JP2020030153A - Map display system and map display program - Google Patents

Abstract

To provide a technology for reducing a possibility of a user feeling troublesome about a map displayed on a screen.SOLUTION: A map display system for displaying a map including a mark indicating the position and direction of a vehicle on a screen comprises: a display range control unit which scrolls the map in a first direction on the screen, and does not scroll the map in a second direction orthogonal to the first direction in accordance with the movement of the vehicle; and a map display unit which displays the mark indicating the direction of the vehicle at the position of the vehicle on the scrolled map.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a map display system and a map display program.

  2. Description of the Related Art Conventionally, in a navigation system or the like, a heading-up display that displays a map such that its traveling direction is always parallel to an arbitrary direction on a screen has been known. In the heading-up display, the map frequently rotates greatly in a section where the road turns in a zigzag manner. In such a case, it is difficult for the user to grasp the contents of the map. According to the third embodiment of Patent Document 1, when traveling in such a section, the direction of the map with respect to the screen is fixed, the own vehicle mark is fixed at a predetermined position on the screen, It describes that the direction of the vehicle mark with respect to the screen is rotated and the map is shifted vertically and horizontally with respect to the screen to display the map. By doing so, it is possible to prevent the map from frequently and largely turning on a mountain road or the like.

JP-A-11-2530

However, the direction of the map with respect to the screen is fixed, the own vehicle mark is fixed at a predetermined position on the screen, the direction of the own vehicle mark with respect to the screen is rotated as the vehicle travels, and the map is moved up and down with respect to the screen. When the map is displayed shifted left and right, the following problem may occur. For example, if there is a section in which a sharp curve continues in a zigzag shape to the left and right ahead of the traveling direction of the vehicle (in the direction heading up to the top of the screen because of heading-up), the screen moves along with the traveling of the vehicle. A phenomenon can occur in which the map frequently moves back and forth to the left and right. Then, there is a possibility that the user may feel the phenomenon troublesome.
The present invention has been made in view of the above problems, and has as its object to provide a technique for reducing a possibility that a user feels troublesome about a map displayed on a screen.

  In order to achieve the above object, a map display system is a system that displays a map including a mark indicating a position and an orientation of a vehicle on a screen, and displays the map in a first direction on the screen as the vehicle moves. A display range control unit that scrolls and does not scroll the map in a second direction orthogonal to the first direction; and a map display unit that displays a mark indicating the direction of the vehicle at the position of the vehicle on the scrolled map.

  Further, in order to achieve the above object, the map display program is a program for displaying a map including a mark indicating a position and an orientation of a vehicle on a screen. A display range control unit that scrolls the map in one direction and does not scroll the map in a second direction orthogonal to the first direction; and a map display unit that displays a mark indicating the direction of the vehicle at the position of the vehicle on the scrolled map. Let it.

  That is, according to the map display system and the map display program, the map scrolls in the first direction but does not scroll in the second direction as the vehicle moves. Therefore, for example, even when the vehicle travels in a section in which a sharp curve continues in a zigzag manner, the map does not frequently reciprocate in the second direction. Therefore, it is possible to reduce the possibility that the user feels troublesome about the map displayed on the screen.

FIG. 2 is a block diagram illustrating a configuration of a navigation system. FIG. 2A is a schematic diagram showing a planned traveling route and a display range, and FIG. 2B is a diagram showing a comparative example. 3A to 3C are diagrams showing a route up display. 4A and 4B are diagrams illustrating the route up condition. FIG. 5A is a diagram illustrating a route up condition, and FIG. 5B is a diagram illustrating updating of a release point. FIGS. 6A and 6B are diagrams for explaining the transition from the route up state to the normal heading up state. It is a flowchart of a map display process. FIG. 8A is a diagram illustrating a release point, and FIG. 8B is a diagram illustrating a transition from a route-up state to a normal heading-up state.

Here, embodiments of the present invention will be described in the following order.
(1) Configuration of navigation system:
(2) Map display processing:
(3) Other embodiments:

(1) Configuration of navigation system:
FIG. 1 is a block diagram showing a configuration of a navigation system 10 including a map display system according to one embodiment of the present invention. The navigation system 10 is provided in a vehicle, and includes a control unit 20 including a CPU, a RAM, a ROM, and the like, and a recording medium 30. In the navigation system 10, the control unit 20 can execute a program stored in the recording medium 30 or the ROM. In the recording medium 30, map information 30a is recorded in advance.

