JP2002372424A - Position displaying equipment and position calculating method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide position displaying equipment wherein a vehicle position can be calculated with high precision when the position displaying equipment of a detachable type is used for a vehicle after the equipment was used for a walker. SOLUTION: This position displaying equipment is made detachable to a vehicle so as to be used for both the vehicle and the walker. The equipment is provided with a position calculating means 106 for calculating a position of a moving body, a displaying means 107 for displaying a position calculated by the position calculating means 106 on a map, a judging means 108 which judges whether the equipment is installed on the vehicle, and a position information storing means 109 which stores the newest position information calculated by the position calculating means 106 and position information calculated finally by the means 106 when the equipment is used being installed on the vehicle. When a position of the vehicle is calculated again, the final position information stored in the position information storing means 109 when the equipment was installed on the vehicle is used as initial position information, and a position of the vehicle is calculated. By the above constitution, a correct position of the vehicle can be calculated from a time when position calculation processing is started.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a detachable position display device that can be mounted on a vehicle and can also be used for pedestrians. However, the vehicle position can be calculated correctly.

[0002]

2. Description of the Related Art Conventionally, an on-vehicle position display device is based on autonomous navigation which sequentially calculates a current position of a vehicle from a relative position of the vehicle obtained using a vehicle speed pulse output from the vehicle and a gyro sensor, and GPS. The position of the vehicle on the road is calculated with high accuracy by using the radio navigation which calculates the absolute position of the vehicle together with the map data and the position obtained by both navigations.

[0003] In addition, the position display device is not only for use in a vehicle, but also needs to be carried by a pedestrian, so that a part of the position display device for a vehicle including the display device can be temporarily removed from a vehicle for use. (See JP-A-4-238218).

However, when a pedestrian carries the position display device, the vehicle speed pulse cannot be used, and it is difficult to use a gyro sensor or the like because the posture is not fixed with respect to the pedestrian. Therefore, when the device is detached from the vehicle and used for pedestrians, only the position calculated using GPS is used, and when the device is used for vehicles, vehicle speed pulses and gyros such as gyro are used for position calculation. Sensor and G
Either a PS or a GPS is used.

[0005] When the vehicle is used in a vehicle, map matching with road data is performed on the assumption that the vehicle is running on the road, and the vehicle position is calculated with high accuracy. However, when used for pedestrians, pedestrians are not always on the road,
Map matching is prohibited.

[0006] Further, whether a vehicle is used for a vehicle or a pedestrian is identified by, for example, whether an external power supply is used, and the mode is automatically switched based on the identification result. A method has also been proposed (see JP-A-2000-18960).

[0007]

However, when the position display device is used for a pedestrian, the position information can be obtained only from the GPS and map matching cannot be performed. Precise position calculation cannot be expected.

Further, when used for a vehicle, power can always be supplied to the position display device, but when used for a pedestrian, the position display device is driven by a battery of a portable size. Do not always calculate, turn off the power when you do not need to check your position
It is often the case to carry.

The position display device used for this pedestrian is:
After that, if it is attached to the vehicle for use as in-vehicle use, as in the case of conventional in-vehicle navigation system, if the final position at the time of previous use is the next initial position,
Poor accuracy of final position when used for pedestrians,
In addition, since the last position in the previous time and the initial position in the current time are not always continuous, there is a case where a correct position on the road cannot be specified in the position calculation when the vehicle is mounted, particularly by map matching.

The present invention solves such a conventional problem. Even when the present invention is used for a vehicle after being used for a pedestrian, the correct vehicle position can be calculated and displayed from the start of the position calculation process. It is an object of the present invention to provide a detachable position display device that can be used for both pedestrians and vehicles, and to provide a position calculation method for the position display device.

