JP3085221B2 - 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.
A map for traveling is provided by successively displaying the map information in response to a request from the operator and displaying the map information on a display such as a cathode ray tube.

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 at a plurality of continuous points so that the position of the vehicle on the map on the screen can be visually recognized (for example, Japanese Patent Application Laid-Open No. 58-53711, Kosho 59-398
No. 00, JP-A-60-165511. )

In this type of apparatus, when displaying a map on a screen, various roads, which are diagrams on the map,
In order to display items such as rivers and bridges in different colors on the map, these diagrams are stored as a plurality of diagram data different from the background color of the map. For example, when the background color is blue, for roads, arterial roads such as national roads and local major roads are red, and non-arterial roads such as general rural roads and alleys are green, so that each road can be clearly identified. I have.

[0005]

However, in the above-mentioned conventional apparatus, when the map on the screen is visually recognized during traveling, there is a possibility that the driver's attention is impaired and the safety is reduced. That is, when the driver checks the destination, the vehicle is usually stopped and the route from the main road to the detailed road is checked on a map. When traveling, the driver sometimes drives while visually recognizing the main road.

[0006] Therefore, there is no problem in viewing the map on the screen while the vehicle is stopped. However, when the map on the screen is visually recognized during driving, a detailed non-trunk road can be seen. It took a long time to check the main road, leading to carelessness in the forward direction, which could hinder safe driving. In addition, if the user attempts to change the display color of the screen while driving, the driving may be neglected or the display color may be selected incorrectly. The light entering the screen changes, making it difficult to adjust the display color selection.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and enables a user to select a display color when a moving object is stopped, and allows the user to select a display color without moving when the moving object is moved. The purpose is to increase the safety during the driving operation by making a selection.

[0008]

According to the present invention, there is provided a navigation apparatus for a mobile object, comprising: a map data storage means for storing map data; a display having a screen for displaying a map based on the map data storage means; Movement detecting means for detecting whether the body is moving, a map and a background displayed on a screen
Select one of multiple combinations for display color
Selectable means is provided, wherein the moving means moves
If it is in the middle, select the first combination,
If not, select the second combination and
When the switch is not moving, the user operates the switch.
One combination can be selected from multiple combinations depending on the operation.
There is something.

[0009]

According to the navigation apparatus for a moving object of the present invention, when the movement detecting means detects that the moving object is moving, the display color on the screen is not selected by the user, but the selecting means. To select the first combination ,
When the movement detecting means detects that the moving body is not moving, the selecting means selects the second combination.
In addition, the display colors of the map and background
One of a plurality of combinations can be selected to prevent an inadvertent change in display color during movement.

[0010]

An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is an overall configuration diagram of a mobile navigation device, 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, which includes various I / O circuits (2), (3), (4) and input / output ports (5), (6), and includes a CPU (7) and a CRT / C (9) and the like operate by receiving a supply of stabilized power from a vehicle-mounted battery via a constant voltage circuit and operate to control various devices.

Reference numeral (2) denotes a first I / O interface circuit, which is a navigation (11) for guiding a vehicle, traffic information (12) for receiving road conditions, a radio telephone (13) for a vehicle,
Air conditioner for indoor air conditioning (14), TV (1
5), radio (16), tape (17), CD (18), and other modes can be selected via function switches (SW1) to (SW8). This function switch (S
W1) to (SW8) are provided on the front panel (26b) of the CRT (26) shown in FIG. 2, and provide a drive signal to the CPU (7) by pressing operation to operate each device. ing.

Further, a first I / O interface circuit (2)
Receives radio waves from satellites via antennas,
The GPS device (19) that can confirm and determine the current position and moving speed of the car, and the flux kent type geomagnetic detector fixed to the vehicle, etc., convert the geomagnetism into the traveling direction component of the vehicle and its vertical component. An azimuth sensor (2) that decomposes and detects and outputs the corresponding signal as the traveling azimuth θ of the vehicle
0) are connected.

