JPH0766052B2 - In-vehicle position display device - Google Patents

Description

The present invention relates to a vehicle-mounted position display device, and more particularly to a global positioning system (hereinafter referred to as G Positioning System).
A geodetic system that displays the current position of the car measured by the positioning device for the car when measuring and displaying the current position of the car that is traveling by receiving radio waves from multiple artificial satellites belonging to the PS system). When there is a deviation between the geodetic system of the map information related to the driving location of this car displayed via CRT etc. as a display device, it is possible to correct it and display the current position accurately. The present invention relates to an on-vehicle position display device.

For users who move from moment to moment, such as ships and aircraft,
In recent years, the usefulness of GPS positioning devices has attracted attention in order to confirm or determine the current position, traveling speed, etc. by transmitting radio waves from a plurality of artificial satellites. This GPS positioning device has the features that it can be used continuously at any time in the world, the position and speed measurement accuracy is extremely high, and the number of users is not limited. GP
The objects that use the S positioning device are not limited to ships and aircraft, and automobiles should be the target. In particular,
If it can be used for avoiding traffic congestion in urban areas, checking its current position in a short time, and finding a detour to the destination, it will have great time and economic effects.

As is well known, a positioning method for an automobile or the like using a GPS positioning device is usually performed by receiving three or more satellite radio waves. Although each of these artificial satellites is equipped with a high-precision electronic timepiece, etc., on the other hand, such an expensive timekeeping device is not provided on the receiving side. Therefore, the time information on the receiving side has a time difference and a time change rate difference. Therefore,
In the current positioning method using GPS, radio waves from multiple artificial satellites are received at the same time, and the clock offset of the receiver between each satellite and the receiving point (based on the time difference and the difference in the rate of change of the clock) The position of the receiving point is calculated and displayed based on the pseudo-range data including the offset obtained by converting the time into the distance) and the position data of each satellite.

Conventionally, a vehicle-mounted position display device using GPS displays the position data thus obtained and the map information of the road including the traveling point of the vehicle stored in advance on the CRT or the like at the same time. Therefore, if there is a deviation between the data of the geodetic system using this GPS and the data of the geodetic system related to the map information, the position of the traveling vehicle cannot be accurately displayed on the CRT or the like. Therefore, it becomes necessary to correct the deviation from this map information.

Therefore, when trying to correct the deviation between the geodetic system on the positioning means side and the geodetic system related to the map information, a method of correcting from the GPS geodetic system to the geodetic system on the map information side using a geodetic system conversion formula, It is possible to cite a method of inputting correction data read from a map for geodetic system conversion and the like by manually using the display processing device and correcting the deviation. However, neither the geodetic system conversion correction data calculated by using the geodetic system conversion formula nor the correction data manually input by using the display processing device have sufficient accuracy. Therefore, when trying to represent the driving position corrected by these correction data together with the map road information displayed on the CRT, the vehicle actually running on the road is CR.
On T, it deviates from the road width, and although it is actually traveling on the road, it is displayed as if it is traveling in a place parallel to or substantially incapable of traveling. As a result, it becomes difficult for the driver of the vehicle concerned to accurately grasp the current position of the vehicle that he is driving, and if he tries to know his own driving position while driving, he must be careful enough. I can't turn to the operation,
There is also a risk of encountering an accident.

The present invention has been made to overcome the above-mentioned inconveniences, and includes traveling direction information measured in advance by a direction sensor installed in an automobile and branching of a currently traveling road stored in map information. By comparing the changes in the direction of the points and detecting the deviation between the GPS geodetic system and the geodetic system of the map information by this, correct the GPS by correcting the position measured by the GPS positioning device using the deviation data of the geodetic system. It is an object of the present invention to provide a vehicle-mounted position display device using GPS, which makes it possible to match data obtained from a geodetic system with data of map information and ensure safe driving.

In order to achieve the above-mentioned object, the present invention is mounted on an automobile to measure the position of the automobile traveling, GPS positioning means, an orientation sensor for detecting the traveling orientation of the automobile, and a road map on which the automobile travels. The map information storage means for storing information, the road map information stored in the map information storage means, the position information of the vehicle measured by the GPS positioning means, and the orientation information from the orientation sensor When the change of the road direction on the road map information corresponding to the position of the vehicle when the running direction is changed and the change of the running direction from the direction sensor match, the road direction on the road map information The position information measured by the GPS positioning means is detected by detecting the deviation between the position of the change and the position measured by the GPS positioning means, and using this deviation as a correction value. The road map information read from the map information display memory including the geodetic system correction means for adding the corrected position information and the map information display memory for receiving and storing the road map information from the map information storage means and the above Display processing means for superimposing and outputting the corrected position information output from the geodetic correction means, and display for receiving the output of the display processing means and displaying the vehicle traveling position based on the corrected position information on the road display. And means.

