JPS5871409A - Method and device for displaying running position of vehicle - Google Patents

Abstract

PURPOSE:To correct the display of the vehicle position readily, by changing the computed values which indicate the coordinates of a map in response to touch switches to the coordinate values of the adjacent road. CONSTITUTION:When a one touch correcting area on a panel switch is touched, the computed coordinate values of the vehicle on the map based on the outputs of an azimuth detector 1 and a distance sensor 2, which are stored in a CRT controller 5 through a microcomputer 4, are compared with the coordinate values of the adjacent road on the map, which are read from a cassette tape 3a. The coordinate values of the vehicle on the map is automatically adjusted so that the difference between both coordinate values becomes small. As a result, the vehicle position display, which is deviated from the road due to the errors in computation from the starting point, can be corrected to bring it back to the road by easy manipulation.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a driving position display method and apparatus for an in-vehicle device that provides drive guide information to a driver.

Generally known devices have a mechanism that determines the position of one's own vehicle corresponding to a road map as a coordinate displacement by integrating the traveling direction and traveling distance from the starting position, and displays it superimposed on the road map. It has become. For this reason, there is a problem in that the position display of the vehicle deviates from the road map when driving a long distance.

Therefore, when the vehicle position display deviates from the road map, it is necessary to reset the vehicle position display (cursor) on the road or shift the map to restore the normal display state. This causes a problem that the operation is troublesome.

To solve this problem, it may be possible to correct the calculated coordinates of the vehicle position using the coordinates of the map road in order to trace the road so that the vehicle position display does not deviate from the road.
Driving on roads other than those shown on the map as a practical matter
In that case, another problem arises in that the coordinate correction described above has the opposite effect.

In view of the above-mentioned problems, the present invention provides a vehicle driving position display method and device that allows the vehicle position display to be corrected to match the road on the map with a simple operation if the occupant deems it necessary. The purpose is to provide the following.

The present invention will be described below with reference to embodiments shown in the accompanying drawings. FIG. 1 is an overall configuration diagram showing one embodiment. This first
In the figure, 1 is an orientation detecting device, for example, JP-A-5, .
5-110912, which includes a direction sensor that detects the X and Y components of the earth's magnetic field according to the direction in which the vehicle is traveling, and a module that converts the signal from this direction sensor into a digital signal.
It is equipped with a D converter and generates digital signals of X and Y components depending on the traveling direction of the vehicle. A distance sensor 2 generates a distance pulse every unit distance traveled by the vehicle (for example, about 39.23 meters). 3 is a reading device that reads map data of multiple districts (
The map data of a specific area is searched for and read using the cell F of the cassette tape 3a which stores the absolute coordinate data of the upper right point of each map.

4 constitutes a microphone that executes digital calculation processing of software according to a predetermined control program, and is stabilized by a stabilizing power supply circuit (not shown) that receives power from the on-board battery and generates a stabilized voltage of 5V. It becomes active when supplied with a voltage. This computer 4 receives digital signals of X and Y components from the direction detecting device 1, distance pulses from the distance sensor 2, reading signals from the reading device 3, etc., performs arithmetic processing, and generates a map of a specific area and a driving route. Generates display signals for displaying information, etc.

The RAM4C is constantly backed up with power from the on-board battery, and stores various data necessary for the calculation processing of the OPU4m, as well as data on the latest travel trajectory (for example, a travel trajectory of several meters) and the travel trajectory of a specific section in a specific area. It remembers the data.

5 is a cathode ray tube (hereinafter referred to as CRT) controller which individually stores map data, driving route information and character data of a specific area in response to display signals from a microcomputer number, and also stores the stored map data, driving route information, Alternatively, it generates a video signal and a synchronization signal for displaying character data on a CRT.Also, it is equipped with a writable and readable memory that stores map data and travel routes. . Reference numeral 6 denotes a display device (CR7), which displays a map of a particular area, a driving route, or characters on a CRT using a video signal and a synchronization signal from a CRT controller 5.

7 is a touch panel section as a panel switch, (CR
7 is mounted on the display surface of the display device 6, and when a specific touch area is touched among the 12 divided touch areas provided on this touch panel, a corresponding signal is generated.゛The touch panel section 7 is composed of two pieces of glass and a transparent conductive film formed in a matrix on the inside of each glass. When a specific touch area is pressed, the contact between the transparent conductive films in the matrix due to the deflection of the glass causes The touch area is detected, and as shown in FIG. 2, it has a matrix-like touch area divided into 12 parts with a ratio of 31,4:2. The computer 4 generates a search command signal 7B from the output port at a predetermined timing in order to detect whether a touch area has been pressed, and a search input signal 7B applied to the human-powered boat at that time.
Identify the pressed touch area by the level of.