  The map information 30a is information used for specifying the position of the vehicle and the facility to be guided. The map information 30a specifies the node data indicating the position of the node set on the road on which the vehicle runs, and specifies the shape of the road between the nodes. This includes shape interpolation point data indicating the position of a shape interpolation point to be used, link data indicating the connection between nodes, data indicating the position of a road or a feature existing around the road, and the like.

  The vehicle according to the present embodiment includes a GNSS receiving unit 41, a vehicle speed sensor 42, a gyro sensor 43, and a user I / F unit 45. The GNSS receiver 41 is a device that receives a signal of the Global Navigation Satellite System, receives a radio wave from a navigation satellite, and outputs a signal for calculating the current position of the vehicle via an interface (not shown). The control unit 20 acquires this signal and acquires the current position of the vehicle. The vehicle speed sensor 42 outputs a signal corresponding to the rotation speed of the wheels provided in the vehicle. The control unit 20 acquires this signal via an interface (not shown) and acquires the vehicle speed. The gyro sensor 43 detects an angular acceleration of the vehicle turning in a horizontal plane, and outputs a signal corresponding to the direction of the vehicle. The control unit 20 acquires this signal and acquires the traveling direction of the vehicle. The vehicle speed sensor 42, the gyro sensor 43, and the like are used to specify the travel locus of the vehicle. In the present embodiment, the current position is identified based on the departure place and the travel locus of the vehicle, and the departure place and the travel location are determined. The current position of the vehicle specified based on the trajectory is corrected based on the output signal of GNSS receiver 41.

  The user I / F unit 45 is an interface unit for inputting a driver's instruction and providing various information to the driver, and includes a touch panel display, switches, and the like (not shown), a speaker, and the like. . That is, the user I / F unit 45 includes an output unit for outputting images and sounds and an input unit for inputting a user's instruction. In the present embodiment, the screen of the display is rectangular, and when viewed from the user, the two opposing sides are parallel in the left-right direction and the remaining two sides are used in the vertical direction. , A direction parallel to the left side and the right side of the screen is referred to as a first direction. A direction orthogonal to the first direction on the screen (a direction parallel to the upper side and the lower side) is referred to as a second direction.

  The control unit 20 receives a driver's input of a destination via an input unit of the user I / F unit 45 by a function of a navigation program (not shown), and searches for a scheduled traveling route from the current position of the vehicle to the destination. In addition, the control unit 20 can perform route guidance for instructing the driver of the vehicle on a scheduled route by using the function of the navigation program. Further, in the present embodiment, a function of displaying a map on the display of the user I / F unit 45 can be executed as a function of the navigation program, and the map display is realized by the map display program 21.

  The map display program 21 causes the control unit 20 to realize a function of displaying a map including a mark indicating the position and orientation of the vehicle (hereinafter, referred to as a host vehicle mark) in a north-up mode or a heading-up mode. The north-up mode or the heading-up mode is switched according to a user operation. In the present specification, a map display when the heading-up mode is selected will be described.

  In the present embodiment, two states of a “normal heading-up state” and a “route-up state” are defined as internal states of the navigation system 10 when the heading-up mode is selected. Hereinafter, the conventionally known heading up is referred to as “normal heading up”.

  In the normal heading-up state, the position of the own vehicle mark in the screen is fixed (the position in the normal heading up is called the own vehicle mark display position), and the direction of the own vehicle mark with respect to the screen is always parallel to the first direction. Thus, the map is fixed in a direction toward the upper side of the screen, and the map is moved relative to the own vehicle mark and displayed as the vehicle moves. The fact that the map relatively moves with respect to the own vehicle mark means that the map moves in the first direction on the screen or that the map can move in the second direction with a change in the direction with respect to the own vehicle mark. means. In the normal heading-up state, the direction of the map may frequently change depending on the shape of the planned traveling route. Therefore, in the present embodiment, when the vehicle approaches a road section where the direction of the map frequently changes when the vehicle travels normally in the heading-up mode, the vehicle is switched to the route-up state.

  In the route up state, the map is scrolled in the first direction on the screen as the vehicle moves, but is not scrolled in the second direction. Although the direction of the map does not change with respect to the screen, the direction of the own vehicle mark may change with respect to the screen as the vehicle moves depending on the shape of the planned traveling route (the position of the own vehicle mark in the second direction). May change with the movement of the vehicle). In the present embodiment, the position of the vehicle mark in the first direction on the screen is fixed. Therefore, even in a road section in which the direction of the map frequently changes when the vehicle travels normally with the heading up, the direction of the map does not change by traveling the route up.

