JP2571394Y2 - In-vehicle navigator - Google Patents

Description

[Detailed description of the invention]

[0001]

[Industrial application field] The present invention relates to an in-vehicle navigator.
In particular, the present invention relates to an in-vehicle navigator in which a driver can easily recognize whether or not there is an error in a drawing position of a vehicle position mark.

[0002]

2. Description of the Related Art There is an on-vehicle navigator that provides guidance for driving a vehicle so that a driver can easily reach a desired destination. In this in-vehicle navigator, during traveling, the position and orientation of the vehicle are detected, map data around the vehicle position is read from the CD-ROM, a map image is drawn on the V-RAM, and the current position on the map image corresponds to the current position. Where
The vehicle position mark is superimposed and drawn in the direction corresponding to the vehicle traveling direction.
Output to the RT display device and display on the screen. Then, as the current position changes with the movement of the vehicle, the map on the screen is fixed and the vehicle position mark is moved only, or conversely, the vehicle position mark is fixed at the center of the screen and the map is scrolled, The map information around the vehicle position can always be understood at a glance.

[0003] The map stored in the CD-ROM is managed in the same manner as an atlas, with the map being divided into regions of longitude and latitude of an appropriate size according to the scale level, with the north facing upward. Each leaf is further divided into four data units. The map data includes (1) a background layer for displaying roads, parks, rivers, etc., (2) a character / symbol layer for displaying municipal names, road names, map symbols, etc., and (3) map matching. It consists of a road layer for performing. The map image consists of a background layer and text /
It is drawn using the symbol layer.

The road layer has a configuration shown in FIG. 7, and a road list RDLT includes, for each road, the type of road (expressway, national road, or other road), the total number of nodes forming the road, and the road configuration. And the data on the position of the node to be executed on the node table NDTB and the width to the next node. The intersection configuration node list CRLT is a node table NDTB of a link other end node (referred to as an intersection configuration node) connected to each intersection on the map.
The set of positions above. The node table NDTB is a list of all nodes on the map, and includes coordinate information (longitude and latitude) for each node, an intersection identification flag indicating whether or not the node is an intersection, and an intersection on the intersection configuration node list if the node is an intersection. If there is no intersection, it is composed of a pointer or the like indicating the position of the road to which the node belongs on the road list.

A method of detecting a vehicle position in an on-vehicle navigator is a method of detecting a vehicle direction and a traveling distance using a direction sensor and a distance sensor during traveling, and sequentially accumulating a position change every time the vehicle travels a predetermined distance. Navigation and GPS satellite navigation, which catches radio waves from orbiting satellites (GPS satellites) and detects the absolute position based on the principle of triangulation, are broadly classified. However, errors in vehicle position detection by GPS satellite navigation always occur. ,
While the vehicle position remains within a certain range, the vehicle position obtained by the self-contained navigation has a disadvantage that a large error occurs due to accumulation of sensor errors and errors due to the meandering operation of the vehicle.

Therefore, in an in-vehicle navigator, a GP
The functions of both a vehicle position detecting device using S satellite navigation and a vehicle position detecting device using self-contained navigation are installed, and GPS
When satellite signals from satellites can be received, priority is given to vehicle position detection by GPS satellite navigation, and only when vehicle position detection by satellite navigation is not possible due to traveling in tunnels or traveling in urban areas where radio waves are reflected multiple times. Switching to self-contained navigation is performed to detect the vehicle position.

[0007]

However, the detected vehicle position is not always accurate, not only in the case of the self-contained navigation, but also in the case of the GPS satellite navigation, so that the map image is simply obtained based on the detected vehicle position having an error. If the vehicle position mark is drawn on the top, the vehicle position mark will be displayed at a position off the road. For this reason, in-vehicle navigators
The detected vehicle position is compared with the road data (road layer) in the map data, and when the detected vehicle position is not on the road, map matching (attraction to the road) is performed by a projection method, a pattern matching method, or the like, and the detected vehicle position is detected on the road. After correcting,
A vehicle position mark is drawn on a map image based on the corrected vehicle position.