The meaning of each touch area as a switch is as follows:
(It changes depending on the computer number to correspond to the image displayed on the 3R'r display device 6. Fig. 2 shows the meaning assigned to each touch area in the case of map mode display. In other words, the touch areas 32, 33 can be used as upward movement switches to move the cursor on the CRT display 6 indicating the vehicle position upwards. The touch area 40, 41 is used as a switch for moving the cursor left and right, and the touch area 41 is used as a switch for moving the cursor downward.The upper right touch area 34 is
C! From the map mode display (road map, vehicle position, and trajectory) of the image on the RT display device 6, 3i1! It is used as a mode change switch to change to the character mode display (map selection image) shown in I. Further, the upper left touch area 31 is used as a one-touch correction switch that instantly moves a cursor indicating the vehicle position onto an adjacent road in the image on the CRT display device 6.

In map mode display, touch area 36°37.3
9 and 42 make no sense.

Next, Figure 3 shows the character mode display, where the numbers 02-4-68 shown in the center of the screen indicate the region, region, and region, respectively.
These are numbers that designate districts, and each number is updated by incrementing by 1 with the increment switch 51, subtracting by l with the decrement switch 52, set with the set switch 53, and updated with the reset switch 54. The computer 4 executes arithmetic processing so as to be reset.

In this character mode display, the switch 51
,5j! , 53.5 are touch areas 39, 40, 41 . . . in FIG. 2, respectively. Corresponds to number 2.

Further, the touch area 34 is used as a mode change switch for changing to map mode display.

Figure 4 shows one data area corresponding to one line section on the Riki-nat tape 3a, where Mu stores the absolute coordinate data (coordinates relative to the North Pole) of the upper right point of the map of that area and the map number. B is a map data storage section storing map data of the area, and X is a blank section.

Therefore, by reading this person's part B with the reading device 3, map data and absolute coordinate data of a specific area can be given to the microcomputer 4. In this example, it is assumed that each map has the same scale.

Next, a detailed electrical wiring diagram of the CRT controller 5 shown in FIG. 5 will be explained. 11 is 1g, oeaMHz
12 is a dot counter that divides the oscillation signal from the oscillation circuit 11 and generates a 6.048 MHz dot timing clock and a qseKHz character timing click; 13 is a dot counter that generates a 6.048 MHz dot timing clock and a qseKHz character timing click; A display controller 14 generates horizontal and vertical synchronization signals, display timing signals, refresh memory address signals, and raster address signals in response to commands and character timing clicks from the dot counter 12; 14 is a horizontal and vertical synchronization signal from the display controller 13; This is a hold signal generation circuit that generates a hold signal to the *-#)' (HOLD) terminal of the microcomputer 4 to hold the microcomputer 4 during the display period based on the signal.

15 is an address signal 4e from the microcombiner 4
The refresh memory address signal and raster address signal from the display controller 13 are transferred from the microcomputer 4 to the hold accrual (HQLDA).
) Multi-axis reflex switch that switches depending on the signal, 16.1? ,
1B is a bi-directional bus driver with a tri-state that switches the direction of data between the microcomputer 4 and the display memory; 19 stores display data such as ASCII code from the microcomputer 4, and also stores data from the display controller 13; A character memory 2o receives a refresh memory address signal and outputs its contents as an address, and 2o is a character generator that outputs a display pattern based on a display address from the character memory 19 and a raster address signal from the display controller λ3.

A first graphic memory 21 stores map data from the microcomputer number, and a second graphic memory 22 stores travel route information (travel trajectory data, current position data, ie, cursor) from the microcomputer 4. These first. The second graphic memories 21 and 22 form a two-dimensional map in which the dark parts of the image are set as data "0" and the bright parts of the road, vehicle travel trajectory, and vehicle position (cursor) are set as data "1". , and the data rill rOJ can be written and read by the computer 4.

In this example, the road map has 192 dots vertically and 25 dots horizontally.
It forms a matrix of six dots, and the first and second graphic memories 22 have the same number of addresses.

In the second memory 22, the width of the traveling trajectory is one dot (one pixel), and the vehicle position (cursor) is a square of three dots each in the vertical and horizontal directions. Furthermore, this device can be used both in the horizontal direction, that is, the X direction, and in the vertical direction, that is, the Y direction.
It is set so that one dot indicates the actual 50 nl.

j! 3. ! 4.25 is Kya, Rakuta generator 20° 1st. A parallel-to-serial (P→S) converter 26 converts the parallel signal from the second graphic memory 2'L, 22 into serial data using the dot timing clock from the dot counter 12, and 26 is the microcomputer 4.
P→8 converter 23 and P→8 converter 2 to select the graph ink and character screen according to the screen switching signal from
4. A video controller which switches the reception of signals from 25 and generates a video signal according to the display timing signal from the display controller 13; It is a shivor circuit. , character memory 19, 1st. The second graphic memories 21 and 22 are constantly backed up with power from an on-vehicle battery.