(3) is a second I / O interface circuit, which uses a vehicle speed sensor (not shown) as movement detecting means for detecting the rotation of the wheel by an electromagnetic pickup, a reed switch, or the like, to determine the rotation speed of the wheel. A distance sensor (21) for outputting a proportional pulse signal is connected. The azimuth sensor (20) and the distance sensor (21) constitute a current position detecting means for obtaining the current position data of the vehicle and for 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. ing. The CD deck (25) is provided with a CD / ROM (25a) serving as map storage means, and when the navigation (11) is selected, various map information and diagram data, which will be described later, are read out and read out from the CRT ( 26) can be displayed. The CD / ROM (25a) is NIKKEI. ELECTRONIC
S. The memory for storing map information described in the November 26, 1987 issue (NO434) was adopted, and map information such as a national map, a local map, a regional map, and a district map was stored as vector data. I have.

Further, in this embodiment, the maps are classified into three types, that is, a wide area, a standard area, and a detailed area having different scales, and the map information is stored so as to include a common area. The above-mentioned district map is divided into four regions corresponding to the four quadrants of the screen (26a) of the CRT (26), and one map block which is a part of the partial map is divided into four map blocks. The data is sequentially stored in the CD-ROM (25a) as map information so that four times the size becomes the background of the screen (26a) of the CRT (26). In addition, a line diagram connecting points on this district map, for example, a line diagram showing roads, rivers, bridges, etc., is decomposed into line diagram data and stored, and character data such as characters and symbols, and service symbols And service data of a hotel, a golf course, and the like.

For the specific items such as the roads, rivers, and bridges, a color palette is stored with a plurality of color codes for displaying in various colors. In addition,
In the case of roads, main roads such as national roads and main local roads are set as main roads, and non-main roads such as general local roads and alleys are set as detailed roads, and each is displayed in a different color from the background of the screen (26a). As shown in Table 1 below, each item is stored in correspondence with pallet numbers 0 to 15.

[0017]

[Table 1]

Further, in addition to the color code, a plurality of memory tables storing a large number of color palettes with color codes are provided so that the items can be displayed in other colors. Further, dot data for shadowing the screen (26a) and dot data for shadowing are also stored in a region 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 also outputs map information and the like from the CD / ROM (25a). A control signal for reading and displaying on the screen (26a) of the CRT (26) is given to the CRT · C (9). In addition, IRT (interrupt circuit) (7
a) through the pulse signal from the distance sensor (21), GPS
GPS signal from device (19) and X,
The digital signal of the Y component is received, the arithmetic processing is executed, the traveling locus and the current position as traveling route information are obtained, and a display signal is output.

(8) RAM for temporary storage as temporary storage means
As shown in the schematic diagram of FIG. 3, data read from the CD / ROM (25a) can be temporarily accumulated and held in the course of the CPU (7) performing the arithmetic processing. The power is always backed up from the vehicle battery. When the map information is read, the diagram data is also read, and when a desired map is selected, the data is extracted so that various diagrams are superimposed on the map. In this RAM (8), the coordinates (X0, Y0) of the current position stored in the first memory table of the CD / ROM (25a) are stored so as to be the center of the screen (26a). Displayed when current position data is read
The current position mark (M) is displayed at the center of (26a). Further, in order to display the traveling locus on the screen (26a) of the CRT (26), a memory table for storing position data is provided.In this example, each of the different scales stored in the CD / ROM (25a) is different. It has a plurality of endless memory tables corresponding to the map information of the map.

(9) C which is a display control means and a drawing means
RT / C (CRT controller), which receives the command for display signal output from the CPU (7) and expands the travel route information into the display RAM (10), and also displays the expanded map data and CRT for character data and travel route information
It outputs a video signal and a synchronization signal to be displayed in (26). The CPU (7) stores the map information corresponding to one specified scale out of the partial map information and the wide area, standard and detailed map information, which are the four map blocks, stored in the CD / ROM (25a). Then, travel locus information comparable to this map information is read from the memory table of the RAM (8), and the travel locus is superimposed and displayed on a 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. The pattern data includes a current position mark (M) (see FIG. 3) displayed as a triangle on the screen (26a) of the CRT (26), and a second mark for displaying the traveling locus as a plurality of continuous points (dots). The trace display pattern, which is one mode, and the displayed trace are displayed on the screen (26a).
The trajectory non-display pattern, which is the second mode for erasing from, is stored as switching means for supplying a switching signal to the CPU (7), that is, as a touch switch.

