JPS63196815A - Vehicle position display apparatus - Google Patents

Abstract

PURPOSE:To accurately display the running position of a vehicle so that a driver easily judges said running position and to enhance display grade, by displaying the running position of the vehicle in a route judge area on the basis of a correction locus drawn using angle data and running distance data. CONSTITUTION:A judge means E judges that a vehicle enters a route judge area, on the basis of the running distance calculated from a running distance meter B and the coordinates of the branch point stored in a memory means D. Herein, at first, when it is not judged that the vehicle enters the judge area, a display control means G performs the display of the position of the vehicle due to a display means F on the route of other map on the basis of the signal from the distance meter B. Next, when it is judged that the vehicle enters the judge area, the position of the vehicle due to the position data from an operation means C, that is, due to the signals from an angle detection means A and the distance meter B is displayed on the display means F. As mentioned above, since the position of the vehicle is displayed in the route judge area of a branch point with due regard to the actual angle of the vehicle, the erroneous confirmation of the advance direction of the vehicle is eliminated and the display quality can be also enhanced.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention is attached to a vehicle such as an automobile, detects the running position of the vehicle, and displays the detected running position of the vehicle against a map on a display screen. The present invention relates to a vehicle position display device that displays a vehicle position.

[Prior art and problems to be solved by the invention] Conventionally, position information of a vehicle is calculated from vehicle mileage information and angular velocity information, map information is stored in advance, and the calculated position is calculated using the map information. Japanese Patent Laid-Open No. 60-48600 proposes a vehicle position display device that corrects deviations in position information with respect to map information by comparing the position information with map information.

The proposed device is based on map data consisting of positional information in XY coordinates of each intersection, branch point, and corner (hereinafter collectively referred to as a point) stored in a storage means and a point number adjacent to each point. A straight line between points is calculated, and the coordinates of the vehicle's current position are displayed on the straight line. Furthermore, as shown in FIG. 7, the direction of travel at each point, that is, the route, is determined based on signals from angle sensors and distance sensors by providing a route determination area JE as shown by a dotted line centered at point Pl, as shown in FIG. I'm going.

However, conventionally, during this route determination, the current position of the vehicle is displayed on an extension of the route the vehicle was traveling before entering the intersection, as shown in FIG. 7(a), or
Alternatively, as shown in FIG. 7 fb), the route determination is performed by fixing the point at the intersection where the route is currently being determined. In addition, the thick line in the figure is a mark (
The trajectory of the circle) is shown.

The above-mentioned conventional display during route determination is as shown in FIG. For example, at a T-junction, the mark that indicates your current location will deviate from the route.Also, at a crossroads, even if you turn right or left, the mark will be displayed as if you were going straight, which may cause misunderstandings for drivers. Display quality also deteriorates. On the other hand, in the case of FIG. 7 (bl), the display quality deteriorates because the current position, which was fixed at a point during route determination, jumps to a position whose coordinates have been corrected after route determination.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a vehicle position display device that can accurately display the driving position of a vehicle in the vicinity of a point in a way that is easy for the driver to understand, and that also improves the quality of the display.

[Means and operations for solving the problems] In order to solve the above-mentioned problems, the vehicle position display device according to the present invention, as shown in the basic configuration diagram of FIG. An angle detection means A detects the angle of the vehicle based on a signal from the vehicle; an odometer B provided on the vehicle detects the distance traveled by the vehicle; a calculation means C for calculating position information; a storage means for storing map information including the coordinates of the branch point; and a mileage determined by the signal from the odometer B and the branch stored in the storage means. determining means E for determining whether the route determination area has been entered based on the coordinates of the point; display means F for displaying a map based on the map information stored in the storage means and displaying the vehicle position; When it is not determined by the means E that the vehicle has entered the route determination area, the vehicle position is displayed by the display means F on the route of the map based on the signal from the odometer B, and the vehicle has entered the route determination area. and a display control means G that causes the display means F to display the vehicle position based on the position information from the calculation means when it is determined that this is the case.

With the above configuration, the way the vehicle position is displayed on the display means F is switched before and after entering the route determination area, and within the route determination area, the display takes into account the actual angle of the vehicle, so the vehicle progress Misperceptions of direction will not occur (and display quality will also improve).

〔Example〕

Embodiments of the vehicle position display device according to the present invention will be described below with reference to the drawings.

FIG. 2 is a block diagram showing an embodiment of a vehicle position display device according to the present invention. In the figure, 11 is an odometer that generates a signal corresponding to the running of the vehicle, and 12 is an angular velocity sensor, such as a vibrating gyro sensor, that detects the angular velocity based on the running of the vehicle. The respective measurement value signals from the odometer 11 and the angular velocity sensor 12 are sent to the CPU.
Incorporated into 13. The CPU 13 operates according to a program stored in advance in the ROM 14 to perform various processes, reads data necessary for the process from the RAM 15, and stores the processing results in the RAM 15. 16 is a keyboard for inputting necessary data from the outside, 17
is a display device such as a CRT for displaying data, 1
8 is a memory for storing map information.

