisition processing unit 112, a moving object information acquisition processing unit 113, a superimposition position setting unit 114, and a display processing unit 115.

[0024] The route information acquisition processing unit 111 acquires route information, which is information about a route along which the mobile object is scheduled to move. The route information includes, for example, location information, which is information about the location of each point on the route, and the location information includes latitude and longitude information, which is information about latitude and longitude, and altitude information, which is information about altitude. The route information acquisition processing unit 111 may acquire route information from another device (for example, a device traveling with the mobile object) using communication via the communication unit 120, or may acquire route information input via the input unit 130, or may acquire route information stored in the storage unit 140. Furthermore, the route information acquisition processing unit 111 may acquire route information by searching for a route from a departure point to a destination point based on map information, as will be described in detail below.

[0025] The surrounding image acquisition processing unit 112 acquires a surrounding image, which is an image of the surroundings of the moving object (for example, an image ahead of the moving object). The moving object information acquisition processing unit 113 may acquire the surrounding image by, for example, using communication via the communication unit 120 and using an imaging device of another device (for example, a device that moves together with the moving object) to capture an image of the surroundings of the moving object, or, if the route guidance device 100 is a device that moves together with the moving object, may acquire the surrounding image by using the imaging unit 170 to capture an image of the surroundings of the moving object. The surrounding image acquisition processing unit 112 acquires the surrounding image, for example, in real time at predetermined time intervals.

[0026] The mobile object information acquisition processing unit 113 acquires mobile object information. The mobile object information includes, for example, information on the current position of the mobile object and the shooting direction of the shooting device or shooting unit 170 that captures the surroundings of the mobile object (i.e., the attitude of the shooting device or shooting unit 170). The mobile object information acquisition processing unit 113 may acquire the mobile object information from another device (for example, a device that moves together with the mobile object) using communication by the communication unit 120, for example, or may acquire the mobile object information from the position information acquisition unit 160 if the route guidance device 100 is a device that moves together with the mobile object.

[0027] The superimposition position setting unit 114 sets a superimposition position for each point on the route, based on the route information, the peripheral image, and the moving object information, where a route image, which is an image showing the route at that point, is superimposed on the peripheral image. The superimposition position setting unit 114 estimates the position where the route appears in the peripheral image of the moving object based on, for example, the current position of the moving object, the shooting direction of the shooting device or shooting unit 170 that shoots the area around the moving object, and the latitude and longitude information and altitude of each point on the route, thereby setting a position on the peripheral image where the route image is to be superimposed. The route image is, for example, a mark (e.g., an arrow) that indicates the traveling direction of the route, as shown in FIGS. 2 and 3. The route image may also be a line connecting each point on the route. The superimposition position is, for example, a position on the road surface of the route or above the road surface of the route (e.g., a position a predetermined distance above the road surface of the route), as shown in FIGS. 2 and 3.

[0028] The display processing unit 115 generates a display image in which a route image is superimposed on a peripheral image at a superimposition position. When the route image is an arrow, the display image is an image in which an arrow pointing in the direction of travel of the mobile object is superimposed on the peripheral image as a route image, as shown in FIGS. 2 and 3. The display processing unit 115 may display the display image using a display device of another device (e.g., a device that moves with the mobile object) using communication via the communication unit 120, or when the route guidance device 100 is a device that moves with the mobile object, may display the display image using the display unit 150.

[0029] Fig. 5 is a diagram showing an example of processing operations executed by the control unit 110. The processing operations shown in Fig. 5 are executed, for example, at predetermined time intervals.

[0030] The surrounding image acquisition processing unit 112 acquires a surrounding image (step S501). The mobile object information acquisition processing unit 113 acquires mobile object information including the current position and traveling direction of the mobile object (step S502). The superimposition position setting unit 114 sets, for each point on the route captured in the surrounding image, a superimposition position where a route image for that point is to be superimposed on the surrounding image, based on the route information and the mobile object information (step S503). The display processing unit 115 displays a display image where a route image for the point on the route captured in the surrounding image is superimposed on the surrounding image at the set superimposition position (step S504).

[0031] For example, the superimposition position setting unit 114 sets a superimposition position for each point on the route based on altitude information for that point. Therefore, as shown in FIG. 6, the superimposition position setting unit 114 has a first superimposition position candidate calculation unit 1141 and a setting unit 1142. For each point on the route, the first superimposition position candidate calculation unit 1141 calculates a first superimposition position candidate, which is a candidate for the superimposition position for that point, based on the altitude information for that point. For at least some of the points on the route, the setting unit 1142 sets the first superimposition candidate position for that point as the superimposition position for that point.

[0032] <Displaying route images at a specified location> Altitude information at a point of a grade separation where multiple roads intersect at an intersection may include information about the altitude of only one of the intersecting roads, and may not include altitude information about the other roads. If the altitude information at the point of the grade separation is not the altitude information of the road on which the mobile object is scheduled to travel (the road on which the mobile object is traveling), a first superimposition candidate position for the point of the grade separation is calculated based on the altitude information of the road that intersects with the road on which the mobile object is traveling. If the first superimposition candidate position calculated based on the altitude information of the road that intersects with the road on which the mobile object is traveling is set as the superimposition position for the point of the grade separation, the route image for the point of the grade separation will be displayed at a position significantly shifted from the other route images, as shown in FIG. 7. In the example shown in FIG. 7, a lower road L1 and an upper road L2 intersect at an intersection, the altitude information at the point of the grade separation is the altitude information of the upper road L2, and the road on which the mobile object is scheduled to travel (the road on which the mobile object is traveling) is the lower road L1. For this reason, in the example shown in Figure 7, route images RP1, RP2, and RP4 for points other than the intersection are displayed at superimposed positions based on the altitude information of the lower road L1, while route image RP3 for the intersection is displayed at a superimposed position based on the altitude information of the upper road L2.

