JP2785219B2 - Travel route display device - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a travel route display device that two-dimensionally displays travel routes and positions of a moving body such as an automobile, a ship, and an aircraft.

[Summary of the Invention]

The present invention obtains a position in a fixed time unit by interpolation based on position information of a moving body obtained from a navigation device, and displays each position in a distinguishable manner, so that the speed and moving time of the moving body in the middle of a traveling route. It is an object of the present invention to provide a traveling route display device that enables intuitive recognition of transitions such as progress.

[Conventional technology]

At present, for example, on a map displayed on a color display screen using a CRT (cathode ray tube) or liquid crystal, a so-called dedreco, a GPS (global positioning system), or a so-called Loran (long range navigation) 2. Description of the Related Art A traveling route display device (moving route display device) that traces and displays the position of a moving object such as an automobile, a ship, or an aircraft based on position information from a navigation device such as a system has been put to practical use.

Here, the GPS is a system that detects a current absolute position and a traveling direction of a car or the like using a signal from a geostationary satellite. In addition, the above-mentioned Loran is 100k in one of the hyperbolic navigation
It is a system that uses Hz radio waves and is mainly used for navigation of ships, but is also applicable to automobiles and the like. The above Dedreco is also used mainly for navigation of ships. In addition, as a system for displaying the traveling route of a car, there are a self-contained navigation system using a geomagnetic sensor, a vehicle speed sensor, map matching, and the like; There are also systems that used them.

[Problems to be solved by the invention]

However, in the traveling route display system using the conventional navigation device described above, the display screen of the traveling route of the moving object, the position of the moving object at unequal time intervals based on the position information from the navigation device, Only the traveling route connecting the positions at the unequal time intervals with a line is displayed, and information such as the traveling speed (moving speed) and the traveling time of the moving body is not reflected at all. For this reason, merely looking at the display screen could not make use of effective information on the course followed by the moving body, for example, information such as elapsed time and speed transition in the middle section of the traveling route. .

Therefore, the present invention has been proposed in view of the above-described situation, and provides a traveling route display device that can intuitively recognize transitions of the speed, traveling time, and the like of a moving body along the traveling route. Things.

[Means for solving the problem]

A traveling route display device according to the present invention has been proposed to achieve the above-described object, and is based on display means for displaying a traveling route of a moving object on a two-dimensional display screen, and position information obtained from a navigation device. Position interpolation means for obtaining a position in a fixed time unit by interpolation, speed calculation means for calculating the speed of a moving body based on information on an interpolation position for each fixed time unit obtained by interpolation, and a fixed time unit in interpolation Specific information generating means for generating specific information representing the speed of the moving object for each of the moving objects, and specifying the speed of the moving object on a straight line connecting each position obtained by interpolation for each fixed time unit with a line segment The information is superimposed and displayed on the two-dimensional display screen of the display means so as to be visually recognized.

Further, the traveling route display device of the present invention superimposes and displays color-coded line segments so as to identify the magnitude and direction of the speed vector of the moving body.

[Action]

According to the present invention, by superimposing specific information representing the traveling speed of a moving object on a straight line connecting each position for each fixed time unit obtained by interpolation and displaying the information on a two-dimensional display screen,
The traveling speed of the moving body for each fixed time unit can be easily visually recognized.

〔Example〕

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

FIG. 1 shows a schematic configuration of a traveling route display device according to an embodiment of the present invention.

The traveling route display device shown in FIG. 1 displays a traveling route (moving route) of a moving body such as an automobile, a ship, or an aircraft on a two-dimensional display screen such as a CRT (cathode ray tube) screen or a liquid crystal screen. Interpolator 10 and a position interpolating means for interpolating a position in a fixed time unit, for example, every 1 second, based on position information at unequal time intervals obtained from a navigation device 13 such as a so-called GPS, Dedreco, Loran, etc. A speed calculating means for calculating the speed of the moving body based on the interpolation position information for each fixed time unit obtained by interpolation, and a specification for generating specific information representing the speed of the moving body for each fixed time unit in the interpolation And a controller 20 having a function as an information generating means, and each position obtained by the interpolation at a predetermined time unit (1 second) is displayed on the two-dimensional display screen of the display 10 in a distinguishable manner. What I tried to do A. In this embodiment, the moving body is, for example, an automobile.