The map information stored in the memory 18 includes, for example, position information about a point on a road shown in XY coordinates as shown in FIG. 3, and numbers of points adjacent to the point. In other words, for the road in Figure 3, as shown in the table below, point P0 is Xo as position information.
, Yo, PI and P4 are respectively stored as adjacent points, and position information X+, Y is stored for point PI.
+ and adjacent point information Po, Pz, Px are stored.

In the above configuration, the vehicle is now traveling to point P0° (XO
o, Yo. ) to point P+ (X+ .

When the vehicle is traveling toward Y,), the CPU 3 operates as follows based on the flowchart shown in FIG.

First, in step S1, the vehicle's initial positions X0°, Yo
. and the points Po and P+ at both ends of the road R0 where the vehicle is located, and store them in the RAM 15. Thereafter, the process proceeds to step S2, where the current location input in step $1 is displayed on the display device 17 together with map information such as roads and place names stored in the memory 18.
to be displayed.

Additionally, the coordinates of the current location are corrected so that it is displayed on the road in the map information.

Next, in step S3, the road R is
0 reference line, that is, the angle to the horizontal line 28 in FIG.
(counterclockwise is positive) θ. , both adjacent points P0
, Pt is calculated by the following formula.

Similarly, the roads Rz, R3 and the horizontal line l connect the point P1 that the vehicle is facing and each adjacent point P2, Pl.
The angles θ2 and θ formed with H are calculated respectively.

Subsequently, in step S4, the distance (%) from the starting point P0° to the point P1 in front is determined by the following formula.

Lll = (x+ −Xoo)”+ (y+
-Yoo)” After that, in step S5, ΔS,
1=O,Δθ−”'O,X−=Xo.'/ , m
Yo. , θ, = θ.

The above data θ0, θt,
θ*, Ln, ΔSn9Δθrt t Xnt
Y+′+tθ1, etc. are stored in the RAM 15.

The process then proceeds to step S6, which is provided as a subroutine as shown in FIG.

In the first step S61 of the subroutine in FIG. 5, the mileage s8. from the odometer 11. and angular velocity sensor 12
The angle θs0 from
1. .DELTA.S7 and .DELTA..theta. are calculated by integrating the values of .DELTA.S7 and .DELTA..theta.

After that, in step S63, for a certain period of time (for example, 1 second)
It is checked whether the elapsed time has elapsed or not, and if the determination in step S63 is YES, in the next step S64, the integrated value Δθ of the angle obtained in the above step S62 is added to the angle θ,, -1 currently stored in the RAM 15. This is then stored in the RAM 15 as a new θ7. And based on this angle θ7, Xfi-1+ΔS, 1cos
θ0. Y,, -+ +ΔS+5Sin θ7 are calculated, and these are set and stored as correction trajectories X,,Y. In addition, X +s-+ g Y+%-1 was previously RA
With x,, yn stored in M15, for example, the above X0
゜.

Yo. It is. Additionally, map trajectory coordinates are also calculated at the same time. Here, θ is the angle with the counterclockwise direction as positive with respect to the X-axis of the route currently being traveled, and the above map trajectory is a travel distance S on a straight line connecting points obtained from the coordinate data of the stored points. It will move by ss. Thereafter, in step S65, ΔSI and Δθ are each set to O.

Next, the coordinates (X
,,Y,) or (xns)'7) to the current display device 17
In step 366, it is determined whether the map displayed on the map is to be changed. If it is determined in step S66 that map switching is necessary, map display switching is executed in step S67, and the process advances to step 868. If map display switching is not necessary, step S67 is skipped and the process proceeds to step 368.

In step 368, it is determined whether the flag D is O. Flag D is for determining the coordinates of the current location to be displayed on the display device 17, and when D-0, that is, when step 368 is YES, step S69
In the coordinate (Xng)'*) from the map trajectory, D=
1, that is, when the determination in step 368 is No, the coordinates (X, , Y
, ). That is, this flag causes the display device 1 to
Coordinates to be displayed in step S69 and step S370 are determined.
Display the coordinates selected in . With the above steps, the subroutine processing is completed and the process proceeds to step S7 in FIG. 4.

In step S7, it is determined whether the number of paths that can be selected at the forward point P1, that is, the number of branch points, is one or more. If the determination is No, flag B is set to 1 in step S8 and the process proceeds to step S9. If the number of branch points is greater than 1 and the determination is YES, the process immediately proceeds to step S.
In step S9, the process proceeds to step S9, where it is determined whether or not ΔSA is 0. If the determination is YES, that is, while the vehicle is stopped, the process returns to step S6. If the determination is NOl, that is, if the vehicle is running, the process advances to step SIO, where L n-1-ΔS, 1, 1
Set as . That is, in FIG. 3, the starting point P0
A new distance L7 to the point P is obtained by subtracting the traveled distance ΔS7 from the distance Lfi from ° to the point P in front. Then, the process advances to step Sll.