[0033] When a camera that captures peripheral images is fixed to a vehicle, the height of the camera from the surface of the road on which the vehicle is traveling is approximately constant, so the position of the road on which the vehicle is traveling in the peripheral image remains almost constant. Similarly, when a camera that captures peripheral images is hung from a belt around a pedestrian's neck and the height of the camera from the surface of the road on which the pedestrian is walking remains almost constant, it can also be considered to be fixed to a moving body. In other words, when a camera that captures peripheral images is fixed to a moving body, the position of the road surface on which the moving body is traveling and the position a predetermined height above the road surface remain almost constant in the peripheral image.

[0034] Therefore, the superimposition position setting unit 114 may set a first superimposition candidate position for a point other than a point of an overpass on the route as a superimposition position for that point, and may set a predetermined position on the peripheral image as a superimposition position for that point at a point of an overpass on the route. In this way, it becomes possible to appropriately display the route image even at a point of an overpass. As a result, it becomes possible to appropriately provide route guidance. The predetermined position may be set, for example, when an imaging device for capturing a peripheral image is set on the moving object.

[0035] Fig. 8 is a diagram showing an example of the processing operation executed in the superimposition position setting unit 114. The processing operation shown in Fig. 8 is executed for each point on the route captured in the peripheral image, for example, in step S503 in Fig. 5.

[0036] If the point is a point other than an overpass (step S801, NO), the first superimposition candidate position calculation unit 1141 calculates a first superimposition candidate position for the point based on the altitude information of the point (step S802), and the setting unit 1142 sets the calculated first superimposition candidate position as the superimposition position for the point (step S803).

[0037] If the point is a point of an overpass (step S801, YES), a predetermined position on the surrounding image is set as the superimposition position for the point (step S804).

[0038] <Displaying route images based on road surface detection> By detecting the road surface in the surrounding image, it is possible to calculate the position of the road surface of the road on which the moving object is moving in the surrounding image, as well as a position a predetermined height above the road surface, based on the detected road surface.

[0039] Therefore, the superimposition setting unit 114 may further include a road surface detection unit 1143 and a second superimposition candidate position calculation unit 1144. The road surface detection unit 1143 detects the road surface of the road on which the moving object is traveling, for example, by performing plane detection in the surrounding image. The second superimposition candidate position calculation unit 1144 calculates a second superimposition candidate position, which is a candidate for the superimposition position at the point of an intersection, based on the road surface detected by the road surface detection unit 1143. The setting unit 1142 may then set this second superimposition candidate position at the point of an intersection on the route as the superimposition position for that point. This makes it possible to more appropriately display the route image at the point of an intersection.

[0040] Fig. 9 is a diagram showing an example of the processing operation executed in the superimposition position setting unit 114. Fig. 9 is executed, for example, in step S503 in Fig. 5. The processing operation shown in Fig. 9 is executed, for example, for each point on the route that appears in the peripheral image.

[0041] If the point is a point other than an overpass (step S901, NO), the first superimposition candidate position calculation unit 1141 calculates a first superimposition candidate position for the point based on the altitude information of the point (step S902), and the setting unit 1141 sets the calculated first superimposition candidate position as the superimposition position for the point (step S903).

[0042] If the point is an intersection (step S901, YES), the road surface detection unit 1143 detects the road surface of the road on which the moving object is traveling (step S904), the second superimposition candidate position calculation unit 1144 calculates a second superimposition candidate position for the point based on the detected road surface (step S905), and the setting unit 1142 sets the calculated second superimposition candidate position as the superimposition position for the point (step S906).

[0043] The road surface detection process is a heavy-load process that consumes a lot of power, and therefore it is not desirable to operate it frequently, for example, in a battery-powered mobile terminal. On the other hand, as described above, when the imaging device that captures the peripheral image is fixed to the mobile body, the position at which the road on which the mobile body is traveling appears in the peripheral image remains almost unchanged. In other words, when the imaging device that captures the peripheral image is fixed to the mobile body, the position of the road surface on which the mobile body is traveling and a position a predetermined height above the road surface remain almost unchanged in the peripheral image.

[0044] Therefore, the superimposition position setting unit 114 may further include a fixation confirmation unit 1145. The fixation confirmation unit 1145 confirms whether the camera that captures the peripheral image is fixed. If the camera that captures the peripheral image is fixed, the setting unit 1142 may set a predetermined position on the peripheral image at the point of the intersection as the superimposition position for that point, and if the camera that captures the peripheral image is not fixed, the setting unit 1142 may set a second superimposition candidate position as the superimposition position for that point. This makes it possible to appropriately display a route image at the point of the intersection while reducing the amount of heavy processing.

