JPH09138136A - Vehicle-mounted navigation apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To display a map in three dimensions by the processing wherein a computing load is small. SOLUTION: A map retrieving device 6 reads out the map data in the present position of a vehicle computed by a position computing device 1 and the map data in the range of the map specified and displayed by an input device 2 from a map memory device 5. An operation processor 4 converts the four apexes of the read-out map data in a see-through pattern based on the observing point and the coordinates of the close observation point inputted from the input device 2. The map data are mapped on the converted coordinates. After clipping, the map after the mapping is displayed on an output device 7.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle-mounted navigation device, and more particularly to a vehicle-mounted navigation device that displays a map around the current location of a vehicle and provides a route from the current location to a destination to a driver. Navigation device.

[0002]

2. Description of the Related Art Conventional car navigation systems generally display a map two-dimensionally on a screen. However, in the conventional vehicle-mounted navigation device that displays a map two-dimensionally, the driver can obtain only two-dimensional information, and the three-dimensional information such as the height difference of the road caused by the ups and downs of the terrain. There was a problem that it was not possible to grasp various information. In addition, there is a limit to the size of the monitor installed in the vehicle,
When trying to display detailed information, there is a problem that only a map of the extremely limited area around the current location can be displayed.

Therefore, various navigation devices capable of displaying a map three-dimensionally have been proposed. For example,
Japanese Unexamined Patent Publication No. 3-26917 discloses that a front road on a road map viewed from the current position of a moving body is displayed by the perspective method. In addition, JP-A-5-20
Japanese Patent No. 3457 describes that a landscape viewed from an arbitrary position on a map is displayed as a three-dimensional image by using shape data and altitude data of mountains and buildings linked to the map.

[0004]

However, as described in Japanese Patent Application Laid-Open No. 3-26917, in a vehicle-mounted navigation device that displays a map using the perspective method, a road map displayed on the screen and an actual road map are used. Although it has an advantage that it can easily correspond to the road shape, it has the same problem as the conventional vehicle-mounted navigation device that performs two-dimensional display.

Further, as described in Japanese Patent Laid-Open No. 5-203457, a map is three-dimensionally constructed by stacking contour lines in the height direction using shape data of mountains and buildings and altitude information. The on-vehicle navigation device for displaying has a problem that the data structure is complicated and a huge amount of data is required for displaying the terrain smoothly.

Further, the conventional vehicle-mounted navigation device has a problem that the visibility is poor because the character information is two-dimensionally displayed on a complicated map of the road network.

Further, in the conventional vehicle-mounted navigation device having a function of obtaining a route of an arbitrary section, there is a problem that a method of setting a destination and a method of selecting a road are complicated.

[0008] Therefore, an object of the present invention is to provide a vehicle-mounted navigation device capable of displaying a map with a wide view of a road ahead by a process with a small calculation load.

Another object of the present invention is to provide a vehicle-mounted navigation device capable of displaying various character / symbol information on a displayed map in a format easily recognized by an operator.

Still another object of the present invention is that a route from a starting point to a destination can be easily set on a three-dimensionally displayed map, and the set route is presented to an operator in an easy-to-understand manner. It is an object of the present invention to provide a vehicle-mounted navigation device that can be used.

Another object of the present invention is to provide a vehicle-mounted navigation device capable of stereoscopically displaying terrain by a simple process.

[0012]

[Means for Solving the Problems and Effects of the Invention] The first invention is a map storage means for storing map data, a map acquisition means for acquiring the map data stored in the map storage means, and a map acquisition means. The viewpoint input means for inputting the viewpoint coordinates and the gazing point coordinates for viewing the map data acquired in step 3, and the three-dimensional based on the viewpoint coordinates and the gazing point coordinates input by the viewpoint input means for the specific point of the map data acquired by the map acquiring means Coordinate conversion means for performing coordinate conversion, mapping means for transforming and mapping the map data acquired by the map acquisition means to the coordinates converted by the coordinate conversion means, clipping means for clipping the map data mapped by the mapping means, and clipping And output means for outputting the map area clipped by the means.

As described above, according to the first aspect of the invention, the coordinates of specific points (for example, four vertices) of the map data used for display are three-dimensionally converted, and the map is mapped to the result. Therefore, it is possible to display a map with a wide view of the road ahead by a process with a small calculation load.

In a second aspect based on the first aspect, the coordinate conversion means is a three-dimensional coordinate based on the viewpoint coordinates input by the viewpoint input means and the gazing point coordinates with respect to the specific point of the map data acquired by the map acquisition means. In addition to performing the conversion, the reference point coordinates of the predetermined mark included in the map data are three-dimensionally converted, and the deviation between the converted map background and the reference point coordinates is corrected, and the output means coordinates on the map. It is characterized in that a predetermined mark corrected by is superimposed and displayed.

As described above, according to the second aspect of the present invention, when a name signboard such as a place name or an intersection name or a landmark such as a building is displayed on a three-dimensionally displayed map, the map background after the three-dimensional coordinate conversion is performed. Since the deviation from the coordinate of the reference point after the coordinate conversion is corrected, the mark can always be displayed at an appropriate position.

In a third aspect based on the second aspect, the output means is based on a relative positional relationship between the gazing point position input by the viewpoint inputting means and the reference point coordinates of a predetermined mark.
It is characterized in that the size of the predetermined mark is changed and outputted.

As described above, in the third invention, when a predetermined mark is displayed on the three-dimensionally displayed map, the size of the mark is changed according to the distance from the gazing point position. Therefore, the stereoscopic effect of the displayed map can be emphasized.

In a fourth invention based on the second invention, the output means is based on a relative positional relationship between the gazing point position input by the viewpoint input means and the reference point coordinates of a predetermined mark,
It is characterized in that the shape pattern of the predetermined mark is changed and output.

As described above, in the fourth invention, the shape pattern of the mark to be displayed can be changed according to the relative positional relationship between the position of the point of interest on the map and the coordinates of the reference point of the predetermined mark. it can. As a result, for example, name signs such as place names and intersection names on a three-dimensionally displayed map can be distributed to the left and right of the gazing point position so that the road near the center of the screen is not hidden.

In a fifth aspect based on the first aspect, the coordinate transformation means performs three-dimensional coordinate transformation on the map data acquired by the map acquisition means based on the viewpoint coordinates and the gazing point coordinates input by the viewpoint input means. At the same time, the three-dimensional shape mark included in the map data is converted into three-dimensional coordinates.