[0011]

SUMMARY OF THE INVENTION Therefore, according to the present invention, the position of a moving body is calculated and the map of the surrounding area is calculated by calculating the position of a moving object. In the position display device for displaying, a position calculating means for calculating the position of the moving body, a display means for displaying the position calculated by the position calculating means and a map around the position, and whether or not the device is installed in the vehicle Determining means for determining
Position information storage means for storing the latest position information calculated by the position calculation means and the position information finally calculated by the position calculation means when the apparatus is installed and used in a vehicle,
When the position calculating means resumes calculating the position of the moving object,
The position information selected from the position information stored in the position information storage means based on the determination result of the determination means is used as the initial position information. Further, in the position calculating method of the position display device, the position information finally calculated when the present device is installed in the vehicle and the vehicle position is calculated is stored, and the present device is installed again in the vehicle to determine the vehicle position. When the calculation is restarted, the stored position information is used as initial position information.

Therefore, even when the detachable position display device is used for a pedestrian and then used for a vehicle,
The correct vehicle position can be calculated and displayed from the start of the position calculation process.

Since the position display device of the present invention can be removed from the vehicle and carried by a person riding a bicycle or a motorcycle, the position display device can be used for both vehicles and portable devices. Device ".

[0014]

DESCRIPTION OF THE PREFERRED EMBODIMENTS (First Embodiment) A detachable position display device for both a vehicle and a pedestrian is usually detached from a vehicle and carried when a driver walks down from the vehicle. Therefore, the position of the vehicle does not change while the position display device is removed.

The position display device of the first embodiment pays attention to these points, and when the vehicle is removed from the vehicle-mounted position, stores the final position calculated in the vehicle-mounted state, is mounted on the vehicle again, and the vehicle starts running. Then, the position of the traveling vehicle is calculated using the stored final position as the initial position.

As shown in FIG. 1, this detachable type position display device has a pulse counting means 101 for counting the number of pulses output each time a vehicle wheel rotates a predetermined angle.
A azimuth sensor 102 such as a gyro that detects the turning angle of the vehicle, and a vehicle within a predetermined time based on the number of pulses for a predetermined time obtained from the pulse counting means 101 and the voltage value obtained from the azimuth sensor 102. A relative position calculating means 103 for calculating a relative distance and a relative direction of travel, and a G for receiving an electric wave of a GPS system and calculating an absolute position and an absolute direction.
A PS receiver 104, map data storage means 105 for storing map data recorded electronically, and whether the device is mounted on a vehicle or used for a pedestrian by being removed from the vehicle. Determining means 108 for determining whether
When the usage mode is for a vehicle, the relative position calculating means 10
3 and calculates the current position by performing map matching between the calculation result of the GPS receiver 104 and the map data, and calculates the current position based on the calculation result of the GPS receiver 104 when the usage pattern is for pedestrians. Position calculating means 106, display means 107 for simultaneously displaying a mark indicating the current position calculated by the position calculating means 106 and a map around the mark, final position information and position calculating means 106 calculated by the position calculating means 106 when the vehicle is mounted.
And position information storage means 109 for storing the latest position information calculated by.

Since the vehicle speed pulse is output each time the wheel of the vehicle rotates by a predetermined angle, the distance traveled by the vehicle at that time can be calculated from the number of pulses output at a predetermined time.
When the direction sensor 102 is a gyro, a voltage proportional to the angular velocity of the vehicle is output from the direction sensor 102.
This is sampled by an AD converter at predetermined intervals, and is converted into an angular velocity according to the gyro sensitivity, so that the azimuth change of the vehicle at constant intervals is calculated. The relative position calculation means 103 calculates the current position as a relative position of the previously calculated position by adding the traveling distance and the azimuth change for each predetermined time to the previously calculated position and azimuth.

The map data storage means 105 stores at least roads as road network data composed of nodes and links.

The judging means 108 judges whether the present apparatus is mounted on a vehicle or used for a pedestrian after being removed from the vehicle. This is based on whether the user is in a vehicle. The setting may be made manually, and the setting means itself may be used as the judgment means 108, or the judgment may be made automatically based on the presence or absence of a vehicle speed pulse that can be obtained only in the on-vehicle state. .