However, even with such map matching, for example, when the vehicle is traveling on a grid-like road, it may be difficult to correctly correct the vehicle position on the currently traveling road. In some cases, a vehicle position mark is displayed on an incorrect road. If the vehicle position mark is on a road, the driver may simply determine that the vehicle is traveling on the road, and may be traveling on a different road from the road with the vehicle position mark. Could not be called attention.

Accordingly, an object of the present invention is to provide an in-vehicle navigator that can easily alert a driver when a vehicle position mark may be displayed on an incorrect road. is there.

[0010]

According to the present invention, the above object is attained.
For example, the vehicle position detected by the vehicle position
Data on the road to determine whether the vehicle is on a road.
A first discriminating means for determining the vehicle position detected by the first discriminating means;
When it is determined that the vehicle is on a road, the road is
2nd discriminator that judges whether the road is the same
The step and the vehicle position detected by the first determination means are on the road
And that the road is that of the vehicle by the second determination means.
When it is determined that the road is the same as
The mark is drawn small, and conversely, the vehicle detected by the first determination means
If the position is determined not to be on the road, or
1 Even if it is determined that the vehicle is riding on the road by the determination means,
It is the same as the road on which the vehicle was riding,
If it is determined that there is no
Navigator equipped with a vehicle position mark drawing means
More achieved.

[0011]

According to the present invention, the current position of the vehicle is detected by the vehicle position detection means, and the map around the current position of the vehicle is formed while correcting the detected vehicle position using the map data stored in the map information storage means. In an in-vehicle navigator configured to draw a map image on which a vehicle position mark is superimposed, the vehicle position detected by the vehicle position detection unit is compared with road data in the map data, and it is determined whether or not the vehicle is on a road. When it is determined that the vehicle position is on the road, the vehicle position mark is drawn small, and when it is determined that the detected vehicle position is off the road, the vehicle position mark is drawn large. Thus, when there is a possibility that the vehicle position mark is displayed on an incorrect road due to a matching error or the like, the driver can easily be alerted.

Further, the vehicle position detected by the vehicle position detecting means is compared with the road data in the map data by the first determining means to determine whether or not the vehicle is on a road. When it is determined that the vehicle is riding on a road, the second determining means further determines whether the road is the same as the road on which the vehicle has been riding. When the first determination means determines that the detection output position is on a road and the second determination means determines that the road is the same as the road on which the vehicle has been riding, the vehicle position mark is displayed. On the contrary, even if it is determined that the vehicle does not ride on the road by the first determining means, or if it is determined that the vehicle is riding on the road by the first determining means, the road is not drawn by the second determining means. When it is determined that the road is not the same as the road on which the vehicle has been driven, the vehicle position mark is drawn large. As a result, while checking the accuracy of the road on which the vehicle position mark is riding more accurately,
When there is a possibility that the vehicle position mark is displayed on the wrong road, the driver can easily be alerted.

[0013]

[0014]

FIG. 1 is an overall configuration diagram of a vehicle-mounted navigator according to an embodiment of the present invention. In FIG. 1, reference numeral 1 denotes a CD-ROM serving as map data storage means, and 2 denotes an operation panel, which includes a map search key, an enlargement / reduction key, and the like. Reference numeral 3 denotes a vehicle position detecting device for detecting a vehicle position and a vehicle azimuth, of which 3a is a first vehicle position detecting unit for detecting the vehicle position and the vehicle azimuth by GPS satellite navigation, and 3b is an independent vehicle position and vehicle azimuth. The second vehicle position detector 3c for detecting by navigation gives priority to the vehicle position data and the vehicle azimuth data input from the first vehicle position detector when the first vehicle position detector can detect by GPS satellite navigation. When the first vehicle position detection unit becomes incapable of being detected by the GPS satellite navigation, the vehicle position data and the vehicle azimuth data at that time are passed to the second vehicle position detection unit as calculation starting data, and thereafter, the self-contained navigation is performed. Carry out vehicle position detection and vehicle direction detection by
An output switching unit that outputs vehicle position data and vehicle azimuth data detected by the second vehicle position detection unit. During the output of the vehicle position data and the vehicle azimuth data by the self-contained navigation, the output switching unit 3c uses the GPS detection by the first vehicle position detection unit 3a.
When the vehicle position and the vehicle direction can be detected by the satellite navigation, the detection operation of the second vehicle position detection unit 3b is stopped, and the vehicle position data and the vehicle direction data detected by the first vehicle position detection unit 3a are switched. Output.

