JP2006273190A - On-vehicle navigation device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an on-vehicle navigation device capable of confirming a foreign matter run over while a vehicle is driven by a still image, and ensuring the subsequent safety drive. <P>SOLUTION: Information on an image before a vehicle acquired while the vehicle runs is stored in a HDD together with time information at the acquisition (S1). When any change in the vehicular behavior or abnormal noise is detected (S2), it is determined that a foreign matter is run over. When the foreign matter is detected from image information from the time of detection to the time before the predetermined time out of image information stored in the HDD (S3, S4), the image (the still image) is displayed on a screen of a display means in a display mode capable of identifying the detected part (S5). In addition, as necessary (S6), the detected part (foreign matter) is displayed in a zoomed-up manner (S7), and information for instructing the time and the place with the foreign matter being run over is also displayed. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an in-vehicle navigation device, and more particularly to an in-vehicle navigation device adapted to provide a user (driver) with information on what the foreign object is when a foreign object is stepped on while driving the vehicle. About.

  Conventional in-vehicle navigation devices include a CPU that controls all processing related to navigation, a storage device such as a CD-ROM or DVD-ROM that stores map data, a display device such as an LCD monitor, and the current position of the vehicle. A GPS receiver for detection, a gyro, a vehicle speed sensor, and the like for detecting the traveling direction and traveling speed of the host vehicle are provided. Then, the CPU reads out map data including the current position of the own vehicle from the storage device, draws a map image around the own vehicle position on the screen of the display device based on the map data, and determines the current position of the own vehicle. The vehicle position mark to be indicated is displayed superimposed on the screen, the map image is scrolled according to the movement of the vehicle, the map image is fixed on the screen, and the vehicle position mark is moved. You can see at a glance where the car is currently driving.

  In-vehicle navigation devices are usually equipped with a function (route guidance function) that guides a user so that the user can easily travel on the road without making a mistake. According to this route guidance function, the CPU calculates the optimal route from the departure point (typically the current position of the vehicle) to the destination using map data, such as a horizontal search method or a Dijkstra method. The route searched is stored as a guide route, and the route can be distinguished from other roads on the map image while traveling (for example, the color is changed or the line width is increased). When the vehicle approaches within a predetermined distance to the intersection whose course is to be changed on the guidance route, the map image includes an enlarged view of the intersection (an arrow indicating the direction of travel at the intersection, etc.) ) Or the like, the user can grasp the optimum route toward the destination.

  If you step on or think that you have stepped on a foreign object while driving a vehicle equipped with such a navigation device, the driver will be wondering what he has stepped on and look back to confirm it. Or look into the rearview mirror. In addition, when the shock when stepping on a foreign object is large, the vehicle may be stopped and confirmed. In any case, with the current technology, if a foreign object is stepped on while driving, it is not known what the step is on unless it returns to that place.

On the other hand, there is also a technique for detecting in advance obstacles (foreign matter) on the road that obstruct driving and avoiding them (doing not step on them). For example, as described in Patent Document 1, the temperature distribution detected by an infrared camera or the like is superimposed on the image of the road area in front of the vehicle created based on the road data read from the navigation system. There is a technology that recognizes snow and ice (low temperature part), humans and animals (high temperature part) existing on the road, and issues a warning to avoid the obstacle. Further, as described in Patent Document 2, image information indicating the surrounding situation of the own vehicle obtained by a CCD camera or the like is displayed on the display of the navigation device together with the road map and the own vehicle position, and the surroundings by the radar or the like There is also a technique in which obstacles that are obstacles to traveling of the vehicle are displayed in an identifiable manner together with the distance detection result of the object.
JP-A-8-263784 Japanese Patent Laid-Open No. 9-166542

  As described above, in the conventional technology, if a foreign object is stepped on while driving the vehicle, the driver is wondering what he / she has stepped on. Therefore, to confirm it, look back or look into the rearview mirror. Sometimes happened. However, such confirmation during operation may be possible when traveling at low speed, but it is substantially difficult and dangerous when traveling at high speed.

  Also, if you could not confirm it when you stepped on a foreign object, then the driver would continue driving while caring about what you stepped on, so it was dangerous because you could not concentrate on driving . In particular, if the stepped foreign object is sharp, there is a possibility that the tire is damaged and there is a risk of causing an accident.