[0045] Fig. 10 is a diagram showing an example of the processing operation executed in the superimposition position setting unit 114. The processing operation shown in Fig. 10 is executed for each point on the route that appears in the peripheral image, for example, in step S503 in Fig. 5.

[0046] If the point is a point other than an overpass (step 1001, NO), the first superimposition candidate position calculation unit 1141 calculates a first superimposition candidate position for the point based on the altitude information of the point (step S1002), and the setting unit 1142 sets the calculated first superimposition candidate position as the superimposition position for the point (step S1003).

[0047] If the point is a point of an overpass (step S1001, YES), the fixation confirmation unit 1145 confirms whether the imaging device that captures the surrounding image is fixed or not (step S1004).

[0048] If the camera that captures the peripheral image is fixed (step S1004, YES), a predetermined position on the peripheral image is set as the superimposition position for the point (step S1005). If the camera that captures the peripheral image is not fixed (step S1004, NO), the road surface detection unit 1143 detects the surface of the road on which the mobile object is traveling (step S1006), the second superimposition candidate position calculation unit 1144 calculates a second superimposition candidate position for the point based on the detected road surface (step S1007), and the setting unit 1142 sets the calculated second superimposition candidate position as the superimposition position for the point (step S1008).

[0049] The fixation confirmation unit 1145 may determine that the image capture device is fixed, for example, if a stationary object (such as an A-pillar or hood of a vehicle) is detected in the peripheral image. Alternatively, the image capture device (e.g., a smartphone) may have an inertial measurement unit (IMU), and the fixation confirmation unit 1145 may confirm whether the image capture device is fixed based on, for example, a change in the direction of gravity acting on the image capture device, based on the detection results of the IMU. Alternatively, a fixing device (e.g., a cradle) that fixes the image capture device (e.g., a smartphone) to a moving object may have a means for detecting whether the image capture device is fixed, and the fixation confirmation unit 1145 may confirm whether the image capture device is fixed based on the detection results of the fixing device.

[0050] <Displaying route images based on altitude information before and after> If the road is almost flat, it is possible to estimate the altitude information of the intersection by using altitude information of each point before and after the intersection. In the example shown in FIG. 11, the road is flat between point PF, which is a point on the near side of point PO and immediately before point PO, and point PR, which is a point on the far side of point PO and immediately after point PO. In this case, the position of the road surface at point PO (altitude HO) can be estimated from the altitude HOS at point PO (=(HF·DOR+HR·DFO) / (DFO+DOR)) of a straight line SL connecting the position of the road surface at point PF (altitude HF) and the position of the road surface at point PR (altitude HR). Here, DFO is the distance between point PF and point PO, and DOR is the distance between point PO and point PR.

[0051] Therefore, the superimposition setting unit 114 may further include a third superimposition candidate position calculation unit 1146. The third superimposition candidate position calculation unit 1146 calculates a third superimposition candidate position, which is a candidate for the superimposition position for a point of an intersection, based on altitude information for a point preceding the point and altitude information for a point following the point. Then, the setting unit 1142 may set this third superimposition candidate position at the point of an intersection on the route as the superimposition position for the point. This also makes it possible to appropriately display a route image at the point of an intersection.

[0052] At this time, for example, the third superimposition candidate position calculation unit 1146 may calculate an estimated value HOS of the altitude of a point of a grade separation based on altitude information (altitude HF) of a point immediately before the point and altitude information (altitude HR) of a point immediately after the point, as shown in Fig. 11, and set the calculated estimated value of the altitude of the road surface at the point as the third superimposition candidate position for the point. For example, as shown in Fig. 11, the third superimposition candidate position calculation unit 1146 sets the altitude at the grade separation point PO of a straight line SL connecting the position of the road at point PF immediately before the grade separation point PO (altitude HF) and the position of the road at point PR immediately after the grade separation point PO (altitude HR) as the estimated value HOS of the altitude of the road surface at the grade separation point PO.

[0053] Fig. 12 is a diagram showing an example of the processing operation executed in the superimposition position setting unit 114. The processing operation shown in Fig. 12 is executed for each point on the route that appears in the peripheral image, for example, in step S503 in Fig. 5.

[0054] If the point is a point other than an overpass (step 1201, NO), the first superimposition candidate position calculation unit 1141 calculates a first superimposition candidate position for the point based on altitude information of the point (step S1202), and the setting unit 1141 sets the calculated first superimposition candidate position as the superimposition position for the point (step S1203).

[0055] If the point is a point other than an overpass (step 1201, NO), the third superimposition candidate position calculation unit 1146 calculates a third superimposition candidate position for the point based on the altitude information of the point before the point and the altitude information of the point after the point (step S1204), and the setting unit 1142 sets the calculated third superimposition candidate position as the superimposition position for the point (step S1205).

[0056] As described above, when the camera that captures the peripheral image is fixed to the moving body, the position of the road on which the moving body is traveling in the peripheral image remains almost unchanged. In other words, when the camera that captures the peripheral image is fixed to the moving body, the position of the road surface on which the moving body is traveling and a position a predetermined height above the road surface remain almost unchanged in the peripheral image.

