JP3501390B2 - Car navigation system - 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-mounted navigation device, and more particularly to a vehicle-mounted navigation device capable of three-dimensionally displaying roads / buildings.

[0002]

2. Description of the Related Art A map drawn on a display screen is a two-dimensional map of the same scale as seen from directly above, and therefore, the driver feels different from the actual scenery. Therefore, there is a method of drawing a map with a feeling similar to that of an actual scenery.
It is proposed in Japanese Patent No. 225391. In this map drawing method, the traveling direction θ of the vehicle is obtained, the map data is subjected to rotation conversion processing so that the map is rotated by θ around the vehicle position, the traveling direction is set as the line-of-sight direction, and a predetermined direction is set behind the vehicle position. When the point at the height of is considered as the viewpoint,
The map data after rotation processing is subjected to projection conversion processing so that the map after rotation conversion is projected on a plane that is perpendicular to the vehicle traveling direction and includes the vehicle position, and the map is displayed based on the map data obtained by projection conversion. Draw on the screen. As a result, it is possible to display a map having a perspective (a bird's eye view) as shown in FIG.

Further, Japanese Patent Application Laid-Open No. 1-219883 proposes a display device for a vehicle-mounted navigation system in which a perspective-displayed road map is displayed on a windshield and overlaid on an actual landscape. This display device coordinate-converts a plane map display drawn on an image display device into a perspective-display road map through a coordinate conversion unit configured by using an optical fiber, and the coordinate-converted perspective-display road. The map is projected on the windshield through the projection means so as to overlap with the actual view seen by the driver through the windshield, and is displayed as a head-up display.

Further, Japanese Patent Publication No. 5-66595 proposes an on-vehicle navigation device which can recognize road conditions by displaying a landscape of a predetermined place on a screen. This on-vehicle navigation device is a landscape (or a landscape in which a characteristic part is extracted) of a predetermined place viewed from the driver side in a storage unit such as an optical disc, an optical card, or a magnetic disc.
Is stored as image data, and when the vehicle approaches a predetermined place, the image data of the landscape corresponding to the place is read out and displayed on the screen. In order to display the landscape viewed from the driver's side, a plurality of image data are prepared for each of the corners for each traveling direction.

[0005]

By displaying a map having a sense of perspective (a bird's eye view or a bird's eye view), it is possible to display the map in a state close to that of the actual view of the landscape. However, conventional road maps only include position data of roads, railways, rivers, main structures, etc., so that a landscape such as the shape of a grade separation road and the appearance of main structures should be displayed three-dimensionally. I can't. Therefore, there has been a demand for a navigation device capable of displaying a map in a form close to an actual landscape. Also, if a map can be displayed in a form close to the actual scenery, a simulated driving experience can be effectively performed.

As proposed in Japanese Patent Publication No. 5-66595, it is possible to display the scenery at a predetermined point by recording the scenery at a predetermined point such as an intersection as image data in advance. In order to display the landscape viewed from the driver's side (landscape according to the traveling direction of the vehicle), it is necessary to prepare a plurality of image data corresponding to each traveling direction, and the amount of image data per point Will be huge. Further, it is difficult to combine landscapes at a plurality of points such as intersections up to three destinations and display them on the same screen.

The present invention has been made to solve such a problem, and an object thereof is to provide a vehicle-mounted navigation device capable of three-dimensionally displaying the scenery of roads, main buildings, intersections, and the like. To do.

[0008]

In order to solve the above-mentioned problems, the present invention according to claim 1 uses a road, a building, etc.
3D digital road with data for original display
Road map database and specified from specified point
An image generation unit that generates three-dimensional image information looking at the line of sight
The processing unit and the three-dimensional image information generated by this image generation processing unit.
Equipped with an image display device for visually displaying information
Car navigation system for 3D digital
Road map database is a plan map viewed from the sky
, A bird's-eye view of a given direction from a given height, inside the vehicle
Including the data related to the guide map looking outside from the
Branches related to branch points on road maps that may be changed
It is a point code, and the code related to the road type and the road
A branch point code consisting of the branch point number code
The image generation processing unit causes the vehicle to approach an arbitrary branch point.
And the three-dimensional data based on the branch point code related to this branch point.
Corresponding road / building from the Zital Digital Map Database
Take out the three-dimensional display data related to
Multiple 3D image information around the branch point based on the display data
Is generated and displayed on the image display device .

The present invention according to claim 2 has the above-mentioned structure.
In the image generation processing unit, the vehicle approaches the branch point.
And the screen of the image display device is divided into two display areas.
Image showing a plan map including the current position of the vehicle in the display area of
Is displayed, and it is possible to guide the vehicle in the other display area.
The image showing the three-dimensional image information around the branch point is displayed.
It is characterized by making it.