  For this reason, if a foreign object is stepped on during driving, it is desirable to return to that place and confirm it safely. However, if the foreign object is something that will continue to interfere with the operation, it is worthwhile to go back to the place and check it. Even useless. Especially on highways, it is difficult to return to places that have already passed.

  The present invention has been created in view of the problems in the prior art, and when a foreign object is stepped on while driving a vehicle, it is possible to confirm with a still image what the foreign object is, and thus safe driving thereafter. It is an object to provide an in-vehicle navigation device that can contribute to the above.

  In order to solve the above-described problems of the prior art, according to the present invention, a display unit that provides information through a screen, an imaging unit that continuously acquires a front or rear image of the traveling vehicle, and the imaging Storage means for storing image information acquired by the means together with time information at the time of acquisition, traveling state detection means for detecting the traveling state of the host vehicle, the display means, imaging means, storage And a control means operably connected to the travel state detection means, wherein the control means detects that the own vehicle has changed in behavior based on the travel state detected by the travel state detection means. It is determined that a foreign object has been stepped on, and the foreign object is detected from the image information stored in the storage means until the predetermined time before or after the predetermined time from the detection of the behavior change. An in-vehicle navigation device is provided that displays the image on the screen of the display unit in a display mode that can identify which portion of the image the detected foreign object is in The

  According to the vehicle-mounted navigation device according to the present invention, the image capturing means for continuously acquiring the front (or rear) image of the traveling vehicle and the information on the acquired image are stored together with the time information at the time of acquisition. The drive recorder function is realized by the storage means. Then, when the behavior change of the host vehicle is detected by the control means, it is determined that the vehicle has stepped on a foreign object, and among the drive recorder information stored in the storage means, a predetermined time before the detection time (or a predetermined time) The foreign object is detected from the image information up to (after time), and the image is displayed on the screen in a display mode in which the detected part (foreign substance) can be identified in the image. . In other words, the drive recorder information stored in the storage means is not read as it is and the moving image is reproduced, but only the information that the user wants (in this case, the stepped foreign object) is extracted and information is provided in the form of a still image through the screen. I am doing so.

  As a result, if the user steps on a foreign object while driving the vehicle, the user can confirm the image displayed on the screen (the detected part (foreign object) included in this image) without having to bother to return to that location. By doing so, it is possible to recognize what the foreign substance was. Thereby, it can be confirmed whether there is no problem even if the operation is continued as it is, and it can contribute to the subsequent safe driving.

  The vehicle-mounted navigation device further includes an input unit that inputs a user instruction, and the control unit is configured to display the detected foreign object in a display mode that can identify the portion in the image. In a state where the image is displayed on the screen of the display means, when the user gives an instruction via the input means, the detected foreign matter may be zoomed up and displayed.

  According to this aspect, even if the foreign matter cannot be easily recognized with the naked eye from the image displayed on the screen in the above-described vehicle-mounted navigation device, the zoom-up display can show what the foreign matter is. Can be recognized reliably.

  Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

  FIG. 1 schematically shows the configuration of an in-vehicle navigation device according to an embodiment of the present invention.

  In the in-vehicle navigation device 10 according to the present embodiment, 11 is a communication device such as an in-vehicle phone or a mobile phone for communicating with the outside via an antenna, and 12 is an operation unit for inputting information instructed by the user. For example, it has the form of a remote control transmitter. Although not specifically illustrated, the remote control transmitter is appropriately provided with various operation buttons and a joystick for selecting various menus and various items on the screen of the display unit, which will be described later, and executing the selected menus. As will be described later, there are provided operation buttons, keys, and the like for executing detection and display of a foreign object stepped on by the host vehicle as will be described later. Reference numeral 13 denotes a GPS receiver that detects the longitude and latitude of the current position of the vehicle based on GPS signals transmitted from GPS satellites.