That is, in this CRT controller S, character data is stored in the character memory 19, map data is stored in the first graphic memory 21, and the travel trajectory is stored in the CRT controller S using the address signal 4e and data signal number f sent from the microcomputer 4. Display data of the current position is stored in the second graphic memory 22. Then, depending on the double-sided switching signal from the microcomputer 4, a graph ink screen (displaying the travel trajectory and current position on the map) and a character screen (displaying specified characters, etc. to specify the district) are displayed.
is selected, and a video signal and a synchronization signal are generated on the CRT display device 6 to display a screen corresponding to the selection in CR1.

The CRT controller also operates the graphic memory 21 . J,! The data at the specific address is transferred to the computer 4 as a data signal 4f. - The operation of the above configuration will be explained with reference to FIGS. 6 to 14. This 6th vl is a calculation flowchart showing the entire calculation process of the main routine of the microcomputer number,
Figure 7 is a calculation flowchart showing the calculation process of the interrupt calculation routine based on the distance pulse from the distance sensor 2; the first is a calculation flowchart showing the detailed calculation process of the mode calculation routine in Figure 6. , 9th WJ is a calculation flow chart showing detailed calculation processing of the cursor movement calculation routine in Fig. 8, Fig. 10 is a calculation flow chart showing detailed calculation processing of the current position calculation routine in Fig. 6, and Fig. 11 ( g), (to), 0 are shown in FIG.
2), @, (0), and η are explanatory diagrams of the display processing, and FIG. 13 is the one-touch correction calculation routine 800 in FIG.
FIG. 14 is an explanatory diagram of the one-touch correction.

Now, in a vehicle equipped with components 1 to 5 shown in Figure 1, when the key switch is turned on at the start of the afternoon drive, each part of the electrical system is activated by receiving power from the on-board battery. Then, in the microcombinator number, it receives a stabilized voltage of 5V from the stabilized power supply circuit and enters the operating state, and starts its arithmetic processing from the start step 100 of the 6th WJ, and starts the initial stage. Proceeding to the setting routine 200, registers in the microcomputer 4,
Set counters, latches, etc. to the initial states necessary to start arithmetic processing. After this initial setting, the mode calculation routine 300. The calculation processes of the current position calculation routine 400 and the display processing routine are repeatedly executed at a cycle of approximately several tens of meters.

That is, in this mode calculation routine 300, one of map mode and character mode is selected, and the contents corresponding to that mode are displayed (3RT), and when in map mode, it is possible to move the cursor that indicates the current position. At the same time, arithmetic processing is executed to enable memorization of the regular trajectory and designation of a specific area on a map when in the character mode, and the process proceeds to the current position calculation routine 400.

In the current position calculation routine 400, the CRT controller 5
The contents of the current position data and travel trajectory data to be given to the second graphic memory 22 are changed for each X and Y component according to the change in travel.
Arithmetic processing for storing the latest travel trajectory data in the RAM 4c is executed, and the process proceeds to display processing routine 500. In the display processing routine, a cursor indicating the current position of the vehicle, which changes to the open side, and a travel trajectory indicating the movement of its center point are sent to the second GRAPHITSU 2 memory 22 by X on the map.
, Y[l The data rl is stored at the address determined corresponding to the mark
Write as J, rOJ.

In response to the repeated calculations of this main routine, the σ distance pulse from the distance sensor 2 interrupts the microcomputer 4 (IN
When the voltage is applied to the T) terminal, the microphone computer 4 temporarily interrupts the main routine calculation process and executes the interrupt calculation process shown in FIG. That is, the calculation process starts from the interrupt start step 501, and the calculation process starts from the integration step 5.
Proceed to step 02 and update the distance data D stored in the RAM 4c by adding unit distance data (equivalent to approximately 39.23), then proceed to distance determination step 503 and check that the distance data D is 6.2. !Determine whether it has reached 5m or not. At this time, if the distance data D has not reached 6.25M, the determination will be No and the process will proceed to return step 510, but if the distance data D has reached 6.252ff, the determination will be Yl.
8, and the process proceeds to azimuth signal input step BO4.

And this direction signal input step! At S04, the digital X and Y component signals Xa and Ya from the direction detection device 1 are
(East and north are positive directions, west and south are negative directions), proceed to average direction calculation step 506, and select the previous direction 7r J
Based on Xo, To (bearing data before traveling 6,25M) and current bearing data Xa, Ya, average bearing data x,
Y is calculated, and the process proceeds to distance component calculation step 506 to calculate the component D in the X direction! 6, 26
! Find it as
-1-Yl corresponds to sin θ), storage step 50
7, the current azimuth data Xa, Ya is stored as X o, Y o for the next time, the process proceeds to distance and data reset step 508, the distance data D is reset to O, and the process proceeds to distance flag setting step 509. The distance flag is set at step 510, and the process returns to return step 510 to return to the previously interrupted main routine. That is, in this interrupt calculation routine, the distance data D is cumulatively updated every time a unit distance is traveled, and the distance data D is X for 6.25 m.