[0057] Therefore, at the point of the overpass, the fixation confirmation unit 1145 may check whether the camera that captures the peripheral image is fixed or not, and if the camera that captures the peripheral image is fixed, the setting unit 1142 may set a predetermined position on the peripheral image as the superimposition position for the point, and if the camera that captures the peripheral image is not fixed, may set the third superimposition candidate position as the superimposition position for the point. In this way, it is possible to appropriately display the route image at the point of the overpass while reducing the amount of processing.

[0058] Fig. 13 is a diagram showing an example of the processing operation executed in the superimposition position setting unit 114. The processing operation shown in Fig. 13 is executed for each point on the route captured in the peripheral image, for example, in step S503 in Fig. 5.

[0059] If the point is a point other than an overpass (step 1301, NO), the first superimposition candidate position calculation unit 1141 calculates a first superimposition candidate position for the point based on altitude information of the point (step S1302), and the setting unit 1142 sets the calculated first superimposition candidate position as the superimposition position for the point (step S1303).

[0060] If the point is a point of an overpass (step S1301, YES), the fixation confirmation unit 1145 confirms whether the imaging device that captures the surrounding image is fixed or not (step S1304).

[0061] If the camera that captures the peripheral image is fixed (step S1304, YES), a predetermined position on the peripheral image is set as the superimposition position for the point in question (step S1305). If the camera that captures the peripheral image is not fixed (step S1304, NO), the third superimposition candidate position calculation unit 1145 calculates a third superimposition candidate position for the point in question based on altitude information of a point before the point in question and altitude information of a point after the point in question (step S1306), and the setting unit 1142 sets the calculated third superimposition candidate position as the superimposition position for the point in question (step S1307).

[0062] When the road on which the vehicle is traveling and the road that intersects with it are wide, i.e., when the distance between point PF, which is a point just before the intersection and point PR, which is a point on the other side of the intersection, is long, the altitude of the road surface may fluctuate significantly between points PF and PR, as shown in FIG. 14 . In other words, in such a case, the estimation accuracy of altitude information at the intersection using altitude information from points before and after the intersection may be reduced. In the example shown in FIG. 14 , the altitude HOS (= (HF·DOR+HR·DFO) / (DFO+DOR)) of a line SL connecting the position of the road surface at point PF just before point PO (altitude HF) and the position of the road surface at point PR just after point PO (altitude HR) is significantly different from the position of the road surface at point PO (altitude HO). Here, DFO is the distance between point PF and point PO, and DOR is the distance between point PO and point PR.

[0063] Therefore, the superimposition position setting unit 114 may further include a road width confirmation unit 1147. The road width confirmation unit 1147 confirms the width of the road that intersects with the road on which the mobile object is traveling at an intersection. If the width of the road that intersects with the road on which the mobile object is traveling at an intersection is within a predetermined length, the setting unit 1142 may set the third superimposition candidate position for the intersection as the superimposition position for the intersection, and if the width of the road that intersects with the road on which the mobile object is traveling at an intersection is greater than the predetermined length, the setting unit 1142 may set the second superimposition candidate position for the intersection. This makes it possible to more appropriately display the route image at the intersection. Here, the predetermined length is set as appropriate.

[0064] Fig. 15 is a diagram showing an example of the processing operation executed in the superimposition position setting unit 114. The processing operation shown in Fig. 15 is executed for each point on the route captured in the peripheral image, for example, in step S503 in Fig. 5.

[0065] If the point is a point other than an overpass (step 1501, NO), the first superimposition candidate position calculation unit 1141 calculates a first superimposition candidate position for the point based on altitude information of the point (step S1502), and the setting unit 1142 sets the calculated first superimposition candidate position as the superimposition position for the point (step S1503).

[0066] If the point is a point of an overpass (step S1501, YES), the road width checking unit 1147 checks the width of the road that crosses the road on which the mobile object is traveling at the point (step S1504).

[0067] If the width of the road that intersects with the road on which the moving body is traveling at the point is within a predetermined length (step S1504, YES), the third superimposition candidate position calculation unit 1146 calculates a third superimposition candidate position for the point based on the altitude information of the point before the point and the altitude information of the point after the point (step S1505), and the setting unit 1142 sets the calculated third superimposition candidate position as the superimposition position for the point (step S1506). If the width of the road that intersects with the road on which the moving body is traveling at the point in question is greater than a predetermined length (step S1504, NO), the road surface detection unit 1143 detects the road surface of the road on which the moving body is traveling (step 1507), the second superimposition candidate position calculation unit 1144 calculates a second superimposition candidate position for the point in question based on the detected road surface (step S1508), and the setting unit 1142 sets the calculated second superimposition candidate position as the superimposition position for the point in question (step S1509).

[0068] Furthermore, at the point of an overpass, the fixation confirmation unit 1145 may confirm whether the camera that captures the peripheral image is fixed, and the road width confirmation unit 1147 may confirm the width of the road that crosses the road on which the mobile object is traveling. If the camera that captures the peripheral image is fixed at the point of the overpass, the setting unit 1142 may set a predetermined position on the peripheral image as the superimposition position for the point; if the camera is not fixed and the width of the road that crosses the road on which the mobile object is traveling at the point of the overpass is within a predetermined length, the setting unit 1142 may set a third superimposition candidate position as the superimposition position for the point; and if the camera is not fixed and the width of the road that crosses the road on which the mobile object is traveling at the point of the overpass is greater than the predetermined length, the setting unit 1142 may set a second superimposition candidate position as the superimposition position for the point. This reduces the amount of processing and enables the route image to be displayed more appropriately at the point of the overpass.