As described above, according to the fifth aspect of the present invention, since the three-dimensional landmark can be displayed on the three-dimensionally displayed map, the map can be displayed with a sense of depth.

A sixth invention is the first invention, further comprising route setting means for obtaining a route between arbitrary points.

As described above, in the sixth invention, the route can be set easily by setting the route on the three-dimensionally displayed map.

A seventh invention according to the first invention further comprises traffic information display means for receiving traffic information and displaying the traffic information three-dimensionally on a map.

As described above, in the seventh invention, since the traffic information indicating the degree of congestion, traffic regulation, etc. is displayed three-dimensionally on the three-dimensionally displayed map, the highly visible traffic information display It can be performed.

According to an eighth aspect of the present invention, in the first to seventh aspects of the present invention, further comprising position calculating means for detecting the current position of the vehicle, and displaying the vehicle position detected by the position calculating means by superimposing it on a map. Is characterized by.

As described above, in the eighth aspect of the invention, the current position of the vehicle is superimposed and displayed on the three-dimensionally displayed map, so that the current position can be displayed with high visibility.

In a ninth aspect based on the first aspect, the altitude value storing means for storing the altitude value data and the altitude value for acquiring the altitude value data corresponding to the map data acquired by the map acquiring means from the altitude value storing means. It further comprises a value acquisition means and a map division means for dividing the map data acquired by the map acquisition means into minute blocks, and the coordinate conversion means performs three-dimensional coordinate conversion using the altitude value data acquired by the altitude value acquisition means. The mapping unit further includes a hidden surface processing unit that transforms and maps the minute blocks divided by the map dividing unit into the coordinates converted by the coordinate conversion unit, and performs hidden surface processing of the minute blocks to be mapped by the mapping unit. There is.

As described above, in the ninth invention, the terrain can be three-dimensionally displayed by a simple process using only the plane map and the altitude value.

A tenth aspect of the invention is characterized in that, in the ninth aspect of the invention, the vehicle further comprises position calculating means for detecting the current position of the vehicle, and the vehicle position detected by the position calculating means is superimposed and displayed on a map. To do.

As described above, in the tenth aspect of the invention, the current position of the vehicle is superimposed and displayed on the map in which the terrain is three-dimensionally displayed. Therefore, the current position with high visibility is displayed. Can be done.

An eleventh invention is characterized in that, in the ninth or tenth invention, the hidden surface processing means draws each minute block divided by the map dividing means while scanning in a fixed direction.

As described above, in the eleventh invention, in the process of stereoscopically displaying the terrain, the hidden surface process can be performed easily and at high speed without sorting all the surfaces to be displayed.

A twelfth invention is the eleventh invention, wherein
The hidden surface processing means converts the four vertices of the map data acquired by the map acquisition means into viewpoints by the coordinate conversion means, and among the four vertices converted into viewpoints by the coordinate conversion means, the hidden surface processing means is most suitable for the viewpoint input by the viewpoint input means. It is characterized in that the map data whose coordinates are converted from the far point to the next far point is scanned and output.

As described above, in the twelfth aspect of the invention, in the process of stereoscopically displaying the terrain, the hidden surface process can be performed easily and at high speed without sorting all the surfaces to be displayed.

A thirteenth invention is, in the ninth or tenth invention, route setting means for obtaining a route between arbitrary points,
The apparatus further includes a cross-sectional view display unit that outputs the elevation value on the route set by the route setting unit as a cross-sectional view.

As described above, according to the thirteenth aspect of the present invention, the elevation value on the route set by the route setting means is displayed as a cross-sectional view, so that the undulation change of the route can be provided to the driver in advance. . Therefore, the driver can easily perform the work of selecting a route that is easy to drive.

A fourteenth invention is characterized in that, in the ninth or tenth invention, the mapping means recognizes a tunnel section of the map data acquired by the map acquisition means, and erases the tunnel section to perform mapping. To do.

As described above, in the fourteenth aspect of the invention, the tunnel section is deleted from the map data and mapping is performed, so that it is possible to realize a display with more solidity, particularly in mountainous areas.

A fifteenth invention is the tenth invention, wherein
The position calculation means has a function of detecting the vehicle position by receiving radio waves from GPS satellites, and the viewpoint input means obtains the coordinates of the GPS satellites received by the position calculation means as the viewpoint position. To do.

As described above, in the fifteenth invention, the GPS
Since the current position of the vehicle is superimposed and displayed on the three-dimensional topographic map with the position of the satellite as the viewpoint coordinates, the GPS
The reception status of radio waves from satellites can be visually given to the driver.

In a sixteenth aspect based on the ninth or tenth aspect, the coordinate conversion means obtains an altitude value based on the hierarchy of the map data acquired by the map acquisition means or the viewpoint position input by the viewpoint input means. It is characterized in that coordinate conversion is performed by changing the altitude value acquired by the means.

As described above, in the sixteenth invention, the altitude value data is switched according to the hierarchy of the map to be displayed. As a result, for example, in the detailed map, the map is displayed with the main focus on the expression that makes it easy to look forward.
In a wide area map, it is possible to display a map with a focus on three-dimensional representation of topography.

[0044]

Other Embodiments of the Invention The present invention also includes the following other embodiments. That is, in the first aspect, the map data is stored in advance in the map data storage unit, and the first step of acquiring the map data from the map data storage unit and the map data acquired in the first step are Regarding the second step of inputting the viewpoint coordinates and the gazing point coordinates to be viewed, and the specific point of the map data acquired in the first step,
A third step of performing three-dimensional coordinate conversion based on the viewpoint coordinates and the gazing point coordinates input in the second step, and the map converted in the first step is transformed into the coordinates converted in the third step and mapped. The fourth step to do,
A recording medium storing a software program for executing a method comprising: a fifth step of clipping the map data mapped in the fourth step; and a sixth step of outputting the clipped map area in the fifth step. is there.

A second aspect is the same as the first aspect,
The altitude value storage means stores altitude value data in advance, and a seventh step of acquiring altitude value data corresponding to the map data acquired in the first step from the altitude value storage means, and a map acquisition means. An eighth step of dividing the acquired map data into minute blocks is further provided, the third step performs three-dimensional coordinate conversion using the altitude value data acquired in the seventh step, and the fourth step is A method further comprising a ninth step of transforming and mapping the minute blocks divided in the eighth step to the coordinates converted in the third step, and performing hidden surface processing of the minute blocks mapped in the fourth step. It is a storage medium that stores a software program to be executed.

