JP3015757B2 - Navigation system for moving objects - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a navigation apparatus mounted on a moving body such as a car, and more particularly, to a display device such as a cathode ray tube for displaying a map, a current position of the car, a running locus, and the like. The present invention relates to a navigation device for a mobile body that provides travel information to a mobile object.

[0002]

2. Description of the Related Art In general, a navigation device mounted on a mobile body such as an automobile stores a nationwide map or a plurality of divided regional maps in a map storage means as map information.
The map information is read in response to an operator's request and displayed on a display such as a cathode ray tube to provide a map for traveling.

Further, the current position of the vehicle is obtained by calculation based on detection signals from a distance sensor for detecting the traveling distance of the vehicle and a direction sensor for detecting the traveling direction, so that it can be displayed on a map displayed on a display. A triangular mark indicating the current position of the vehicle and a running trajectory are displayed by a plurality of continuous points, and the position of the vehicle on the map can be visually recognized on a screen (for example, Japanese Patent Application Laid-Open No. 58-53711,
See Japanese Patent Publication No. 59-39800). Further, there is also known a system including means for searching for the presence or absence of another specific map and means for switching to a specific map related to the display map on the screen (scroll key) (Japanese Patent Application Laid-Open No. 60-16551).
No. 1).

In the above-mentioned conventional apparatus, when the vehicle starts running, a road map indicating the current position is searched and displayed on the screen. When the operator presses the cursor key to change the display map, a map adjacent to the display map of the current location is searched, and the map on the side on which the cursor key is operated is loaded and displayed on the screen. It is. Also,
In order to eliminate the display error of the current position, there is also known a system in which a correction switch is provided so that an operator (occupant) can arbitrarily change the display of the current position, and the current position is accurately displayed on a screen (Japanese Patent Application Laid-Open (JP-A) No. 2002-110630). See Japanese Patent Application Publication No. Sho 62-164086).

[0005]

By the way, the above-mentioned device allows the operator to arbitrarily change the map and the current position of the vehicle on the screen, so that the operator can freely view the map on demand. And the displacement of the display of the current position can be eliminated. However, if the map and the current position of the vehicle can be arbitrarily changed on the screen in this way,
For example, when a change operation is performed while the vehicle is running, it is not clear whether the display of the map or the current position has changed due to the movement of the vehicle itself or the screen change operation. The position may be lost by the operator. Further, when the map can be changed and the current position can be changed, if only one of them is changeable and the other is not, there is a problem that the change operation is troublesome.
For example, when the current position is changed, the change operation cannot be performed unless the correction position mark displayed in the center of the screen is shifted from the current position in the screen. Or a switch only for position correction is required.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and allows a map displayed on a screen and a current position to be freely changed in accordance with an operation of an operator. It is an object of the present invention to provide a navigation device for a mobile object having a function of eliminating the complexity of each change operation while eliminating the risk of being lost.

[0007] It is also preferable that the apparatus further includes a map movement returning means for returning from the moved map area to the area including the current position, similarly having a function of eliminating the complexity of the change operation. An object of the present invention is to provide a navigation device for a body.

[0008]

According to the present invention, there is provided a navigation apparatus for a moving object, comprising: map storage means for storing map data indicating a map of a predetermined area; position detecting means for detecting a current position of the moving object; Display means having a screen, map display means for displaying a map on the screen of the display means based on map data read from the map storage means, and current position for displaying the current position detected by the position detection means on the map Display means, correction position display means for displaying a correction position mark for correcting the current position substantially at the center of the screen, map movement means for arbitrarily moving the map displayed on the screen, and current position displayed on the screen. When the position is displaced, the current position correcting means for correcting the current position to the position of the correction position mark, and the respective operations of the map moving means and the current position correcting means are performed.
Operating means for simultaneously switching from an inoperable state to an operable state.

Further, there is provided a map movement return means for returning from the area of the map moved by the map movement means to the area including the current position , and the operation means comprises a map movement means and a current position correction means.
It is obtained so as to switch the operation of each of the stages and the map moves returning means from simultaneously inoperable state to the operation state.