[0069] Fig. 16 is a diagram showing an example of the processing operation executed in the superimposition position setting unit 114. The processing operation shown in Fig. 16 is executed for each point on the route captured in the peripheral image, for example, in step S503 in Fig. 5.

[0070] If the point is a point other than an overpass (step S1601, NO), the first superimposition candidate position calculation unit 1141 calculates a first superimposition candidate position for the point (step S1602), and the setting unit 1142 sets the calculated first superimposition candidate position as the superimposition position for the point (step S1603).

[0071] If the point is a point of an overpass (step S1601, YES), the fixation confirmation unit 1145 confirms whether the image capturing device that captures the surrounding image is fixed or not (step S1604).

[0072] If the camera that captures the peripheral image is fixed (step S1604, YES), the setting unit 1142 sets a predetermined position on the peripheral image as a superimposition position for the point (step S1605). If the camera that captures the peripheral image is not fixed (step S1604, NO), the road width confirmation unit 1147 confirms the width of the road that crosses the road on which the mobile object is traveling at the point (step S1606).

[0073] If the width of the road that intersects with the road on which the moving body is traveling at the point is within a predetermined length (step S1606, YES), the third superimposition candidate position calculation unit 1146 calculates a third superimposition candidate position for the point based on the altitude information of the point before the point and the altitude information of the point after the point (step S1607), and the setting unit 1142 sets the calculated third superimposition candidate position as the superimposition position for the point (step S1608). If the width of the road that intersects with the road on which the moving body is traveling at the point in question is greater than a predetermined length (step S1606, NO), the road surface detection unit 1143 detects the road surface of the road on which the moving body is traveling (step 1609), the second superimposition candidate position calculation unit 1144 calculates a second superimposition candidate position for the point in question based on the detected road surface (step S1610), and the setting unit 1142 sets the calculated second superimposition candidate position as the superimposition position for the point in question (step S1611).

[0074] <Confirming the reliability of the first candidate position for superimposition> When the altitude information of the point of an overpass is altitude information of a road on the route along which the moving body is scheduled to travel, even if the first candidate superimposition position for the point of the overpass is set as the superimposition position for that point, the route image is displayed at an appropriate position.

[0075] Therefore, the superimposition setting unit 114 may further include a first superimposition candidate position confirmation unit 1148. The first superimposition candidate position confirmation unit 1148 confirms whether the reliability of the first superimposition candidate position satisfies a predetermined standard. Then, at a point of an overpass, if the reliability of the first superimposition candidate position for that point satisfies the predetermined standard, the setting unit 1142 may set the first superimposition candidate position for that point as the superimposition position for that point, and if the reliability of the first superimposition candidate position for that point does not satisfy the predetermined standard, the setting unit 1142 may set a predetermined position on the peripheral image, the second superimposition candidate position, or the third superimposition candidate position as the superimposition position for that point. This makes it possible to more appropriately display a route image at a point of an overpass.

[0076] For example, at each intersection on the route, if the change in the first superposition candidate position is less than a predetermined value, the first superposition candidate position confirmation unit 1148 determines that the reliability of the first superposition candidate position for that point meets a predetermined standard. If the change in the first superposition candidate position is greater than the predetermined value, the first superposition candidate position confirmation unit 1148 determines that the reliability of the first superposition candidate position for that point does not meet the predetermined standard. In other words, at each intersection on the route, the first superposition candidate position confirmation unit 1148 compares the altitude information of the intersection with the altitude information of a point just before the intersection, which is a point on the near side of the intersection, or the altitude information of a point just after the intersection, which is a point on the far side of the intersection, and determines that the altitude information of the intersection is relatively likely to be the altitude information of a road intersecting the route if the change in altitude indicated by the altitude information is greater than a predetermined threshold. The predetermined threshold may be set as appropriate, for example, based on the maximum gradient of a road permitted by law.

[0077] Fig. 17 is a diagram showing an example of the processing operation executed in the superimposition position setting unit 114. The processing operation shown in Fig. 17 is executed for each point on the route that appears in the peripheral image, for example, in step S503 in Fig. 5.

[0078] The first superimposition candidate position calculation unit 1141 calculates a first superimposition candidate position for the point based on altitude information of the point (step S1701). If the point is a point other than an overpass (step 1702, NO), the setting unit 1142 sets the calculated first superimposition candidate position as the superimposition position for the point (step S1703).

[0079] If the point is an overpass (step S1702, YES), the first superposition candidate position confirmation unit 1148 confirms whether the reliability of the first superposition candidate position for the point satisfies a predetermined standard (step S1704). If the reliability of the first superposition candidate position for the point satisfies the predetermined standard (step S1704, YES), the setting unit 1142 sets the first superposition candidate position for the point as the superposition position for the point (step S1703). If the reliability of the first superposition candidate position for the point does not satisfy the predetermined standard (step S1704, NO), the setting unit 1142 sets a predetermined position on the peripheral image, the second superposition candidate position for the point, or the third superposition candidate position for the point as the superposition position for the point (step S1705).