That is, in the travel route display device shown in FIG. 1, the controller 20 stores, for example, reproduction data (map) obtained by reproducing, for example, a so-called CD-ROM of an optical disk on which map information and the like are recorded by the CD-ROM reproducing device 12. Data).
This map data is further converted to image data via the I / O port 21 of the controller 20 and sent to the display 10. Therefore, for example, a road map based on the map data is displayed on the two-dimensional display screen of the display device 10.

Further, the controller 20 is supplied with position information indicating the current position of the moving body from the navigation device 13 at unequal time intervals. The position information from the navigation device 13 is data of coordinate values representing positions such as longitude, latitude, and altitude. The coordinate value data is also stored in the controller.
The data is further converted into image data via the 20 I / O ports 21 and sent to the display 10.

Therefore, on the two-dimensional display screen of the display unit 10,
An image based on the coordinate value data, for example, an image obtained by superimposing an image of a traveling route by a line segment connecting a past position and a current position and the above road map is displayed. As a result, the traveling route followed by the moving object on the road map can be recognized at a glance.

At this time, in the traveling route display device, the navigation device
Based on the coordinate value data at the above unequal time intervals obtained from 13, for example, a position in a fixed time unit every second is obtained by interpolation.

To perform this interpolation processing, the CPU of the controller 20
(Central processing unit) 22 firstly stores a finite number of coordinate value data (for example, 2.times.) Obtained from the navigation device 13 at the unequal time intervals.
Or 3) each, RAM (random access memory) 24
To memorize. The CPU 22 reads the data stored in the RAM 24, and obtains the position (coordinate value data) at the above-mentioned fixed time interval (one second) by an interpolation method based on the read data. That is, the coordinate value of the longitude is
and x _n, a coordinate value and y _n latitude (n is an integer), the navigation apparatus e.g. time via RAM24 from 13 T ₀ and time T ₁ (T ₀
Two coordinate values (X ₀ of the the past than T _1),
Y _0), (X _1, when Y ₁₎ that, in the CPU 22, by the interpolation method, from the timer 14 as a standard clock time information (e.g. time based on a certain time unit) of the every second T _a
When the coordinate value of the time T _b (both assumed to be between T ₁ the time T ₀ and _{time) (X a, Y a)} , (X b, Y b) is calculated.

Specifically, the following operation is performed. For example, the second
As shown, the time T ₀ to the time T ₁ of the coordinates (X _0,
It is assumed that the moving body travels at a constant speed on a straight line connecting (Y ₀ ) and (X ₁ , Y ₁ ). Here, first, the coordinate values (X ₀ , Y ₀ ) and (X
_1, Y ₁₎ in the straight line connecting the time difference from one example time T ₀ of the end point of the straight line up to the time T _a or time T _b and (T _a -T ₀ or T _b -T _0), the time T ₀ And a time difference (T ₁ −T ₀ ) between the times T ₁ and T ₂ , respectively. Next, (the moving body corresponds to the distance traveled from T ₀ between T ₁₎ the distance between the points at both ends of the straight line
Is calculated in proportion to the ratio based on the time difference to calculate a circle having _a radius _Ra or a radius _Rb . Then, based on the equation of the circle of the radius R _a or the radius R _b centered at the time T ₀ and the equation of a straight line connecting the coordinate values (X ₀ , Y ₀ ) and (X ₁ , Y ₁ ). from the intersection point, the time T _a by the interpolation, it is possible to obtain the coordinate value of the time T _b.

Performing interpolation on the basis of this case, the coordinate values at the two measuring points i.e. two times T ₀ and T ₁ of the from the navigation device 13 in FIG. 3
3 shows a flowchart of a PSD (pad).

In FIG. 3, in step S1, when the position (x _n , y _n ) is obtained by the navigation device 13, the interruption at time t _n causes x _n , y _n (on the map corresponding to the longitude and latitude) to be obtained. The coordinate values of the two-dimensional position) and t _n (time value expressed in seconds or the like when the position was obtained) are read from the output of the navigation device 15 and the time information of the timer 14. That is, if x _n and y _n are the longitude and latitude themselves and correspond to a so-called Mercator map, the coordinate value of the latitude on the map is represented by ▲ ∫ ^yn ₀ ▼ (ds / cosy _n ) = _{log (tan (y n / 2} + π / 4)) - it is necessary to correspond to the log (π / 4). Locally, a correspondence of Y ₁ −Y ₀ → (Y ₁ −Y ₀ ) / cosY may be used.