Although the detection accuracy of the vehicle position and the direction of the vehicle by the GPS satellite navigation is much higher than that of the self-contained navigation, it cannot be detected when traveling in a tunnel or in an urban area where radio waves are reflected multiple times. The output switching unit 3c outputs a signal AS (binary signal, 0; self-contained navigation, indicating whether the vehicle position and the vehicle azimuth detection output is currently performed by the GPS satellite navigation or the self-contained navigation.
1; satellite navigation). Reference numeral 4 denotes a CRT display device that inputs a video signal and displays a map on a screen together with a vehicle position mark and the like.

Numeral 10 denotes a navigation controller constituted by a microcomputer, which displays a map image around the vehicle position on the screen of the CRT display device 4 together with a vehicle position mark and the like. Among them, 11 is a buffer memory for temporarily storing map data read from the CD-ROM 1, 1
Reference numeral 2 denotes a map image drawing unit, which reads out, from the CD-ROM 1 into the buffer memory 11, map data relating to one map including the current position of the vehicle and a plurality of maps adjacent to the map during driving. Using the data of the background layer and the character / symbol layer of the read map data, parks, rivers, roads, and the like, in which a single map including the current location and a plurality of surrounding maps are integrated into a video RAM described later. Map image consisting of place names, map symbols, etc. (size of 9 screens)
To draw.

Reference numeral 13 denotes a first discriminating unit, which stores the vehicle position data input from the vehicle position detecting device 3 and the buffer memory 11
Is compared with the road data (especially the road list of the road layer, RDLT in FIG. 7) in the map data read out, and it is determined whether or not the current position indicated by the vehicle position data is on any road. And a discrimination signal B indicating the discrimination result.
S (binary signal, 0; not on road, 1; on road)
Is output. Further, the first determination unit 13 registers the determination result in the registration unit.

Reference numeral 14 denotes a registration unit, as shown in FIG. 2, for each of the latest n (n is 6 in this example) vehicle position data input from the vehicle position detection device 3; A flag (1; on the road, 0; on a non-road) indicating whether or not the vehicle is located on the road, and road identification data when the vehicle is located on the road (here, on the road list in FIG. 7). ) Is registered. 1
Reference numeral 5 denotes a second discriminating unit, and when the vehicle position data input from the vehicle position detecting device 3 is judged to be on the road by the first discriminating unit 13, the road identification registered this time for the detected vehicle position. The data of the same road as the data is stored in the registration unit 14 including the road identification data registered this time.
By checking whether there are m or more (m is 4 in this example), the first discriminating unit 13 determines that the road on which the vehicle is riding is the road on which the vehicle has been riding. Is determined, and a determination signal CS (binary signal,
0; different from before, 1; same as before) is output.

Reference numeral 16 denotes a vehicle position correcting unit. When the first determining unit 13 determines that the vehicle position indicated by the vehicle position data input from the vehicle position detecting device 3 does not exist on the road, it is read out to the buffer memory 11. Using the road data (road layer), map matching is performed, and corrected vehicle position data that attracts the vehicle position detected by the vehicle position detection device 3 to the road is output to the map image drawing unit 12. Conversely, when the first determination unit 13 determines that the vehicle position indicated by the vehicle position data input from the vehicle position detection device 3 is on the road, the vehicle position detected by the vehicle position detection device 3 is directly corrected by the vehicle. The data is output to the map image drawing unit 12 as position data.

