JP2021051088A - Navigation device, communication device, navigation method, and navigation program - Google Patents

Abstract

To provide a navigation device capable of reducing risk of accidents and improving safety.SOLUTION: A control unit 10 of a navigation device includes: an acquisition unit 102 that acquires actual position information of another vehicle from information received via wireless communication; a RAM that accumulates the actual position information acquired by the acquisition unit 102; an estimation unit 104 that estimates a current position of the other vehicle by using the actual position information accumulated in the RAM when acquisition of the actual position information by the acquisition unit 102 is interrupted in regards to the other vehicle present outside a displayed range of an electronic map on a display; and a display control unit 105 that controls the display so as to start display of an estimated position of the other vehicle on the basis of the estimated position information estimated by the estimation unit 104 when the estimated position of the other vehicle based on the estimated position information estimated by the estimation unit 104 reaches inside the displayed range.SELECTED DRAWING: Figure 4

Description

The present invention relates to a navigation device, a communication device, a navigation method, and a navigation program that display the current position of another mobile body based on information received via wireless communication.

For example, Patent Document 1 discloses a technique for transmitting / receiving information to / from another mobile body using vehicle-to-vehicle communication.

Japanese Unexamined Patent Publication No. 2004-164315

The communication status of vehicle-to-vehicle communication varies depending on the presence or absence of obstacles such as buildings and the positional relationship between moving objects. Therefore, after the position information is acquired from another moving body existing outside the display range of the map by the display means via the vehicle-to-vehicle communication, and before the current position of the other moving body is within the above display range. Acquisition of location information from the other mobile unit may be interrupted due to deterioration of communication conditions. In this case, the current position of the other moving object is not displayed even though the other moving object existing outside the display range is within the display range (in other words, near the user). Therefore, the user does not notice the existence of the other moving object or does not exist even though the other moving object exists within the above display range (in other words, near himself / herself). There is a risk of erroneous recognition.

The above-mentioned problems are given as an example of the problems to be solved by the present invention.

In order to solve the above problem, the invention according to claim 1 is the above-mentioned invention, which is acquired before the interruption when the acquisition of the position information of another moving body existing outside the display range of the map displayed by the display means is interrupted. A first estimation means that estimates the current position of the other moving body using at least the position information of the other moving body and generates the corresponding estimated position information, and the other moving body based on the estimated position information. The display control means for controlling the display means is provided so as to start displaying the current position of the other moving body when it is estimated that the display range of the map is reached.
Further, the invention according to claim 3 accumulates a first acquisition means for acquiring position information of another mobile body from information received via wireless communication and a position information acquired by the first acquisition means. Based on the position information accumulated in the first storage means with respect to the first storage means and other moving bodies existing outside the display range of the map by the display means, other moving bodies existing outside the display range will be described in the future. The predictive means for predicting whether or not the display range is within the display range, and the position information stored in the first storage means when the acquisition of the position information by the first acquisition means for the other moving body is interrupted. As a first estimation means that estimates the current position of the other moving body that exists outside the display range and is predicted to be within the display range in the future by the prediction means, and generates corresponding estimated position information. When the current position of the other moving body based on the estimated position information by the first estimation means reaches within the display range of the map by the display means, the other moving body is based on the estimated position information. It has a display control means for controlling the display means so as to start displaying the current position.

Further, in order to solve the above problem, the invention according to claim 6 is a communication device connected to a navigation device so as to be able to send and receive information, and is a receiving means for receiving information via wireless communication and a map by a display means. When the acquisition of the position information of another moving body existing outside the display range of is interrupted, the current position of the other moving body is estimated by using at least the position information of the other moving body acquired before the interruption. When the other moving body reaches the display range of the map based on the second estimation means and the position information estimated by the second estimation means, the navigation device is estimated by the second estimation means. It has an output means for outputting the position information estimated by the second estimation means to the navigation device so as to start displaying the current position of the other moving body by the display means based on the position information. ..

Further, in order to solve the above problem, the invention according to claim 7 is a navigation method executed by a navigation device including a display means, an estimation means, and a display control means, and displays a map displayed by the display means. When the acquisition of the position information of another moving body existing outside the range is interrupted, the current position of the other moving body is determined by the estimation means using at least the position information of the other moving body acquired before the interruption. When the estimation procedure for estimating and generating the corresponding estimated position information and the estimation procedure for estimating that the other moving object reaches the display range of the map based on the estimated position information, the other It has a display control procedure for controlling the display means by the display control means so as to start displaying the current position of the moving body.

Further, in order to solve the above problem, the invention according to claim 8 is acquired before the interruption when the acquisition of the position information of another moving body existing outside the display range of the map displayed by the display means is interrupted. An estimation procedure that estimates the current position of the other moving body using at least the position information of the other moving body and generates the corresponding estimated position information, and the other movement in the estimation procedure based on the estimated position information. When it is estimated that the body reaches the display range of the map, the computer is made to execute a display control procedure for controlling the display means so as to start displaying the current position of the other moving body. ..

It is a figure which shows an example of a plurality of vehicles including the vehicle equipped with the navigation device which is one Embodiment of this invention. It is a block diagram which shows the hardware composition example of the electronic system of the own vehicle. It is a functional block diagram which shows the functional structure example of the control part of the communication device of another vehicle. It is a functional block diagram which shows the functional structure example of the control part of the communication device of own vehicle, and the function structure example of the control part of a navigation device. It is explanatory drawing which shows the transition of the display content of the display of the own vehicle with the movement of the own vehicle and other vehicles. It is explanatory drawing which shows the transition of the display content of the display of the own vehicle with the movement of the own vehicle and other vehicles. It is explanatory drawing which shows the transition of the display content of the display of the own vehicle with the movement of the own vehicle and other vehicles. It is explanatory drawing which shows the transition of the display content of the display of the own vehicle with the movement of the own vehicle and other vehicles. It is explanatory drawing which shows the transition of the display content of the display of the own vehicle with the movement of the own vehicle and other vehicles. It is explanatory drawing which shows the transition of the display content of the display of the own vehicle with the movement of the own vehicle and other vehicles. It is a flowchart which shows the example of the control procedure executed by the CPU in the navigation device of the own vehicle. It is a flowchart which shows the example of the control procedure executed by the CPU in the navigation device of own vehicle. It is a flowchart which shows the example of the control procedure executed by the CPU in the navigation device of own vehicle. It is a functional block diagram which shows the functional configuration example of the control part of the communication device of own vehicle, and the functional configuration example of the control part of the navigation device in the modification which estimates the current position on the communication device side.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

FIG. 1 is a diagram showing an example of a plurality of vehicles including a vehicle equipped with a navigation device according to an embodiment of the present invention.

As shown in FIG. 1, the vehicle V1 is equipped with a communication device 14 and a navigation device 100 that are connected to each other so that information can be transmitted and received, and the vehicle V2 has a communication device 24 and a navigation device 200 that are connected to each other so that information can be transmitted and received. It is installed. Although only one vehicle V2 is shown in FIG. 1, it is not limited to the case where only one vehicle V2 exists, and a plurality of vehicles V2 may exist. The communication device 14 of the vehicle V1 and the communication device 24 of each vehicle V2 can transmit and receive information to and from each other via wireless communication. The communication device 14 and the navigation device 100 of the vehicle V1 may have a device configuration in which they are separate bodies in separate housings, or a device configuration in which they are integrated in a common housing. The same applies to the communication device 24 and the navigation device 200 of each vehicle V2. In the present embodiment, the navigation device 100 of the vehicle V1 draws the current positions of one or more vehicles V2 (corresponding to other moving bodies) on the electronic map EM described later and displays them on the display 2 described later. explain. Hereinafter, the vehicle V1 will be referred to as "own vehicle V1" and the vehicle V2 will be referred to as "other vehicle V2" as appropriate.

