JP3539832B2 - Car navigation system - Google Patents

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to an in-vehicle navigation device that displays a current position of a host vehicle and a direction of the host vehicle on a road on which the vehicle is actually running, in association with a road map image.
[0002]
[Prior art]
In a conventional in-vehicle navigation device, when a road map is displayed on a display device, the road map is scaled up or down to display a planar road map as if the current position of the vehicle is viewed from the sky, or a road map. And a road map as viewed from behind the current position of the vehicle is displayed. This display method is similar to the display of an enlarged view of an intersection displayed during route guidance from a departure point to a destination, and an enlarged view of an intersection in a plan view or a perspective view is displayed. In order to display the current position of the own vehicle on such an enlarged view of the intersection, the current position of the own vehicle is enlarged or reduced in perspective as well as the conversion of the road map, and is overlapped with the enlarged view of the intersection. It should have been displayed.
[0003]
However, in the conventional method of displaying an enlarged view of an intersection in an in-vehicle navigation device, since the display of an intersection that is crossing over three-dimensionally is not three-dimensional, it is difficult for a passenger to sufficiently recognize the shape of the three-dimensional intersection. . For example, when a right turn must be made at the next intersection, there is a problem that appropriate guidance cannot be provided if the right turn is required only from the leftmost lane of the road on which the current road is traveling. Was.
[0004]
As an apparatus for solving this problem, for example, an apparatus described in Japanese Patent Application Laid-Open No. 7-192193 is known. In this device, predetermined identification information is given in advance to node information representing a three-dimensional intersection with lane regulation for turning right and left and straight ahead among node information which is road information, and from a predetermined lane near the three-dimensional intersection. Stores node information in an intersection indicating a point to change lanes to another lane and link information in an intersection indicating a connection state between the points so that a lane to be driven can be guided. It is.
[0005]
However, even in the device described in Japanese Patent Application Laid-Open No. 7-192193, the display of the three-dimensional intersection is a plan view, and it is difficult for passengers to sufficiently recognize the shape of the three-dimensional intersection.
[0006]
Therefore, at present, in the enlarged view of the intersection at the time of route guidance, when the intersection to be guided is a three-dimensional intersection, it is conceivable that the three-dimensional display using a three-dimensional computer graphics technique is used to display the three-dimensional intersection. I have. This allows the passenger to sufficiently recognize the shape of the multi-level intersection, and can change lanes in advance in order to turn right or left or go straight at the multi-level intersection.
[0007]
[Problems to be solved by the invention]
However, according to the above-described conventional technology, when a three-dimensional intersection is displayed three-dimensionally, the own vehicle cannot be displayed on the road of the three-dimensional road map image.
[0008]
An object of the present invention is to solve the above-mentioned problem, and an object of the present invention is to provide an in-vehicle navigation device capable of displaying a vehicle on a road of a road map image displayed on a display device.
[0009]
[Means for Solving the Problems]
In order to achieve the above object, an on-vehicle navigation device according to claim 1 of the present invention includes a road map information storage unit that stores a three-dimensional road shape as road map information, and a road map information storage unit that stores the shape of the road. Road map display means for displaying a three-dimensional road map image using the obtained road map information, own vehicle current position calculating means for calculating the current position of the own vehicle, and a specific position on the three-dimensional road map image. Own vehicle position calculation parameter storage means for storing in advance a parameter for converting to the coordinates of each link for each link, and a parameter stored in the own vehicle position calculation parameter storage means by multiplying the position, and the vehicle display position calculating means for calculating the position on the three-dimensional road map image corresponding to the current position, in the vehicle display position calculating means And a table Shimesuru vehicle display means on the displayed three-dimensional road map image by the road map display device of the current position of the vehicle using the position on the three-dimensional road map image calculated Ri It is characterized by the following.
[0010]
According to the above arrangement, in order to calculate the vehicle display position calculating means, such as by the vehicle display device, a vehicle display position as the vehicle is displayed on the three-dimensional road map picture image, three-dimensional road The own vehicle can be displayed on the road in the map image.
[0011]
According to a second aspect of the present invention, in the vehicle-mounted navigation device according to the first aspect, the own vehicle position calculation parameter storage unit stores the start node position, the end node position and the road width of the actual road, and the actual road. The parameters are calculated and stored from the start node display position, the end node display position, and the road display width of the three-dimensional road map image , and the actual current position of the own vehicle and the current position of the own vehicle are stored. The error from the current position calculated by the calculation means can be reduced on the display screen.
[0012]
According to a third aspect of the present invention, there is provided the on-vehicle navigation device according to the first aspect, wherein an own-vehicle azimuth calculating means for calculating a azimuth in which the own-vehicle is traveling, and the three-dimensional road map image based on the azimuth. which is characterized in that a vehicle display direction calculation means you calculating the display direction of the above, the vehicle on the road where the display direction of the vehicle on the road map image, is actually running Can be displayed so as to correspond to the direction of.
[0013]
Further, the vehicle navigation apparatus according to claim 4, in claim 3, wherein the vehicle display direction calculation means converts the traveling direction calculated by the vehicle azimuth calculating means in a square position vector, the The display direction on the three-dimensional road map image is calculated , and the display of the direction of the own vehicle on the road map image corresponds to the direction of the own vehicle on the road on which the vehicle is actually traveling. Can be displayed as follows.
