JP2005221781A - Magnified intersection image display apparatus, navigation system, and magnified intersection image display method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To correctly display a user's own vehicle position mark at the actual user's own vehicle position when a user stops at a structure displayed near an intersection while effectively suppressing deviation of the display position of the user' own vehicle position mark resulting from incomplete accuracy in the calculation of the present position. <P>SOLUTION: A display means 4 displays the user's own vehicle position mark 31 showing the present position of the vehicle superposed on a magnified image of a prescribed area around the intersection. A calculating means 21 calculates the present position of the vehicle. A judging means 22 judges the degree of reliability of the present position of the vehicle. A magnified image control means 23, when the reliability is judged to be high, moves the user's own vehicle position mark 31 to the present position of the vehicle calculated by the calculation means 21 in the magnified image of the intersection and, when the reliability is judged not to be high, moves the user's own vehicle mark 31 only on a road 32 connecting to the intersection in the magnified image of the intersection. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to an intersection enlarged display device, a navigation device, and an intersection enlarged display method.

  Patent Document 1 displays an enlarged image of an intersection and its vicinity (intersection enlarged image) when the vehicle is approaching an intersection (branch road) or the like to turn left or right, and a direction in which the user should go A conventional navigation system for appropriately indicating the above is disclosed.

JP 2001-343250 A (Means for Solving the Problems, etc.)

  When an enlarged image of an intersection is displayed when approaching an intersection (branch road) or the like as disclosed in Patent Document 1, an own vehicle position mark indicating the current position of the vehicle is superimposed on the enlarged image. It is possible to display.

  When the vehicle position mark is displayed so as to be superimposed on the map image in this way, generally, the vehicle position mark is not displayed at the current position of the vehicle calculated based on GPS (Global Positioning System) reception data or the like. Rather, the vehicle position mark is displayed at the position where the calculated current position of the vehicle is map-matched to the road.

  By displaying the vehicle position mark at the map-matched position in this way, the vehicle position mark moves off the road on the enlarged image of the intersection even when the accuracy of the current position by calculation is not good. It is possible to effectively suppress the bending, the bending after the intersection, or the bending before the intersection.

  However, in the enlarged image of the intersection, a structure surrounding the intersection, such as a convenience store, may be displayed along with the road intersecting at the intersection.

  When the vehicle position mark is displayed at the map-matched position, the vehicle position mark is displayed on the road even if the user stops at such a convenience store near the intersection. The position mark cannot be displayed correctly at the actual vehicle position.

  The present invention has been made in view of the above-described problems, and is a structure that is displayed near an intersection while effectively suppressing a shift in the display position of the vehicle position mark due to the accuracy of the current position by calculation. An object of the present invention is to obtain an intersection enlargement display device, a navigation device, and an intersection enlargement display method capable of displaying the vehicle position mark as such when stopping.

  An intersection enlargement display device according to the present invention includes a display means for displaying an own vehicle position mark indicating the current position of the vehicle on an enlarged image of a predetermined range around the intersection, and an operation means for calculating the current position of the vehicle. Determining means for determining the level of reliability of the calculated current position of the vehicle, and if the reliability is determined to be high, in the enlarged image of the intersection, the position of the vehicle is located at the current position of the vehicle calculated by the calculating means. And an enlarged image control means for moving the vehicle position mark only on the road connected to the intersection in the enlarged image of the intersection when it is determined that the reliability is not high. .

  In addition to the configuration of the above-described invention, the enlarged intersection display device according to the present invention is configured such that when the enlarged image control means determines that the reliability is not high, the traveling direction of the vehicle is an approach path to the intersection of the vehicle. When the vehicle deviates from the direction or when the calculated distance between the current position of the vehicle and the intersection is equal to or less than a predetermined distance, the vehicle position mark is moved to the intersection.

  The intersection enlarged display device according to the present invention is an escape route from the intersection of the vehicle when the enlarged image control means determines that the reliability is not high, in addition to the configuration of each invention described above. When the vehicle is in a direction along the direction of the vehicle or when the calculated distance between the current position of the vehicle and the intersection exceeds a predetermined distance, the vehicle position mark is moved on the escape route from the intersection.

  In addition to the configuration of each of the inventions described above, the enlarged intersection display device according to the present invention can display the vehicle position mark only on the approach road to the intersection when it is determined that the reliability is not high. It is something that moves.

  Another intersection enlarged display device according to the present invention includes a display means for displaying a vehicle position mark indicating the current position of the vehicle in an enlarged image of a predetermined range around the intersection, and a calculation for calculating the current position of the vehicle. Means for determining whether the calculated reliability of the current position of the vehicle is high, and, if the reliability is determined to be high, in the enlarged image of the intersection, the current position of the vehicle calculated by the calculating means is automatically determined. When the vehicle position mark is moved and it is determined that the reliability is not high, an enlarged image control unit that does not display the enlarged image of the intersection and the vehicle position mark on the display unit is provided.

  The intersection enlarged display device according to the present invention or another intersection enlarged display device according to the present invention includes the number of GPS satellites received by the determination means and the GPS satellites received by the determination means in addition to the configuration of each invention described above. At least one selected from the following: the position of the vehicle, the amount of deviation between the current position based on the received radio wave of the GPS satellite and the current position based on the vehicle speed pulse and the gyro sensor, the distance from the current position of the vehicle to the road, and the width of the intersection The reliability of the calculated current position of the vehicle is determined based on one piece of information.