Arithmetic processing is executed to calculate the distance components Dx and Dy in the X direction and set the distance flag.

Next, mode calculation routine 30 in the main routine
Detailed calculation processing of 0 will be explained. In this mode calculation routine 300, the calculation process starts from touch data input step 3.01 in FIG.
The touch data from is input and stored in the RAM 4c.

Then, proceed to map mode determination step 30g and select RAM.
It is determined whether the contents of the mode area in step 4c indicate the map mode, and when the map mode is selected, the determination becomes YI&8, and the process proceeds to mode change determination step 303 where the touch data stored in RAM 4 (l) is It is determined whether the data indicates a mode change (the data when touch area 34 in FIG. 3 is pressed).At this time, if the touch data indicates a mode change, the determination is made in Yl8. Then, the process proceeds to character mode setting step 304, where the content of the mode area is set to character mode, and character switching signal output step 30
Proceeding to step 5, the CRT controller 5 sends a character switching signal for displaying the character screen on the CRT display device 6.
This occurs in the video controller 26 at , and one calculation process of this mode calculation routine 300 is completed.

Next, if the touch data is not data indicating a mode change, it is determined in step 306 whether it is data when the touch area 31 in FIG. 2 was pressed. If the touch area 31 for one-touch correction is not pressed either, the process proceeds to the cursor movement calculation routine 70'O. In this routine foO, as shown in FIG. 9, the touch data is the data (cursor movement data) when any of the cursor movement touch areas of 32°, 33.35.3B, and 40.41 is pressed. It is determined in steps F01, 702, '7.03, and F04 in FIG.

If the touch data is not cursor movement data, each determination will be NO, but if it is any of the cursor movement data, the determination will be YES and the cursor movement calculation steps 705 and 706 will be YES. , proceed to F08.

This device stores each dot displayed on the CRT display device 6 as X and Y coordinates, with the horizontal direction (east-west direction) as the X coordinate and the vertical direction (north-south direction) as the Y coordinate. It is stored in RAM4C as values PX and PY. And touch area 32.33 where touch data moves upward
The value PY indicating the Y coordinate of the current position of the cursor displayed on the CRT display device 6 is incremented so as to move the value PY by a predetermined distance PTo in the north direction. Also, when the touch data is for touch area 40.41 that moves downward, the Y coordinate value PY
is decremented by P Y o. Similarly, a touch operation for moving in the π direction causes the X coordinate value PX to be decremented by PXo, and a rightward touch operation causes the X coordinate value PX to be incremented by PXo.

Therefore, 32.3'3,315,38,40°41
If any of the touch areas continues to be pressed, the cursor can continue to move each time the main routine, which is repeated every several tens of milliseconds, is processed once as described above. In this case, a value determination step may be provided so that the increment and decrement steps are passed when the X and Y components PX and PY of the coordinates reach a value corresponding to the limit of the area represented on the map.

In this embodiment, the coordinates PX and PY are determined as the number of dots (integers), and the unit movement amounts PXo and PXo of the cursor are OR'l'', which corresponds to one dot on the display device 6, that is, the actual distance 5.
It is set to OW.

When the coordinates PX, PY are moved in the cursor movement calculation steps 705 to 708, the coordinates (PX, PY) after the movement are stored in a storage step 09 as the latest coordinates Pnew indicating the current position of the vehicle.

Subsequently, in step 710, the display processing 7-lag DPF is set to 1. As a result, in a display routine 500 to be described later, data in the second graphic memory 22 is updated in order to move the vehicle position cursor and travel trajectory toward new coordinates with reference to the flag DIF.

Note that the one-touch correction calculation routine 800 when the touch area 31 for one-touch correction is pressed on the touch panel section will be described last for convenience.

By the way, when the determination in the map mode determination step 301A in FIG. 8 is NO, if the character mode display (see FIG. 3) is selected, the process proceeds to the mode change determination step 308, and the mode change determination step 303
It is determined whether the mode is to be changed (to map mode) using the same calculation process as above. At this time, if the mode change button 34 is pressed and the determination becomes YB2, the process proceeds to map mode setting step 309, sets the contents of the mode area in R/AM4C to map mode, and proceeds to data conversion step 310. Then, the travel route data in the second graphic memory 22 in the CRT controller 5 is converted in accordance with the map number set in character calculation routine 3.13, which will be described later. In this case, first, control the reading device number to search for the set district using its map number, and use the absolute coordinate data (stored in the header section A shown in Figure 4) on this searched map and the absolute coordinate data on the map of the previous district. A coordinate transformation value is calculated from the coordinate data, and the traveling trajectory and current position data in the second graphic memory 22 are converted in a sliding manner according to the calculated value.