[0080] If the setting unit 1142 sets the second superimposition candidate position as the superimposition position, then in step S1705, the road surface detection unit 1143 detects the surface of the road on which the mobile object is traveling, and the second superimposition candidate position calculation unit 1144 calculates the second superimposition candidate position based on the detected road surface. If the setting unit 1142 sets the third superimposition candidate position as the superimposition position, then in step S1705, the third superimposition candidate position calculation unit 1146 calculates the third superimposition candidate position based on altitude information of a point preceding the current point and altitude information of a point following the current point.

[0081] Furthermore, if the reliability of the first superposition candidate position for the intersection point does not satisfy a predetermined standard, the fixation confirmation unit 1145 may confirm whether the camera that captures the peripheral image is fixed. If the reliability of the first superposition candidate position for the intersection point does not satisfy the predetermined standard and the camera that captures the peripheral image is fixed, the setting unit 1142 may set a predetermined position on the peripheral image as the superposition position for that point, and if the reliability of the first superposition candidate position does not satisfy the predetermined standard and the camera that captures the peripheral image is not fixed, the setting unit 1142 may set the second or third superposition candidate position as the superposition position for that point.

[0082] Fig. 18 is a diagram showing an example of the processing operation executed in the superimposition position setting unit 114. The processing operation shown in Fig. 18 is executed for each point on the route captured in the peripheral image, for example, in step S503 in Fig. 5.

[0083] The first superimposition candidate position calculation unit 1141 calculates a first superimposition candidate position for the point based on altitude information of the point (step S1801). If the point is a point other than an overpass (step 1802, NO), the setting unit 1142 sets the calculated first superimposition candidate position as the superimposition position for the point (step S1803).

[0084] If the point is an intersection (step S1802, YES), first superimposition candidate position checking unit 1148 checks whether the reliability of the first superimposition candidate position meets a predetermined standard (step S1804).

[0085] If the reliability of the first superposition candidate position for the point satisfies a predetermined standard (step S1804, YES), the setting unit 1142 sets the first superposition candidate position for the point as the superposition position for the point (step S1803).If the reliability of the first superposition candidate position for the point does not satisfy the predetermined standard (step S1804, NO), the fixation confirmation unit 1145 confirms whether the imaging device that captures the peripheral image is fixed (step S1805).

[0086] If the photographing device that captures the peripheral image is fixed (step S1805, YES), a predetermined position on the peripheral image is set as the superimposition position for the point (step S1806).If the photographing device that captures the peripheral image is not fixed (step S1805, NO), the setting unit 1142 sets the second or third superimposition candidate position as the superimposition position for the point (step S1807).

[0087] When setting unit 1142 sets the second superimposition candidate position as the superimposition position, road surface detection unit 1143 detects the surface of the road on which the mobile object is traveling, and second superimposition candidate position calculation unit 1144 calculates the second superimposition candidate position based on the detected road surface. When setting unit 1142 sets the third superimposition candidate position as the superimposition position, third superimposition candidate position calculation unit 1146 calculates the third superimposition candidate position based on altitude information of a point preceding the current point and altitude information of a point following the current point.

[0088] Furthermore, if the reliability of the first superposition candidate position for the point of grade separation does not satisfy a predetermined criterion, the road width confirmation unit 1147 may confirm the width of the road on which the mobile object is traveling and the road that crosses at the point of grade separation. Then, if the reliability of the first superposition candidate position for the point of grade separation does not satisfy the predetermined criterion and the width of the road that crosses at the point of grade separation with the road on which the mobile object is traveling is within a predetermined length, the setting unit 1142 may set the third superposition candidate position for the point as the superposition position for the point, and if the reliability of the first superposition candidate position does not satisfy the predetermined criterion and the width of the road that crosses at the point of grade separation with the road on which the mobile object is traveling is greater than the predetermined length, the setting unit 1142 may set the second superposition candidate position as the superposition position for the point.

[0089] Fig. 19 is a diagram showing an example of the processing operation executed in the superimposition position setting unit 114. The processing operation shown in Fig. 19 is executed for each point on the route that appears in the peripheral image, for example, in step S503 in Fig. 5.

[0090] The first superimposition candidate position calculation unit 1141 calculates a first superimposition candidate position for the point based on altitude information of the point (step S1901). If the point is a point other than an overpass (step 1902, NO), the setting unit 1142 sets the calculated first superimposition candidate position as the superimposition position for the point (step S1903).

[0091] If the point is an intersection (step S1902, YES), first superimposition candidate position checking unit 1148 checks whether the reliability of the first superimposition candidate position meets a predetermined standard (step S1904).

[0092] If the reliability of the first superimposition candidate position for the point satisfies a predetermined standard (step S1904, YES), the setting unit 1142 sets the first superimposition candidate position for the point as the superimposition position for the point (step S1903). If the reliability of the first superimposition candidate position for the point does not satisfy the predetermined standard (step S1904, NO), the road width confirmation unit 1147 confirms the width of the road that intersects with the road on which the mobile object is traveling at the point (step S1905).

