JP2752113B2 - Vehicle running position display device - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle traveling position display device that displays the position of a traveling vehicle over a map, and more particularly, corrects a calculated position calculated from a sensor. About what to display.

[Prior Art] Conventionally, based on a detection signal from a sensor mounted on a vehicle, a traveling direction and a traveling distance of the vehicle are calculated to calculate a position of the vehicle, and the position of the vehicle is displayed based on the calculated position. 2. Description of the Related Art A device that displays a position of a vehicle on a map is known. However, since the detection values of the traveling distance detection means and the azimuth detection means contain some errors, errors occur in the calculated position of the vehicle obtained by integrating these detection values. In order to correct this error, the calculated position is compared with a stored test point on the map. Further, the map information stored in the map storage means is not always complete, and may not be stored as map information on side roads, newly constructed roads, roads on private lands such as parking lots and factories, and the like.

Therefore, a case where the vehicle travels on the stored map road and a case where the vehicle travels off the map road are distinguished from each other, and the traveling position of the vehicle is displayed on the map, for example, Japanese Patent Application Laid-Open No. 58-162809. The one disclosed in the gazette has been proposed. In this apparatus, a control circuit reads out map information from a map storage means mainly storing a main road, displays the map information on a display means, and provides a switch for instructing the control circuit in two different calculation display modes. I have. When the first mode is selected by using this switch, the calculation of the current position and the traveling locus is corrected so that the current position mark does not depart from the road displayed on the display means, and these are displayed. When the second mode is selected, the current position and the traveling locus are calculated based on only the signals from the traveling distance detecting means and the azimuth detecting means, regardless of the road displayed on the display means, and these are displayed. I have.

[Problems to be Solved by the Invention] In such a conventional device, the driver operates the switch to display in the first mode while driving on the stored map road, or to store the display. It is switched whether to display in the second mode in which the vehicle leaves the map road and is traveling.

However, there is a problem that the driver has to operate the switch while traveling by judging whether the driver runs on the stored map road or departs from the stored map road, and is troublesome. . In addition, when the switch is operated after leaving the vehicle to indicate that the vehicle has returned to the stored road map, if the return position is incorrectly specified, a large error occurs in the display of the subsequent travel position. There was a problem that there was a case.

Therefore, the present invention aims to solve the above-mentioned problem, and even when traveling outside the stored map road, it is determined whether to leave or return from the stored map road, and the traveling position of the vehicle is appropriately displayed. The present invention is to provide a vehicle traveling position display device.

[Means for Solving the Problems] In order to achieve the object, the present invention has the following configuration as means for solving the problems. That is, as exemplified in FIG. 1, a traveling distance detecting means M1 for detecting a traveling distance of a vehicle, an azimuth detecting means M2 for detecting a traveling azimuth of the vehicle, and a plurality of test points set on a road map. Map storage means M3 storing map information including the map information, and a calculated position of the vehicle calculated based on the travel distance and the traveling direction are stored in the map storage means M3.
A position judging means M4 for judging whether the vehicle is on or off a map road stored in a map road, and a correction display means M5 for comparing the calculated position and the verification point to correct and display the calculated position when on the map road. In the vehicle traveling position display device having the departure display means M6 for displaying the calculated position as it is at the time of departure, after the position determination means M4 determines that the vehicle has departed, Storing the test points within the test circle corresponding to the total travel distance of the map road based on the azimuth between the stored test points, the traveling direction, and the distance between the test points and the calculated position. It is determined whether or not the trajectory is along the map road, and when it is determined that the trajectory is along the map road, there is provided a return determination unit M7 that returns to the display by the correction display unit M5 based on the map road. Feature This is the configuration of the vehicle traveling position display device.

[Operation] In the vehicle traveling position display device having the above configuration, the traveling distance detecting means M1 detects the traveling distance of the vehicle, and the azimuth detecting means M2
Detects the traveling direction of the vehicle, and the map storage means M3 stores map information including a plurality of test points set on the road map.

