JP2526798B2 - Vehicle navigation system - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle navigation device for displaying the current position and traveling locus of a vehicle on a road map. [0002] Conventionally, as an apparatus of this type, Japanese Patent Laid-Open No.
-There is the "operation display device" of No. 141662, which reads a map recorded on a recording medium such as a microfilm with an optical reading device using a vidicon camera, and displays a road map of a specific area on the display device. The current position and traveling locus of the vehicle are displayed on the road map. Further, when the road map is enlarged or reduced (scale change), it is performed by a zooming operation. In this case, the display of the current position of the vehicle and the traveling locus is also zoomed with the zooming operation. However, since the scale change by the above-mentioned device is performed only within the range of the road map being displayed, the amount of information by the display does not change, and the display is simply performed. It only makes it easier to see. The present invention has been made in view of the above problems, and it is a first object of the present invention to enable the amount of information to be changed by a new road map when changing the scale of the road map. A second object of the present invention is to make it possible to correct the traveling locus in accordance with a new road map of a different scale in accordance with the new road map. In order to achieve the above object, the present invention has a present position detecting means for detecting the present position of a vehicle and a map storage for storing map data for displaying a road map. Means, based on the map data from the map storage means and the detected current position,
Figure, current position and running locus to reach the current position
In the vehicular navigation device in which the display means is displayed , the map storage means is different from the first map data for displaying the road map on the first scale, and the scale is different from the road map. A second map data for displaying a road map is stored in advance, and a change instruction for displaying a road map having a different scale from the road map displayed on the display means is generated. Means for displaying a road map of a predetermined area on the display means based on the first map data, and displaying a scale on the display means on the basis of the second map data according to a change instruction from the changing means. before different display control means for displaying a road map, with the switching to a different road map of measure according to the table示制control means, a running locus are displayed on the display means It is characterized in that a traveling locus correcting means for modifying the display to suit different road map of measure. In the above structure, the road map of the predetermined area is displayed on the display means based on the first map data stored in the map storage means. In addition, the current position and the traveling locus up to the current position are additionally displayed on this road map. When the scale changing instruction is issued by the changing means, the second
A new road map with a different scale is displayed on the display means based on the map data. Further, with the switching to the new road map, the traveling locus displayed on the display means is corrected and displayed in accordance with the new road map. Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is an overall configuration diagram showing an embodiment thereof. FIG.
In FIG. 1, reference numeral 1 denotes an azimuth detecting device, which is an azimuth sensor for detecting X and Y components of geomagnetism according to a traveling azimuth of a vehicle and an A / D for converting a signal from the azimuth sensor into a digital signal.
It is provided with a converter and generates digital signals of X and Y components according to the traveling direction of the vehicle. A distance sensor 2 generates a distance pulse for each unit traveled distance of the vehicle (for example, about 39.2 cm). A reading device 3 is a cassette tape 3a that stores map data of a plurality of districts (including absolute coordinate data of the upper right point of each map).
