JP2013257214A - Display device, display method, display program, and recording medium - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enhance convenience for a user by displaying a self-position mark in a display mode corresponding to an image of the user's moving body.SOLUTION: A display device 100 comprises an acquisition unit 101, a determination unit 102, a setting unit 103, and a display control unit 104. The acquisition unit 101 acquires information output from a sensor or a camera mounted on a moving body. The determination unit 102 determines size of the moving body on the basis of the information acquired by the acquisition unit 101. The setting unit 103 sets a display mode for a self-position mark representing a current position of the moving body according to the size of the moving body determined by the determination unit 102. The display control unit 104 controls a display unit 160 to display a map around the moving body and the self-position mark in the display mode set by the setting unit 103.

Description

  The present invention relates to a display device, a display method, a display program, and a recording medium for displaying a map around a current position of a moving object and a self-position mark indicating the current position of the moving object on the map.

  Conventionally, for example, a navigation device mounted on a moving body such as a vehicle specifies the current position of the moving body using GPS (Global Positioning System). Then, the navigation device displays a map around the point corresponding to the identified current position on the display. In addition, the navigation device displays a self-location mark for representing the current position of the moving object on a point corresponding to the current position of the displayed map (see, for example, Patent Document 1 below). The self-position mark has a shape pointing in one direction such as an arrow, and the moving direction of the moving body is represented by the pointing direction. When the navigation device detects that the mobile body has turned, the navigation device rotates the own position mark relative to the map according to the turn.

JP 2006-20111 A

  However, in the conventional technology, the display mode of the self-location mark is not in line with the image that the user has with respect to the moving body, and thus the user may feel uncomfortable as an example. Can be mentioned. For example, in the prior art, the self-location mark having the same display size is displayed regardless of whether the moving body is a large vehicle such as a truck or a normal passenger car. Here, the display size of the own position mark is a display size suitable for a normal passenger car assuming a general user (a user who uses a normal passenger car). On the other hand, a user who uses a large vehicle has an image of “large” with respect to a moving body used by the user.

  As described above, depending on the user, there is a gap between the display size of the own position mark and the image of the moving object, and the user may feel uncomfortable in the display mode of the own position mark. Therefore, in the prior art, the self-location mark may not be intuitively understandable for the user, which may lead to a decrease in convenience.

  Thus, for example, a method is conceivable in which the user inputs the size and type of the vehicle, and the display mode of the own position mark is changed to match the image of the user's moving body. However, in this case, it takes time for the user to change the display mode of the own position mark. In addition, some users do not know that the display mode of the own position mark can be changed, and may not be able to display the own position mark that matches the image that the user has with respect to the moving object. Therefore, even when the display mode of the own position mark is changed according to the user's operation, the convenience may be reduced.

  In order to solve the above-described problem, a display device according to the invention of claim 1 is based on an acquisition unit that acquires information output from a sensor or a camera mounted on a moving body, and information acquired by the acquisition unit. Determining means for determining the size of the moving body; and setting means for setting a display mode of the own position mark indicating the current position of the moving body based on the size of the moving body determined by the determining means; Display control means for causing the display unit to display a map around the moving body and the self-position mark in the display mode set by the setting means at a point corresponding to the current position on the map. It is characterized by.

  The display method according to the invention of claim 7 is a display method performed by a display device that is mounted on a moving body and displays a map around the moving body and a self-position mark indicating the current position of the moving body on a display unit. And an acquisition step of acquiring information output from a sensor or camera mounted on the mobile body, a determination step of determining the size of the mobile body based on the information acquired by the acquisition step, A setting step for setting the display mode of the own position mark based on the size of the moving body determined by the determination step, the map, and a point corresponding to the current position on the map by the setting step A display step of displaying the self-location mark in the displayed form on the display unit.

  According to an eighth aspect of the present invention, a display program causes a computer to execute the display method according to the seventh aspect.

  A recording medium according to a ninth aspect of the invention is characterized in that the display program according to the eighth aspect is recorded.

It is a block diagram which shows the functional structure of the display apparatus which concerns on embodiment of this invention. It is explanatory drawing which shows the example of judgment of the size of a moving body using the acceleration and angular velocity of a moving body. It is a flowchart which shows an example of the process which the display apparatus of this Embodiment performs. It is a block diagram which shows the hardware constitutions of the navigation apparatus of a present Example. It is explanatory drawing which shows an example of display pattern data. It is a flowchart which shows an example of the process which the navigation apparatus of a present Example performs. It is explanatory drawing which shows the specific example of a display by the navigation apparatus of a present Example.

  Exemplary embodiments of a display device, a display method, a display program, and a recording medium according to the present invention will be described below in detail with reference to the accompanying drawings.

(Functional configuration of display device)
First, the functional configuration of the display device according to the embodiment of the present invention will be described. FIG. 1 is a block diagram showing a functional configuration of a display device according to an embodiment of the present invention. As shown in FIG. 1, the display device 100 according to the present embodiment includes an acquisition unit 101, a determination unit 102, a setting unit 103, a display control unit 104, a display unit 160, and the like. For example, the display device 100 is used by being mounted on a moving body such as a vehicle.

  The acquisition unit 101 has a function of acquiring information output from a sensor or camera mounted on a moving body. For example, as illustrated in FIG. 1, the acquisition unit 101 acquires information output from the acceleration sensor 110. Here, the acceleration sensor 110 is a sensor that detects the acceleration of the moving body. For example, the acceleration sensor 110 can be a biaxial acceleration sensor that can detect accelerations in two axes in the front-rear direction and the left-right direction of the moving body. For example, the acceleration sensor 110 is provided inside the display device 100. The acquisition unit 101 can acquire the acceleration of the moving body (for example, the acceleration in the front-rear direction and the left-right direction) based on the information output from the acceleration sensor 110.

  For example, the acquisition unit 101 acquires information output from the angular velocity sensor 120. Here, the angular velocity sensor 120 is a sensor that detects the angular velocity of the moving body, and may be, for example, a gyro sensor. For example, the angular velocity sensor 120 is provided inside the display device 100. The acquisition unit 101 can acquire the angular velocity of the moving body based on the information output from the angular velocity sensor 120.

