JP3419650B2 - Map display method - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention selects information (map information) relating to map elements such as topography, roads, and structures from a map database according to the current position of the vehicle and performs coordinate conversion to convert it to the ground surface. The present invention relates to a navigation device that displays a landscape corresponding to a perspective map viewed in a direction forming a predetermined angle.

[0002]

2. Description of the Related Art A digital map data recorded on a storage medium such as a CD-ROM is read to display a map of buildings, roads, etc. on the screen, and the current position detected by a sensor such as GPS and the direction to the destination. There is known a navigation device that displays the “” on the map to facilitate traveling.

In recent navigation devices, for the purpose of notifying map information near the current position of the vehicle in an easy-to-understand manner, as known from Japanese Patent Laid-Open No. 2-244188, a predetermined angle with respect to the ground surface is set. There is a device that displays a perspective map viewed in the direction in which it is formed. Furthermore, an icon that mimics a structure that has a characteristic shape such as Tokyo Tower on a perspective map (hereinafter,
There is a device that displays a 3D icon). In the device, since the appearance of the structure changes depending on the viewpoint from the ground surface, the three-dimensional icon is switched and displayed according to the height of the viewpoint, and the three-dimensional icon / By switching and displaying the plane icons,
It is devised to display the structure according to the appearance of the map.

Although the map data provided to the navigation device is two-dimensional data, full-scale three-dimensional map display is expected to improve the visibility.
In the future, 3D map data to which three-dimensional shape data of topography and structures (bridges, buildings, etc.) are added will be supported. Usually, the three-dimensional shape of such a structure is composed of a plurality of surfaces such as a triangle and a quadrangle.

When these are displayed in a landscape from a predetermined viewpoint position, an object close to the viewpoint is displayed large in the foreground and an object far from the viewpoint is displayed small in the back due to the perspective effect. In this case, it is meaningless to display an object far from the viewpoint even if a detailed three-dimensional shape is developed. Also, when displaying the bird's-eye view with the viewpoint position set to a predetermined height above the ground surface, the object on the ground surface is large when the viewpoint altitude is close to the ground surface, and gradually becomes smaller as the viewpoint altitude increases. Become. Also in this case, it is meaningless to display even if the object shape viewed from a predetermined altitude or higher is developed in detail.

Therefore, in a landscape simulation using a game machine or computer graphics (hereinafter, CG), which is preceded by three-dimensional graphics processing, depending on the movement of the viewpoint or the character, the distance to the structure, or the scene switching. A method of changing the display form of a structure is used, such as an object near the viewpoint has a detailed shape and an object far from the viewpoint has a simple shape.

[0007]

[Problems to be Solved by the Invention] In games and CG,
In the method of switching the display form of a structure depending on the distance between the viewpoint (character position) and the structure, a structure close to the viewpoint (character position) is displayed in detail, and a structure far from the viewpoint is displayed in a simple form. Therefore, when it is desired to know the information of the structure existing in the back, the detailed shape cannot be confirmed unless the viewpoint is moved to the vicinity of the structure. In the navigation device, not only the situation around the moving body but also the map information of the planned driving destination needs to be notified in advance. Therefore, for example, the information on the ground surface viewed from the ground surface at a predetermined altitude is the same on the same display screen. It is preferable to display the level of detail.

In the conventional navigation device that displays a stereoscopic icon, the shape of the structure is switched according to the viewpoint altitude, so that the structure can be displayed with the same degree of detail on the screen.
In such a conventional method, the shape (three-dimensional icon) of the structure or the like is selected at the viewpoint altitude from the ground surface at the altitude of the terrain (at an altitude of 0 m), so that the structure near the structure on the undulating terrain ( The problem is that it is not possible to draw in a detailed shape even if the viewpoint is placed near the ground surface.

[0009]

[0010]

[Means for Solving the Problems] In consideration of the above points, this book
In the invention, the display shape of the map element to be displayed
And it is changed according to the altitude difference between the one of the point corresponding to the current position and the current position of the moving body to a predetermined viewpoint.

[0011]

[0012]

[0013]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described below with reference to the drawings.

The navigation device of this embodiment is shown in FIG.
It is composed of various constituent units as shown in. That is, the navigation device includes an arithmetic processing unit (101),
Display (102), map database (103), voice input / output device (104), input device (105), LAN device (10
6), wheel speed sensor (107), direction sensor (108), gyro sensor (109), GPS receiver (110), and
A traffic information receiver (111) is provided.