Although not shown, the screen (26a)
A scroll key pattern which constitutes a map moving means for arbitrarily moving the map displayed on the screen, and a correction position mark display means for correcting the position of the current position mark (M) displayed on the screen (26a). A position mark, a return pattern that is a map movement return unit that returns the moved map to the original position, and a current position mark correction unit that moves to the position of the correction position mark when the current position mark (M) moves. A correction pattern and the like are stored. further,
Although illustration is omitted, enlargement and reduction patterns for specifying the scale of the map are also stored.

Next, the CPU (7), the CRT / C (9) and the display RAM (10) will be described in detail with reference to FIGS. In FIG. 11, (7b) is a display control unit (MPU) of the CPU (7), and a data control unit (not shown) and a CRT / C
A signal is transmitted / received to / from (9), and a display signal is output to this CRT · C (9). (9) is a CRT / C, which receives the display signal, displays the map data, the traveling route information, the character data, and the like, and displays a horizontal synchronization signal (HSYNC) and a vertical synchronization signal (HSYNC) for displaying on the CRT (26). VSYNC). (31) is a first frame memory, which has a plurality of memories in which various map information correspond to three primary colors (red, green, blue). Is displayed.

(32) is a second frame memory, which stores current position data, traveling locus data and the like as the traveling route information. (33) and (34) are parallel-serial converters for converting parallel signals from the first and second frame memories into serial data by dot timing lock. Reference numeral (35) denotes a multiplexer, which receives an address signal from the CPU (7) and a CRT / C.
The address signal from (9) is switched by a command signal of the CPU (7), and a signal for specifying a palette number is given to a color palette 36 described later. A color palette (36) is described in detail with reference to FIG.

The color pallet (36) has a plurality of table colors having different color codes (RGB codes) assigned to respective items such as highways and non-highways corresponding to the pallet numbers in Table 1 above. Color code storage means is provided. That is, for each item and color code in the first color code storage means (table 1), 00FH indicating red corresponding to the main road of pallet number 0 corresponds to non-main road of pallet number 1. FOFH indicating green is assigned respectively. Hereinafter, different color codes are sequentially assigned to the items of each pallet number, and the pallet number 15 indicating the background of the screen (26a) is assigned the RGB code 888H indicating blue.

Next, regarding the second color code storage means (Table 2), the color codes of the non-trunk roads and the background are set to the same color code 888H as the first color code storage means, while the main roads are stored. Are different combinations only for the color code 00FH. Further, in this example, a plurality of color code storage means (table N) having table colors in which color codes 00FH and 888H of at least main roads and background colors are different, and other items are combined with various color codes are provided. ing.

Each of the color code storage means is switched and selected by the selection means. The selecting means provides a switching signal to the CPU (7) based on a detection signal from a vehicle speed sensor as a movement detecting means, and selects one of the color code storage means of the color pallet (36). When the vehicle is moving, the second color code storage means is selected, and when the vehicle is not moving, the first color code storage means is selected. Further, when the user is not moving, a desired color code storage means can be selected by a manual switch. That is, although not shown, the manual switch is a changeover switch including a movable contact and a plurality of changeover contacts, and is provided on the front panel (26b) of the CRT (26), and the CPU is manually operated.
A switching signal is given to (7) so that an arbitrary color table can be selected.

Incidentally, FIG. 1 shows a display (26), which is a video symbol (HSYNC) and a synchronization signal from the CRT / C (9).
With (VSYNC), a map of a specific area, a traveling route, a current position, and the like are displayed in color. In addition, various operation keys of a touch switch unit described later are displayed in a predetermined touch area, and a television image can be displayed by turning on the television tuner (22) by pressing the function switch (SW5). I have.

(27) and (29) are connected to the CPU via the output port (6).
The light emitting unit connected to (7), (28) and (30) are light receiving units connected to the CPU (7) via the input port (5), and 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 an inner peripheral portion of the screen (26a). 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 flowcharts shown in FIGS. 4, 8 to 12. First, when you turn on the key switch at the start of driving a car,
Upon receiving power supply from the on-vehicle battery, the electrical system of each unit is activated. When the CPU (7) of the control unit (1) 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. It is repeated at a period of about several tens msec. 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 of the CRT (26) In (26a), a radio mode pattern as shown in FIG. 5 or an air conditioner mode pattern as 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 S1
Proceeding to 6, the CPU (7) executes the current position calculation processing and the like.