FIG. 2 is a block diagram showing a hardware configuration example of the electronic system of the own vehicle V1.

As shown in FIG. 2, the own vehicle V1 includes a communication device 14, a wireless communication antenna 3, a navigation device 100, a display 2, a vehicle speed sensor 4, a brake switch 5, a blinker switch 6, an in-vehicle camera 7, GPS 8, and a gyro sensor 9. Has.

The communication device 14 has a function of controlling transmission / reception of information with the communication device 24 of each other vehicle V2 by wireless communication via the wireless communication antenna 3. The communication device 14 has a control unit 15.

The control unit 15 includes a CPU 16 and a storage device 17.

The CPU 16 performs various processes by executing various programs stored in the storage device 17, exchanges information with other parts, and outputs various control instructions to output the entire communication device 14. Has a function to control.

The storage device 17 includes a ROM 17a, a RAM 17b, and a storage medium 17c. The ROM 17a is an information storage medium in which the above-mentioned various programs and other necessary information are written in advance. The RAM 17b is an information storage medium in which the CPU 16 writes and reads information necessary for executing the various programs. The storage medium 17c is a non-volatile information storage medium such as a flash memory or a hard disk.

The wireless communication antenna 3 is attached to the outside of the vehicle V1 and transmits the information signal input from the communication device 14, and the information signal communication device 1 received from the communication device 24 of each other vehicle V2.
Output to 4.

The navigation device 100 includes a control unit 10 and a graphic controller 13.

The control unit 10 includes a CPU 11 and a storage device 12.

The CPU 11 (corresponding to a computer) executes various programs stored in the storage device 12 (including a navigation program for causing the CPU 11 to execute each procedure of the navigation method shown in the flow of FIGS. 11 to 13 described later). By doing so, it has a function of controlling the entire navigation device 100 by performing various processes, exchanging information with other parts, and outputting various control instructions.

The storage device 12 includes a ROM 12a, a RAM 12b, and a storage medium 12c. The ROM 12a is an information storage medium in which the above-mentioned various programs and other necessary information are written in advance. The RAM 12b (corresponding to the first storage means) is an information storage medium in which the CPU 11 writes and reads information necessary for executing the various programs. The storage medium 12c is a non-volatile information storage medium such as a flash memory or a hard disk. The storage medium 12c stores various types of information such as map information.

The graphic controller 13 has a function of acquiring image data from a video RAM (not shown) or the like under the control of the CPU 11, drawing an image based on the image data, and displaying the image on the display 2. For example, the graphic controller 13 draws an electronic map EM (corresponding to a map; see FIG. 5 and the like described later) based on the map information stored in the storage medium 12c under the control of the CPU 11, and displays the electronic map EM on the display 2. Further, for example, the graphic controller 13 draws the current position of the own vehicle V1 on the electronic map EM based on the position information (described later) of the own vehicle V1 under the control of the CPU 11, and displays the current position of the own vehicle V1 on the display 2. Based on the position information (described later) of the other vehicle V2, the current positions of one or more other vehicles V2 are drawn on the electronic map EM and displayed on the display 2. The graphic controller 13 may not draw the current position of the own vehicle V1 on the electronic map EM, but may draw only the current position of one or more other vehicles V2 and display it on the display 2.

The display 2 (corresponding to the display means) is composed of, for example, an LCD panel or the like, and displays various information images based on the image signal input from the graphic controller 13.

The vehicle speed sensor 4 has a function of detecting the traveling speed of the own vehicle V1. Based on the detection signal of the vehicle speed sensor 4, the CPU 11 can recognize how fast the own vehicle V1 is traveling at that time.

The brake switch 5 has a function of detecting whether or not the brake of the own vehicle V1 is depressed by a predetermined amount or more to enter the operating state, that is, whether or not the own vehicle V1 is in the decelerating state due to the braking operation.

The blinker switch 6 has a function of detecting the presence or absence of a blinker operation in either the right direction or the left direction of the own vehicle V1.

The in-vehicle camera 7 has a function of capturing a landscape image in the imaging direction from the own vehicle V1 using, for example, a CCD image sensor, and outputting the corresponding image signal to the CPU 11. The in-vehicle camera 7 may be an infrared sensor, a radar, or the like.

The GPS 8 has a function of positioning the current position of the own vehicle V1, acquiring position information expressed in latitude and longitude, and outputting the position information to the CPU 11. Hereinafter, the position information detected by GPS 8 is referred to as "real position information", and the current position based on the actual position information is referred to as "real position" as appropriate.

The gyro sensor 9 has a function of detecting the traveling direction (traveling direction) of the own vehicle V1. Based on the detection signal of the gyro sensor 9, the CPU 11 can recognize in which direction (direction) the own vehicle V1 is traveling at that time.

The own vehicle V1 may not be provided with one or more of the vehicle speed sensor 4, the brake switch 5, the blinker switch 6, the in-vehicle camera 7, and the gyro sensor 9, or may be provided with hardware other than the above. Good.

Further, the electronic system of each other vehicle V2 can have the same hardware configuration as above, but it is not always necessary to have the same hardware configuration as above, and each other vehicle V2 has the same hardware configuration. It does not have to be a configuration. In each other vehicle V2, the control unit of the communication device 24 is referred to as "control unit 25", and the other units have the same names as described above.

FIG. 3 is a functional block diagram showing a functional configuration example of the control unit 25 of the communication device 24 of the other vehicle V2.

As shown in FIG. 3, the control unit 25 of the communication device 24 includes a transmission / reception unit 251.

The transmission / reception unit 251 intermittently transmits / receives information via wireless communication. One of the most important functions of the transmission / reception unit 251 is information including at least the identification information of the other vehicle V2 (hereinafter, appropriately referred to as "vehicle ID") and the actual position information of the other vehicle V2 detected by GPS8. It is to transmit intermittently (for example, every 100 [ms]) via wireless communication. Further, in addition to the vehicle ID and the actual position information of the other vehicle V2, the transmission / reception unit 251 includes the speed information of the other vehicle V2 detected by the vehicle speed sensor 4 and the traveling direction information of the other vehicle V2 detected by the gyro sensor 9. Information including behavior information such as acceleration / deceleration information of another vehicle V2 may be transmitted. In the above, it is described that information is transmitted and received intermittently, but the communication itself may intermittently repeat connection and disconnection, and the communication itself intermittently or continuously transmits information packets. The content of the continuously transmitted information may be updated at the above intervals (for example, every 100 [ms]). Further, the actual position information transmitted by the other vehicle V2 may include an error in positioning, and the degree of the error does not matter here.

FIG. 4 shows an example of the functional configuration of the control unit 15 of the communication device 14 of the own vehicle V1 and the control unit 10 of the navigation device 100 exhibited by the CPU 11 executing a predetermined program stored in the storage device 12. It is a functional block diagram which shows the functional configuration example.

As shown in FIG. 4, the control unit 15 of the communication device 14 includes a transmission / reception unit 151.