  The navigation device according to the present invention is calculated by displaying means for displaying a guide route and a vehicle position mark indicating the current position of the vehicle on a map image, and calculating means for calculating the current position of the vehicle. Based on the current position of the vehicle, an approach determining means for determining whether or not the vehicle is approaching an intersection that makes a turn in the guide route, and when it is determined that the vehicle is not approaching the intersection, the calculation is performed on the guide route. The map image control means for moving the vehicle position mark in the map image to a position corresponding to the current position of the vehicle, and the reliability of the calculated current position of the vehicle when it is determined that the vehicle is approaching the intersection When it is determined that the level of determination is high and the reliability is high, an image obtained by superimposing the vehicle position mark at the calculated current position of the vehicle on the enlarged image of the intersection is displayed on the display unit. If it is determined that the degree is not high, an image in which the vehicle position mark is superimposed only on the road connected to the intersection in the enlarged image of the intersection is displayed on the display means, or the enlarged image of the intersection and the own vehicle are displayed. And an enlarged image control unit that does not display the position mark on the display unit.

  The intersection enlarged display method according to the present invention includes a step of displaying an own vehicle position mark indicating the current position of the vehicle on an enlarged image of a predetermined range around the intersection, and a step of calculating the current position of the vehicle. The step of determining the reliability of the current position of the vehicle, and if the reliability is determined to be high, the vehicle position mark is moved to the calculated current position of the vehicle in the enlarged image of the intersection, and the reliability is If it is determined that the vehicle position mark is not high, the vehicle position mark is moved only on the road connected to the intersection in the enlarged image of the intersection.

  Another intersection enlarged display method according to the present invention includes a step of displaying a vehicle position mark indicating the current position of the vehicle on an enlarged image of a predetermined range around the intersection, a step of calculating the current position of the vehicle, In the step of determining the level of reliability of the calculated current position of the vehicle and when it is determined that the level of reliability is high, in the enlarged image of the intersection, the vehicle position mark is moved to the calculated current position of the vehicle, And a step of not displaying an enlarged image of the intersection and the vehicle position mark when it is determined that the reliability is not high.

  In the present invention, when stopping at a structure displayed near an intersection while effectively suppressing the displacement of the display position of the vehicle position mark due to the accuracy of the current position by calculation, the vehicle position mark is Can be displayed.

  Hereinafter, an intersection enlarged display device, a navigation device, and an intersection enlarged display method according to embodiments of the present invention will be described with reference to the drawings. The navigation device will be described by taking an in-vehicle navigation device as an example. The intersection enlarged display device will be described as a part of the configuration of the in-vehicle navigation device. The intersection enlarged display method will be described as a part of the operation of the in-vehicle navigation device.

  FIG. 1 is a block diagram showing a hardware configuration of an in-vehicle navigation device according to an embodiment of the present invention.

  The in-vehicle navigation apparatus shown in FIG. 1 includes a central processing unit (CPU) 1, a random access memory (RAM) 2, a hard disk drive 3, a liquid crystal monitor 4 as display means, and an I / O (Input). / Output) port 5 and a system bus 6 for connecting them.

  The hard disk drive 3 is a data storage device that stores programs and data. The central processing unit 1 executes a program and realizes functions described in the program. The RAM 2 is a semiconductor memory that stores programs and data being executed. The liquid crystal monitor 4 is a display device that displays an image based on display data.

  Peripheral devices are connected to the I / O port 5. A GPS receiver 7, a vehicle speed pulse counter 8, and a gyro sensor 9 are connected to the I / O port 5 of this embodiment as peripheral devices.

  The GPS receiver 7 is a position information acquisition device that receives a radio wave from a GPS satellite and outputs reception data included in the radio wave and a reception time of the radio wave. The received data includes a spatial coordinate value indicating a position when the GPS satellite outputs the radio wave and information indicating a transmission time. The values of the spatial coordinates are indicated as latitude, longitude, and altitude values in a predetermined geodetic system such as WGS84.

  The vehicle speed pulse counter 8 is a speed information generation device that counts pulses generated by a vehicle speed pulse generator (not shown) and outputs the count value. The vehicle speed pulse generator outputs pulses so that the number of pulses per unit time increases as the vehicle speed increases. Therefore, the count value output from the vehicle speed pulse counter 8 increases as the vehicle speed increases.

  The gyro sensor 9 is a traveling direction information generating device that detects the traveling direction and angular velocity of the vehicle and outputs data indicating the detected traveling direction.

  The liquid crystal monitor 4 may be connected to the system bus 6 via the I / O port 5. The I / O port 5 may be connected to a touch panel or the like as an input device that is disposed on the display screen of the liquid crystal monitor 4 and outputs a signal indicating the pressed portion.

  FIG. 2 is a diagram showing the contents stored in the hard disk drive 3 in FIG.

  The hard disk drive 3 stores a program group and a data group. The program group of the hard disk drive 3 includes a route guidance program 11. The data group of the hard disk drive 3 includes map data 12, node data 13, link data 14, and guide route data 15.

  The map data 12, node data 13, link data 14, and guide route data 15 are recorded on a computer-readable recording medium that can be inserted into and removed from the in-vehicle navigation device. The in-vehicle navigation device stores these data from this recording medium. You may make it read. Further, the program group and the data group may be recorded on separate recording media.