The arithmetic processing section (101) is composed of a CPU, a memory, etc., and is composed of the above (107) to (11).
The current position is detected based on the information output from the various sensors of (0), and the map information necessary for display is read from the map database (103) based on the obtained current position information, and the graphics is developed. The current position of the vehicle detected by the sensors (107) to (110) is superimposed on the developed map as a current position mark and displayed on the display (102), or a point specified by the user by the input device (105). The optimum road that connects (for example, the current location and the destination) is calculated, and the audio input / output device (104) and the display (1
02) to guide the route while notifying the user using
It is a central unit that performs various processing such as.

The display (102) includes an arithmetic processing section (10
A unit for displaying the graphics information generated in 1), which is composed of a CRT or liquid crystal display. In addition, the signal S1 between the arithmetic processing unit (101) and the display (102)
Are RGB signals and NTSC (National Television Syst)
em Committee) It is common to connect with a signal.

The map database (103) is a CD-RO.
It is composed of a large-capacity storage medium such as an M, an IC card, and a DVD (Digital Video Disc), and performs a process of reading / writing necessary map data.

The voice input / output device (104) includes an arithmetic processing unit (1
The message generated by 01) is converted into a voice signal and output to the user, and the voice uttered by the user is recognized and the content is transferred to the arithmetic processing unit (101).

The input device (105) is a unit for receiving an instruction from a user, and is composed of a hard switch such as a scroll key and a scale change key, a joystick, a touch panel attached on a display, and the like.

The sensor used for detecting the position in the navigation of the moving body is a wheel speed sensor (107) for measuring the distance from the product of the circumference of the wheel and the measured rotational speed of the wheel,
A direction sensor (108) that detects the magnetic field held by the earth and detects the direction in which the moving body is facing, a gyro (109) that detects the rotating angle of the moving body such as an optical fiber gyro or a vibration gyro, and a GPS satellite A GPS receiving device for measuring the current position, the traveling direction and the traveling direction of the mobile body by receiving the signal of (1) and measuring the distance between the mobile body and the GPS satellite and the rate of change of the distance with respect to three or more satellites (110 ).

Further, as dynamic information input from the outside, a beacon transmitter that issues traffic information such as road congestion information, regulation information such as construction and traffic closure, and traffic information such as parking lot information, and traffic that receives signals sent from FM multiplex broadcasting. An information receiving device (111) is provided. In addition, the vehicle interior L that receives various information of the vehicle, such as door opening / closing information, the type and status of the lights that are lit, the status of the engine, and the failure diagnosis result
An AN device (106) is provided.

The hardware configuration of the processing operation unit (101) will be described with reference to FIG. Each component (device) will be described below. The arithmetic processing unit (101) has a configuration in which each device is connected by a bus.

The arithmetic processing unit (101) is, for example, a CPU (201) for executing various processes such as numerical calculation and controlling each device, a RAM for storing maps and arithmetic data.
(202), ROM (20 for storing programs and data
3), DMA (Direct Memory Acce) for high-speed data transfer between memory and between memory and each device
ss) (204), a drawing controller (205) that performs high-speed graphics drawing such as expanding vector data into pixel information, and performs display control, a VRAM (206) that stores graphics image data, and RGB image data. Color palette (207) for converting signals, A / D converter (20 for converting analog signals to digital signals)
8), SCI (209) for converting a serial signal into a parallel signal synchronized with the bus, a PIO (210) placed on the bus in synchronization with the parallel signal, and a counter (211) for integrating the pulse signal It

A processing operation unit (10 having the above-mentioned configuration
The functional configuration realized by 1) will be described with reference to FIG. Hereinafter, each component will be described.

The present position calculation unit (305) is a wheel speed sensor (1
The distance pulse data S5 measured in 07) and the angular acceleration data S7 measured in the gyro (109) are used as the result of integrating the distance data and the angle data, and the data are integrated on the time axis. Thus, the processing for calculating the position (X ′, Y ′) after traveling of the mobile body is performed from the initial position (X, Y). Furthermore, in order to match the relationship between the rotated angle of the moving body and the traveling azimuth, the azimuth data S6 obtained from the azimuth sensor (108) and the angular acceleration data S7 obtained from the gyro (109) are integrated to make the movement. Correct the absolute azimuth of the direction the body is moving. Further, since the error of the sensor accumulates when the data obtained from the above-mentioned sensor is integrated, the GPS receiver (11
The accumulated position error is processed based on the position data S8 obtained from (0) and the current position information is output.

Since the current position information thus obtained contains an error of the sensor, a map matching process (306) is performed for the purpose of further improving the position accuracy. This is because the road data included in the map around the current position read by the data reading unit (307) is compared with the traveling locus obtained from the current position calculation unit (305) to determine the road with the highest shape correlation. This is the process of adjusting the current location. By performing the map matching process, the current position will often coincide with the traveling road, and the current position information can be output accurately.

The current position information calculated in this way is stored in the locus storage unit (308) every time the vehicle travels a predetermined distance. The locus data is used to draw a locus mark on the road on the corresponding map for the road that has been traveled so far.