The transmission / reception unit 151 intermittently transmits / receives information via wireless communication. One of the most important functions of the transmission / reception unit 151 is to intermittently transmit information including at least the vehicle ID and the actual position information transmitted from the transmission / reception unit 251 in one or more other vehicles V2 via wireless communication. It is to receive intermittently (for example, every 100 [ms]). When the transmission / reception unit 251 of the other vehicle V2 transmits information including the behavior information in addition to the vehicle ID and the actual position information, the transmission / reception unit 151 is the vehicle transmitted from the transmission / reception unit 251 of the other vehicle V2. Receives information including behavior information in addition to ID and actual position information. The information received by the transmission / reception unit 151 is output to the control unit 10 of the navigation device 100.

Further, the control unit 10 of the navigation device 100 includes an acquisition unit 102, a prediction unit 103, an estimation unit 104, and a display control unit 105.

The acquisition unit 102 (corresponding to the first acquisition means) acquires at least the actual position information from the information received by the transmission / reception unit 151 for each other vehicle V2 whose vehicle ID is included in the information. When the transmission / reception unit 151 receives information including behavior information in addition to the vehicle ID and the actual position information, the acquisition unit 102 includes the vehicle ID in the information from the information received by the transmission / reception unit 151. Behavior information may be acquired in addition to the actual position information for each other vehicle V2. The information acquired by the acquisition unit 102 is stored and stored in the RAM 12b.

Here, among the other vehicles V2 for which the information is received by the transmission / reception unit 151, the actual position based on the actual position information acquired by the acquisition unit 102 corresponds to the drawing range of the electronic map EM by the graphic controller 13. There may be another vehicle V2 within the display range 50 of the electronic map EM according to 2 (see FIG. 5 and the like described later). The display range 50 is basically set to a range including the current position of the own vehicle V1 in the electronic map EM. For example, a range in which the current position of the own vehicle V1 in the electronic map EM at a desired scale is always centered is set. At this time, the scale of the electronic map EM included in the display range 50 may be changed by the user's operation. In the above case, the display control unit 105 controls the graphic controller 13, and the actual position on the electronic map EM is based on the acquired actual position information with respect to the other vehicle V2 whose actual position is within the display range 50. Is drawn and displayed on the display 2 in a predetermined display mode (for example, a dark-colored triangular mark, etc., hereinafter appropriately referred to as a “first display mode”).

Then, with respect to the other vehicle V2 whose actual position is displayed on the display 2, the transmission / reception unit 151 continuously receives the information, so that the acquisition unit 102 continuously acquires the actual position information and the actual position is changed. While within the display range 50, the display control unit 105 controls the graphic controller 13 and continuously updates the actual position on the electronic map EM based on the continuously acquired actual position information. It is drawn and displayed on the display 2 in the first display mode. In this example, the continuous reception of information (the actual position information is continuously acquired) means that the latest (immediately before) information from the other vehicle V2 is continuously received for a predetermined period (for example, 200 [for example]. ms]) is a state in which information is repeatedly received (acquired actual position information) from the same other vehicle V2 until the elapse of.

Here, while the actual position of the other vehicle V2 is displayed on the display 2, the wireless communication status is changed due to the existence of an obstacle such as a building that interferes with the wireless communication between the own vehicle V1 and the other vehicle V2. There may be another vehicle V2 in which the acquisition of the actual position information by the acquisition unit 102 is interrupted due to the deterioration and the interruption of the reception of the information by the transmission / reception unit 151. Note that the reception of information is interrupted (acquisition of actual position information is interrupted) is the same in this example even if a predetermined period elapses from the reception time of the latest (immediately before) information from the other vehicle V2. It means a state in which information is not received from the vehicle V2 (actual position information is not acquired). In the above case, the estimation unit 103 uses the existing actual position information stored in the RAM 12b with respect to the other vehicle V2 whose acquisition of the actual position information is interrupted due to the interruption of the information reception (behavior information is (In some cases, behavior information is also used), the current position is estimated by a known appropriate method, and the corresponding position information is generated. Hereinafter, the estimated current position is referred to as "estimated position", and the position information corresponding to the estimated position is referred to as "estimated position information". In the estimation, the estimated position from the information acquired from the other vehicle V2 is further corrected by applying an appropriate known map matching correction using the map information of the navigation device 100 of the own vehicle V1. , May be the estimated position.

At this time, among the other vehicles V2 whose current position is estimated by the estimation unit 103, there may be another vehicle V2 whose estimated estimated position is within the display range 50. In this case, the display control unit 105 controls the graphic controller 13 to generate the above-mentioned generation for the other vehicle V2 whose estimated position is within the display range 50, instead of the actual position previously drawn on the electronic map EM. Based on the estimated position information, the estimated position is drawn on the electronic map EM, and the display mode is different from the first display mode (for example, a light-colored triangular mark, etc., hereinafter appropriately referred to as "second display mode"). Display in 2.

Then, with respect to the other vehicle V2 whose estimated position is displayed on the display 2, the reception of the information by the transmission / reception unit 151 is interrupted and is not restarted, so that the acquisition of the actual position information by the acquisition unit 102 is interrupted and is not restarted. And while the estimated position is within the display range 50, the display control unit 105 controls the graphic controller 13 to update the estimated position on the electronic map EM based on the continuously generated estimated position information. While continuing to draw, it is displayed on the display 2 in the second display mode.

Here, while the estimated position of the other vehicle V2 is displayed on the display 2, the wireless communication situation improves due to the absence of obstacles between the own vehicle V1 and the other vehicle V2, and the transmission / reception unit 151 determines. When the reception of the information is resumed, the acquisition of the actual position information by the acquisition unit 102 is resumed, and there may be another vehicle V2 whose current position is within the display range 50. In this case, the display control unit 105 controls the graphic controller 13, and the reception of the information is restarted, so that the acquisition of the actual position information is restarted and the current position is within the display range 50. Instead of the estimated position drawn on the electronic map EM until then, the real position is drawn on the electronic map EM based on the acquired real position information, and is displayed on the display 2 in the first display mode.

The prediction unit 103 (corresponding to the prediction means) has already received the information once or a plurality of times, and the actual position based on the actual position information included in the latest information is outside the display range 50, that is, The current position of another vehicle V2 existing outside the display range 50 is grasped. Then, when the acquisition of the actual position information is interrupted due to the interruption of the reception of information regarding the other vehicle V2 existing outside the display range 50, the prediction unit 103 uses the existing actual position information stored in the RAM 12b. (If there is behavior information, the behavior information is also used), and by predicting the future positional relationship with the own vehicle V1, it is predicted whether or not it will be within the display range 50 in the future. For example, the prediction unit 103 predicts that the other vehicle V2 traveling in the direction approaching the own vehicle V1 will be within the display range 50 in the future, and the other vehicle V2 traveling in the direction away from the own vehicle V1. , It is predicted that the display range will not be within 50 in the future. In the prediction, the position of the other vehicle V2 predicted from the above information is corrected by further applying a known appropriate map matching correction using the map information of the navigation device 100 of the own vehicle V1. The future positional relationship with the own vehicle V1 may be predicted.