[0010]

According to the first aspect of the present invention, when the operator wants to see another map other than the map displayed on the screen, the map display operation can be arbitrarily changed by performing a map movement operation. When the deviation occurs, the current position can be corrected by performing the current position correction operation. In addition, since operation means for simultaneously switching the map movement and the current position correction from the inoperable state to the operable state is provided, the operation can be performed only when an operation request is high (for example, when the vehicle is stopped). Can be kept in a state. In addition, since the operation can be performed simultaneously, when performing the current position correcting operation, the map moving means is used to move the map in the screen and shift the current position correcting mark and the current position in the screen to perform the position correcting operation. Can also be performed.

According to the second aspect of the present invention, since there is a map movement returning means for returning from the moved map area to the area including the current position, the operator does not lose sight of the current position of the own vehicle. In addition to the map movement and the current position correction, there is also provided an operation means for switching the operation return from the inoperable state to the operable state at the same time, so that when the movement is returned, the corrected position mark and the current position are shifted. Then, the position correction operation can be easily performed.

[0012]

An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is an overall configuration diagram of a navigation device for a mobile object, FIG. 2 is a front view of a display, and FIG. 3 is a schematic configuration diagram for explaining the principle of the present invention. In the figure,
(1) is a control unit, and various I / O circuits (2),
(3), (4) and input / output ports (5), (6), including a CPU (7) and a CRT controller (hereinafter, CRT)
-Abbreviated as C. And (9) operate by receiving a supply of stabilized power from a vehicle-mounted battery via a constant voltage circuit to control various devices. (2) is the first I /
This is an O interface circuit, which is a navigation (11) for guiding the running of the vehicle, traffic information (12) for receiving road conditions, a radio telephone (13) for an automobile, an air conditioner (14) for indoor air conditioning, and a video and audio source. A television (15),
The mode of the radio (16), the tape (17), the CD (18) and the like are set by the function switches (SW1) to (S
W8). These function switches (SW1) to (SW8) are arranged on the front panel (26b) of the CRT (26) shown in the second time, and give a drive signal to the CPU (7) by pressing operation to operate each device. It is made to let.

The first I / O interface circuit (2) receives a radio wave from an artificial satellite via an antenna and confirms or determines a current position, a moving speed, and the like of the automobile ( 19) and a fluxgate type geomagnetism detector fixed to the vehicle and the like, the geomagnetism is decomposed into a traveling direction component of the vehicle and a vertical component thereof and detected, and a signal corresponding to this is output as the traveling direction θ of the vehicle. Direction sensor (20). (3) is a second I / O interface circuit, which is connected to a distance sensor (21) that detects rotation of wheels by an electromagnetic pickup, a reed switch, or the like, and outputs a pulse signal proportional to the number of rotations. In addition, the current position data of the vehicle is obtained by the azimuth sensor (20) and the distance sensor (21), and the current position detecting means is capable of obtaining the traveling locus data. (4) is a third I / O interface circuit to which video / audio equipment such as a TV tuner (22), a radio tuner (23), a tape deck (24), and a CD deck (25) are connected. This CD deck (25) has a CD /
A ROM (25a) is provided, and when the navigation (11) is selected, various map information and diagram data described later are read out and can be displayed on the CRT (26).

The CD-ROM (25a) includes NIKKEI. ELCTRONICS. A memory for storing map information described in the November 26, 1987 issue (NO434) is employed, and map information such as a national map, a local map, a regional map, and a district map is stored as vector data. Further, in this example, the map is divided into three types, that is, a wide area, a standard area, and a detailed area having different scales. The above-mentioned district map is divided into four areas corresponding to the four quadrants of the screen (26a) of the CRT (26), and the four map blocks are used as a partial map. 4x CRT (26) screen (26a)
The data is sequentially stored in the CD-ROM (25a) as map information so as to provide a background. Also,
Diagrams that connect points on this district map, such as roads, rivers,
A diagram showing a bridge and the like is decomposed into diagram data and stored, and character data such as characters and symbols,
Service data on hotels, golf courses, and the like are also stored as service symbols. The specific items such as the roads, rivers, and bridges are stored with a plurality of color codes to display various colors. In addition to the color codes, the memory has a plurality of memory tables stored with a large number of color palette color codes so that the items can be displayed in other colors. In addition, the screen (2
The dot data for shadowing 6a) and the dot data for shadowing are also stored in an area where an icon as a touch pattern is displayed on the screen (26a).