The present invention according to claim 3 has the above-mentioned structure.
In the above, preferably, the image generation processing unit causes the vehicle to branch.
When the point is approached, the screen of the image display device is divided into two display areas.
A bird's-eye view of the front of the vehicle from a high place in one display area
Display the image showing the figure, and drive the vehicle in the other display area.
An image representing three-dimensional image information of a branch point that enables guidance
Is displayed. Further according to claim 4
The invention of the present application preferably has the above-mentioned configuration,
The generation processing unit displays the vicinity of the branch point displayed on the image display device.
Shows route guidance display in a bird's eye view based on 3D image information
It is characterized by displaying the information.

Further, the image generation processing unit is
3D image showing route guidance display in overhead view when approaching
It is characterized by generating image information. The vehicle-mounted navigation device according to the present invention includes a three-dimensional digital road map database in which a building, an overpass, and the like are represented by a combination of a plurality of three-dimensional polygons, and a designated line-of-sight direction from a designated point is displayed. Since the image generation processing unit for generating the viewed three-dimensional image information is provided, for example,
You can set and check the travel route while displaying the plan map image viewed from directly above, display a bird's-eye view of a predetermined direction from a predetermined height while driving, or display an overhead view on the screen. When the route change point approaches, it is possible to display a three-dimensional guide image of the route change point such as an intersection from the inside of the vehicle.

[0012]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the accompanying drawings. FIG. 1 is a block configuration diagram of a vehicle-mounted navigation device according to the present invention. A vehicle-mounted navigation device 1 according to the present invention includes a three-dimensional digital road map database (hereinafter simply referred to as a road map database) 2, a vehicle position detection device 3, an input operation unit 4, an overall control unit 5, and a navigation. A control unit 6, an image generation processing unit 7, an image composition / output unit 8, an image display device 9,
It is composed of a voice synthesis output device 10.

The road map database 2 is constructed by using a recording medium 2a (for example, a CD-ROM) on which map data is recorded and a reproducing device 2b thereof. The recording medium 2a includes road map data and various structures (public offices, banks,
Data for three-dimensionally displaying schools, station buildings, airports, hotels, buildings, various facilities, etc. is recorded in advance. The road map database 2 may be configured by using a magnetic disk device, a magneto-optical disk device and its reproducing device, an IC card memory and its reading control unit, or the like.

The road map data is structured as follows. A branch point code is assigned to all branch points (intersections, branch paths, interchangeable points, etc.). The branch point code is composed of a code relating to the road type (for example, XX highway, national road Δ line, prefectural road XX line, etc.) and a branch point number code on the road. It is provided with text information for displaying the road name in characters corresponding to the road type code. Position data and elevation data are provided for each branch point. The position is specified by longitude and latitude. A specific point may be the origin of the map coordinates, and the position at the origin coordinates may be designated. Each branch point has data regarding traffic rules such as entry prohibition, right-and-left turn prohibition, and traffic restriction time. Each branch point has data of an adjacent branch point (a road is connected). If necessary, text information for displaying the names of intersections and the like in characters is provided in association with the branch point code.

A road between two adjacent branch points is line segment data of the road section (data relating to the curved shape of the road).
And section distance data, if the change in altitude in the road section is not monotonous, data that associates one or more positions in the road section with the altitude, data on road shape (road width, number of lanes, central separation) With or without belts, with or without sidewalks, with or without roadside trees, tunnel sections, elevated sections, etc.). Instead of providing the data about the road shape, the road section polygon data may be provided for each road section by expressing the road shape by combining a plurality of polygons. In addition, the road display priority is given to each road section so that only the main roads can be extracted and displayed in the wide area map display and the wide area bird's-eye view display.

Data (three-dimensional data) for three-dimensionally displaying a building is constructed as follows. For buildings that exist around each branch point and serve as landmarks (landmarks) for the characteristics of the branch point and route guidance, position data for each of the one or more buildings and the three-dimensional structure of those buildings are provided. And polygon data in which a shape is represented by a plurality of polygons. Each polygon is provided with texture information for expressing its color, pattern, texture, or the like, or texture designation information for designating texture information. The position data, polygon data, texture information or texture designation information is recorded in association with the branch point code. The road shape at the branch point may be provided as polygon data. Further, when the branch point has a graded intersection structure, polygon data for displaying the graded intersection structure three-dimensionally is provided. If necessary, it is provided with text information for displaying the name of the building in characters.

A main building, which serves as a landmark (landmark) regardless of the periphery of the branch point, has its position and polygon data for three-dimensionally displaying the characteristics of the building. For station buildings such as railways, railroad crossings, bridges related to rivers, etc., polygon data for three-dimensionally displaying the characteristics and position data are provided. Each building is provided with building display priority data that defines the display priority. For example, targets such as Tokyo Tower and skyscrapers that are targets from a long distance have a high display priority, and targets that are relatively close to the target have a display priority of medium and close to them. If it becomes a mark, the display priority is set low. For each building, text information for displaying the name (name) of the building is provided. In addition, each building has a building type code (for example,
By adding symbols relating to the division of government offices, banks, schools, hotels, leisure facilities, etc., for example, only banks can be extracted and displayed.

