JP3085006B2 - Route guidance device for vehicles - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle route guidance apparatus mounted on a vehicle and displaying a current position, a map, and a traveling direction of the vehicle, and more particularly, to a display direction of a map on a display screen between a vehicle and an intersection. The present invention relates to a technique for appropriately setting according to a positional relationship.

[0002]

2. Description of the Related Art In a conventional vehicle route guidance apparatus, the display direction of a map is generally displayed with the north facing upward. In some situations, it may be difficult to determine which way to go at an intersection. For this reason, a technique has been developed in which a map is rotated and displayed so that the traveling direction of the vehicle always faces upward of the display screen. Regarding the above-mentioned map rotation method, for example, as shown in FIG. 7B, when the traveling direction of the vehicle exceeds 45 ° left and right with respect to the upper part of the display screen, the map is rotated 45 Rotating the display direction (for example, described in page 37 of the instruction manual for the multi-AV system mounted on the Nissan Cedric Y32 manufactured by Nissan Motor Co., Ltd., June 1991, page 37), and the driver manually rotates the display direction. Things (for example,
Instruction manual for the electro-multivision mounted on the "Crown" manufactured by Toyota Motor Corporation, published on October 11, 1991, page 78), after a change in the direction of travel, the vehicle travels a certain distance (or time). Turn the map after going straight (for example,
JP-A-62-284212, JP-A-62-284212
No. 213) is known.

[0003]

However, in the method described above, for example, when traveling on a curved road as shown in FIG. 7A, the traveling direction is near the boundary of the rotation angle. Changes frequently, from (b) to (c),
The map rotates frequently as in (d), (e), and (f). Further, there is a problem that the operation of manually changing the direction described above is troublesome in operation and may cause trouble in driving. In the above, FIG.
As shown in the figure, when the vehicle moves like an arrow and turns immediately after turning, or when the distance between intersections is short, it is difficult to determine the direction to go because the map does not rotate. FIG. 8 (b)
In a meandering mountain road or the like as shown in (1), there is a problem that the map is frequently rotated and the visibility is reduced.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems of the prior art, and suppresses unnecessary rotation of a map to improve visibility, and has good display of a direction to go. An object of the present invention is to provide a route guidance device for a vehicle.

[0005]

Means for Solving the Problems In order to achieve the above object, the present invention is configured as described in the claims. That is, according to the first aspect of the present invention, as shown in the claim correspondence diagram of FIG. 1, a position detecting means 1 for detecting a current traveling position and a traveling direction of the vehicle, and a map database are stored. A storage means, a next intersection information calculation means for calculating information of a next intersection based on a detection result of the position detection means and data of a map database stored in the storage means; On the basis of the detection result of the vehicle, the calculation result of the next intersection information calculation means 4 and the data of the map database, the display of the map around the current position of the vehicle, the control of the display direction and the control of the display of the current position mark. And the position and direction display control means 5 and a map and a current position mark around the current position in a direction determined by the control of the map and position and direction display control means 5. And Shimesuru display unit 6, and a. Note that the map and position / direction display control means 5 determines the next intersection from the current location based on the distance from the current location to the next intersection calculated by the next intersection information calculation means, if the distance is equal to or greater than a predetermined value. The map is displayed so that the facing direction is directed upward of the display screen, and when the distance is less than the predetermined value, the map is displayed such that the approach direction to the next intersection is directed upward of the display screen. Is displayed.