The set is to search and read the map data of a specific area. A microcomputer 4 executes a digital arithmetic processing of software according to a predetermined control program, and includes a CPU 4a, a ROM 4b, a RAM 4c,
The I / O circuit section 4d is provided, and the power is supplied from a vehicle-mounted battery to generate a stabilized voltage of 5V. The digital signal of the X and Y components from the detection device 1, the distance pulse from the distance sensor 2, the read signal from the reading device 3 and the like are executed to execute arithmetic processing to display a map of a specific area and traveling route information. For generating a display signal for The RAM 4c is always backed up by a power supply from an on-vehicle battery. A cathode ray tube (CRT) controller 5 receives a display signal from the microcomputer 4 and individually stores map data of a specific area, traveling route information and character data, and the stored map data. The video signal and the synchronizing signal for displaying the traveling route information or the character data on the CRT are generated. Reference numeral 6 denotes a CRT display device for displaying a map and a traveling route of a specific area, or a character by CRT according to a video signal and a synchronizing signal from the CRT controller 5. Reference numeral 7 denotes a touch panel unit, which is mounted on the display surface of the CRT display device 6 and generates a serial signal corresponding to a specific touch area of the 12-divided touch areas provided on the touch panel. It is a thing. Reference numeral 8 denotes a map changeover switch section, which is provided with two switches (enlargement switch and reduction switch) for changing a map displayed on the CRT display device 6 to another map having a different scale. Next, a detailed electrical connection diagram of the CRT controller 5 shown in FIG. 2 will be described. 11 is 12.0
An oscillation circuit that generates an oscillation signal of 96 MHz, 12 is a dot counter that divides the oscillation signal from the oscillation circuit 11 to generate a dot timing clock of 6.048 MHz and a character timing clock of 756 KHz, and 13 is an instruction from the microcomputer 4. A display controller that generates a horizontal / vertical cycle signal, a display timing signal, a refresh memory address signal, and a raster address signal according to (command) and a character timing clock from the dot counter 12, and 14 is a horizontal / vertical cycle signal from the display controller 13. Originally, the hold signal generation circuit generates a hold signal for holding the microcomputer 4 during the display period at the hold (HOLD) terminal of the microcomputer 4. Reference numeral 15 is a multiplexer for switching the address signal from the microcomputer 4, the refresh memory address signal from the display controller 13, and the raster address signal by a hold acknowledge (HOLDA) signal from the microcomputer 4, 16 and 17 and 18 are displayed as the microcomputer 4. A bus driver having a tri-state for switching the direction of data between memories, 19 stores display data such as ASCII code from the microcomputer 4 and receives a refresh memory address signal from the display controller 13 to address its contents. And 20 is a character memory for outputting a display pattern according to a display address from the character memory 19 and a raster address signal from the display controller 13. A generator. 21 is a first graphic memory for storing map data from the microcomputer 4, 2
Reference numeral 2 is a second graphic memory for storing travel route information (travel locus data, current position data) from the microcomputer 4, 23, 24, 25 are character generators 20, and first and second graphic memories 21, 22.
A parallel-to-serial (P-> S) converter for converting the parallel signal from the above into serial data with the dot timing clock from the dot counter 12, and 26 for selecting the graphic and character screens by the screen switching signal from the microcomputer 4. P → S converter 23 and P → S
A video controller that switches reception of signals from the converters 24 and 25 to generate a video signal according to a display timing signal from the display controller 13, and 27 is an exclusive OR circuit that generates a sync signal from horizontal and vertical synchronizing signals from the display controller 13. . The character memory 19 and the first and second graphic memories 21, 2
In 2, the power source is always backed up from the vehicle battery. That is, in the CRT controller 5, the character data is stored in the character memory 19, the map data is stored in the first graphic memory 21, and the traveling locus and the display data of the current position are displayed in the first display data. 2 graphic memories 22
It is always stored in the memory, and a graphic drawing (displaying the running track and the current position on the map) and a character drawing (displaying specified characters to specify the area) are selected by the drawing switching signal from the microcomputer 4. Then, a video signal and a sync signal for displaying a screen according to the selection on the CRT are generated on the CRT display device 6. As shown in FIG. 3, the touch panel portion 7 has 12 divided touch areas 31 to 42, and is composed of two glasses and a transparent glass formed in a matrix on each glass. It is composed of a conductive film, and when a specific touch area is pressed, the touch area is detected by the contact of the transparent conductive film of the matrix due to the bending of the glass, which corresponds to the touch area detected by the touch signal generation circuit (not shown). A serial signal (consisting of a start signal and a touch information signal) is generated. The touch signal generation circuit generates the touch information at that time by a serial signal every 40 msec. Further, FIG. 4A shows a cassette tape 3a.