The estimation unit 104 (corresponding to the first estimation means) has accumulated in the RAM 12b when the acquisition of the actual position information is interrupted due to the interruption of information reception regarding the other vehicle V2 existing outside the display range 50. The current position is estimated by a known appropriate method using the actual position information up to (and the behavior information if there is any), and the corresponding estimated position information is generated. Specifically, the estimation unit 104 predicts that the other vehicle V2 and the prediction unit 103, which are predicted by the prediction unit 103 to be within the display range 50 in the future, may or may not be within the display range 50 in the future in consideration of the processing load and the like. The current position is estimated only for the other vehicle V2 (hereinafter, abbreviated as "another vehicle V2, etc. predicted to be within the display range 50 by the prediction unit 103"), and the display is displayed in the future by the prediction unit 103. The current position of the other vehicle V2, which is predicted not to be within the range 50, is not estimated. The estimation unit 104 estimates the current position only for the other vehicle V2 or the like that is predicted to be within the display range 50 in the future, and the current position for the other vehicle V2 that is predicted not to be within the display range 50 in the future. It is not limited to the case where the estimation is not performed. That is, the estimation unit 104 preferentially estimates the current position of the other vehicle V2 or the like that is predicted to be within the display range 50 in the future over the other vehicle V2 that is predicted not to be within the display range 50 in the future. You may. For example, if it is set to estimate the current position up to a predetermined number of other vehicles V2, and the number of other vehicles V2 or the like predicted to be within the display range 50 in the future is less than the predetermined number, the estimation unit 104 determines. In addition to the other vehicle V2 or the like that is predicted to be within the display range 50 in the future, the current position of the other vehicle V2 that is predicted not to be within the display range 50 in the future may be estimated. Alternatively, the estimation unit 104 determines the current position when the acquisition of the actual position information is interrupted due to the interruption of information reception regarding the other vehicle V2 existing outside the display range 50, regardless of the prediction result of the prediction unit 103. Estimates may be performed, and when the estimation unit 104 performs such processing, the prediction unit 103 becomes unnecessary. However, for convenience of explanation, in the following, the estimation unit 104 estimates the current position only for the other vehicle V2 or the like that is predicted to be within the display range 50 in the future, and it is predicted that the current position will not be within the display range 50 in the future. Regarding the other vehicle V2, a case where the current position is not estimated will be described.

The display control unit 105 (corresponding to the display control means) controls the graphic controller 13, and with respect to the other vehicle V2 whose current position is estimated by the estimation unit 104, while the estimated estimated position is outside the display range 50, The drawing of the estimated position on the electronic map EM is not started, and when the estimated position reaches the display range 50, the drawing of the estimated position on the electronic map EM is started based on the generated estimated position information. , The display 2 is started to display in the second display mode.

5 and 10 are explanatory views showing the transition of the display contents of the display 2 of the own vehicle V1 as the own vehicle V1 and the other vehicle V2 move. In addition, in these FIGS. 5 to 10, in order to avoid the complexity of the illustration and facilitate understanding, one other vehicle V2 that transmits information is used.

In FIG. 5A, the own vehicle V1 is traveling on the road R1 along the vertical direction in the figure toward the upper side in the figure, and the other vehicle V2 is traveling in the left-right direction in the figure where the other vehicle V2 intersects the road R1. It shows a situation in which the vehicle is traveling on the road R2 along the road toward the right side in the figure. In the situation shown in FIG. 5A, the own vehicle V1 receives information from the other vehicle V2 by the transmission / reception unit 151, and the acquisition unit 102 acquires the current position information of the other vehicle V2. The vehicle V2 exists outside the display range 50. At the time of the situation shown in FIG. 5A, the graphic controller 13 does not draw the actual position of the other vehicle V2 on the electronic map EM based on the acquired actual position information.

In this case, as in the example shown in FIG. 5B, the mark indicating the actual position of the other vehicle V2 is not displayed on the electronic map EM displayed on the display 2, and the actual position of the own vehicle V1 is indicated. Only the mark M1 is displayed.

In FIG. 6A, which shows a situation slightly after the situation shown in FIG. 5A, the vehicle V1 is slightly above the position shown in FIG. 5A on the road R1. It shows a situation in which the other vehicle V2 is traveling toward the upper center and the other vehicle V2 is traveling on the right side of the figure toward the right side of the figure slightly from the position shown in FIG. 5 (a) of the road R2. .. In the situation shown in FIG. 6A, the own vehicle V1 is interrupted from receiving information from the other vehicle V2 by the transmission / reception unit 151, so that the acquisition unit 102 is interrupted from acquiring the current position information of the other vehicle V2. Further, the other vehicle V2 exists outside the display range 50. At the time of the situation shown in FIG. 6A, the prediction unit 103 predicts that the other vehicle V2 will be within the display range 50 in the future, and the estimation unit 104 estimates the current position of the other vehicle V2. Since the estimated position of the other vehicle V2 is outside the display range 50, the graphic controller 13 does not draw the estimated position of the other vehicle V2 on the electronic map EM.

In this case, as in the example shown in FIG. 6B, the mark indicating the estimated position of the other vehicle V2 is not displayed on the electronic map EM displayed on the display 2, and the actual position of the own vehicle V1 is shown. Only the mark M1 is updated and displayed.

In FIG. 7A, which shows a situation slightly after the situation shown in FIG. 6A, the vehicle V1 is slightly above the position shown in FIG. 6A on the road R1. It shows a situation in which the other vehicle V2 is traveling toward the upper center and the other vehicle V2 is traveling on the right side of the figure toward the right side of the figure slightly from the position shown in FIG. 6A of the road R2. .. Even in the situation shown in FIG. 7A, the own vehicle V1 cannot be restarted because the reception of information from the other vehicle V2 by the transmission / reception unit 151 is interrupted, so that the acquisition unit 102 can acquire the current position information of the other vehicle V2. It has been interrupted and has not been restarted, and the other vehicle V2 is outside the display range 50. Even at the time of the situation shown in FIG. 7A, the prediction unit 103 predicts that the other vehicle V2 will be within the display range 50 in the future, and the estimation unit 104 estimates the current position of the other vehicle V2. Since the estimated position of the other vehicle V2 is outside the display range 50, the graphic controller 13 does not draw the estimated position of the other vehicle V2 on the electronic map EM.

In this case, as in the example shown in FIG. 7B, the mark indicating the estimated position of the other vehicle V2 is not displayed on the electronic map EM displayed on the display 2, and the actual position of the own vehicle V1 is shown. Only the mark M1 is updated and displayed.

In FIG. 8A, which shows a situation slightly after the situation shown in FIG. 7A, the vehicle V1 is slightly above the position shown in FIG. 7A on the road R1. It shows a situation in which the other vehicle V2 is traveling toward the upper center and the other vehicle V2 is traveling on the right side of the figure toward the right side of the figure slightly from the position shown in FIG. 7 (a) of the road R2. .. Even in the situation shown in FIG. 8A, the own vehicle V1 is not restarted because the reception of information from the other vehicle V2 by the transmission / reception unit 151 is interrupted, so that the acquisition unit 102 can acquire the current position information of the other vehicle V2. It has been interrupted and has not been restarted, and the other vehicle V2 has reached the display range 50. At the time of the situation shown in FIG. 8A, the estimation unit 104 estimates the current position of the other vehicle V2, and the estimated estimated position of the other vehicle V2 has reached the display range 50. The graphic controller 13 starts drawing the estimated position of the other vehicle V2 on the electronic map EM.