According to a second aspect of the present invention, as shown in the claim correspondence diagram of FIG. 2, a position detecting means 1 for detecting a current traveling position and a traveling direction of a vehicle and a map database are stored. Storage means 7, a destination setting means 2 for inputting and setting a destination or a waypoint of a vehicle, and a current position detected by the position detection means 1 based on data of a map database stored in the storage means 7. A route calculating means 3 for calculating a recommended route between the vehicle and the destination set by the destination setting means 2; a detection result of the position detecting means 1; data of the map database; Next intersection information calculating means 4 for calculating information of the next intersection based on the recommended route; detection results of the position detecting means 1; calculation results of the next intersection information calculating means 4; Map and position direction display control means 5 for controlling the display of the map around the current position of the vehicle, the control of the display direction thereof, and the display of the current position mark based on the data of the diagram database, and the above-mentioned map and position direction display control Display means 6 for displaying a map around the current position and a current position mark in a direction determined by the control of the means 5,
It has. The map and position / direction display control means 5 determines the distance from the current location in the range where the distance is equal to or more than a predetermined value based on the distance from the current location calculated by the next intersection information calculation means to the next intersection where the vehicle turns right or left. Next, the map is displayed so that the direction facing the intersection where the vehicle turns right or left is directed upward of the display screen. If the distance is less than the predetermined value, the approach direction to the intersection where the vehicle turns right or left next Is to display the above-mentioned map in such a manner as to face upward of the display screen.

[0007]

As described above, according to the first aspect of the present invention, when the vehicle turns around the intersection, the map is rotated and displayed so that the direction from the current location to the next intersection is the direction toward the upper side of the display screen. Immediately before the intersection, the display is rotated and displayed so that the approach direction to the intersection is directed upward. Therefore, the visibility of the map can be improved by eliminating the rapid rotation of the map, and the direction to proceed at an intersection or the like can be determined promptly and accurately. According to the second aspect of the present invention, the route from the current location to the destination is calculated in advance, and when the vehicle turns at the intersection, the direction from the current location to the next intersection where the vehicle turns right or left is directed upward in the display screen. Rotate the map so that
Immediately before the intersection to make a right or left turn, the display is rotated and displayed so that the approach direction to the intersection points upward. For this reason, the rotation of the map is further suppressed,
Visibility can be improved.

[0008]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the drawings.
FIG. 3 is a block diagram showing one embodiment of the present invention.
In FIG. 3, a distance sensor 24 generates a signal every time the vehicle travels a unit distance (L). 2
Reference numeral 5 denotes an azimuth sensor, which detects, for example, terrestrial magnetism to detect the traveling azimuth of the vehicle. Reference numeral 23 denotes an external memory which stores map data in a certain range, and sends map data of a specific area to the microcomputer 26 in response to a request signal from the microcomputer 26.
The microcomputer 26 performs arithmetic processing according to a procedure programmed in advance.
OM28, RAM29, V-RAM30, I / F circuit 3
Consists of one. This is a distance sensor 24, a direction sensor 25
And a signal from the external memory 23 to calculate the current position on the map and the like, and generate an image signal for displaying such information. Reference numeral 22 denotes an operation board, which is used to select a map to be displayed on the CRT display device 21, select a scale of the display map, select a map rotation, and display a current vehicle on the map display by an operation of an occupant such as a driver. Correction of a position, input of a destination, and the like can be performed. CRT
The display device 21 displays a map of a specific area, a current position of a vehicle, a destination position, and the like according to an image signal from the microcomputer 26.

Next, the operation of this embodiment will be described. FIG.
FIG. 5 is a flowchart showing the calculation processing in the CPU 27. First, a description will be given based on the flowcharts shown in FIGS. 4 (a), 4 (b) and 5 (c). This processing corresponds to the function shown in FIG. First, in FIG. 4A, when the system starts up, C
The PU 27 performs a series of initialization processing such as setting of input / output conditions of the microcomputer 26 (step 110). Subsequently, the initial position of the vehicle is set based on the operation performed by the occupant via the operation board 22 and the signal of the direction sensor 25 (step 120). For example, the driver selects a map to be displayed on the CRT display device 21 so as to be a map representing the vicinity of the current position, and further designates the current position on the map with a cursor or the like to thereby obtain the coordinates (Xc) of the current position. , Yc), and the traveling azimuth (θ) based on the signal of the azimuth sensor.
Subsequently, the current position mark is displayed on the map screen on the CRT display device 21 (step 130). And C
The PU 27 permits the acceptance of the interrupt processing (step 140), and enters a standby state of waiting for the occurrence of the current position calculation interrupt processing while performing a background job such as monitoring of runaway of the CPU 27 by a watchdog timer (step 150).