  In the present embodiment, a display range control unit 21a and a map display unit 21c are provided to realize the map display in the route-up state described above. The display range control unit 21a causes the control unit 20 to realize a function of scrolling the map in a first direction on the screen as the vehicle moves and not scrolling the map in a second direction orthogonal to the first direction. Module. The control unit 20 periodically acquires the current position (latitude, longitude) of the vehicle based on the output signals of the GNSS reception unit 41, the vehicle speed sensor 42, and the gyro sensor 43, and converts the current position into coordinates in the screen coordinate system. In the present embodiment, a screen coordinate system is defined in which an axis parallel to the second direction of the screen is the x-axis and an axis parallel to the first direction of the screen is the y-axis.

  The conversion of the current position of the vehicle to the coordinates of the screen coordinate system is performed based on the display range of the map currently displayed on the screen (the map after the display update in the previous cycle and the map before the display update in the current cycle). Will be FIG. 2A is a schematic diagram showing a planned traveling route included in the map drawn on the RAM and a display range M of the map being displayed on the screen.

  The map drawn on the RAM is composed of a plurality of layers. In the present embodiment, a map layer and a host vehicle position layer are included. The map layer is a layer for drawing a map image, and may be configured to include a background layer, a road layer, a scheduled route layer, and the like in detail. The vehicle position layer is a layer for drawing a vehicle mark. On the map layer, as shown in FIG. 2A, a map in a range wider than the display range of the map displayed on the screen is drawn. For example, when the display range approaches the end of the range drawn on the map layer, the range drawn on the map layer is updated (for example, updated to a range where the end is near the center), and the map of the updated range is displayed. It is drawn on the map layer. In the present embodiment, the vehicle position layer is updated every cycle in a map display process described later.

Information indicating the position of the display range M on the map is stored in the control unit 20. For example, the vertices (at least two diagonal vertices) of the rectangular display range M are associated with the positions (latitude and longitude) of the corresponding points. Based on this correspondence and the current position (latitude and longitude) of the vehicle acquired in the current cycle, the control unit 20 acquires coordinates (current position _Cc ) indicating the current position of the vehicle acquired in the current cycle. Note that in FIG. 2A, C _p represents the coordinates (previous position) indicating the current position of the vehicle obtained in the preceding period. Control unit 20 obtains the amount of movement to the current position _{C c (Δx, Δy)} from the previous position _{C p.} Previous position _{C p (x p, y p} ), this position _{C c (x c, y c} ) When the movement amount ([Delta] x, [Delta] y) is represented by _{(x c -x p, y c} -y p) You.

  By the function of the display range control unit 21a, the control unit 20 scrolls the display range M by Δy in parallel with the y axis. The dashed-dotted rectangular area indicates the display range M 'after scrolling. Accordingly, based on the screen of the display of the user I / F unit 45, the map is scrolled and displayed in the direction parallel to the y-axis by -Δy with respect to the screen. Note that the control unit 20 does not scroll the display range in a direction parallel to the x-axis with respect to the map drawn on the map layer, and does not change the direction of the display range with respect to the map drawn on the map layer. Therefore, the map does not scroll in the x direction with respect to the screen, and the direction of the map does not change.

The map display unit 21b is a program module that causes the control unit 20 to realize a function of displaying a mark indicating the direction of the vehicle (own vehicle mark) at the position of the vehicle on the scrolled map. The control unit 20 moves the map by −Δy in a direction parallel to the y-axis based on the screen, that is, moves the display range M by Δy in a direction parallel to the y-axis with respect to the map drawn in the RAM. The current position Cc of the vehicle in the display range M 'after the _movement is specified. As shown in FIG. 2A, the display range M ′ is a state in which the display range M has moved by Δy in a direction parallel to the y-axis with respect to the map drawn on the map layer. _c y coordinate _{(y c} ') is the same as the y-coordinate of the previous position _{C p} in the display range M ([Delta] y is canceled). Note in the present embodiment, the y coordinate of the current position C _c in the display range M 'is equal to the y coordinate of the vehicle mark display position in the normal heading up.

Further, since the display range does not move in the x direction with respect to the map drawn on the map layer, the control unit 20 displays a value obtained by adding Δx to the x coordinate (x _p ) of the previous position C _p of the display range M. The x coordinate (x _c ′) of the current position C _c of the range M ′ is set. Therefore, 'this location _C c in _{(x c'} display range M after scrolling, _{y c} ') can be represented as _{(x p + Δx, y p} ).