Reference numeral (7) denotes a CPU which controls the operation of the video / audio equipment based on the selection operation of the function switches (SW1) to (SW8), and controls the operation of the CD / CD.
The map information and the like are read out from the ROM (25a) and read out from the CRT (2
The control signal to be displayed on the screen (26a) of 6) is C
RT · C (9). In addition, IRT (interrupt circuit) (7
a) receives the pulse signal from the distance sensor (21), the GPS signal from the GPS device (19), and the digital signal of the X and Y components from the azimuth sensor (20) to execute arithmetic processing, A travel locus and a current position, which are information, are obtained, and a display signal is output.
(8) is a RAM for temporary storage as a temporary storage means, as shown in the schematic diagram of FIG. 3, continuing from the CD / ROM (25a) in the course of the CPU (7) performing arithmetic processing. The power is always backed up from the vehicle-mounted battery so that the stored data can be temporarily stored and held. Then, when map information is continued, line diagram data is also continued, and when a desired map is selected, data is extracted so that various line diagrams are superimposed on the map. The RAM (8) stores the CD / ROM (25
The current coordinates (xo, yo) stored in the first memory table of a) are stored so as to be at the center of the screen (26a), and when this current position data continues, the screen (26) is displayed.
The current position mark (M) is displayed at the center of a). The screen (2) of the CRT (26)
6a) is provided with a memory table for storing the position data in order to display the traveling locus.
It has a plurality of endless memory tables corresponding to the map information of the maps of different scales stored in the D-ROM (25a).

(9) CRT / C as display control means
(CRT controller) which receives a command for outputting a display signal from the CPU (7), stores travel route information in a display RAM (10), and stores the stored map data and character data. And a video signal and a periodic signal for displaying travel route information and the like on the CRT (26). The above CPU
(7) is a map information corresponding to one specified scale out of the partial map information, the wide area, the standard and the detailed map information, which are the four map blocks stored in the CD / ROM (25a), and the map information. The corresponding traveling locus information and the above R
The travel trajectory is read out from the memory table of the AM (8) and is superimposed and displayed on the diagram on the map.

A display RAM (10) is a pattern for displaying, in addition to additional information such as a map number and a scale type, operation keys for driving the above-mentioned various devices as touch switches on the screen (26a). Data is stored.
As the pattern data, the current position mark (M) displayed as a triangle on the screen (26a) of the CRT (26)
(See FIG. 3), a locus display pattern which is a first mode for displaying a running locus with a plurality of continuous points (dots), and a second mode for deleting the displayed locus from the screen (26a). A certain locus non-display pattern is stored in the CPU
(7) is stored as switching means for giving a switching signal, that is, a touch switch. Further, as shown in FIG. 11, a scroll key pattern (S) constituting a map moving means for arbitrarily moving the map displayed on the screen (26a) is provided.
1) to (S4), a correction position mark (MO) as correction position mark display means for correcting the position of the current position mark (M) displayed on the screen (26a), and the moved map at the original position. When the return pattern (R1), which is the map movement return means, and the current position mark (M) move, the correction pattern (R2), which is moved to the position of the correction position mark (MO), is moved. ) Are stored. Further, although not shown, an enlargement / reduction pattern for selecting the scale of the map is also stored.

(26) is a CRT as a display,
The map, travel route, current position, and the like of a specific area are displayed in color using the video signal and the synchronization signal from the CRT / C (9). In addition, various operation keys of each switch section described later are displayed on a predetermined touch area, and the television tuner (22) is turned on by pressing the function switch (SW5) to display a television image. I have. (27) and (29) are light emitting units connected to the CPU (7) via the output port (6);
8) and (30) are CPUs via input port (5)
(7) a light-emitting unit connected to the CRT (26);
And constitutes the touch panel of the touch switch. Although not shown, the touch panel section divides a touch area consisting of a row direction and a column direction into a large number, and when a specific touch area is touch-operated among the touch areas, the touch direction is changed to the row direction. The infrared light passing through the intersection with the column direction is cut off, and a drive signal for giving various instructions is output. Specifically, when the screen (26a) is touched, the operation pattern is displayed on the inner peripheral portion of the screen (26a), and when any one of the patterns is touched, the setting of the operation start or stop of each device, the time, It is possible to set numerical values and the like.