[0046]

BEST MODE FOR CARRYING OUT THE INVENTION

(First Embodiment) FIG. 1 is a block diagram showing the basic configuration of a vehicle-mounted navigation device according to the first embodiment of the present invention. 1, a vehicle-mounted navigation device according to this embodiment includes a position calculation device 1, an input device 2, and an R device.
An OM 3, an arithmetic processing unit 4, a map storage unit 5, a map search unit 6, and an output unit 7 are provided.

The position calculation device 1 calculates the current vehicle position on the map. This is to detect the distance traveled by the vehicle with a vehicle speed sensor, detect the traveling direction of the vehicle with a gyro sensor, correlate the traveling locus of the vehicle with the road shape on the map, or to detect the radio waves from GPS satellites It is realized by each method such as detecting the absolute position on the earth by receiving, or by combining these respective sensors. The input device 2 is a device for inputting information based on an operator's operation and other external information into the navigation system body. The ROM 3 stores a program for controlling the entire system. Such R
Instead of the OM3, a rewritable storage medium such as a hard disk may be provided to store the program provided in the online or offline format. The arithmetic processing unit 4 controls the navigation system body according to a program stored in the ROM 3. The map search device 6 searches the map storage device 5 for map data required for display or data processing. The map storage device 5 is a CD-R that stores map data.
It is composed of a recording medium such as OM and a driving device thereof. The output device 7 is for presenting the map data stored in the map storage device 5 and the processing result in the arithmetic processing device 4 to the operator.

The operation of the vehicle-mounted navigation device of the first embodiment configured as described above will be described below. Each process shown in the present embodiment can be realized by software using a computer, or can be realized by using a dedicated hardware circuit having the respective functions.

In this embodiment, the coordinates of the four vertices of the map data used for display are transformed into three-dimensional coordinates, and the map is mapped as a texture with respect to the transformed coordinates, so that the road ahead can be processed with a small calculation load. It is characterized by performing a bird's-eye view map display that allows the operator to view a wide area, and displaying various character and symbol information on the map in a format that is easy for the operator to recognize.

First, the structure of map data will be described with reference to FIG. Generally, a map is divided into units for each predetermined range, and is composed of a plurality of layers (scales) in order to change the degree of detail of the map according to the display range. Therefore, in order to display a map in an arbitrary range centering on an arbitrary point, it is necessary to prepare a map including the display center and a plurality of maps around it at a scale suitable for display.
In addition, in this embodiment, regarding the maps of the same layer, the recording range of each unit is constant.

FIG. 2 is a flow chart describing the processing procedure in the first embodiment of the present invention. Below,
The processing contents of the first embodiment will be described with reference to this flowchart.

First, the arithmetic processing unit 4 inputs the range of the map to be displayed based on the operation of the operator via the input unit 2 or the current position of the vehicle obtained by the position calculating unit 1 (step S101). The display range of the map may be determined from the display center and the display scale, or after the display range is specified by the coordinates of the upper left and the lower right, for example, the display scale suitable for the range may be determined. Whichever method is used, in step S101, the display center coordinates and the display scale are determined.

Next, the arithmetic processing unit 4 carries out step S10.
At the display scale determined in 1, the map including the display center and the map around the map are searched by using the map search device 6, and the corresponding map is read from the map storage device 5 (step S102). Although any number of peripheral maps may be prepared, in the present embodiment, it is assumed that the map unit including the display center and the eight map units adjacent thereto are read out, and XY of the XYZ coordinate system as shown in FIG. 4 is used. Place 9 map units on the plane. In FIG. 4, the shaded portion in the center is a map unit including the display center.

Next, in step S103, the viewpoint of looking at the map and the coordinates of the gazing point are input. The gazing point represents the display center of the map, and may be the position input by the operator via the input device 2 or the current position of the vehicle obtained by the position calculation device 1. Also, the viewpoint is set above the gazing point. Therefore, the point of interest is
Since it exists on the map plane, its Z coordinate is 0. Also, the viewpoint has a positive Z coordinate.

Next, the arithmetic processing unit 4 calculates the transformation matrix to the viewpoint coordinates as a 3 × 3 determinant represented by the following equation (1) (step S104).

(Equation 1)

However, in the above equation (1), the viewpoint is Pv.
(Xv, yv, zv), and the gaze point is Pf (xf, y
f, zf), sin θ = (yv−yf) / r cos ψ = (xv−xf) / r sin ψ = (zv−zf) / r1 cos = r1 / r r = √ {r1 ² + (zv− zf) ² } r1 = √ {(xv-xf) ² + (yv-yf) ² }.

Next, the arithmetic processing unit 4 uses the above equation (1) to obtain the viewpoint coordinates [x ", y", of the four vertices of each map unit.
z ″] is calculated, and perspective transformation is performed using the following equation (2) (step S105).

(Equation 2)

In the above equation (2), [x ',
In y ′], the center of the screen is the origin of the coordinates. Also,
The dist in the above equation (2) is a parameter indicating the depth from the viewpoint, and is set in the range of 300 to 1000 this time. In this way, the viewpoint / perspective transformation is performed on the coordinates of the four vertices of each map unit as shown by C1 to C16 in FIG. 4 to obtain C1 ′ to C16 ′ as shown in FIG.

Further, in the navigation device, it is necessary to display not only the map background but also various character / symbol information.
As the character / symbol information to be displayed, there are information such as character strings such as intersections, roads, names of cities, towns and villages represented by a balloon-shaped signboard, map information, and main buildings represented by marks. In the following description, the character / symbol information to be displayed will be generically called a mark.

Normally, the mark displayed on the map is shown in FIG.
A mark coordinate table as shown in (a) and FIG.
And a mark shape table as shown in FIG. The mark coordinate table provided for each map unit has the coordinates (longitude) of the marks existing in the map range.
And the type number of the mark are recorded. For example, when the whole of Japan is covered, the data size and the number of man-hours for creating the data become enormous. On the other hand, the mark shape table that stores the shape data of the marks to be displayed for each type is common to all units, and the amount of data can be made smaller than recording the shape data for each unit. It is generally prepared separately from. In addition, the size and the number of man-hours of the mark shape table are usually much smaller than those of the mark coordinate table. Therefore, in step S105, the coordinates of the mark to be displayed in the map are converted based on the above equations (1) and (2). In addition, since the display position of such a mark usually has coordinates with one of the four vertices of each map as the origin, by adding the coordinates of each mark to the origin,
Marks can be displayed on the map background.