In step S2, position data (coordinate value data) used for interpolation is updated. That is, X ₀ ← X ₁ ; Y ₀ ← Y ₁ ; T ₀ ← T ₁ ; X ₁ ← x _n ; Y ₁ ← y _n ; T ₁ ← t _n ; Thereby, the interpolation using the new position data is always performed.

In the condition determination step S3, interpolation is performed only when the distance interval and the time interval are equal to or less than a certain threshold. That is, (| X ₁ −X ₀ | <X _TH ) ∧ (| Y ₁ −Y ₀ | <Y _TH ) ∧ (| T ₁ −T ₀ | <T _TH ) ∧ ((| X ₁ −X ₀ | + | Y ₁ −Y ₀ |> DLTA), where X _TH and Y _TH are threshold values of distance intervals (intervals before two-dimensional coordinate values), and T _TH is a plot of time intervals. That is, in the present embodiment, if the distance connecting the two points by the interpolation exceeds a certain threshold, the display operation on the display 10 is not performed on the display 10 as a trace abnormality. In the case of Yes in the condition determination step S3, the process proceeds to the condition determination step S4.

In the condition determination step S4, a determination is made of T ₁ -T ₀ ≧ T _s, if Yes, the process proceeds to conditional loop step S5. Here, T _s is, for example, 1 second in a fixed time unit.

In the conditional loop step S5, a condition of I = 1, T ₁ −T ₀ , T _s , that is, a condition of performing I = 1 to T ₁ −T ₀ at intervals of T _s is set. The processing in S6 is performed. I is a variable.

At the step S6, between T ₀ and T _1, T _s every time of the location and _{time: X i, Y i, T} i ( coordinate values were calculated by interpolation and time) is calculated. That is, T _i = T _old + I * T _s ; X _i = X ₀ + (X ₁ −X ₀ ) / (T ₁ −T ₀ ) * (T _i −T ₀ ); Y _i = Y ₀ + (Y ₁₋ Y ₀ ) / (T ₁ −T ₀ ) * (T _i −T ₀ ); Here, T _old indicates the time immediately before the time used for the interpolation calculation.

If the result of the determination in step S4 is No, the process proceeds to step S8.

In the condition determination step S8, the determination of _{T 0 <T old + T s} <T 1 is performed. If Yes in the condition determination step S8, the process proceeds to step S9.

In this step S9, T _i = T _old + T _s ; X _i = X ₀ + (X ₁ −X ₀ ) / (T ₁ −T ₀ ) * (T _i −T ₀ ); Y _i = Y ₀ + ( Y ₁ −Y ₀ ) / (T ₁ −T ₀ ) * (T _i −T ₀ ); is calculated, whereby the coordinate value and time by interpolation are obtained. These X _i, Y _i, T _i is the above-described X _a, Y _a, T _a or X _b, Y _b, a T _b. Step S6PS9 above
Thereafter, in step S7PS10, the process proceeds to a subroutine of FIG. 8 described later.

Also, the three coordinate values supplied from the navigation device 13 at unequal time intervals, for example, at times T ₀ , T ₁ , and T ₂ (T ₀ and T ₁ are assumed to be earlier than T ₂ ). (X ₀ , Y ₀ ), (X ₁ , Y ₁ ), (X ₂ , Y
When _2), by the interpolation method, the based on the time information from the timer 14, for example the coordinate value of the time T _a and time _{T b (X a, Y a} ), (X b, Y b) is calculated . In this case, specifically, as shown in FIG. 4, the coordinate values (X ₀ , Y ₀ ), (X ₁ , Y ₁ ), (X ₂ , Y ₂ ) of the times T ₀ , T ₁ , T ₂ are obtained. Y ₂ ) creates a two-dimensional so-called spline curve equation. For the equation of this spline curve, similarly to the above, the ratio of the time difference from one of the end points of the curve (for example, time T ₀ ) to time _Ta or time _Tb, and the time difference between time T ₀ and time T ₁ Is obtained, and the radius _Ra or the radius _Rb is obtained by proportionally proportionally dividing the distance between both ends of the curve by this ratio. Thereafter, the equation of a circle centered on the time T _0, the time by the interpolation from the intersection based on the equation of the spline curve T _a, the coordinate value of _{T b (X a, Y a} ), (X b, Y
_b ) can be obtained.