  The map data 12 has map display data. This map display data is image data obtained by converting a map of a predetermined area into luminance information for each dot. A map displayed based on the map display data is expressed by a distribution of luminance information for each dot. The predetermined area is, for example, all over Japan, the Kanto region, Tokyo, or the like. Examples of the predetermined area map include a road map and a house map.

  Further, the map data 12 has spatial coordinate data. With this spatial coordinate data, the value of the spatial coordinate of each point on the map displayed based on the display map data 12 and the value of the spatial coordinate of the point corresponding to each dot of the map display data can be specified.

  The node data 13 is data indicating points such as intersections and refraction points of roads included in a map of a predetermined area, and has a record for each point. Each record includes a node identification number for distinguishing each other from other records, point display data of each point, a spatial coordinate value of the point, and the like. The image of the intersection displayed based on the point display data includes a road connected to the intersection and facilities around the intersection such as a convenience store.

  The link data 14 is data indicating roads included in a map of a predetermined area, and has a record for each road. Each road record includes a link identification number for distinguishing it from other road records, attribute information of each road, a node identification number of an intersection serving as a start point or an end point of the road, and the like. The attribute information of each road includes, for example, information on the type of road such as an expressway, information on the structure of the road such as the road width and the number of lanes, and the like.

  The guide route data 15 is data indicating the guide route of the vehicle, and is configured, for example, as a list of node identification numbers arranged in the order of passage through the guide route. The guide route data 15 may be configured as a list of link identification information arranged in the order of passage through the guide route. The guide route data 15 is generated by route search processing.

  The route guidance program 11 is executed by the central processing unit 1 to realize a route guidance function in the in-vehicle navigation device. FIG. 3 is a block diagram showing a route guidance function realized in the in-vehicle navigation device when the central processing unit 1 of FIG. 1 executes the route guidance program 11. When the central processing unit 1 executes the route guidance program 11, the in-vehicle navigation device includes a host vehicle position calculation unit 21 as a calculation unit, a reliability determination unit 22 as a determination unit, an enlarged image control unit, an approach determination unit, and A guidance display unit 23 as a map image control means is realized.

  The own vehicle position calculation unit 21 receives the reception data output from the GPS receiver 7, the count value of the vehicle speed pulse output from the vehicle speed pulse counter 8, and the data indicating the traveling direction output from the gyro sensor 9. . Based on these detection values, the host vehicle position calculation unit 21 calculates a spatial coordinate value indicating the current position of the vehicle and traveling direction data indicating the current traveling direction of the vehicle.

  Received data output from the GPS receiver 7 is input to the reliability determination unit 22. And the reliability determination part 22 determines the reliability of the value of the spatial coordinate which shows the present position of a vehicle based on the reception data which this GPS receiver 7 outputs.

  The guidance display unit 23 includes a spatial coordinate value indicating the current position of the vehicle calculated by the vehicle position calculation unit 21, traveling direction data indicating the current traveling direction of the vehicle, and a reliability determination result by the reliability determination unit 22. Are entered. The guidance display unit 23 causes the liquid crystal monitor 4 to display a map image including the current position of the vehicle, a guidance route, and a vehicle position mark based on the information.

  Next, the operation of the in-vehicle navigation device according to the embodiment of the present invention will be described. FIG. 4 is a flowchart showing a flow of route guidance processing in the embodiment of the present invention.

  In the in-vehicle navigation device, first, the vehicle position calculation unit 21 receives the reception data output from the GPS receiver 7, the count value of the vehicle speed pulse output from the vehicle speed pulse counter 8, and the traveling direction information output from the gyro sensor 9. Based on the above, the value of the spatial coordinate that is the current position of the vehicle is calculated (step S1).

  Specifically, for example, when receiving data from four or more satellites is input from the GPS receiver 7, the vehicle position calculation unit 21 calculates the spatial coordinates included in the four or more receiving data. Based on the value, the transmission time, and the reception time of the radio waves of the received data, the value of the spatial coordinates of the current position of the vehicle is calculated.

  Further, when reception data from three or more satellites is input from the GPS receiver 7, the vehicle position calculation unit 21 is based on the value of the spatial coordinates included in the three or more reception data. The value of the spatial coordinates of the current position of the vehicle is calculated.

  Furthermore, when only received data from two or less satellites is input from the GPS receiver 7, the vehicle position calculation unit 21 is based on the count value of the vehicle speed pulse and the data indicating the traveling direction of the gyro sensor 9. , The moving distance and moving direction of the vehicle from the timing at which the current position spatial coordinate value was last calculated based on the received data, and the latest spatial coordinate value calculated last based on the received data Based on the moving distance and moving direction, the value of the spatial coordinates of the current position of the vehicle is calculated.

  In addition, the vehicle position calculation unit 21 specifies the direction indicated by the gyro sensor 9 as the current movement direction of the vehicle and outputs it as traveling direction data.

  And the own vehicle position calculating part 21 performs a map matching calculation process with a predetermined frequency (step S2). Specifically, for example, the host vehicle position calculation unit 21 specifies a link in which the current position of the vehicle calculated from the outputs of the GPS receiver 7, the vehicle speed pulse counter 8, and the gyro sensor 9 overlaps from the link data 14. When there is no link where the current position of the vehicle overlaps, the own vehicle position calculation unit 21 specifies the link closest to the current position of the vehicle.