Further, as marks to be displayed on the map,
Not only a two-dimensional model, but also a three-dimensional model as shown in FIG. In this case, step S10
In step 5, the coordinates of the four vertices of each map unit and the display position of each mark are converted, and at the same time, the 3D shape of each mark is obtained from the 3D mark shape table as shown in FIG. Coordinate conversion of each point forming the shape is performed. The 3D mark shape table is created by automatically or manually converting the shape of the two-dimensional mark shape table into three-dimensional data.

It should be noted that the normal mark shape is a pattern of a sequence of points forming the mark, and the 3D mark shape is a recording of the number of the constituting points and their respective three-dimensional coordinates. For the sake of clarity, the image of the shape itself is shown.

Next, the processor 4 transforms each map unit according to the coordinates of the four converted vertices (step S106). The transformation method may be linear interpolation or another method. By transforming the nine map units and mapping them on the grid shown in FIG. 5, an effect as if the viewpoint / perspective transformation was applied to the entire display contents of the map can be obtained.

Next, the arithmetic processing unit 4 carries out step S10.
Marks such as character strings and symbols are mapped on the map background mapped in 6 (step S107). In this case, if each mark is displayed as it is according to the coordinates converted in step S105, a position shift between the display position of the mark and the object on the map background occurs. This is step S1
As shown in 05 and S106, only the coordinates of the four vertices of the map background are transformed from the viewpoint / perspective, and the internal area is transformed by a method such as linear interpolation. This is because the coordinates of the roads and the like inside are slightly deviated from those accurately converted into three-dimensional coordinates. Therefore, in step S105, exactly 3
The positional relationship between the dimensional-converted mark coordinates and the road or the like in the map background deformed in step S106 is deviated, and particularly when the map is rotated due to the movement of the viewpoint, the mark draws an ellipse around the original position. It will be displaced.

In order to deal with the above problem, the coordinates are corrected according to the following equation (3) so that the display position of the mark matches the object on the mapped map background.

(Equation 3)

FIG. 6 shows the mark P in the map unit.
It is a figure showing the position and the direction of the line of sight. In FIG. 6, Xmax and Ymax are the maximum values of the x coordinate and the y coordinate in the map unit, respectively, and C (Xh, Yh) is the center of the unit. Also, in the above equation (3), vr
x and vry are respectively from Xh and Yh to x−Xh, y.
It is a positive number, which is obtained by subtracting the absolute value of -Yh and multiplying it by a constant v (determined by Perth, for example, 0.12).

Then, dx, dy obtained by the above equation (3)
The coordinates can be corrected by adding each to x ′ and y ′ after the three-dimensional coordinate conversion.

Further, in the present embodiment, the size of the mark thus displayed is changed according to the distance from the gazing point position, and the three-dimensional effect of the displayed map is emphasized. Since the z "coordinate of the viewpoint coordinate conversion is the distance from the viewpoint,
For example, the enlargement ratio E of the mark is calculated by the following equation (4).

(Equation 4) In the above equation (4), A is a constant for adjusting the enlargement ratio. Next, each mark is enlarged E times and displayed on the map.

Further, when the mark is displayed on the map background which has been three-dimensionally converted in this way, the visibility may be obstructed by hiding the road in the traveling direction of the mark.
Therefore, in the present embodiment, by allocating the marks on the three-dimensionally displayed map to the left and right of the gazing point position so as not to hide the road near the center of the screen, it is possible to look ahead in the traveling direction on the displayed map. I am able to do it. The absolute value of the y'coordinate after the perspective coordinate conversion indicates the distance in the left-right direction from the center of the display screen, and the code indicates the right side or the left side of the screen. In this embodiment, when the sign is positive, it is on the right side of the screen, and when it is negative, it is on the left side. According to this code, for example, the left and right shapes of the balloon as shown in FIGS. 7A and 7B are selected, or in the case of a three-dimensional mark, the viewpoint position for coordinate conversion is shifted left or right, and the Map on top.

If the current vehicle position calculated by the position calculation device 1 exists on the map data being read,
Map the vehicle location mark on the map background.

Next, the processor 4 clips the display area of the broken line shown in FIG. 5 (step S108), and causes the output device 7 to display the display area within the broken line of FIG. 5 (step S109). As a result, the map at any position can be displayed three-dimensionally in any range.

Next, the arithmetic processing unit 4 judges whether or not to change the viewpoint or the gazing point (step S110),
When changing, it returns to step S103 and step S103.
The processes up to 109 are repeated.

Changing the viewpoint or gazing point of the map corresponds to the case where the vehicle moves and the current position of the vehicle changes, or when the map is scrolled by an operator's input operation through the input device 2. To do. In any case, the map is displayed centering on the position of the gazing point. However, in the latter case, since the vehicle current position and the screen center are different, the current position indicating mark indicating the direction of the vehicle current position is displayed at the screen center. FIG. 27 shows an example of the current position mark and the current position instruction mark.
As a result, it is possible to easily understand the relationship between the displayed map and the vehicle current position during map scrolling, especially when the vehicle current position is outside the map display range.

Further, the arithmetic processing unit 4 judges whether or not to change the display range (step S111). When the display range is changed, the process returns to step S101, and step S101.
The processes up to 109 are repeated.

As described above, the three-dimensional coordinate conversion is performed only for the four vertices of the map unit, and the map is deformed and mapped with respect to the converted coordinates to display the three-dimensional map with a small amount of calculation. be able to. Also, by setting the viewpoint above the gazing point, it is possible to widely display the map in the traveling direction.

By interpolating and mapping the coordinates of the character / symbol information displayed on the three-dimensionally converted map, the character / symbol information can be displayed without a feeling of discomfort even when the map is rotated.

By changing the size of the place name or mark on the three-dimensionally displayed map according to the distance from the gazing point position, the stereoscopic effect of the map can be emphasized and the distant mark can be displayed. Has an advantage of being able to display a detailed list of nearby marks.

By displaying signboards such as place names and intersection names and other marks separately to the left and right of the gazing point position, the operator can be provided with character code information without obstructing the view in the traveling direction on the displayed map. Can be presented.

Furthermore, by creating only the table describing the mark shape having a relatively small size for the three-dimensional display, it becomes possible to display the three-dimensional mark on the map displayed in the three-dimensional display. The practicality of is greatly improved.

