JP2007278763A - Device for displaying present position - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a navigation device 20 capable of appropriately displaying the current position of a vehicle, when the vehicle turns to the right or to the left at an intersection, in matching with the behavior of the actual vehicle. <P>SOLUTION: When there is an intersection where a vehicle should turn to the left in a recommended route within a forward predetermined distance from the current position of the vehicle, the navigation device 20 corrects the current position of the vehicle to a position closer to the intersection, where it should turn to the left than to the current position of the vehicle, according to the distance from the intersection where it should turn to the left to the current position of the vehicle, and displays the corrected current position on a display device 13. When there is an intersection where the vehicle should turn to the right in the recommended route within the forward predetermined distance from the current position of the vehicle, the navigation device 20 corrects the current position of the vehicle to a position located farther from the intersection where it should turn to the right than from the current position of the vehicle, according to the distance from the intersection where it should turn to the right to the current position of the vehicle, and displays the corrected current position on the display device 13. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a technique that is mounted on a moving body such as a vehicle and calculates and displays the current position of the moving body.

  Patent Document 1 discloses a vehicle according to the relative position from the current position of the vehicle obtained last time based on the traveling direction of the vehicle measured by an orientation sensor such as a gyro and the traveling distance of the vehicle measured by a vehicle speed sensor or a distance sensor. A navigation device that estimates the current position of the vehicle on the road in the map data by obtaining the current virtual position and aligning the virtual current position with the road position in the map data is disclosed.

  The technique described in Patent Document 1 extracts all roads within a predetermined range centered on the virtual current position of the vehicle determined based on the amount of change in travel direction and travel distance, and each of all the extracted roads Calculate the correlation coefficient with the virtual current position of the vehicle, select the road corresponding to the correlation coefficient indicating the least error relative to the virtual current position as the road where the vehicle is located, and place it on the selected road A so-called map match is performed to estimate the current position of the vehicle.

  In some cases, the navigation device approximates a road with a line segment called a link and stores it in a storage device. In this case, the current position of the vehicle calculated according to the relative displacement of the vehicle is arranged on the link.

JP-A-63-148115

  By the way, the link indicating the road often corresponds to the center of the road, and at the intersection, the intersection of the intersecting links often corresponds to the center of the intersection. When turning left at an intersection, the vehicle often enters the intersection while traveling on the left end of the road, and turns left at the intersection through a position away from the center of the intersection while passing through the left end of the road. On the other hand, the navigation device normally does not perform map matching because the traveling direction of the vehicle is not fixed while the vehicle is turning. Therefore, even though the vehicle has made a left turn at the intersection, the current position of the vehicle will be displayed on the road that is to turn left before the intersection (the intersection of the links that make up the intersection) and should turn left In some cases, the display was unnatural.

  Further, the navigation device has a route guidance function for searching for a recommended route based on a user instruction and guiding the vehicle based on the searched route. In such a route guidance function, in order to prompt a right or left turn according to the guidance route in the vicinity of an intersection that should make a right or left turn, the intersection that should make a right or left turn may be enlarged and displayed along with the direction of the right or left turn and the current position of the vehicle. is there. Therefore, during route guidance, there is a problem that the unnatural behavior of displaying the current position of the vehicle when turning left at an intersection is particularly easy to understand.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to appropriately display the current position of the vehicle when turning left at an intersection in accordance with the actual behavior of the vehicle.

  In order to solve the above-mentioned problem, the present position display device of the present invention, when there is an intersection to make a right turn or a left turn on the recommended route within a predetermined distance ahead of the current position of the vehicle, from the intersection to make a right turn or a left turn According to the distance to the current position of the vehicle, the current position of the vehicle is corrected to a position close to the center of the intersection to be turned right or left, and the corrected current position is displayed on the display device.