Next, FIG. 4B is a flow chart showing a current position calculation interruption process. This current position calculation interruption process is an interruption process that is generated every time the vehicle travels the unit distance (L) based on the signal of the distance sensor 24. In this interrupt processing, first, during the processing, acceptance of interrupt processing is prohibited so that new interrupt processing does not enter (step 210). Next, a new current position and a new traveling direction are calculated (step 220).
This processing is based on the signal of the direction sensor 25 and the traveling direction (θ)
Is read, and the coordinates (Xc, Yc) of the current position are calculated by the following (Equation 1). Xc ← Xc + L × cos θ Yc ← Yc + L × sin θ (Equation 1) Subsequently, it is determined whether or not the current position or the traveling direction has been moved by the above processing (step 230). Acceptance is permitted (step 260), and the current position interruption processing ends (step 270). Then, the process returns to the background job (step 150) in FIG. 4A, and enters a standby state for the next interrupt processing. On the other hand, if it has moved in step 230, the process proceeds to the rotation subroutine shown in FIG. 5C (step 240).

In the rotation subroutine shown in FIG. 5 (c), it is first determined on the basis of information on the current position and map data which road is currently running (step 3).
05). Next, it is determined whether or not the road has changed from the road on which it was traveling before, that is, whether or not it has passed the next intersection that has already been set (step 310). 3.) Determine the next intersection of the road from the map data (step 315), and calculate the direction to the intersection and the approach direction to the intersection (step 320).
Step 3 if not changed (if not passed)
Steps 15 and 320 are not performed. Subsequently, the distance to the next intersection is calculated (step 325), and the display direction of the map is determined according to the distance. This is, for example, if the distance is equal to or greater than a predetermined threshold, the direction from the current location to the intersection points to the upper direction of the display screen, and if the distance is less than the predetermined threshold, the approach direction to the intersection points to the upper direction of the display screen. The display direction of the map is determined so as to be as follows (step 330). Next, it is determined whether or not the display direction is different from the currently displayed direction (step 335). If not, the map is rotated and displayed in the direction determined in step 330 (step 340). If it is the same in step 335, the old current position mark already displayed is deleted (step 3
45). Then, the rotation subroutine ends (step 350).

Next, the process proceeds to step 250 in FIG. 4B, and based on the coordinates (Xc, Yc) of the current position, the traveling direction (θ) and the rotation angle (θ ′) of the map determined earlier. A new current position mark 41 is displayed (step 25)
0). Then, acceptance of the interrupt processing is permitted (step 260), and the current position calculation interrupt processing ends (step 270). Subsequently, the process returns to the background job of step 150 in FIG.

As described above, according to this embodiment, the display is performed so that the approximate traveling direction is directed to the upper side of the display screen, and the approach direction to the intersection near the intersection is positioned above the display screen. It is displayed so that it faces the direction.
For this reason, on a curved road without an intersection, the map does not rotate even if the vehicle direction changes.Therefore, there is no fear that the visibility is reduced due to frequent rotation, and further, the approach direction to the intersection near the intersection is not changed. Since it will be in the upper direction of the map,
The direction in which the vehicle should travel can be determined promptly and accurately. FIG. 6 is a diagram showing the above-described map rotation state. In FIG. 6, the road as shown in FIG.
When passing in the order of (b) → (d), in (c) and (b), the direction from the current location to the next intersection is displayed so as to face upward, and the current location is immediately before the intersection. In (d), the display is displayed so that the approach direction to the next intersection points upward.