In the first embodiment described above, two-dimensional and three-dimensional still images are used as the marks to be displayed, but moving images such as animations may be used.

Further, the distance "z" which is the distance from the viewpoint after the viewpoint coordinate conversion is used in the calculation of the enlargement ratio, but the present invention is not limited to this as long as the same effect can be obtained. Even if y'of is used, the same effect can be obtained by changing the constant.

Although the sign of the y'coordinate after the perspective coordinate conversion is used for the left / right determination of each mark, the present invention is not limited to this as long as the same effect can be obtained. For example, the same effect can be obtained by using the code of y ″ after the viewpoint coordinate conversion instead of the code of y ′.

Further, although the coordinates of each point forming the shape of each mark are converted, the coordinates of only the display position of each mark may be converted and the three-dimensional shape data may be displayed without conversion.

Further, as the input device 2, a device capable of acquiring traffic information, such as an FM multiplex receiver, may be provided, and the acquired traffic information may be superimposed and displayed on the map which is three-dimensionally converted. Absent. Specifically, first, the traffic information is acquired from the input device 2, and the coordinates of the traffic jam information and the regulation information are matched with the coordinates of the displayed map so that the traffic information can be displayed in a superimposed manner on the map. This can be done by converting the coordinate standard defined in the traffic information format into coordinate values in the map unit. Further, since the traffic jam information is an attribute associated with the road, the road on which the traffic jam information is dependent is selected from the map for display. This method also varies depending on the format of the traffic information, but generally the corresponding road can be specified from the latitude / longitude information. Then, the vector data of the specified road is subjected to coordinate conversion simultaneously with the coordinates of the four vertices of the map unit. At this time, the coordinate values of the start point and the end point of each road vector need to be corrected similarly to the mark coordinates.
In the present embodiment, in order to clearly display a congested road, the congested road vector is widened and then displayed in a slightly floating state. Therefore, the z coordinate of each road vector is set to a predetermined value (for example, 20 m), and then the coordinate conversion is performed. On the other hand, since the regulation information such as the traffic closure is information dependent on the point, the 3D regulation information mark can be displayed by the same processing as the above-mentioned mark. This display example is shown in FIG. In FIG. 14, a indicates a traffic jam section, and b is a regulation information mark indicating a road closure. By performing such a display, it is possible to easily display the traffic congestion information and the traffic regulation on the three-dimensional display map.

In addition, by combining a piezoelectric element with the input device, as shown in FIG.
As shown in the graph of 8, the electric signal corresponding to the strength with which the switch is pressed may be input to the device, and the scroll speed may be adjusted according to the electric signal. As a result, it becomes possible to finely adjust the scrolling speed according to the strength with which the switch is pressed, and it is possible to easily carry out even minute scrolling.

(Second Embodiment) Next, a vehicle-mounted navigation device according to a second embodiment of the present invention will be described. The basic configuration of the vehicle-mounted navigation device according to the second embodiment is similar to that of the first embodiment shown in FIG. That is, in the second embodiment, the ROM 3 of FIG.
The program stored in is different from that of the first embodiment. Therefore, the second embodiment will be described below with reference to FIG. In the second embodiment, the first
The route from the departure point to the destination point can be easily set on the three-dimensionally displayed map as described in the above embodiment, and the set route is mainly presented to the operator in an easy-to-understand manner. It has a feature.

9 to 13 are flowcharts describing the processing procedure in the second embodiment of the present invention. The processing contents of the second embodiment will be described below with reference to these flowcharts.

First, the arithmetic processing unit 4 calls a map display routine (step S201 in FIG. 9). The processing procedure of the map display routine is as shown in the flowchart of FIG. The processing from step S301 to step S311 in FIG. 10 corresponds to the processing from step S101 to step S111 in FIG. 2 shown in the first embodiment, and the same processing is performed.

Next, the arithmetic processing unit 4 determines whether or not to set the route (step S202 in FIG. 9).
If the route is not set, the process returns to step S201 to display the map. When setting the route,
The process proceeds to step S203 to call the route setting routine.

FIG. 11 shows the processing procedure of the route setting routine. In the route setting routine, the route from the starting point to the destination is set while scrolling or rotating the map for display.

In the route setting routine of FIG. 11, first, the gazing point position is designated by the input device 2, and a map in the vicinity thereof is displayed on the output device 7 (step S401). Next, roads near the gazing point of the map are selected (step S40).
2). This draws a vertical line from the gazing point to the surrounding road,
It can be selected as the closest road to that distance. By performing this processing every time the gazing point is updated (scrolling the map), continuous roads can be selected. The starting point of the route is the point first selected in step S402.

Next, the arithmetic processing unit 4 determines whether or not the gazing point has reached the destination by inputting from the operation switch (included in the input unit 2) (step S4).
03). When the destination is not reached yet, the process proceeds to step S401. On the other hand, when the gazing point is the destination, the process proceeds to step S204 in FIG.
It is determined whether or not to display the route set in 203. When displaying the route, the process proceeds to step S205 to call the route display routine. If the route is not displayed, the process proceeds to step S206, and it is determined whether or not route guidance is performed.

FIG. 12 shows the processing procedure of the route display routine. In this route display routine, step S20 in FIG.
While tracing the route set in 3 from the departure point to the destination point, the map is automatically scrolled or rotated and presented to the operator.

First, the processor 4 reads out the coordinates of the starting point of the route (step S501). Next, the arithmetic processing device 4 causes the output device 7 to display a three-dimensional map with the departure point read in step S501 as the gazing point (step S502). Then, the processing unit 4 returns to step S501 and sets a point on the route advanced by a certain distance as a new gazing point, and displays the map again in step S502.

The arithmetic processing unit 4 executes the above step S501.
By repeating the process of step S502 and the destination in step S503,
The route from the starting point to the destination is presented to the operator while automatically scrolling the map.

Next, in step S206, step S
According to the route set in 203, it is determined whether or not to provide route guidance. If you do not provide route guidance,
Returning to step S201, the map is displayed. vice versa,
When performing route guidance, the process proceeds to step S207 to call a route guidance routine.

FIG. 13 shows the processing procedure of the route guidance routine. In this route guidance routine, route guidance is provided to the operator according to the route set in step S203.

First, in step S701, it is determined whether or not the route has already been calculated. If the route has not been calculated, a message such as "there is no route set" is output in step S702.
If the route has been calculated, step S703.
Proceed to. In step S703, moving image guide screen configuration processing is performed. The screen is constructed by generating a moving image with a graphic such as an arrow on the intersection enlarged view displayed together with the name of the next intersection to be turned and the distance to the intersection. FIG. 29 shows an example of the generated video guide screen. Next, in step S704, the screen data generated in step S703 is displayed as a moving image.