FIG. 5 shows three times T ₀ , T ₁ and T ₂ from the navigation device 13.
3 is a flowchart of a PSD for performing interpolation based on three coordinate values (X ₀ , Y ₀ ), (X ₁ , Y ₁ ), and (X ₂ , Y ₂ ).

In FIG. 5, step S11 is the same as step 3 described above.
The description is omitted because it is the same as step S1 in the figure.

In step S12, the position data used for interpolation is updated. That is, X ₀ ← X ₁ ; Y ₀ ← Y ₁ ; T ₀ ← T ₁ ; X ₁ ← X ₂ ; Y ₁ ← Y ₂ ; T ₁ ← T ₂ ; X ₂ ← x _n ; Y ₂ ← y _n ; Update as T ₂ ← t _n ;

In condition determination step S13, interpolation is performed only when the distance interval and the time interval are equal to or less than a certain threshold. That is, (| X ₂ −X ₂ | <X _TH ) ∧ (| Y ₂ −Y ₁ | <Y _TH ) ∧ (| T ₂ −T ₁ | <T _TH ) ∧ (| X ₁ −X ₀ | < X _TH ) ∧ (| Y ₁ −Y ₀ | <Y _TH ) ∧ (| T ₁ −T ₀ | <T _TH ) ∧ ((| X ₂ −X ₁ | + | X ₁ −X ₀ | + | Y ₂ −Y ₁ | + | Y ₁ −Y ₀ |)> DLTA). If Yes in the condition determination step S13, the process proceeds to the condition determination step S14.

The condition determination step S14 and the next condition loop step S
Step 15 is the same as condition determination step S4 and condition loop step S5 in FIG. 3 described above, and a description thereof will be omitted.

The processing in step S16 is performed under the conditions in the conditional loop step S15.

In step S16, (X ₀ −Y ₀ ), (X ₁ −Y ₁ ), (X ₂ −Y ₁ )
−Y ₂ ) is obtained. That is, to calculate the _{Y 1 = a * (X 1} -X 0) 2 + b * (X i -X 0) coefficient a ^{2 + c (1), b} , c.

Next, in step S17, the distance S from (X ₀ , Y ₀ ) to (X ₂ , Y ₂ ) is calculated as the total length of the spline curve. That is, Is calculated. After step S17, the process proceeds to step S18.

In this step S18, assuming that the moving body such as an automobile is moving at a constant speed along a spline curve,
Calculating the position of the time T _i. That is, To calculate the X _i that satisfies. Here, if X _i is obtained,
Y _i can be obtained from equation (1) in step S16. After the step S18, the process proceeds to a subroutine described later in a step S19.

Here, in the embodiment of the present invention, each position obtained by interpolation at regular time intervals obtained as described above is displayed on the display 10.
Are displayed in a distinguishable manner on the two-dimensional display screen. That is, each coordinate value data obtained by the interpolation is the above RA
It is sequentially stored in another storage area of M24. After that, each coordinate value data obtained by the interpolation is read out in accordance with the read control signal from the CPU 22, converted into image data, and displayed on the two-dimensional display screen of the display 10. At the time of displaying the position on the display 10, each coordinate value data obtained by the interpolation for each fixed time unit (1 second) is displayed in a different form on the two-dimensional display screen of the display 10 so as to be distinguishable. Has become.