A video RAM 17 has a storage capacity for one screen of the CRT display device 4 and stores a map image drawn by the map image drawing unit 12. 18
Reference numeral denotes a read control unit. Under the read control of the map image drawing unit 12, the vehicle position indicated by the corrected vehicle position data input from the vehicle position correction unit 16 is the center of the map image drawn on the video RAM 17. Read and output the size of one screen. Reference numeral 19 denotes a vehicle position mark generation unit which receives vehicle azimuth data from the vehicle position detection device 3 and selects one of two sizes, a normal size and an enlarged size, according to conditions, and sets the north to upward. A vehicle position mark directed in the direction indicated by the vehicle azimuth data when viewed in a given coordinate system.

The size selection in the vehicle position mark generation unit 19 is performed as follows. That is, when the signal AS (= "0") indicating that the vehicle position data and the vehicle azimuth data detected by the self-contained navigation are currently being output from the output switching unit 3c of the vehicle position detection device 3. Generates an enlarged size vehicle position mark. On the other hand, a signal AS (= “1”) indicating that the vehicle position data and the vehicle azimuth data detected by the GPS satellite navigation are currently being output is input from the output switching unit 3c of the vehicle position detection device 3. At this time, the determination signal BS (= “0”) indicating that the detected vehicle position is not on the road is input from the first determination unit 13 or the detected vehicle position is determined to be on the road from the first determination unit 13. When the discrimination signal CS (= "0") indicating that the vehicle is on a different road from the road on which the vehicle has been riding is input from the second discrimination unit 15 even if the discrimination signal BS (= "1") is input. Generates an enlarged vehicle position mark, and conversely,
A discrimination signal BS (=
Normal size is input when "1") is input and a determination signal CS (= "1") indicating that the road is the same road as the road on which the vehicle has been driven is input from the second determination unit 15. A vehicle position mark is generated.

Reference numeral 20 denotes a synthesizing unit for synthesizing and outputting the vehicle position mark generated by the vehicle position mark generating unit 19 at the center of the map image read by the read control unit 18, and 21 synthesizing by the synthesizing unit. A video conversion unit that converts an image into a video signal and outputs the video signal to the CRT display device 4.

FIGS. 3 and 4 are flowcharts showing the navigation process of the navigation controller 10, FIG. 5 is an explanatory diagram of the operation of the vehicle-mounted navigator, and FIG. 6 is an explanatory diagram showing an example of screen display on the CRT display device 4. Description will be made with reference to these figures. The vehicle is assumed to continue to travel the road RD _a in FIG.

When the power source of the set is turned on, the vehicle position detecting device 3 detects the vehicle position and the vehicle direction while switching between the GPS satellite navigation and the self-contained navigation, and outputs the vehicle position data and the vehicle direction data from the output switching unit 3c. Is output. While the GPS satellite navigation is available, the first vehicle position detection unit 3a detects the vehicle position and the vehicle azimuth by the GPS satellite navigation, and outputs the detected vehicle position data and the vehicle azimuth data. Second when navigation becomes impossible
The vehicle position and the vehicle direction are detected by the vehicle position detection unit 3b by the self-contained navigation, and the detected vehicle position data and vehicle direction data are output. The output switching unit 3c
Outputs a signal AS indicating the current navigation. It is assumed that GPS satellite navigation is possible for a while after the power is turned on.

First, after the map image drawing section 12 inputs the first vehicle position data P ₀ from the vehicle position detecting device 3 (step 101), the current position is displayed in one map currently drawn in the center of the video RAM 17. Is checked (step 102). Initially still video RAM
17, the result is NO, and by referring to the predetermined map management information, the data of one map including the current location from the CD-ROM 1 and the data of a plurality of maps around the map are all stored. Stored in the read buffer memory 11 (step 1
03), out of the read map data, the video RAM 17 uses the data of the background layer and the character / symbol layer.
A map image (size of nine screens) composed of a park, a river, a road, a place name, a map symbol, and the like in which one map including the current location and a plurality of surrounding maps are integrated is drawn (step 10).
4).