The control unit 20 acquires the direction in screen toward the current position C _c from the previous position C _p. The control unit 20 acquires from the recording medium 30 the image data of the own vehicle mark that is in the direction parallel to the vector of (Δx, Δy) and indicates the direction D in the display range M ′. Control unit 20, based on the image data acquired, the current position C _c in the display range M 'of the vehicle position layer, to draw the vehicle mark. Specifically, for example, as a point indicating the vehicle position in the image of the vehicle mark (for example, the center of the circle indicating the vehicle mark) is now located C _c, the vehicle mark is drawn.

  By the function of the map display unit 21b, the control unit 20 superimposes the drawing data of the own vehicle mark of the own vehicle position layer on the drawing data of the display range M 'in the map layer and displays the data on the display of the user I / F unit 45. Let it. 3A to 3C show the transition of the map and the own-vehicle mark displayed on the screen in the route-up state (FIGS. 3A, 3B, and 3C in order of elapse of time). In this example, at least in the display range of the screen, the scheduled traveling route (thick line) is located on the −y direction side of the own vehicle mark C. Accordingly, as the vehicle travels on the scheduled route, the map is scrolled in the + y direction with respect to the screen as shown in FIGS. 3A to 3C. Further, the y coordinate of the own vehicle mark C on the screen does not change, but the x coordinate can move left and right. Further, the direction of the own vehicle mark C changes along the planned traveling route.

  3A and 2B suppose that the display position of the own vehicle mark C on the screen is fixed, and the map is moved in the x direction or the y direction with respect to the screen with the movement of the vehicle. A display example is shown in a case where a configuration is adopted in which the direction of the own vehicle mark C is changed at the position along the planned traveling route (the direction of the map with respect to the screen is not changed). In this configuration, as shown in FIGS. 3A and 2B, the direction of the map does not change, but the map frequently reciprocates in a direction parallel to the x-axis. Therefore, there is a possibility that the user may feel such a frequent reciprocating movement of the map.

  According to the route up of the present embodiment, the map scrolls in the first direction (the direction parallel to the y-axis) with the movement of the vehicle, but does not move in the second direction (the direction parallel to the x-axis). Do not scroll. Therefore, even when the vehicle travels in a section in which a sharp curve that returns in a zigzag shape continues as shown in FIG. 3A, the map does not frequently reciprocate in the second direction. Therefore, it is possible to reduce the possibility that the user feels troublesome about the map displayed on the screen.

  Note that a transition is made from the normal head-up state to the route-up state when the route-up condition is satisfied. Before describing the route up condition in detail, a reference line on the screen will be described. FIG. 4A is a diagram illustrating an example of a planned traveling route and a reference line. In the figure, a broken line indicates a reference line. In the present embodiment, it is assumed that a map is displayed on the entire area of the display screen of the user I / F unit 45. Further, it is assumed that the x-coordinate of the own vehicle mark display position in the normal heading-up state is a middle point in the x-direction of the screen. Therefore, in the present embodiment, the reference line is a line that passes through the center of the screen in the x direction and extends parallel to the direction parallel to the y axis.

  In the present embodiment, the route-up condition includes, in the present embodiment, a point that intersects with the reference line (or a point that comes closest within the threshold distance) on the scheduled traveling route from the position of the vehicle to the upper side of the screen (condition A), and The planned traveling route from the position of the vehicle to the relevant point (if there are a plurality of such points on the screen, of which the last position is located on the planned traveling route) is located inside both ends in the second direction of the screen. (Condition B).

  A point that satisfies the condition A is a candidate point for a route-up cancellation point. In normal heading-up, the own vehicle mark is fixedly displayed at the own vehicle mark display position (on the reference line), so if the release point is on the reference line, when the route-up is canceled and returning to normal heading-up, The map does not move in the second direction. Even if there is no point that intersects with the reference line, in the present embodiment, the point closest to the reference line within the threshold distance is also a candidate for the release point. When such a point is set as the release point and the route up is released to return to the normal heading-up, the map slightly moves in the second direction. Therefore, the threshold distance is set based on the map movement amount in the second direction that is allowed when returning from the route up to the normal heading up. The larger the threshold distance is, the more the route-up condition is relaxed (usually the route-up rather than the heading-up is more easily selected).

  By satisfying the condition B, the route until the own vehicle mark reaches the release point does not fall outside the screen, and therefore, compared with the case where a part of the route is not displayed outside the screen and the user travels, It is easy to grasp the shape of the planned route.