First, as shown in the flowchart of FIG. 8, when a pulse signal is output from the distance sensor (21), an interruption calculation of the current position is performed at predetermined time intervals in step S21. At this time, the pattern data is read out based on the calculation result, a mark (M) indicating the current position of the vehicle is displayed on the screen (26a), and is updated and displayed with time. Then, in step S23, the current position data and the running 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) to determine the running distance up to the present (step S3).
1). Next, an interrupt processing routine shown in the flowchart of FIG. 10 is started with the traveling of the automobile. First, in step S41, the number of pulses N from the vehicle speed sensor is read at a fixed time, for example, at one second intervals. Next, step S4
In 2, the number of pulses N at this time is multiplied by a unit traveling distance d, for example, 39.25 cm, so that a traveling distance D for each fixed time is obtained.

Then, in step S43, the azimuth θ from the azimuth sensor (20) is read. Subsequently, in step S44, the position on the two-dimensional coordinates of the vehicle is obtained from the azimuth θ and the traveling distance θ by the following equation. △ x = D ・ cosθ △ y = D ・ sinθ

Thereafter, in step S45, the current position (x, y) of the vehicle is obtained from the coordinates (△ x, △ y) calculated above and the coordinates (xo, yo) of the starting point by the following equation. 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 sequentially stored therein. In the RAM (8), while the data at the current position (x, y) is written, old data is successively stored. It is a so-called endless system that is being erased. Further, even when the vehicle stops running and the key switch is turned off, data of the current position (x, y) and the traveling distance D can be held.

In step S46, the count of the pulse number N is cleared. Subsequently, when the operation proceeds to step S47, an arithmetic processing for receiving a GPS signal from the GPS device (19) and 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. After this, step
In S48, the traveling distance D and the timer interruption time ΔT,
For example, from 100 msec, arithmetic processing is performed based on the equation V = D / ΔT, and the vehicle speed V of the vehicle is obtained.

By the way, when leaving the car, the user operates the navigation (11) to set the departure point on a predetermined geographical coordinate, for example, a home on a district map which is a detailed map. Now, when the function switch (SW1) of the navigation (11) is pressed, the CRT (26)
As shown in FIG. 7, a menu is displayed on the screen (26a), and a setting pattern that is a touch area between the map selection and the current position is displayed. As a result, the map display mode is started, and when a menu selection pattern is touched when the menu is displayed on the screen (26a) in step S51, the first frame memory (31) storing the map information is touched. )
Map information is read out from C, and as shown in FIG.
A desired map is displayed on the screen (26a) of the RT (26).

By the way, in the navigation, the arithmetic processing shown in the flowchart of FIG. 8 is continued.
In step S23, it is determined whether the vehicle is traveling. Here, when it is determined that the vehicle is running, the second color code storage means is selected based on the vehicle detection signal without selection by the user, as shown in FIG.
Then, as the map information is read out and drawn on the screen (26a), the table color of the second color code storage means is read out and displayed over the map. At this time, since the non-trunk road is the same color as the background color, only the main road (L1) is displayed on the screen (26a) as shown in FIG.

On the other hand, when the vehicle is not running, the color (table color) of the color code storage means selected last time.
To display the map and items (Step 2
Five). Next, in step S26, it is determined whether a changeover switch selection operation has been performed. Here, if there is no switch operation, the display is made in the previous color, but if a selection operation is performed, the color code storage means corresponding to the switch number is stored. At this time, when the first color code storage means is selected (step S27), the color code of the detailed road is switched and drawn with the color of the table 1, that is, the color of the first color code storage means. As a result, FIG.
As shown in (b), on the screen (26a), a main road (L1) and a detailed non-trunk road (L2) having a color different from the background color are displayed on the map.

As described above, this embodiment is characterized in that the first color code storage means stores the RGB code indicating the display color of the main arterial road and the detailed non-arterial road and the RGB code indicating the background color. The color code of at least the detailed road and the background is the same, and there are provided a second color code storage means in which the color code and the color code of the main road are variously combined and a plurality of color code storage means in which various color codes are variously combined. ing. Then, based on the detection signal from the moving means, which is a vehicle speed sensor, the respective color code storage means are selectively switched to the screen (26).
Items of different colors can be displayed in a).