Then, the process proceeds to a map data reading/output step 311, where the map data of the cassette tape 3a is inputted via the reading device 3, and the map data is outputted to the first graphic memory 21, and the map data of the data rlJ, rOJ! Write as Trix. Next, the process proceeds to a map switching signal output step 312 (a map switching signal for displaying the map graphic screen on the CRT display device 6 is generated to the video controller 26, and one calculation process of this mode calculation routine 300 is completed). .

In other words, when switching from the character screen to the graphic screen of a map different from the previous one, the above calculation process is executed,
The current map data is stored in the first graphic memory 21, and the contents in the second graph ink memory 2R are converted so that the travel trajectory and the cursor indicating the current location are corrected to the current location corresponding to this map. As a result, even if the map displayed across the ORT display device 6 is changed, the travel trajectory and current location can be displayed in the area corresponding to the map.

On the other hand, if the determination in the mode change determination step 308 is NO.
If so, the process advances to the character calculation routine 313. When the character calculation routine 313 is reached, character mode F has been set and a character switching signal has been issued to the video controller 26, so C
The RT display device 6 displays a character screen as shown in FIG. The number 0 shown in the center of this character screen
! -4-68 are single characters each specifying a region, area, or district, and each number is updated by 1 in the increment touch area 5L (39)', and the decrement touch area 52 (40) The character calculation routine 312 performs arithmetic processing such that it is updated by one at a time, set in the setting touch area 53 (41), and reset in the reset touch area 54 (42).

Note that the numerical data of this locality, region, and district, that is, the map number, is obtained by 8A in the character calculation routine 313.
Stored in M4C.

That is, the mode calculation routine 300 shown in FIG.
Now, the touch data from the touch panel section 7 and the RAM 4
■~ as shown below according to the contents of the mode area in o
■ Perform the operation.

■When in map mode and not mode change or one-touch correction, if there is an instruction to move the cursor, the calculation process for moving the cursor will be executed according to the press of the touch area for cursor movement, and if there is no instruction to move the cursor, the map display will continue as is. let

■If there is an instruction to change the mode while in map mode, the map mode will be changed to character mode (3B
A character screen is displayed on the T display device 6.

■If you are in character mode and not changing modes, the 5th
It is possible to accept changes to the map on the character screen as shown in the figure.

■If there is an instruction to change the mode while in the character mode, the character mode is changed to the map mode, the map graphic screen is displayed on the CRT display device 6, and at the same time the travel trajectory and current position are corrected and displayed. .

(2) When a one-touch correction instruction is issued using the touch area 31 when the mode is in the map mode and the mode is not changed, the cursor indicating the vehicle position is instantly moved to match the nearest road. This one-touch correction calculation routine 8
00 will be explained in detail later in accordance with FIG. 13 et seq.

Next, the current position calculation routine 4 in the main routine
The detailed arithmetic processing of 00 will be explained. In this current position calculation routine 400, the calculation process starts at the distance 7 lag determination step 401 shown in FIG. 10, and it is determined whether the distance flag is set to 7 in the interrupt calculation process shown in FIG. At this time, if the distance flag is not set, the determination becomes NO and one calculation process of this current position calculation routine 400 is completed, but if the distance flag is set, the determination becomes YES. , the process proceeds to the X component display movement processing routine 400m.

In the X distance correction step 402, correction calculation (
DX=, DX-)-Di) L, Y distance 11 correction step 4
In step 03, correct the Y distance data DY in the same way (DY=D
Y-1-Dy)l, , 117) The process proceeds to an X-distance J1 determination step 404, where it is determined whether the X-distance data DI has reached a value equal to or greater than 502j1, which is one dot in the image. At this time, if the X distance data DI is a value of 5OFFJ or more, the determination becomes YB2, and the process proceeds to the X distance subtraction step 405, where the value of 50 m is subtracted from the The X component PX of the center coordinates of the cursor indicating
Add only j). As mentioned above, the increment of the x-coordinate PX moves Kurtzle in the positive direction (eastward) by 50 m.
Indicates that it is to be moved to .

Further, the determination in the first X distance determination step 404 is N
If o, the process proceeds to a second X distance determination step 407, where it is determined whether the X distance data DI has become a value of 1507ff or less. At this time, if the X distance data DX is less than or equal to -SOW, the determination becomes YES, and the process proceeds to the X distance addition step 408, where the value of som is added to the Then, the coordinate value is updated so that the X coordinate of the current position is subtracted by PXo (for example, 't' is 'l') and the cursor 501j is moved in the negative direction (westward) by 1 minute.