  In the example of FIG. 4A, there are two points (p1, p2) at which the planned traveling route and the reference line intersect between the own vehicle mark C and the upper side of the screen (the condition A is satisfied). The point p2 at which the scheduled travel route and the reference line finally intersect is set as the release point. The release point is a point at which the route-up display is released when the route-up display is performed, as described above. In the example of FIG. 4A, the planned traveling route from the vehicle mark C to the point p2, which is the release point, is located between the left side and the right side of the screen (satisfies the condition B). Therefore, the example of FIG. 4A satisfies the route up condition.

  4B and 5A show examples in which the route up condition is not satisfied. In FIG. 4B, there are two points (p1, p2) where the planned traveling route intersects with the reference line between the own vehicle mark C and the upper side of the screen (satisfies the condition A) as in the example of FIG. 4A. However, a section of the scheduled travel route up to the last intersection point p2 (release point) is located outside the left side of the screen (the condition B is not satisfied). Therefore, since the example of FIG. 4B does not satisfy the route up condition, in the present embodiment, the normal heading up state is continued.

  FIG. 5A shows that, from the vehicle mark C to the upper side of the screen, there is no point where the planned route crosses the reference line (the condition A is not satisfied), and there is no point approaching within a threshold distance from the reference line (condition B is not satisfied). For example, the threshold distance (distance in the x direction) from the reference line may be set to be larger from the own vehicle mark C toward the upper side of the screen, as shown by the dashed line in FIG. 5A. In the example of FIG. 5A, the route up condition is not satisfied, so that the normal head-up state is continued. Note that the threshold distance setting mode shown in FIG. 5A is merely an example, and various modes may be adopted based on the above-described contents regarding the threshold distance.

  The release point can be updated as the vehicle moves. For example, as shown in FIG. 5B, when the display range of the map is M, the point p2 is set as the release point, but the display range moves in the −y direction with the movement of the vehicle and becomes M ″. In this case, a point p3 that intersects with the reference line appears further on the scheduled traveling route than the point p2. The scheduled traveling route from the vehicle mark C in the display range M '' to the point p3 is located between the left side and the right side of the screen. In such a case, the cancellation point is updated from the point p2 to the point p3.

  Returning to the description of the example of FIG. 4A. When the vehicle reaches the release point (point p2) without the appearance of a new release point (see FIG. 6A), the control unit 20 fixes the position of the own vehicle mark on the screen and moves the vehicle thereafter. , The map is moved relative to the own vehicle mark C (see FIG. 6B). That is, in the present embodiment, the control unit 20 transitions the internal state from the route up state to the normal heading up state.

When transitioning from the route up state to the normal heading up state, if the angle (θ ₁ ) between the direction of the preceding vehicle mark and the reference line is equal to or larger than a predetermined angle, the vehicle mark C The orientation of the map may be rotated so that the angle formed between the orientation and the reference line is reduced stepwise to become 0 (stepwise over time so that the map does not rotate 90 degrees immediately after FIG. 6A). May be rotated).

  Alternatively, when the vehicle finally reaches the point p6 where the direction of the own vehicle mark C is parallel to the reference line until the vehicle reaches the release point p2, the vehicle moves from the point p6 to the point p2. The direction of the vehicle mark C is fixed in the −y direction, the display range is moved by Δy, the position of the own vehicle mark C is moved by Δx, and the direction of the own vehicle mark C is centered on the display position of the own vehicle mark in normal heading up. The display range may be rotated accordingly. By controlling in this way, when reaching the point p2, the direction of the map becomes the direction shown in FIG. 6B. Then, the control unit 20 may perform the display with the normal heading up from the point p2.

(2) Map display processing:
FIG. 7 is a flowchart of the map display process. The map display process is repeatedly executed by the control unit 20 at regular time intervals when the navigation system 10 provides guidance on the scheduled travel route. When the map display processing is started, the control unit 20 acquires the current position of the vehicle (Step S100). That is, the control unit 20 acquires the current position of the vehicle based on the output signals of the GNSS receiving unit 41, the vehicle speed sensor 42, and the gyro sensor 43 by the function of the display range control unit 21a. Then, the control unit 20 is the function of the display range control section 21a, and acquires the current position C _c in the display range M of map displayed on the screen (see Figure 2A).

Then the control unit 20 of the function of the display range control section 21a, and acquires the movement amount to the current position _{C c (Δx, Δy)} from the previous position _{C p} (step S105). Then the control unit 20 of the function of the map display section 21b, and acquires the orientation on the screen towards the current position C _c from the previous position C _p. That is, the control unit 20 acquires the direction D based on Δx and Δy as described above (step S110).

Subsequently, the control unit 20 determines whether or not the heading is in the normal heading-up state (step S115). That is, the control unit 20 determines whether the internal state in the heading-up mode is the normal heading-up state or the route-up state. When it is determined in step S115 that the vehicle is in the normal heading-up state, the control unit 20 determines whether a route-up condition is satisfied (step S120). That is, the control unit 20 determines whether or not both the above-described conditions A and B are satisfied. First, the control unit 20 determines whether or not the condition A is satisfied, that is, between the position of the own vehicle mark C in the display range M of the map being displayed on the screen (ie, the previous position C _p in the display range M) and the upper side of the screen. It is determined whether or not there is a point (or a point closest to within the threshold distance) that intersects the reference line in the scheduled traveling route (see FIGS. 4A, 4B, and 5A). When the point exists (when the condition A is satisfied), the control unit 20 temporarily sets the point as a release point. If the point does not exist, the route up condition is not satisfied, so the control unit 20 proceeds to the process of step S130. When there are a plurality of such points in the display range M (see FIG. 5B), the control unit 20 provisionally sets the last point on the scheduled traveling route as the release point.

  When the condition A is satisfied, the control unit 20 determines whether the condition B is satisfied. That is, the control unit 20 determines whether or not there is a portion located outside the both ends in the x direction of the display range M in the scheduled travel route from the position of the own vehicle mark C to the temporarily set release point. When there is a portion outside the both ends in the x direction of the display range M (when the condition B is not satisfied), the control unit 20 proceeds to the process of step S130 because the route up condition is not satisfied. When there is no portion outside the both ends in the x direction of the display range M (when the scheduled traveling route from the own vehicle mark C to the release point is inside the both ends = when the condition B is satisfied), the route is raised. To satisfy the condition (satisfy the condition A and the condition B), the control unit 20 changes the internal state to the route-up state (step S125), and proceeds to the processing of step S160.

When it is not determined that the route up condition is satisfied in step S120, the control unit 20 performs the map display with the normal heading up (steps S130 to S135). In normal heading-up, the last position C _p is in the display range M of map displayed on the screen, a vehicle mark display position. Therefore, the control unit 20 moves the display range M by Δy in a direction parallel to the y-axis and Δx in a direction parallel to the x-axis so that the current position C _c becomes the previous position C _p (the own vehicle mark display position). It is moved and rotated in the direction D (step S130). The control unit 20 rotates the display range so that the direction D points in the −y direction.

  Subsequently, the control unit 20 draws and displays the own vehicle mark C upward at the own vehicle mark display position (step S135). That is, the control unit 20 sets the own vehicle mark display position in the display range moved relatively to the own vehicle mark display position in step S130, and points the own vehicle mark display position of the own vehicle position layer upward ( -Draw an image of the vehicle mark C (in the direction pointing in the y direction). Then, the control unit 20 superimposes the drawing content of the display range in the own vehicle position layer on the drawing content of the display range after the movement in the map layer, and causes the display of the user I / F unit 45 to display the content. As a result, the display of the map and the own vehicle mark is updated on the display screen in a normal heading-up manner.

  When it is not determined in step S115 that the vehicle is in the normal heading-up state, that is, in the case of the route-up state in the present embodiment, the control unit 20 determines whether there is a new point that satisfies the route-up condition (step S140). If there is a new point, the release point is updated with the new point (step S145). That is, the control unit 20 newly generates a point (or a point closest to the reference line within the threshold distance) at which the scheduled travel route from the own vehicle mark C to the end in the -y direction intersects the reference line in the display range. If the planned route from the vehicle mark C to the point falls within both ends in the x direction of the display range (eg, point p3 in FIG. 5B), the release point is updated at the point.

Subsequently, the control unit 20 determines whether or not the release point has been reached (step S150). That is, the control unit 20 determines whether the vehicle has reached the release point based on the current position C _c. When it is determined in step S150 that the vehicle has reached the cancellation point, the control unit 20 transitions the internal state to the normal heading-up state (step S155), and proceeds to the processing in step S130. That is, the map and the own vehicle mark are displayed in a normal heading-up manner. As described above, the transition from the route up to the normal heading up may be performed stepwise over time.

  If it is not determined in step S150 that the vehicle has reached the cancellation point, the control unit 20 displays a map with the route up (steps S160 to S165). That is, the control unit 20 moves the display range by Δy in a direction parallel to the y-axis by the function of the display range control unit 21a (step S160). That is, as shown in FIG. 2A, the display range M is moved by Δy in a direction parallel to the y-axis to be a display range M ′. Subsequently, the control unit 20 draws and displays the own vehicle mark C in the direction D at a position shifted by Δx in a direction parallel to the x axis by the function of the map display unit 21b (step S165).

That is, the control unit 20 specifies the current position C _c in the display range M 'has been moved in step S160, to the position of the vehicle position layer, it draws an image of the vehicle mark C in the direction D. Then, the control unit 20 superimposes the drawing content of the display range M ′ in the own vehicle position layer on the drawing content of the display range M ′ in the map layer, and displays it on the display of the user I / F unit 45. As a result, on the display screen, the display of the map and the own vehicle mark is updated in a route-up manner.

(3) Other embodiments:
The above embodiment is an example for carrying out the present invention, and scrolls the map in a first direction on the screen and does not scroll the map in a second direction orthogonal to the first direction as the vehicle moves. Various other embodiments can be adopted as long as a mark indicating the direction of the vehicle is displayed at the position of the vehicle on the map. For example, the map display system may be a device mounted on a vehicle or the like, may be a device realized by a portable terminal, or may be realized by a plurality of devices (for example, a client and a server). System. Further, the map display system can be applied to any display system not related to a vehicle.

  Various configurations are conceivable as a configuration in which at least a part of the display range control unit 21a and the map display unit 21b configuring the map display system is divided into a plurality of devices. For example, the navigation system periodically transmits the current position and the like to a server capable of wireless communication with the navigation system, and the server performs the function of the display range control unit 21a and the generation of the map display data of the map display unit 21b. When executed, the navigation system may be configured to display the display data received from the server. Of course, some components of the above-described embodiment may be omitted, or the order of processing may be changed or omitted.

  As a section in which a sharp curve that turns back in a zigzag shape is continuous, for example, a road that is a road in a place with a large gradient such as a mountain road may be assumed. The scheduled traveling route is not limited to the state where the destination is set. For example, even in a state where a destination is not set, in a section where there is no intersecting road, a road along the road can be treated as a planned traveling route. Further, as a section to be turned back in a zigzag manner, a case in which a plurality of roads intersect in a grid pattern and the scheduled traveling route sequentially turns right, left, left, right, right, and right at the intersection may be assumed.

  When the condition A is satisfied but the condition B is not satisfied among the route up conditions in the above embodiment, the direction of the map with respect to the screen is fixed, the own vehicle mark is fixed at a predetermined position on the screen, and the vehicle The direction of the vehicle mark with respect to the screen may be rotated as the vehicle travels, and the map may be displayed by shifting the map up, down, left, and right with respect to the screen. Further, for example, even when the condition A is satisfied but the condition B is not satisfied, if the length of the section outside the display range is equal to or less than a predetermined length, the planned traveling route to the release point is displayed. Change the display range to be within the range (eg, move the display range in the second direction, rotate the display range, enlarge the display range (change the scale), etc.) (to satisfy the route up condition) Then, the route up display may be performed.

  Also, as shown in FIG. 8A, when the release point (p5) is not on the reference line, and when the vehicle reaches the release point p5, the control unit 20 causes the position of the own vehicle mark C to be on the reference line. Alternatively, the display range may be moved in the −y direction while the display range is moved stepwise in a direction parallel to the x-axis.

  When the vehicle reaches the release point, the map display unit fixes the position of the mark on the screen, and the display range control unit only needs to be able to move the map relative to the mark in accordance with the movement of the vehicle. . That is, moving the display range of the map in the second direction, moving in the first direction, and changing the direction of the map in accordance with the direction of the own vehicle mark at the own vehicle mark display position is prohibited. Any configuration that does not need to be used. The transition to the normal heading-up may be performed when the release point is reached, or may be performed stepwise after the release point is reached. Also, in the case of normal heading up after reaching the release point, the map of the vehicle is stepped from the front so that the direction of the own vehicle mark is parallel to the reference line when reaching the release point. The direction may be changed.

  An example will be described in which a normal heading-up is gradually performed after reaching the cancellation point. When the release point is reached, the map is not rotated and the map is moved in the x direction (or in the y direction if Δy> 0) until the own vehicle mark turns in the −y direction (upward on the screen). Then, the heading-up state may be returned to the normal heading-up state when the direction of the own vehicle mark becomes the −y direction next with the movement of the vehicle. Specifically, for example, as shown in FIG. 6A, before the vehicle reaches the cancellation point p2 in the route up state, the point p7 where the planned traveling route becomes parallel to the reference line for the first time after the cancellation point p2 is specified. When the distance K between the point p7 and the reference line is equal to or less than a predetermined value, the display range is moved in the y direction by Δy from the point p2 to the point p7 as shown in FIG. 8B (if Δy> 0). For example, the display range may not be rotated by moving Δx in the x direction (the direction of the own vehicle mark may change). Then, when the vehicle reaches the point p7, the vehicle may return to the normal heading-up.