  In addition, the first aspect of the present invention is a navigation device that is mounted on a vehicle and guides the traveling of the vehicle according to a recommended route, for example, and stores link data of each link constituting a road on a map. Storage means; current position update means for periodically calculating the relative displacement of the vehicle from the previously calculated current position of the vehicle and periodically updating the current position of the vehicle; and current position update means at a predetermined timing The current position of the vehicle updated by the current position is compared with each link stored in the link data storage means, and the current position of the vehicle updated by the current position update means is aligned with the most probable link. In addition, a map match processing means for periodically updating the current position of the fitted vehicle based on a periodically calculated relative displacement of the vehicle, and a recommended route. In addition, the distance between the current position of the vehicle periodically updated by the current position update means and the intersection to turn left ahead of the current position of the vehicle is equal to or less than the correction start distance that is the distance to start correction. In this case, the current position of the vehicle is corrected to a position closer to the intersection to turn left than the current position of the vehicle according to the distance from the intersection to the left to the current position of the vehicle. Provided is a navigation device comprising display correcting means for displaying a current position on a display device.

  In addition, the second aspect of the present invention is a navigation device that is mounted on a vehicle and guides the traveling of the vehicle according to a recommended route, for example, and stores link data for each link that constitutes a road on a map. Storage means; current position update means for periodically calculating the relative displacement of the vehicle from the previously calculated current position of the vehicle and periodically updating the current position of the vehicle; and current position update means at a predetermined timing The current position of the vehicle updated by the current position is compared with each link stored in the link data storage means, and the current position of the vehicle updated by the current position update means is aligned with the most probable link. In addition, a map match processing means for periodically updating the current position of the fitted vehicle based on a periodically calculated relative displacement of the vehicle, and a recommended route. In addition, the distance between the current position of the vehicle periodically updated by the current position update means and the intersection to turn right ahead of the current position of the vehicle is equal to or less than the correction start distance that is the distance at which correction is started. In this case, according to the distance from the intersection to be turned right to the current position of the vehicle, the current position of the vehicle is corrected to a position farther from the intersection to be turned right than the current position of the vehicle. Provided is a navigation device comprising display correcting means for displaying a current position on a display device.

  ADVANTAGE OF THE INVENTION According to this invention, the display of the present position of the vehicle in the case of turning right or left at an intersection can be appropriately displayed according to the actual behavior of the vehicle.

  Embodiments of the present invention will be described below.

  FIG. 1 is a block diagram showing a configuration of a navigation system 10 according to an embodiment of the present invention. The navigation system 10 is mounted on a moving body such as a vehicle, and includes an input unit 11, a sensor 12, a display device 13, and a navigation device 20.

  The sensor 12 is a GPS receiver, an acceleration sensor, a direction sensor, a vehicle speed sensor, or the like, and measures the current position of the vehicle with respect to the geodetic satellite, the traveling direction of the vehicle, the moving distance of the vehicle, and the like.

  The navigation device 20 stores map data including road data, calculates the relative displacement of the vehicle based on the measurement signal from the sensor 12, and calculates the current position of the vehicle based on the map data and the calculated relative displacement. To do. Then, the navigation device 20 calculates the display position of the vehicle based on the calculated current position of the vehicle and displays it on the display device 13.

  In addition, when the navigation device 20 receives a search instruction for a recommended route together with a departure point, a destination point, a search condition, and the like from the user of the navigation system 10 via the input unit 11, the navigation device 20 refers to road data included in the map data. Then, the recommended route from the departure point to the destination point received from the user is searched, and the route point and required time of the searched recommended route are displayed on the display device 13.

  When the navigation device 20 receives a route guidance instruction based on the recommended route from the user of the navigation system 10 via the input unit 11, the navigation device 20 displays the display position of the vehicle on the display device 13 together with the searched recommended route. To do.

  The display device 13 has a function of displaying the display position of the vehicle as an image and playing back sound, and plays back voice guidance and the like generated together with the recommended route by the navigation device 20 together with the position of the vehicle.

  Next, the navigation device 20 will be described in more detail. The navigation device 20 includes a map match processing unit 200, a current position calculation unit 201, a display correction unit 202, a map storage unit 203, a route search unit 204, a route storage unit 205, and a route guidance unit 206.