  Reference numeral 14 denotes a microphone installed at an appropriate location outside the vehicle (for example, in the vicinity of the suspension). When a sound (abnormal noise) different from that in the normal running state is detected through the microphone 14, control described later is performed. It is determined that the host vehicle “stepped on a foreign object” in the section. That is, the detection of abnormal noise by the microphone 14 is used as a trigger for determining whether or not a foreign object has been stepped on. Here, “abnormal noise” refers to a short-time sound that differs in level from the sound normally picked up near the suspension while the vehicle is running (such as the sound of tire rotation and the sound of contact with the road surface). And Reference numeral 15 denotes a vehicle sensor for detecting the vehicle traveling state, and includes, for example, an angle sensor such as a gyro for detecting the traveling direction of the own vehicle, a vehicle speed sensor for generating a pulse for every certain traveling distance, and the like. . As will be described later, it is possible to determine (detect) whether or not the behavior of the host vehicle has changed from the information indicating the vehicle running state detected by the vehicle sensor 15, and when a change in vehicle behavior is detected, In the control unit described later, it is determined that the host vehicle has “stepped on a foreign object”. That is, the detection of the vehicle behavior change based on the output information of the vehicle sensor 15 is used as a trigger for determining whether or not a foreign object has been stepped on.

  Reference numeral 16F denotes a front camera (on-vehicle camera) installed at an appropriate location in front of the host vehicle (for example, in the vicinity of a room mirror in the vehicle interior). The front camera is activated based on control from the control unit 18 and is running (stopped) The image (image information) ahead of the vehicle (including time) is continuously acquired. Reference numeral 17 denotes an image processing unit, which is a functional block for recognizing a signal of an image obtained by photographing with the in-vehicle camera 16F as a sign around the host vehicle, road surface conditions (including road foreign objects), other vehicles, and the like. It also has a function of amplifying, digitizing, and outputting the image signal acquired by the in-vehicle camera 16F. In the image processing unit 17, processing similar to processing normally performed in a general image recognition apparatus is performed. For example, noise of an image acquired by the in-vehicle camera 16F is removed, binarization, edge processing, or the like is performed. Using a technique such as detection, a characteristic image is identified from the acquired images, and the identified image is collated with a plurality of matching pattern images prepared in advance.

  Reference numeral 18 denotes a control unit constituted by a microcomputer or the like. Basically, the current position of the host vehicle is detected based on a signal output from the GPS receiver 13 or a signal output from the vehicle sensor 15 is used. Based on the search conditions set using the map data read from the map database, which will be described later, search for a guidance route from the departure point (vehicle position) to the destination, etc. Various processes related to navigation are executed. Furthermore, as a process related to the present invention, the control unit 18 has a function of controlling a process related to detection and display of a road foreign object as described later. Reference numeral 19 denotes a map database that stores map data divided into longitude and latitude widths of appropriate sizes according to each scale level (1/12500, 1/25000, 1 / 50,000, etc.). HDD is used. The map data stored in the HDD (map database 19) includes road data for display, road data for route search, data on various facilities (convenience store, gas station, family restaurant, etc.), and the like. Each data is represented by a coordinate set of points (nodes) expressed by longitude and latitude.

  Reference numeral 20 denotes a drive recorder information storage unit that uses the same HDD as the map database 19 as a storage medium. The drive recorder information storage unit 20 (corresponding storage area in the HDD) continuously shoots with the in-vehicle camera 16F. The information of the image (video in front of the vehicle) obtained in this manner is sequentially stored via the image processing unit 17 based on the control from the control unit 18 together with the time information at the time of acquisition. In this case, the storage capacity of the in-vehicle HDD is limited, and it is not possible to save all the drive recorder information acquired in the past. Therefore, from the viewpoint of efficiently operating the HDD, the corresponding storage in the HDD The drive recorder information is stored in the area while being sequentially overwritten (for example, updated every 30 minutes). Reference numeral 21 denotes a foreign matter detection information storage unit that uses the same HDD as the map database 19 as a storage medium. The foreign matter detection information storage unit 21 (another storage area in the HDD) is controlled as described later. Image information of a specific time period extracted from the drive recorder information based on control from the unit 18 (including image information showing the foreign object) is stored.

  22 stores data related to all nodes (coordinates of points expressed in longitude and latitude) from the starting point (typically the vehicle position) of the guidance route searched by the control unit 18 to the destination. The guide route memory | storage part is shown. Reference numeral 23 denotes a display unit composed of an LCD monitor or the like. Basically, guidance information related to navigation (a map around the current position of the vehicle, from the departure point to the destination) based on control from the control unit 18. Information on the display of a foreign object on the road detected based on the control from the control unit 18 as will be described later (stationary). Image) is displayed on the screen. Reference numeral 24 denotes a speaker, which outputs the guidance information related to the navigation based on the control from the control unit 18.