  Further, the acquisition unit 101 may acquire information output from the vehicle speed pulse sensor 130. Here, the vehicle speed pulse sensor 130 is a sensor that detects rotation of a wheel of a moving body (for example, a vehicle) and outputs a signal. For example, the vehicle speed pulse sensor 130 outputs a signal of 1 pulse every time the wheel of the moving body makes one rotation. It can be a sensor. For example, the vehicle speed pulse sensor 130 is provided on the moving body, and outputs information to the acquisition unit 101 of the display device 100 via an interface (not shown). The acquisition unit 101 can acquire the number of times the wheels of the moving body have rotated based on the information output from the vehicle speed pulse sensor 130.

  Further, in the acquisition unit 101, for example, data representing the relationship between the time between pulses and the speed of the moving body may be stored in advance by the display device 100 or the manufacturer of the moving body. In this case, the acquisition unit 101 uses the measurement result obtained by measuring the time between pulses of the signal output from the vehicle speed pulse sensor 130 and the data representing the relationship between the time between pulses and the speed of the moving object. The speed of the moving object can be acquired.

  Furthermore, in the acquisition unit 101, for example, data representing the relationship between the number of pulses per unit time (for example, per minute) and the speed of the moving body is stored in advance by the display device 100 or the moving body manufacturer. Also good. In this case, the acquisition unit 101 represents the measurement result obtained by measuring the number of pulses of the signal output from the vehicle speed pulse sensor 130 per unit time, and the relationship between the number of pulses per unit time and the speed of the moving object. The speed of the moving object can be acquired from the data.

  Further, the acquisition unit 101 may acquire information output from the GPS unit 140. Here, the GPS unit 140 includes a GPS receiver that receives radio waves from GPS satellites. The GPS unit 140 receives a radio wave from a GPS satellite by a GPS receiver, and calculates the distance between the own device and the GPS satellite from the time from the transmission timing to the reception timing of the radio wave and the propagation speed of the radio wave.

  The GPS unit 140 receives radio waves from a plurality of GPS satellites, calculates the distance to each GPS satellite, geometrically identifies the current position of the device itself, and outputs the identified current position to the acquisition unit 101 To do. For example, the GPS unit 140 specifies the current position at a predetermined cycle (for example, at intervals of 1 second), and outputs the specified current position to the acquisition unit 101. The acquisition unit 101 can acquire the current position of the moving object based on the information output from the GPS unit 140.

  In this case, the acquisition unit 101 stores map data representing the distance between points in advance by the manufacturer of the display device 100 or the like. The acquisition unit 101 acquires the distance between the point corresponding to the current position acquired last time by the GPS unit 140 and the point corresponding to the current position acquired this time from the map data. The distance acquired in this way corresponds to the moving distance of the moving body from the previous current position acquisition to the current current position acquisition. Therefore, also in this case, the acquisition unit 101 can acquire the moving distance of the moving body.

  The acquisition unit 101 may acquire information output from the camera 150. For example, here, the camera 150 can be a camera that captures a landscape in front of or behind the moving object. For example, the camera 150 is installed in the vicinity of the rear-view mirror of the moving body, captures a scene in front of the moving body with a moving image, and outputs the captured data to the acquisition unit 101. Then, the acquisition unit 101 acquires shooting data output from the camera 150.

The determination unit 102 has a function of determining the size of the moving object based on the information acquired by the acquisition unit 101. For example, as described above, the acquisition unit 101 acquires the acceleration in the front-rear direction and the left-right direction of the moving body. Here, it is assumed that the moving body is positioned on a turntable such as a mechanical parking lot and performs a uniform circular motion with an angular velocity ω by rotation of the turntable. When the acquisition unit 101 acquires the acceleration in the front-rear direction of the moving body as Ax, the acceleration in the left-right direction as Ay, and the angular velocity as ω, the relationship between Ax, Ay, and ω is √Ax ² + Ay ² = rω ² ( Hereinafter, it can be expressed as “(1) formula”).

  The determination unit 102 can obtain the value of r by solving Equation (1) for r. Here, r represents the distance from the center of rotation of the turntable to the display device 100 incorporating the acceleration sensor 110 and the angular velocity sensor 120. For example, since the display device 100 is installed on the dashboard of the mobile object, r can be a distance from the center of rotation to the dashboard of the mobile object. Therefore, in the present embodiment, assuming that r is half the total length of the moving object, the determination unit 102 sets a value (2 × r) obtained by doubling the calculated value of r to the moving object. Calculated as an estimate of the total length.

  Then, the determination unit 102 determines whether the estimated value of the total length of the moving object is equal to or greater than a threshold value stored in advance by the manufacturer of the display device 100. If the estimated value is equal to or greater than the threshold value, the size of the moving object is set to “large”. to decide. On the other hand, if the estimated value of the total length of the moving object is less than the threshold value, the size of the moving object is determined to be “small”. An example of determining the size of the moving object using the acceleration and angular velocity of the moving object will be described later in detail again with reference to FIG.

  In the above-described example, the value of 2 × r is calculated as the estimated value of the total length of the moving object, but is not limited thereto. For example, the determination unit 102 may calculate 2 × r × α by multiplying 2 × r by the correction value α as an estimated value of the total length of the moving object. For example, here, the correction value α is a correction value for correcting the length of the bonnet or the trunk, and is a value determined in advance by the manufacturer of the display device 100 or the like. In this case, the value of α is stored in the determination unit 102 in advance.

  Further, for example, the determination unit 102 may perform image analysis on the shooting data of the camera 150 and determine whether the moving body hood or trunk on which the display device 100 is mounted is shot by the camera 150. Then, the determination unit 102 calculates 2 × r × α as an estimated value of the total length of the moving object if the hood or trunk of the moving object on which the display device 100 is mounted is photographed. On the other hand, the determination unit 102 calculates 2 × r as an estimated value of the total length of the moving object if the hood or trunk of the moving object on which the display device 100 is mounted is not photographed. Thereby, the determination part 102 can make the estimated value of the full length of a moving body approximate the full length of an actual moving body.