When the use mode of this apparatus is for a vehicle, the position calculating means 106 calculates the relative position of the vehicle obtained from the relative position calculating means 103, the absolute position of the vehicle obtained from the GPS receiver 104, and the map. Judging comprehensively from the road network data obtained from the data storage means 105, when it is determined that the vehicle is traveling on the road, the position of the vehicle is calculated in a form corrected on the road data.

When the apparatus is used for a pedestrian, the use of the pulse counting means 101 and the direction sensor 102 is stopped. Also, unlike walking with a vehicle, the possibility of traveling on a road is reduced during walking, so map matching using map data stored in the map storage unit 105 also stops, and the position calculation unit 106 , And outputs the absolute position calculated by the GPS receiver 104 as the current position.
The display means 107 directly displays the absolute position obtained from the GPS receiver 104 together with the surrounding map.

The position information storage means 109 stores the final position information calculated by the position calculation means 106 when the apparatus is mounted on the vehicle and the latest position information calculated by the position calculation means 106 even when the power of the apparatus is turned off or the usage mode is changed. The position information (that is, the final position information calculated by the position calculation means 106 regardless of whether the vehicle is in the on-board state) is separately stored. Even when the power is off, the information is stored in a memory that does not lose the information. In addition, the final position information when mounted on the vehicle includes final azimuth information and final area information (area information is, for example, information indicating types of roads such as expressways and national roads and locations other than roads such as parking lots). Is also stored.

There are several methods for storing such information. The fact that the power has been turned off or that the usage pattern has been changed can be determined by software. If the system can be terminated before the power is completely turned off, the final position and Information such as the final bearing may be stored. If such processing cannot be performed and the system is instantaneously terminated when the user turns off the power, the updated information is stored in the position information storage unit 109 every time the position or orientation is updated. Can be dealt with by storing

FIG. 2 is a flowchart showing the operation of the entire position display device. Here, a system is shown in which the power supply to the device is cut off at the moment when the power is turned off, and the operation is stopped. Step 201: When the user turns on the power, Step 202: Performs initialization processing relating to position calculation. In the initialization process, various processes may be performed, but the process according to the present invention is a process of setting an initial position, an initial azimuth, and the like of the moving object. Details of this setting process will be described later.

Step 203: Next, the position calculating means 106
Based on the initial position set in step 202, the position of the moving object is calculated using information obtained from the pulse counter 101, the direction sensor 102, and the GPS receiver 104. However, when used for pedestrians, the GPS receiver 10
The position is calculated using only the information obtained from step 4. Step 204: The judging means 108 judges whether or not this device is used in a vehicle. If it is used in an on-vehicle state, Step 205: The position information storage means 109
The location information updated by 6 is recorded in the storage area for the vehicle.
This position information includes the position, orientation, and area information of the moving object. Step 206: In addition, the position information storage means 109 stores the position calculation means 106 regardless of the usage form in both the case where the position calculation means 106 is used in an on-vehicle state and the case where it is used for pedestrians. The updated location information is stored in a storage area different from the on-vehicle storage area (a storage area that is not limited in use).
To record. Step 207: The display means 107 displays the position of the moving body calculated by the position calculation means 106 together with a map around the moving body.

Then, the processing from step 203 to step 207 is repeated until the power is turned off.

The flowchart of FIG. 3 shows the procedure of the initial position setting process in the position calculation initialization process of step 202 of FIG. Step 301: When the initialization process is started, the determination unit 108
Is used for a vehicle or a pedestrian. Step 302: When used in a vehicle, the position calculating means 106 reads the final position information recorded in the vehicle-mounted storage area of the position information storage means 109, and Step 303: calculating the position. The initial position, initial azimuth, and initial area are set based on the final position information.

If it is determined in step 301 that the vehicle is not being used for a vehicle, step 304 is to read out the final position information recorded in the storage area for which use is not limited. An area is set with the final position information.

After all, the initial position when the power is turned on is
The setting is made as follows depending on the usage pattern of the previous time and the current time (whether it is used for a vehicle or for a pedestrian). (1) For vehicle to vehicle For final position when used for the previous vehicle (2) For vehicle for pedestrian For final position when used for previous vehicle (3) For pedestrian to pedestrian Previous pedestrian Last position when used for pedestrians (4) From pedestrian to vehicle Last position when used for previous vehicle

Note that the above-described determination procedure of the position display device is performed by a computer (eg, CPU) of the position display device.
This is realized by executing processing according to the program.