  Based on the node data 13 and the link data 14, for example, the host vehicle position calculation unit 21 specifies the link having the shortest perpendicular line extending from the current position of the vehicle to the link as the link closest to the current position of the vehicle. To do. Hereinafter, the position where the current position of the vehicle on the link overlaps, or the intersection of the perpendicular and the link will be referred to as the map matching position of the vehicle. Then, the own vehicle position calculation unit 21 corrects the current position of the vehicle to the map matching position of the link closest to the current position of using the vehicle.

  When the vehicle position calculation unit 21 generates the value of the spatial coordinates that are the current position of the vehicle and the traveling direction data indicating the traveling direction of the vehicle, the guidance display unit 23 starts display processing based on them.

  Next, the guidance display unit 23 determines whether or not the corner of the guidance route is approaching. Specifically, for example, the guidance display unit 23 first determines whether or not the end point of the identified link is a corner of the guidance route included in the guidance route data 15. When the end point of the identified link is a corner of the guide route included in the guide route data 15, the guide display unit 23 further determines that the distance between the map matching position of the vehicle and the end point of the link is equal to or less than a predetermined distance. Determine whether or not. When the distance between the map matching position of the vehicle and the end point of the link is equal to or less than a predetermined distance, for example, 500 m, the guidance display unit 23 determines that the vehicle has approached the corner of the guidance route. Is determined not to approach the corner of the guide route.

  When it is determined that the vehicle is not approaching the corner of the guide route, the guidance display unit 23 reads map display data corresponding to a predetermined map range including the current position of the vehicle from the map data 12, and further displays the map display data in the predetermined map range. The included guide route is read from the guide route data 15.

  Subsequently, the guidance display unit 23 generates display data in which the guidance route based on the read guidance route data 15 and the vehicle position mark are superimposed on the map image based on the read map display data, and the liquid crystal monitor 4 displays the display data. Output. At this time, the own vehicle position mark is superimposed on the current position of the own vehicle, and is also superimposed in the direction of the traveling direction of the vehicle specified by the own vehicle position calculation unit 21.

  Thereby, the user of the in-vehicle navigation device can grasp the current position of the own vehicle, the traveling direction of the own vehicle, the positional relationship between the own vehicle and the guide route, and the like based on the display screen displayed on the liquid crystal monitor 4. it can.

  After displaying the own vehicle position mark and the guidance route on the map image based on the map display data on the liquid crystal monitor 4, the guidance display unit 23 determines whether or not the route guidance is finished. Specifically, for example, the guidance display unit 23 compares the current position of the vehicle with the value of the spatial coordinates of the end point of the last link of the guidance route data 15, and if they match, the route is It is determined that the guidance has ended. In other cases, the guidance display unit 23 determines that the route guidance has not ended.

  And when it is judged that route guidance is not complete | finished, a vehicle-mounted navigation apparatus returns to step S1. If it is determined that the route guidance has ended, the in-vehicle navigation device ends the route guidance process.

  Thereby, the user can move from the start point to the end point of the guide route by moving the vehicle position mark along the guide route on the display screen of the liquid crystal monitor 4.

  By the way, when it is determined in step S3 that the guidance display unit 23 has approached the corner of the guidance route, the in-vehicle navigation device executes a subroutine for intersection enlarged display processing. FIG. 5 is a flowchart showing a subroutine for intersection enlarged display processing according to the embodiment of the present invention.

  In the intersection enlarged display process, first, the reliability determination unit 22 determines the reliability of the value of the spatial coordinates of the current position of the vehicle based on the reception data output from the GPS receiver 7 (step S11).

  Specifically, for example, the reliability determination unit 22 determines that the reliability is low when the number of satellites received by the GPS receiver 7 is three or less. In addition, even when the number of satellites received by the GPS receiver 7 is four or more, the reliability determination unit 22 determines that the reliability is when the DOP (Division Of Precision) value is equal to or greater than a predetermined threshold. Is determined to be low. Further, the reliability determination unit 22 determines that the reliability is high when the number of satellites received by the GPS receiver 7 is four or more and the DOP value is smaller than a predetermined threshold.

  The DOP value is an index indicating the accuracy of positioning by GPS. The larger the volume of a solid surrounded by a plurality of satellites and measurement points used for positioning by GPS, the smaller the value of DOP, which means that the positioning accuracy by GPS at that time is higher.

  When the reliability determination by the reliability determination unit 22 ends, the guidance display unit 23 reads from the node data 13 the intersection display data of the intersection that will be the next turn in the guidance route, and further, from the guidance route data 15, the intersection display data. The guide route included in the range displayed by is read (step S12).

  Subsequently, the guidance display unit 23 generates display data in which the guidance route based on the read guidance route data 15 and the vehicle position mark are superimposed on the enlarged image of the intersection based on the read intersection display data, and the liquid crystal monitor 4 (Step S13). At this time, the own vehicle position mark is once superimposed on the own vehicle position on the road link of the traveling path of the own vehicle, and is superimposed on the direction of the traveling direction of the vehicle specified by the own vehicle position calculation unit 21.