The polygon data of each building is provided with a preset specific viewpoint (for example, a predetermined line-of-sight height from south to north).
I have registered what I saw. Many buildings, station buildings, etc. have almost the same exterior structure except for the direction in which they are constructed. Therefore, several types of polygon data representing them can be registered as parts and the registered parts can be used. With respect to, the position data of the building may be recorded in association with the registered part name and the data indicating in which position the registered part is arranged. By using the registered parts, the amount of polygon data registered in the three-dimensional digital map database 2 can be reduced. When it is not necessary to distinguish cherry trees and cedar trees, the amount of data can be reduced by registering polygon data that is a model of a roadside tree as parts.

FIG. 2 is a block diagram showing a specific example of the vehicle position detecting device. The vehicle position detection device 3 includes a direction signal 31a from a direction sensor 31 such as a gyroscope or a geomagnetic sensor, and a pulse signal or the like output from a travel distance sensor 32 such as a wheel rotation sensor for each predetermined unit travel distance. The dead reckoning device 33 that sequentially calculates the position of the vehicle based on the distance signal 32a and the GPS position measuring device 35 that detects the position based on the signals from the plurality of GPS satellites received by the GPS receiving antenna 34 are used together. With this configuration, the current position can be estimated even when the radio wave from the GPS satellite cannot be received.

The vehicle position detecting device 3 also outputs a running locus calculating means 36 for obtaining a running locus based on the vehicle position data 33a sequentially output from the dead reckoning device 33, and the running locus calculating means 36. A map for comparing the running locus data 36a with the road map data 2c read from the road map database 2 and focusing on the characteristic parts of the running locus such as intersections and inflection points to correct the current position of the vehicle on the road. The matching means 37 is provided.

Further, the vehicle position detection control means 38 in the own vehicle position detecting device 3 is provided with a current position (initial position) of the vehicle.
If the setting operation of is not performed, the GPS measurement device 3
The position data 35a output from No. 5 is supplied to the dead reckoning device 33 as initial position or provisional position data 38a, and is output as the own vehicle position data 3a. Further, the vehicle position detection control means 3
Reference numeral 8 supplies the position correction data 37a output from the map matching means 37 to the dead reckoning device 33 to correct the current position data of the vehicle, and further, the latest vehicle position data 33a sequentially outputted from the dead reckoning device 33. Is supplied to the navigation control unit 6 as the vehicle position data 3a.

The own vehicle position detecting device 3 also receives the data concerning the intersection name and the intersection position transmitted from the roadside beacon device using light or radio waves.
When it is received via 9, the present position of the vehicle can be corrected based on the received intersection name and data relating to the intersection position. Further, the latest traffic information 39a such as traffic jam information, accident information, traffic regulation information, etc. received by the beacon receiver 39 is supplied to the navigation control unit 6.

As shown in FIG. 1, the input operation section 4 includes an operation mode selection section 4a, a display viewpoint selection section 4b, and a detailed item setting section 4c. This on-vehicle navigation device 1
Has roughly three operating modes. There are three modes: route setting / confirmation mode, navigation (vehicle guidance) mode, and simulated experience mode. Operation mode selection unit 4
Each operation mode can be selected by operating an operation mode selection key (not shown) provided in a.

The display viewpoint selecting unit 4 b is provided with a key or the like for selecting a viewpoint of the map to be displayed on the screen. This on-vehicle navigation device 1 can select three types of display viewpoints. By selecting a display viewpoint, a plane map viewed from the sky and a predetermined direction from a predetermined point and a predetermined height are seen (for example, the current position of the vehicle or a little behind it, the number of ground heights is 1
It is possible to switch between three types of map display modes: a bird's-eye view (viewing the traveling direction of the vehicle from the position of 0 meters) and a guide map (guidance landscape) corresponding to the view from the inside of the vehicle. .

In the flat map display state, the map can be rotated in the direction desired by the user in addition to the standard display state in which the north is displayed on the screen. In the overhead view display state, the viewpoint position, viewpoint height, and viewpoint direction can be arbitrarily set. In the display state of the guide map, as a general rule, the scenery of the traveling direction of the vehicle is displayed from the inside of the vehicle in order to guide the route at intersections and grade separations. You can also display the landscape on the left.

The detailed item setting section 4c is used to set keys for designating the scale (high range, middle range, detail) of the planar map, the display range of the overhead view, the viewpoint position, the viewpoint height, and the viewpoint direction. And a key for setting the line-of-sight height of the driver's vehicle in the guide map display state (the ground clearance of the driver's seat). Since the scenery seen from the driver's seat is slightly different between passenger cars and large vehicles, setting the line-of-sight height (ground height of the driver's seat) enables a display closer to the actual scenery. The detailed item setting unit 4c includes a cursor movement key for designating a destination, a waypoint, a target building, and a cursor position determination key. The detailed item setting unit 4c includes keys for setting a departure time, an estimated arrival time, and the like. The detailed item setting unit 4c includes keys for designating the type of building to be displayed.