Then, the position determination means M4 determines whether the calculated position of the vehicle calculated based on the traveling distance and the traveling direction is on or off the map road stored in the map storage means M3, and the correction display means M5 When the vehicle is on the map road, the calculated position is compared with the test point to correct the calculated position and displayed. The leaving display means M6 displays the calculated position as it is at the time of leaving. Further, the return determination means M7
Is determined by the position determination means M4 to be departed, and then stores the test points where the trajectory of the calculated position is within a test circle corresponding to the total mileage after departure, and stores the stored plurality of tests. It is determined whether or not the trajectory along the map road based on the distance between the azimuth between points and the traveling azimuth and the test point and the calculated position, and when it is determined that the trajectory is along the map road, Correction display means M5 based on the map road
And the correction display means M5 corrects and displays the calculated position again.

[Example] Hereinafter, an example of the present invention will be described in detail with reference to the drawings.

FIG. 2 is a schematic configuration diagram of a vehicle traveling position display device according to one embodiment of the present invention. The vehicle has a vehicle speed sensor 1 and a direction sensor 2 mounted thereon, and the vehicle speed sensor 1 detects a running speed of the vehicle. The running speed is integrated by an electronic control circuit 20 to be described later.
The traveling distance of the vehicle is determined, and these constitute the traveling distance detecting means M1. The azimuth sensor 2 as the azimuth detecting means M2 detects the traveling azimuth of the vehicle. In the present embodiment, the azimuth sensor 2 detects the terrestrial magnetism to obtain the azimuth. However, the azimuth sensor 2 may be a sensor using a gyro compass or a sensor that obtains the azimuth by accumulating the steering angles of the vehicle obtained from the rotation difference between the left and right steered wheels.

Further, a map memory 4 is provided, which comprises a large-capacity storage device such as a compact disk. The map memory 4 serving as the map storage means M3 stores map data in a predetermined range such as Tokyo, Aichi or Tokai region, and test point data in which features of roads are written. Map data includes road shape, road width, road name,
This is data for reproducing maps such as buildings, place names, and terrain. The verification point data is data created based on map data or actual measurement in order to correct the displayed vehicle position, the traveling direction obtained from the direction sensor 2, the traveling distance obtained from the vehicle speed sensor 1, and the like. In this embodiment,
The road is approximated more in the case of a polygonal line, and the midpoint of the line, the end point of each polygonal line, the intersection of the road, and the like are set as test points. Then, it has the following information as data on these test points.

Verification point number Absolute position (latitude / longitude) of the verification point Pt Area number including the verification point (however, the area number is, for example, a division number when the whole of Japan is divided into several parts) Angle (curvature θ) Number of other test points connected to test points (i: 1 to m) Number of other test points connected to test points Up to other test points connected to test points Distance (di
s _i ) Direction to other test point connected to test point (α ₁ ) In addition, the numbers, distances, and directions of other test points in,, are numbers corresponding to the numbers of other test points (i : 1 to m).

Further, a control switch 6 is provided, which is composed of various switches for the driver to input an initial value and select a map to be displayed.

The vehicle speed sensor 1, the direction sensor 2, the map memory 4, and the control switch 6 are connected to an electronic control circuit 20, respectively. The electronic control circuit 20 includes a well-known CPU 2
2, ROM24 that stores control programs and data in advance,
I / O circuit 28 is connected to common bus 30
And are connected to each other via a. CPU22
Signals from the vehicle speed sensor 1, the azimuth sensor 2, the map memory 4, and the control switch 6 are input via an input / output circuit 28. Based on these signals, programs and data in the ROM 24 and the RAM 26, the CPU 22 The circuit 28 outputs a drive signal to the CRT 34 via the CRT controller 32.