By the above processing, the operator
By operating the operation switch as if actually driving, the route from the starting point to the destination can be easily set. Also, according to the set route,
By displaying the right / left turn information at the intersection using the moving image, it is possible to make the user associate with the actual movement of the vehicle and easily grasp the traveling direction at the intersection.

In the second embodiment, the gazing point at the start of processing is set as the starting point of the route, but processing for setting an arbitrary gazing point as the starting point may be added.

Further, in the route guidance processing of the present embodiment, moving image information for an intersection to turn next is generated, but information of an intersection on an arbitrary route selected by the user is generated as a moving image. You may

In the route guidance processing of the present embodiment, the arrow indicating the guidance direction is displayed as a moving image on the enlarged view of the intersection, but instead of the arrow, a moving image of the leading vehicle moving in the guidance direction is displayed. May be.

Further, the user may be given an image of the intersections on all the routes in advance by sequentially generating and displaying information on the intersections of the entire front route.

Further, in the second embodiment, the viewpoint is fixed above the gazing point during the three-dimensional map display processing, but the viewpoint coordinates may be changed by the user's operation or automatically.

In the second embodiment, the operator rotates the map along the route from the departure point to the destination point.
The setting is made by scrolling and tracing the road, but the operator displays a map near the destination and sets the destination mark on the displayed map to set the optimum route from the departure point to the destination. May be automatically obtained by the Dijkstra method or the like. Further, the method of setting the destination may be to automatically search for the destination from the map database using a telephone number or a keyword.

In the second embodiment, the map from the starting point to the destination point is automatically scrolled while tracing the set route, but the starting point to the destination point is linearly scrolled. By doing so, the outline of the route may be presented to the operator.

(Third Embodiment) Next, a vehicle-mounted navigation device according to a third embodiment of the present invention will be described. The basic configuration of the vehicle-mounted navigation device according to the third embodiment is similar to that of the first embodiment shown in FIG. That is, in the third embodiment, the ROM 3 of FIG.
The program stored in is different from that of the first embodiment. Therefore, the third embodiment will be described below with reference to FIG.

In the third embodiment, the map unit is divided into minute blocks, elevation values are assigned to the four vertices of each minute block, three-dimensional coordinate conversion is performed, and the minute blocks are transformed on the converted coordinates. The main feature of this method is that the topography is displayed three-dimensionally by simple processing using only the planar map and the elevation values.

FIG. 15 is a flow chart describing the processing procedure in the third embodiment of the present invention. Below, the processing contents of the third embodiment will be explained according to this flowchart.

First, the arithmetic processing unit 4 inputs the range and scale of the map to be displayed based on the operation of the operator via the input unit 2 or the current position of the vehicle obtained by the position calculating unit 1 (step S601). ).

Next, the arithmetic processing unit 4 proceeds to step 601.
A map corresponding to the scale and range determined in step S6 is searched using the map search device 6, and the corresponding map data is read from the map storage device 5 (step S602). As described in the first embodiment, the map data is divided into units for each predetermined range, and is further composed of a plurality of layers (scales) having different levels of detail. Therefore, in order to display a map in an arbitrary range around an arbitrary point, it is necessary to read a map unit including the display center and eight map units adjacent to the periphery of the map unit at a corresponding scale. Each of the read map units is divided into eight in the longitude and latitude directions as shown in FIG. 16, and is divided into a total of 64 minute blocks per unit. Next, the elevation value of the corresponding point is assigned to each vertex of the divided minute block. These nine map units are arranged as shown in FIG. 17 (a), and the upper left corner is the origin, the longitude direction is the x axis, the latitude direction is the y axis, and the elevation direction is the z axis. The vertex of each minute block of the unit is represented by P (x, y, z). FIG. 17B shows only the central map unit out of the nine map units.

Next, the arithmetic processing unit 4 receives the viewpoint Pv (x
v, yv, zv) and the gazing point Pf (xf, yf, zf)
And are input (step S603). Next, the arithmetic processing unit 4 calculates the transformation matrix from the world coordinate system to the viewpoint coordinate system as the 3 × 3 determinant of the above equation (1) (step S604). Next, the arithmetic processing unit 4 performs conversion to the viewpoint coordinates [x ″, y ″, z ″] of the vertices of each minute block of the map unit according to the equation (1) and the above equation (2). ) Is performed (step S605), where in equation (2),
The center of the screen of [x ', y'] is the origin of the coordinates. Further, dist in the formula (2) indicates the depth from the viewpoint, and this time, it is set in the range of 300 to 1000. FIG.
FIG. 17B is a result of performing the above coordinate conversion on the vertices of each minute block of the map unit of FIG.

Next, the arithmetic processing unit 4 displays the map background as shown in FIG.
As shown in FIG. 9, it is divided into 8 × 8 minute blocks (step S606). The minute blocks thus divided are used for texture mapping in step S608 described later.

Next, the arithmetic processing unit 4 carries out step S60.
The display order of the minute blocks divided in 6 is determined (step S607). This is to perform hidden surface processing to hide a surface that cannot be seen from the set viewpoint position. Usually, the hidden surface processing is often realized by sorting all the surfaces to be drawn in the order of distance from the viewpoint, and overwriting in order from the distant one to the closest one. However, in such a method, as the number of surfaces to be displayed is increased in order to increase the resolution of the three-dimensional figure, the time required for sorting increases, so that the hidden surface processing can be performed simply by performing the hidden surface processing. Reduce the load. Therefore, this simple hidden surface processing will be described in detail.
First, regarding the nine map units read in step S602, the four vertices that determine the reading range are subjected to viewpoint conversion. Here, the four vertices that determine the reading range are four points corresponding to C1, C4, C13, and C16 when the nine read map units are arranged as shown in FIG. In this case, z of these four vertices
Set 0 for the coordinates. Next, sorting is performed on these four vertices that have been perspective-transformed, in the order of increasing distance from the viewpoint. Then, as a result of sorting, the point farthest from the viewpoint is set to A and the point farthest from the viewpoint is set to B. further,
As shown in FIG. 21, the scanning direction is determined from point A to point B. Then, as will be described later, when drawing, the hidden surface processing is performed by sequentially drawing each minute block in the scanning direction.