On the other hand, the command analysis section (301) receives a request from the user at the input device (105), analyzes the content of the request, and controls each unit so that the corresponding processing is executed. For example, when the user requests route guidance to the destination, the display processing unit (310) is requested to display a map for setting the destination, and the process for calculating the route from the current location to the destination is performed. Request to the route calculation unit (302).

The route calculation unit (302) searches the map data for a route between designated points using the Dijkstra method or the like, and stores it in the route storage unit (303). At this time, it is also possible to obtain a route with the shortest distance between designated points, a route that can be reached in the shortest time, a route with the lowest cost, or the like.

The route guidance unit (304) is a route storage unit (303).
Whether the link information of the guide route stored in the vehicle is compared with the current position information of the own vehicle obtained by the current position calculation unit (305) and the map match processing unit (306), and whether the vehicle should go straight ahead a predetermined time before passing an intersection or the like , The user is notified by voice using a voice input / output device (104) of whether to make a right or left turn, or the direction to proceed is displayed on the map displayed on the display (102) to notify the user of the route.

The data reading section (307) operates so as to prepare for reading the map data of the requested area from the map database (103).

The viewpoint setting section (312) includes a command analysis section (3
Parameters such as the line-of-sight and viewing angle input by 01) are stored, and the viewpoint is updated as the vehicle moves.

The dynamic information selection means (313) is one of the characteristic configurations of the present invention, and the traffic information and the restaurant to be displayed according to the distance between the viewpoint position and the own vehicle position or the altitude difference,
Select parking lot information.

The shape data selection / conversion unit (311) also has
One of the characteristic configurations of the present invention is that the shape data of the structure is selected from the map database or the shape is converted according to the distance or altitude difference between the viewpoint position and the vehicle position. In addition, in this specification, the dynamic information refers to information such as traffic information, parking lot information, facility information, and parking lot that are input from the outside.

The display processing unit (310) receives the map data around the point requested to be displayed from the data reading unit (307), and the structure shape selected or converted by the shape data selection / conversion unit (311). And command analysis unit (301)
A graphic is developed with the scale of the displayed map, the drawing method, and the drawing direction specified by the like and transferred to the VRAM (206).

The menu display unit (309) receives the command output from the command analysis unit (301), transfers various types of required menus and marks to the display processing unit (310), and superimposes them on the map. indicate.

FIGS. 4A and 4B show display examples (400) when the processing by the shape data selection / conversion unit (311) is performed.
(401) is shown. In this figure, (402) is a road, (403)
Indicates a vehicle position mark, and (404) indicates a structure. In the present embodiment, when the distance (altitude difference) between the viewpoint and the vehicle is less than or equal to a predetermined value, the structure 404 is displayed in a three-dimensional shape or a detailed shape as shown in the display example (400). If the distance between the viewpoint and the vehicle (altitude difference) is greater than or equal to the specified value, display example (401)
The structure (404) is displayed in a planar shape or a simple shape such as an icon as shown in FIG.

FIG. 5 shows an example of the format of the map database (103). The map database (103) is classified into a data management unit (510) and a data storage unit (520). The data management unit (510) has a mesh code (511),
Management information of map data such as attribute information (512), elevation data management unit (513), road data management unit (514) and building data management unit (515) is stored.

The mesh code (511) indicates which map area, and is, for example, a regional mesh code assigned to a mesh area divided at equal intervals in the latitude and longitude directions. The attribute information (512) is additional information such as map data version and update date. The altitude data management unit (513), the road data management unit (514), and the building data management unit (515) indicate storage locations (addresses) of the altitude data, road data, and building data, respectively.

The data storage section (520) stores altitude data (52
1), road data (522), building data (523), and other data for various map elements. The shape data selection / conversion unit (311) of the present embodiment selects and reads the shape data of the structure stored in the building data (523) from the display scale or the positional relationship between the viewpoint and the own vehicle, and Or convert.

The building data (523) stores a plurality of shape data (524) for the same structure. Each shape data is composed of, for example, the number of surfaces (525) forming the shape and the constituent surface data (526). Compositional data (52
6) is the number of vertices of the surface (527) and three-dimensional vertex data x, y,
It consists of z (528). Texture (529) is image data such as icons and photos to be pasted on the surface (530)
Is a storage destination.

Next, the operation of the navigation device of this embodiment will be described.

First, in the present navigation device, a data flow for selecting the shape data of the structure based on the positional relationship between the vehicle and the viewpoint will be described with reference to FIG.