  The map storage unit 203 stores map data and link data obtained by approximating roads with line segments called links. Each link is associated with the length of the link on the map, the width, the travel time when the vehicle travels, the start point coordinates and the end point coordinates of the link, and the like.

  The current position calculation unit 201 calculates the travel distance of the vehicle based on the measurement signal from the sensor 12. Then, every time the travel distance of the vehicle reaches a predetermined distance (2 m in this example), the current position calculation unit 201 calculates the vehicle position acquired from the sensor 12 for each vehicle candidate point previously calculated by the map match processing unit 200. With respect to the direction of travel direction, so-called dead reckoning is performed in which the predetermined distance is added to the candidate point to move the position of each candidate point to generate a virtual current position.

  In addition, one of the candidate points previously calculated by the map match processing unit 200 is determined as a display candidate point to be displayed as the current position of the vehicle by the map match processing unit 200, and the current position calculation unit 201 After dead reckoning is performed for each of the plurality of candidate points, only the virtual current position corresponding to the display candidate point is output to the display correction unit 202 and the route guidance unit 206.

  The map match processing unit 200 calculates the travel distance of the vehicle based on the measurement signal from the sensor 12, and the current position calculation unit 201 performs dead reckoning every time the calculated travel distance reaches a predetermined distance (20 m in this example). Map match processing is performed for each virtual current position that has been subjected to. The map matching process refers to a link within a predetermined range from the virtual current position obtained by dead reckoning with reference to the map storage unit 203, and an azimuth difference from the traveling direction of the vehicle at the virtual current position is A link within a predetermined angle is extracted, and the current candidate point is calculated on the extracted link. If there is no link within the predetermined range from the virtual current position, the map match processing unit 200 calculates the virtual current position as the current candidate point in the free state.

  Then, the map match processing unit 200 calculates the current candidate point from the azimuth difference θ between the calculated traveling direction of the vehicle at the virtual current position and the calculated direction of the link where the current candidate point is located, and the virtual current position. Based on the distance L to the link where is located, the reliability of each candidate point is calculated. Then, the map match processing unit 200 determines display candidate points from the current candidate points based on the respective reliability of the current candidate points. For example, the map match processing unit 200 may determine a candidate point with the highest reliability as a display candidate point.

  When the route search unit 204 receives a search instruction for a recommended route together with the departure point, destination point, search conditions, and the like from the user of the navigation system 10 via the input unit 11, the route search unit 204 refers to the map storage unit 203 and maps Based on the road data included in the data, a recommended route from the departure point to the destination point received from the user is searched using, for example, a known Dijkstra method. Then, the route search unit 204 displays the searched recommended route on the display device 13 and stores it in the route storage unit 205.

  The display correction unit 202, based on the recommended route searched by the route search unit 204, when there is an intersection to turn right or left within a predetermined distance ahead of the display candidate point calculated by the current position calculation unit 201, A display position is generated by correcting the position of the display candidate point by a method described later, and the generated display position is displayed on the display device 13. On the other hand, when there is no intersection to be turned left or right within a predetermined distance ahead of the display candidate point calculated by the current position calculation unit 201, the display correction unit 202 uses the position of the display candidate point as a display position on the display device 13. indicate.

  When the route guidance unit 206 receives an instruction for route guidance based on the recommended route searched by the route search unit 204 from the user via the input unit 11, the route guidance unit 206 acquires a display candidate point of the vehicle from the current position calculation unit 201. The recommended route near the acquired display candidate point is displayed on the display device 13. At this time, the route guiding unit 206 is on the recommended route, and there is an intersection that should turn right or left within a predetermined distance in front of the display candidate point acquired from the current position calculation unit 201 (for example, 700 m, 300 m, and 100 m). If it exists, the driver of the vehicle is notified that there is an intersection to turn right or left by causing the display device 13 to reproduce the sound or the like.

  Further, the route guidance unit 206 turns right or left on the display device 13 when there is an intersection to turn right or left within a predetermined distance (for example, 100 m) ahead of the display candidate point acquired from the current position calculation unit 201. An enlarged view of the intersection to be displayed is displayed together with the recommended route, and the driver is warned that the intersection to be turned right or left is approaching.