  In the in-vehicle navigation device 10 configured as described above, the operation unit 12 is an “input unit”, the vehicle sensor 15 is a “running state detection unit”, the in-vehicle camera 16F is an “imaging unit”, and the control unit 18 is The “control means”, the HDDs 19 to 21 correspond to “storage means”, and the display unit 23 corresponds to “display means”.

  Hereinafter, with respect to the processing related to detection and display of foreign matter on the road performed by the control unit 18 in the vehicle-mounted navigation device 10 (FIG. 1) according to the present embodiment, this processing flow will be supplemented together with FIG. 2 showing an example of the processing flow. This will be described with reference to FIGS. 3 to 5 showing screen display examples for explanation.

  First, as a precondition, it is assumed that a vehicle equipped with the apparatus 10 is traveling toward a destination. That is, when the user operates the operation unit (remote control transmitter) 12 to set the destination, the control unit 18 detects the current position of the vehicle detected based on the destination data and the output signal from the GPS receiver 13. Based on the (departure point) data, the map data in the range from the departure point to the destination is read from the map database 19, and the optimum guidance route connecting the departure point to the destination is searched by a horizontal search method or the like. The result is temporarily stored in the guide route storage unit 22. Then, referring to the data stored in the guidance route storage unit 22, the vehicle is guided to the destination while displaying the guidance route on the screen of the display unit 23 (route guidance).

  In the state where the route guidance is performed in this way, in the first step S1, information of an image (video in front of the vehicle) obtained by the control unit 18 by continuously shooting with the front camera 16F is displayed as an image processing unit. 17 and the obtained digital image information is overwritten on the corresponding storage area (drive recorder information storage unit 20) in the HDD as drive recorder information together with time information at the time of acquisition (at the time of imaging). Save sequentially.

  In the next step S2, the control unit 18 determines whether the behavior of the host vehicle has changed (YES) or not (NO) from the information indicating the vehicle running state detected by the vehicle sensor 15, or the microphone. 14, it is determined whether an abnormal sound different from that in the normal running state is detected (YES) or not (NO). If the determination result is YES, it is determined that the host vehicle has “stepped on a foreign object” triggered by the detection of a change in vehicle behavior or abnormal noise, and the process proceeds to step S3. If the determination result is NO, this processing flow Becomes “End”.

  In the next step S3, the control unit 18 refers to the drive recorder information (image information and time information at the time of imaging) stored in the drive recorder information storage unit 20 to detect vehicle behavior change or abnormal noise. Image information from a time point to a predetermined time (1 to 2 seconds to several seconds) before is extracted and stored in another storage area (foreign matter detection information storage unit 21) in the HDD.

  In the next step S4, the control unit 18 refers to the drive recorder information stored in the foreign matter detection information storage unit 21 based on a user instruction from the operation unit 12, and cooperates with the image processing unit 17, It is determined whether or not a foreign object (pattern image) is detected by image recognition from the drive recorder information (image) (YES) or not (NO). If the determination result is YES, the process proceeds to step S5, and if the determination result is NO, the process flow is “end”.

  In the next step S5, an image (still image) including the detected portion (foreign matter) is displayed on the screen of the display unit 23 based on the control from the control portion 18, and the detected portion (foreign matter) is included in the image. It is displayed in a display form that can identify whether it is in the part.

  For example, as shown in the screen display example of FIG. 3, when displaying an image (still image 32) including the detected portion (foreign matter) 31 on the screen 30 of the display unit 23, the detected portion 31 is replaced with another portion. Is surrounded by broken lines of different colors (relatively conspicuous colors) so that it can be identified in which part of the image 32 the detection part 31 is located. In the screen display example shown in FIG. 3, the detection portion (foreign matter) 31 is surrounded by a conspicuous broken line, but the display mode of the detection portion is not limited to this. For example, various display modes are conceivable, such as blinking the detection portion 31 surrounded by a broken line, or attaching an arrow to the detection portion 31 to blink the arrow.

  In the next step S6, the control unit 18 determines whether there is a user instruction from the operation unit 12 (an instruction to zoom in on the detected portion (foreign matter) 31) (YES) or not (NO). . If the determination result is yes, the process proceeds to step S7, and if the determination result is no, the process flow is “end”.