  For example, as described above, the acquisition unit 101 acquires the number of times the wheels of the moving body have rotated and the moving distance of the moving body. Here, the number of rotations of the wheels of the moving body is N times, and the moving distance of the moving body is L. In this case, if the moving distance per one rotation of the wheel (that is, the length of the circumference of the wheel) is 1, it can be expressed by 1 = L / N (hereinafter referred to as equation (2)). Then, the determination unit 102 obtains the value of l from the expression (2), determines whether the value of l is equal to or greater than a threshold stored in advance by the manufacturer of the display device 100, and moves if it is equal to or greater than the threshold. The body size is judged as “large”. On the other hand, if the value of l is less than the threshold value, the size of the moving object is determined to be “small”.

  Furthermore, for example, as described above, the acquisition unit 101 acquires shooting data obtained by shooting a landscape in front of the moving body. The determination unit 102 performs image analysis on the captured data acquired by the acquisition unit 101 and analyzes, for example, the positional relationship between the captured traffic light and the position where the camera 150 is disposed. As described above, the camera 150 is provided near the rearview mirror of the moving body.

  The rear mirror is also provided at a higher position as the moving body (for example, a vehicle having a higher vehicle height) provided at a higher position in the driver's seat. For this reason, the tendency of the image to be taken is different between the camera 150 installed in the moving body with a high height and the camera 150 installed in the moving body with a low height. For example, when the moving body on which the display device 100 is mounted stops, the determination unit 102 determines which height of the moving body stopped immediately before the moving body and the moving body on which the display device 100 is mounted. Judgment is high, and the result of this judgment is collected.

  Then, the determination unit 102 determines whether or not the height of the moving object on which the display device 100 is mounted tends to be relatively higher than the heights of other moving objects, based on the determination results collected as described above. To do. The determination unit 102 determines that the size of the moving object is “large” if the height of the moving object on which the display device 100 is mounted tends to be higher than the heights of other moving objects. On the other hand, if the height of the moving body on which the display device 100 is mounted does not tend to be higher than the heights of other moving bodies, the size of the moving body is determined as “small”.

  Note that the determination unit 102 may determine the final size of the moving object using determination results obtained by a plurality of different determination methods. For example, the determination unit 102 determines the size of the moving body from the estimated value of the total length of the moving body, and determines the size of the moving body from the moving distance per wheel rotation (the value of l described above). If both determination results match, the determination unit 102 determines the matching determination result as the final size of the moving body. On the other hand, if both the determination results do not match, the determination unit 102 determines the determination result by the determination method having a higher priority as a final size of the moving body. For example, the priority is determined in advance by the manufacturer of the display device 100 in consideration of the determination accuracy of the size of the moving body by each determination method, and is stored in the determination unit 102. With this configuration, it is possible to increase the accuracy with which the determination result of the determination unit 102 matches the actual size of the moving body.

  The setting unit 103 has a function of setting the display mode of the own position mark indicating the current position or the traveling direction of the moving object according to the size of the moving object determined by the determining unit 102. For example, the setting unit 103 sets the display size of the own position mark according to the determined size of the moving body. Specifically, for example, the setting unit 103 stores data that defines the display size of the own position mark with respect to the size of the moving object. If the size of the moving object is determined to be “large”, the setting unit 103 also sets the display size of the own position mark to “large”. If it is determined that the size of the moving object is “small”, the display size of the own position mark is also set to “small”.

  Furthermore, the setting unit 103 may set the rotation center position of the own position mark according to the determined size of the moving body. Specifically, for example, the setting unit 103 stores data that defines the rotation center position of the own position mark with respect to the size of the moving object. Then, if the size of the moving object is determined to be “large”, the setting unit 103 sets the rotation center position of the own position mark as “mark forward”. If it is determined that the size of the moving object is “small”, the rotation center position of the own position mark is set to “mark center”.

  The display control unit 104 has a function of causing the display unit 160 to display a map around the moving body and the self-position mark of the display mode set by the setting unit 103. For example, the display control unit 104 stores the aforementioned map data. The map data includes road data representing roads on which the moving body can move, image data drawn using facilities and other features related to terrain, and the like. Using this map data, the display control unit 104 causes the display unit 160 to display a map within a predetermined range centered on a point corresponding to the current position of the moving object acquired by the GPS unit 140 or the like.

  And the display control part 104 displays the self-position mark of the display mode set by the setting part 103 in the center of the displayed map. Further, when the moving body moves, the display control unit 104 moves the own position mark relative to the map by an amount corresponding to the moving distance of the moving body. Thereby, the display control unit 104 can guide the current position of the moving object on the map to the user.

  The self-position mark has a shape pointing in one direction such as an arrow, and the moving direction of the moving body is represented by the pointing direction. When the moving body turns, the display control unit 104 rotates the own position mark relative to the map at an angle corresponding to the turning. At this time, the display control unit 104 rotates the own position mark relative to the map with the rotation center position set by the setting unit 103 as a center (axial center). As a result, the display control unit 104 can guide the moving direction of the moving object on the map to the user based on the direction indicated by the own position mark.

(Example of determining the size of a moving object using the acceleration and angular velocity of the moving object)
Next, an example of determining the size of the moving body using the acceleration and angular velocity of the moving body will be described with reference to FIG. FIG. 2 is an explanatory diagram illustrating an example of determining the size of the moving object using the acceleration and the angular velocity of the moving object.

  As shown in FIG. 2, the display device 100 is mounted on the moving body 200. For example, here, the moving body 200 is located on a turntable 250 provided in a mechanical parking lot or the like. The turntable 250 can rotate in a direction indicated by reference numeral 270 in FIG. The moving body 200 is located at the center of the turntable 250, and the position of the shaft 260 coincides with the center position of the moving body 200. And the distance from the axis | shaft 260 used as the center of rotation to the display apparatus 100 is r.

  Here, it is assumed that the turntable 250 rotates in a direction indicated by reference numeral 270 by a uniform circular motion with an angular velocity ω, and the moving body 200 and the display device 100 on the turntable 250 are similarly rotated along with this rotation. In this case, as shown in FIG. 2, the display device 100 is subjected to the longitudinal acceleration Ax and the lateral acceleration Ay. The display device 100 acquires the acceleration Ax in the front-rear direction and the acceleration Ay in the left-right direction by the acceleration sensor 110. Further, the display device 100 rotates at an angular velocity ω as the turntable 250 rotates. The display device 100 acquires the angular velocity ω with the angular velocity sensor 120.