The shape data selection / conversion unit (311) uses the vehicle position data detected by the current position detection unit 305 and the viewpoint position data set by the viewpoint setting unit (312) to determine the altitude difference between the vehicle and the viewpoint. Is detected, the shape data of each structure is selected from the map database (103) storing a plurality of shape data of the same structure, and the coordinate conversion is performed by the display processing unit (310). Then, the perspective map viewed from the viewpoint is displayed. The viewpoint setting unit (312) may detect the altitude difference between the vehicle and the viewpoint, and may pass the data regarding the altitude difference to the shape data selection / conversion unit (311).

A processing example of the shape data selection / conversion unit (311) for selecting shape data from the map database (103) based on the positional relationship between the vehicle and the viewpoint will be described with reference to the flowchart of FIG. FIG. 7 is a supplementary diagram of FIG. In Figure 7, (700) is the sea level above sea level, (701) is the ground surface, and (7)
02) shows the vehicle position, and (703) shows the viewpoint.

This processing is started when the current position of the vehicle is updated in the current position calculation section (305), and first, the altitude difference Δh = h2 -h1 between the vehicle position and the viewpoint position is calculated (step 601). Select the most detailed shape data 1 (704) when Δh is below a predetermined altitude (Δh <H1), and select shape data 2 (705) when Δh is within the predetermined range (H1 ≤ Δh ≤ H2). , Δh exceeds a predetermined value (H2 ≦ Δh), the simplest shape data 3 (706) is selected (step 602) and the selected shape data is read (steps 603, 604, 60).
Five). The shape data is perspective-transformed in the display processing unit (310) and displayed on the display (102) (step 60).
6). The display example (707) is a display image after the perspective conversion processing in which the shape 1 (704) is selected, for example.

In this processing example, for the same structure
I explained the case where there are three shape data as an example,
The number of shape data regarding the same structure is not limited to the above example, and may be a configuration including two or four or more shape data.

A shape data selection / conversion unit (311) for selecting the display shape of dynamic information such as traffic information and parking information received by the traffic information receiving device (111) from the positional relationship between the vehicle and the viewpoint. An example of the process will be described with reference to the flowchart of FIG. 8 and FIG. FIG. 9 is an example of the dynamic information and shows a case where the traffic jam information is received.

The dynamic information (900) is, for example, attribute information (90) which is an information type such as a restaurant, a parking lot, and congestion information.
1) and latitude / longitude and height, or the normalized coordinates in the mesh, or the location of the traffic jam indicated by the node (intersection number) or link number (unique number added to the road connecting the nodes) ( 902), congestion length (903), estimated passage time of the congestion occurrence road (904), cause of congestion (905)
Etc.

In this processing, the shape data selection / conversion unit (31
In 1), if there is congestion information (step 801) by referring to the dynamic information (900), the altitude difference Δh between the vehicle position and the viewpoint is calculated (step 802) and the vehicle shape to be displayed is selected (step 802). Step 803). In this example, when Δh <predetermined altitude H1, the three-dimensional shape of the vehicle is read (step 804), and the predetermined altitude H1 ≦ Δh
If, the plane shape of the vehicle is read (step 805).

Here, the plane and three-dimensional shape data of the vehicle are the map database 103 or shape data selection / shape data.
It is stored in advance as an internal parameter of the conversion unit (311) or is received as one of the dynamic information (900).

Next, the shape data is perspective-transformed in the display processing section (310) and displayed on the display (102) (step 806). In this process, step 80
For 2, 803 and 806, the same processing as steps 601, 602 and 606 of FIG. 6 can be used.

FIG. 10 is a display image when the processing of FIG. 8 is executed. In the display example (1000), when Δh <predetermined altitude H1, a plurality of three-dimensional vehicles (1002) indicating traffic congestion are displayed on the road ahead. The display example (1001) is
When the altitude is H1 ≤ Δh, the vehicle (100
4) is displayed. (1003) and (1005) are visual representations of predicted passage times of the congested roads. Waiting time shape data stored in advance in the map database (103) and the like are read, and a solid or plane shape is selected according to Δh. ,indicate.

The shape data read from the map database (103) is converted from the positional relationship between the vehicle and the viewpoint,
A processing example of the shape data selection / conversion unit (311) will be described with reference to the flowchart of FIG.

In this process, the map database (10
The shape data of a predetermined structure is read from 3) (step 1101), the height difference Δh between the vehicle position and the viewpoint is calculated (step 1102), and the shape conversion method is selected based on the value of Δh (step 1103). ).

In this processing example, when the shape data read in (step 1101) is a plane shape and Δh <predetermined altitude H1, a method of converting the plane shape into a three-dimensional shape (step 1104) is selected, and the shape is Data is three-dimensional shape and predetermined altitude
If H1 ≦ Δh, the method for converting the three-dimensional shape into the planar shape (step 1105) is selected. In other cases (shape data is flat and predetermined altitude H1 ≦ Δh, or shape data is solid and Δh <predetermined height H1), shape conversion is not performed. The display processing unit (310) perspectively transforms the shape data and displays it on the display (102) (step 1106). Note that in this processing, steps 1102 and 1106 are the same as those in FIG.
The same process as steps 601 and 606 can be used.

Step 1104 and step 11 in FIG. 11 above
The shape conversion method of 05 will be described with reference to the supplementary diagram of FIG. The conversion from the three-dimensional shape (1201) to the two-dimensional shape (1202) is performed by extracting the vertices of height 0 of the side data of the three-dimensional shape (1201) and converting the two-dimensional shape (1202), or by projection conversion. There is a method of converting (1201) into a shape (1202) viewed from directly above, which can be easily done by creating a bottom shape from side surface data that constitutes a structure.

On the other hand, from the planar shape (1202) to the three-dimensional shape (12
For conversion to 01), a three-dimensional shape (1201) can be created by creating a side surface having a predetermined height h from the planar shape (1202). Here, the predetermined height h is stored as the shape data (524) or the shape data selection / conversion unit (31
It shall be stored in advance as the parameter of 1).

A shape data selection / conversion unit (311) for selecting a display shape of dynamic information such as traffic information and parking lot information received by the traffic information receiving device (111) from the positional relationship between the vehicle and the viewpoint. An example of the above processing will be described with reference to the flowchart in FIG.

In this process, first, the dynamic information (900) is referred to (step 1301), and if there is congestion information, the shape data expressing the transit time is read (step 1302). Calculate the altitude difference Δh between the vehicle position and the viewpoint (step 1303),
If the shape data read in step 1302 is planar and Δh <predetermined height H1, the method of converting the planar shape into a three-dimensional shape (step 1305) is selected, and the shape data is three-dimensional and the predetermined height H1 ≦ Δh. In the case of, the method of converting the three-dimensional shape into the planar shape (step 1306) is selected (step 1304). In other cases, the shape conversion is not performed, and the process proceeds to step 1307. In step 1307, the display processing unit (310) perspectively transforms the shape data,
Display on the display (102).

Steps 1301, 1303, 1304 to 1306, 13
07 includes step 801, FIG. 6, step 601, FIG. 11, steps 1102-1104, and FIG.
The same process as in step 606 of can be used.

FIG. 14 shows an example of a display image when the processing of FIG. 13 is executed. The display example (1400) displays a three-dimensional shape (1402) that represents the scheduled passage time of a congested road when Δh <predetermined altitude H1. Display example (1401) is the specified altitude
In the case of H1 ≦ Δh, a plane shape (1403) representing the scheduled passage time of a congested road is displayed.

In this example, the shape data is assumed to be included in the dynamic information, but the present invention is not limited to such a case, and the dynamic information includes the shape data. Even if not, the shape data may be stored in a storage device on the device side such as a map database so as to correspond to the dynamic information.

Processing of the shape data selection / conversion unit (311) for selecting information to be displayed from traffic information, parking information, etc. received by the traffic information receiving device (111) from the positional relationship between the vehicle and the viewpoint. An overview is shown in the flowchart of FIG. 15 and FIG.
This will be described with reference to FIG.

FIG. 16 is based on the assumption that restaurant information is received in the dynamic information configuration example. Here, the dynamic information (1600) includes the attribute information (901), the location of the restaurant (902), full / empty information (1603), and how long the waiting time is when the seat is full at (1603). It shall consist of the waiting time (1604) shown and business hours (1605).

When the dynamic information is received, the shape data selection / conversion unit (311) calculates an altitude difference Δh between the vehicle and the viewpoint (step 1500), and Δh is equal to or lower than a predetermined altitude (Δh <H1). At the time of, the data (511), (901) to (90) is set as the dynamic information 1.
2) and (1603) to (1604) are selected, and when Δh exceeds a predetermined value (H1 ≦ Δh), the data (51
1), (901) to (902) and (1603) to, more detailed information than the dynamic information 1 is selected (step 1501). Read dynamic information selected in step 1501 above (step 1502,
1503), the shape data is perspective-transformed in the display processing unit (310) and displayed on the display (102) (step 1
504).

FIG. 17 is a display image of dynamic information selected and displayed according to the positional relationship between the vehicle and the viewpoint by the processing procedure of FIG. The display example (1700) is when Δh is equal to or lower than the predetermined altitude (Δh <H1), and the display example (1701) is when Δh is equal to or higher than the predetermined value (H1 ≦ Δh).

In the display example (1700), the detailed shape of the structure is read from the map database (103) and displayed according to the procedure of FIG. In this figure, (1702) and (1703) are images of structures corresponding to dynamic information. At this time, a structure corresponding to the dynamic information may be emphasized with a thick line, a pattern, a color, or the like so that the structure can be distinguished from surrounding structures at a glance. Furthermore, it is conceivable that the structure (1703) that is immediately available with empty seats and the structure (1702) that is full and has a waiting time are painted in different colors.
Further, the brightness and density of the surface color of the structure and the surface area for coloring may be changed in proportion to the waiting time.

Further, in the display example (1700), detailed dynamic information such as data (511), (901) to (902) and (1603) is read as the dynamic information 2 and, for example, the structure (170
2) Like "Restaurant A", "Full", "Wait 30 minutes", "24"
It may be configured to display information such as "hourly business".

The display example (1701) reads and displays the simplified shape of the structure from the map database (103) according to the procedure of FIG. Data as dynamic information 1 (511),
Dynamic information is limitedly read as in (901) to (902) and (1603) to (1604), and "Restaurant A" is displayed as in the structure (1702). Furthermore, the structure corresponding to the dynamic information may be emphasized with a thick line, a pattern, a color, or the like so that the structure can be distinguished from surrounding structures at a glance. In addition, the structure (1702) that is full and has a waiting time, and the structure (1703) that is immediately available with empty seats may be painted in different colors. Furthermore, the brightness and density of the fill color and the surface area to be colored may be changed in proportion to the waiting time.

In the above-described embodiment, whether the shape of the structure to be displayed should be a three-dimensional shape or a two-dimensional shape is selected based on the altitude difference between the vehicle position and the viewpoint. Instead of the altitude difference, the structure shape may be selected according to the scale of the displayed map.
For example, when the display scale of the map is larger than a predetermined value, it is a flat shape, when it is less than the predetermined value, it is a three-dimensional shape, when the viewpoint is close to the vehicle, it is a detailed shape, and when the viewpoint is far from the vehicle. Displays a structure around the vehicle with a simple shape.

[0072]

According to the present invention, the distance between the point and the point of view of the vicinity of the vehicle to the host vehicle travels along a land form (altitude difference), the structure of the area surrounding the vehicle, viewpoint vehicle The detailed shape is displayed when the distance is close to, and the simple shape is displayed when the viewpoint is far from the vehicle .

[Brief description of drawings]

FIG. 1 is a block diagram showing the configuration of an embodiment of a navigation device according to the present invention.

FIG. 2 is a block diagram showing a hardware configuration of an arithmetic processing unit (101).

FIG. 3 is a block diagram showing a functional configuration of an arithmetic processing unit (101).

FIG. 4 (a): an explanatory view showing a stereo map display example to which the display method of the present invention is applied. FIG. 4 (b): an explanatory view showing a stereo map display example to which the display method of the present invention is applied.

FIG. 5 is an explanatory diagram showing a configuration example of a map database (103).

FIG. 6 is a shape data selection / conversion unit (31) of the present invention, which selects shape data of a structure from the positional relationship between the vehicle and the viewpoint.
The flowchart which shows the process example of 1).

FIG. 7 is a supplementary explanatory diagram of FIG.

FIG. 8 is a flowchart showing a processing example of a shape data selection / conversion unit (311) of the present invention for selecting a display shape of congestion information (dynamic information) based on the positional relationship between the own vehicle and the viewpoint.

FIG. 9 is an explanatory diagram showing a configuration example of dynamic information.

10A is an explanatory diagram showing a display image example when the processing of FIG. 8 is performed. FIG. 10B: An explanatory diagram showing an example of a display image when the processing of FIG. 8 is performed.

FIG. 11: Shape data selection / conversion unit (31) of the present invention for converting the shape data of a structure from the positional relationship between the vehicle and the viewpoint.
The flowchart which shows the process example of 1).

FIG. 12A is a supplementary explanatory diagram of FIG. 11 and is an explanatory diagram showing a concept of processing for converting a three-dimensional shape into a planar shape. FIG. 12B: An explanatory diagram showing a concept of processing for converting a planar shape into a three-dimensional shape, which is a supplementary explanatory view of FIG. 11.

FIG. 13 is a flowchart showing a processing example of the shape data selection / conversion unit (311) of the present invention for converting the display shape of the congestion information (dynamic information) from the positional relationship between the own vehicle and the viewpoint.

14A is an explanatory diagram showing a display image example when the process of FIG. 13 is performed. FIG. 14B is an explanatory diagram showing an example of a display image when the processing of FIG. 13 is performed.

FIG. 15 is a flowchart showing a processing example of the dynamic information selection unit (313) of the present invention, which selects dynamic information from the positional relationship between the own vehicle and the viewpoint.

FIG. 16 is an explanatory diagram showing a configuration example of dynamic information.

FIG. 17A is an explanatory diagram showing a display image example when the processing of FIG. 15 is performed. FIG. 17B: An explanatory diagram showing an example of a display image when the processing of FIG. 15 is performed.

FIG. 18 is a block diagram for explaining a data flow for selecting shape data of a structure based on a positional relationship between a vehicle and a viewpoint in the device of the present invention.

[Explanation of symbols]

101 ... Arithmetic processing unit, 102 ... Display, 103 ... Map database, 104 ... Voice output / input device, 105 ... Input device, 106
… LAN device, 107… Wheel speed sensor, 108… Direction sensor, 109
… Gyro, 110… GPS receiver, 111… Traffic information receiver, 201… CPU, 202… RAM, 203… ROM, 204… DMA, 205…
Drawing controller, 206 ... VRAM, 207 ... color palette,
208 ... A / D converter, 209 ... SCI, 210 ... PIO, 211 ... Counter, 301 ... Command analysis unit, 302 ... Route calculation unit, 303 ... Route storage unit, 304 ... Route guidance unit, 305 ... Current position calculation unit , 30
6 ... Map match processing unit, 307 ... Data reading unit, 308 ... Locus storage unit, 309 ... Menu display unit, 310 ... Display processing unit, 31
1 ... Shape data selection / conversion unit, 312 ... Viewpoint setting unit, 313 ...
Dynamic information selector.

─────────────────────────────────────────────────── ─── Continuation of the front page (72) Kozo Nakamura 7-1-1, Omika-cho, Hitachi-shi, Ibaraki Hitachi, Ltd. Hitachi Research Laboratory (56) Reference JP-A-9-127862 (JP, A) Kaihei 9-73599 (JP, A) JP-A-9-138136 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) G01C 21/00-21/36 G08G 1/09- 1/137 G09B 29/00-29/10

Claims (10)