Next, with respect to the vehicle position data P ₀ inputted from the vehicle position detecting device 3, the first discriminating unit 13 refers to the road data (particularly the road list RDLT of the road layer) read into the buffer memory 11. Te, vehicle position P ₀ indicated by the vehicle position data to output a discrimination signal BS to determine whether riding on any road (step 105). The registration result is registered in the registration unit 14. Here, assuming that the detection vehicle position P ₀ rests on the road RD _a, first determination unit 13 outputs "1" determination signal BS =,
Further, the flag data "1" indicating that there on the road as registration data for the first vehicle position data P ₀ to the registration unit 14, the road identification data (here relating to road RD _a on the road list RD _a Is registered (steps 106 and 107, see FIG. 2A).

[0027] Wakashi, when the detected vehicle position P ₀ is determined as not riding on the road, the first determination unit 13 registering unit 14
Only the flag data "0" indicating that the vehicle does not exist on the road is registered as registration data for the vehicle position data (steps 106 and 108).

Since the first discriminating unit 13 has determined that the detected vehicle position P ₀ is on the road, the vehicle position correcting unit 16 uses the vehicle position data P _{0 as it} is as corrected vehicle position data P ₀ ′ as a map image drawing unit. 12 (Step 10
9). If the first determination unit 13 determines that the vehicle position is not on the road, the vehicle position correction unit 16 uses the road data (particularly the road list RDLT of the road layer) stored in the buffer memory 11. The vehicle position is corrected by performing map matching and attracting to a road, and the corrected vehicle position data is output to the map image drawing unit 12 (step 110). The map image drawing unit 12 performs read control on the read control unit 18 so that the current position indicated by the corrected vehicle position data P ₀ ′ from the video RAM 17 is the center,
An area for one screen with the north facing upward is read (step 201 in FIG. 4).

Next, the second discriminating unit 15 sets the registration unit 14 to n
It is determined whether or not (= 6) pieces of registration data exist, and since it is NO, a determination signal CS = "1" indicating that the vehicle is on the same road as the road on which the vehicle has been riding is output for convenience (step). 202, 203). Next, the vehicle position mark generation unit 19 checks whether the current navigation in the vehicle position detection device 3 is the GPS satellite navigation based on the signal AS (step 20).
4), since YES, followed by detecting the vehicle position P ₀ on the basis of the determination signal BS input from the first discriminating section 13 checks whether riding on the road (step 205), since YES here, further, a second based on the determination signal CS inputted from the determination unit 15, the road RD _a currently riding vehicle is checked whether same road riding far (step 206). At first, since the answer is also YES here, the vehicle position mark generating unit 19 generates a vehicle position mark in the coordinate system with the normal size and the north facing upward in the vehicle azimuth direction (step 207).

If the signal AS indicates self-contained navigation (when AS = "0"), a vehicle position mark of an enlarged size is generated (NO in step 204, 208). Indicates that the vehicle is on the road, the discrimination signal BS indicates that the vehicle is not on the road (NO in step 205), or the discrimination signal BS indicates that the vehicle is on the road. If the CS indicates that the road is different from the road on which the vehicle was riding (NO in step 206), an enlarged vehicle position mark is generated (step 208).

The vehicle position mark of the normal size generated by the vehicle position mark generating unit 19 is synthesized by the synthesizing unit 20 at the center of the map image for one screen output from the readout control unit 18 and then converted into a video image. The video signal is converted into a predetermined video signal by the unit 21 and displayed on the screen of the CRT display device 4 (step 209). As a result, on the screen, a vehicle position mark with the vehicle traveling direction on the map oriented in the normal size is displayed on a map image centered on the vehicle position (see FIG. 6A).