The display device 100 solves the above-described equation (1), that is, √Ax ² + Ay ² = rω ² for r, and obtains the value of r. Thereafter, the display device 100 calculates a value of 2 × r, which is twice the calculated r, as an estimated value of the total length of the moving body 200. Then, the display device 100 determines that the size of the moving body 200 is “large” if the calculated estimated total length of the moving body 200 is equal to or larger than the threshold value, and the size of the moving body 200 is “small” if the estimated value is less than the threshold value. "

(Example of processing performed by display device)
Next, an example of processing performed by the display device 100 will be described. FIG. 3 is a flowchart illustrating an example of processing performed by the display device according to the present embodiment. For example, the display device 100 performs the process shown in the flowchart of FIG. 3 when the supply of power to the display device 100 is started.

  As shown in FIG. 3, the display device 100 acquires information output from a sensor or camera mounted on the moving body 200 (step S301). As described above, for example, information acquired by the display device 100 includes acceleration, angular velocity, the number of times the wheel has rotated, speed, moving distance, current position, shooting data obtained by shooting a landscape in front of or behind the moving body, and the like. Can be mentioned.

  Next, the display apparatus 100 determines the size of the moving body 200 based on the information acquired in step S301 (step S302). The determination of the size of the moving object based on the information acquired by the display device 100 is as described above. Then, the display device 100 sets the display mode of the own position mark based on the determination result of step S302 (step S303).

  As described above, for example, when the display device 100 determines in step S302 that the size of the moving body 200 is “large”, the display mode of the self position mark is set to the display size “large”, the rotation center position “the mark front”. ". On the other hand, if the display device 100 determines that the size of the moving body 200 is “small” in step S302, the display device 100 sets the display mode of the own position mark as the display size “small” and the rotation center position “mark center”.

  Then, the display device 100 displays the local position mark of the display mode set in step S303 and the map around the moving body 200 on the display unit 160 (step S304), and a series of processing shown in the flowchart of FIG. Exit.

  In addition, although illustration is abbreviate | omitted, when the mobile body 200 moves, the display apparatus 100 will move and display an own position mark relatively with respect to a map by the amount according to the movement distance of the mobile body 200. Further, when the mobile body 200 turns, the display device 100 displays the position mark relatively rotated with respect to the map at an angle corresponding to the turning angle. At this time, the display device 100 rotates the own position mark relative to the map with the set rotation center position as the center (axis).

  As described above, the display device 100 can display the own position mark indicating the current position of the moving body 200 in a display mode according to the size of the moving body 200. For example, when the display device 100 determines that the size of the moving body 200 is “large”, the display device 100 displays a self-position mark of the display size “large”, and when the size of the moving body 200 is determined to be “small”, the display size “small” is displayed. ”Is displayed. Thereby, the display apparatus 100 can display the self-position mark according to the image which a user holds with respect to the moving body 200. FIG. Therefore, the display device 100 can prevent the user from feeling uncomfortable with the self-location mark, and can display the self-location mark that is intuitively understandable for the user, thereby improving the convenience for the user. Can do.

  Furthermore, the display device 100 determines the size of the moving body 200 based on information acquired by the various sensors 110 to 130 and the camera 150 mounted on the moving body 200, and automatically displays the size in accordance with the determination result. A position mark can be displayed. As a result, the display device 100 does not need to be operated by the user when displaying the own position mark corresponding to the size of the moving body 200, and the user's effort can be reduced. And the display apparatus 100 can display the self-position mark of the display aspect according to the size of the mobile body 200 also to the user who does not know the change method of the display aspect of a self-position mark. Therefore, the display device 100 can improve user convenience.

  And the display apparatus 100 is based on the information acquired from what is equipped with common navigation apparatuses, such as the acceleration sensor 110, the angular velocity sensor 120, the vehicle speed pulse sensor 130, the GPS unit 140, and the camera 150, of the mobile body 200. It is possible to determine the size and display the own position mark in a display mode according to the determination result. Thereby, when applied to a navigation device, the display device 100 displays a self-position mark corresponding to the size of the moving body 200 without newly providing another sensor to detect the size of the moving body 200. Can do. Therefore, the display device 100 can prevent the manufacturing cost of the navigation device from increasing due to the provision of another sensor.

  In recent years, for example, a navigation device called “PND (Portable Navigation Device)” that is easily attached to and detached from a vehicle and excellent in portability has been widely used. In the case of PND, it is often not connected to a sensor provided on the moving body 200 side such as the vehicle speed pulse sensor 130 from the viewpoint of facilitating attachment / detachment from the vehicle.

  In this regard, the display device 100 determines the size of the moving body 200 from the acceleration and angular velocity of the moving body 200 that can be acquired by the acceleration sensor 110 and the angular velocity sensor 120 that can complete wiring within the display device 100, and uses this determination result. The own position mark can be displayed in a corresponding display mode. For this reason, when applied to PND, the display device 100 can display a self-location mark that is easy to understand intuitively for the user while facilitating attachment / detachment from the vehicle, thereby improving convenience for the user. it can.

  In the example described above, the determination unit 102 has described an example in which the size of the moving body 200 is determined in two stages, “large” and “small”, but the present invention is not limited to this. For example, a plurality of threshold values are provided such as Th1, Th2 (Th2> Th1). Then, the value calculated by the determination unit 102 for determining the size of the moving body 200 (for example, the estimated value of the total length of the moving body 200) is less than Th1 (the size of the moving body 200 is “small”), more than Th1 and less than Th2 ( If it is determined whether the moving body 200 is included in a size “medium”) or more than Th2 (a size “large” of the moving body 200), a three-stage determination is possible.

  Similarly, as the threshold used by the determination unit 102 for determining the size of the moving body 200 is increased, the determination unit 102 can perform multi-stage determination, and the display mode of the self-position mark can be set in multiple stages. By making the display mode of the self-location mark multi-stage, the display device 100 can display the self-location mark in accordance with the image that the user holds with respect to the moving body 200. Can improve convenience.

