JP3428193B2 - Route guidance device for vehicles - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a route guide device for a vehicle which displays the present position of a vehicle on a road map of a bird's eye view system to guide an occupant.

[0002]

2. Description of the Related Art A vehicle route guidance device is known in which a so-called bird's-eye view type road map is displayed on the display so that the road in the traveling direction is looked down from above the rear of the vehicle. For example, Japanese Patent Laid-Open No. 2-2
44188 gazette). This type of route guidance device for vehicles creates a bird's-eye view type road map by converting the coordinates of a road map represented on a two-dimensional plane, and displays the current position and destination of the vehicle on the bird's-eye view type road map. The optimum route is displayed to guide passengers.

By the way, when displaying the current position of a vehicle on a bird's eye view type road map, for example, if the current position of the vehicle is displayed at the center of the display, or at the center of the horizontal direction and slightly below the center of the vertical direction. , It becomes easier to see the road condition around the current location. To do this,
The road map of the bird's-eye view method may be updated in real time so that the current position of the vehicle is always displayed at a predetermined position on the display as the vehicle moves.

However, since it takes a lot of time to perform coordinate conversion from a two-dimensional plane road map to a bird's-eye view road map, it is possible to draw a bird's-eye view road map in real time when a vehicle moves at high speed. become unable. As a result, even though the vehicle is actually moving,
Until the coordinate conversion process is completed, the current location of the vehicle at the time of updating the bird's-eye view road map last time remains displayed, and the bird's-eye view road map is updated when the coordinate conversion process is completed. At the next moment, the current location of the vehicle immediately before the intersection may be switched to a display that has passed through the intersection, and the current location of the vehicle may be lost.

An object of the present invention is to update the current location display of a bird's eye view type road map in real time as the vehicle moves.

[0006]

In order to achieve the above object, the invention of claim 1 is a map storage means for storing a two-dimensional plane road map, a present location detection means for detecting the present location of a vehicle, and a bird's eye view. Display means for displaying the road map of the method,
The two-dimensional plane road map is read from the storage unit and converted into a bird's-eye view road map so that the current position of the vehicle detected by the current position detection unit is displayed at a predetermined position of the display unit, and the display unit is displayed. A route for a vehicle including a road map drawing means for drawing on the road map and a current position drawing means for drawing a current position mark on the current position of the vehicle detected by the current position detecting means on the road map drawn by the road map drawing means. In the guidance device, the current location drawing means, when the current location of the vehicle detected by the current location detection means has moved, conversion from a two-dimensional plane road map by the road map drawing means to a bird's-eye view road map. Until the end, the current location of the vehicle detected by the current location detection means on the road map drawn before the movement by the road map drawing means When the current location mark is drawn and the conversion from the two-dimensional plane road map to the bird's-eye view road map by the road map drawing means is completed, the current location detection on the latest road map drawn by the road map drawing means is completed. A current location mark is drawn at the current location of the vehicle detected by the means, and the current location is displayed on the same road map as the vehicle moves.
When moving the local mark, view the road map in a bird's-eye view method.
The current position mark is drawn smaller as it moves away from the point . The vehicle route guidance device according to claim 2, wherein the road map is used.
By the drawing means and the current position drawing means,
Every time the vehicle moves away, the road map and the current location are updated . The vehicle route guidance device according to claim 3 is
Conversion processing of the road map by the road map drawing means and
The updating process of the current location by the current location drawing means is performed in parallel.
It is obtained so as to line.

[0007]

According to the vehicle route guiding apparatus of claim 1, when the current position of the vehicle moves, the bird's-eye view drawn before the movement is completed until the conversion from the two-dimensional plane road map to the bird's-eye view road map is completed. The current location mark is drawn at the current location of the vehicle on the road map of the method, and when the conversion from the two-dimensional plane road map to the road map of the bird's-eye view method is completed, the current location mark is displayed on the current location of the vehicle on the latest bird's-eye view road map. draw a,
As the vehicle moves on the same road map, the current location
When moving the map, move away from the viewpoint of the bird's eye view road map.
The current position mark is drawn smaller as the distance increases . According to the vehicle route guiding device of claim 2, the vehicle moves a predetermined distance.
The road map and the current location are updated each time . Claim 3
In the navigation system for a vehicle, conversion and current road map
The updating process of the ground is executed in parallel .