Therefore, while the vehicle is running, the non-trunk road is set to the same color as the background color, it is erased from the screen (26a), and only the trunk road is displayed. It can be displayed on the screen (26a). As a result, when it is necessary to look at the map while driving, the problem of distraction and loss of attention can be avoided, and the color tone can be changed according to changes in the surrounding environment. There is an effect that leads to driving.

[0044]

According to the navigation apparatus for a moving object of the present invention, when the movement detecting means detects that the moving object is moving, the display color on the screen is not selected by the user. Select the first combination by the selection means
When the movement detecting means detects that the moving body is not moving, the selecting means selects the second combination.
In addition, the display color of the map and background
One of a plurality of combinations can be selected to prevent inadvertent display color change during movement, thereby preventing improper display change during movement and ensuring safety of movement. is there.

[Brief description of the drawings]

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

FIG. 2 is a front view of a display according to an embodiment of the present invention.

FIG. 3 is a schematic configuration diagram for explaining an embodiment of the present invention.

FIG. 4 is a flowchart showing the entire arithmetic processing of a main routine in a control unit according to an embodiment of the present invention.

FIG. 5 is an explanatory diagram illustrating an example of a menu displayed on a screen of a display device according to an embodiment of the present invention.

FIG. 6 is an explanatory diagram showing an example of a menu displayed on the screen of the display device according to one embodiment of the present invention.

FIG. 7 is an explanatory diagram illustrating an example of a menu displayed on a screen of a display device according to an embodiment of the present invention.

FIG. 8 is a flowchart showing a calculation process of a current position display and a map display of navigation according to one embodiment of the present invention.

FIG. 9 is a flowchart illustrating a calculation process based on a distance pulse from a distance sensor according to an embodiment of the present invention.

FIG. 10 is a flowchart showing an interrupt calculation routine based on a distance pulse from a distance sensor and a signal from a direction sensor according to one embodiment of the present invention.

FIG. 11 is a detailed electric block diagram of a control unit according to one embodiment of the present invention.

FIG. 12 is an explanatory diagram of a color palette according to an embodiment of the present invention.

FIG. 13 is a diagram showing screens of a map and a diagram displayed on a display device according to an embodiment of the present invention.

[Explanation of symbols]

(1) is a control unit, (7) is a CPU, (8) is a temporary storage means (RAM), (9)
Is a drawing means (CRT / C), (10) is a display RAM, (11) is a navigation, (20) is a direction sensor, (21) is a distance sensor, (2)
5a) is a map data storage means (CD / ROM), and (26) is a display (CR
(T), (31), (32) are frame memories, (35) is a multiplexer, (36) is a color palette, (L1) is a main road (main road), and (L2) is a non-main road (detailed road). .

Continued on the front page (72) Inventor Tatsumi Kageyama 2-33, Miwa, Mita-shi Mitsubishi Electric Engineering Co., Ltd., Himeji Works, Mita Branch (72) Inventor, Koji Fujii 2-33, Miwa, Mita-shi (56) References JP-A-63-265113 (JP, A) JP-A-62-62386 (JP, A) JP-A-58-71408 (JP) JP-A-59-164583 (JP, A) JP-A-61-205974 (JP, A) JP-A-63-113496 (JP, A) JP-A-63-122898 (JP, U) (58) Field surveyed (Int.Cl. ⁷ , DB name) G01C 21/00-21/36 G08G 1/0969 G09B 29/00-29/10

Claims (1)

(57) [Claims] 1. Map data storage means for storing map data, a display having a screen for displaying a map based on the map data storage means, and movement detection means for detecting whether or not a moving object is moving. And the map and spine displayed on the screen
One of multiple combinations for the display color of the scenery
Selectable selecting means, wherein the selecting means is capable of
The moving object is moving based on a signal from the motion detecting means.
In the case of, the display color of the map and background displayed on the above screen
Is selected, and the moving object is not moving
In this case, the color of the map and background displayed on the above screen
Is selected, and the moving body moves.
If not, the map and
The combination of the display colors of the
A navigation device for a mobile object, wherein the navigation device is selectable .