  FIG. 6 is a diagram showing an example of an enlarged image of the intersection that is initially displayed on the liquid crystal monitor 4 in FIG. 1 in the intersection enlarged display process according to the embodiment of the present invention. The intersection of the enlarged image that is displayed first when entering the intersection is an intersection where two roads intersect. Note that when two roads intersect in a cross on the display screen, one node corresponds to the intersection, and four links are connected to the node in a cross.

  In the enlarged image initially displayed when entering the intersection, the vehicle indicated by the own vehicle position mark 31 enters the intersection from the road on the lower side of the screen. In addition, a guide route 32 that turns left at the intersection is displayed. Furthermore, it is shown that the convenience store 33 exists in the corner just before the intersection. Thereby, the user can grasp | ascertain the direction of approach to the next turning corner in the guide route, and which direction should be turned at the turning corner.

  After the enlarged image of the first intersection is displayed on the liquid crystal monitor 4, the own vehicle position calculation unit 21 generates the value of the spatial coordinates and the traveling direction data of the vehicle that are the current position of the new vehicle (step S14). .

  Further, the guidance display unit 23 determines whether or not the current position of the vehicle newly generated by the own vehicle position calculation unit 21 is a point within the range of the enlarged image of the displayed intersection (step S15). . Note that it may be determined whether the distance of the current position of the vehicle from the intersection is within a predetermined distance such as 300 m, for example, rather than within the range of the enlarged image of the displayed intersection. Further, it may be determined that the current position is within the range of the enlarged image of the intersection until the gyro sensor 9 detects a left turn (in some cases, a right turn) of the vehicle.

  When the current position of the vehicle newly generated by the own vehicle position calculation unit 21 is a point within the range of the enlarged image of the displayed intersection, the guidance display unit 23 further displays the credit rating by the credit rating determination unit 22. It is determined whether or not it is determined to be high (step S16).

  If the credit quality determination unit 22 determines that the credit level is high in step S11, the guidance display unit 23 determines the position and orientation of the vehicle position mark 31 without changing the enlarged image of the intersection and the guide route 32. The own vehicle position calculation unit 21 generates display data changed to the current position and traveling direction of the newly generated vehicle, and outputs the display data to the liquid crystal monitor 4.

  If the display position of the own vehicle position mark 31 on the liquid crystal monitor 4 is changed, the process returns to step S14, and the own vehicle position calculation unit 21 generates a new vehicle current position and vehicle traveling direction data. The processing from step S14 to step S17 is performed until it is determined that the current position of the vehicle newly generated by the own vehicle position calculation unit 21 in step S15 is outside the range of the enlarged image of the displayed intersection. ,Repeated.

  When the vehicle position calculation unit 21 determines in step S15 that the current position of the newly generated vehicle is outside the range of the displayed enlarged image of the intersection, the guidance display unit 23 ends the intersection enlarged display process. To do. When the intersection enlargement display process ends, the guidance display unit 23 determines whether or not the route guidance is ended in step S6 of FIG.

  Thereby, when the reliability determination unit 22 determines that the reliability is high at the time of route guidance near the intersection, an enlarged image near the intersection is displayed, and the vehicle position mark 31 is displayed in the enlarged image of the intersection. The vehicle position calculation unit 21 sequentially moves to the current position of the vehicle.

  FIG. 7 is a diagram illustrating an example of an enlarged image of an intersection displayed on the liquid crystal monitor 4 in FIG. 1 when the creditworthiness determination unit 22 determines that the trustworthiness is high in the embodiment of the present invention. FIG. 7A is an enlarged image of the intersection when the vehicle enters the intersection, FIG. 7B is an enlarged image of the intersection after turning left at the intersection, and FIG. 7C is an intersection. It is an enlarged image of the intersection when stopping at a convenience store in front of.

  As described above, when the reliability determination unit 22 determines that the reliability is high, the own vehicle position mark 31 is placed at an arbitrary position in the enlarged image of the intersection according to the current position of the vehicle generated by the own vehicle position calculation unit 21. Can move. Therefore, it is possible to distinguish between the case where the intersection is turned to the left and the case where the user stops at the convenience store 33 before the intersection.

  On the other hand, if it is confirmed in step S16 that the creditworthiness determination unit 22 has determined that the creditworthiness is not high, the guidance display unit 23 determines the position of the vehicle position mark 31 without changing the enlarged image of the intersection and the guide route 32. The vehicle position calculation unit 21 generates display data changed from the newly generated current position of the vehicle to the position on the road link, and outputs the display data to the liquid crystal monitor 4. Specifically, the guidance display unit 23 controls the position and orientation of the own vehicle position mark 31 as follows when the reliability determination unit 22 determines that the reliability is not high.

  The guidance display unit 23, when the traveling direction data of the vehicle newly generated by the vehicle position calculation unit 21 is a direction along the direction of the approach path to the intersection of the vehicle, the vehicle position calculation unit 21 The vehicle position mark 31 is moved to the intersection of the perpendicular line from the current position of the newly generated vehicle to the link of the approach path and the link of the approach path. The direction of the vehicle position mark 31 is matched to the direction of the approach path. However, when the vehicle position reaches the intersection, that is, the node position, the position of the vehicle position mark 31 is fixed at the intersection until the left turn (in some cases, the right turn) is completed.