The CRT controller 32 controls the display of the CRT 34, reproduces the map data transferred from the electronic control circuit 20 as a map on the screen of the CRT 34, and displays the calculated position of the vehicle transferred from the electronic control circuit 20 at the present time. It is configured to be displayed on the map being displayed.

Note that the electronic control circuit 20 may be provided in a fixed station without being mounted on a vehicle, and may be configured to reproduce data of a vehicle position by transmitting and receiving data with an appropriate communication device.

When a power switch (not shown) is turned on, the CPU 22 of the electronic control circuit 20 starts executing arithmetic processing according to a program preset in the ROM 24.

In this embodiment, an occupant of the vehicle before starting operates the Kontororusuitchin 6, select the map displayed on the CRT 34, and instructs the own vehicle position as the initial position P _b on this map. Alternatively, other than this, the calculation position upon stopping of the previous vehicle may be stored in non-volatile memory, may be set this position as the initial position P _b.

When the vehicle starts traveling, a traveling distance obtained by integrating the traveling speed input from the vehicle speed sensor 1 and a traveling direction obtained from the direction sensor 2 are detected. The current calculated position V calculated based on the detected traveling distance and the traveling azimuth after the vehicle has traveled a certain distance is displayed on the map of the CRT 34 by executing processing described later. With the travel of the vehicle, it passes through the pre-stored test point P _t in the map memory 4, the correction control process of the computer the position V is performed.

Next, the correction control process performed by the electronic control circuit 20 will be described with reference to the flowchart shown in FIG.

First, it is determined whether or not a return flag F that is cleared by executing a process described later is 1 (step 100). Since the return flag F is set to 1 by the initialization process, next, the difference between the traveling azimuth detected by the direction sensor 2 and the traveling azimuth before bending and a predetermined value are compared. Then, it is determined whether or not it is bent (step 105). Bending refers to, for example, a case where the vehicle makes a left or right turn at an intersection or a greatly curved road. In the present embodiment, for example, as shown in FIG.
Curvature θ _n-1 which is an angle between a straight line connecting _n-2 and the current calculation position V _n-1 and a straight line connecting the previous calculation position V _n-1 and the current calculation position V _n , When the angle is more than a predetermined angle,
It is determined that it has bent. Note that a configuration in which bending is determined based on a steering operation angle, an operation speed, or the like may be used.

If it is determined in step 105 that the vehicle is not bent, it is determined whether the vehicle has traveled the distance dis _n between the verification points P _n−1 and P _n (step 110). As shown in FIG. 7, in this embodiment, between P ₀ P _1, between P ₁ P _2, the distance of such between P ₂ P ₃ corresponds to the distance dis _n between each test point, in advance in the map memory 4 It is remembered. When it is determined that the vehicle has traveled the distance dis _n , the radius r ₁ of the test circle R ₁ when traveling straight is calculated by the following equation (step
115).

r ₁ = K ₁ × dis _n + e ₀ Here, K ₁ is an azimuth error coefficient obtained mainly by an experiment or the like, mainly due to a detection error of the azimuth sensor 2.
K ₁ × dis is an azimuth error term when traveling between the verification points. dis _n is the distance between the test points P _n-1 P _n . Further, e ₀ is an initial value including a map error and an initial position setting error.

Subsequently, it is determined whether there is calculated the position V in straight running test circle R ₁ of the radius r ₁ which is calculated by processing at step 115 (step 120). The calculated position V is a position calculated based on the detection values of the vehicle speed sensor 1 and the azimuth sensor 2 from the verification point passed last time.