  2, 3 and 4 are conceptual diagrams for explaining an example of the relationship between the display candidate point 33 and the display position 34 of the vehicle when the vehicle makes a left turn according to the recommended route in the present invention. 2, 3, and 4 show examples in which the vehicle turns left at an intersection formed by roads that intersect at a substantially right angle.

  The vehicle travels according to the recommended route 30 searched by the route search unit 204, and the display candidate point when the vehicle enters within a predetermined distance (La in this example) from the intersection 32 of the plurality of links 31 forming the intersection to be turned left. When 33 has entered ((a) of FIG. 2), the display correction unit 202 uses the relational expression shown in the following Equation 3 to determine the distance from the intersection 32 to the display position 34 corresponding to the display candidate point 33. Ll ′ is calculated.

Here, La indicates a correction start distance to which Equation 1 is applied. Ld indicates the distance from the display position 34 of the vehicle immediately before turning left at the intersection to the intersection 32. Ll indicates the distance from the intersection point 32 to the display candidate point 33. Lw indicates the width of the link 31 where the vehicle is located immediately after turning left at the intersection according to the recommended route.

  Then, the display correction unit 202 generates a display position 34 at a position away from the intersection 32 by Ll ′, and displays the generated display position 34 on the display device 13. Then, the vehicle further travels, and the current position calculation unit 201 sets the display candidate point 33 to the position shown in FIG. 3A, that is, the display candidate point 33 from the intersection 32 to half the width of the road after the left turn. When calculated at a position that is about a distance away, the display correction unit 202 changes the display position 34 to the position shown in FIG. 3B based on Ll ′ calculated according to the relational expression shown in Equation 1, that is, The display position 34 is generated at a position about Ld away from the intersection point 32.

  When the vehicle turns left, the current position calculation unit 201 calculates the display candidate point 33 after the left turn to the position shown in FIG. 4A, and the display correction unit 202 sets the display position 34 after the left turn as shown in FIG. To the position shown in (b) of FIG.

  In this way, the display correction unit 202 is displayed at a position closer to the intersection 32 of the link 31 constituting the intersection to be turned left by ΔL = L1−L1 ′ = (Lw / 2) −Ld than the display candidate point 33. By displaying the position 34, as shown in FIG. 4B, the display position 34 of the vehicle can be turned left along the recommended route, and the display position 34 of the vehicle is displayed along the actual behavior of the vehicle. can do.

  Here, when turning left at the intersection, as shown in FIG. 5 (a), the vehicle 42 enters the intersection to turn left through the lane at the left end of the road, then turns left along the edge of the intersection, In many cases, the vehicle travels on the left side of the vehicle and moves away from the intersection. That is, the vehicle 42 turns left at the intersection through a position away from the intersection 41 of the center line 40 of the road forming the intersection. Further, each link that approximates a road with a line segment is often arranged so as to pass through the center line 40 of the corresponding road.

  Therefore, as shown in FIG. 5A, when the vehicle 42 turns left at the intersection, if the link and the current position data of the vehicle included in the map data are used, as shown in FIG. The behavior of the car mark 45 is as if turning left in front. However, since the vehicle is actually turning left at the intersection without departing from the road, the display of the current position of the vehicle is different from the actual behavior of the vehicle.

  The distance from the intersection 41 of the center line 40 of the road forming the intersection to the position in the intersection where the vehicle passes when turning left at the intersection is as long as the road where the vehicle is located after the left turn is wide at the intersection. The wider, the longer. Therefore, when turning left at the intersection and entering a wide road, the amount of deviation between the left turn position of the vehicle and the center of the intersection increases.