  When the traveling direction data of the vehicle newly generated by the own vehicle position calculation unit 21 changes by a predetermined first angle or more from the approach direction to the intersection, the guidance display unit 23 displays the direction of the own vehicle position mark 31. To the traveling direction data of the vehicle newly generated by the own vehicle position calculation unit 21.

  In addition, when the change of the advancing direction is detected in the state where the own vehicle position mark 31 has not reached the intersection, the guidance display unit 23 moves the own vehicle position mark 31 to the intersection. In that case, since the own vehicle position mark 31 may appear to fly over the enlarged image, the guidance display unit 23 moves the own vehicle position mark 31 smoothly and quickly to the intersection, You may make it rotate in.

  Thereafter, when the traveling direction data of the vehicle newly generated by the own vehicle position calculation unit 21 has changed by more than a predetermined second angle (> first angle) from the approach direction to the intersection, the guidance display unit 23 Moves the vehicle position mark 31 from the current position of the vehicle newly generated by the vehicle position calculation unit 21 to the intersection of the perpendicular to the exit road link and the link of the escape road. In addition, the direction of the vehicle position mark 31 is adjusted to the direction of the escape route.

  The first angle is, for example, 1/3 of the external angle formed by the link of the approach path to the intersection and the link of the exit path from the intersection, and the second angle is, for example, the approach path to the intersection. It is only necessary to set 2/3 of the outside angle formed by the link and the link of the escape route from the intersection at the intersection. In addition to this, for example, the first angle may be, for example, 10 degrees from the direction of the approach path to the intersection, and the second angle may be, for example, 10 degrees from the direction of the escape path from the intersection. Further, a change in the traveling direction may be detected based on the value of the angular velocity by the gyro sensor 9 instead of the angle.

  When the display position of the vehicle position mark 31 on the liquid crystal monitor 4 is changed, the guidance display unit 31 returns to step S14 and the vehicle position calculation unit 21 generates a new vehicle current position and a vehicle traveling direction. Process. The processing from step S14 to step S18 is determined to be a point outside the range of the enlarged image of the intersection displayed by the current position of the vehicle newly generated by the vehicle position calculation unit 21 in step S15. Repeat until.

  If it is determined in step S15 that the current position of the vehicle newly generated by the vehicle position calculation unit 21 is outside the range of the enlarged image of the displayed intersection, the guidance display unit 23 performs the enlarged intersection display process. Exit. When the intersection enlargement display process ends, the guidance display unit 23 determines whether or not the route guidance is ended in step S6 of FIG.

  FIG. 8 is a diagram illustrating an example of an enlarged image of an intersection displayed on the liquid crystal monitor 4 in FIG. 1 when the creditworthiness determination unit 22 determines that the trustworthiness is not high in the embodiment of the present invention. FIG. 8A is an enlarged image of the intersection when the vehicle enters the intersection, and FIG. 8B is an enlarged image of the intersection after turning left at the intersection.

  As described above, when the reliability determination unit 22 determines that the reliability is not high, the vehicle position mark 31 sequentially moves on the guidance route 32 in the enlarged image of the intersection.

  When the reliability determination unit 22 determines that the reliability is not high, there is a possibility that the accuracy of the current position of the vehicle generated by the vehicle position calculation unit 21 is not high. When the accuracy of the current position is not high, the current position of the vehicle generated by the vehicle position calculation unit 21 may be different from the actual position of the vehicle. When the own vehicle position mark 31 is simply moved according to the current position of the vehicle generated by the own vehicle position calculation unit 21, the vehicle position mark 31 passes after the intersection even though the intersection is bent. There is a possibility that it is displayed as if it is bent, or it is bent before the intersection so as to stop at a convenience store. In this embodiment, such display is suppressed.

  That is, in the vehicle-mounted navigation device according to this embodiment, the own vehicle position mark 31 moves only on the link of the approach path to the intersection and the link of the exit path from the intersection. The vehicle position mark 31 is displayed so as to bend at the intersection. Further, the vehicle position mark 31 is not displayed at a position deviated from the guide route 32.

  As described above, in this embodiment, the guidance display unit 23 displays the vehicle position mark 31 in the enlarged image of the intersection when the reliability determination unit 22 determines that the reliability of the vehicle position is high. The vehicle position calculation unit 21 moves to the current position of the vehicle. Therefore, when the reliability of the current position of the vehicle is high, the vehicle position mark 31 can be displayed at the calculated current position. As a result, the in-vehicle navigation device can distinguish and display the case where the intersection is bent and the case where the facility around the intersection is visited in the enlarged image of the intersection.

  Further, when the reliability determination unit 22 determines that the reliability of the vehicle position is not high, the guidance display unit 23 displays the vehicle position mark 31 in the enlarged image of the intersection from the approach road to the intersection or from the intersection. Move only on the escape route. Therefore, when the reliability of the current position of the vehicle is not high, the own vehicle position mark 31 moves without departing from the guide route. As a result, when the vehicle-mounted navigation device is bent at the intersection, the vehicle-mounted navigation device does not display the vehicle so as to bend past the intersection in the enlarged image of the intersection, or display the vehicle before the intersection.