4A shows a data area portion corresponding to one district in A, and A is a header portion. As shown in FIG. 4B, map number A (1), absolute coordinates of the upper right point of the map (relative to the north pole point (Coordinates) data A (2), distance per pixel when the map is displayed on a CRT, that is, scale A (3), reduced scale map number A (4) and its map with different scales for the area including the map Of the enlarged map number A (5) of different scales for displaying the specific area in detail. The data of enlarged map number A (5) is CRT
The format is such that it can be selected depending on the position of the cursor on the screen (for example, the screen is divided into four, and the area at the position of the cursor is displayed in a double enlarged map). B is a map data section that stores map data of the area, and X is a blank section. Therefore, by reading the A and B parts by the reading device 3, it is possible to give the microcomputer 4 the map data of the specific area, the absolute coordinates, the scale, and the map numbers of different scales of the map. The operation of the above structure will be described with reference to the display explanatory view of FIG. 5 and the operation flow charts shown in FIGS. 6 to 9. 6 is a flow chart showing the entire calculation process of the main routine of the microcomputer 4, FIG. 7 is a flow diagram showing the calculation process of the interrupt calculation routine based on the distance pulse from the distance sensor 2, and FIG. 6 is a flow chart showing the detailed calculation processing of the mode calculation routine of FIG.
7 is a calculation flowchart showing detailed calculation processing of a current position calculation routine. Now, in the vehicle having the components 1 to 7 shown in FIG. 1, when the key switch is turned on at the time of starting the operation, the electric system of each part is activated by receiving the power supply from the vehicle battery. Then, the microcomputer 4 is supplied with a stabilizing voltage of 5V from the stabilizing power supply circuit to be in the operating state, and the start step 1 in FIG.
The calculation processing is started from 00, and the initialization routine 20
In step 0, the registers, counters, latches, etc. in the microcomputer 4 are set to the initial state required to start the arithmetic processing. Then, after this initialization, the calculation processing of the mode calculation routine 300 and the current position calculation routine 400 is repeatedly executed at a cycle of several tens of msec. That is, the mode operation routine 300
Then, either one of the map mode and the character mode is selected, the contents corresponding to the mode are displayed on the CRT, and the cursor indicating the current position can be moved in the map mode. Performs arithmetic processing that enables map switching, and also allows map designation of a specific area when in character mode,
The process proceeds to the current position calculation routine 400. In the present position calculation routine 400, the second operation in the CRT controller 5 is performed.
The arithmetic processing for changing the contents of the current position data and the traveling locus data X and Y components in the graphic memory 22 by ± 50 m traveling change is executed, and the process returns to the mode arithmetic routine 300. After that, this mode calculation routine 3
The calculation process of the main routine from 00 to the current position calculation routine 400 is repeatedly executed at a cycle of about several tens of msec. When the distance pulse from the distance sensor 2 is applied to the interrupt (INT) terminal of the microcomputer 4 in the repeated calculation of the main routine, the microcomputer 4 temporarily executes the calculation processing of the main routine. The processing is interrupted and the interrupt calculation processing shown in FIG. 7 is executed. That is,
The calculation process is started from the interrupt start step 501, and the process proceeds to an integrating step 502 to integrate and update the unit distance data (corresponding to about 39.2 cm) to the distance data D stored in the RAM 4c, and the distance determining step. In step 503, it is determined whether the distance data D has reached 6.25 m. At this time, if the distance data D has not reached 6.25 m, the determination becomes NO and the process proceeds to the return step 510, but if the distance data D reaches 6.25 m, the determination becomes YES, and the azimuth signal input step. Proceed to 504.
Then, in this azimuth signal input step 504, the digital X, Y component signals Xa, Ya from the azimuth detecting apparatus 1 are input.