  In the final step S 7, the detected portion (foreign matter) is zoomed up and displayed on the screen of the display unit 23 based on the control from the control unit 18. At that time, the control unit 18 also refers to the map information stored in the map database 19 and also displays information indicating the time and place where the foreign object is stepped on.

  For example, as shown in the screen display example of FIG. 4, the detected portion (foreign matter) is zoomed up and displayed on the screen 30 of the display unit 23 (zoomed-up image 33), and the time when the foreign matter is stepped on is indicated. Information 34 (“PM3: 34” in the example shown) and information 35 (“Near A intersection” in the example) indicating the place where the foreign object is stepped on are also displayed. Then, this processing flow is “end”.

  Although not particularly shown in the present processing flow, when the zoomed-in display (FIG. 4) of the detected portion (foreign matter) is performed in the last step S7, the user from the operation unit 12 as necessary. Based on the instruction, the control unit 18 may display a map image around the place where the foreign object is stepped on the screen of the display unit 23.

  For example, as shown in the screen display example of FIG. 5, a map image 36 around the place where the foreign object is stepped on (A intersection 35a) is displayed on the screen 30 of the display unit 23. In the illustrated example, the map image 36 is displayed on a part of the screen 30 (lower right corner).

  As described above, according to the vehicle-mounted navigation device 10 (FIG. 1) according to the present embodiment, while the vehicle is running, the front camera 16F continuously acquires the image (image) in front of the vehicle, and the control unit 18 On the basis of the control from the vehicle, the acquired image information is sequentially saved while being overwritten in the relevant storage area (drive recorder information storage unit 20) in the HDD as drive recorder information together with time information at the time of acquisition. When a change in behavior or abnormal noise is detected, image information from 1 to 2 seconds to several seconds before the detection point is extracted from the drive recorder information and stored in another storage area (foreign matter detection information storage unit 21) in the HDD. Saved. When necessary (for example, when a user instruction is given via the operation unit 12), the image processing unit 17 performs foreign object detection information (image) stored in the HDD based on control from the control unit 18. A foreign object (pattern image) is detected from the image by image recognition, and as shown in the screen display example of FIG. 3, it can be identified in which part of the image (still image 32) the detected part (foreign object) 31 is located. Such a display mode is displayed on the screen 30 of the display unit 23.

  In other words, the foreign object detection information (drive recorder information) stored in the HDD is not read as it is and the moving image is reproduced (in this case, it hinders driving), but only the information desired by the user (driver) (road foreign object) Is extracted and information is provided in the form of a still image through the screen.

  As a result, when the user steps on a foreign object while driving the vehicle, the user does not bother to return to that place, but the still image 32 displayed on the screen 30 of the display unit 23 (included in this image 32). By confirming the detection portion 31), it is possible to recognize what the foreign substance was. As a result, it can be confirmed whether or not there is no problem by continuing the operation as it is, and the operation can be continued safely thereafter.

  Further, it may be difficult to easily recognize what the foreign object is just by looking at the still image 32 (including the detection portion (foreign substance) 31) as shown in FIG. For example, it is not immediately obvious what a transparent piece of glass or an egg package is at first glance. In the present embodiment, in such a case, as shown in the screen display example of FIG. 4, the detected portion (foreign matter) is displayed on the screen 30 of the display unit 23 by the control unit 18 based on a user instruction from the operation unit 12. ) 31 is zoomed up and displayed (zoomed up image 33), and information 34 and 35 indicating the time and place where the foreign object is stepped on are also displayed. With this zoom-up display, it can be seen from the image in FIG. 3 that even if the foreign object could not be recognized with the naked eye, it is definitely an “egg package”, and there is no problem even if the operation is continued as it is. This can be confirmed and contributes to the subsequent safe driving.

  In addition, when the zoom-in display (FIG. 4) is performed, the user may want to know the specific place where the foreign object is stepped on or may return to the place depending on the foreign object. possible. In this embodiment, in such a case, the map around the location is displayed on the screen 30 of the display unit 23 by the control unit 18 based on a user instruction from the operation unit 12 as shown in the screen display example of FIG. The image 36 is displayed on a part of the screen 30 (in the illustrated example, the lower right corner). The user can check the map image 36 and know where the foreign object is stepped on (A intersection 35a). At this time, depending on the display scale of the map image 36, the location may not be easily recognized. In such a case, the map image 36 may be displayed on the entire screen by switching the screen.