When calculating the position V is in the straight running test circle R ₁ determines whether there is a map road stored in the traveling direction of the vehicle (step 125). This is pre-stored map information, test point of the vehicle traveling direction to be connected to the test point P _t which has passed
It checked by whether there is a P _t. Calculating the position V is in straight running test circle R _1, and when there is a map road stored in the traveling direction of the vehicle is determined to have passed the test point P _t, a test point P _t to calculate the position V The calculation position V is corrected by performing a pull-in process (step 130). For example, determine the difference in position between the calculated position V and test point P _t, a value corresponding to the difference between the positions is subtracted from the calculated position V correcting the calculated position V, thereafter the corrected calculated position V The calculation is performed based on

On the other hand, the processing at step 120 and 125, calculates the position V is not in the straight running test circle R _1, or when it is determined that there is no map road stored in the traveling direction, the vehicle shown in the stored map It is determined that the vehicle is traveling on a place other than the road, for example, a side road, a newly constructed road, a road on private land such as a parking lot or a factory, and the calculated position detected by the vehicle speed sensor 1 and the direction sensor 2 A leaving process for displaying the calculated position V as it is without correcting V is executed (step 135). When the detachment process is being executed, the return plug F set to 0 is cleared (step 140).

On the other hand, in the process of the step 105, when it is determined that the bent, the radius r ₂ of the flexion test circle R ₂ is calculated by the following calculation formula (step 190).

r ₂ = K ₁ × dis + K ₂ × Σdis + e ₀ Here, K ₁ , dis, and e ₀ are the same as the values used in the calculation of the radius r ₁ described above, and K ₂ is a travel obtained in advance by experiments or the like. distance is a distance error coefficient based on the calculation of, Shigumadis the travel distance from the last bending point, test points in the example shown in FIG. 7 P ₂
Is a traveling distance to the test point P ₅ from. This K ₂ × Σdis
Is a distance error term from the previous bending point.

Next, this intersection determines the curvature maximum point V _max at the refraction point, whether in the flexion test circle R ₂ of the radius r ₂ (step 150). Curvature maximum point V _max is, in this embodiment, for example, as shown in FIG. 6, the front straight line connecting the previous and calculated position V _n-2 and the previous compute position V _n-1, and the previous calculation position V _n-1
A curvature θ _n−1, which is an angle formed by a straight line connecting the current calculation position V _n and the current calculation position V _n , is calculated. The point at which the curvature is maximum is determined as the curvature maximum point V _max. If there is the curvature maxima V _max in flexion test within a circle R ₂ of the radius r _2, is determined to have passed the test point P _t.

Next, it is determined whether or not there is a stored map road in the traveling direction in which the vehicle has bent (step 155). this is,
The pre-stored map information, according to whether or not there is a test point P _t of the vehicle traveling direction after bending for connecting to the test point P _t which has passed through. There is the curvature maxima V _max in flexion test within a circle R ₂ of the radius r _2, and when the vehicle travel direction is stored map road after bending, pulling the test point P _t of curvature maximum point V _max processing performed (step 160), thereafter the calculation of calculating the position V is performed based on the corrected curvature maximum point V _max.

On the other hand, by the processing of steps 150 and 155, the bending test circle R
When it is determined that there is no curvature maximum point V _max in the _2, or if there is no map road stored in a vehicle traveling direction after bending, the vehicle to a place other than a road shown in the stored map It is determined that the vehicle is traveling, and a departure process that does not correct the calculated position V detected by the vehicle speed sensor 1 and the direction sensor 2 is executed (step 135). Then, the return flag F
Is cleared (step 140).

In this manner, when the vehicle is traveling on a location other than the stored map road and the departure process is being executed, the return flag F is cleared, and the control process is repeatedly executed to execute the process of step 100. When it is determined by execution that the return flag F is 0, a return determination process is performed (step 200).

Next, the return determination processing will be described with reference to the flowchart of FIG.

First, the radius r ₃ of the return time of assay circle R ₃ is calculated by the following equation.

r ₃ = K ₃ × Σd + r ₀ where r ₃ ≦ r _max (predetermined value) to prevent the radius of the test circle from becoming too large.

Here, K ₃ is a coefficient obtained in advance by experiment or the like, [Sigma] d is the total distance of withdrawal of the processing of the step 135 is started, when the straight when r ₀ was determined to have detached Alternatively, it is the bending circle radius r ₁ or r ₂ at the time of bending.