Next, the operation of another embodiment will be described. This embodiment corresponds to the processing of FIG. 2 and is different from the processing of FIG. 1 in that processing for setting a destination, selecting a route, and guiding a route is added. The flowchart of this processing is shown in FIGS. 4 (a), (b), and FIG.
The processing shown in FIG. 5C is obtained by adding the destination input interrupt processing shown in FIG. 5D. Therefore, the newly added FIG.
Only the destination input interrupt processing of (d) and the points of change (steps 150 and 315) will be described. First,
The destination input interrupt processing shown in FIG. 5D is an interrupt processing that occurs when the occupant inputs a destination via the operation board 22. In this interrupt processing, first, during the processing, acceptance of the interrupt processing is prohibited so that another new interrupt processing does not enter (step 41).
0). Subsequently, a destination is input based on an operation performed by the occupant through the operation board 22 (step 420).
This is because, for example, the driver selects a map to be displayed on the CRT display device 21 so as to be a map representing the vicinity of the destination, and further specifies the destination on the map with a cursor or the like so that the coordinates of the destination are displayed. This is a process for obtaining (Xd, Yd). Subsequently, the destination mark is displayed on the map screen on the CRT display device 21 (step 430). here,
If the destination input has already been performed, the previous destination mark is deleted and a new destination mark is displayed. Subsequently, a route from the current position to the input destination is calculated (step 440). Thereafter, acceptance of the occurrence of interrupt processing is permitted (step 450), and the destination input interrupt processing is terminated by return (step 460). Subsequently, the process returns to the background job (step 150) of FIG. The point of change in step 150 is that, in addition to the current position interruption processing, the occurrence of the destination input interruption processing is also accepted.

In step 315 of FIG. 5C,
Instead of judging the next intersection, referring to the information of the recommended route calculated in step 440 of FIG. 5D, change is made so as to judge the next intersection to turn right or left on the selected route. I have. Thus, according to this embodiment,
The direction from the current location to the next intersection where you make a right or left turn is displayed so as to face the upper direction of the display screen. At intersections where you do not make a right or left turn, the map does not rotate, so visibility is improved, and then a right turn is made Alternatively, the display is made so that the approach direction is directed to the upper side of the display screen near the intersection where the vehicle turns left, so that the determination of the direction to proceed can be made promptly and accurately.

In the above-described embodiments, the map is rotated (first rotation) immediately after passing through the intersection so that the direction toward the next intersection points toward the upper side of the screen of the CRT display device 21. When the distance to the intersection becomes smaller than or equal to the predetermined threshold value, the map is rotated again (second rotation) so that the approach direction to the next intersection points upward in the screen. May be gradually performed. That is, the first
Immediately after the rotation of the map is performed and until the distance to the next intersection approaches the threshold or less (in the above example, the time when the second rotation is performed), the map is gradually rotated, and the map is rotated immediately before the next intersection. Then, the approach direction to the next intersection may be directed upward. In this case, since the screen is not rapidly rotated, the visibility to the driver can be further improved. Immediately before the next intersection, the map is rotated so that the approach direction to the next intersection points upward, but the map may be rotated so that the traveling direction of the vehicle points upward.

In the embodiment for calculating the route, the center of gravity of n (n ≧ 1) intersections on the route from the current position to the destination is calculated, and the direction from the current position to the center of gravity is the upward direction of the screen. A method of rotating the map so as to face is also effective for improving the visibility. The position of the center of gravity is calculated, for example, as follows. The x, y coordinates of the position of the center of gravity are represented by (Jx, J
y), (Jx, Jy) is obtained by the following equation (2).

[0018]

(Equation 2)

However, in the above equation (2), Rx (k)
And Ry (k) indicate the x- and y-coordinates of the k-th (n ≧ k) intersection among the n (n ≧ 1) intersections on the route from the current position to the destination.