  Furthermore, during route guidance, in order to prompt the driver to make a left turn at an intersection that should turn left, the vicinity of the intersection that should turn left may be enlarged as shown in FIG. In such an enlarged display, the ratio of the width of each road that forms the intersection, the direction of each road, etc. are reproduced, but the vehicle starts making a left turn from the width of the road that forms the intersection and the center of the intersection In some cases, the ratio to the distance to the selected position is not necessarily the ratio at the actual intersection. Therefore, as shown in FIG. 5C, in the enlarged display of the intersection, the car mark 47 may be displayed so as to turn left before the intersection.

  On the other hand, in the present invention, as shown in FIG. 3A, immediately before turning left at the intersection to turn left, as shown in FIG. 3B, the display position 34 of the vehicle 42 is displayed as a display candidate. It is displayed at a position closer to the center of the intersection than point 33. Therefore, when the vehicle 42 turns left at the intersection as shown in FIG. 4, the display correction unit 202 can turn the display position 34 to the left at a position closer to the center of the intersection. Thereby, the navigation apparatus 20 can display the display when the vehicle makes a left turn at the intersection on the display device 13 with a behavior close to the actual behavior of the vehicle.

  In Equation 1, Ld is preferably half the lane width of one lane in the link where the vehicle is located immediately after the left turn at the intersection where the vehicle should turn left. As a result, when the user turns left from the position shown in FIG. 3B, the display position 34 is displayed on the link 31 as shown in FIG. 4B.

  6, FIG. 7, and FIG. 8 are conceptual diagrams for explaining an example of the display position of the vehicle when the vehicle turns right according to the recommended route in the present invention. 6, 7, and 8 show examples in which the vehicle turns left at an intersection formed by roads that intersect at a substantially right angle.

  When the vehicle travels in accordance with the recommended route 50 searched by the route search unit 204 and the display candidate point 53 of the vehicle enters within a predetermined distance (Ra in this example) from the intersection 52 of the link 51 that forms the intersection to be turned to the right ( 6 (a)), the display correction unit 202 uses the relational expression shown in the following equation 4 to position the vehicle immediately after the right turn at the intersection where the display position 54 corresponding to the display candidate point 53 should turn right. The distance Rl ′ from the link 51 to be calculated is calculated.

Here, Ra indicates a correction start distance to which Equation 1 is applied. Rd indicates the distance at which Rl ′ = 0 after the vehicle turns right. Rl indicates the distance from the intersection 52 to the display candidate point 53.

  Then, the display correction unit 202 generates a display position 54 at a position away from the intersection 52 by Rl ′, and displays the generated display position 54 on the display device 13. When the vehicle further travels and the current position calculation unit 201 calculates the display candidate point 53 to the position shown in FIG. 7A, that is, the display candidate point 53 to the position of Rl = 0, the display correction unit. 202 generates the display position 54 based on Rl ′ calculated according to the relational expression shown in Equation 2 at the position shown in FIG. To do.

  When the right turn of the vehicle is completed, the current position calculation unit 201 calculates the display candidate point 53 after the right turn to the position shown in FIG. 8A, and the display correction unit 202 sets the display position 54 after the right turn. Calculation is made at the position shown in FIG.

  Thus, the display correction unit 202 displays the display position 54 at a position farther from the intersection 52 than the display candidate point 53 by ΔL = Rl′−Rl = Rd (Ra−Rl) / (Ra + Rd). As shown in FIG. 8B, the display position 54 of the vehicle can be turned right along the recommended route, and can be displayed along the actual behavior of the vehicle.

  FIG. 9 is a flowchart illustrating an example of route search processing and route guidance processing. The navigation device 20 starts the processing shown in this flowchart at a predetermined timing such as when the engine of the vehicle is started.

  First, the route search unit 204 determines whether a search instruction for a recommended route has been received from the user together with the departure point, destination point, search conditions, and the like via the input unit 11 (S100). When the route search instruction is received (S100: Yes), the route search unit 204 refers to the road data included in the map data stored in the map storage unit 203 and recommends from the departure point to the destination point received from the user. A route is searched (S101). Then, the route search unit 204 displays the route point and required time of the recommended route searched for on the display device 13, stores the search result in the route storage unit 205 (S 102), and performs the processing shown in step 100 again. Do.