Next, a radius r ₃ around the current calculated position V calculated from the traveling distance and the traveling direction during the departure process is performed.
In the return time of assay circle R _3, it determines whether there is assayed point P _t stored in the map memory 4 (step 215). If the test point _Pt exists, it is determined whether the test point _Pt has been registered (step 220). Initially, the test point P _t
But it has not yet been registered, registering the test point P _t in the return time of assay circle R ₃ in RAM 26 (step 225).

Then, another assay point P _t other than those registered in the return time of the test circle R ₃ is (step determines yet if there
230). If another test point _Pt exists, the processing of step 220 and thereafter is executed. Also, if there is only one test point P _t to the return time of the test circle R _3, for example, as shown in FIG. 8, if there is only one of the test points P ₁₁ registers the test point P ₁₁ (Step 225), the process once exits the main return determination process, and repeatedly executes the main return determination process together with other control processes.

When the return determination process is repeatedly executed, or when it is determined in step 230 that another test point _Pt exists, the process in step 220 is executed again. Since the verification point _Pt has already been registered in the process of step 225,
It is determined that the test point _Pt has been registered, and it is determined whether or not the test point _Pt is closest to the test point Pt (step 235). The closest is the distance [Delta] d _n between the test point P _t which is the registration with the current calculation position V calculated according to the running of the vehicle, it is determined that closest to when the distance [Delta] d _n is minimized. Until it is determined that the closest approach, step 230 performs the following processing in accordance with the running of the vehicle until then, every time, registers the test point P _t in the return time of the test circle R ₃ (step 220 ,twenty two
Five). Then, when it is determined in the process of step 235 that the object has come closest, the evaluation value f is calculated by the following calculation formula (step 240).

f = (C ₁ × ΣΔθ + C ₂ × ΣΔd) / Σl Here, C ₁ and C ₂ are coefficients obtained in advance by experiments and the like, and Σθ is obtained from the traveling azimuth obtained from the closest approach point and the test point. It is the absolute value of the difference from the traveling heading.
For example, in the case of FIG. 8, Δθ ₁₁ is the closest approach points V ₁₁ and V _11.
The heading of the vehicle calculated from the ₁₂ coordinate values and the verification point P
Is calculated from the coordinate values of ₁₁ and P ₁₂ is the absolute value of the difference between the orientation of the map road. ΣΔθ is the Δ during the removal process.
θ is an integrated value. Further, Δd is the distance between the closest approach point and the verification point, and is Δd ₁₁ , Δd ₁₂ , and Δd ₁₃ shown in FIG. ΣΔd is an integrated value during the departure processing of Δd.
Σ1 is the integrated value of the distance between each test point.

Next, when the evaluation value f is calculated, it is determined whether the return condition is satisfied (step 245). As the return condition, in the present embodiment, Δθ is less than a predetermined value θ _th (for example, 30 degrees), and Δl is a predetermined value l _th (this value may be determined based on the map scale. The distance between the points is determined to be a distance corresponding to three points.) When the evaluation value f exceeds the predetermined value f _th ,
This is when there is a verification point of the vehicle traveling direction connected to the verification point. That is, the smaller the evaluation value f is, the more the trajectory of the calculation position V is substantially parallel to the stored map road and the more along the map road. Therefore, when the evaluation value f is small, it is determined that the vehicle is traveling on the stored map road.

When this return which satisfies the condition corrects the calculated position V performs processing to draw the test point P _t to calculate the position V (step 250). For example, determine the difference in position between the calculated position V and test point P _t, the value calculated position V corresponding to a difference between the position
Is subtracted from the above to correct the calculated position V, and thereafter, the calculation is performed based on the corrected calculated position V. Next, it is determined that the return determination processing has been completed, and the return flag F is set to 1) (step 255).