Then, when the judgment in the second X distance judgment step 407 is NO, or after the display movement steps 406 and 409, the process proceeds to the Y component display movement processing routine 400B, and the Y distance data DY calculated in the Y distance correction step 403 is , the same determination and arithmetic processing as steps 404 to 40G regarding the X component are executed (when the Y distance data DY becomes a value greater than or equal to SOW in either the positive or negative direction, the Y coordinate value PY of the current position is changed by a predetermined amount PYo). (Add or subtract by one dot) in the corresponding direction.) Then, proceed to step 412 to reset the distance flag.

That is, the current position calculation routine 4 shown in FIG.
00, the data is stored in the RAM 40 (D
Current position W11(DX, 'coordinates *PX.

Update PY.

Next, the display processing routine 500 of the main routine will be explained with reference to FIGS. 11 and 12. First of all
FIG. 2) shows the vehicle position cursor C and the traveling trajectory in the first graphical image.

Both memories 21 and 22 have the same scale X and Y coordinates PX
It is possible to write and read using and PY as addresses. Further, the display fan 26 in FIG. 5 sequentially scans the data in both memories and causes the CRT display device 6 to display both images in a superimposed manner.

Figure 12 0 is number 1! ! It is an enlarged view of the main part of the figure (to).

Here, the cursor C indicating the current position of the vehicle consists of a total of nine dots, including one dot at the center coordinate P and eight dots at the surrounding dots C1 to C8.

When the current position moves, the address of the center coordinate P is successively updated, and the surrounding dots 01 to C8 are assigned only to one dot around the latest center coordinate P. The trajectory of the center coordinate P is stored in the second graphic memory 2.
2, and are imaged on the CRT display device 6 as a running trajectory.However, as the center coordinates of the surrounding drivers move, they are temporarily written in the second graphic memory 22 and then erased. be done. For this purpose, the microcomputer 4 is programmed to sequentially store the addresses (coordinates) of the surrounding dots 01 to C8 in the RAM 4c. Figure 12 0 shows the surrounding drum at 8mm M4c)
It shows how the properties of C1 to C8 are memorized. That is, 1 bit of 8 bits (1 byte) of 7 lags OFINOFa is assigned to each of the surrounding dots 01 to C8, and whether or not they overlap with the traveling locus is stored for each driver F. The illustrated example corresponds to FIG.
F? =jIJ.

Next, regarding the series of display processing routines shown in FIGS. When the program reaches the display processing routine 500, the display processing 7-lag DPF is first checked, and only when it is set, that is, when the cursor position is changed, steps 502 and subsequent steps are executed. Ste 1 Tsubu 502
Below are steps 502-505 and routine 510.
The process is roughly divided into a stage of erasing dots around the old cursor, which consists of steps 511 to 518, and a writing stage of a new cursor, which consists of steps 511 to 518 and routine 520.

First, in step 502, the center 111 of the cursor (F) is used to determine the vehicle coordinates before movement (before change, before correction) that are currently displayed on the CRT display device.
1 [Po1d(PX, PY) re, RAM4e
The data is read from and transferred to a predetermined location in the RAM 4c (this is referred to as the coordinate "memory C"). For convenience, the coordinates (PX, PY) stored in this coordinate memory C are referred to as C('CjX.

ay).

Next, in step 503, among the contents of the coordinate memory C, the value CY, which is the Y coordinate, is incremented by one dot, that is, by "1", and the coordinates corresponding to the surrounding dot C1 in Figure 12 are stored in the coordinate memory. Create in C. Next, the flag (3F1) is read from the 8mm M40 and it is checked whether the content is "1" indicating the travel trajectory. If it is rOJ, in step 505, the coordinates indicated by the content of the coordinate memory C are Addresses the second graphics memory 22 and transfers data "0".This causes the OR'l' display device 6
From the image above, the surrounding area C1 becomes a dark area and disappears.

In the routine 510, steps 503 to 505 described above are performed.
In the same way as the process 510 consisting of the surrounding drums)02~
The coordinates for C8 are successively created, and the flags CFz to OF8 corresponding to each dot ship are read each time.
” data “l” is changed to “0” from the corresponding coordinates in the second graphic memory 22. In the illustrated example, only the surrounding dot C7 has a travel locus 7 lag C
Since -F7 is "1", the coordinates of the surrounding dot C in the second graphic memory 22 are created by sequentially incrementing or decrementing the X component or the Y component of the data.

By performing steps 502 to 510, only the center coordinates P of the cursor and the following travel trajectory remain as data "1" in the second graphic memory 22.

In this state, cursor data indicating the latest vehicle position is written into the graphic memory 22 in steps 511 to 518 and routine 520.