(East / North direction is positive direction, West / South direction is negative direction), and the process proceeds to the average direction calculation step 505, and the previous direction data Xo,
The average azimuth data X, Y is obtained from Yo (the azimuth data before traveling 6.25 m) and the current azimuth data Xa, Ya, and the process proceeds to the distance component calculation step 506, where the distance component Dx in the X direction and the distance component in the Y direction are obtained. Find Dy. Here, ## EQU1 ## [Formula 2] Dx = 6.25X / A [Formula 3] Dy = 6.25Y / A Note that X / A is cos θ, Y / A with respect to the counterclockwise angle θ with reference to the east direction. Corresponds to sin θ. Next, the process proceeds to the storage step 507, and the current direction data Xa, Ya
Is stored as Xo and Yo for the next time, the process proceeds to the distance data remoting step 508 to reset the distance data D to 0, proceeds to the distance flag setting step 509 to set the distance flag, and proceeds to the return step 510. Return to the main routine that was previously suspended. That is,
In this interrupt calculation routine, the distance data D is cumulatively updated each time the vehicle travels a unit distance, and when the distance data D reaches 6.25 m, the distance component D in the X and Y directions with respect to the 6.25 m.
The calculation process of calculating x and Dy and setting the distance flag is executed. Next, detailed calculation processing of the mode calculation routine 300 in the main routine will be described. In this mode calculation routine 300, the calculation process is started from the map changeover switch judgment step 301 in FIG. 8, and if either the enlargement switch or the reduction switch of the map changeover switch section 8 is pressed, the judgment is YES. Then, the process proceeds to the map mode determination step 302 and RAM4c
It is determined whether or not the contents of the mode area in is the map mode. When the map mode is set, the determination is YES, the process proceeds to the map number searching step 303 and the map data currently displayed in the RAM 4c is displayed. A map number to be switched is obtained based on the header data and the cursor position data, and the travel route data conversion step 30
In step 4, the travel route data of the second graphic memory 22 in the CRT controller 5 is converted. In this case, first, the reading device 3 is controlled to search the cassette tape position corresponding to the map number obtained in the previous step, the header portion is read, and its absolute coordinates and scale and the absolute coordinates and scale on the previous map are used. The coordinate conversion value is calculated, and the traveling locus and the current position data in the second graphic memory 22 are converted so as to slide according to the calculated value. Then, the process proceeds to the map data reading and outputting step 305,
The map data of the cassette tape 3a is input through the reading device 3 and the map data is output to the first graphic memory 21, and the one-time arithmetic processing of the mode arithmetic routine 300 is completed. That is, when switching from the map screen to a reduced map that includes the area, press the reduction switch, and when switching to a partial enlarged map of the area, move the cursor to the position you want to enlarge and press the enlargement switch. Thus, the map displayed on the CRT display device 6 can be automatically switched. On the other hand, the determinations of the map change switch determination step 301 and the map mode determination step 302 are N.
When it is O, the process proceeds to the touch data input step 306 to input the touch data from the touch panel unit 7 to the RAM 4c.
To memorize. Then, the process proceeds to map mode determination step 307 to determine whether or not the content of the mode area in the RAM 4c is map data. When the map mode is set, the determination becomes YES, and the process proceeds to the mode change determination step 308 to the RAM 4c. It is determined whether or not the stored touch data is data indicating a mode change (data when the touch area 34 in FIG. 3 is pressed). At this time, if the touch data is data indicating a mode change, the determination is YES, the process proceeds to the character mode setting step 309 to set the contents of the mode area to the character mode, and the character switching signal output step 310.
Then, a character switching signal for displaying the character screen on the CRT display device 6 is generated in the video controller 26 in the CRT controller 5, and the one-time arithmetic processing of the mode arithmetic routine 300 is completed. On the other hand, when the touch data is not data indicating a mode change, that is, data when a touch area other than 34 in FIG. 3 is pressed, or data when no touch area is pressed (for example, FF). Data), the mode change determination step 30
The determination result of 8 is NO, and the cursor movement determination step 31
Go to 1. In this cursor movement determination step 311,
The touch data is 32, 33, 35, 38, 40, 4
It is determined whether or not any one of the touch areas 1 is data when the touch area is pressed (cursor movement data). If the touch data is not cursor movement data, the determination is NO and this mode operation routine 300 However, if the touch data is data for cursor movement, the determination is YES and the process proceeds to cursor movement calculation step 312. This cursor movement calculation step 312
Then, according to the touch data, this touch data is 3
CRT to move the cursor at the present position displayed on the CRT display device 6 to the north by a predetermined distance as data for pressing the touch area 2 or 33.