  Next, examples of the display device 100 according to the above-described embodiment will be described. In the present embodiment, the display device 100 described above is applied to a navigation device mounted on a moving body such as a vehicle (including two wheels and four wheels).

(Hardware configuration of navigation device)
First, the hardware configuration of the navigation device of the present embodiment will be described. FIG. 4 is a block diagram illustrating a hardware configuration of the navigation apparatus according to the present embodiment.

  As shown in FIG. 4, the navigation device 400 includes a CPU (Central Processing Unit) 401, a ROM (Read Only Memory) 402, a RAM (Random Access Memory) 403, a magnetic disk drive 404, a magnetic disk 405, Optical disk drive 406, optical disk 407, audio I / F (Interface) 408, speaker 409, input device 410, video I / F 411, display 412a, camera 412b, communication I / F 413, and GPS unit 414 and various sensors 415. Each component 401 to 415 is connected by a bus 420.

  The CPU 401 governs overall control of the navigation device 400. Various programs such as a boot program and a display pattern setting program are recorded in the ROM 402. These programs are not limited to the ROM 402, and may be recorded on a non-volatile recording medium such as the magnetic disk 405 or the optical disk 407. The RAM 403 is used as a work area for the CPU 401.

  The CPU 401 controls the entire navigation device 400 by executing various programs recorded in the ROM 402 and the like while using the RAM 403 as a work area. Note that the processing results obtained by executing the various programs are temporarily recorded in, for example, the RAM 403 and read out as necessary. Further, the above processing result may be recorded in a nonvolatile memory such as the magnetic disk 405 or the optical disk 407.

  The magnetic disk drive 404 controls reading and writing of data with respect to the magnetic disk 405 according to the control of the CPU 401. Data written under the control of the magnetic disk drive 404 is recorded on the magnetic disk 405. For example, as the magnetic disk 405, an HD (Hard Disk) or an FD (Flexible Disk) can be used.

  The optical disk drive 406 controls reading and writing of data with respect to the optical disk 407 according to the control of the CPU 401. The optical disc 407 is a detachable recording medium from which data is read according to the control of the optical disc drive 406. For example, as the optical disc 407, a CD (Compact Disc) or a DVD can be used. As the optical disc 407, a writable recording medium can be used. In addition to the optical disc 407, the removable recording medium may be an MO (Magneto Optical Disk), a memory card, or the like.

  As an example of information recorded on the magnetic disk 405 or the optical disk 407, there is map data used for specifying the current position, searching for a route, or guiding a route. The map data is composed of nodes and links, and includes road data representing roads on which a moving body (for example, a vehicle) can move, and image data drawn using features related to facilities and other terrain (mountains, rivers, land). It can be data. The map data may include character data indicating the name and address of the facility. The image represented by these data is drawn two-dimensionally or three-dimensionally on the display screen of the display 412a. In addition, for example, the road data includes information indicating the attributes of the road corresponding to each link such as the length (distance), road width, road type (highway, toll road, general road, private road) for each link. It may be included.

  In addition, display pattern data that defines the display mode of the self-position mark is recorded on the magnetic disk 405 or the optical disk 407. The detailed contents of the display pattern data will be described later with reference to FIG.

  In this embodiment, the map data is recorded on the magnetic disk 405 or the optical disk 407. However, the present invention is not limited to this. The map data is not recorded only to the one provided integrally with the hardware of the navigation device 400, and may be provided outside the navigation device 400. For example, in this case, the navigation apparatus 400 acquires map data from the outside via the network by the communication I / F 413, records the acquired map data in the RAM 403, the magnetic disk 405, and the like, and reads them as necessary. .

  The audio I / F 408 is connected to a speaker 409 for audio output. Sound is output from the speaker 409. Examples of the input device 410 include a remote controller including a plurality of keys for inputting characters, numerical values, various instructions, a keyboard, a mouse, a touch panel, and the like. The input device 410 inputs a signal corresponding to the key selected by the user into the apparatus.

  The video I / F 411 is connected to the display 412a and the camera 412b. For example, the video I / F 411 includes a graphic controller that controls the entire display 412a, a buffer memory such as a VRAM (Video RAM) that temporarily records image information that can be displayed immediately, and image data output from the graphic controller. The display 412a is controlled based on the control IC.

  The camera 412b photographs the scenery outside the vehicle, for example, the front of the vehicle, under the control of the CPU 401. A plurality of cameras 412b may be provided such as a camera that captures a landscape in front of the vehicle, a camera that captures a landscape in the rear of the vehicle, and a camera that captures the interior of the vehicle. For example, in this embodiment, the camera 412b shoots in the moving image format, but may shoot in the still image format. Note that shooting data shot by the camera 412b is stored in the magnetic disk 405 or the like.

  The display 412a displays an icon (for example, own position mark), a cursor, a menu, a window, or various data such as characters and images. For example, a CRT, a TFT liquid crystal display, a plasma display, an organic EL display, or the like can be used as the display 412a. For example, the display 412a displays a current position mark indicating a current position and a traveling direction of a vehicle on which the navigation device 400 is mounted, a map around the vehicle, and the like.

  The communication I / F 413 is connected to a network via wireless and functions as an interface between the navigation device 400 and the CPU 401. The communication I / F 413 is further connected to a communication network such as the Internet via wireless, and also functions as an interface between the communication network and the CPU 401. The communication I / F 413 receives a television broadcast or a radio broadcast.

  Communication networks include LANs, WANs, public line networks and mobile phone networks. For example, the communication I / F 413 includes an FM tuner, a VICS / beacon receiver, a wireless navigation device, and other navigation devices 400, and acquires road traffic information such as traffic congestion and traffic regulations distributed from the VICS center. VICS is a registered trademark.

  The GPS unit 414 receives GPS signals (radio waves) from GPS satellites and measures the current position of the vehicle. The current position measured by the GPS unit 414 is used when the current position of the vehicle is specified by the CPU 401 together with output values of various sensors 415 described later.

  Various sensors 415 output information for measuring the behavior of the vehicle (or the navigation device 400). For example, the various sensors 415 include an acceleration sensor, an angular velocity sensor, a vehicle speed pulse sensor, and the like. The output values of the various sensors 415 are used by the CPU 401 for specifying the current position of the vehicle (or the navigation device 400), detecting the acceleration, detecting the angular velocity, calculating the azimuth change amount, and the like.