Displaying in a distinguishable manner as described above means that, for example, as shown in FIG. 6, a speed scale marker M _s (see FIG. 2 and FIG. This is performed by superimposing a color-coded line segment for identifying the magnitude and direction of the velocity vector with the coordinate values (x, y) in the figure). Here, in order to superimpose the speed scale marker M _s on the straight line connecting the two interpolation points,
As shown in FIGS. 2 and 4, an equation of a straight line connecting the two interpolation points and a speed scale (for example, 5.6 m / 20 km / h) centering on the end point of the younger one of the two points. The radius r _s is an integer multiple of 5.6 m, which is equivalent to the distance equivalent to a distance of 5.6 m). ) so as to display a short point M _s of. However, in FIG. 6, the difference of each color is represented by a single line and a double line (two lines and three lines). At this time,
The magnitude and direction of the velocity vector can be identified with only two colors, but if the three color segments are used in a circulating manner, the direction of the traveling direction of the moving object is intuitively recognized even if any part is extracted locally. become able to.

FIG. 7 shows a specific example in which the time markers MT ₁₀ and MT ₆₀ for a fixed time (for example, 10 minutes and 60 minutes) are superimposed on the position trace display (travel route). However, the line connecting the points shown in FIG. 7 also has three circulating colors. The image data for displaying the time markers MT ₁₀ , MT ₆₀ , the speed scale marker, the color of each line segment, and the like as described above are stored in advance in a ROM (read only memory) 23. Data is read via a data bus based on a read control signal from the CPU 22. The position points, markers, numerical values, and the like for each of the above 10 minutes (600 seconds) and 60 minutes (3600 seconds) are stored in the RAM 24, and these stored data are read out later. By doing so, it can be displayed again. Also shows a marker MT ₁₀ the 10 minutes time in Figure 6.

The speed scale, the speed scale marker M _s , and the time markers MT ₁₀ and MT ₆₀ described above correspond to steps S7 and S1 in FIG.
This is performed by proceeding from 0 or step S10 in FIG. 5 to the subroutine in FIG.

In the subroutine shown in FIG.
1, draw a line segment connecting the previous and the current position of each T _s time interval (velocity vector), for example, three colors (sequentially switching).
That is, the processing of line (X _old , Y _old ) − (X _i , Y _i ), COL; COL ← COL + 1; COL ← COLmod (3); Here, COL indicates a color, and X _old and Y _old indicate values immediately before the coordinate values used in the interpolation calculation.

Next, in step SL2, the magnitude ds of the velocity vector is calculated. That is, the operation of _{ds = sqrt ((X i -X} old) 2 + (Y i -Y old) 2).

 In step SL3, J = 1. J is a variable.

In the conditional loop step SL4, the condition of ds> spscl * J is set, and the process proceeds to step SL5. However, spscl in the conditional loop step SL4 indicates a speed scale.

In step SL5, the velocity scale shown in FIG. 2 is defined as a radius (radius r _s ), and an interpolation point (for example, a velocity circle vr centered on coordinate values (X _a , X _b ) and a coordinate value (X ₀ , Y _{0), (X 1, Y} 1) to calculate the intersection of the straight line connecting the, examples of the point (x, a y) draws a specific symbol as a velocity scale marker M _s. Fig. 2 is as the specific symbol Here, the equation of the velocity circle vr is the equation of (X−X _old ) ² + (Y−Y _old ) ² = (spscl * J) ² , and the equation of the straight line is y = Y _old + (Y _i −Y _old ) / (X _i −X _old ) * x The intersection (x, y) is calculated from these two equations. Proceed to.

 At step SL6, J = J + 1.

When the processing in the conditional loop step SL4 ends, the flow advances to step SL7. In this step SL7, update processing of X _old ← X _i ; Y _old ← Y _i ; T _old ← T _i ; is performed, and the process proceeds to the condition determination step SL8.

In the condition determination step SL8, a determination is made that T _i mod (600) == 0, and in the case of Yes, that is, the time T _i is 600 seconds (10
Min), the process proceeds to the condition determination step SL9.

In the condition determination step SL9, a determination is made that T _i mod (3600) == 0, and in the case of Yes, that is, the time T _i is 3600 seconds (6
(0 minutes), the process proceeds to step SL10, and if No, the process proceeds to step SL11.

In the above step SL10, (X _i , Y _i ) indicates the 60-minute time marker MT.
Draw a characteristic symbol (for example, x mark) as ₆₀ , and
In 11 (X _i, Y _i) draw a characteristic sign as the 10-minute time marker MT ₁₀ (e.g. ○ mark). As a result, the coordinate value data obtained by interpolation can be displayed on the two-dimensional display screen of the display unit 10 in a distinguishable manner.