[0008]

FIG. 1 is a functional block diagram showing the structure of an embodiment. The vehicle route guidance device of this embodiment is mainly composed of a microcomputer. The azimuth sensor 1 detects the traveling direction of the vehicle, and the detected traveling direction information is A / D.
CPU 4 via converter 2 and interface circuit 3
Send to. The vehicle speed sensor 5 generates a pulse signal for each predetermined traveling distance of the vehicle, and C
Output to PU4. The CPU 4 counts the number of pulses of this pulse signal to detect the traveling distance of the vehicle. GPS
The receiver 6 is a receiver of a position detection system using a satellite, and sends information such as the current position of the vehicle and the traveling direction to the CPU 4 via the interface circuit 3. The key 7 is an operation member for setting a destination of the vehicle and the like, and is connected to the CPU 4 via the interface circuit 3.

The CD-ROM 8 is a storage device for storing road map data of a two-dimensional plane, and is an interface SC.
Connected to CPU4 via SI controller 9, C
In response to the road map read command from PU4, the road map data of the designated range is sent to CPU4. The display 10 for displaying the road map is a graphic controller 11
It is connected to the CPU 4 via the, and a car mark showing the optimum route to the destination and the current position of the vehicle is superimposed and displayed on the road map of the bird's-eye view system. The V-RAM 12 stores road map data of a bird's-eye view method and outputs it to the display 10 via the graphic controller 11 according to a display command from the CPU 4. Further, the CPU 4 is connected with a RAM 13 for temporarily storing various data, a ROM 14 for storing a control program described later, and the like. CPU4
Executes the road map display program to be described later to calculate the optimum route from the current location to the destination, converts the two-dimensional plane road map data to bird's-eye view road map data, and converts the vehicle to a bird's-eye view road map. The optimal route to the current location and the destination is displayed in a superimposed manner.

FIG. 2 shows the relationship between a two-dimensional plane road map and a bird's-eye view road map. A two-dimensional road map with east in the + X axis direction and north in the + Y axis direction, XY
Consider an XYZ three-dimensional coordinate system that is represented on a plane and the sky above the road on the XY plane is taken in the positive direction of the Z axis orthogonal to the XY plane. A viewpoint E (VX, VY, VZ) is set above the point which is a predetermined distance away from the current position of the vehicle, and the road map on the XY plane is looked down from this viewpoint E along the line of sight EF. To do. The angle formed by the line of sight EF and the XY plane is referred to as the looking down angle θ, and the angle formed by the straight line E′F obtained by projecting the line of sight EF on the XY plane and the + X axis is called the line of sight direction φ. Display 1 on a plane perpendicular to the line of sight EF
The display frame abcd of 0 is set, and the viewpoint E (VX, VY, V
When the road map on the XY plane is looked down from Z) through the display frame abcd, the road map in the trapezoidal ABCD range can be seen. This range ABCD is the display area of the road map. The line of sight EF is the display frame ab of the display 10.
If it is set to pass through the center of cd and look down at the vehicle, the current location of the vehicle is displayed at the center of the display frame abcd. In this case, the lower display frame abgh of the display 10 corresponds to the display area ABGH, and the road map of the narrow area ABGH is displayed in the lower display frame abgh. The upper display frame ghdc corresponds to the display area GHDC, and the road map of the wide area GHDC is displayed in the upper display frame ghdc. That is, the road map in the range close to the viewpoint E is enlarged and displayed, and the road map is reduced and displayed as the distance from the viewpoint E increases. The current location of the vehicle is F (CX, CY). Current location of this vehicle F
(CX, CY) is located at the center of the side GH.

3 to 5 are flowcharts showing a road map display program. The operation of the embodiment will be described with reference to these flowcharts. When the main switch of the key 7 is turned on, the CPU 4 starts executing this display program. In step 100, the destination information set by the key 7 is read, and in the following step 102, the current position and traveling direction of the vehicle are detected. The current position of the vehicle may be calculated by self-contained navigation or may be detected by GPS navigation. Also, both may be used in combination. The former calculates the traveling locus based on the traveling azimuth detected by the azimuth sensor 1 and the traveling distance measured by counting the pulse signals from the vehicle speed sensor 5, and specifies the current location by map matching. The latter uses the current position and the heading calculated by the GPS receiver 6. Here, the detected current position of the vehicle is stored in the RAM 13 as the current position FA. In step 104, the optimum route from the current position to the destination is calculated by a known route search method.