After step 119, the navigation controller 10 returns to step 101 in FIG. 3 and repeats the same processing for the second and subsequent detected vehicle positions P ₁ , P ₂ , P ₃ ,. All until P ₅ vehicle position detected by the GPS satellite navigation is performed, and, assuming that the detection vehicle position has been determined that both are on the road RD _a first determination unit 13, the contents of the registration unit 14 FIG. It looks like 2 (1).

Since the answer to the question of step 202 in FIG. 4 is NO for all the detected vehicle positions P ₄ , all the vehicle position marks on the screen are displayed in the normal size. Detected vehicle position P
_{When the} flag data “1” and the road identification data are registered in the registration unit 14 for ₅ , the result of step 202 performed by the second determination unit 15 is YES, and in this case, the second determination unit 15 current detection vehicle position P ₅ from the flag data registered in the last registration unit 14 (registered data relating to P ₅₎ to check whether riding on the road (step 210). Here it is riding on the road RD _a Y
Since the ES, followed by road ride of P ₅ RD _a
By checking whether the same road identification data as m = 4 or more exists in the registration unit 14, the first determination unit 13 determines that the road on which the vehicle is riding is the road on which the vehicle has been riding. Is determined, and a determination signal CS indicating the determination result is output (steps 211 and 212). Because the YES at step 211 where the P ₅ is that the output is determined signal CS = "1" indicating the riding the same road as the road riding before.

[0034] Thus, the detection vehicle position P _5, so that the vehicle position mark is displayed in the normal size (YES in step 206). For even P ₆ and later continued detection of the GPS satellite navigation, and detecting the vehicle position is the road R
As long as rests on the D _a, since the vehicle position mark is displayed in a normal size, the driver can recognize that the road to the position of the vehicle position mark is road correctly currently traveling. For example, when the determination result of the first determination unit 13 for the detected vehicle position P ₆ is registered in the registration unit 14, the registration data for P ₀ is deleted (FIG. 2 (2)). ), The registration unit 14 is always in a state where data relating to the six most recently detected vehicle positions are registered.

[0035] Then, was detected in satellite navigation for detecting the vehicle position P _8, the detection error is caused, is determined that not on either of the road at the first determination unit 13, determination signal BS = "0 Is output (step 10
5), it is registered only the flag data "0" as the registration data of the detected vehicle position P ₈ in the registration unit 14 (Step 10
6, 108, see FIG. 2 (3)). In this case, the vehicle position correcting unit 16 by using the road data stored in the buffer memory 11, to correct the detected vehicle position P ₈ performs map matching on the road, the map image drawing unit correction vehicle position data P ₈ ' 12 (step 110). At this time, a matching error occurs and the corrected vehicle position P ₈ ′ is incorrectly set on the road R.
And those attracted on the D _b.

In this case, the second discriminating section 15 does not perform the discriminating operation (NO in step 210), but the vehicle position mark generating section 19 operates in a state where the signal AS from the vehicle position detecting device 3 indicates the satellite navigation. (AS = “1”), first determination unit 1
Detection vehicle position P ₈ from the discrimination signal BS indicating that no riding road input from 3 (BS =
"0"), an enlarged size vehicle position mark is generated (NO in step 205, 208). Therefore, the screen will be the vehicle position mark of the enlarged size onto the road RD _b is displayed (see FIG. 6 (2)), to the driver, ride the vehicle position mark by the influence of the matching errors that the possibility that the road RD _b there are not necessarily become a traveling road (RD _a) is there, it is possible to draw attention,
The driver can take an action of checking which road is actually running by comparing the actual target seen in the vicinity with the target on the map on the screen.

[0037] was detected in satellite navigation also next detection vehicle position P _9, the detection error, despite the really traveling on the road RD _a, riding on the road RD _b by the first determination unit 13 when it is determined that there, together with the determination signal indicating that the detected vehicle position P ₉ is on the road BS (= "1") is outputted as data for the detected vehicle position P ₉ in the registration unit 13, road identification data flag data "1" according to the RD _b from being registered (step 105
To 107, FIG. 2 (4)). In this case, the vehicle position correction unit 1
6 outputs the map image drawing unit 12 as the corrected vehicle position data P ₉ 'without modification vehicle position data P ₉ (step 109,201).