As described above, in the detachable position display device of the first embodiment, what has been used for vehicles is temporarily removed from the vehicle and used for pedestrians.
In case of re-use after re-attaching to the vehicle, position calculation is started from the last position used for the vehicle last time, so the position accuracy was poor when used for pedestrians, and the power was turned off halfway. , The calculation of the vehicle position can be started without being affected by the position discontinuity, and the vehicle position can be calculated with high accuracy immediately after the start.

(Second Embodiment) The detachable position display device of the second embodiment identifies a mounted vehicle and prevents an error in setting a final position of a different vehicle as an initial position.

This apparatus, as shown in FIG. 4, includes a vehicle specifying means 410 for specifying a vehicle, and an identification information storage means 411 for storing identification information of the vehicle. Other configurations are the same as those of the first embodiment (FIG. 1).

The identification information stored in the identification information storage means 411 is information that allows the vehicle to be specified, and includes, for example, a bogie number, a license plate number, and a total number of mileage of the vehicle. The identification information storage unit 411 stores the identification information specified by the vehicle specifying unit 410. The vehicle identification unit 410 may be realized by manually inputting such information by a user,
The determination may be made by automatically reading these pieces of information.

FIG. 5 is a flowchart showing the operation of the entire position display device. Step 501: When the user turns on the power, Step 502: Performs initialization processing relating to position calculation. In the initialization process, various processes may be performed, but the process according to the present invention is a process of setting an initial position, an initial azimuth, and the like of the moving object. Details of this setting process will be described later.

Step 503: The determining means 108 determines whether or not the present apparatus is used for a vehicle. Step 504: If it is determined that the apparatus is used for a vehicle, the vehicle specifying means 410 The identification information storage unit 411 stores the identified vehicle identification information.

Next, the position of the moving object is calculated based on the initial position set in step 502 (step 505). The subsequent steps (steps 505 to 509) are performed in the first embodiment (FIG. This is the same as step 203 to step 207 of 2).

The flowchart of FIG. 6 shows the procedure of the initial position setting processing in the position calculation initialization processing in step 502 of FIG. Step 601: When the initialization process is started, the judgment means 108
Is used for a vehicle or a pedestrian. Step 602: If used for vehicle,
The vehicle specifying unit 410 specifies a vehicle and acquires identification information of the vehicle. Step 603: Next, the vehicle identification unit 410 reads the identification information stored in the identification information storage unit 411, and Step 604: compares the identification information to determine whether they are the same, And the identity of the previous vehicle.

Step 605: If the identification information is the same, the position calculating means 106 reads out the final position information recorded in the on-vehicle storage area of the position information storing means 109. An initial position, an initial azimuth, and an initial area are set based on the final position information.

If it is determined in step 601 that the vehicle is not used for a vehicle and if the identification information is not the same in step 604, step 607: the position calculating means 106
Read out the final position information recorded in the storage area of the 9 use unlimited, Step 608: Set the initial position, the initial azimuth, and the initial area of the position calculation based on the final position information.

After all, the initial position when the power is turned on is
When the identification information of the current vehicle and the recorded identification information of the vehicle at the time of the previous vehicle installation are different, the final position in the previous usage pattern is set to the initial position regardless of the previous usage pattern. And In other cases, it is the same as the first embodiment.

The procedure of the above-described determination and the like of the position display device is performed by the computer (CPU or the like) of the position display device.
Is realized by executing processing according to a program.

As described above, in the detachable position display device of the second embodiment, after being used for a pedestrian, it is mounted on a vehicle different from the vehicle used before for the vehicle. Also in the case of displaying the position, it is possible to prevent the position of the vehicle that is not the same as the initial position.

If the display screen indicates whether the display is of the vehicle mode or the portable mode, if the mode has not been switched due to insufficient attachment / detachment, it can be visually recognized immediately. It is possible to encourage correction.