Next, the operation of the navigation apparatus for a mobile unit configured as described above will be described with reference to the flowcharts shown in FIG. 4, FIG. 8 to FIG. First, when the key switch is turned on at the time of starting operation of the vehicle, the electric system of each unit is activated by receiving power supply from the vehicle-mounted battery. And the CPU of the control unit (1)
When (7) is powered on, it is operated by the stabilized power supply, initialization is performed in step S11 of the flowchart shown in FIG. 4, and the arithmetic processing shown in the main routine of FIG. 4 is repeated at a cycle of about several tens of msec. It is. Next, function key processing is performed in step S12, and subsequently, touch switch input processing is performed in step S13. At this time, in step S14,
For example, when the operator presses the function switches (SW6) and (SW4) of the radio (16) and the air conditioner (14), the process proceeds to step S15, and the screen (26a) of the CRT (26) is displayed as shown in FIG. The radio mode pattern shown in FIG. 6 or the air conditioner mode pattern shown in FIG. 6 is displayed. Then, by touching the area of the switch pattern provided on the display screen of each mode, the selected device can be operated as desired. Note that even during such an operation, step S16
Then, the CPU (7) executes calculation processing of the current position and the like.

First, as shown in the flowchart of FIG. 8, in step S21, the traveling distance of the vehicle is detected by the distance sensor (21). Next, step S
At 22, a pulse signal from the distance sensor (21) is received, and an interrupt calculation of the current position is performed at predetermined time intervals. Then, in step S23, the current position data and the traveling locus data obtained by this calculation are sequentially stored in the RAM (8) for temporary storage. Thus, when the vehicle starts running, it is possible to obtain travel route information such as a travel distance to the current position and a travel locus. First, when the automobile is driven, a pulse signal is output from the distance sensor (21) and given to the CPU (7) via the IRT (7a) as shown in the flowchart of FIG. Then, the number of pulses N is added by the CPU (7), and the running distance up to the present is obtained (step S31).

Next, an interruption processing routine shown in the flowchart of FIG. 10 is started with the running of the automobile.
First, in step S41, for a predetermined time, for example, 1
The number of pulses N from the vehicle speed sensor is read at intervals of seconds. Next,
In step S42, the number of pulses N at this time is multiplied by a unit traveling distance d, for example, 39.25 cm, to thereby determine a traveling distance D for each fixed time. And
In step S43, the azimuth θ from the azimuth sensor (20) is read. Then, in step S44, the position on the two-dimensional coordinates of the vehicle is obtained from the azimuth θ and the travel distance D by the following equation. Δx = D · cos θ Δy = D · sin θ Thereafter, the coordinates (Δx,
The current position (x, y) of the vehicle is obtained from the following equation from Δy) and the coordinates (xo, yo) of the starting point. xn + 1 ← xn + △ x yn + 1 ← yn + △ y

As a result, the traveling distance D to the current position, which changes every moment, is obtained, and the latitude and longitude are determined at regular time intervals, so that the current position (x, y) can be known. This data is sent to the RAM (8) for temporary storage and is sequentially stored. In the RAM (8), while the data at the current position (x, y) is written,
Old data is erased one after another, which is a so-called endless system. Further, even when the vehicle stops running and the key switch is turned off, the data of the current position (x, y) and the traveling distance D can be retained. In step S46, the count of the pulse number N is cleared. Subsequently, step S4
In step 7, a GPS signal is received from the GPS device (19), and arithmetic processing for performing GPS processing is executed. Thus, since the absolute value of the latitude and longitude is determined for a certain period of time, for example, every second, the travel route information can be corrected.