Next, the arithmetic processing unit 4 carries out step S60.
The minute blocks of the map background divided in step S606 are mapped to the coordinates perspective-transformed in step 5 according to the order determined in step S607 (step S60).
8). To this end, first, the minute blocks of the map background divided in step S606 are transformed according to the coordinates transformed in perspective in step S605. The transformation method may be linear interpolation or another method. Then, the deformed minute blocks are sequentially overlaid in the drawing order determined in step S607. FIG. 20 shows a result of mapping the map background divided into minute blocks in this manner with respect to the coordinates which are perspective-transformed based on the altitude value data.

The arithmetic processing unit 4 then clips the texture-mapped image as described above (step S609), and causes the output device 7 to display the area in the drawing window (step S610). Next, the arithmetic processing unit 4 determines whether or not to change the viewpoint or the gazing point (step S611), and when changing, returns to step S603 and repeats the processing up to step S610. On the other hand, when the viewpoint or the gazing point is not changed, the arithmetic processing unit 4 determines whether or not to change the display range (step S612). When the display range is changed, the process returns to step S601 and the processes up to step S610 are performed. repeat.

As described above, according to the third embodiment, it is possible to perform a map display in which the undulations of the terrain are three-dimensionally expressed by a simple process using only the planar map and the altitude value data.

However, in general, roads are represented by solid lines on the map data, and tunnel sections in each of these roads are often represented by broken lines as shown in FIG. 24. When is mapped as a texture as it is, in the part where the tunnel runs through the mountainous area, an unnatural display like a broken line on the mountain ridge is displayed. Therefore, when mapping is performed as shown in step S608 using such a map background as a texture, a section corresponding to a tunnel is extracted from the road network of each map unit, deleted, and then mapped. good. Specifically, when the map data is image data such as a bitmap or aerial photograph, the broken line portion can be extracted by using an image processing method such as template matching. In addition, when the map data includes vector data such as road type and road connection information, the tunnel section can be directly extracted. Then, the extracted tunnel section is erased by a method such as attaching a background color. FIG. 25 shows the result of mapping as a texture after deleting the tunnel section from the map background shown in FIG. 24 in this way.

When setting the route from the departure point to the destination point, it is possible to use the method as shown in the second embodiment to feel as if actually driving on the map in which the terrain is three-dimensionally displayed. You can rotate or scroll the map with. Furthermore, when setting the route in this way, the three-dimensional coordinates in the viewpoint coordinate system of the point sequence that constitutes each road are stored, and when the final route is determined, the stored point sequence is By changing and displaying the color and line width of the road to be displayed, the route can be displayed on the map in which the topography is three-dimensionally displayed as shown in FIG. At the same time, a route sectional view as shown in FIG. 23 is displayed with the distance from the departure point in the set route as the x-axis and the altitude value as the y-axis. This can be easily realized by expanding the three-dimensional coordinates of the point sequence forming the route stored as described above into the two-dimensional coordinate system shown in FIG.

Further, if the position of the GPS satellite is input as the viewpoint coordinates, it is possible to display the terrain viewed from the GPS satellite. The radio wave transmitted from the GPS satellite includes two signals, an orbit signal indicating the position of the satellite on the orbit and a signal indicating the time when the signal is transmitted. Therefore, the position of the GPS satellite is detected from this orbit signal and input as the viewpoint coordinates. At the same time, the calculated current vehicle position is input as the gazing point coordinates. At this time, when the radio wave from the GPS cannot be received, the vehicle position detected by another sensor is input as the gazing point coordinates. Based on the viewpoint coordinates and the gazing point coordinates thus input, the terrain display as described above is performed, and at the same time, the current position of the vehicle is displayed on the map. As a result, as shown in FIG. 26, when the vehicle position can be displayed on the map, that is, when the vehicle can be overlooked from the GPS satellite, it is easy to receive the radio waves from the GPS satellite. You can judge. On the contrary, when the vehicle position is displayed on the tunnel section or when it cannot be displayed hidden in the mountains, that is, when the vehicle cannot be seen from the GPS satellite, the GPS satellite is used. It can be determined that the reception state of the radio wave of is not good. In this way, by displaying the terrain three-dimensionally from the viewpoint of the GPS satellite position and simultaneously displaying the vehicle position on the map, it is possible to visually give the driver the reception status of radio waves from the GPS satellite. it can.

When the scale of the map is small, the area covered by one map is wide. Therefore, when the terrain is displayed three-dimensionally, changes in the undulations such as mountains and valleys are expressed, and the map is realistic. The display can be done. On the other hand, in the case of a large-scale map, the area covered by a single map is narrow, and the effect of three-dimensionally expressing the topographical relief is small in effect, and it becomes a map that is rather difficult to see in mountainous areas. . So, between the displayed map layers,
It is also possible to make the scale of the elevation value data used for coordinate conversion variable so as to be able to adjust the degree of undulation of the terrain.

Further, in the third embodiment, one map unit is divided into 8 × 8 blocks and elevation values are assigned to the vertices of these 64 blocks, but this division number is prepared. It may be set according to the resolution of the altitude data that can be obtained.

In the third embodiment, the map data is mapped as the texture, but image data such as aerial photograph may be used.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a basic configuration of a vehicle-mounted navigation device according to a first embodiment of the present invention.

FIG. 2 is a flowchart showing an operation of the first exemplary embodiment of the present invention.

FIG. 3 is a diagram showing a hierarchical structure of a map.

FIG. 4 is a diagram showing an arrangement of read map units.

FIG. 5 is a diagram showing a result of perspective transformation of the map unit shown in FIG.

FIG. 6 is a diagram showing a position of a mark arranged on a map and a direction of a line of sight.

FIG. 7 is a diagram showing an example of an arrangement of name signboards on a map.

FIG. 8 is a diagram showing various tables used to generate marks to be arranged on a map.

FIG. 9 is a flowchart showing an operation of the second exemplary embodiment of the present invention.

10 is a flowchart showing details of a map display routine in FIG.

FIG. 11 is a flowchart showing details of a route setting routine in FIG.

FIG. 12 is a flowchart showing details of a route display routine in FIG.

13 is a flowchart showing details of a route guidance routine in FIG.

FIG. 14 is a diagram showing a display example of traffic information on a map.

FIG. 15 is a flowchart showing an operation of the third exemplary embodiment of the present invention.

FIG. 16 is a diagram showing a correspondence relationship between map units and elevation value data.