[0045]

As is apparent from the above description, the position display device of the present invention calculates the correct vehicle position from the start of the position calculation process even when the position display device is used for a vehicle after being used for a pedestrian. Can be displayed.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of a position display device according to a first embodiment of the present invention;

FIG. 2 is a flowchart showing an overall operation of the position calculating device according to the first embodiment;

FIG. 3 is a flowchart showing an initial position setting operation in the position calculating device according to the first embodiment;

FIG. 4 is a block diagram showing a configuration of a position display device according to a second embodiment of the present invention;

FIG. 5 is a flowchart showing the overall operation of the position calculation device according to the second embodiment;

FIG. 6 is a flowchart illustrating an initial position setting operation in the position calculating device according to the second embodiment.

[Explanation of symbols]

 101 pulse counting means 102 bearing sensor 103 relative position calculation means 104 GPS receiver 105 map data storage means 106 position calculation means 107 display means 108 determination means 109 position information storage means 410 vehicle identification means 411 identification information storage means

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 2C032 HB05 HC08 HC11 2F029 AA02 AA07 AB01 AB07 AB09 AC01 AC02 AC04 5H180 AA01 AA21 FF04 FF05 FF22 FF27 FF32 5J062 AA11 BB01 BB05 CC07 EE00 FF04 FF05 HH07

Claims (7)

[Claims] 1. A position display device which is detachable from a vehicle for use in a vehicle and for carrying, calculates a position of a moving body, and displays a calculated position and a map around the position. Position calculating means for calculating a position, display means for displaying the position calculated by the position calculating means and a map around the position, determining means for determining whether or not the apparatus is installed in a vehicle, and the position Position information storage means for storing the latest position information calculated by the calculation means and the position information finally calculated by the position calculation means when the apparatus is installed and used in a vehicle, the position calculation means When the calculation of the position of the moving object is restarted, the position information selected from the position information stored in the position information storage means based on the determination result of the determination means is used as initial position information. Position display device according to symptoms. 2. A method according to claim 1, further comprising: vehicle identification means for judging a difference between the vehicles based on identification information for identifying the vehicle. 2. The position information to be used as the initial position information is selected based on
3. The position display device according to 1. 3. A position calculating method for a position display device which is detachable from a vehicle for use in a vehicle and for carrying, calculates a position of a moving body, and displays both the calculated position and a map around the calculated position. In the present invention, when the device is installed in the vehicle and the vehicle position is calculated, the finally calculated position information is stored, and when the device is installed in the vehicle again and the calculation of the vehicle position is restarted, the stored information is stored. A position information calculation method using position information as initial position information. 4. When the apparatus is installed in a vehicle, it is determined whether or not the vehicle is the same as the vehicle in which the apparatus was previously installed. Only when the vehicle is the same, the stored position information is used as initial position information. 4. The position information calculation method according to claim 3, wherein: 5. A vehicle which can be attached to and detached from a vehicle for use in a vehicle and for carrying, and has a function of calculating a position of a moving body, and a function of displaying both the calculated position and a map around the calculated position. A program for controlling a computer of a position display device, a procedure for storing the position information finally calculated when the device is installed in a vehicle and used, and a process for installing the device again in the vehicle. Using the stored position information as initial position information to calculate a position when the calculation of the vehicle position is restarted. 6. A vehicle that can be attached to and detached from a vehicle for use as a vehicle and a portable device, and has a function of calculating a position of a moving object and a function of displaying both the calculated position and a map around the calculated position. A program for controlling a computer of a position display device, a procedure for storing the position information finally calculated when the device is installed in a vehicle and used, and a process for installing the device again in the vehicle. When the calculation of the vehicle position is restarted, a procedure for identifying whether or not the vehicle is the same as the vehicle in which the device was previously installed, and when the vehicle is the same as the vehicle in which the device was previously installed, the stored position information is initialized. And a procedure for calculating the position using the position information. 7. A recording medium for storing the program according to claim 5.