In this case, as in the example shown in FIG. 8B, the mark M2'indicating the estimated position of the other vehicle V2 is started to be displayed on the electronic map EM displayed on the display 2, and the own vehicle V1 is displayed. The mark M1 indicating the actual position of is updated and displayed.

In FIG. 9A, which shows a situation slightly after the situation shown in FIG. 8A, the vehicle V1 is slightly above the position shown in FIG. 8A on the road R1. It shows a situation in which the other vehicle V2 is traveling toward the upper center and the other vehicle V2 is traveling on the right side of the figure toward the right side of the figure slightly from the position shown in FIG. 8A of the road R2. .. Even in the situation shown in FIG. 9A, the own vehicle V1 cannot be restarted because the reception of information from the other vehicle V2 by the transmission / reception unit 151 is interrupted, so that the acquisition unit 102 can acquire the current position information of the other vehicle V2. It has been interrupted and has not been restarted, and the other vehicle V2 is within the display range 50. At the time of the situation shown in FIG. 9A, the estimation unit 104 estimates the current position of the other vehicle V2, and the estimated estimated position of the other vehicle V2 is within the display range 50. Therefore, the graphic controller 13 The estimated position of the other vehicle V2 is drawn on the electronic map EM.

In this case, as in the example shown in FIG. 9B, the mark M2'indicating the estimated position of the other vehicle V2 is updated and displayed on the electronic map EM displayed on the display 2, and the own vehicle V1 is displayed. The mark M1 indicating the actual position is updated and displayed.

In FIG. 10A, which shows a situation slightly after the situation shown in FIG. 9A, the vehicle V1 is slightly above the position shown in FIG. 9A on the road R1. It shows a situation in which the other vehicle V2 is traveling toward the upper center and the other vehicle V2 is traveling on the right side of the figure toward the right side of the figure slightly from the position shown in FIG. 9A of the road R2. .. In the situation shown in FIG. 10A, the own vehicle V1 resumes the acquisition of the current position information of the other vehicle V2 by the acquisition unit 102 by resuming the reception of the information from the other vehicle V2 by the transmission / reception unit 151. The other vehicle V2 is within the display range 50. At the time of the situation shown in FIG. 9A, instead of drawing the estimated position of the other vehicle V2 on the electronic map EM by the graphic controller 13, it is based on the acquired actual position information. The actual position of the other vehicle V2 is drawn.

In this case, as in the example shown in FIG. 10B, the other vehicle is replaced with the mark M2'indicating the estimated position of the other vehicle V2 that has been displayed so far on the electronic map EM displayed on the display 2. The mark M2 indicating the actual position of V2 is displayed, and the mark M1 indicating the actual position of the own vehicle V1 is updated and displayed.

11 to 13 are flowcharts showing an example of a control procedure of a navigation method executed by the CPU 11 in the navigation device 100 of the own vehicle V1 by the navigation program stored in the storage device 12 in order to realize the above method. In addition, in these FIGS. 11 to 13, in order to avoid the complexity of the drawing and facilitate understanding, a case where only one other vehicle V2 exists will be described. However, when there are a plurality of other vehicle V2s, it can be applied by executing the process described below for each other vehicle V2.

In FIGS. 11 to 13, the process shown in this flow is started, for example, when the power of the navigation device 100 of the own vehicle V1 is turned on (in other words, when the engine of the own vehicle V1 is turned on).

First, in step S10, the CPU 11 controls the graphic controller 13 by the function of the display control unit 105, draws the electronic map EM based on the map information stored in the storage medium 12c, and displays it on the display 2. Then, the CPU 11 controls the graphic controller 13 by the function of the display control unit 105 to draw the actual position of the own vehicle V1 on the electronic map EM based on the actual position information of the own vehicle V1 input from the GPS 8. Display on display 2. The process of step S10 is repeated at predetermined time intervals.

After that, in step S20, the CPU 11 includes information (including at least the vehicle ID and the actual position information) transmitted from the transmission / reception unit 251 in the other vehicle V2 via wireless communication. In addition to the vehicle ID and the actual position information, the speed information , Travel direction information, acceleration / deceleration information, and other behavior information) was received via wireless communication by the function of the transmission / reception unit 151 of the CPU 16 in the communication device 14, and the information was input from the communication device 14. Judge whether or not. When the information from the other vehicle V2 is input from the communication device 14, the determination in step S20 is satisfied (S20: YES), and the process proceeds to step S40.

In step S40, the CPU 11 determines whether or not the same vehicle ID as the vehicle ID included in the information input in step S20 is stored in the RAM 12b, so that the information is received from the other vehicle V2. Determines if is the first. If the same vehicle ID as the vehicle ID included in the information input in step S20 is not stored in the RAM 12b, it is considered that the information is first received from the other vehicle V2, and in step S40. When the determination is satisfied (S40: YES), the process proceeds to step S50.

In step S50, the CPU 11 acquires at least the vehicle ID and the actual position information of the other vehicle V2 from the information input in step S20 by the function of the acquisition unit 102 (if there is behavior information, the behavior information is also acquired). To do).

Then, in step S60, the CPU 11 newly records the vehicle ID and the actual position information acquired in step S50 (including the behavior information when the behavior information is also acquired) in the RAM 12b.

After that, the process proceeds to step S70, and the CPU 11 acquires the actual position information newly recorded in step S60 from the RAM 12b.

Then, in step S80, the CPU 11 determines whether or not the actual position of the other vehicle V2 based on the actual position information acquired in step S70 is within the display range 50. When the actual position of the other vehicle V2 is within the display range 50, the determination in step S0 is satisfied (S80: YES), and the process proceeds to step S90.

In step S90, the CPU 11 controls the graphic controller 13 by the function of the display control unit 105, and draws the actual position of the other vehicle V2 on the electronic map EM based on the actual position information acquired in step S70. It is displayed on the display 2 in the first display mode. After that, the process returns to step S20 and the same procedure is repeated.

On the other hand, in step S80, when the actual position of the other vehicle V2 is outside the display range 50, the determination in step S80 is not satisfied (S80; NO), skipping step S90 and returning to step S20. Repeat the same procedure.

On the other hand, in step S20, if the information from the other vehicle V2 is not input from the communication device 14, the determination in step S20 is not satisfied (S20: NO), and the process proceeds to step S100.

In step S100, the CPU 11 determines the time related to the latest position information of the other vehicle V2 recorded in the RAM 12b (if the latest position information is the actual position information, the information including the actual position information in the step S20). When the latest position information is the estimated position information, the latest position information is the above-mentioned step S50 or step based on the generation time of the estimated position information in step S120 described later) and the current time. It is determined whether or not a predetermined period has elapsed since the acquisition in S140 (when the position information is the actual position information) or the generation in step S120 described later (when the position information is the estimated position information). If a predetermined period has not passed since the latest location information was acquired or generated (when the latest location information is the actual location information, it corresponds to the case where the acquisition of the actual location information is not interrupted), the step The determination in S100 is not satisfied (S100: NO), the process returns to step S20, and the same procedure is repeated. Even when the position information of the other vehicle V2 is not recorded in the RAM 12b, that is, the reception of the information from the other vehicle V2 is not started, the determination in step S100 is not satisfied (S100: NO), and the above step. Return to S20 and repeat the same procedure. On the other hand, when a predetermined period has passed since the latest position information was acquired or generated (when the latest position information is the actual position information, it corresponds to the case where the acquisition of the actual position information is interrupted), step S100. Is satisfied (S100: YES), and the process proceeds to step S110. If the current position of the other vehicle V2 based on the latest position information is within the display range 50, the process proceeds to step S120 described later.