  In this embodiment, when the reliability determination unit 22 determines that the reliability of the vehicle position is not high, the vehicle position mark 31 is moved to the intersection when the traveling direction of the vehicle deviates from the direction of the approach path to the intersection. To do. Therefore, in the enlarged image of the intersection, the own vehicle position mark 31 is controlled so as to be positioned once at the intersection. As a result, the own vehicle position mark 31 does not jump from the approach path to the exit path without passing through the intersection.

  In this embodiment, when the reliability determination unit 22 determines that the reliability of the vehicle position is not high, the vehicle position mark 31 is obtained when the traveling direction of the vehicle is in the direction along the direction of the escape route from the intersection. Move onto the escape route from the intersection. Therefore, it can be confirmed that the vehicle has turned a predetermined intersection according to the movement of the vehicle position mark 31.

  The above embodiment is an example of a preferred embodiment of the present invention, but the present invention is not limited to this, and various modifications and changes are possible.

  In the above embodiment, the reliability determination unit 22 determines the reliability of the value of the spatial coordinates of the current position of the vehicle based on the number of received GPS satellites and the DOP value based on the arrangement of the received GPS satellites. Is judged. In addition to this, for example, the reliability determination unit 22 may determine the reliability of the current position of the vehicle based only on the number of received GPS satellites or only on the DOP value.

  In addition, the reliability determination unit 22 has a deviation amount between the latitude and longitude calculated based on the count value of the vehicle speed pulse and the traveling direction of the gyro sensor 9 and the latitude and longitude based on the reception data output from the GPS receiver 7. If it is smaller than the predetermined threshold value, it may be determined that the reliability of the current position of the vehicle is high. In addition, the reliability determination unit 22 determines the current position of the vehicle when the distance between the current position of the vehicle calculated by the vehicle position calculation unit 21 and the link (map matching position) specified based on the current position is shorter than a predetermined threshold. It may be determined that the reliability is high. Further, the reliability determination unit 22 may determine that the reliability of the current position of the vehicle is high when the road width of the approach path to the intersection (the width of the intersection) is narrower than a predetermined threshold. Furthermore, the creditworthiness determination unit 22 may determine the creditworthiness of the current position of the vehicle by combining a plurality of these trustworthiness determination criteria.

  In the said embodiment, the creditworthiness determination part 22 judges a creditworthiness in two steps, and the guidance display part 23 controls the enlarged display of an intersection according to each step. In addition to this, for example, the creditworthiness determination unit 22 may determine the creditworthiness in three or more stages, and the guidance display unit 23 may control the enlarged display of the intersection according to each stage.

  In the said embodiment, when the reliability determination part 22 determines with the reliability of the present position of a vehicle not being high, the guidance display part 23 displays the own vehicle position mark 31 from the approach path of an intersection, an intersection, and an intersection. Move on the escape route. In addition to this, for example, when the reliability determination unit 22 determines that the reliability of the current position of the vehicle is not high, the guidance display unit 23 displays an enlarged image of the intersection, the vehicle position mark 31 and the like on the liquid crystal monitor 5. Alternatively, the vehicle position mark 31 may be controlled so as to move only on the approach road and the intersection.

  In the said embodiment, the reliability determination part 22 determines reliability in the initial display of the enlarged display of an intersection, and the guidance display part 23 is updating the enlarged display of an intersection with reference to the determination. In addition, for example, the reliability determination unit 22 may determine the reliability every time the guidance display unit 23 updates the enlarged display of the intersection (that is, the display of the vehicle position mark 31).

  In the above embodiment, when the reliability of the current position of the vehicle is not high, the guidance display unit 23 determines the position of the own vehicle position mark according to the traveling direction data of the vehicle, the link of the approach path, the intersection, and the escape path. Switching between the links. In addition to this, for example, when the reliability of the current position of the vehicle is not high, the guidance display unit 23 determines whether or not the own vehicle according to whether the distance between the current position of the vehicle and the intersection is a predetermined distance or less. You may make it switch the position of a position mark between the link of an approach path, an intersection, and the link of an escape path. That is, the guidance display unit 23 moves the vehicle position mark 31 to the intersection when the distance between the current position of the vehicle and the intersection is equal to or less than a predetermined distance, and otherwise links the approach road. In addition, the vehicle position mark 31 may be moved on the link closer to the escape route link. In this way, by controlling the position of the vehicle position mark 31 according to the distance from the intersection, the guidance display unit 23 changes the direction of the vehicle position mark 31 on the link of the approach path and the link of the exit path. It can be controlled in the direction indicated by the traveling direction data of the vehicle.

  In the above embodiment, when the reliability of the current position of the vehicle is not high, the vehicle position mark 31 may be moved on the road link only according to the detected value of the vehicle speed pulse counter 8.

  The present invention can be used for an automobile navigation device, a pedestrian navigation device, other navigation devices, and the like.

FIG. 1 is a block diagram showing a hardware configuration of an in-vehicle navigation device according to an embodiment of the present invention. FIG. 2 is a diagram showing the contents stored in the hard disk drive in FIG. FIG. 3 is a block diagram showing a route guidance function realized in the in-vehicle navigation device when the central processing unit of FIG. 1 executes the route guidance program. FIG. 4 is a flowchart showing a flow of route guidance processing in the embodiment of the present invention. FIG. 5 is a flowchart showing a subroutine for intersection enlarged display processing according to the embodiment of the present invention. FIG. 6 is a diagram showing an example of an enlarged image of an intersection that is initially displayed on the liquid crystal monitor in FIG. 1 in the intersection enlarged display process according to the embodiment of the present invention. FIG. 7 is a diagram illustrating an example of an enlarged image of an intersection displayed on the liquid crystal monitor in FIG. 1 when the credit quality determination unit determines that the credit quality is high in the embodiment of the present invention. FIG. 8 is a diagram illustrating an example of an enlarged image of an intersection displayed on the liquid crystal monitor in FIG. 1 when the credit quality determination unit determines that the credit quality is not high in the embodiment of the present invention.