The operation mode selection unit 4a, the display viewpoint selection unit 4b, and the detailed item setting unit 4c do not have various function keys for performing selection and setting operations, and a menu for selection and setting is displayed on the screen. It is displayed so that the operation mode can be selected using the cursor movement key operation or a pointing device (image position pointing device) such as a mouse, or the operation mode can be selected using the transparent touch panel provided on the CRT screen. May be. Further, a voice recognition device (not shown) may be used to enable voice input operation.

The overall operation control unit 5 controls the overall operation of the on-vehicle navigation device 1, and includes a request recognition unit 5a, a menu information generation unit 5b, and a setting condition storage unit 5.
and c. The request recognition unit 5a recognizes various requests input from the input operation unit 2 and various requests output from the navigation control unit 6, and outputs an image generation command and an image display command based on a preset priority order. To do. The request recognition unit 5a, if various selection requests and setting requests input from the input operation unit 4 require a menu screen for selection and setting, the menu information generation unit 5b.
To generate the necessary menu information and display the generated menu information as an image.

The setting condition storage section 5c includes an initial data storage section and a user setting data storage section. The initial data storage unit stores previously prepared data such as standard operation / display conditions. As a result, various operations / displays can be performed even if the user does not set detailed items. When the user sets operating conditions and display conditions suitable for himself / herself, those setting data are recorded in the user setting data storage unit. For example, the condition setting data for the overhead view display (display range, viewpoint position, viewpoint height, line-of-sight direction) and the line-of-sight height for the guide image display (driver's seat ground height) are recorded in the user data storage unit. To be done. Then, when the user data is set in the user data storage unit, the request recognition unit 5a gives priority to the condition set by the user.

The navigation control unit 6 includes a destination time storage unit 6a, a route automatic setting unit 6b, a set route storage unit 6c, and a guidance control unit 6d. In the route setting / confirmation mode, by specifying the position on the planar map displayed on the screen with the cursor, when the departure point, the waypoint, and the destination are set, those position data are navigated from the overall operation control 5. The destination time is stored in the storage unit 6 which is supplied to the control unit 6.
It is stored in a. It is also possible to set buildings as transit points and destinations. In addition, a building can be registered as a target (mark). When the scheduled departure time, scheduled arrival time at the destination, scheduled departure time at the destination, scheduled arrival time at the destination, etc. are set, these time data are stored in the destination time storage unit 6a in association with each point. Is stored.

When the general operation control unit 5 supplies the route control end notification to the navigation control unit 6, the route automatic setting unit 6b analyzes the road map data 2c read from the road map database 2 to reach the destination. Search for a route. The navigation control unit 6 stores the data of each branch point code and the scheduled passage time of the main branch point in the set route storage unit 6c along the searched route. Further, the set route data is sent to the image generation processing unit 7 via the overall operation control unit 5.
To the image display device 9. This allows the user to confirm the route.

The guidance control unit 6d includes the route data stored in the set route storage unit 6c and the own vehicle position data 3a sequentially output from the own vehicle position detecting device 3 as the vehicle travels.
And the next branch point code, distance data to the branch point, and data relating to the route at the branch point are supplied to the image generation unit 7 via the overall operation control unit 5. In addition,
The distance data up to the branch point without supplying may be given a display command of the guidance diagram when the distance to the next branch point becomes a predetermined value set in advance.

When the next branch point is a route change point, when the distance to the next route change point reaches a preset value, the guidance control unit 6d uses the voice synthesis output device 10 to display, for example, "100 meters. Turn off the left at the previous intersection. " The timing of outputting the voice message may be controlled according to the vehicle speed. For example, if the vehicle is traveling at a high speed such as on a highway, a voice message is output about 1 km before the next course change point.

The navigation control unit 6 includes a clock device (not shown) having a calendar function. Guidance controller 6
d compares the scheduled passage time with the actual passage time, and when the difference is equal to or more than a preset value, the route automatic setting unit 6b is activated to check the validity of the remaining routes. If there is a branch point subject to traffic time restrictions, the route automatic setting unit 6b
Resets the route and updates the route data in the set route storage unit 6c. As a result, it is possible to set an appropriate route corresponding to the actual traveling point and time. When the vehicle deviates from the set route, the guidance control unit 6d supplies data regarding the departure point and the departure direction to the route automatic setting unit 6b to instruct the search for the return route. The route automatic setting unit 6b searches for a return route and updates the route data in the set route storage unit 6c based on the search result. Note that the setting automatic setting unit 6b may be configured to search for a return route in advance assuming a case where the vehicle deviates from the route at the next branch point, and to promptly deal with the case when the course deviates.

The navigation controller 6 controls the traffic information 3 received by the beacon receiving device 39 in the vehicle position detecting device 3.
9a is provided with an analyzing means (not shown), and when there is a traffic jam or a traffic regulation on a route to be traveled from now on, information about the traffic jam section and the traffic regulation is supplied to the route automatic setting unit 6b to reset the route. I am trying.

FIG. 3 is a block diagram showing a specific example of the image generation processing section 7 . The image generation processing unit 7 includes a display range setting unit 7a, an image extraction / conversion unit 7b, and an image generation unit 7
c and a generated image information storage unit 7d.

The display range setting section 7a sets the area and display contents of the map to be displayed on the screen of the image display device 9 based on the type of map to be displayed and the setting contents of detailed items. If a display request for a wide area planar map is given from the overall operation control unit 5 without specifying the area to be displayed, the display range setting unit 7a centers the own vehicle position, and the specified map scale (wide area, middle area, The map range to be displayed on the screen is obtained based on the details (type such as details), and the obtained map range is output to the image extraction / conversion unit 7b. Further, the display priority set in advance according to the designated map scale (type of wide area, middle area, detail, etc.) is output to the image extraction / conversion unit 7b. When the user has designated the building type (for example, wanting to display only the bank), the display range setting unit 7a gives the designated building type code to the image extraction / conversion unit 7b. When receiving the scroll request for the planar map display, the display range setting unit 7a obtains a new display range corresponding to the requested scroll direction, and outputs the obtained display range to the image extracting / converting unit 7b.

In the overhead view display mode, based on the display conditions such as the vehicle position 3a and the line-of-sight height and the line-of-sight direction, as shown in FIG. Also obtains a trapezoidal bird's-eye view area having a longer side farther from the vehicle, or a fan-shaped bird's-eye view area as shown in FIG.
Give to. When a bird's-eye view display request is input from the input operation unit 4 by designating a point and a line-of-sight condition, the display range setting unit 7a obtains a bird's-eye view range under the designated conditions. By setting the line-of-sight height high, you can get a bird's eye view from a distance. The lower the line-of-sight height, the narrower the bird's-eye view range. The display priority of roads and buildings is preset according to the bird's-eye view range or the line-of-sight height. If you want a bird's eye view of a wide area,
Structure display Only the structures with high priority are displayed.
If overhead range is narrow, it to be displayed, including those lower display priority, to enrich the display contents of the building. If the user has specified a building type, only the specified building is displayed. The building display priority and the road display priority may be changed according to the distance from the viewpoint, so that nearby objects may be displayed in detail, and distant objects may be displayed as main roads and buildings. .

When the navigation mode and the designation of the line-of-sight direction are omitted, the display range setting section 7a sets the line-of-sight direction so that the set route is approximately the center of the overhead view display and the main direction of the route is above the screen. Set. Although the line-of-sight direction may be set so that the traveling direction of the vehicle is above the display screen, in this case, the display direction of the bird's-eye view may be frequently changed as the vehicle travels. The line-of-sight direction may be set so that the destination or the next waypoint is above the display screen. The size of the bird's eye view range may be automatically switched according to the vehicle speed. When traveling at high speed on a highway, etc., a bird's-eye view from a considerable distance is displayed, and when traveling in the middle to low speed in urban areas, etc., a bird's-eye view with a rich display of buildings, etc. is displayed in a relatively narrow range. To be done.

In the navigation mode, as the vehicle travels, the next intersection and the distance data to the intersection are output from the navigation device 6 and supplied to the display range setting unit 7a via the overall operation control unit 5. Overall operation control unit 5
Is the line-of-sight height when the guide image is displayed (driver's seat ground clearance)
Is supplied to the display range setting unit 7a. The display range setting unit 7a calculates the display range of the guide image based on the next intersection, the distance data to the intersection, and the line-of-sight data, and supplies the calculated display range to the image extraction / conversion unit 7b.

The image extraction / conversion unit 7b includes a display target extraction unit 11, an extracted data temporary storage unit 12, and a road generation unit 13.
A coordinate conversion unit 14, a projection / perspective conversion unit 15, and a sort processing unit 16.

The display target extraction unit 11 is a display range setting unit 2
All road map data within the display range and three-dimensional data (polygon data) of all buildings are read from the road map database 2 based on the specified information related to the display range supplied from a, and the read data is extracted data. It is stored in the temporary storage unit 12. When the building display priority is designated, only the buildings that satisfy the designated condition are extracted, and the extracted data is stored in the extracted data temporary storage unit 12. If the building type is specified, only the specified building is extracted. When the road display priority is specified, only roads to be displayed are extracted. In addition,
When a structure is specified as a waypoint, a destination, or a mark, the specified structure is extracted regardless of the display priority of the structure.

The road generation unit 13 generates a road map based on the road map data stored in the extracted data temporary storage unit 12. Since it is not possible to express the difference in road width and the presence or absence of sidewalks and roadside trees in a wide area display map or a wide area bird's-eye view, a road map expressed by line segments with different line widths according to the road width is generated. If the road is represented by polygon data, the road generation unit 13 is unnecessary.

The coordinate conversion unit 14 views the generated road map and the building stored in the extracted data temporary storage unit 12 from the viewpoint specified from the absolute coordinate system adopted by the road map database 2 side. Convert to the coordinate system.

Since the building is viewed from directly above in the planar map display, the characteristics of the building may not be effectively expressed in some cases. Therefore, by converting the coordinates of each building as viewed obliquely from above, an illustration-like plan map expressing the three-dimensional shape of the building is created.

The projection / perspective conversion unit 15 performs a process for displaying a three-dimensional object such as a road or a building converted into the viewpoint coordinate system on a two-dimensional screen. In the case of a two-dimensional map display, parallel projection processing is performed. In the overhead view and guide map display, perspective projection processing is performed so that distant objects appear smaller.

The sort processing section 16 rearranges the projection-processed polygons in the order closer to the viewpoint, and supplies each polygon data to the image generation section 7c in the sorted order. If a building is designated as a waypoint or a destination, and if a landmark building is designated, the sort processing unit 16 uses the polygon data of the designated building as polygon data. Correspondingly, the mark display designation information is added and output.

The image generating section 7c includes a display image generating section 21.
, Texture information storage unit 22, and buffer memory unit 2
3 and 3. The display image generation unit 21 includes the sort processing unit 1
The image information of all dots (pixels) inside the polygon is calculated based on the polygon data supplied in a predetermined order from 6 and the texture information associated with the polygon data, and is written in the buffer memory unit 23. The display image generation unit 21 distinguishes and manages dots (pixels) in which image information is written and non-written dots (pixels). Then, the image information calculation of the next polygon supplied in the sort order is performed only on the non-written dots. If unwritten dots (pixels) are left at the time when the image information calculation is completed for all polygons, a preset background color may be written to the left dots (pixels).

The buffer memory unit 23 includes two systems of video memory. One system is for normal display, the other one
The system is for displaying buildings that cannot be seen after the buildings in the foreground under certain conditions. When the display image generation unit 21 receives the polygon data to which the mark display designation information is added, the display image generation unit 21 checks whether or not the dot to which the image information for the polygon is to be written has already been written, so that it is designated as the mark. It is determined whether or not the building is visible from the current viewpoint, and if part or all of the designated building is not visible, the calculation result of the image information of the designated building is written in another one system of video memory. Even if the building designated as a landmark or destination is not visible from the current viewpoint, by preparing only the image information of the designated building separately, the designated building can be displayed blinking at a predetermined cycle by image composition. , Can be displayed for a predetermined time in response to a mark display request from the user.

Incidentally, the designated building which cannot be seen from the current viewpoint may have its contour image extracted and written in the corresponding dot position of the normal display video memory. Further, a symbol such as a circle mark indicating the position of the designated building may be written. When such a configuration is adopted, only one system of video memory is required.

The texture information storage unit 22 stores previously prepared texture information (information representing the color, pattern, texture, etc. of polygons). Note that this texture information may be stored in the map database 2, and the texture information necessary for extracting the display target may be read and transferred to the texture information storage unit 22 for temporary storage.

When the texture information is attached to the polygon, the display image generation unit 21 performs image processing for each dot inside the polygon while performing coordinate conversion between the texture coordinates and the current viewpoint display coordinates.

The display image generation unit 21 includes the overall operation control unit 5
Based on the vehicle position data 3a and the traveling direction data supplied via the vehicle, the vehicle position on the currently generated image is calculated, and the vehicle position mark and the traveling direction registered in advance at the calculated vehicle position are calculated. Write the mark shown. Further, when the route direction data at the next branch point is supplied, a route guide mark such as an arrow indicating the route direction is written at the corresponding branch point position. In the case of a configuration including two systems of video memory, the vehicle position mark, the traveling direction mark of the vehicle, and the route guidance mark at the branch point are written in the second video memory, and the image synthesis / output unit 8 The map display image and various mark images may be combined and displayed.

The display image generator 21 includes a character generator (character generator) not shown. The display image generation unit 21 displays the name by writing a character font pattern for displaying the name based on the text information indicating the name of the building and the like in the vicinity of the corresponding building. The character font pattern for displaying the name may be written in the second video memory and the contents of both video memories may be combined and displayed only when the name display is requested. Further, in the case where the building is arranged in a complicated manner, the display position of the name may be separated from the building, and the building and the name display position may be connected with an appropriate line segment to provide a correspondence. .

The generated image information storage unit 7d includes a plan map storage unit 31, an overhead view storage unit 32, and a guide map storage unit 33. After generating the image in the specified map display form, the display image generation unit 21 transfers the generated image information to the storage unit of the corresponding map display form in the generated image information storage unit 7d.

The image composition / output unit 8 shown in FIG. 1 comprises an image composition unit and a display device interface unit. The image synthesizing unit has a function of outputting one type of designated image information and a function of synthesizing a plurality of designated image information under a designated synthesizing condition and outputting the synthesized image information. The display device interface unit converts the selected image information or the combined image information into a video signal suitable for the image display device using the image information. When a CRT display device is used as the image display device 9, the display device interface section includes a CRT interface circuit for converting image information into an analog video signal. A liquid crystal display device may be used as the image display device 9.
A head-up display device may be provided to display a guide map or the like on the windshield surface, for example.