In step S110, the CPU 11 uses the position information of the other vehicle V2 stored in the RAM 12b so far (using the behavior information if there is behavior information) by the function of the prediction unit 103, and the other vehicle V2 It is predicted whether or not it will be within the display range 50 in the future. When it is predicted that the other vehicle V2 will not be within the display range 50 in the future (S110: NO), the process returns to step S20 and the same procedure is repeated. On the other hand, when it is predicted that the other vehicle V2 will be within the display range 50 in the future (S110: YES), the process proceeds to step S120. In addition, when the estimation unit 104 interrupts the acquisition of the actual position information due to the interruption of information reception regarding the other vehicle V2 existing outside the display range 50 regardless of the prediction result of the prediction unit 103, the current position If the estimation is to be performed, the procedure in step S110 is omitted.

In step S120, the CPU 11 uses the existing position information of the other vehicle V2 stored in the RAM 12b (using the behavior information if there is behavior information) by the function of the estimation unit 104, and presents the other vehicle V2. Estimate the position and generate the corresponding estimated position information.

After that, the process proceeds to step S130, and the CPU 11 additionally records the estimated position information generated in step S120 in the RAM 12b. After that, the process proceeds to step S160 described later.

On the other hand, in step S40, when the same vehicle ID as the vehicle ID included in the information input in step S20 is stored in the RAM 12b, the information is received from the other vehicle V2 from the second time onward. The determination in step S40 is not satisfied (S40: NO), and the process proceeds to step S140.

In step S140, the CPU 11 acquires at least the vehicle ID and the actual position information of the other vehicle V2 from the information input in step S20 by the function of the acquisition unit 102 (if there is behavior information, the behavior information is also acquired). To do).

Then, in step S150, the CPU 11 additionally records the vehicle ID and the actual position information acquired in step S140 (including the behavior information when the behavior information is acquired) in the RAM 12b.

After that, the process proceeds to step S160, and the CPU 11 acquires the latest position information from the RAM 12b.

Then, in step S170, the CPU 11 determines the current position of the other vehicle V2 based on the position information acquired in step S160 (the actual position when the position information is the actual position information. When the position information is the estimated position information). It is determined whether or not the estimated position) is within the display range 50. When the current position of the other vehicle V2 is within the display range 50 (including the case where the current position of the other vehicle V2 reaches the display range 50), the determination in step S170 is satisfied (S170: YES). The process proceeds to step S180.

In step S180, the CPU 11 determines whether or not the position information acquired in step S160 is the estimated position information. If the position information acquired in step S160 is the estimated position information, the determination in step S180 is satisfied (S180: YES), and the process proceeds to step S190.

In step S190, the CPU 11 controls the graphic controller 13 by the function of the display control unit 105 to draw the estimated position of the other vehicle V2 on the electronic map EM based on the estimated position information acquired in step S160. It is displayed on the display 2 in the second display mode (including the case where the drawing of the estimated position of the other vehicle V2 on the electronic map EM is started and the display is started on the display 2 in the second display mode). After that, the process returns to step S20 and the same procedure is repeated.

On the other hand, in step S180, if the position information acquired in step S160 is the actual position information, the determination in step S180 is not satisfied (S180: NO), and the process proceeds to step S200.

In step S200, the CPU 11 controls the graphic controller 13 by the function of the display control unit 105, and draws the actual position of the other vehicle V2 on the electronic map EM based on the actual position information acquired in step S160. It is displayed on the display 2 in the first display mode. After that, the process returns to step S20 and the same procedure is repeated.

On the other hand, in step S170, when the current position of the other vehicle V2 is outside the display range 50, the determination in step S170 is not satisfied (S170: NO), and steps S180 and S190 (or step S200) are skipped. Then, the process returns to step S20, and the same procedure is repeated.

The process shown in this flow is terminated, for example, when the power supply of the in-vehicle device 100 of the own vehicle V1 is turned off (in other words, when the engine of the own vehicle V1 is turned off).

Further, in FIGS. 11 to 13 described above, the procedures of steps S50 and S140 correspond to the acquisition procedure. Further, the procedures of steps S60 and S160 correspond to the accumulation procedure. Further, the procedure in step S120 corresponds to the estimation procedure. Further, the procedure in step S190 corresponds to the display control procedure.

As described above, the navigation device 100 of the present embodiment acquires the actual position information (corresponding to the position information) of the other vehicle V2 (corresponding to another moving body) from the information received via the wireless communication. Electronic map EM (map) by unit 102 (corresponding to the first acquisition means), RAM 12b (corresponding to the first storage means) that stores the actual position information acquired by the acquisition unit 102, and display 2 (corresponding to the display means). When the acquisition of the actual position information by the acquisition unit 102 is interrupted with respect to the other vehicle V2 existing outside the display range 50 of (corresponding to), the current position of the other vehicle V2 is estimated using the actual position information stored in the RAM 12b. The estimated position (corresponding to the current position) of the other vehicle V2 based on the estimation unit 104 (corresponding to the first estimation means) and the estimated position information (corresponding to the position information) estimated by the estimation unit 104 reaches within the display range 50. The display control unit 105 (corresponding to the display control means) that controls the display 2 so as to start displaying the estimated position of the other vehicle V2 based on the estimated position information estimated by the estimation unit 104. ..

Further, the navigation method of the present embodiment includes a procedure for acquiring the actual position information (corresponding to the position information) of another vehicle V2 (corresponding to another moving body) from the information received via wireless communication, and the acquired. Accumulation when the acquisition of the actual position information is interrupted for the procedure for accumulating the actual position information and the other vehicle V2 existing outside the display range 50 of the electronic map EM (corresponding to the map) by the display 2 (corresponding to the display means). The procedure for estimating the current position of the other vehicle V2 using the calculated actual position information and the estimated position (corresponding to the current position) of the other vehicle V2 based on the estimated estimated position information (corresponding to the position information) are displayed in the display range 50. It has a procedure for displaying and controlling the display so that the display of the estimated position of the other vehicle V2 is started based on the estimated estimated position information when the vehicle reaches the inside.

Further, the navigation program of the present embodiment has a procedure for acquiring the actual position information (corresponding to the position information) of another vehicle V2 (corresponding to another moving body) from the information received via wireless communication, and the acquisition. Accumulation when the acquisition of actual position information is interrupted for the procedure for accumulating the actual position information and the other vehicle V2 existing outside the display range 50 of the electronic map EM (corresponding to the map) by the display 2 (corresponding to the display means). The procedure for estimating the current position of the other vehicle V2 using the calculated actual position information and the estimated position (corresponding to the current position) of the other vehicle V2 based on the estimated estimated position information (corresponding to the position information) are displayed in the display range 50. The CPU 11 (corresponding to a computer) executes a display control procedure so as to start displaying the estimated position of the other vehicle V2 based on the estimated estimated position information when reaching the inside.

In the present embodiment, when the acquisition unit 102 acquires the actual position information at least once for the other vehicle V2 existing outside the display range 50, and then the acquisition of the actual position information is interrupted due to the deterioration of the communication condition, the estimation unit 104 estimates the current position. Then, with respect to the other moving body, the estimation of the current position is continued while the acquisition of the actual position information is not resumed, and when the estimated position based on the estimated estimated position information reaches within the display range 50, the display 2 Starts displaying the estimated position under the control of the display control unit 105.