Second graphic memory 22 in controller 5
If the touch data is data for pressing the touch area of 35, the cursor moves in the west direction, and if the touch data is data for pressing the touch area of 40 or 41, moves the cursor in the south direction. If the touch data is data corresponding to the pressing of the touch area 38, the arithmetic processing for changing the contents of the second graphic memory 22 so as to move the cursor in the east direction by a predetermined distance is executed.
One calculation processing of 0 is completed. On the other hand, the map mode determination step 307
When the determination is NO, the process proceeds to the mode change determination step 313, and it is determined whether or not the mode is changed by the same arithmetic processing as in the mode change determination step 308. At this time, if the determination is YES at the time of changing the mode, the process proceeds to map mode setting step 314 to set the contents of the mode area in RAM 4c to the map mode, and proceeds to traveling route data conversion step 315 to set the first value in the CRT controller 5. The travel route data in the second graphic memory 22 is converted. In this case, first, the reader 3 is controlled to search the designated area by its map number, and the absolute coordinates and scale (stored in the header portion A shown in FIG. 4) on the map of the searched area and the map of the previous area are searched. A coordinate conversion value is calculated based on the absolute coordinates and scale data in, and the traveling locus and the current position data in the second graphic memory 22 are converted so as to slide according to the calculated value. Then, the process proceeds to a map data reading and outputting step 316, the map data of the cassette tape 3a is inputted through the reading device 3, the map data is outputted to the first graphic memory 21, and the map switching signal outputting step 317 is proceeded to. CRT display device 6
A map switching signal for displaying the graphic screen of the map is generated in the video controller 26, and the one-time arithmetic processing of the mode arithmetic routine 300 is completed. That is, when switching from the character screen to a graphic screen of a map different from the previous time, the above-mentioned arithmetic processing is executed, the map data of this time is stored in the first graphic memory 21, and the locus of traveling to the current position corresponding to this map. And converting the contents in the second graphics memory 22 to modify the cursor indicating the current location. As a result, even if the map displayed on the CRT display device 6 is switched, the traveling locus and the current location can be displayed in other portions corresponding to the drawing. On the other hand, the mode change determination step 313.
If the determination is NO, the process proceeds to character calculation step 318. When the character operation step 318 is reached, the character mode is set and the character switching signal is issued to the video controller 26. Therefore, the CRT display device 6 displays the character screen as shown in FIG. I have a video. The number 02-4-68 shown in the center of the character screen is a number for designating a region, a region, and a district, respectively, and each number is incremented / updated by 1 by the increment switch 51 and decremented by 1 by the decrement switch 52. Updated, set switch 5
3 is set and the reset switch 54 is reset to perform a calculation process in a character calculation step 318. The numerical data of the regions, areas, and districts, that is, map numbers are stored in the RAM 4c.