In the case shown in FIG. 8, at the calculated position V ₁₃ (closest point) closest to the verification point P ₁₃ , the trajectory of the calculated position V is a trajectory along the map road, and the return condition is satisfied. and it is determined that, by performing the process of pulling the test point P ₁₃ to calculate the position V _13, the correction of the calculation position V.

On the other hand, if it is determined in step 245 that the return condition is not satisfied, the processing in step 230 and subsequent steps is repeatedly performed.

If it is determined by the execution of the return determination process that the vehicle is traveling back to the stored map road, the return flag F is set to 1
There is set, in the process of step 100 of the correction control process is repeatedly executed, return flag F is determined to be 1, in step 105 following treatment, correcting the calculated position V on the basis of the test point P _t Is performed.

Thus, the calculated position V corrected by the correction control process
Alternatively, during the execution of the departure process, the calculated position V based on the traveling distance and the traveling direction is displayed on the CRT 34 by executing the display interruption process shown in FIG.

First, a position on the map corresponding to the current calculated position V of the vehicle is calculated (step 300). Next, it is determined whether or not the map displayed on the CRT 34 needs to be scrolled (step 310). When necessary, the range of the map to be displayed is changed (step 320), the map is displayed on the CRT 34 (step 330), and the current position of the vehicle is displayed on this map (step 340). At this time, the display mark for displaying the corrected calculation position V on the CRT 34 and the display mark for displaying the calculation position V during the departure process being displayed on the CRT 34 are displayed in different colors, so that the vehicle can be displayed to the driver. It can be notified whether the vehicle is traveling on the stored road or traveling away from the road.

The execution of the processing of steps 105 to 125 and 145 to 155 functions as the position determining means M4, and the processing of steps 130, 160, 300 to 340
Processing serves as the correction display means M5, and steps 135, 300
The execution of the processing of steps 340 to 340 functions as the departure time display means M6, and the execution of the processing of steps 210 to 255 functions as the return determination means M7.

In the In the embodiment of FIG. 8, although the test point P _t registered in the process of step 225 was one, grid roads,
If there are a plurality of registered test points and there are a plurality of return candidate roads satisfying the return condition in the process of step 245, the road having the smallest evaluation value f may be selected. Alternatively, a plurality of roads that satisfy the return condition may be tracked a plurality of times, and then return to a road that satisfies the condition.

Also, if the absolute position of the vehicle is given by a satellite navigation system (GPS) or a signpost (radio lighthouse), if the calculated position is corrected based on this absolute position, the absolute position also includes an error. Therefore, the correction of the absolute position may be determined by determining whether the return condition is satisfied by the return determination process. Further, when the driver forcibly inputs the current position of the vehicle from the control switch 6 to correct the calculated position, departs from outside the stored map road, or switches to a road map of a different map scale. In such a case, after determining whether the return condition is satisfied by the return determination process,
By correcting the calculated position, an appropriate position can be displayed.

As described above, the vehicle traveling position display device of the present embodiment determines whether the calculated position V is on or off the stored map road (steps 105 to 125, 145 to 155).
Correction to be displayed based calculations position V to test point P _t (step 130,160,300～340). When leaving, the calculated position V is displayed as it is (135, 300 to 340). Further, during the departure process, when it is determined by the evaluation value f or the like that the trajectory of the calculated position V is a trajectory along the stored map road, it is determined that the vehicle has returned to the map road and is traveling. determination (step 210-255), again calculated position V test point P _t
(Steps 130, 160, 300-3)
40).

Therefore, even if the driver departs on a map road, the driver does not judge it and operates a switch or the like. If there is no such thing, it is determined that the vehicle has left the map road. Further, after leaving, if the trajectory of the calculation position is a trajectory along the map road, it is determined that the vehicle has returned to the map road, and the driver determines this and does not operate the switch or the like. Is corrected and displayed. Therefore, the driver does not need to determine whether the vehicle is traveling on a map road or when the vehicle is leaving the vehicle, and the operation of the apparatus is simple. In addition, when the vehicle returns on the map road, the calculated position V is corrected and displayed even if the driver does not indicate the position, so that the position of the vehicle displayed on the CRT 34 is changed. Appears properly.