As described above, in the present embodiment, with respect to the other vehicle V2 existing outside the display range 50, the acquisition of the actual position information is interrupted due to the deterioration of the communication condition after the actual position information is acquired at least once. Even if the acquisition of information is not resumed, the estimated position can be displayed on the display 2 when the estimated position is within the display range 50. As a result, it is possible to suppress the problem that the current position of the other vehicle V2 is not displayed even though the other vehicle V2 existing outside the display range 50 is within the display range 50 (in other words, near the user). Can be done. As a result, although the user does not notice the existence of the other vehicle V2 even though the other vehicle V2 exists within the display range 50 (in other words, near himself / herself), or the user mistakenly thinks that the other vehicle V2 does not exist. It can suppress recognition. Therefore, the risk of an accident can be reduced and the safety can be improved.

Further, in the navigation device 100, whether or not the other vehicle V2 existing outside the display range 50 will be within the display range 50 in the future based on the position information stored in the RAM 12b with respect to the other vehicle V2 existing outside the display range 50. It further has a prediction unit 103 (corresponding to a prediction means) for predicting whether or not, and the estimation unit 104 estimates the current position of another vehicle V2 predicted to be within the display range 50 in the future by the prediction unit 103.

As a result, only the current position of the other vehicle V2, which is predicted to be within the display range 50 in the future, is estimated (in other words, the current position of the other vehicle V2, which is not predicted to be within the display range 50 in the future, is estimated. The estimation of the current position of the other vehicle V2, which is predicted to be within the display range 50 in the future, is prioritized over the estimation of the current position of the other vehicle V2, which is not predicted to be within the display range 50 in the future. Therefore, the processing load of the estimation unit 104 can be reduced.

Further, in the navigation device 100, the estimation unit 104 does not estimate the current position of the other vehicle V2, which is predicted by the prediction unit 103 to not be within the display range 50 in the future.

As a result, the processing load of the estimation unit 104 can be reduced.

Further, in the navigation device 100, the display control unit 105 sets the estimated position of the other vehicle V2 based on the estimated position information estimated by the estimation unit 104, and the other vehicle V2 based on the actual position information acquired by the acquisition unit 102. The display 2 is controlled so as to display in a display mode different from the actual position (corresponding to the current position) of.

As a result, the user can see whether the display of the current position of the other vehicle V2 displayed on the display 2 is the estimated position based on the estimated estimated position information, or the actual position based on the acquired actual position information. Can be visually recognized.

The present invention is not limited to the above embodiment, and various modifications can be made without departing from the spirit and technical idea. Hereinafter, such modification examples will be sequentially described.

(1) When the current position is estimated on the communication device side That is, as shown in FIG. 14 corresponding to FIG. 4 described above, the control unit 15'of the communication device 14 of this modification is the transmission / reception unit 151 and the acquisition unit. It includes 152, a prediction unit 153, an estimation unit 154, and an output unit 155.

The transmission / reception unit 151 has the same function as the function described in the above embodiment. In this modification, the transmission / reception unit 151 corresponds to the receiving means.

The acquisition unit 152 (corresponding to the second acquisition means) acquires at least the actual position information from the information received by the transmission / reception unit 151 for each other vehicle V2 whose vehicle ID is included in the information. When the transmission / reception unit 151 receives information including behavior information in addition to the vehicle ID and the actual position information, the acquisition unit 152 includes the vehicle ID in the information from the information received by the transmission / reception unit 151. Behavior information may be acquired in addition to the actual position information for each other vehicle V2. The information acquired by the acquisition unit 152 is stored and stored in the above-mentioned RAM 17b. In this modification, the RAM 17b corresponds to the second storage means.

The prediction unit 153 has already received the information once or a plurality of times, and the actual position based on the actual position information included in the latest information is outside the display range 50, that is, exists outside the display range 50. The current position of the other vehicle V2 is grasped. Then, when the reception of information regarding the other vehicle V2 existing outside the display range 50 is interrupted, the prediction unit 153 uses the existing actual position information stored in the RAM 17b (behavior if there is behavior information). By predicting the future positional relationship with the own vehicle V1 (using information), it is predicted whether or not the display range will be within 50 in the future.

The estimation unit 154 (corresponding to the second estimation means) has accumulated in the RAM 12b when the acquisition of the actual position information is interrupted due to the interruption of information reception regarding the other vehicle V2 existing outside the display range 50. The current position is estimated by a known appropriate method using the actual position information up to (and the behavior information if there is any), and the corresponding estimated position information is generated. Specifically, the estimation unit 154 estimates the current position only for the other vehicle V2 or the like predicted to be within the display range 50 by the prediction unit 153 in consideration of the processing load and the like, and the prediction unit 153 estimates the current position. The current position of the other vehicle V2, which is predicted not to be within the display range 50 in the future, is not estimated. The estimation unit 154 estimates the current position only for the other vehicle V2 or the like that is predicted to be within the display range 50 in the future, and the current position for the other vehicle V2 that is predicted not to be within the display range 50 in the future. It is not limited to the case where the estimation is not performed. That is, the estimation unit 154 estimates the current position of the other vehicle V2 or the like that is predicted to be within the display range 50 in the future, prioritizing the estimation of the current position of the other vehicle V2 or the like that is predicted to be within the display range 50 in the future. You may. Alternatively, the estimation unit 154 determines the current position when the acquisition of the actual position information is interrupted due to the interruption of information reception regarding the other vehicle V2 existing outside the display range 50, regardless of the prediction result of the prediction unit 153. The estimation may be performed, and when the estimation unit 154 performs such processing, the prediction unit 153 becomes unnecessary. However, for convenience of explanation, in the following, the estimation unit 154 estimates the current position only for the other vehicle V2 or the like that is predicted to be within the display range 50 in the future, and it is predicted that the current position will not be within the display range 50 in the future. Regarding the other vehicle V2, a case where the current position is not estimated will be described.

The output unit 155 (corresponding to the output means) transforms the generated estimated position information with respect to the other vehicle V2 whose current position is estimated by the estimation unit 154 while the estimated estimated position is outside the display range 50. Instead of outputting to the control unit 10'of the navigation device 100 of the example, when the estimated position reaches the display range 50, the generated estimated position information is output to the control unit 10'of the navigation device 100.

Further, the control unit 10'display control unit 105'of the navigation device 100 of this modification is provided.

The display control unit 105'controls the graphic controller 13 and draws the estimated position on the electronic map EM when the estimated position reaches the display range 50 based on the estimated position information input from the output unit 155. Is started, and the display 2 is started to display in the above-described second display mode. In this modification, the display control unit 105'corresponds to the display control means.