The switches 51, 52, 53 and 54 described above correspond to the touch areas 39, 40, 41 and 42 of FIG. 3, respectively. That is, in the mode calculation routine 300 shown in FIG. 8, the switch signal from the map changeover switch section 8 and the touch data from the touch panel section 7 and RA
The following operations 1 to 3 are performed according to the contents of the mode area in M4c. If it is in map mode and there is a map switching instruction, the map display is switched to a reduced or enlarged map. If there is no cursor switching instruction and there is no cursor switching instruction, arithmetic processing for cursor movement is executed, and if there is no cursor movement instruction, map display is continued. If there is no map switching instruction and there is a mode change instruction in the map mode, the map mode is changed to the character mode and the CRT display device 6 is made to display the character screen. When there is no map switching instruction and the mode is the character mode and the mode is not changed, the map change can be accepted on the character screen as shown in FIG. If there is no map switching instruction and there is a mode change instruction when in the character mode, the character mode is changed to the map mode and the CRT display device 6 is made to display the graphic screen of the map, and at the same time, the traveling locus and the current position are also corrected. Display it. Next, detailed calculation processing of the current position calculation routine 400 in the main routine will be described. In this current position calculation routine 400, the calculation processing is started from the distance flag judgment step 401 in FIG. 9, and it is judged in the interrupt calculation processing in FIG. 7 whether or not the distance flag is set. At this time, if the distance flag is not set, the determination is NO, and this current position calculation routine 4
When the distance flag is set, the determination becomes YES and the process proceeds to the X distance correction step 402. Then, this X distance correction step 4
02, the X distance data DX obtained by the interrupt calculation process
Correction calculation by distance component Dx (DX = DX + Dx)
Then, in the Y distance correction step 403, the Y distance data DY is similarly corrected and calculated (DY = DY + Dy), and the process proceeds to the first X distance determination step 404, where the X distance data DX is 50 m.
It is determined whether or not the above value is reached. At this time, if the X distance data DX is a value of 50 m or more, the determination is YES.
Then, the process proceeds to the X distance subtraction step 405, the value of 50 m is subtracted from the X distance data DX, and the display movement step 40
In step 6, the current position data in the second graphic memory 22 is moved in the forward direction (east direction) by 50 m, and the traveling locus data is also followed. The first X distance determination step 40
If the determination of No. 4 is NO, the second X distance determination step 407
Then, it is determined whether or not the X distance data X has reached a value of -50 m or less. At this time, the X distance data DX is -50.
If the value is less than or equal to m, the determination is YES, the process proceeds to X distance addition step 408 to add a value of 50 m to X distance data DX, and the process proceeds to display movement step 409 to display the current value in second graphic memory 22. The position data is moved in the negative direction (west direction) by 50 m, and the traveling locus data is also tracked accordingly. Then, the second X distance determination step 4
07 is NO, or the display moving step 40
6 and 409, the process proceeds to the Y component display movement processing routine 410, and the same determination and calculation processing as in steps 404 to 409 is performed on the Y distance data DY calculated in the Y distance correction step 403. (When the Y distance data DY has a value of 50 m or more in either positive or negative direction, the current position data and the traveling locus data in the second graphic memory 22 are moved in the corresponding direction by 50 m.) Then, the next distance Proceed to flag reset step 411 to reset the distance flag. That is, in the present position calculation routine 400 shown in FIG. 9, the present position data and the traveling locus data in the second graphic memory 22 are converted regardless of the screen displayed on the CRT display device 6. . Therefore, the current position data and the traveling locus data in the second graphic memory 22 are sequentially changed by the repeated calculation of the main routine by the mode calculation routine 300 and the current position calculation routine 400 and the interrupt calculation of FIG. At the same time, the screen of the CRT display device 6 is selected according to the designated mode, and a graphic screen of the map (including the display of the current position and the traveling locus) is displayed in the map mode, and shown in FIG. 5 in the character mode. Display a character screen for map specification. The correspondence between the above-described embodiment and the configurations described in the claims will be described. The CRT display device 6 corresponds to the display means, the cassette tape 3a corresponds to the map storage means, and the map changeover switch section 8 is provided. Corresponds to the changing means. Further, the current position calculation processing of FIG. 6 in the azimuth detecting device 1, the distance sensor 2 and the microcomputer 4 corresponds to the current position detecting means. Further, the reading device 3, the road map display switching processing part of the microcomputer 4 in FIG. 8, and the CRT controller 5 correspond to the display control means. Further, the calculation processing of step 304 in the microcomputer 4 corresponds to the traveling locus correction means. In the above embodiment, the operation switch is set to C
It is composed of a touch panel section 7 attached on the display surface of the RT display device 6 and a map changeover switch section 8 separately provided.