[0020]

As described above, according to the present invention, the direction of approach to an intersection is appropriately selected according to the distance from the next intersection or the next intersection where the vehicle turns right or left, and the map is rotated and displayed. With this configuration, the direction in which the vehicle should travel can be quickly and accurately determined, and unnecessary frequent rotation of the map can be suppressed, so that the visibility can be improved. Further, by suppressing unnecessary rotation of the map, it is possible to obtain an effect that the calculation load of the CPU can be kept low.

[Brief description of the drawings]

FIG. 1 is a diagram corresponding to a first claim of the present invention.

FIG. 2 is a diagram corresponding to a second claim of the present invention.

FIG. 3 is a block diagram showing a configuration of one embodiment of the present invention.

FIG. 4 is a part of a processing flowchart of the present invention.

FIG. 5 is another part of the processing flowchart of the present invention.

FIG. 6 is a diagram showing a map rotation state according to the present invention.

FIG. 7 is an example diagram showing a map rotation situation in a conventional device.

FIG. 8 is another example diagram showing a map rotation state in the conventional device.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Position detection means 23 ... External memory 2 ... Destination setting means 24 ... Distance sensor 3 ... Route calculation means 25 ... Direction sensor 4 ... Next intersection information calculation means 26 ... Microcomputer 5 ... Map and position / direction display control means 27 ... CPU 6 display means 28 ROM 7 storage means 29 RAM 21 CRT display device 30 V-
RAM 22 ... operation board 31 ... I /
F circuit

──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Hirohiko Nakayama Nissan Motor Co., Ltd., Nissan Motor Co., Ltd. (72) Yoshitaka Yagi Nissan 2 Takaracho, Kanagawa-ku, Yokohama, Kanagawa (56) References JP-A-2-75909 (JP, A) JP-A-3-225391 (JP, A) JP-A-3-136199 (JP, A) (58) Fields investigated (Int .Cl. ⁷ , DB name) G01C 21/00 G08G 1/0969 G09B 29/10

Claims (2)

(57) [Claims] 1. A position detecting means for detecting a current traveling position and a traveling direction of a vehicle; a storage means for storing a map database; and a detection result of the position detecting means and data of the map database. Te, and the next intersection information calculating means for calculating the information of the next intersection, the detection result of the position detecting means, based on the data of the calculation result and the map database of the following intersection information calculating means, said next intersection information calculating means Current location calculated by
The above distance is a predetermined value according to the distance from to the next intersection
In the above range, the direction from the current location to the next intersection is
Display the above map so that it faces upwards on the display screen
When the distance becomes less than the predetermined value, the vehicle goes to the next intersection.
So that the direction of entry of the
A map and position / direction display control means for controlling the display of the map around the current position of the vehicle, the control of the display direction thereof and the display of the current position mark by displaying the map, and the map and position / direction display control means Display means for displaying a map around the current position and a current position mark in a direction determined by the control of the vehicle. 2. A position detecting means for detecting a current traveling position and a traveling direction of a vehicle; a storage means for storing a map database; and a destination setting means for inputting and setting a destination or a waypoint of the vehicle. A route calculation unit that calculates a recommended route between the current position detected by the position detection unit and the destination set by the destination setting unit, based on data of the map database; A next intersection information calculating means for calculating information of a next intersection based on the detection result, the data of the map database and the recommended route calculated by the route calculating means; a detection result of the position detecting means; The present location calculated by the next intersection information calculating means based on the calculation result of the means and the data of the map database.
Depending on the distance from the intersection to the next right or left turn
Therefore, if the distance is equal to or greater than the predetermined value,
The direction toward the intersection where you turn right or left is at the top of the display screen
Display the map so that it is facing in the direction
Is less than the specified value, turn right or left
The approach direction to the difference point will be the direction facing the upper side of the display screen
Map and position / direction display control means for controlling the display of the map around the current position of the vehicle, the control of the display direction thereof, and the display of the current position mark by displaying the map, and the map and position / direction display control Display means for displaying a map around the current position and a current position mark in a direction determined by control of the means.