By the way, when leaving with a car,
Navigation (11) function switch (S
W1) is pressed to display the screen (26) of the CRT (26).
In a), as shown in FIG. 7, a setting pattern of the map selection and the current position is displayed as a menu. At this time, when the set pattern of the current position is touch-operated, a part of the detailed map information is successively read from the CD / ROM (25a), stored in the RAM (8) of the temporary storage, and stored in the CRT (26). Sent. Then, the screen (26a)
, Four map blocks which are partial maps corresponding to a part of the above information are drawn, and a map of the current position is displayed as shown in FIG. 12 (a). Along with this, the position data is continuously read out from the temporary storage RAM (8), and the CRT (2
6), a current position mark (M) is displayed at the center of the screen (26a). Thereby, the screen (26a)
The operation for moving the map or the like displayed in the area can be performed, and the arithmetic processing is performed according to the flowchart of FIG. First,
Touching anywhere on the screen (26a) (step S1
1) On the display map, scroll keys (S1) to (S4), a correction position mark (MO), a return pattern (R1), a correction pattern (R2), etc. as shown in FIG. The function keys are displayed in a pattern (step S12).

Next, in step S13, one of the functions is selected. If the driver wants to see a map in the traveling direction, the user selects map scrolling (step S14), which is a map moving means, and selects the screen ( Touch operation is performed on the right scroll key (S1) among the scroll keys (S1) to (S4) displayed in 26a) (step S1).
5). Then, the map information is successively read from the CD / ROM (25a), and the display map moves to the left side of FIG. 13 (b) (scroll). Along with this, the position data corresponding to the moving map is successively read from the RAM (8), so that the current position mark (M) is displayed as shown in FIG.
Moves with the map (step S14). At this time,
When the scroll is large, the current position mark (M) is not displayed on the screen (26a). Even if the display map and the current position mark (M) move, the correction position mark (MO) is displayed on the screen (26) based on the pattern data.
It continues to be displayed in the center of a). Then, when the operator stops the touch operation of the scroll key (41), the map stops moving and is continuously displayed on the screen (26a), so that the desired map can be visually recognized.

Thereafter, when the user wants to return to the original map after viewing the map, the operator selects the return of step S17 as the map movement return means, and the operator touches the return pattern (R1) (step (S18)). Then, the current position of the vehicle is displayed on the map with the current position mark (M) using the current position data, thereby displaying the position of the vehicle on the map as shown in FIG. The mark (M) indicating the current position is properly displayed (step S19), and then the display is returned to the normal display screen in step S20, but the driving vehicle does not lose sight of the current position of the own vehicle. , On the map displayed on the CRT (26) as described above,
The current position mark (M) indicating the own vehicle position is shown in FIG.
As shown by the two-dot chain line, when the vehicle is misaligned, the vehicle position can be corrected by a simple touch operation. In this case, the vehicle position correction step S21 which is a means for correcting the current position mark is selected, and the correction pattern (R
When 2) is touched (step S22), the map on the screen (26a) stops moving and is fixed by the command signal. Accordingly, the correction position mark (MO) displayed at the center of the screen (26a) is deleted, but the position data is read from the temporary storage RAM (8), and
It is sent to RT (26).

For this reason, the current position mark (M) is moved to and displayed at the position where the correction position mark (MO) was displayed (step S23). Thereafter, step S2
Return to the normal screen at 0, but the current position mark (M)
Is located at the center of the screen (26a), the displacement is corrected, and the position of the own vehicle on the display map can be visually recognized correctly. As described above, in this embodiment, the scroll keys (S1) to (S4) for moving the map and the current position mark (M) are displayed at the center of the screen (26a) and are displayed on the screen (26a). A screen (26a) showing a position correction mark (MO) for correcting the position, a return pattern (R1) for returning the moved map and the current position mark (M) to a state before the start of movement, and a map to be moved.
Correction pattern (R2) in which the current position mark (M) is moved to the position of the position correction mark (M) while the current position mark (M) is fixed.
Etc. are provided. Thereby, the scroll key (S1)
To (S4), the screen (26)
Since the display map and the current position mark (M) in a) move in a desired direction, the driver can visually recognize the map to be viewed.