On the other hand, the second discriminator 15 determines in step 202
In order to be YES, and performs a predetermined determination operation by referring to registration contents of the registration unit 14, the road identification data indicating the road RD _b the same road riding the detected vehicle position P ₉ is 1
Also because it is not registered One determines NO in step 210, determination signal roads current detection riding the vehicle position P ₉ indicating that different from that to road riding the vehicle (RD _a) CS = " 0 ”is output (step 21).
3).

Therefore, the vehicle position mark generation unit 19 determines that the detected vehicle position P ₉ is on the road from the first determination unit 13 in a state where the signal AS from the vehicle position detection device 3 indicates the satellite navigation. Has been input,
Since the discrimination signal CS indicating that the road (RD _b ) is not the road on which the vehicle has traveled is input from the second discrimination unit 15, a vehicle position mark of an enlarged size is generated again (step S1). NO at 206, 208). Therefore, the screen will be the vehicle position mark of the enlarged size onto the road RD _b is displayed (see FIG. 6 (2)), to the driver, ride the vehicle position mark by the influence of the detection error that the road RD _b there are not necessarily indicative of the traveling road (RD _a), it is possible to draw attention.

[0040] The next detection vehicle position P _10, is detected by the satellite navigation, and again there is no detection error first determination unit 13
In if it is determined that the step on the road RD _a, the vehicle position mark is displayed back to normal size. Thereafter, when the vehicle enters the tunnel, radio waves from the GPS satellites do not reach the first vehicle position detecting unit 3a of the vehicle position detecting device 3.
Cannot perform the detection operation. At this time, the output switching unit 3c gives the vehicle position data and the vehicle azimuth data detected last by the satellite navigation to the second vehicle position detection unit 3b as the calculation starting data, and thereafter, the output switching unit 3c performs the above operation until the satellite navigation becomes possible again. The second vehicle position detection unit 3b causes the vehicle position and the vehicle direction to be detected by the self-contained navigation, and outputs the vehicle position data and the vehicle direction data to the navigation controller 10. Then, a discrimination signal AS indicating the self-contained navigation =
Outputs "0".

Even if the detection of the vehicle position and the vehicle direction is changed to the self-contained navigation, the operations of the map image drawing unit 12, the first determination unit 13, the second determination unit 15, the vehicle position correction unit 17 and the like do not change. The position mark generator 19 determines N in step 204.
Since it is determined as O, a vehicle position mark of an enlarged size is generated, and the vehicle position mark is enlarged and displayed on the screen (see FIG. 6 (3)). As a result, the driver can be alerted that the road on which the vehicle position mark is riding may be different from the road on which the vehicle is traveling due to the effect of the detection error that always occurs in self-contained navigation.

According to the above-described embodiment, the road on which the vehicle position mark is located may be different from the road on which the vehicle is actually traveling due to a detection error or a matching error in the vehicle position detecting device 3. In this case, the vehicle position mark of the enlarged size is displayed, so that the driver is warned that the road on which the vehicle position mark is riding may not always be the traveling road. As a result, the driver can take an action of checking which road is actually driving by comparing the actual target seen in the vicinity with the target on the screen map. In addition, when the road on which the vehicle position mark is ridden may be wrong, the size is increased, which indicates to the driver that the range in which the current position of the vehicle may exist naturally has been expanded. be able to.

In the embodiment described above, the first discriminating unit 1
3, when the detected vehicle position is determined to be on the road, and when the second determination unit 15 determines that the road is the same as the road on which the vehicle has been riding, the normal size vehicle position mark Is displayed, but the determination by the second determination unit 15 is stopped. When the first determination unit 13 determines that the detected vehicle position is on the road, the vehicle position mark is displayed in a normal size. When the second determination unit 13 determines that the detected vehicle position is not on the road, the vehicle position mark may be displayed in an enlarged size. Also, GP
When displaying the vehicle position mark large during detection by S satellite navigation, if the first vehicle position detection unit has a function of outputting a GDOP, the size may be changed according to the value of the GDOP.