At this time, flags CF1 to OFa indicating whether or not the cursor and the travel trajectory overlap are simultaneously set.

First, in step 511, the coordinates Pnev (PX, PY) indicating the new vehicle position to be changed are
The data is continued from the RAM 4e and transferred to another address (this is called the coordinate memory Np). The coordinates stored in this coordinate memory N are defined as N (NX, NY).

Next step 51! ! Then, the second graphics memory 22 is addressed with the coordinates indicated by the contents of the coordinate memory N, and data "l"° is transferred thereto. This writes a center dot indicating the new center coordinates of the vehicle position cursor. This process changes the new vehicle coordinate Pnev to the old vehicle coordinate F.
This is executed regardless of whether it is adjacent to old or not. Note that in the former case, the new vehicle coordinate Pn6W is created by the current position calculation routine 400 due to the movement of the vehicle, and when it is created by the cursor movement calculation routine 70.O by operating the cursor; This is a case where the coordinate Pnew is created by the one-touch correction calculation routine 800.

Next, in step 513, the contents of the coordinate memory N are set to 1.
It is changed to a value indicating the coordinate N1 moved upward by a dot. Therefore, the Y coordinate NY is incremented by "1". The coordinates N1 created in this way are the new vehicle coordinates Pn e
It shows the first round ■ dot of w. Although not particularly shown, the surrounding dots N1 to NB are also similar to the surrounding dots C1 to C1.
Items with the same number as C6 have the same position with respect to the center coordinates.

Next, in step 514, the second graphic memory 22 is addressed with the coordinates N1 of the first surrounding dot created in step 513, and the data stored therein is read, and in step 515, the data is set to "1". Check whether or not. If it is "1", it indicates that the travel trajectory was previously written, so step 5
At 16, set 7 lag OF, 'l to "1". on the other hand,
If the read data is "0", in step 517 data "1" as a surrounding dot is transferred and written to the corresponding address of the second graphic memory 22, and in step 518, since it is not a running trajectory, 7 Rag CF
Let I be "0".

The routine 520 is the new vehicle coordinates and other neighboring nearby drivers)
This shows the processing to create Ng to N8, in which the coordinates to be processed are sequentially changed to N2 to N8 in the same way as processing a and goA for Nl (surrounding driver), and flags OF2 to OFa are set each time. , 9 are set, and data "1" is transferred to the second graphic memory 22 as necessary so that data "1" corresponds to N8 dots in one rotation of the cursor.

Next, in step 521, the X, Y of the new vehicle coordinates Pnew
The components (PX, PY) are stored in the hood M4o as the old vehicle coordinates, and are used when moving the vehicle position next time. Subsequently, the display processing 7-lag DPF is set to 9, and one display processing is completed.

Finally, the one-touch correction calculation routine 800 will be explained. To explain the significance and outline of one-touch correction, Figure 14 shows the CR7 display at a certain point in time, when the vehicle position cursor C is moving to the right (east) along the travel trajectory. It represents something. M
indicates a road displayed according to a road map pattern stored in the first graphic memory 21. However, it is assumed that the vehicle position cursor C includes an error, and the driver recognizes that "the vehicle is on the road M at that time." In this case, instantaneously moving the cursor Ω to an appropriate position on the road M is the one-touch correction according to the present invention.

In this embodiment, the area around the cursor C is searched to detect the position of the closest road pattern, and the vehicle coordinate values PX and PY are corrected to reduce the difference from the closest road pattern. There is.

Specifically, when the one-touch correction area 31 of the touch panel section 7 is operated, the center coordinates 8 of the cursor C
(Pnew) as a reference, the first graphic memory 21
Check the contents of Next, a search is made for coordinates 89-824 in the 2-dot proximity range, and then a 3-dot range 8825-848. This search order is preset, and the latest road data is "1".
Stops the search when detected. In the example of FIG. 14, road data "1" is encountered at coordinate 814. At this time, the coordinate value of coordinate 814 is newly set as the value Pnew indicating the vehicle coordinate. In this way, the cursor C is set on the road M and starts moving again as the vehicle advances. In this example, the search area for 8 people is 3 dots from the cursor center coordinate 8, which is an actual distance of 150 m, but this can be set as appropriate, and the search can be performed counterclockwise instead of clockwise as shown in the example. Alternatively, the search may be performed in an approximate circular shape, or may be modified so that a preset appropriate proximity relationship can be searched.

Next, the details of the one-touch correction routine 800 will be explained in the first section.
This will be explained according to Figure 3. First, in step 801, the latest vehicle coordinates Pnew (PX, F
T) is read out from the eight person M4e, transferred to another address as the search coordinate memory 8, and set. The coordinates stored in this coordinate memory S are defined as 8 (8X, 8Y) t, 1st
4977), +t-y-c center coordinates (address indicating the center of the cursor in the first and second graphic memories).