When the return pattern is touched after viewing the map, the current position of the vehicle is displayed on the map as a screen (26a) with the current position mark (M).
Therefore, the current position mark (M) indicating the position of the own vehicle is appropriately displayed on the map, so that the driver does not lose track of the current position, and therefore, there is no problem that the driver gets lost on a land he does not know. In addition, the screen (26)
When the mark (M) indicating the current position of the own vehicle displayed in a) is displaced, when the correction pattern (R2) is touched, the current position mark (M) is placed at the position of the position correction mark (MO). Moving. Therefore, there is also an effect that the current position of the vehicle can be correctly displayed on the map indicating the current position.

[0028]

According to the first aspect of the present invention, map movement and
Each operation with the current position correction can be performed simultaneously
Therefore, use the map movement method when performing the current position correction operation.
Move the map on the screen,
Position correction operation by shifting the current position
Ukoto becomes possible, the actual operating current location's can eliminate <br/> fear intends lose sight, it is possible to eliminate the complexity of each change operation.

According to the second aspect of the present invention, the operation means for simultaneously switching the three operations from the inoperable state to the operable state is provided while further obtaining the effect of the movement return. The position correction operation can be facilitated.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram showing an embodiment of the present invention.

FIG. 2 is a front view of the display device.

FIG. 3 is a schematic explanatory diagram for explaining the principle of the present invention.

FIG. 4 is a flowchart illustrating an entire calculation process of a main routine in a control unit.

FIG. 5 is an explanatory diagram of a type of menu displayed on a screen of a display device.

FIG. 6 is an explanatory diagram of a type of menu displayed on a screen of a display device.

FIG. 7 is an explanatory diagram of a type of menu displayed on the screen of the display device.

FIG. 8 is a flowchart showing a calculation process of a main routine.

FIG. 9 is a flowchart illustrating a calculation process based on a distance pulse from a distance sensor.

FIG. 10 is a flowchart illustrating an interrupt calculation routine based on a distance pulse from a distance sensor and a signal from a direction sensor.

FIG. 11 is an explanatory diagram of a function key pattern displayed on a screen.

FIG. 12 is a flowchart illustrating a detailed calculation process of a map and a function key pattern displayed on a screen.

FIGS. 13A to 13E are explanatory diagrams showing an example of movement of a map and a current position mark displayed on a screen.

[Explanation of symbols]

1: control unit, 7: CPU, 8: temporary storage means (RA
M), 9: CRT / C, 10: RAM for display, 11:
Navigation: 20: direction sensor, 21: distance sensor, 25a: map storage means (CD / ROM), 26: display (CRT), S1 to S4: map movement means (scroll key), M: current position mark, MO : Correction position mark, R1: map movement return means (return key), R2: current position mark correction means (return key)

──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Toshimichi Tokunaga 3-1 Shinchi, Fuchu-cho, Aki-gun, Hiroshima Prefecture Inside Mazda Co., Ltd. (72) Norihiro Naito 2-33, Miwa, Mita-shi Mitsubishi Electric Inside the Mita Works (72) Inventor Kazuhiro Yokouchi 2-33, Miwa, Mita-shi Mitsubishi Electric Corporation Inside the Mita Works (72) Inventor Osamu Shimizu 2-33, Miwa, Mita-shi Mitsubishi Electric Corporation (56) References JP-A-2-38813 (JP, A) JP-A-64-30409 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) G01C 21 / 00-21/24

Claims (2)

(57) [Claims] 1. A map storage means for storing map data indicating a map of a predetermined area; a position detection means for detecting a current position of a moving object; a display means having a screen; Map display means for displaying a map on the screen of the display means based on map data; current position display means for displaying the current position detected by the position detection means on the map; Correction position display means for displaying a correction position mark for correcting the current position, map movement means for arbitrarily moving the map displayed on the screen, and when the current position displayed on the screen is displaced, Current position correction means for correcting the current position to the position of the correction position mark; and operation of each of the map movement means and the current position correction means.
Operating means for switching the operation from an inoperable state to an operable state at the same time . Wherein providing the map moving returning means for returning to the area including the current position from a region of the map MAP moving means moves, operating means, <br/> the the map moving means and the present position correcting means mobile navigation system as claimed in <br/> claim 1, characterized in that switching from simultaneously inoperative state each operation of the map moves return means in an operational state.