  For example, the navigation device 400 stores information output from the various sensors 415 within a predetermined period (for example, within one month) in the magnetic disk 405 or the like. Thereby, although the details will be described later, the navigation apparatus 400 can set the display pattern of the own position mark using the history such as the acceleration and the angular velocity of the vehicle.

  For example, the functions of the acquisition unit 101 to the display control unit 104 illustrated in FIG. 1 can be realized by the CPU 401, the ROM 402, the magnetic disk drive 404, the magnetic disk 405, and the like.

(Display pattern data)
Next, an example of display pattern data representing the display pattern of the own position mark stored in the magnetic disk 405 or the like will be described. FIG. 5 is an explanatory diagram showing an example of display pattern data. As shown in FIG. 5, the display pattern data 500 stored in the magnetic disk 405 or the like includes display pattern identifiers, vehicle sizes that serve as setting conditions for the respective display patterns, and the display of the own position mark based on the respective display patterns. The size and the rotation center position of the own position mark by each display pattern are associated with each other. In addition, in FIG. 5, the example of a display of the self-position mark by each display pattern is also described for description.

  For example, the display pattern P1 is a display pattern that is set when the navigation device 400 determines that the vehicle size is “small”. The own position mark displayed by the display pattern P1 is the display size “small”, and the center position at the time of rotation is the center of the mark. Specifically, as shown in FIG. 5, for example, the self-position mark M1 displayed by the display pattern P1 is a triangle having a length in the longitudinal direction D1, and rotates around a point indicated by O1. It has become.

  For example, the display pattern P2 is a display pattern that is set when the navigation device 400 determines that the vehicle size is “medium”. The own position mark displayed by the display pattern P2 is the display size “medium”, and the center position at the time of rotation is the center of the mark. Specifically, as shown in FIG. 5, for example, the self-position mark M2 displayed by the display pattern P2 is a triangle whose length in the longitudinal direction is D2 (D2> D1), and the point indicated by O2 is the center. It is designed to rotate.

  Furthermore, for example, the display pattern P3 is a display pattern that is set when the navigation device 400 determines that the vehicle size is “large”. The own position mark displayed by the display pattern P3 is the display size “large”, and the center position at the time of rotation is in front of the mark. Specifically, as shown in FIG. 5, for example, the self-position mark M3 displayed by the display pattern P3 is a triangle having a length in the longitudinal direction of D3 (D3> D2), and the point indicated by O3 is the center. It is designed to rotate.

(Example of processing performed by navigation device)
Next, an example of processing performed by the navigation device 400 will be described. FIG. 6 is a flowchart illustrating an example of processing performed by the navigation device of the present embodiment. For example, the navigation device 400 performs the processing shown in the flowchart of FIG. 6 when the supply of power to the navigation device 400 is started.

  As shown in FIG. 6, the navigation apparatus 400 first determines whether or not the display pattern of the own position mark corresponding to the vehicle size has been set (step S601). For example, in step S601, the navigation apparatus 400 determines that it is not set if a display pattern change schedule flag (to be described later) is ON, and determines that it has been set if it is OFF. If the display pattern of the own position mark according to the vehicle size has been set (step S601: Yes), the navigation apparatus 400 proceeds to the process of step S615.

  If the display pattern of the own position mark according to the vehicle size has not been set (step S601: No), the navigation device 400 performs a vehicle size determination process based on the acceleration and the angular velocity (step S602). For example, in step S602, the navigation apparatus 400 calculates an estimated value of the total length of the vehicle using the acceleration and angular velocity in the longitudinal and lateral directions of the vehicle acquired in the past. The method of calculating the estimated value of the total length of the vehicle using the longitudinal and lateral accelerations and angular velocities is as described with reference to FIG.

  After calculating the estimated value of the total length of the vehicle, the navigation device 400 compares the calculated estimated value with a threshold value stored in advance. For example, in this embodiment, the navigation apparatus 400 sets two threshold values Th11 and Th12 (Th12> Th11) in order to determine the vehicle size as “small”, “medium”, and “large” from the estimated value of the total length of the vehicle. I remember it. The navigation device 400 includes the calculated estimated value in any region of less than Th11 (vehicle size “small”), Th11 or more and less than Th12 (vehicle size “medium”), or Th12 or more (vehicle size “large”). This determination result is obtained as the processing result of the vehicle size determination process based on the acceleration and the angular velocity.

  Next, the navigation apparatus 400 performs a vehicle size determination process based on the size of the wheels (step S603). For example, in step S603, the navigation apparatus 400 calculates the movement distance per wheel rotation (that is, the length of the circumference of the wheel) from the ratio of the number of rotations of the wheel acquired in the past and the movement distance of the vehicle. For example, the navigation device 400 acquires the distance between the point corresponding to the current position of the vehicle acquired last time by the GPS unit 414 and the point corresponding to the current position of the vehicle acquired this time from the map data. It is possible to acquire the travel distance of the vehicle by accumulating. The calculation method of the movement distance per one wheel rotation is as described with reference to FIG.

  After calculating the movement distance per one wheel rotation, the navigation device 400 compares the calculated movement distance with a threshold value stored in advance. For example, in this embodiment, the navigation device 400 uses the two thresholds Th21 and Th22 (Th22> Th21) to determine the vehicle size as “small”, “medium”, and “large” from the moving distance per one wheel rotation. Is remembered. In the navigation device 400, the calculated movement distance per wheel rotation is less than Th21 (vehicle size “small”), Th21 or more and less than Th22 (vehicle size “medium”), and Th22 or more (vehicle size “large”). Which region is included is determined, and the determination result is obtained as the processing result of the vehicle size determination processing based on the size of the wheel.

  Next, the navigation apparatus 400 performs a vehicle size determination process based on data captured by the camera 412b (step S604). For example, the navigation device 400 is equipped with a vehicle that stops in front of the vehicle on which the device is mounted and the device on the basis of data captured by the camera 412b when the vehicle on which the device is mounted stops. It is determined which height (vehicle height) is higher than the measured vehicle, and the determination results are collected and stored in the magnetic disk 405 or the like.