Both may be constituted by matrix type push button switches having the same structure. Further, the map changeover switch section 8 is omitted, and the character screen shown in FIG. 5 is configured as shown in FIG. 10 to provide a reduction switch 10a and an enlargement switch 10b. From the map changeover switch determination step 301 in FIG. The calculation processing up to the read output step 305 may be performed in the character calculation step 318. Further, in the above embodiment, the reduced map number and the enlarged map number are stored as data in each header portion A of the cassette tape 3a, but the reduced map number and the enlarged map number corresponding to the position of the cursor are stored in advance. If there is a rule system that can be calculated from the map number of the map displayed at that time, the reduced map number A on the cassette tape 3a.
(4) and the enlarged map number (5) do not have to be stored. Further, although the map changeover switch unit 8 issues a change instruction, a voice recognition device for recognizing a change instruction by a voice of a driver or the like and generating an enlargement or reduction signal may be used. As described above, according to the present invention, the map data with different scales are individually stored and the road map display with different scales is performed using this.
When changing the scale of a road map display, it is possible to display a map with a different amount of information, and it is also possible to correct the traveling locus according to the road map when changing to a road map display with a different scale. It has an excellent effect.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an overall configuration diagram showing an embodiment of the present invention. FIG. 2 is a detailed electrical connection diagram of the CRT controller in FIG. FIG. 3 is an explanatory diagram illustrating a touch area of a touch panel unit. FIG. 4 is an explanatory diagram showing a data area of a cassette tape. FIG. 5 is an explanatory view showing a display state of the CRT display device. FIG. 6 is an operation flowchart showing the entire operation of the main routine of the microcomputer. FIG. 7 is a calculation flowchart showing a calculation process of an interrupt calculation routine based on a distance pulse from a distance sensor. FIG. 8 is a calculation flowchart showing detailed calculation processing of a mode calculation routine in FIG. 9 is a calculation flow chart showing detailed calculation processing of a current position calculation routine in FIG. FIG. 10 is a display explanatory view for explaining another embodiment. [Explanation of reference numerals] 1 azimuth detecting device 2 distance sensor 3a cassette tape 4 microcomputer 5 CRT controller 6 CRT display device 8 map changeover switch section

   ────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Kazumi Akutsu               1-1, Showa-cho, Kariya city, Aichi Japan               Denso Co., Ltd. (72) Inventor Shinji Oyama               1-1, Showa-cho, Kariya city, Aichi Japan               Denso Co., Ltd. (72) Inventor Kazuaki Minami               1-1, Showa-cho, Kariya city, Aichi Japan               Denso Co., Ltd.                (56) References JP-A-56-31602 (JP, A)                 JP 55-165000 (JP, A)

Claims (1)

(57) [Claims] (1) Current position detecting means for detecting the current position of the vehicle,
And a map storage means for storing map data for displaying a road map, the map data from the map storage means
And a road map based on the detected current position.
Display the current position and the running trajectory up to the current position
In the vehicular navigation device displayed on the means, the map storage means includes first map data for displaying a road map on a first scale and a road map on a different scale from the road map. And second changing means for displaying the second map data for displaying, and changing means for generating a changing instruction for displaying a road map of a different scale with respect to the road map displayed on the display means. A road map of a predetermined area is displayed on the display means based on the first map data, and a road having a different scale is displayed on the display means based on the second map data by a change instruction from the changing means. display control means for displaying a map, with the switching to a different road map of measure according to the table示制control means, said long traveling locus being displayed on said display means A vehicle navigation device comprising: a traveling locus correcting unit that corrects and displays a road map in accordance with road maps of different degrees. (2) the traveling locus correcting means, the travel locus display vehicle navigation apparatus according to paragraph 1 range of storage to is to modify the travel locus data is claimed travel locus storage means in order to perform the .