As described above, the communication device 14 of the present modification is a communication device connected to the navigation device 100 so as to be able to transmit and receive information, and is a transmission / reception unit 151 (corresponding to a receiving means) that receives information via wireless communication. And the acquisition unit 152 (corresponding to the second acquisition means) that acquires the actual position information (corresponding to the position information) of the other vehicle V2 (corresponding to another moving body) from the information received by the transmission / reception unit 151, and the acquisition unit. RAM 17b (corresponding to the second storage means) for accumulating the actual position information acquired by 152, and another vehicle V2 existing outside the display range 50 of the electronic map EM (corresponding to the map) by the display 2 (corresponding to the display means). When the acquisition of the actual position information by the acquisition unit 152 is interrupted, the estimation unit 154 (corresponding to the second estimation means) estimates the current position of the other vehicle V2 using the actual position information stored in the RAM 17b. When the estimated position (corresponding to the current position) of the other vehicle V2 based on the estimated position information (corresponding to the position information) estimated by the unit 154 reaches within the display range 50, the navigation device 100 is estimated by the estimation unit 154. An output unit 155 (corresponding to an output means) that outputs the estimated position information estimated by the estimation unit 154 to the navigation device 100 so as to start displaying the estimated position of the other vehicle V2 on the display 2 based on the estimated position information. Have.

The communication device 14 of this modification is connected to the navigation device 100 so that information can be transmitted and received. Then, in the communication device 14, when the acquisition unit 152 acquires the actual position information at least once for the other vehicle V2 existing outside the display range 50, and then the acquisition of the actual position information is interrupted due to the deterioration of the communication condition, The estimation unit 154 estimates the current position. Then, with respect to the other vehicle V2, the estimation of the current position is continued while the acquisition of the actual position information is not resumed, and when the estimated position based on the estimated estimated position information reaches within the display range 50, the output unit 155 Outputs the estimated position information to the navigation device 10, and the navigation device 100 starts displaying the estimated position on the display 2.

As described above, in the present modification, the actual position is obtained with respect to the other vehicle V2 existing outside the display range 50, in which the acquisition of the actual position information is interrupted due to the deterioration of the communication condition after the actual position information is acquired at least once. Even if the acquisition of information is not resumed, the estimated position can be displayed on the display 2 when the estimated position is within the display range 50. As a result, it is possible to suppress the problem that the current position of the other vehicle V2 is not displayed even though the other vehicle V2 existing outside the display range 50 is within the display range 50 (in other words, near the user). Can be done. As a result, although the user does not notice the existence of the other vehicle V2 even though the other vehicle V2 exists within the display range 50 (in other words, near himself / herself), or the user mistakenly thinks that the other vehicle V2 does not exist. It can suppress recognition. Therefore, the risk of an accident can be reduced and the safety can be improved.

(2) Others In the above, the case where the communication device 14 and the navigation device 100 are mounted on the vehicle has been described as an example, but the present invention is not limited to this, and the communication device and the navigation device are mobile objects other than the vehicle (for example, an aircraft or an aircraft). It may be held in a ship, a human being, etc.) or a non-moving facility. In the above, the case where the position information of the vehicle is acquired and the current position is displayed has been described as an example, but the present invention is not limited to this, and a moving body other than the vehicle (for example, an aircraft, a ship, a human being, an animal other than a human being, etc.) The current position may be displayed by acquiring the position information of.

The flowcharts shown in FIGS. 11 to 13 are not limited to the procedures for illustrating the present invention, and the procedures may be added / deleted or the order may be changed within a range that does not deviate from the purpose and technical idea. Good.

In addition to the above, the methods according to the above-described embodiment and each modification may be appropriately combined and used.

In addition, although not illustrated one by one, the present invention is carried out with various modifications within a range not deviating from the gist thereof.

2 Display (equivalent to display means)
11 CPU (equivalent to a computer)
12b RAM (corresponding to the first storage means)
14 Communication device 17b RAM (corresponding to the second storage means)
50 Display range 100 Navigation device 102 Acquisition unit (corresponding to the first acquisition means)
103 Prediction unit (corresponding to prediction means)
104 Estimator (corresponding to the first estimation means)
105 Display control unit (corresponding to display control means)
105'Display control unit (corresponding to display control means)
151 Transmitter / receiver (equivalent to receiving means)
152 Acquisition section (corresponding to the second acquisition means)
154 Estimator (corresponding to the second estimation means)
155 Output unit (corresponding to output means)
EM electronic map (equivalent to a map)
V2 Other vehicle (equivalent to other moving body)

Claims (8)

When the acquisition of the position information of another moving body existing outside the display range of the map displayed by the display means is interrupted, at least the position information of the other moving body acquired before the interruption is used to obtain the other moving body. The first estimation means that estimates the current position of and generates the corresponding estimated position information,
The display means is controlled so as to start displaying the current position of the other moving body when it is estimated that the other moving body reaches the display range of the map based on the estimated position information. Display control means and
Navigation device with. The first acquisition means for acquiring the position information of the other mobile body from the information received via wireless communication, and
The first storage means for accumulating the position information acquired by the first acquisition means, and
With more
The first estimation means is
The navigation device according to claim 1, wherein the current position of the other moving body is estimated by using the position information stored in the first storage means. The first acquisition means for acquiring the position information of another mobile body from the information received via wireless communication, and
The first storage means for accumulating the position information acquired by the first acquisition means, and
Whether other moving objects existing outside the display range will be within the display range in the future based on the position information accumulated in the first storage means with respect to other moving objects existing outside the display range of the map by the display means. Predictive means to predict whether or not
When the acquisition of the position information by the first acquisition means is interrupted with respect to the other moving body, the position information accumulated in the first storage means is used to exist outside the display range and by the prediction means. A first estimation means that estimates the current position of the other moving body that is predicted to be within the display range in the future and generates corresponding estimated position information.
When the current position of the other moving body based on the estimated position information by the first estimation means reaches within the display range of the map by the display means, the current position of the other moving body based on the estimated position information A display control means that controls the display means so as to start displaying the position,
A navigation device characterized by having. The first estimation means is
The navigation device according to claim 3, wherein the current position of another moving body predicted to be out of the display range in the future is not estimated by the prediction means. The display control means
The display means so that the current position of the other moving body based on the estimated position information is displayed in a display mode different from the current position of the other moving body based on the position information acquired by the first acquisition means. The navigation device according to claim 3 or 4, wherein the navigation device is controlled. A communication device that is connected to a navigation device so that information can be sent and received.
A receiving means for receiving information via wireless communication,
When the acquisition of the position information of another moving body existing outside the display range of the map by the display means is interrupted, the current position information of the other moving body acquired before the interruption is used at least. A second estimation means for estimating the position and
When the other moving body reaches the display range of the map based on the position information estimated by the second estimation means, the navigation device is said based on the position information estimated by the second estimation means. An output means for outputting the position information estimated by the second estimation means to the navigation device so as to start displaying the current position of the other moving body by the display means.
A communication device characterized by having. A navigation method performed by a navigation device including display means, estimation means, and display control means.
When the acquisition of the position information of another moving body existing outside the display range of the map displayed by the display means is interrupted, the estimation means uses at least the position information of the other moving body acquired before the interruption. An estimation procedure that estimates the current position of the other moving body and generates corresponding estimated position information.
In the estimation procedure, when it is estimated that the other moving body reaches the display range of the map based on the estimated position information, the display of the current position of the other moving body is started. A display control procedure for controlling the display means by the display control means, and a display control procedure.
A navigation method characterized by having. When the acquisition of the position information of another moving body existing outside the display range of the map displayed by the display means is interrupted, at least the position information of the other moving body acquired before the interruption is used to obtain the other moving body. Estimating procedure to estimate the current position of and generate the corresponding estimated position information,
The display is such that when the other moving body is estimated to reach the display range of the map by the estimation procedure based on the estimated position information, the display of the current position of the other moving body is started. Display control procedure to control the means and
A navigation program characterized by having a computer execute.

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