At step 106, the viewpoint EA is calculated. In calculating the viewpoint EA, first, the direction φ of the line of sight EF is calculated. For this line-of-sight direction φ, for example, the direction in which the distance of the optimum route displayed on the display 10 is maximum may be set, or the traveling direction of the vehicle may be simply set. Alternatively, the direction of the destination may simply be set. Next, the current position FA (CXA, CYA) of the vehicle is displayed in the center of the display frame abcd of the display 10.
The position of the viewpoint EA and the line of sight EF are determined. In this embodiment, viewpoint E (representing a general viewpoint including viewpoint EA)
Z coordinate VZ (hereinafter referred to as the viewpoint height) and the view angle θ
Is a predetermined value set in advance.

In step 108, the CD-ROM 8
Display area A from the road map data stored in
Road map data in a range including BCD is read. Here, the road map data is managed by dividing the whole country into small sections (hereinafter referred to as regional meshes) defined in JIS-X0410, and reading of the road map data from the CD-ROM 8 is performed in units of regional meshes. Done in. Also,
The road map is dataized by nodes that indicate intersections, poles, etc. on the roads and links that connect the nodes to each other. The road map is stored together with hierarchical level information based on the position coordinates of each node and each link and the road type. ing. In addition to the road information described above, the road map data also includes information such as the administrative world and its place names, railway and station names, main facilities, lakes, historic spots, etc., depending on their position coordinates, importance, and display priority. It is stored together with the hierarchical level information.

Display area A on the road map of the two-dimensional plane XY
BCD is obtained as follows. FIG. 6 shows an XY plane at Z = 0 in the three-dimensional coordinate system shown in FIG. Viewpoint E
Projection point E '(VX, VZ) of (VX, VY, VZ) on the XY plane
Y) is calculated by the following formula.

[Equation 1] Even when the current position of the vehicle is displayed at a position other than the center of the display frame abcd, since the viewpoint height VZ and the line-of-sight direction φ are constant, the relative relationship between the viewpoint E and the display area ABCD is uniquely determined. The projection point E ′ can be calculated with a slight modification to Expression 1.

Here, the XY coordinate system shown in FIG.
The parallel movement is performed so that (VX, VY) becomes the origin, and the X'Y 'coordinate system is set as shown in FIG. Further, the X'Y 'coordinate system is rotated so that the line-of-sight direction is on the Y-axis to set the X "Y" coordinate system. As shown in FIG. 8, when the width of the display frame abcd of the display 10 is 1, the vertical width is S, the distance from the viewpoint E (VX, VY, VZ) to the display frame abcd is DS, and the line of sight is EF and straight line E
The angle formed with g is defined as the half-spread angle α. The display area ABCD of the XY coordinate system shown in FIG. 6 corresponds to the display area A "B" C "D" of the X "Y" coordinate system shown in FIG. The coordinates of each vertex of the display area A "B" C "D" in this new X "Y" coordinate system are given by the following equations.

[Equation 2]

Next, the coordinates of each apex of the display area A'B'C'D 'in the X'Y' coordinate system considering the line-of-sight direction φ are obtained. Since the X'Y 'coordinate system is a rotation of the X "Y" coordinate system, the display area A "calculated by Equation 2
The coordinates of each vertex of B "C" D "are converted by rotating the coordinate axes.

[Equation 3] Further, the vertices A, B, C and D of the display area in the XY coordinate system are calculated based on the calculated vertex coordinates of the display area A'B'C'D 'in the X'Y' coordinate system.
Since the XY coordinate system is a translation of the X'Y 'coordinate system, the display area A'B'C' calculated by Equation 3 is used.
The coordinates of each vertex of D ′ are translated by VX in the X-axis direction and VY in the Y-axis direction.