Next, the operation of the vehicle-mounted navigation device 1 will be described. When the route setting / confirmation mode is designated by the operation of the operation mode selection unit 4a of the input operation unit 4, the overall operation control unit 5 causes the image generation unit 7 to generate a plane map including the current position of the vehicle, and The required operation menu is generated by the menu information generation unit 5b, and the planar map and the operation menu are combined by the image combining / output device 8 and displayed on the screen of the image display device 9.

FIG. 5 is an explanatory diagram showing a display example of a plane map in the route setting / confirmation mode. Reference symbol P is a vehicle position mark, reference symbol K is a cursor, and reference symbol M is an operation menu display section. Each building is three-dimensionally displayed as viewed from diagonally above each building. By designating the viewpoint to be directly above, it is possible to display the same as a normal map (without displaying the building three-dimensionally). Further, by specifying the type of building, for example, only the school can be displayed three-dimensionally (other buildings are displayed in a plane), or only the building set as the target can be displayed three-dimensionally. The scale of the map (wide area, middle area, details) is displayed on the operation menu display section M.
It shows keys or icons for changing and map scrolling, and some menu items. The operation menu has a multi-layered structure, and necessary items are displayed according to the specified items. Note that FIG. 5 shows a case where the name of the building is set to be displayed when the type is a school, or a case where XX university is set as a mark, and the vicinity of the vehicle position mark P is shown. The name of the building located in is marked.

By designating a new route setting menu in this route setting / confirmation mode, a submenu for inputting a destination, a waypoint, a scheduled time, etc. is displayed, and a traveling route can be input. When the operation for ending the input of the travel route is performed, the navigation control unit 6 automatically searches for a route to the destination. The searched route is displayed on the road map.

When the route setting / confirmation mode is activated while the on-vehicle navigation device 1 is in the standby state, the overall operation control unit 5 determines that the route setting is requested, and focuses on the own vehicle position. Display the map. When the route setting / confirmation mode is activated during the navigation mode, the overall operation control unit 5 determines that the route confirmation has been requested, and generates a map that can be displayed wider in the traveling direction side than the own vehicle position, and simultaneously travels. Display including the route.

When the navigation mode is selected,
In addition, when the vehicle starts traveling after the route setting operation is completed, the overall operation control unit 5 enters the navigation operation mode. In this navigation operation mode, as a general rule, the overall operation control unit 5 displays a bird's-eye view unless a display map selection unit 4b requests a planar map display.
When the next branch point approaches, the bird's-eye view and the guide map of the branch point are combined and displayed.

FIG. 6 is an explanatory diagram showing a display example of a bird's eye view. In FIG. 6, the symbol M is a building set as a destination. When the destination or the building set as the landmark is within the range of the bird's-eye view, the position is displayed. There is a tall building or the like around the building M set as the destination, and the building M is displayed by blinking or a dotted line. Further, it can be seen that the road that crosses the center of the display screen in the vertical direction in the horizontal direction has an elevated structure.

FIG. 7 is an explanatory diagram showing an example of a combined display of a bird's eye view and a guide map. When the branch point or the point where the course is changed approaches as the vehicle travels, a bird's-eye view and a guide map are combined and displayed as shown in FIG. 7. FIG. 7 shows an example in which the overhead view is displayed on the lower side and the guide map is displayed on the upper side. In the overhead view display, the target branch point is surrounded by a round frame and the name of the branch point is displayed. You may raise the brightness | luminance of the target branch point, or it may blink and may be highlighted. On the guide map, the buildings around the junction and the arrows indicating the route are displayed. This guide map draws and draws the scenery seen from the driver's line-of-sight so that it looks like the scenery actually seen from the inside of the vehicle, so it is easy to understand the course. At the time of passing the branch point, the screen display returns to the one showing only the overhead view.

The guide map can be independently displayed by setting the detailed items. In this case, when the next branch point approaches,
The contents displayed on the screen switch from the overhead view to the display of only the guide map, and return to the overhead view when passing the branch point.

When the course change is repeated at short distance intervals, such as turning left tens of meters after turning right, a bird's-eye view including a plurality of intersections may be displayed.

When the user selects and designates the display of the plan map instead of the bird's-eye view, the designated plan map and the guide map are combined and displayed, or the plan map and the guide map are switched and displayed. .

The route may be guided by displaying a bird's-eye view around the branch point from several hundred meters before the branch point. FIG. 8 shows a bird's eye view display example around the branch point.
At intersections and the like of the grade separation structure, the grade intersection structure is displayed, so that it is easy to understand the course. FIG. 9 shows an example of a guide map of a grade separation structure.