As described above, the present invention is not limited to such embodiments at all, and can be implemented in various modes without departing from the gist of the present invention.

[Effects of the Invention] As described in detail above, the vehicle traveling position display device of the present invention does not require the driver to determine whether the vehicle is traveling on the road or has left the vehicle, and does not need to operate switches and the like. Since the departure from the map road is determined based on the map information stored in advance, the operation of the apparatus is simple. Also, after leaving, if the trajectory of the calculated position is a trajectory along the map road,
It is determined that the driver has returned on the map road, and the driver does not need to operate a switch or the like to input a return position or the like. Even if the error is large, the detected test points and the calculated position of the vehicle are compared by the direction and the distance,
Since it is determined whether or not the calculated position is a locus along the map road, even if there are multiple parallel map roads, the map road that has returned accurately can be determined, and the calculated position is corrected and displayed again. This has the effect that the displayed position of the vehicle is properly displayed.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating the basic configuration of a vehicle travel position display device according to the present invention, FIG. 2 is a schematic configuration diagram of a vehicle travel position display device as one embodiment of the present invention, and FIG. FIG. 4 is a flowchart illustrating an example of a correction control process performed in the electronic control circuit of the example, FIG. 4 is a flowchart illustrating an example of a return determination process, FIG. 5 is a flowchart illustrating an example of a display interrupt process, and FIG. FIG. 7 is an explanatory diagram illustrating an operation at the time of bending according to the present embodiment. FIG. 7 is an explanatory diagram illustrating an example of an operation at the time of calculating position correction according to the present embodiment. FIG. It is explanatory drawing which shows an example of an operation. M1: running distance detecting means M2: azimuth detecting means M3: map storage means M4: position determining means M5: correction display means M6 ... departure display means M7: return determining means 1: vehicle speed sensor 2: azimuth sensor 4: map memory 20 … Electronic control circuit 34… CRT

 ──────────────────────────────────────────────────続 き Continuing from the front page (72) Inventor Hiroyasu Fukaya 1-1-1, Showa-cho, Kariya-shi, Aichi Japan Inside Denso Co., Ltd. (72) Inventor Hironobu Sugimoto 1-Toyota-cho, Toyota-shi, Aichi Prefecture Toyota Motor Corporation (56) References JP-A-60-45285 (JP, A) JP-A-2-17407 (JP, A) JP-A-2-38919 (JP, A) JP-A-61-216100 (JP, A) JP-A-61-234499 (JP, A) JP-A-1-250817 (JP, A) JP-A-63-115004 (JP, A) Fully open Showa 62-115618 (JP, U) Really open show 63-142719 (JP, U)

Claims (1)

(57) [Claims] A traveling distance detecting means for detecting a traveling distance of the vehicle; a direction detecting means for detecting a traveling direction of the vehicle;
Map storage means for storing map information including a plurality of verification points set on a road map, and a map in which a calculated position of a vehicle calculated based on the traveling distance and the heading is stored in the map storage means Position determining means for determining whether the vehicle is on a road or leaving; correction display means for comparing the calculated position and the verification point when the vehicle is on the map road to correct and display the calculated position; In the vehicle traveling position display device having a departure time display means for displaying as it is, after it is determined that the departure by the position determination means,
The trajectory of the calculated position is stored in the test circle in the test circle according to the total mileage after leaving, the azimuth between the stored plurality of test points, the traveling azimuth and the test point and the calculated position, It is determined whether or not the trajectory is along the map road on the basis of the distance of the map road. When it is determined that the trajectory is along the map road, a return determination for returning to the display by the correction display means based on the map road. A vehicle travel position display device comprising: