JP3403772B2 - Car navigation system - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an on-vehicle navigation device for displaying a current position of a vehicle on a road map and guiding an occupant to a destination. 2. Description of the Related Art A point at which the scale of a road map displayed on a display is to be changed is set in advance, and the scale of the road map is automatically changed when a vehicle approaches a point at which the scale is changed. 2. Description of the Related Art A navigation device for a vehicle is known (for example, see Japanese Patent Application Laid-Open No. 1-196513). In this device, for example, a destination is set as a scale change point, and when a vehicle arrives near the destination, the road is automatically changed to a detailed road map, roads around the destination are enlarged and displayed, and a route to the destination is displayed. Is easy to see. There is also known an on-vehicle navigation device which displays a travel route from a departure point to a destination on a display screen of a display (for example, Japanese Patent Application Publication No. HEI-Hei 4).
-14286). In this device, the scale of the road map is set so that the starting point and the destination are located on the outer periphery of the rectangular area set on the display. [0004] However, in the former on-vehicle navigation device, when the current position and the destination are not displayed on the screen of the display, the direction and distance to the destination are known. In addition, there is a problem that a rough route cannot be grasped. Further, since the display is not switched to the detailed map unless the user arrives near the destination which is the scale change point, there is a problem that the display map is difficult to see and the route to the destination is difficult to see. [0005] In the latter on-vehicle navigation device, when the distance from the departure point to the destination is long, the scale of the map becomes large, and a road map reduced in large scale is displayed to the destination. Therefore, there is a problem that it is difficult to see the route because the map is difficult to see. An object of the present invention is to provide an on-vehicle navigation device that sequentially switches to a detailed road map as the distance from the current location to a destination or a transit point becomes shorter, so that the route to the destination or the transit point becomes easier to see. Is to do. [0007] The present invention will be described with reference to FIG. 1 which is a claim correspondence diagram. The present invention of claim 1 comprises a present position detecting means 100 for detecting a current position of a vehicle,
Destination setting means 101 for setting a destination, route calculating means 107 for calculating a route from the current position to the destination, storage means 102 for storing a road map, and storage means 10
The present invention is applied to an in-vehicle navigation device having a control unit 104 for reading a road map around the current position from the display unit 2 and displaying it on a display unit 103 together with a route. Then, an arbitrary point on the route set by the user and the route calculation means 10
7. A transit point setting means 106 for setting a plurality of branch points on the route calculated by 7 as a transit point to the destination, and a transit point set by the transit point setting means 106 from the current position detected by the current position detection means 100. Distance calculating means 10 for calculating the distance to the nearest stopover on the route or the destination set by the destination setting means 101
5, the control unit 104A switches the scale of the road map when the distance to the stopover point or the destination calculated by the distance calculation unit 105 becomes equal to or less than the reference value to obtain a more detailed road map. When the vehicle arrives at a nearby transit point, the transit point to be calculated is changed to the next transit point or destination by the distance calculation means 105, and the next transit point or the destination calculated by the distance calculation means 105 is changed by the control means 104A. The above object is achieved by switching the scale of the road map according to the distance to the destination. According to the first aspect of the present invention, the vehicle is switched to a detailed road map when the distance from the current position to the stopover or the destination is equal to or less than the reference value. By switching to a road map of a scale according to the distance to the next stopover or destination, the route to the stopover or destination can be easily recognized, and the occupant is reliably guided to the destination via the stopover can do. Embodiment 1 First Embodiment FIG. 2 shows a configuration of a first embodiment. In the figure, a vehicle speed sensor 1 is attached to, for example, a transmission of a vehicle, and generates a predetermined number of pulse signals per one rotation of a speedometer pinion (not shown). The running speed of the vehicle can be detected by detecting the number of pulses or the pulse period per unit time generated from the vehicle speed sensor 1, and the running distance of the vehicle can be detected by counting the number of pulses. The direction sensor 2 detects the traveling direction of the vehicle. G
The PS receiver 3 receives GPS signals transmitted from a plurality of satellites, performs a GPS positioning operation, and detects the current position, the traveling direction, and the like of the vehicle. The input device 4 inputs information such as a current position and a destination and various commands, and the storage device 5 stores road map data. The control device 6 is composed of a microcomputer and its peripheral parts, calculates the current position of the vehicle, the scale of the display map, the optimum route, and the like, and displays them on the display 7. The current position of the vehicle is calculated by the self-contained navigation. That is, the traveling locus of the vehicle is calculated based on the traveling distance and the traveling direction of the vehicle detected by signals from the vehicle speed sensor 1 and the direction sensor 2, and the traveling locus is compared with a road map to perform map matching. Calculate your current location. The current position of the vehicle calculated by the self-contained navigation is corrected, if necessary, by the current position calculated by the above-described GPS positioning calculation. FIG. 3 is a flowchart showing a main control program of the microcomputer. The operation of the first embodiment will be described with reference to this flowchart. In step S2, the current position of the vehicle is calculated, and the destination set by the input device 4 is input. In a succeeding step S4, it is determined whether or not the current position is equal to the destination, that is, whether or not the vehicle has reached the destination. If the vehicle has reached the destination, the execution of the program is terminated. move on. In step S6, the subroutine shown in FIG. 4 is executed to calculate a scale factor for displaying the road map from the current position to the destination on the display screen of the display 7, switch the scale of the road map, and change the scale of the switched road. Display the current location and destination of the vehicle on a map. Next, proceeding to step S8, the subroutine shown in FIG. 5 is executed to determine a reference area centered on the destination as a criterion when the scale of the road map is switched. That is, when the vehicle reaches the reference area, the scale of the road map is switched. In step S10, a subroutine shown in FIG. 6 is executed to determine whether the vehicle has reached the reference area. In step S12, it is determined whether or not road map data more detailed than the road map currently displayed on the display 7 is stored in the storage device 5. If there is detailed road map data, the flow proceeds to step S6. If not, go to step S14. That is, as the vehicle approaches the destination, the road map is sequentially switched to a detailed road map. When there is no more detailed road map data, the process proceeds to step S14.
In step S14, the current position of the vehicle is calculated and displayed. In a succeeding step S16, it is determined whether or not the vehicle has arrived at the destination. When the vehicle arrives at the destination, the execution of the program is terminated. Otherwise, the process returns to the step S14. FIG. 4 is a flowchart showing a scale calculation and scale switching routine. In step S30, the current position is calculated, and the process proceeds to step S32. Here, when the east-west direction on the road map is set on the X-axis and the north-south direction is set on the Y-axis, the coordinates of the current position of the vehicle are (Xs, Ys), and the coordinates of the destination or the waypoint are (Xg , Yg). As shown in FIG. 7, an arbitrary point on the screen 7a is defined as a horizontal axis on the screen 7a of the display 7 as a U axis corresponding to the X axis and a vertical axis as a V axis corresponding to the Y axis. It is assumed that the center 7a is represented by UV coordinates with the origin O. Furthermore, screen 7
A rectangular area 7b having a horizontal length ix and a vertical length iy is set on a. The size of the rectangular area 7b is set according to the size of the screen 7a, display contents, and the like. Step S32
, As shown in FIG. 8, the current location S (Xs, Ys)
The ratio of the actual linear distance | Xs-Xg | in the X-axis direction from the destination to the destination or the waypoint G (Xg, Yg) to the horizontal length ix of the rectangular area 7b on the screen 7a is rx,
(Xs, Ys) to destination or waypoint G (Xg, Y
g) actual linear distance in the Y-axis direction up to g) | Ys−Yg |
And the ratio of the vertical length iy of the rectangular area 7b to ry,
rx and ry are calculated by the following equations. Rx = ix / | Xs-Xg | (1) ry = iy / | Ys-Yg | (2) In step S34, rx and ry are compared in magnitude. Is performed, and if rx ≦ ry, the process proceeds to step S36 where rx
Is set to the scale r, and if rx> ry, step S38
Then, ry is set to the scale r. Step S40
And the current location (Xs, Ys) and the destination or transit point (X
g, Yg), the coordinates of the middle point C are (Xo, Yo), and Xo, Yo is calculated by the following equation. Xo = (Xs−Xg) / 2 (3) Yo = (Ys−Yg) / 2 (4) In step S 42, FIG. As shown, the route on the XY coordinates from the current location S (Xs, Ys) to the destination or the waypoint G (Xg, Yg) is represented by the midpoint C (Xo, Yo) at the origin of the UV coordinates. The coordinate is transformed so as to be located at O, and the route is reduced using the scale factor r calculated in the above step. by this,
The current location S (Xs, Ys) moves to the point S ′, and with the reduction of the map, the point S ″ (U
s, Vs). In addition, destination or waypoint G
(Xg, Yg) moves to the point G ′, and with the reduction of the map, the point G ″ (Ug, Vg) on the outer periphery of the rectangular area 7b.
Go to g). Here, Us, Vs, Ug, and Vg are obtained by the following equations. Us = r (Xs−Xo) (5) Vs = r (Ys−Yo) (6) Ug = r (Xg−Xo) Vg = r (Yg-Yo) (8) In step S44, the scale of the road map is switched according to the scale factor r, and the road map reduced as shown in FIG. And the current position S ″ (Us, V
A mark 8 indicating the current position of the vehicle is displayed in s), and a mark 9 indicating the destination or waypoint is displayed in the destination or waypoint G "(Ug, Vg). Thereafter, the process returns to the main program of FIG. 5 shows a reference area determination routine for changing the scale, in which a straight-line distance I from the current position to a destination or a waypoint is calculated as shown in FIG. A reference area is determined, in this case, a circle having a radius R centered on the destination or waypoint is set as the reference area: (U−Xg) ² + (V−Yg) ² = R ^2. · (9) Also, assuming that the ratio of the radius R to the actual distance I from the current location to the destination or the waypoint is k, the following formula is used: R / I = k (10) Determine the radius R by determining 6 is a flowchart showing a routine for determining whether or not the vehicle has reached the reference area, as shown in FIG. Suppose that it has moved to the point (Up, Vp). In step S70, the current position P (Up, Vp)
Is located in a circle having a radius R centered on the destination or the waypoint G ″ (Ug, Vg), that is, in the reference area. This determination is made by the following equation: (Up-Ug) ) ² + (Vp−Vg) ² ≦ R ² (11) If Expression (11) is satisfied, it is determined that the vehicle has reached the reference area, and the process returns to the main program.
Do not hold, the process proceeds to step S72. If the vehicle has not reached the reference area, the current position of the vehicle is calculated in step S72 to update the coordinates of the point P (Up, Vp), and the mark 8 is displayed at the calculated current position, and step S7 is performed.
Return to 0. Second Embodiment In this second embodiment, a point designated by a passenger in advance is set as a waypoint to a destination, or a branch point obtained in an optimal route calculation is set to a destination. Automatically set as a stopover for. The configuration of the second embodiment is the same as the configuration of the first embodiment shown in FIG. FIGS. 15 and 16 are flowcharts showing the main program of the second embodiment. The operation of the second embodiment will be described with reference to this flowchart. Step S80
In, the current position of the vehicle is calculated, and the destination set by the input device 4 is input. Subsequent step S
At 82, it is determined whether or not the occupant sets the waypoint,
When the stopover is set by the input device 4, the process proceeds to step S84 to input and store the set stopover. Step S8
At 6, it is determined whether or not the occupant has instructed the calculation of the optimal route to the destination, and if a route calculation is instructed by the input device 4, the process proceeds to step S88 to calculate the optimal route from the current location to the destination. , Set a stop along the route as a stopover,
Remember. In step S90, it is determined whether the current position is equal to the destination, that is, whether the vehicle has reached the destination. If the vehicle has reached the destination, the execution of the program is terminated. Proceed to S92. Step S
At 92, the subroutine shown in FIG. 17 is executed, and a detailed road map is sequentially displayed on the display 7 as the route approaches.
To be displayed. In step S94, it is determined whether or not the vehicle has arrived at the stopover on the stored route. If it has arrived, the process proceeds to step S98; otherwise, the process proceeds to step S96.
Proceed to. In step S96, the current position is calculated and displayed, and the process returns to step S94. If the vehicle has arrived at the waypoint on the route, it is determined in step S98 whether or not the vehicle is a destination. If the vehicle is a destination, the process proceeds to step S110; otherwise, the process proceeds to step S100. In step S100, the next transit point is read from the memory, and step S90
Then, the above processing is repeated for the next stopover. If the destination is next, the subroutine shown in FIG. 17 is executed in step S110, and a detailed road map is sequentially displayed on the display 7 as the destination approaches. In a succeeding step S112, it is determined whether or not the vehicle has reached the destination. When the vehicle has reached the destination, the execution of the program is terminated, and when the vehicle has not reached the destination, the process proceeds to step S114. In step S114, the current position is calculated and displayed, and the process returns to step S112. FIG. 17 is a flowchart showing a detailed map display routine. In step S130, the subroutine shown in FIG. 4 is executed to calculate the scale factor for displaying the road map from the current position to the destination on the display screen of the display 7, switch the scale of the road map, and change the scale of the switched road. Display the current location and destination of the vehicle on a map.
Next, proceeding to step S132, the subroutine shown in FIG. 5 is executed to determine a reference area centered on the destination as a criterion for switching the scale of the road map. That is, when the vehicle reaches the reference area, the scale of the road map is switched. In step S134, the subroutine shown in FIG. 6 is executed to determine whether the vehicle has reached the reference area. In step S136, it is determined whether or not road map data more detailed than the road map currently displayed on the display 7 is stored in the storage device 5.
If there is detailed road map data, the process returns to step S130; otherwise, the process returns to the main program. As a result, a detailed road map is sequentially switched as the vehicle approaches the destination or the waypoint, and the program returns to the main program when there is no more detailed road map data. In the configuration of the above embodiment, the vehicle speed sensor 1, the azimuth sensor 2, the GPS receiver 3, and the control device 6 are used for the current position calculating means, the input device 4 is used for the destination setting means and the waypoint setting means, and the storage device is used. Reference numeral 5 designates storage means, display 7 constitutes display means, and control device 6 constitutes control means, distance calculation means and route calculation means. As described above, according to the first aspect of the present invention, when the distance from the current position to the transit point or the destination becomes less than the reference value, the road map is switched to a detailed road map. When you arrive at the destination, the route is switched to a scaled road map according to the distance to the next transit point or destination, making it easier to see the route to the transit point or destination, and ensuring that the occupants pass through the transit point To the destination.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram corresponding to claims. FIG. 2 is a block diagram showing a configuration of a first embodiment. FIG. 3 is a flowchart illustrating a main program according to the first embodiment. FIG. 4 is a flowchart showing a scale ratio calculation and scale switching routine. FIG. 5 is a flowchart illustrating a reference area determination routine for scale switching. FIG. 6 is a flowchart illustrating a routine for determining arrival at a reference area. FIG. 7 is a view showing a display screen and a rectangular area set in the screen. FIG. 8 is a diagram showing a relationship between a straight route from a current position to a destination or a waypoint and a display screen. FIG. 9 is an explanatory diagram for converting an XY coordinate system of a current position and a destination or a waypoint into a UV coordinate system of a display screen. FIG. 10 is an explanatory diagram for setting a current position and a destination or a waypoint on the outer periphery of a rectangular area set in a display screen. FIG. 11 is a diagram showing a display example in which a road map from a current position to a destination or a waypoint is reduced and displayed. FIG. 12 is a diagram showing a straight-line distance from a current position to a destination or a waypoint. FIG. 13 is a diagram illustrating a reference area centered on a destination or a waypoint. FIG. 14 is a diagram showing a display example of a display for displaying a state in which a vehicle is approaching a destination or a waypoint. FIG. 15 is a flowchart illustrating a main program according to the second embodiment. FIG. 16 is a flowchart showing the main program of the second embodiment, following FIG. 15; FIG. 17 is a flowchart illustrating a detailed map display routine according to the second embodiment; [Description of Signs] 1 Vehicle speed sensor 2 Direction sensor 3 GPS receiver 4 Input device 5 Storage device 6 Control device 7 Display 7a Screen 7b Rectangular area 8 Current position mark 9 Destination or waypoint mark 100 Current location detection means 101 Destination setting Means 102 Storage means 103 Display means 104, 104A, 104B, 104C, 104D, 1
04E control means 105, 105A, 105B distance calculation means 106, 106A via point setting means 107 route calculation means

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int. Cl. ⁷ , DB name) G01C 21/00 G08G 1/0969 G09B 29/10

Claims (1)

(57) [Claims] 1. A current position detecting means for detecting a current position of a vehicle, a destination setting means for setting a destination, and a route calculating means for calculating a route from the current position to the destination.
And a control means for reading a road map around the current location from the storage means and displaying it on the display means together with the route. Point and said route
For multiple branch points on the path calculated by the calculation means
A waypoint setting means for setting a waypoint to the earth, from the detected current position by the current position detection means, wherein
Of the transit points set by the transit point setting means,
And a distance calculating means for calculating a distance to the destination set by the waypoint or the destination setting means close Innovation, said control means, after that is calculated by the distance calculating means
When the distance to the destination or destination falls below the reference value
Switch the scale of the road map to a more detailed road map
If you were to reach the destination via the closest, the distance calculation
The means is to change the waypoint to be calculated to the next waypoint or
Change to the ground, the control means, by the distance calculation means
Depending on the calculated distance to the next stopover or destination
An in-vehicle navigation device that switches the scale of a road map .