Next, in step 802, the first graphic dirt 21 is addressed with the coordinates indicated by I in the coordinate memory 8, and the data stored therein is read. Next judgment step 803
Then, it is checked whether the data is "1", which means a road. If the data is rlJ, there is no need to modify the cursor, so jump to step 804.

If the data is rOJ, then the process advances to routine 807 and repeats the same process as process 807A consisting of steps 802 and 803 above to change the contents of search coordinate memory 8 by one dot, each time changing the contents of cylinder 1. Read the data in the graphic memory 21 and check whether it is "1". And the scheduled 48th coordinate 84
When data "1" is found in the search up to B,
Step 804: Jump.

In the coordinate rewriting step 804, the search coordinate memory 8
, i.e. the coordinates 8n at which the road was discovered.
(8X, 8Y) are newly updated to the latest vehicle coordinates Pnew (
PX, PY). Next, the display processing 7-lag DPF is set to "1". Therefore, in the display processing routine 500 after processing this one-touch correction routine 8oO, the cursor and trajectory can be calculated and displayed using the new vehicle coordinates as a starting point.

In the next step 806, the X distance data DX and Y distance data DY used in the current position calculation routine 400 are reset to "0" to ensure that the center coordinates of the cursor C match the road coordinates.

In the above-mentioned embodiments, a system that detects earth's magnetic field is used to detect the bearing, but a system that determines the relative orientation of the vehicle with respect to a reference orientation may also be used.

Also, the vehicle position cursor may be made to blink.
Furthermore, the display of the travel trajectory may be stopped.

As described above, in the method of the present invention, the displayed cursor position can be matched with a nearby road with a single touch, and the driver can easily modify the display according to the actual road conditions. It has excellent effects.

Furthermore, the device of the present invention can match the vehicle position display with the road display by detecting coincidence with the coordinates indicating the vehicle position using a recording means that stores the road map in association with the coordinates.

[Brief explanation of drawings]

FIG. 1 is an overall configuration diagram showing an embodiment of the present invention, FIG. 2 is an explanatory diagram showing a touch area of a touch panel section, and FIG. 3 is an explanatory diagram showing a character mode display of a CRT display device.
Figure 4 is an explanatory diagram showing the data area of the cassette tape, and Figure 5 is a detailed electrical connection diagram of the CRT controller in Figure 1.
Figure H and Figure 6 are calculation flowcharts showing the overall calculation processing of the main routine of the microcomputer, Figure 7 is a calculation flowchart showing details of the interrupt calculation routine based on the distance pulse from the distance sensor, and Figure 8 is 6 is a calculation flowchart showing details of the mode calculation routine in Figure 6. Figure 9 is a calculation flowchart showing details of the cursor movement calculation routine in Figure 8. Figure 10 is a calculation flowchart showing details of the current position calculation routine in Figure 6. The calculation flowchart shown is '11th turn. (To), (Q is a series of calculation flowcharts showing details of the display processing routine in Figure 6, Figure 12 (A), (B), (0)
, (Di is an explanatory diagram of display processing, FIG. 13 is a calculation flowchart showing details of the one-touch correction calculation routine in FIG. 8, and FIG. 14 is an explanatory diagram of one-touch correction. 1. Direction detection device; 2... Distance sensor, 3...
Reading device 1, 31...Cassette tape, 4...Microcomputer as control means, 5...CRT controller, 6...ORT display device [,! ! 1... A first graphic memory serving as a storage means. 22...Second graphic memory. Representative patent attorney Osamu Okabe Figure 6 @ Figure 7

Claims (2)

[Claims] (1) A step of generating an electric signal corresponding to the traveling direction of the vehicle, a step of generating an electric signal corresponding to the traveling distance of the vehicle, and a step of calculating the map coordinates of the vehicle based on the above two electric signals. , displaying a position corresponding to the calculated map coordinates on a road map of the driving area, and displaying the calculated value of the map coordinates in the position display in response to a manual operation signal for correcting the position display; and a step of correcting so as to reduce the difference between the road portion and a road portion satisfying a predetermined proximity relationship on the road map. (2) Calculate the map coordinates of the vehicle based on the electric signal corresponding to the direction of travel of the vehicle and the electric signal corresponding to the distance traveled by the vehicle, and display the position of the calculation result on the road map of the driving area.
t9ru. A driving position display device for a vehicle, comprising a storage means for storing a road map of the driving area in association with coordinates, a manual operation means for generating a timing signal for correcting the position display, and the manual operation means. In response to a timing signal, the calculated map coordinates of the vehicle are compared with the map coordinates of the road recorded in the recording means, and the calculated value indicating the map coordinates of the vehicle is made to correspond to the map coordinates of an adjacent road. A driving position display device for a vehicle, comprising a control means for changing the value.