Explanation of symbols

4 LCD monitor (display means)
21 Own vehicle position calculation unit (calculation means)
22 Credit Rating Judgment Unit (Judgment means)
23 Guide display section (enlarged image control means, approach determination means, map image control means)
31 Vehicle position mark

Claims (9)

Display means for displaying a vehicle position mark indicating the current position of the vehicle on an enlarged image of a predetermined range around the intersection;
Computing means for computing the current position of the vehicle;
Determination means for determining the level of reliability of the calculated current position of the vehicle;
When it is determined that the reliability is high, in the enlarged image of the intersection, when the vehicle position mark is moved to the current position of the vehicle calculated by the calculation means, and it is determined that the reliability is not high An enlarged image control means for moving the vehicle position mark only on a road connected to the intersection in the enlarged image of the intersection;
An intersection enlargement display device characterized by comprising:   In the case where it is determined that the reliability is not high, the enlarged image control means determines that if the traveling direction of the vehicle deviates from the direction of the approach path to the intersection of the vehicle, or the calculated current position of the vehicle and the intersection The intersection enlarged display apparatus according to claim 1, wherein the vehicle position mark is moved to an intersection when the distance to the intersection is equal to or less than a predetermined distance.   In the case where it is determined that the reliability is not high, the enlarged image control means determines that the traveling direction of the vehicle is a direction along the direction of the escape route from the intersection of the vehicle or the calculated vehicle The intersection enlarged display device according to claim 1 or 2, wherein when the distance between the current position and the intersection is equal to or greater than a predetermined distance, the vehicle position mark is moved on an escape route from the intersection.   The intersection enlarged display apparatus according to claim 1 or 2, wherein, when it is determined that the reliability is not high, the enlarged image control means moves the own vehicle position mark only on an approach road to the intersection. . Display means for displaying a vehicle position mark indicating the current position of the vehicle on an enlarged image of a predetermined range around the intersection;
Computing means for computing the current position of the vehicle;
Determination means for determining the level of reliability of the calculated current position of the vehicle;
When it is determined that the reliability is high, in the enlarged image of the intersection, when the vehicle position mark is moved to the current position of the vehicle calculated by the calculation means, and it is determined that the reliability is not high An enlarged image control means that does not display the enlarged image of the intersection and the vehicle position mark on the display means;
An intersection enlargement display device characterized by comprising:   The determination means includes the number of GPS satellites received, the arrangement of the received GPS satellites, the amount of deviation between the current position based on the received radio waves of the GPS satellites and the current position based on the vehicle speed pulse and the gyro sensor, 6. The reliability of the calculated current position of the vehicle is determined based on at least one information selected from the distance from the current position to the road and the width of the intersection. The intersection enlarged display device according to any one of the above. A display means for displaying a guidance route and a vehicle position mark indicating the current position of the vehicle on the map image;
Computing means for computing the current position of the vehicle;
Based on the calculated current position of the vehicle, an approach determining means for determining whether or not the vehicle is approaching an intersection that makes a turn in the guide route;
Map image control means for moving the vehicle position mark in the map image to a position corresponding to the calculated current position of the vehicle on the guide route when it is determined that the vehicle is not approaching an intersection; ,
When it is determined that the vehicle is approaching an intersection, determination means for determining the level of reliability of the calculated current position of the vehicle,
When it is determined that the reliability is high, an image obtained by superimposing the vehicle position mark at the calculated current position of the vehicle on the enlarged image of the intersection is displayed on the display means, and it is determined that the reliability is not high. In such a case, an image in which the vehicle position mark is superimposed only on the road connected to the intersection in the enlarged image of the intersection is displayed on the display means, or the enlarged image of the intersection and the vehicle position mark are displayed. Enlarged image control means that does not display the display means,
A navigation device comprising: Displaying a vehicle position mark indicating the current position of the vehicle on an enlarged image of a predetermined range around the intersection;
Calculating the current position of the vehicle;
Determining the level of reliability of the calculated current position of the vehicle;
When it is determined that the reliability is high, in the enlarged image of the intersection, the vehicle position mark is moved to the calculated current position of the vehicle, and when it is determined that the reliability is not high, the intersection Moving the vehicle position mark only on the road connected to the intersection in the enlarged image of
An intersection enlarged display method characterized by comprising: Displaying a vehicle position mark indicating the current position of the vehicle on an enlarged image of a predetermined range around the intersection;
Calculating the current position of the vehicle;
Determining the level of reliability of the calculated current position of the vehicle;
When it is determined that the reliability is high, in the enlarged image of the intersection, the vehicle position mark is moved to the calculated current position of the vehicle, and when it is determined that the reliability is not high, the intersection A step of not displaying the enlarged image of the vehicle and the vehicle position mark,
An intersection enlarged display method characterized by comprising:

Images