[0093] If the width of the road that intersects with the road on which the moving body is traveling at the point is within a predetermined length (step S1905, YES), the third superimposition candidate position calculation unit 1146 calculates a third superimposition candidate position for the point based on the altitude information of the point before the point and the altitude information of the point after the point (step S1906), and the setting unit 1142 sets the third superimposition candidate position as the superimposition position for the point (step S1907). If the width of the road that intersects with the road on which the moving body is traveling at the point is greater than a predetermined length (step S1905, NO), the road surface detection unit 1143 detects the road surface of the road on which the moving body is traveling (step 1908), the second superimposition candidate position calculation unit 1144 calculates a second superimposition candidate position for the point based on the detected road surface (step S1909), and the setting unit 1142 sets the calculated second superimposition candidate position as the superimposition position for the point (step S1910).

[0094] Furthermore, if the reliability of the first candidate superimposition position for the point of an overpass does not satisfy a predetermined standard, the fixation confirmation unit 1145 may confirm whether or not a photographing device that captures surrounding images is fixed at the point of the overpass, and the road width confirmation unit 1147 may confirm the width of the road on which the moving body is traveling and the road that crosses over at the point. Then, if the reliability of the first candidate superimposition position does not satisfy the predetermined criterion and the photographing device that photographs the peripheral image is fixed, the setting unit 1142 may set a predetermined position on the peripheral image as the superimposition position for that point; if the reliability of the first candidate superimposition position does not satisfy the predetermined criterion, the photographing device is not fixed, and the width of the road that intersects with the road on which the mobile body is traveling at the point of the intersection is within a predetermined length, the setting unit 1142 may set a third candidate superimposition position as the superimposition position for that point; and if the reliability of the first candidate superimposition position does not satisfy the predetermined criterion, the photographing device is not fixed, and the width of the road that intersects with the road on which the mobile body is traveling at the point of the intersection is greater than the predetermined length, the setting unit 1142 may set a second candidate superimposition position as the superimposition position for that point.

[0095] Fig. 20 is a diagram showing an example of the processing operation executed in the superimposition position setting unit 114. The processing operation shown in Fig. 20 is executed for each point on the route that appears in the peripheral image, for example, in step S503 in Fig. 5.

[0096] The first superimposition candidate position calculation unit 1141 calculates a first superimposition candidate position for the point based on altitude information of the point (step S2001). If the point is a point other than an overpass (step 2002, NO), the setting unit 1142 sets the calculated first superimposition candidate position as the superimposition position for the point (step S2003).

[0097] If the point is an overpass point (step S2002, YES), first superimposition candidate position checking unit 1148 checks whether the reliability of the first superimposition candidate position meets a predetermined standard (step S2004).

[0098] If the reliability of the first superposition candidate position for the point satisfies a predetermined standard (step S2004, YES), the setting unit 1142 sets the first superposition candidate position for the point as the superposition position for the point (step S2003).If the reliability of the first superposition candidate position for the point does not satisfy the predetermined standard (step S2004, NO), the fixation confirmation unit 1145 confirms whether the imaging device that captures the peripheral image is fixed (step S2005).

[0099] If the camera that captures the peripheral image is fixed (step S2005, YES), a predetermined position on the peripheral image is set as the superimposition position for the point (step S2006).If the camera that captures the peripheral image is not fixed (step S2005, NO), the road width confirmation unit 1147 confirms the width of the road that crosses the road on which the mobile object is traveling at the point (step S2007).

[0100] If the width of the road that intersects with the road on which the moving body is traveling at the point is within a predetermined length (step S2007, YES), the third superimposition candidate position calculation unit 1146 calculates the third superimposition candidate position for the point based on the altitude information of the point before the point and the altitude information of the point after the point (step S2008), and the setting unit 1142 sets the third superimposition candidate position as the superimposition position for the point (step S2009). If the width of the road that intersects with the road on which the moving body is traveling at the point in question is greater than a predetermined length (step S2007, NO), the road surface detection unit 1143 detects the road surface of the road on which the moving body is traveling (step S2010), the second superimposition candidate position calculation unit 1144 calculates a second superimposition candidate position for the point in question (step S2011), and the setting unit 1142 sets the calculated second superimposition candidate position as the superimposition position for the point in question (step S2012).

[0101] <Route information acquisition processing unit 111> As shown in FIG. 21, the route information acquisition processing unit 111 may include a map information acquisition processing unit 1111, a departure point information acquisition processing unit 1112, a destination point information acquisition processing unit 1113, and a route search unit 1114.

[0102] The map information acquisition processing unit 1111 acquires map information including information about nodes and information about links. The information about nodes includes, for example, information about the position of the node (information about the latitude and longitude of the node and information about the altitude of the node). The information about the link includes information about the positions of both ends of the link (i.e., the positions of the nodes at both ends of the link) and information about points (including shape points) within the link (for example, information about the positions of the points (information about the latitude and longitude of the point and information about the altitude of the point)). In this case, for example, it is preferable that the storage unit 140 stores the map information, and the map information acquisition processing unit 1111 acquires the map information from the storage unit 140. Furthermore, the map information acquisition processing unit 1111 may acquire map information from another device using communication by the communication unit 120.

[0103] The departure point information acquisition processing unit 1112 acquires information about the departure point. For example, the departure point information acquisition processing unit 1112 may acquire information about the departure point input by the input unit 130, or may acquire information about the departure point stored in the storage unit 140, or may acquire information about the departure point from another device (for example, a device that moves together with the mobile object) using communication with the other device by the communication unit 120, or may acquire information about the current position of the mobile object acquired by the position information acquisition unit 160 as information about the departure point.