  For example, in step S604, the number of times that the navigation device 400 determines that the height of the vehicle on which the navigation device 400 is mounted is higher than the height of the vehicle that is stopped immediately before the vehicle on which the navigation device 400 is mounted. If so, the vehicle size “large” is obtained as the processing result of the vehicle size determination processing based on the shooting data. Conversely, the navigation device 400 has a smaller number of times that the height of the vehicle on which the device is mounted is determined to be higher than the height of the vehicle that is stopped immediately before the vehicle on which the device is mounted, The vehicle size “medium” is obtained as the processing result of the vehicle size determination processing based on the photographing data.

  Next, the navigation apparatus 400 determines whether the vehicle size has been determined by any one of the determination processes in steps S602 to S604 (step S605). For example, when the navigation device 400 is activated for the first time, the navigation device 400 does not store various types of information used for the processing in steps S602 to S604. Therefore, in this case, the navigation apparatus 400 cannot determine the vehicle size in steps S602 to S604, and cannot obtain a determination result.

  Thus, for example, when the vehicle size cannot be determined by any of steps S602 to S604, the navigation apparatus 400 determines that the vehicle size cannot be determined in step S605. Conversely, the navigation device 400 determines that the vehicle size can be determined when the vehicle size can be determined by at least one of steps S602 to S604.

  When the vehicle size cannot be determined (step S605: No), the navigation device 400 sets the display pattern P2 as the display pattern of the own position mark (step S606). Then, the navigation apparatus 400 sets the display pattern change schedule flag to ON (step S607), and proceeds to the process of step S615.

  When the vehicle size can be determined (step S605: Yes), the navigation device 400 determines the vehicle size based on the determination results of steps S602 to S604 (step S608). For example, when the navigation apparatus 400 obtains the determination result only in any one of the determination processes in steps S602 to S604, in step S608, the navigation apparatus 400 determines the vehicle size based on the obtained determination result.

  Moreover, the navigation apparatus 400 determines a thing with the largest number obtained as a determination result as a vehicle size, when a determination result is obtained by the some determination process in step S602-step S604. For example, the vehicle size determination process based on acceleration and angular velocity determines that the vehicle size is “large”, the vehicle size determination process based on wheel size determines that the vehicle size is “medium”, and the vehicle size determination process based on shooting data Assume that the vehicle size is determined to be “large”. In this case, since there are two processes for determining the vehicle size “large” and one process for determining the vehicle size “medium”, the navigation apparatus 400 determines that the vehicle size “large” Is determined as the vehicle size.

  Further, for example, the vehicle size determination process based on acceleration and angular velocity determines that the vehicle size is “large”, the vehicle size determination process based on wheel size determines that the vehicle size is “medium”, and the vehicle size determination is based on image data. It is assumed that the judgment result cannot be obtained by the processing. In this case, there is one process that is determined to be the vehicle size “large” and one process that is determined to be the vehicle size “medium”, which is the same number.

  In such a case, the navigation device 400 determines the vehicle size based on the priority of the determination result of each predetermined determination process. In this embodiment, among the steps S602 to S604, the determination process with a lower step number has a higher priority for the determination result. Therefore, in the above example, priority is given to the vehicle size “large” in the vehicle size determination process based on the acceleration and the angular velocity, and the navigation apparatus 400 determines the vehicle size “large” as the vehicle size.

  When the vehicle size is determined, the navigation apparatus 400 determines whether the determined vehicle size is “large” (step S609). If the determined vehicle size is “large” (step S609: Yes), the navigation apparatus 400 sets the display pattern P3 as the display pattern of the own position mark (step S610). Then, the navigation apparatus 400 sets the display pattern change schedule flag to OFF (step S611), and proceeds to the process of step S615.

  If the determined vehicle size is not “large” (step S609: No), the navigation apparatus 400 determines whether the determined vehicle size is “medium” (step S612). If the determined vehicle size is “medium” (step S612: Yes), the navigation device 400 sets the display pattern P2 as the display pattern of the own position mark (step S613), and proceeds to the process of step S611. If the determined vehicle size is not “medium” (step S612: No), the navigation apparatus 400 sets the display pattern P1 as the display pattern of the own position mark (step S614), and proceeds to the process of step S611.

  Next, the navigation apparatus 400 causes the display 412a to display the local position mark of the display pattern set in any of Step S606, Step S610, Step S613, and Step S614 and a map around the vehicle on which the apparatus is mounted ( Step S615), a series of processing shown in the flowchart of FIG.

(Specific display example by navigation device)
Next, a specific display example by the navigation device 400 will be described. FIG. 7 is an explanatory diagram showing a specific display example by the navigation device of the present embodiment. FIG. 7A shows a display example when the own position mark of the display pattern P2 is displayed, and FIG. 7B shows a display example when the own position mark of the display pattern P3 is displayed.

  As shown in FIGS. 7A and 7B, the navigation apparatus 400 displays a map Mp around the vehicle (for example, within a predetermined range from a point corresponding to the current position of the vehicle) on the display 412a. For example, the map Mp includes a road Rd and the like. Moreover, the navigation apparatus 400 displays a self-location mark on a point corresponding to the current position of the vehicle on the map Mp.

  In the example shown in FIG. 7A, the navigation device 400 displays the own position mark M2 on the map Mp. In the example shown in FIG. 7B, the navigation device 400 displays the own position mark M3 on the map Mp. As described above, the display size of the own position mark M2 is smaller than the display size of the own position mark M3.

  Further, when the vehicle turns, the navigation device 400 rotates the own position mark relative to the map Mp. At this time, the center of rotation of the own position mark is the rotation center position corresponding to the set display pattern. Therefore, in the example shown in FIG. 7A, the self-position mark M2 is rotated around the mark center of the self-position mark M2 (see the dotted line indicated by reference numeral 710 in FIG. 7). On the other hand, in the example shown in FIG. 7B, the own position mark M3 is rotated around the mark front of the own position mark M3 (see the dotted line indicated by reference numeral 720 in FIG. 7).