  In the above-described embodiment, the case where the front camera 16F is used as a means for providing drive recorder information has been described as an example. However, instead of the front camera 16F, the rear camera 16R is used as shown by a broken line in FIG. Also good. In this case, the rear camera (in-vehicle camera) 16R is installed at an appropriate location behind the host vehicle (for example, in the vicinity of the ceiling portion on the rear side of the rear seat), and is activated based on the control from the control unit 18, Video (image information) behind the vehicle while traveling (including when stopped) is continuously acquired. Further, when detecting a change in vehicle behavior or abnormal noise, the control unit 18 extracts image information from the time of detection until a predetermined time (1 to 2 seconds to several seconds) from the drive recorder information, and detects the HDD (foreign object detection). For use in the information storage unit 20).

1 is a block diagram schematically showing the configuration of an in-vehicle navigation device according to an embodiment of the present invention. It is a flowchart which shows an example of the process which concerns on the detection of the foreign substance on a road which a control part performs in the navigation apparatus of FIG. 1, and its display. It is a figure which shows the example of a screen display which concerns on the display of a road foreign object (the 1). It is a figure which shows the example of a screen display which concerns on the display of a road foreign object (the 2). It is a figure which shows the example of a screen display which concerns on the display of a road foreign object (the 3).

Explanation of symbols

10: In-vehicle navigation device,
12 ... operation part (input means),
13 ... GPS receiver,
14 ... Microphone,
15 ... Vehicle sensor (running state detection means),
16F, 16R ... In-vehicle camera (imaging means),
17. Image processing unit,
18 ... control part (control means),
19 ... Map database (HDD / storage means),
20 ... Drive recorder information storage unit (HDD / storage means),
21 ... Foreign matter detection information storage unit (HDD / storage means),
23... Display section (display means)
30 ... display screen,
31 ... detection part (foreign matter),
32 ... an image including a detection part (still image),
33 ... Zoomed-in image (still image) of the detection part,
34 ... Information indicating the time when the foreign object is stepped on,
35 ... Information indicating the location where the foreign object was stepped on,
36 ... A map image (around the place where the foreign object was stepped on).

Claims (5)

Display means for providing information through a screen;
Imaging means for continuously acquiring images of the front or rear of the traveling vehicle;
Storage means for storing image information acquired by the imaging means together with time information at the time of acquisition;
Traveling state detection means for detecting the traveling state of the host vehicle;
Control means operably connected to the display means, imaging means, storage means and running state detection means,
The control means determines that a foreign object has been stepped on when detecting that there has been a change in behavior of the host vehicle based on the running state detected by the running state detection means, and is stored in the storage means. When the foreign object is detected from the image information from the time when the behavior change is detected to the predetermined time before or after the predetermined time, the part of the image that the detected foreign object is in is identified A vehicle-mounted navigation device that displays the image on the screen of the display means in a possible display mode. A microphone installed near the suspension of the host vehicle and operably connected to the control means;
The control means determines that a foreign object has been stepped on when an abnormal sound different from that in a normal running state is detected through the microphone, and the abnormal sound is detected among the image information stored in the storage means. When the foreign object is detected from the image information from the detection time to a predetermined time before or after the predetermined time, the image is displayed in a display mode that can identify which part of the image the detected foreign object is in. The in-vehicle navigation device according to claim 1, wherein the on-vehicle navigation device is displayed on a screen of the display means. It further comprises input means for inputting user instructions,
The control means is further configured to display the image on the screen of the display means in a display mode capable of identifying which part of the image the detected foreign substance is in via the input means. The in-vehicle navigation device according to claim 1 or 2, wherein when a user instruction is given, the detected foreign matter is zoomed in and displayed. The storage means further stores map information related to navigation,
The control means refers to the time information and the map information stored in the storage means and steps on the foreign object when the detected foreign object is zoomed up and displayed on the screen of the display means. 4. The in-vehicle navigation device according to claim 3, wherein information indicating the time and place is also displayed.   The control means refers to the map information when there is a user instruction through the input means in a state where information on the place where the foreign object is stepped on is displayed on the screen of the display means. The in-vehicle navigation device according to claim 4, wherein a map image around the place is displayed on a part of the screen.

Images