  In step 100, when the route search instruction is not received (S100: No), the route guidance unit 206 determines whether or not the route guidance instruction based on the recommended route searched from the user is received via the input unit 11. (S103). When the route guidance instruction is not received (S103: No), the route search unit 204 performs the process shown in Step 100 again.

  In step 103, when a route guidance instruction is received (S103: Yes), the route guidance unit 206 acquires a display candidate point of the vehicle from the current position calculation unit 201 (S104). Then, the route guidance unit 206 displays the recommended route near the display candidate point of the acquired vehicle on the display device 13 (S105).

  Next, the route guiding unit 206 determines whether there is an intersection to turn right or left within a predetermined distance ahead of the display candidate point of the vehicle based on the recommended route (S106). When there is no intersection to be turned right or left (S106: No), the route guiding unit 206 performs the process shown in step 108.

  When there is an intersection to turn right or left (S106: Yes), the route guidance unit 206 causes the display device 13 to reproduce the voice guidance, causes the display device 13 to display an enlarged view of the intersection, or both processing. To notify the driver that there is an intersection to turn right or left within a predetermined distance ahead.

  Then, the route guidance unit 206 determines whether or not a route guidance end instruction has been received (S108). When the route guidance end instruction has not been received (S108: No), the route guidance unit 206 performs the process shown in step 104 again. When a route guidance end instruction is received (S108: Yes), the route search unit 204 performs the process shown in step 100 again.

  FIG. 10 is a flowchart illustrating an example of a vehicle current position display process. For example, when the engine of the vehicle is started, the navigation device 20 starts the current position calculation process shown in this flowchart.

  First, the current position calculation unit 201 determines whether or not a predetermined time (100 ms in this example) has elapsed with reference to a timer value (S200). If the predetermined time has not elapsed (S200: No), the current position calculation unit 201 repeats step 200 until the predetermined time has elapsed.

  When the predetermined time has elapsed (S200: Yes), the current position calculation unit 201 resets the timer and acquires a measurement signal from the sensor 12 (S201). Then, the current position calculation unit 201 calculates the relative displacement of the vehicle based on the measurement signal acquired from the sensor 12, and whether or not the travel distance of the vehicle from the previous time is equal to or greater than a predetermined distance (2 m in this example). Is determined (S202). When the travel distance from the previous time is less than the predetermined distance (S202: No), the current position calculation unit 201 performs the process shown in step 200 again.

  When the travel distance from the previous time is equal to or greater than the predetermined distance (S202: Yes), the current position calculation unit 201 acquires the travel direction of the vehicle acquired from the sensor 12 for each candidate vehicle point calculated by the map match processing unit 200 last time. In this direction, dead reckoning processing is performed in which the position of each candidate point is moved to generate a virtual current position by adding the predetermined distance to the candidate point (S203).

  Then, the map match processing unit 200 determines whether or not the travel distance of the vehicle has reached a predetermined distance (20 m in this example) (S204). When the predetermined distance has not been reached (S204: No), the display correction unit 202 performs a display correction process described later (S400), and the current position calculation unit 201 performs the process shown in step 200 again.

  When the predetermined distance is reached (S204: Yes), the map match processing unit 200 performs map match processing (to be described later) for each virtual current position subjected to dead reckoning by the current position calculation unit 201 (S300), and displays it. The correction unit 202 performs a display correction process described later.

  FIG. 11 is a flowchart illustrating an example of the map matching process. First, the map match processing unit 200 selects one of the virtual current positions calculated by the current position calculation unit 201 for each candidate point calculated last time (S301). Then, the map match processing unit 200 refers to the map storage unit 203 and arranges candidate points on the link within a predetermined range from the selected virtual current position (S302).

  Next, the map match processing unit 200 calculates the reliability of the candidate points arranged on the link (S303). Then, the map match processing unit 200 determines whether all virtual current positions have been selected (S304). If not all virtual current positions have been selected (S304: No), the map match processing unit 200 performs the process shown in step 301 again.