[0044]

As described above, according to the present invention, the current position of the vehicle is detected by the vehicle position detecting means, and the detected vehicle position is corrected by using the map data stored in the map information storage means while the current position of the vehicle is changed. In a vehicle-mounted navigator adapted to draw a map image on which a vehicle position mark is superimposed on a map, the vehicle position detected by the vehicle position detection means is compared with road data in the map data to determine whether or not the vehicle is on a road And
When it is determined that the detected vehicle position is on the road,
The vehicle position mark is drawn small, and conversely, when it is determined that the detected vehicle position is off the road, the vehicle position mark is drawn large. The driver can be easily alerted when there is a possibility that it is displayed above.

Further, the vehicle position detected by the vehicle position detecting means by the first determining means is compared with road data in the map data to determine whether or not the vehicle is on a road. When it is determined that the vehicle is riding on a road, the second determining means further determines whether the road is the same as the road on which the vehicle has been riding. When the first determination means determines that the detection output position is on a road and the second determination means determines that the road is the same as the road on which the vehicle has been riding, the vehicle position mark is displayed. On the contrary, even if it is determined that the vehicle does not ride on the road by the first determining means, or if it is determined that the vehicle is riding on the road by the first determining means, the road is not drawn by the second determining means. When it is determined that the vehicle is not the same as the road on which the vehicle has been riding, the vehicle position mark is drawn large. The driver can easily be alerted when there is a possibility that the information is displayed on the road where the vehicle has gone.

[0046]

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram of a vehicle-mounted navigator according to the present invention.

FIG. 2 is an explanatory diagram of data registered in a registration unit.

FIG. 3 is a first diagram showing the operation of the navigation controller.
It is a flowchart of.

FIG. 4 is a second diagram showing the operation of the navigation controller.
It is a flowchart of.

FIG. 5 is an explanatory diagram of the operation of the vehicle-mounted navigator.

FIG. 6 is an explanatory diagram showing a screen display example.

FIG. 7 is an explanatory diagram of a road layer.

[Explanation of symbols]

 Reference Signs List 1 CD-ROM 2 Operation panel 3 Vehicle position detecting unit 4 CRT display device 10 Navigation controller 12 Map image drawing unit 13 First discriminating unit 14 Registration unit 15 Second discriminating unit 16 Vehicle position correcting unit 17 Video RAM 19 Vehicle position mark generation Unit 20 synthesis unit 21 video conversion unit

────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-4-50718 (JP, A) JP-A-3-138514 (JP, A) JP-A-4-329308 (JP, A) 255310 (JP, A) Fully open 1988-188518 (JP, U) (58) Fields investigated (Int. Cl. ⁶ , DB name) G08G 1/00-1/16 G01C 21/00 G09B 29/10

Claims (1)

(57) [Scope of request for utility model registration] 1. A vehicle position detecting means for detecting a current position of a vehicle.
Using the map data stored in the map information storage means.
While correcting the detected vehicle position,
Map image with vehicle position mark superimposed on drawing
The vehicle position detected by the vehicle position detection means in the map data.
To determine if the vehicle is on a road
First discriminating means, and discriminating that the detected vehicle position is on a road by the first discriminating means.
When the road is
A second determining means for determining whether the vehicle is the same and a first determining means determining that the detected vehicle position is on a road;
And the road is ridden by the second discriminating means.
When it is determined that the road is the same as the
Is drawn small, and conversely, the detected vehicle position is
It is determined that the vehicle is not on the road, or the first determination
Means that the road is in the second format
It must be the same as the road on which the vehicle was riding by another means
Vehicle that draws a large vehicle position mark when determined
An in-vehicle navigator comprising: a position mark drawing unit .