[0104] The destination point information acquisition processing unit 1113 acquires information related to the destination point. The destination point information acquisition processing unit 112 may acquire information related to the destination point input by the input unit 130, or may acquire information related to the destination point stored in the storage unit 140, or may acquire information related to the destination point from another device (for example, a device that moves together with the mobile object) using communication with the other device via the communication unit 120.

[0105] The route search unit 1114 searches for a route from the departure point acquired by the departure point information acquisition processing unit 1112 to the destination point acquired by the destination point acquisition processing unit 113. The route search technology used in the route search unit 130 may be any technology that can search for a route from the departure point to the destination point.

[0106] The present invention has been described above in terms of preferred embodiments thereof. While the present invention has been described herein with reference to specific examples, various modifications and variations can be made to these examples without departing from the spirit and scope of the present invention as set forth in the claims. [Explanation of symbols]

[0107] 100 Route guidance device 110 control section 111 Route information acquisition processing unit 1111 Map information acquisition processing unit 1112 Departure point information acquisition processing unit 1113 Destination point information acquisition processing unit 1114 Route Search Unit 112 Peripheral image acquisition processing unit 113 Mobile information acquisition processing unit 114 Superimposition position setting unit 1141 First superimposition position candidate calculation unit 1142 Settings 1143 Road surface detection unit 1144 Second superimposition candidate position calculation unit 1145 Fixed confirmation part 1146 Third superimposition candidate position calculation unit 1147 Road width confirmation section 1148 First superimposition candidate position confirmation unit 115 Display processing unit 120 Communications Department 130 Input section 140 Storage section 150 Display section 160 Location information acquisition unit 170 Photography Department

Claims

1. a peripheral image acquisition processing unit that acquires a peripheral image, which is an image of the periphery of the moving object captured by an imaging device that moves together with the moving object; a superimposition position setting unit that sets a superimposition position on the peripheral image at each point on the route, the superimposition position being a position at which a route image showing a planned movement route of the moving object is to be superimposed; a first superimposition candidate position calculation unit that calculates a first superimposition candidate position, which is a candidate for the superimposition position for each point on the route, based on information about the altitude of the point; The superimposition position setting unit setting the first superimposition candidate position as the superimposition position at a point other than a point of an overpass on the route; The information processing device sets a predetermined position on the peripheral image as the superimposition position in at least a part of a point of an overpass on the route.

2. a road surface detection unit that detects the surface of a road on which the moving object moves; The superimposition position setting unit, at a point of an intersection on the route, If the photographing device is fixed, a predetermined position on the peripheral image is set as the superimposition position; The information processing device according to claim 1 , wherein if the photographing device is not fixed, the superimposition position is set based on the road surface detected by the road surface detection unit.

3. The superimposition position setting unit sets a superimposition position at least in part of a point of an intersection on the route. If the photographing device is fixed, a predetermined position on the peripheral image is set as the superimposition position; The information processing device according to claim 1 , wherein if the photographing device is not fixed, the superimposition position is set based on altitude information of points before and after the intersection.

4. a road surface detection unit that detects the surface of a road on which the moving body moves; The superimposition position setting unit sets a superimposition position at least in part of a point of an intersection on the route. If the photographing device is fixed, a predetermined position on the peripheral image is set as the superimposition position; If the photographing device is not fixed and the width of the road on which the moving body is traveling and the road that intersects with the road at the point of the intersection is within a predetermined length, the superimposition position is set based on altitude information of each point before and after the intersection; 2. The information processing device according to claim 1, wherein if the photographing device is not fixed and the width of the road that intersects with the road on which the moving body is traveling at the intersection is greater than the predetermined length, the superimposition position is set based on the road surface detected by the road surface detection unit.

5. The superimposition position setting unit, at a point of an intersection on the route, The information processing apparatus according to claim 1 , wherein if reliability of the first superimposition candidate position satisfies a predetermined standard, the first superimposition candidate position is set as the superimposition position.

6. 6. The information processing device according to claim 5, wherein, at each point of an overpass on the route, if a change in the first superposition candidate position is equal to or less than a predetermined value, the superposition position setting unit determines that the reliability of the first superposition candidate position for that point satisfies the predetermined criterion.

7. 1. A computer-implemented information processing method, comprising: a peripheral image acquisition process step of acquiring a peripheral image, which is an image of the periphery of the moving body captured by an imaging device moving together with the moving body; a superimposition position setting step of setting a superimposition position on the peripheral image at each point on the route, the superimposition position being a position at which a route image showing a planned movement route of the moving object is to be superimposed; a first superposition candidate position calculation step of calculating a first superposition candidate position, which is a candidate for the superposition position for each point on the route, based on information on the altitude of the point; The superimposition position setting step includes: setting the first superimposition candidate position as the superimposition position at a point other than a point of an overpass on the route; An information processing method, comprising: setting a predetermined position on the peripheral image as the superimposition position at least in part of a point of an overpass on the route.

8. An information processing program that causes a computer to execute the information processing method according to claim 7.

9. A computer-readable storage medium storing the information processing program according to claim 8.

Images