When the simulated experience mode is set, a simulated experience control unit (not shown) provided in the guidance control unit 6d performs a simulated run based on the set route data stored in the set route storage unit 6c. The vehicle runs at a very high speed on the road section, and is simulated at a stop at each branch point. As a result, the vehicle position mark moves at high speed on the bird's-eye view or the plan map, the map display is scrolled along with the movement, and the guide map is displayed for a fixed time each time each branch point is reached. It is also possible to specify a road section and have a simulated experience of only the specified section. It is also possible to display the guide map only at the branch points where the route is changed.

[0069]

As described above, the vehicle-mounted navigation device according to the present invention is a three-dimensional digital map database and an image generation process for generating three-dimensional image information in which a designated line-of-sight direction is viewed from a designated point. Since the unit and the image display device are provided, a plane map can be selected by selecting a viewpoint,
It is possible to generate and display a bird's-eye view and a guide map that looks at a scene such as an intersection from inside the vehicle. Generates and displays a planar map (same scale map) and a bird's-eye view (map that applies perspective) that displays the three-dimensional characteristics of buildings and the grade separation structure of roads, and guides the route at intersections, etc. Is displayed three-dimensionally with a feeling of being close to the actual scenery, so you can intuitively understand the traveling position, traveling route, and course. In addition, you can experience driving by simulating the scenery of each intersection and so on. By adopting polygon data as the data for three-dimensional display, the data amount of the road map database can be kept within a practical range.

[Brief description of drawings]

FIG. 1 is a block diagram of a vehicle-mounted navigation device according to the present invention.

FIG. 2 is a block configuration diagram showing a specific example of a vehicle position detection device.

FIG. 3 is a block configuration diagram showing a specific example of an image generation unit.

FIG. 4 is an explanatory diagram showing a specific example of designation of a display range of an overhead view.

FIG. 5 is an explanatory diagram showing a display example of a plane map.

FIG. 6 is an explanatory diagram showing a display example of a bird's eye view.

FIG. 7 is an explanatory diagram showing a combined display example of a bird's eye view and a guide map.

FIG. 8 is an explanatory diagram showing a display example of a bird's eye view around a branch point.

FIG. 9 is an explanatory diagram showing a display example of a guide map of a grade separation structure.

FIG. 10 is an explanatory diagram showing a conventional example of a map display having a perspective.

[Explanation of symbols]

1 Car navigation system 2 3D digital road map database 3 Vehicle position detection device 4 Input operation section 4b Display viewpoint selection section 5 Overall operation control unit 6 Navigation controller 7 Image generation processing unit 7a Display range setting section 7b Image extraction / conversion unit 7c image generator 7d Generated image information storage unit 8 Image synthesis / output section 9 Image display device 10 Speech synthesis output device

─────────────────────────────────────────────────── ─── Continued Front Page (58) Fields surveyed (Int.Cl. ⁷ , DB name) G09B 29/00-29/14 G01C 21/00 G06T 17/40 G08G 1/0969

Claims (4)

(57) [Claims] 1. A three-dimensional digital road map database provided with data for three-dimensionally displaying roads / buildings, etc., and viewing the designated line-of-sight direction from a designated point.
An in-vehicle navigation device equipped in a vehicle, comprising: an image generation processing unit that generates three-dimensional image information; and an image display device that visually displays the three-dimensional image information generated by this image generation processing unit. Dimensional digital road map database from the sky
Planned map seen, given point, given height to given direction
Data related to the bird's-eye view of the car and the guide map of the outside seen from inside the car
Including roads where the vehicle may change course
It is a branch point code related to the branch point on the map,
From the code concerned and the branch point number code on the road
The image generation processing unit is configured so that the vehicle approaches an arbitrary branch point.
Based on the branch point code related to this branch point,
Before corresponding from 3D digital road map database
Takes out 3D display data related to roads, buildings, etc.
However, based on this three-dimensional display data,
A plurality of three-dimensional image information is generated and displayed on the image display device.
An in-vehicle navigation device characterized by being shown . 2. The image generation processing unit, wherein the vehicle is the
When approaching the turning point, the screen of the image display device is displayed in two screens.
The display area is divided into one display area and the current position of the vehicle is displayed in one of the display areas.
Display the image showing the plan map including the
Around the branch point that enables the vehicle to guide the travel in the indicated area
The vehicle-mounted navigation device according to claim 1 , wherein an image representing the three-dimensional image information of a side is displayed . 3. The image generation processing unit, wherein the vehicle is the
When approaching the turning point, the screen of the image display device is displayed in two screens.
The display area is divided into one display area from a high place
Display an image showing a bird's eye view of the front of the
The branch point that enables the vehicle to guide the traveling in the display area
The vehicle-mounted navigation device according to claim 1 , wherein an image representing the three-dimensional image information is displayed . 4. The image generation processing unit is configured to display the image display device.
The three-dimensional image information around the branch point displayed on the display
The information showing the route guidance display is displayed in the overhead view based on
Vehicle navigation apparatus according to claim 1, characterized in that.