  The display range control unit may be configured to scroll the map in a first direction on the screen and not to scroll the map in a second direction orthogonal to the first direction as the vehicle moves. For example, as in the above embodiment, the map may be scrolled in the first direction so that the position of the vehicle mark in the direction parallel to the first direction does not change. Further, for example, as long as the vehicle mark is within the display range, the vehicle mark may move in a direction parallel to the first direction, and the map may scroll in the first direction with respect to the screen. . In this case, the movement of the own vehicle mark may be in the + y direction or may be in the -y direction.

  Further, the shape of the screen may be a rectangle or another form. In that case, the direction parallel to the direction of the own vehicle mark in the “normal heading-up” mode may be the first direction. The map may be displayed on the entire area of the display screen, or may be displayed on a partial area of the display screen. The area where the map is displayed on the screen may be rectangular or another form. The reference line may be a line that passes through the center of the area where the map is displayed in the screen in the second direction and is parallel to the first direction. Note that if the own vehicle mark display position in the normal heading-up state is a position other than the center in the second direction of the area where the map is displayed on the screen, the reference line passes through the non-center position and is parallel to the first direction. May be a simple line.

  The map display unit only needs to be able to display a mark indicating the direction of the vehicle at the position of the vehicle on the scrolled map. The direction of the vehicle may be specified based on the locus of the position of the vehicle. Further, the direction of the vehicle may be specified based on the content of the driving operation. For example, the future direction of the vehicle may be specified based on the current direction of the vehicle and the output value of the steering sensor.

  Further, as in the present invention, as the vehicle moves, the map is scrolled in the first direction on the screen, and the map is not scrolled in the second direction orthogonal to the first direction. The method of displaying the mark indicating the direction of the vehicle on the map can be applied as a map display method or a map display program executed by a computer. In addition, the above-described systems, programs, and methods may be realized as a single device or may be realized using components shared with each unit provided in the vehicle, and may include various aspects. It is a thing. Further, it can be appropriately changed, for example, a part is software and a part is hardware. Further, the invention is also realized as a recording medium of a program for controlling the system. Of course, the recording medium of the program may be a magnetic recording medium, a semiconductor memory, or any recording medium to be developed in the future.

DESCRIPTION OF SYMBOLS 10 ... Navigation system, 20 ... Control part, 21 ... Map display program, 21a ... Display range control part, 21b ... Map display part, 21c ... Map display part, 30 ... Recording medium, 30a ... Map information, 41 ... GNSS receiving part , 42: vehicle speed sensor, 43: gyro sensor, 45: user I / F section, C: own vehicle mark, _Cc : current position, _Cp : previous position, D: direction, M: display range, M ': display Range, M '': Display range, p2: Release point, p3: Release point, p5: Release point

Claims (4)

A map display system that displays a map including a mark indicating a position and an orientation of a vehicle on a screen,
A display range control unit that scrolls the map in a first direction on the screen with the movement of the vehicle and does not scroll the map in a second direction orthogonal to the first direction;
A map display unit that displays the mark indicating the direction of the vehicle at the position of the vehicle on a scrolled map,
Map display system comprising: When the vehicle reaches a release point where the scheduled travel route of the vehicle finally intersects or approaches the reference line extending in parallel with the first direction on the screen,
The position of the mark on the screen is fixed, and the map moves relative to the mark in accordance with the movement of the vehicle,
The map display system according to claim 1. When the planned route from the position of the vehicle to the release point is inside both ends of the screen in the second direction, a map is scrolled in the first direction and a map is scrolled in the second direction. Instead, the mark indicating the direction of the vehicle is displayed at the position of the vehicle on the scrolled map,
The map display system according to claim 2. A map display program for displaying a map including a mark indicating a position and an orientation of a vehicle on a screen,
Computer
A display range control unit that scrolls a map in a first direction on the screen and does not scroll the map in a second direction orthogonal to the first direction, with the movement of the vehicle;
A map display unit that displays the mark indicating the direction of the vehicle at the position of the vehicle on a scrolled map,
Map display program to function as.