  When all the virtual current positions are selected (S304: Yes), the map match processing unit 200 determines a candidate point with the highest reliability among the calculated candidate points as a display candidate point (S305), and this flowchart. The map match process shown in FIG.

  FIG. 12 is a flowchart illustrating an example of the display correction process. First, the display correction unit 202 acquires display candidate points from the current position calculation unit 201, refers to the path storage unit 205, and turns left within a predetermined distance (La in this example) in front of the acquired display candidate points. It is determined whether there is a power intersection (S401).

  When there is an intersection to be turned left within a predetermined distance ahead of the display candidate point (S401: Yes), the display correction unit 202 corrects the correction distance according to the distance Ll from the position of the display candidate point to the intersection to be turned left. Ll ′ is calculated (S403). Then, the display correction unit 202 displays the position away from the intersection by the correction distance on the display device 13 as the display position of the vehicle (S405), and the display correction process shown in this flowchart ends.

  In step 401, when there is no intersection to turn left within a predetermined distance ahead of the display candidate point (S401: No), the display correction unit 202 refers to the route storage unit 205 and determines a predetermined distance ahead of the display candidate point. It is determined whether or not there is an intersection to turn right within (Ra in this example) (S402).

  When there is an intersection to turn right within a predetermined distance ahead of the display candidate point (S402: Yes), the display correction unit 202 corrects the correction distance according to the distance Rl from the position of the display candidate point to the intersection to turn right. Rl ′ is calculated (S404), and the process shown in step 405 is performed.

  In step 402, when there is no intersection to turn right within a predetermined distance ahead of the display candidate point (S402: No), the display correction unit 202 uses the position where the display candidate point is calculated as the display position of the vehicle. 13 (S406), and the display correction process shown in this flowchart ends.

  The embodiment of the present invention has been described above.

  As is clear from the above description, according to the present embodiment, the navigation device 20 that can appropriately display the current position of the vehicle when turning right or left at the intersection according to the actual behavior of the vehicle. Can be provided.

  In addition, this invention is not limited to said embodiment, Many deformation | transformation are possible within the range of the summary.

  For example, the map match processing unit 200, the current position calculation unit 201, the display correction unit 202, the route search unit 204, and the route guidance unit 206 in the navigation device 20 are ASIC (Application Specific Integrated Circuit), FPGA (Field Programmable Gate). It may be realized in hardware by an integrated logic IC such as Array), may be realized in software by a DSP (Digital Signal Processor), a general-purpose computer, etc., or may be partially realized in hardware or software. You may combine functional blocks.

1 is a block diagram showing a configuration of a navigation system 10 according to an embodiment of the present invention. In this invention, it is a conceptual diagram for demonstrating an example of the display position of a vehicle when a vehicle turns left according to a recommended route. In this invention, it is a conceptual diagram for demonstrating an example of the display position of a vehicle when a vehicle turns left according to a recommended route. In this invention, it is a conceptual diagram for demonstrating an example of the display position of a vehicle when a vehicle turns left according to a recommended route. It is a conceptual diagram for demonstrating the display position of the conventional vehicle in the case of turning left at an intersection. In this invention, it is a conceptual diagram for demonstrating an example of the display position of a vehicle when a vehicle turns right according to a recommended route. In this invention, it is a conceptual diagram for demonstrating an example of the display position of a vehicle when a vehicle turns right according to a recommended route. In this invention, it is a conceptual diagram for demonstrating an example of the display position of a vehicle when a vehicle turns right according to a recommended route. It is a flowchart which shows an example of a route search process and a route guidance process. It is a flowchart which shows an example of the present position display process of a vehicle. It is a flowchart which shows an example of a map match process. It is a flowchart which shows an example of the correction process for a display.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Navigation system, 11 ... Input part, 12 ... Sensor, 13 ... Display apparatus, 20 ... Navigation apparatus, 200 ... Map match process part, 201 ... Current position calculation 202: Display correction unit 203 ... Map storage unit 204 ... Route search unit 205 ... Path storage unit 206 ... Route guidance unit 30 ... Recommended route 31 ... Link, 32, 41, 44, 52 ... Intersection, 33, 53 ... Display candidate point, 34,54 ... Display position, 40 ... Center line, 42 ... Vehicle, 43, 51 ... link, 45, 47 ... car mark, 46 ... road, 48, 50 ... recommended route