(57) [Claims] 1. A viewpoint provided at a predetermined altitude by obtaining a current position of a mobile body, reading map information of an area determined according to the current position from a map database, and converting coordinates of the map information. A navigator that generates a perspective map when viewed from a direction at a predetermined angle to the ground surface
Shon device, the map display method for displaying an image corresponding to the perspective map display, the map information stored in the map database includes terrain data for at least one map elements out of the road and structures , The map display method is such that the navigation device displays on the display.
The display form of map elements, the map characterized by having a current position and the display from one point corresponding to the current position is changed in accordance with the height difference to the viewpoint shape control process of the movable body Display method . 2. A viewpoint provided at a predetermined altitude by obtaining a current position of a moving body, reading map information of an area determined according to the current position from a map database, and performing coordinate conversion on the map information. A navigator that generates a perspective map when viewed from a direction at a predetermined angle to the ground surface
Shon device, the map display method for displaying an image corresponding to the perspective map display, the map information stored in the map database includes terrain data for at least one map elements out of the road and structures the data is for the same map elements are composed of a plurality of different shape data, the map display method, the navigation device, from the map database
When reading the map information, it is displayed on the display.
The shape data of the map elements shown, to contain the transfer current position and the write non-geometric data selection processing to read selected according to the altitude difference between the one of the point corresponding to the current position to the viewpoint of the moving object A map display method characterized by. 3. The present position of the moving body is obtained, and the present position is determined according to the present position.
Read the map information of the area that is determined from the map database
However, by converting the coordinates of the map information,
A certain angle with the ground surface from a viewpoint provided at a certain altitude
A navigator that creates a perspective map when viewed in different directions
Display the image corresponding to the perspective map.
In the map display method displayed in b, the map information stored in the map database is
At least one map element of shape, road and structure
With data about the data, the first data group including a three-dimensional shape data for representing a planar shape data and the three-dimensional shape for representing the same map element as a planar shape or, less identical map elements a plurality of shape data configured the detailed shape data representing a simplified shape data and more data amount expressed in the amount of data from the containing <br/> free second data group
It consists data, the map display method, the navigation device, from the map database
When reading the map information, it is displayed on the display.
The shape data of the indicated map element is used as the current position of the moving body.
From either one of the location and the point corresponding to the current position
Altitude difference up to the point of view or display scale of the perspective map
It includes shape data selection processing for reading selected in accordance with, in the shape data selection processing, the navigation
Device, when the altitude difference is a predetermined value or more, the plurality of shape data is composed of the first data group care
If the read plane shape data by selecting from said map database, if the plurality of shape data has been constructed from the second data group is read by selecting the simple shape data from the map database, the If the altitude difference is less than the predetermined value, the plurality of shape data is composed of the first data group care
If the read select the three-dimensional shape data from said map database, if the plurality of shape data has been constructed from the second data group, read select the detailed shape data from the map database, it A map display method characterized by. 4. The map display method according to claim 2, wherein the navigation device receives dynamic information input from the outside.
There includes a reception process of receiving, the reception processing to at least one of the received dynamic information and said map database by the elements corresponding to the attribute indicating the dynamic information, to represent different multiple shapes Shape data is included in the shape data selection process, the navigation
The device is configured to display the dynamic information displayed on the display.
Map display method characterized by loading the shape data of the unit, and selected depending on the height difference. 5. A viewpoint provided at a predetermined altitude by obtaining a current position of a mobile body, reading map information of an area determined according to the current position from a map database, and performing coordinate conversion on the map information. A navigator that generates a perspective map when viewed from a direction at a predetermined angle to the ground surface
In the map display method in which the image display device displays an image corresponding to the perspective map on the display, the map information stored in the map database indicates the shape of at least one map element among the topography, roads and structures. The map display method is provided with the following data when reading map information from the map database :
The shape of the map element to be displayed on the display,
To change in accordance with the height difference from either to the viewpoint of the point corresponding to the current position and the current position of the movable body, the shape data conversion processing for converting the data read from the map database in the navigation device A map display method characterized by being executed. 6. The present position of a moving body is obtained, and the present position is determined according to the present position.
Read the map information of the area, which is determined Flip from the map database
However, by converting the coordinates of the map information,
A certain angle with the ground surface from a viewpoint provided at a certain altitude
A navigator that creates a perspective map when viewed in different directions
Image resolution device displays the image corresponding to the perspective map.
In the map display method displayed in play, the map information stored in the map database is
Of at least one map element of shape, road and structure
A data for indicating the shape, the map display method, the navigation device, from the map database
Displayed on the display when reading map information.
The shape of the map element to be
The viewpoint from one of the points corresponding to the current position
Depending on the altitude difference up to or the display scale of the perspective map
Read from the map database to change
Shape data conversion processing for converting data , wherein in the shape data conversion processing, the navigation
The device reads data indicating the shape of the map element to be displayed from the map database, and converts the read data to simplify the altitude difference when the difference is equal to or more than a predetermined value. If the difference is less than a predetermined value, it is converted so as to be detailed, and a map display method
Law . 7. The map display method according to claim 5 , wherein the dynamic information inputted from the outside is given to the navigation device.
Including the receiving process received by the dynamic information and the map received in the receiving process.
At least one of the databases is
Contains shape data to represent the element corresponding to the indicated attribute.
In the shape data conversion process, the navigation
The device is configured to display the dynamic information required to be displayed on the display.
The raw shape data is converted into the dynamic information and the map data.
Select from one side of the base and read it in
Map display method characterized by conversion according to altitude difference
Law. 8. A current position of a moving body is obtained, and the current position is calculated according to the present position.
Read the map information of the area that is determined from the map database
However, by converting the coordinates of the map information,
A certain angle with the ground surface from a viewpoint provided at a certain altitude
A navigator that creates a perspective map when viewed in different directions
Image resolution device displays the image corresponding to the perspective map.
In the map display method displayed in play, the map information stored in the map database is
At least one map element of shape, road and structure
Associated data, the data being different for the same map element.
Is composed of a plurality of shape data that, the map display method, the navigation device, from the map database
When reading the map information, it is displayed on the display.
The shape data of the indicated map element is used as the current position of the moving body.
From either one of the location and the point corresponding to the current position
Altitude difference up to the point of view or display scale of the perspective map
Shape data selecting process of reading selected in accordance with the kinematic configured externally input, a plurality of types of information
Processing for receiving specific information by the navigation device
And the navigation device receives in the reception process.
From the dynamic information that has been
Dynamic information selection process to be selected according to the difference or the display scale
A method of displaying a map , which comprises: 9. The present position of a moving body is obtained, and the present position is determined according to the present position.
Read the map information of the area that is determined from the map database
However, by converting the coordinates of the map information,
A certain angle with the ground surface from a viewpoint provided at a certain altitude
A navigator that creates a perspective map when viewed in different directions
Image resolution device displays the image corresponding to the perspective map.
In the map display method displayed in play, the map information stored in the map database is
Of at least one map element of shape, road and structure
The map display method is provided with data for indicating a shape, and when the map information is read from the map database,
The shape of the map element to be displayed on the display,
Of the current position of the moving body and the point corresponding to the current position
Change according to the altitude difference from either one to the viewpoint
In order to read the data read from the map database
Shape data conversion processing for converting, input from the outside, a reception process of receiving dynamic information comprised of a plurality of types of information, from among the dynamic information received by the receiving process, the information to be displayed A map display method for causing the navigation device to execute a dynamic information selection process of selecting according to the altitude difference or the display scale. 10. The method according to any one of claims 8 and 9.
In the map display method , the navigation device is included in the dynamic information selection process.
The map is characterized in that when the altitude difference or the display scale is a predetermined value or more, less information is selected than information selected when the altitude difference or the display scale is less than the predetermined value. Display method .