[Equation 4]

Next, in step 110, the CD-R
The road map data in the display area ABCD of the road map data on the XY plane read from the OM 8 is coordinate-converted into the bird's-eye view road map data displayed on the display 10. This coordinate conversion is performed as follows. Figure 9
The relationship between the EXEYEZ coordinate system with the viewpoint E (VX, VY, VZ) as the origin and the line of sight EF as the −Z axis, the SXSY display coordinate system with the center of the display frame abcd of the display 10 as the origin, and the display area ABCD. Indicates. Here, if the coordinates of the arbitrary road map data P in the XY coordinate system are (MX, MY), as shown in FIG. 7, the point E '(VX, VY) is translated so that it becomes the origin (X "Y" coordinate system) and X "Y" rotated so that the line of sight (E'F) overlaps the Y axis.
The coordinates (MX ", M) of the arbitrary data P in the coordinate system
Y ”) is

[Equation 5] Required by. Next, the coordinates (MX ", MY") of the data P in this X "Y" coordinate system are calculated by the following formula: EXEYEZ
Convert to the coordinates of the coordinate system (EX1, EY1, EZ1).

[Equation 6] It should be noted that when Equation 5 is substituted into Equation 6 and transformed, it is expressed as follows.

[Equation 7] Furthermore, the coordinates of the data P in the EXEYEZ coordinate system (EX
1, EY1, EZ1) are converted into coordinates (SX1, SY1) of the SXSY display coordinate system by the following equation.

[Equation 8] SX1 = -DS * EX1 / EZ1, SY1 = -DS ・ EY1 / EZ1

In step 112, the coordinate-converted bird's-eye view road map data is transferred to the V-RAM 12 and displayed on the display 10 via the graphic controller 11. This bird's eye view road map is a road map viewed from the viewpoint EA. In the following step 114, a car mark indicating the current position of the vehicle is drawn on the road map of the bird's-eye view method viewed from the displayed viewpoint EA.

The above processing may be executed each time the vehicle moves (including rotation). However, as described above, coordinate conversion from two-dimensional plane road map data to bird's-eye view road map data is often performed. However, it is difficult to draw a bird's-eye view road map in real time as the vehicle moves. Of course, if you use a high-speed arithmetic processor, coordinate conversion processing can be executed in a short time, so you can update the bird's eye view road map in real time as the vehicle moves or rotates, but such a high-speed arithmetic processor is expensive. , Not practical. Therefore, in this embodiment, after the road map of the bird's-eye view method is once drawn, the road map is updated as follows.

At step 116, the current position of the vehicle is detected as described above and stored in the RAM 13 as the current position FB. In the following step 118, whether the present location FB of the vehicle detected this time matches the previous location FA detected, that is, the present location FA is detected in step 102, and then step 11
At 6, it is determined whether or not the vehicle has moved during the period until the current position FB is detected. At this time, in order to avoid frequent updating of the bird's-eye view road map, it is desirable to set an appropriate threshold value for the moving distance of the vehicle and to judge "moving" when the vehicle moves beyond the threshold value. When the current position FB coincides with the current position FA, it is determined that the vehicle is not moving, and the process returns to step 116. On the other hand, when the two do not match, it is determined that the vehicle has moved, the process proceeds to step 120, the viewpoint E is calculated in the procedure described above, and the RAM 1 is used as the viewpoint EB.
3 and store the current position of the vehicle FB (CXB, CY
The position of the viewpoint EB and the line of sight EF are determined so that B) is displayed in the center of the display frame abcd of the display 10.
In this embodiment, the viewpoint height VZ and the gaze angle θ are set to predetermined values as described above. After that, the processing after step 122 is executed, and the processing after step 202 shown in FIG. 5 is executed in parallel. Here, in step 122 and subsequent steps, the bird's-eye view road map and the current location display are updated with the movement of the vehicle. On the other hand, after step 202 shown in FIG. 5, the bird's-eye view type road map is not updated, but only the current position display is updated.

First, the parallel processing of FIG. 5 will be described. In step 202, it is determined whether or not there is a parallel processing termination request. Before the parallel processing, if the coordinate conversion of the road map data due to the movement of the vehicle is completed, the new bird's-eye view method road map and the current position display can be updated immediately. End without. On the other hand, when there is no request for ending the parallel processing, it is determined that it takes time for the coordinate conversion of the road map data accompanying the movement of the vehicle, and the process proceeds to step 204. Step two
In 04, as described above, the current position of the vehicle is detected and stored in the RAM 13 as the current position FC. Step 206
Then, it is judged whether or not the current position FC of the vehicle detected this time matches the previously detected current position FB, that is, whether the vehicle has moved. If there is no movement of the vehicle, the process returns to step 202.
At this time, in order to avoid frequent updating of the bird's-eye view road map, it is desirable to set an appropriate threshold value for the moving distance of the vehicle and to judge "moving" when the vehicle moves beyond the threshold value. When the vehicle has moved, the routine proceeds to step 208, where a car mark is drawn at the current position FC on the bird's-eye view type road map viewed from the currently displayed viewpoint EA. At the following step 210, the current location FB stored in the RAM 13
After updating to the latest current position FC, the process returns to step 202 and the above process is repeated.