Next, a preferred embodiment of a vehicle-mounted position display device according to the present invention will be described in detail below with reference to the accompanying drawings.

In FIG. 1, reference numeral 10 indicates an azimuth sensor, and reference numeral 12 indicates a GPS positioning means. Needless to say, the azimuth sensor 10, the GPS positioning means 12, and each component described later are mounted on an automobile (not shown). In this case, the GPS positioning means 12 includes an antenna section, a received radio wave processing section, a signal processing section, and the like.

The output sides of the orientation sensor 10 and the GPS positioning means 12 are connected to the CPU 16, and the output side of the CPU 16 is further connected to the map information storage means 18. One output side of this map information storage means 18 is connected to a display processing means 22 including a display memory 20,
The other output side is connected to the geodetic correction means 24. The output side of the geodetic correction means 24 is connected to the display processing means 22 in advance. In the figure, reference numeral 26 is the display processing means 22.
2 is a display connected to the output side of the display for simultaneously displaying the map information and the current position of the positioned vehicle.

In this case, the map information storage means 18 is for electronically or magnetically storing a map relating to the road of the traveling automobile, and for each area divided in advance along the traveling road,
For example, the road map data including the position of the branch point of the road direction is stored by a magnetic tape, a semiconductor memory, a CDROM or the like. This road map data is, in effect, loaded on a specific storage means, for example, a magnetic tape or a semiconductor memory selectively along the travel route, and by searching this, the road map data is sequentially transferred along the travel route of the vehicle. It is possible to read map data.

That is, the map information output from the map information storage means 18 is temporarily stored in the display memory 20 via the display processing means 22, and is composed of a CRT or a liquid crystal display as an output signal of the display processing means 22. The display 26 is displayed as a predetermined road map including the current position of the automobile.

The vehicle-mounted position display device according to the present invention is basically configured as described above. Next, the operation and effect of the present invention will be described focusing on the geodetic system correction means.

The GPS positioning means 12 receives radio waves from artificial satellites (not shown) constituting a plurality of GPSs and measures the current position of the traveling vehicle. In this case, the geodetic system used by the GPS positioning means 12 is WGS (World Geodefi
c System) -72 is adopted.

On the other hand, as the geodetic system of the map information stored in the map information storage means 18, a geodetic system different from the WGS-72 is generally used. Therefore, as shown in FIG. 2, the GPS positioning means 1
When the position measured by 2 is stored in the display memory 20 together with the map information stored in the map information storage means 18 and is to be displayed on the display device 26, the difference between the two geodetic systems is actually indicated by the deviation ΔX. Will come out. That is, even though the vehicle is currently traveling on the road R ₁ , a vehicle equipped with this GPS position display device has a straight line A′-A ′.
As shown in, it is displayed as if traveling outside the road.

According to the present invention, in this case, the information on the traveling direction measured by the direction sensor 10 and the position information measured by the GPS positioning means 12 are introduced into the CPU 16. The CPU 16 stores both information obtained by the GPS positioning means 12 and the direction sensor 10 in the map information storage means 18
It is sent to the geodetic correction means 24 via. Therefore, in the geodetic correction means 24, when the vehicle changes the traveling direction, the change in the traveling direction from the direction sensor 10 and the road direction of the road connected to the branch point near the position of the vehicle measured by the GPS positioning means 12 Compare the changes in. As shown in FIG. 2, when the vehicle is traveling on the road R ₁ along the direction of the angle α ₁ from the reference line indicated by the dashed line, it approaches the branch point, and then the angle α ₂ from the reference line. When the traveling direction is changed in the direction of and the course is changed to the road R ₂ , the point where the traveling direction is changed from the direction sensor 10 is the branch point Q. Therefore, the fact that the automobile has passed the branch point Q can be known from the change in the traveling direction from the direction sensor 10. At the branch point Q found by the change of the running direction from the direction sensor 10, the road branch point on the road map information near the position of the vehicle measured by the GPS positioning means 12 is found. The direction sensor detects the change in the road direction between the roads that connect to the road branch points found on the road map information.
When the change in the traveling direction from 10 coincides, both branch points are the same, and the branch point Q in which the traveling direction has changed from the direction sensor 10 is on the branch point on the road map information in which the change in the road direction is the same. The position is determined to be. Even if there are a plurality of branch points on the road map information in the vicinity, a branch point in which the change in the road direction matches the change in the running direction from the direction sensor 10 is determined.