  For example, the vehicle turns around the front wheels. For this reason, the navigation apparatus 400 can rotate the own position mark with respect to the map Mp so that the actual vehicle turns by setting the front of the mark as the rotation center position like the own position mark M3. In addition, when the display size is “large” like the self-position mark M3, the self-position mark M3 may greatly protrude from the road Rd as shown in FIG. 7B. In such a case, the navigation device 400 rotates the own position mark with the mark front as the rotation center position, thereby positioning the location on the road Rd that the user is most likely to watch (points to the traveling direction of the vehicle). Display that is easy for the user to understand.

  As described above, the navigation device 400 can display the own position mark of the display pattern corresponding to the size of the vehicle on which the device is mounted. For example, the navigation device 400 determines the self-position mark of the display pattern P1 when the vehicle size is determined as “small”, the self-position mark of the display pattern P2 when the vehicle size is determined as “medium”, and the vehicle size as “large”. When it is determined that the self-position mark of the display pattern P3 can be displayed.

  Thereby, the navigation apparatus 400 can display the own position mark according to the image held with respect to the vehicle carrying the own apparatus. Therefore, the navigation device 400 can prevent the user from feeling uncomfortable with the user's own position mark, can display the user's own position mark that is intuitively understandable for the user, and enhances the convenience for the user. Can do.

  Furthermore, the navigation apparatus 400 can determine the vehicle size based on information acquired by the camera 412b and the various sensors 415, and can display a self-position mark of a display pattern corresponding to the determination result. As a result, the navigation device 400 does not need to be operated by the user when displaying the own position mark corresponding to the vehicle size, and can reduce the user's trouble. And the navigation apparatus 400 can display the self-position mark of the display pattern according to a vehicle size also to the user who does not know the setting method of the display pattern of a self-position mark. Therefore, the navigation device 400 can improve the convenience for the user.

  In the present embodiment, the navigation device 400 changes the display size of the own position mark and the rotation center position according to the vehicle size, but is not limited thereto. For example, the navigation device 400 may change the design of the own position mark according to the vehicle size. Specifically, for example, when the navigation apparatus 400 determines that the vehicle size is “large”, the navigation apparatus 400 displays a self-location mark with a design that looks down on the truck from above. On the other hand, when the navigation device 400 determines that the vehicle size is “medium”, the navigation device 400 displays a self-location mark with a design in which an ordinary passenger car is looked down on from above. By changing the design according to the vehicle size in this way, the navigation device 400 can further display the own position mark that is in accordance with the image held on the vehicle on which the device is mounted. Can increase the sex.

  Furthermore, the navigation apparatus 400 may determine not only the vehicle size but also the type of the vehicle using the processing results of the plurality of determination processes, and may display the own position mark corresponding to the determination result. For example, a sports car has a compact vehicle body and large wheels. Therefore, when the navigation apparatus 400 determines that the vehicle size is “small” based on the estimated value of the total length of the vehicle, and determines that the vehicle size is “large” based on the wheel size, the type of vehicle on which the navigation apparatus 400 is mounted is a sports car. For example, the self-location mark of the design which looked down at the sports car from the top is displayed. By doing in this way, the navigation apparatus 400 can display the own position mark according to the image which the vehicle which mounts an own apparatus mounts further, and can improve a user's convenience.

  As described above, according to the display device, the display method, the display program, and the recording medium according to the present invention, the user's own position mark can be displayed in a display mode that matches the image of the vehicle held by the user. User convenience can be improved.

  The display method described in this embodiment can be realized by executing a program prepared in advance on a computer such as a personal computer, a workstation, or a mobile terminal (for example, a navigation device or a mobile phone). . This program is recorded on a computer-readable recording medium such as a hard disk, a flexible disk, a CD-ROM, an MO, and a DVD, and is executed by being read from the recording medium by the computer. The program may be a medium that can be distributed via a network such as the Internet.

DESCRIPTION OF SYMBOLS 100 Display apparatus 101 Acquisition part 102 Judgment part 103 Setting part 104 Display control part 110 Acceleration sensor 120 Angular speed sensor 130 Vehicle speed pulse sensor 140 GPS unit 150 Camera 200 Mobile body 250 Turntable

Claims (9)

Acquisition means for acquiring information output from a sensor or camera mounted on the moving body;
Determination means for determining the size of the moving body based on the information acquired by the acquisition means;
Setting means for setting a display mode of the own position mark indicating the current position of the moving body based on the size of the moving body determined by the determining means;
Display means for displaying the map around the moving body and the self-position mark of the display mode set by the setting means at a point corresponding to the current position on the map;
A display device comprising: The acquisition means acquires acceleration and angular velocity of the moving body,
2. The determination unit according to claim 1, wherein the length of the mobile body is determined based on an acceleration and an angular velocity of the mobile body, and the size of the mobile body is determined based on the length of the mobile body. The display device described in 1. The acquisition means acquires the number of times and the distance traveled by the wheels of the moving body,
The determination means determines the size of the wheel of the moving body based on the number of times and the moving distance of the wheel of the moving body, and determines the size of the moving body based on the size of the wheel. The display device according to claim 1, wherein the display device is a display device. The acquisition means acquires shooting data obtained by shooting a landscape in front of or behind the moving body,
4. The determination unit according to claim 1, wherein the determination unit determines the height of the moving body by analyzing the image of the photographing data, and determines the size of the moving body based on the height of the moving body. The display device according to any one of the above.   The display device according to claim 1, wherein the setting unit sets a display size of the self-location mark according to a size of the moving body. The self-position mark has a shape pointing in one direction,
The said setting means sets the rotation center position of the said own position mark at the time of rotating the said own position mark relatively with respect to the said map according to the size of the said mobile body. The display apparatus as described in any one of -5. A display method that is mounted on a moving body, and that is performed by a display device that displays a map around the moving body and a local position mark that represents the current position of the moving body on a display unit,
An acquisition step of acquiring information output from a sensor or camera mounted on the moving body;
A determination step of determining the size of the moving body based on the information acquired by the acquisition step;
A setting step for setting the display mode of the self-location mark based on the size of the moving body determined by the determination step;
A display step of causing the display unit to display the map and the own position mark of the display mode set by the setting step at a point corresponding to the current position on the map;
A display method comprising:   A display program for causing a computer to execute the display method according to claim 7.   9. A recording medium on which the display program according to claim 8 is recorded.

Images