Claims (6)

A navigation device that is mounted on a vehicle and guides the vehicle according to a recommended route,
Link data storage means for storing link data of each link constituting the road on the map;
Current position update means for periodically calculating the relative displacement of the vehicle from the current position of the vehicle calculated last time, and periodically updating the current position of the vehicle;
The vehicle updated by the current position update means on the most probable link by comparing the current position of the vehicle updated by the current position update means with each link stored in the link data storage means at a predetermined timing. A map match processing unit that periodically updates the current position of the fitted vehicle to the current position update unit based on a relative displacement of the vehicle that is periodically calculated;
Correction that the distance between the current position of the vehicle periodically updated by the current position update unit and the intersection to turn left ahead of the current position of the vehicle based on the recommended route is a distance to start correction When the distance is less than the start distance, the current position of the vehicle is closer to the intersection to be turned left than the current position of the vehicle in accordance with the distance from the intersection to the left to the current position of the vehicle. A navigation apparatus comprising: a display correcting unit that corrects and displays the corrected current position on a display device. The navigation device according to claim 1,
The link data includes information indicating the width of each link,
The display correcting means includes
The correction start distance is La, the distance from the node corresponding to the intersection to be turned left to the current position of the vehicle is Ll, and the vehicle is located after the intersection to be left turned according to the recommended route. When the width of the left turn link is Lw and the adjustment distance shorter than the lane width of the left turn link is Ld, the distance Ll from the node corresponding to the intersection to be turned left to the current position of the vehicle is the correction start distance La. In the case of the following, the navigation apparatus is characterized in that Ll ′, which is the distance from the node corresponding to the intersection to be turned left to the corrected current position, is calculated using the relational expression shown in the following formula 1. .

A navigation device according to claim 2,
The navigation apparatus according to claim 1, wherein the adjustment distance Ld is half the lane width of the left turn link. A navigation device that is mounted on a vehicle and guides the vehicle according to a recommended route,
Link data storage means for storing link data of each link constituting the road on the map;
Current position update means for periodically calculating the relative displacement of the vehicle from the current position of the vehicle calculated last time, and periodically updating the current position of the vehicle;
The vehicle updated by the current position update means on the most probable link by comparing the current position of the vehicle updated by the current position update means with each link stored in the link data storage means at a predetermined timing. A map match processing unit that periodically updates the current position of the fitted vehicle to the current position update unit based on a relative displacement of the vehicle that is periodically calculated;
Correction that the distance between the current position of the vehicle periodically updated by the current position update means and the intersection to be turned to the right ahead of the current position of the vehicle based on the recommended route is a distance to start correction When the distance is less than the starting distance, the current position of the vehicle is set farther from the intersection to be turned right than the current position of the vehicle according to the distance from the intersection to the right to the current position of the vehicle. A navigation apparatus comprising: a display correcting unit that corrects and displays the corrected current position on a display device. The navigation device according to claim 4,
The link data includes information indicating the width of each link,
The display correcting means includes
Ra is the second distance, Rl is the distance from the node corresponding to the intersection to be turned right to the current position of the vehicle, and the link on which the vehicle is located after turning the intersection to the right according to the recommended route. When the adjustment distance shorter than the lane width is Rd, the right turn is performed when the distance Rl to the link where the vehicle is located after turning the intersection to the right according to the recommended route is within the correction start distance Ra. R1 ′, which is the distance from the link where the vehicle is located to the corrected current position after turning right according to the recommended route, is calculated using the relational expression shown in Equation 2 below. A navigation device.

A navigation device according to claim 5, wherein
The navigation apparatus according to claim 1, wherein the adjustment distance Rd is half the lane width of the link on which the vehicle is located after turning right according to the recommended route.

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