In the control panel 11 of the present embodiment, the event key operation, Figure 6, a different graphic marker and numerical values and the time marker MT _10, MT ₆₀ as shown in FIG. 7, the position point at that time Can be displayed at the same time (and simultaneously stored).

In addition, it is also possible to change each time interval of the trace position display according to the scale of the displayed map data.

In the GPS or the like as the navigation device 13, an accurate speed vector is obtained not by the amount of change in position but by an operation related to speed (including variables independent of position variables).

As described above, in the present embodiment, the display 10 that displays the traveling route (moving route) of a moving object such as an automobile on a two-dimensional display screen such as a CRT, and a so-called GP
A controller 20 having a function as a position interpolating means for obtaining, for example, a position every 1 second by interpolation based on position information at unequal time intervals obtained from navigation devices 13 such as S, Dedreco, Loran, The respective positions obtained by the above-mentioned interpolation in units of one second can be distinguished as different forms on the two-dimensional display screen of the display 10 by, for example, a line segment (speed scale) or a marker (speed scale marker) or the like which is color-coded. , The position at fixed time intervals can be easily calculated by interpolation using the data at unequal time intervals from the conventional navigation device 13, so that each time the position is The amount of change itself indicates the magnitude, direction, and direction of the velocity vector, and the time lapse is intuitively read from the number of position traces (the number of line segments of different colors, etc.). It is supposed to be. That is,
In the present embodiment, speed information and time information that can be intuitively understood can be added to the position trace display itself, and the speed and elapsed time in the course of the course can be calculated based on the display of the travel route of the course that has been followed. The transition will be understood. In addition, since the past driving record can be reproduced after the fact, it becomes an effective document when constructing a driving plan for the next time when the same course is followed, etc., and is very useful for the actual driver It has become something.

〔The invention's effect〕

In the traveling route display device of the present invention, the position of a fixed time unit is obtained by interpolation based on the position information obtained from the navigation device, and the speed of the moving body is calculated based on the information of the interpolation position for each fixed time unit. The specific information representing the speed of the moving body is generated by generating specific information representing the speed of the moving body, and the specific information representing the speed of the moving body is superimposed on a straight line connecting the positions obtained by interpolation for each fixed time unit with a line segment, By displaying it on the two-dimensional display screen of the display means so as to be visually recognizable, it is possible to intuitively recognize the transition of the speed of the moving object, the elapse of the moving time, and the like in the middle of the traveling route.

Further, according to the traveling route display device of the present invention, since the magnitude and direction of the speed vector of the moving body at regular time intervals are displayed by color-coded line segments, the speed and direction of the moving body on the traveling route are It can be clearly recognized visually.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of a traveling route display device according to an embodiment of the present invention, FIG. 2 is a diagram for explaining an interpolation position obtained from two coordinate values, and FIG. 3 is a diagram showing two coordinate values. FIG. 4 is a diagram showing a flowchart of a PAD for interpolation using, FIG. 4 is a diagram for explaining an interpolation position obtained from three coordinate values, and FIG. 5 is a diagram for interpolation using three coordinate values. PAD
FIG. 6 is a diagram showing a display example of a traveling route by color coding, FIG. 7 is a diagram showing a traveling route on which a 10-minute marker and a 60-minute marker are displayed, and FIG. 8 is a subroutine. FIG. 10 Display 11 Control panel 12 CD-ROM playback device 13 Navigation device 14 Timer 20 Controller 21 I / O port 22 CPU 23 ROM 24 RAM

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int. Cl. ⁶ , DB name) G01C 21/00 G09B 29/00

Claims (1)

(57) [Claims] 1. A display means for displaying a traveling route of a moving object on a two-dimensional display screen; a position interpolating means for obtaining a position in a fixed time unit by interpolation based on position information obtained from a navigation device; Speed calculating means for calculating the speed of the moving body based on the obtained information on the interpolation position for each fixed time unit, and specifying for generating the specific information representing the speed of the moving body for each fixed time unit in the interpolation. Information generating means, and specific information representing the speed of the moving body is superimposed on a straight line connecting each position obtained by interpolation for each of the fixed time units with a line segment, and A travel route display device, which is displayed on a three-dimensional display screen so as to be visually recognizable.