Next, the processing after step 122 of FIG. 4 which is executed simultaneously with the above parallel processing will be described. In step 122, the vertices A, B, C, D of the display area on the two-dimensional plane road map are calculated by the procedure described above,
Road map data in a range including the display area ABCD is read from the road map data stored in the CD-ROM 8. In a succeeding step 124, the road map data of the XY plane read from the CD-ROM 8 is displayed on the display 10.
The coordinates are converted into the bird's eye view type road map data to be displayed on. As soon as the coordinate conversion is completed, the latest bird's-eye view road map viewed from the viewpoint EB can be drawn on the display 10. Therefore, in step 250, the parallel processing end request shown in FIG. Wait until the process is completed.

When the parallel processing is completed, the process proceeds to step 128, where the coordinate-converted bird's-eye view road map data is VR.
The data is transferred to the AM 12 and drawn on the display 10 via the graphic controller 11. This bird's eye view type road map is viewed from the viewpoint EB. Step 13
At 0, a car mark is drawn at the current position FB on the bird's-eye view road map viewed from the viewpoint EB. This current location FB
Is not the current position FB at the time of determining the viewpoint EB, but FIG.
It may have been rewritten to the current position FC in step 210 of the parallel processing shown in, and is always updated to the latest current position. In step 132, the viewpoint EA is updated with the viewpoint EB, and the current position FA is updated with the current position FB, and the process returns to step 116, and the above process is repeated as the vehicle moves.

FIG. 10 shows a display example of the display 10. First, a road map of a bird's-eye view method viewed from the viewpoint EA (hereinafter referred to as a bird's-eye view A) is drawn, and a car mark is drawn at the current position FA on the road map. Next, if the coordinate conversion into the bird's-eye view road map (bird's-eye view B) seen from the viewpoint EB when the vehicle moves to the current position FB is not in time, the latest current position FC of the vehicle is detected and the current position FC on the bird's-eye view A is detected. The car mark is displayed on. When the vehicle has moved to the current position FB and the coordinate conversion from the viewpoint EB to the bird's-eye view B has been completed, the latest bird's-eye view B is drawn on the display 10 and the car mark is added to the current position FB or the current position FC on the bird's-eye view B. Is superimposed and drawn.

In the above-described embodiment, the car mark having the same size is displayed every time the current position F of the vehicle is updated. However, a bird's-eye view road map originally displays a reduced road map as it moves away from the current location, giving a sense of perspective, so when moving a car mark along with movement of a vehicle on the same bird's-eye view, It is desirable to make the car mark itself smaller as it gets farther from the bird's-eye view road map viewpoint. Also, if a car mark of the same size is displayed when the current location of the vehicle moves toward the destination, the reduced road map near the destination will be hidden by the car mark, making it impossible to accurately grasp the road information. . Therefore, as shown in FIG. 10, the car mark displayed on the road map of the same bird's-eye view method is made smaller as the current position F moves away from the viewpoint E. As a result, a lot of road information can be accurately grasped even when the vehicle approaches the destination without impairing the perspective of the bird's-eye view road map.

In the configuration of the above embodiment, the CD-RO
M8 constitutes map storage means, direction sensor 1, vehicle speed sensor 5, GPS receiver 6 and CPU 4 constitute current location detection means, display 10 constitutes display means, and CPU 4 constitutes road map drawing means and current location drawing means.

[0027]

As described above, according to the first aspect of the present invention, when the current position of the vehicle is moved, before the movement from the two-dimensional plane road map to the bird's-eye view road map is completed, The current location mark is drawn at the current location of the vehicle on the bird's-eye view road map drawn in Figure 2, and when the conversion from the two-dimensional plane road map to the bird's-eye view road map is completed, the latest bird-eye view road map vehicle is displayed. The current location mark is drawn at the current location of the vehicle and the vehicle is moved on the same road map.
When moving the current location mark,
The current position mark becomes smaller as
Since it is drawn so that the current location display of the bird's-eye view road map is updated in real time as the vehicle moves, the current location of the vehicle is lost even if it takes time to convert the coordinates to the bird's-eye view road map. In addition, it does not impair the perspective of the bird's eye view type road map, and can accurately grasp a lot of road information even when the vehicle approaches the destination. According to the second aspect of the invention , the road is moved every time the vehicle moves a predetermined distance.
As I tried to update the map and the current location,
Avoid road maps and current location updates
(B) The load on the computer can be reduced. According to the invention of claim 3, the road map conversion process and the current position update process are performed.
Since it was done in parallel, the road map and the current location
The drawing time can be shortened.

[Brief description of drawings]

FIG. 1 is a functional block diagram showing the configuration of an embodiment.

FIG. 2 is a diagram showing a relationship between a two-dimensional plane road map and a bird's-eye view road map.

FIG. 3 is a flowchart showing a road map display program.

FIG. 4 is a flowchart showing a road map display program following FIG.

FIG. 5 is a flowchart showing parallel processing.

6 is an XY at Z = 0 in the three-dimensional coordinate system shown in FIG.
The figure which shows a plane.

FIG. 7 is an X′Y ′ coordinate system obtained by translating the XY two-dimensional plane map coordinate system shown in FIG. 6 so that the viewpoint is the origin, and X ″ Y rotated so that the line-of-sight direction overlaps the Y axis. "A diagram showing a coordinate system.

FIG. 8 is a diagram showing a relationship between a viewpoint E and a display frame abcd of a display.

[FIG. 9] EX with the viewpoint E as the origin and the line of sight EF as the −Z axis
The figure which shows the relationship between an EYEZ coordinate system, the SXSY display coordinate system which makes an origin the center of the display frame of a display, and a display area ABCD.

FIG. 10 is a diagram showing a display example of a display.

[Explanation of symbols]

1 Direction sensor 2 A / D converter 3 Interface circuit 4 CPU 5 vehicle speed sensor 6 GPS receiver 7 keys 8 CD-ROM 9 SCSI controller 10 display 11 Graphic controller 12 V-RAM 13 RAM 14 ROM

Continuation of front page (58) Fields surveyed (Int.Cl. ⁷ , DB name) G01C 21/00 G06T 1/00 G08G 1/0969 G09B 29/00 G09B 29/10

Claims (3)

(57) [Claims] 1. A map storage unit for storing a two-dimensional plane road map, a current position detection unit for detecting the current position of a vehicle, a display unit for displaying a bird's-eye view road map, and the current position detection unit. A road map drawing means for reading a two-dimensional road map from the storage means, converting it into a bird's-eye view road map, and drawing it on the display means so that the current position of the vehicle is displayed at a predetermined position of the display means; On the road map drawn by the road map drawing means,
A vehicle route guidance device comprising: a current location drawing means for drawing a current location mark at the current location of the vehicle detected by the current location detecting means, wherein the current location drawing means is the current location of the vehicle detected by the current location detecting means. Is moved, until the conversion from the two-dimensional plane road map by the road map drawing means to the bird's-eye view road map is completed, on the road map drawn before the movement by the road map drawing means, When a current position mark is drawn at the current position of the vehicle detected by the current position detection means, and the conversion from the two-dimensional plane road map to the bird's-eye view road map by the road map drawing means is completed,
On the latest road map drawn by the road map drawing means, a current position mark is drawn at the current position of the vehicle detected by the current position detecting means, and the current position mark of the vehicle is drawn on the same road map.
When moving the current location mark along with the movement, a bird's-eye view
Current location as you move away from the perspective of the method road map
A vehicle route guidance device characterized in that a mark is drawn small . 2. The vehicle route guidance device according to claim 1, wherein the road map drawing means and the current location drawing means are respectively provided.
Every time the vehicle moves for a predetermined distance, the road map and
A vehicle route guidance device characterized by being updated . 3. The vehicle route guiding apparatus according to claim 1, wherein the road map conversion processing by the road map drawing means and the road map conversion processing are performed.
The updating process of the current location by the current location drawing means is performed in parallel.
A route guidance device for vehicles, which is characterized in that