Then, from the position measured by the GPS positioning means 12 and the position of the branch point of the road map information stored in the map information storage means 18, the deviation of latitude and longitude caused by the difference in the geodetic system is calculated. Then, this deviation is added to the position data measured by the GPS positioning means 12. As a result, the geodetic system correction means 24 corrects the position data that conforms to the map geodetic system from the GPS geodetic system. This corrected position data is sent to the display processing means 22, and the display memory 20
And is displayed on the display 26. That is, the display device 26 can display the current position of the automobile on the road map without any deviation in association with the map information.

According to the present invention, as described above, since the geodetic system related to the position information measured by the GPS positioning means mounted on the automobile is different from the geodetic system related to the map information, it is displayed on the display device. When it seems that the vehicle is currently running far away from the road, the direction at the branch point, which is the reference on the map information, is calculated from the direction information from the direction sensor and the road direction data from the map information. The change is compared with the change in direction of the direction sensor. When they match, it is determined that the vehicle is currently at the position of the branch point, and the deviation between the position of the branch point and the position of the branch point detected by the GPS positioning means is calculated. Next, the position data obtained from the GPS positioning means is corrected by adding the deviation data to the measured position information. The position of the automobile running on the display is displayed in correspondence with the corrected position data, and the current position of the automobile displayed on the display is displayed during road display based on road information. Supposedly
Since the display of the current position of the automobile on the display is accurately performed in relation to the road information, it is possible to travel with reliability on the current position on the display. As a result, the driver can quickly and safely perform the driving operation according to the display on the display. Therefore, it is possible to obtain a comfortable running state without danger of encountering a traffic accident or the like.

Although the present invention has been described with reference to the preferred embodiments, the present invention is not limited to these embodiments, and various improvements and design changes can be made without departing from the scope of the present invention. Of course.

[Brief description of drawings]

FIG. 1 is a block diagram showing a specific configuration of a vehicle-mounted position display device according to the present invention, and FIG. 2 is a correlation between road map information displayed on the display shown in FIG. 1 and the current traveling position of an automobile. It is explanatory drawing which shows typically. 10 ... Direction sensor, 12 ... GPS positioning means 16 ... CPU, 18 ... Map information storage means 20 ... Display memory, 22 ... Display processing means 24 ... Geodetic correction means, 26 ... Display device

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Koji Yamada 5-1-1, Shimorenjaku, Mitaka-shi, Tokyo Japan Radio Co., Ltd. (72) Inventor Noboru Yamaoka 5-1-1, Shimorenjaku, Mitaka-shi, Tokyo Japan Radio Incorporated (72) Inventor Seiichiro Hirata No. 1 Baba-zu, Nagaokakyo-shi, Kyoto Mitsubishi Electric Co., Ltd. Kyoto Works (72) Inventor Makoto Mikuri 8-1-1 Tsukaguchihonmachi, Amagasaki-shi, Hyogo Mitsubishi Electric Corporation Inside the equipment laboratory

Claims (2)

[Claims] 1. A GPS positioning means mounted on an automobile to measure the position of the automobile, a direction sensor for detecting a traveling direction of the automobile, and a map information storage for storing road map information on the automobile. Means, the road map information stored in the map information storage means, the position information of the vehicle measured by the GPS positioning means, and the orientation information from the orientation sensor, and the vehicle changes its traveling orientation. When the change of the road direction on the road map information corresponding to the position of the vehicle and the change of the running direction from the direction sensor match, the position of the change of the road direction on the road map information and the GPS The deviation from the position measured by the positioning means is detected, and this deviation is added to the position information measured by the GPS positioning means as a correction value to obtain the corrected position information. Including the geodetic system correction means and the map information display memory for receiving and storing the road map information from the map information storage means, and the road map information read from the map information display memory and the geodetic system correction means. A display processing unit for superimposing and outputting the corrected position information, and a display unit for receiving an output of the display processing unit and displaying a vehicle traveling position based on the corrected position information on a road display. Characteristic vehicle-mounted position display device. 2. The on-vehicle position according to claim 1, wherein the change of the traveling direction obtained by the direction sensor is used as the change of the traveling direction obtained from the direction sensor. Display device.