FIG. 17 is a diagram showing a coordinate system of a map unit to which elevation values are assigned.

FIG. 18 is a diagram showing a result of coordinate conversion of a map unit.

FIG. 19 is a diagram showing an example of a divided state of a map unit.

20 is a diagram showing a result of mapping the map unit shown in FIG. 19 to FIG. 18;

FIG. 21 is a diagram showing the concept of simple hidden surface processing.

22 is a diagram showing a result of displaying routes in FIG. 20. FIG.

FIG. 23 is a diagram showing an elevation value cross section of a route.

FIG. 24 is a diagram showing a display example of a tunnel section in a map unit.

FIG. 25 is a diagram showing a result of mapping a map unit in which a tunnel section is deleted in FIG. 20.

FIG. 26 is a diagram showing the concept of topographical stereoscopic display from the viewpoint of the position of GPS satellites.

FIG. 27 is a diagram showing an example of a current position mark and a current position instruction mark.

FIG. 28 is a diagram showing the relationship between scroll speed and current value.

FIG. 29 is a diagram showing an example of moving image data used in route guidance.

[Explanation of symbols]

 1 ... Position calculation device 2 ... Input device 3 ... ROM 4 ... Arithmetic processing device 5 ... Map storage device 6 ... Map search device 7 ... Output device

 ──────────────────────────────────────────────────続 き Continuing from the front page (72) Inventor Hisaya Fukuda 1006 Kadoma Kadoma, Osaka Prefecture Matsushita Electric Industrial Co., Ltd.

Claims (16)

[Claims] 1. A map storage unit for storing map data, a map acquisition unit for acquiring the map data stored in the map storage unit, a viewpoint coordinate and a gazing point for viewing the map data acquired by the map acquisition unit. Viewpoint input means for inputting coordinates, and coordinate conversion means for performing three-dimensional coordinate conversion based on the viewpoint coordinates and gazing point coordinates input by the viewpoint input means with respect to a specific point of the map data acquired by the map acquisition means, Mapping means for transforming and mapping the map data acquired by the map acquiring means to the coordinates converted by the coordinate converting means, clipping means for clipping the map data mapped by the mapping means, and a map clipped by the clipping means An in-vehicle navigation device, comprising: an output unit that outputs a region. 2. The coordinate conversion means performs three-dimensional coordinate conversion based on the viewpoint coordinates and the gazing point coordinates input by the viewpoint input means with respect to a specific point of the map data acquired by the map acquisition means, and the map. The reference point coordinates of the predetermined mark included in the data are converted into three-dimensional coordinates, and the deviation between the converted map background and the reference point coordinates is corrected, and the output means corrects the coordinates on the map. The vehicle-mounted navigation device according to claim 1, wherein a predetermined mark is superimposed and displayed. 3. The output means changes the size of the predetermined mark based on the relative positional relationship between the gazing point position input by the viewpoint input means and the reference point coordinates of the predetermined mark. 3. The output according to claim 2, wherein
2. The in-vehicle navigation device according to claim 1. 4. The output means changes the shape pattern of the predetermined mark based on the relative positional relationship between the gazing point position input by the viewpoint input means and the reference point coordinates of the predetermined mark. The vehicle-mounted navigation device according to claim 2, wherein the vehicle-mounted navigation device is configured to output. 5. The coordinate conversion means performs three-dimensional coordinate conversion on the map data acquired by the map acquisition means based on the viewpoint coordinates and the gazing point coordinates input by the viewpoint input means, and is included in the map data. The vehicle-mounted navigation device according to claim 1, wherein the three-dimensional shape mark is converted into three-dimensional coordinates. 6. The vehicle-mounted navigation device according to claim 1, further comprising route setting means for determining a route between arbitrary points. 7. The vehicle-mounted navigation device according to claim 1, further comprising traffic information display means for receiving traffic information and displaying the traffic information three-dimensionally on a map. 8. The method according to claim 1, further comprising position calculating means for detecting a current position of the vehicle, wherein the vehicle position detected by the position calculating means is displayed in a superimposed manner on a map. In-vehicle navigation device. 9. An altitude value storage means for storing altitude value data, an altitude value acquisition means for acquiring altitude value data corresponding to the map data acquired by the map acquisition means from the altitude value storage means, and the map acquisition. Further comprising map dividing means for dividing the map data acquired by the means into minute blocks, wherein the coordinate conversion means performs three-dimensional coordinate conversion using the altitude value data acquired by the altitude value acquisition means, and the mapping means The method further includes a hidden surface processing unit that deforms and maps the minute blocks divided by the map dividing unit into the coordinates converted by the coordinate conversion unit, and performs hidden surface processing of the minute blocks mapped by the mapping unit. Item 1. The vehicle-mounted navigation device according to Item 1. 10. The vehicle-mounted device according to claim 9, further comprising position calculating means for detecting a current position of the vehicle, wherein the vehicle position detected by the position calculating means is displayed in a superimposed manner on a map. Navigation device. 11. The hidden surface processing means draws each of the minute blocks divided by the map dividing means while scanning them in a fixed direction.
2. The in-vehicle navigation device according to claim 1. 12. The hidden surface processing means converts the viewpoints of the four vertices of the map data acquired by the map acquisition means by the coordinate conversion means, and the viewpoint input of the four vertices converted by the coordinate conversion means. The vehicle-mounted navigation device according to claim 11, wherein the coordinate-converted map data is scanned and output from a point farthest from the viewpoint input by the means to a point farthest from the viewpoint. 13. The method according to claim 9, further comprising: route setting means for obtaining a route between arbitrary points; and sectional view display means for outputting an elevation value on the route set by the route setting means as a sectional view. The vehicle-mounted navigation device described. 14. The mapping unit according to claim 9, wherein the mapping unit recognizes a tunnel section of the map data acquired by the map acquisition unit, and further deletes the tunnel section to perform mapping. In-vehicle navigation device. 15. The position calculating means has a function of detecting a vehicle position by receiving radio waves from GPS satellites, and the viewpoint input means receives the GP received by the position calculating means.
Characterized in that the coordinates of the S satellite are obtained as the viewpoint position,
The vehicle-mounted navigation device according to claim 10. 16. The coordinate conversion means sets the scale of the altitude value acquired by the altitude value acquisition means on the basis of the hierarchy of the map data acquired by the map acquisition means or the viewpoint position input by the viewpoint input means. The vehicle-mounted navigation device according to claim 9, wherein the coordinate conversion is performed by changing the coordinate.