In step Sll, it is determined whether L has become less than a predetermined value indicating the range of route determination area JE, for example, 20 m. If the determination is NOl, that is, the distance is not less than 20 m, the process returns to step S6, and the determination is YES, that is, if the distance is not less than 20 m.
If it is less than m, the process advances to step S12. A YES determination in step Sll means that the vehicle has approached the intersection. In step S12, L is set to 0, and at the same time, flag D is set to 1. That is, as described above, the coordinates of the current location to be displayed on the display device 17 are set to be displayed on the correction trajectory (X, , Y,).

The process then proceeds to step S13, which is the subroutine shown in FIG. Therefore, in this step S13, the correction coordinates are corrected to the map trajectory, but this is to draw the correction trajectory in accordance with the correct angle of the intersection, that is, the angle shown in the map data.

In the following step 314, LR-1+ΔS1 is calculated.

Then, in the next step S15, is set to a predetermined value, for example 3.
It is determined whether the distance is 0 m or more. If the determination is No, that is, the distance is 30 m or less, the process returns to step S13, and if the determination is YES, that is, the distance is 30 m or more, the process returns to step S31.
Proceed to step 6. A YES determination in step S15 means that the distance traveled from 20 meters before the intersection is 30 meters or more and the vehicle has passed through the intersection.

In step S16, the flag D is set to O, and the coordinates of the current location displayed on the display device 17 are set to the map trajectory (X,, Y,
). In step 317, it is determined whether or not flag B is not 1.
When the determination is YES, since there are a plurality of branch points, the process proceeds to step S18 for determining which road the vehicle turned to at point P1. In step 318, point P
1 and adjacent forward point P2. A comparison is made to see whether θ is approximately equal to the angle θ2 or θ obtained in advance in step S3 with respect to P3, and the value closest to θ, for example θ2, is determined, and it is determined that the curve has turned toward the point Pt. After that, the process advances to step S19.

On the other hand, if the determination in step S17 is No, that is, if there is only one branch point and there is no need to determine which point the vehicle turned to, step S18 is skipped and the process proceeds to step S19.

In step S19, the initial position is reset. That is, the line segment determined by the coordinates (X,, ) Coordinates of P o and point P+
, and the angle determined from the coordinates of Pg, that is, the correction intersection point is found, and the coordinates are corrected on the map by aligning this intersection point with point Pl. This is based on the actual turning point of the vehicle. You will be looking for the center.

The distance S1 from the correction intersection (Xc, Yc) to the correction trajectory can be obtained by calculating ``Sl = <XC-xc)Z+ (yc-Y,)''.Using this Sl, Xo+ =X + + S + cos θtXo
+=Y+ +S1 sin θ2 and this X.

Set IpYOl to the new initial position, namely Xo. , Yo.

shall be.

Then, convert this point P1 to the above P O, point P
The position of the vehicle traveling on the road R1 is calculated by setting z to the above P1. Therefore, after displaying the corrected coordinates on the display device 17 in step S20, the process returns to step S3.

In summary, in the present invention, when it is confirmed by the determination in step Sll that the vehicle has entered the route determination area JE, as shown in FIG. 6, the coordinate a' of the correction trajectory is corrected to the coordinate a of the map trajectory. From then on, the vehicle position is displayed on the display device 17 using the coordinates of the correction trajectory indicated by a white circle until the route determination is completed. As a result, the display curves along the road, making the display move smoothly and improving the display quality.

〔effect〕

As explained above, according to the present invention, within a route determination area at a branch point, a map trajectory drawn using map data and mileage data is switched to a correction trajectory drawn using angle data and mileage data. Therefore, it is possible to perform a display that more closely resembles the driving state, the vehicle position can be displayed without causing the driver to misperceive the direction of travel, and the display quality is also improved.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing the basic configuration of a vehicle position display device according to the present invention, FIG. 2 is a block diagram showing an embodiment of the device according to the present invention, and FIG. 3 is an explanation explaining the operation of the device according to the present invention. Figures 4 and 5 are flowcharts showing the operation of the CPU in Figure 2, Figure 6 is an explanatory diagram showing the main part of the operation of the device according to the present invention, and Figure 7 is the problem with the conventional device. FIG. A...Angle detection means, B...Odometer, C...
Calculating means, D... Storage means, E... Judgment means, F.
... Display means, G... Display control means.

Claims (1)

[Scope of Claims] Angle detection means for detecting the angle of a vehicle based on a signal from an angular velocity sensor provided on the vehicle; an odometer provided on the vehicle for detecting the distance traveled by the vehicle; and the angle detection means. a calculation means for calculating position information of the vehicle based on a signal from the odometer; a storage means for storing map information including the coordinates of a branch point; and a travel distance determined from the signal from the odometer and the storage means. determining means for determining whether the route determination area has been entered based on the coordinates of the branch point stored in the storage means; and display means for displaying a map and the vehicle position based on the map information stored in the storage means. , when the determination means does not determine that the vehicle has entered the route determination area, the display means displays the vehicle position on the route of the map according to the signal from the odometer, and the vehicle has entered the route determination area. A vehicle position display device comprising: display control means for causing the display means to display the vehicle position based on the position information from the calculation means when it is determined that the vehicle position is displayed.