[0014]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
(Embodiment 1)
FIG. 1 shows a configuration of an in-vehicle navigation device according to Embodiment 1 of the present invention. In FIG. 1, reference numeral 101 denotes an own-vehicle display position calculation parameter for calculating an own-vehicle display position so that the own vehicle is displayed on a road of a road map image displayed on a display device. Own vehicle display position calculation parameter storage means for calculating and storing for each link; 102, own vehicle existence link determining means for determining which node the own vehicle is currently traveling on; Own vehicle display position calculation parameter obtaining means for obtaining own vehicle display position calculation parameters from own vehicle display position calculation parameter storage means 101 based on the link information determined by the link determination means 102; 104 represents the current position of the own vehicle The vehicle current position calculating means 105 for calculating the latitude and longitude information, the latitude and longitude information calculated by the vehicle current position calculating means 104 and the vehicle display position calculation parameter Own vehicle display position calculation means for calculating the own vehicle display position on the display screen of the display device based on the own vehicle display position calculation parameter acquired by the data acquisition means 103; 106 is calculated by the own vehicle display position calculation means 105 Own vehicle display means for displaying the own vehicle on the display device 109 based on the obtained own vehicle display position information, 107 is a road map information storage means for storing road map information, and 108 is the road map information to the display device 109. This is a road map display means to be displayed.
[0015]
Next, the operation in the first embodiment will be described. First, the host vehicle existence link determination means 102 determines which node the host vehicle is currently running on. FIG. 2 shows the nodes n1 to n4, the links L1 to L5, and the current position of the own vehicle. In this case, the own vehicle existence link determination means 102 determines that the link on which the own vehicle is currently running is L2. judge.
[0016]
Next, the own-vehicle display position calculation parameter acquiring unit 103 reads the parameters (a, b, c, d, e, f) from the own-vehicle display position calculation parameter storage unit 101 based on the link information on which the own vehicle is currently traveling. To get. In the case shown in FIG. 2, since the link on which the host vehicle is currently traveling is L2, the host vehicle display position calculation parameter obtaining unit 103 obtains the parameters (a2, b2, c2, d2, e2, f2). .
[0017]
On the other hand, the own vehicle current position calculating means 104 calculates latitude X and longitude Y representing the current position of the own vehicle.
[0018]
Using the calculated current position information of the own vehicle and the obtained own vehicle display position calculation parameter, the own vehicle display position calculation means 105 calculates the display position (X, Y) on the screen of the own vehicle by (Equation 1). calculate.
[0019]
(Equation 1)
X = a × x + b × y + c
Y = d × x + e × y + f
The road map display means 108 displays a road map on the display device 109 based on the road map information stored in the road map information storage means 107, and the own vehicle display means 106 The current position of the host vehicle is displayed on the road map at the calculated display position of the host vehicle on the screen.
[0020]
FIG. 3 shows a display example of the road and the current position of the host vehicle according to the first embodiment. N1 to N4 shown in FIG. 3 are node display positions on the display screen corresponding to the nodes n1 to n4 shown in FIG.
[0021]
As described above, according to the first embodiment, the host vehicle display position calculation parameter storage unit 101, the host vehicle existence link determination unit 102, the host vehicle display position calculation parameter acquisition unit 103, and the host vehicle current position calculation unit 104 By providing the own vehicle display position calculation means 105, the own vehicle can be displayed on the road in the road map image in a superimposed manner.
[0022]
(Embodiment 2)
Next, a method of calculating the host vehicle display position calculation parameter according to Embodiment 2 of the present invention will be described. FIG. 4 shows a start node ns and an end node ne for the link L. In FIG. 4, the position coordinates of the start node are (xs, ys), and the position coordinates of the end node are (xe, ye). FIG. 5 is a road display on the display screen corresponding to the link L shown in FIG. In FIG. 5, NS is a display position corresponding to the start point node ns shown in FIG. 4, and the display position coordinates are (XS, YS). NE is the display position for the end point node ne shown in FIG. 4, and the display position coordinates are (XE, YE).
[0023]
FIG. 6 shows the road width at the link L in FIG. pw is a point at which the distance from ne becomes half the road width, and the position coordinates of pw are (xw, yw). FIG. 7 shows the road display width in the road display shown in FIG. PW is a point at which the distance from NE is half of the road display width, and the display position coordinates of PW are (XW, YW).
[0024]
The own-vehicle display position calculation parameters are calculated by using these (XS, YS), (XE, YE), (XW, YW), (xs, ys), (xe, ye), and (xw, yw). It can be obtained by calculating a, b, c, d, e, and f that satisfy 1).
[0025]
Although pw is described as a point at which the distance from ne is half of the road width, the own vehicle display position calculation parameter may be calculated as a point at which the distance is larger than half of the road width. In this case, as the distance between pw and ne increases, the error between the actual current position of the host vehicle and the current position calculated by the host vehicle current position calculating means can be reduced on the display screen.
[0026]
(Embodiment 3)
FIG. 8 shows the configuration of the host vehicle display direction calculation means according to Embodiment 3 of the present invention. In FIG. 8, reference numeral 801 denotes an own-vehicle azimuth calculating unit for calculating the azimuth of the own-vehicle actually traveling, and 802 denotes an azimuth vector for converting the azimuth information calculated by the own-vehicle azimuth calculating unit 801 into a vector. The conversion means 803 is a vector calculation means for calculating the direction of the own vehicle on the display screen based on the vector representing the azimuth of the own vehicle converted by the azimuth vector conversion means 802 and the own vehicle display position calculation parameter. is there.
[0027]
Next, an operation according to the third embodiment will be described. First, the own vehicle azimuth calculating means 801 calculates the actual azimuth of the own vehicle. The azimuth of the host vehicle is represented by an angle with respect to a certain azimuth with respect to the reference azimuth. Next, the azimuth vector conversion means 802 converts the azimuth of the own vehicle into a vector. FIG. 9 shows the azimuth (v) of the host vehicle converted into a vector, and the component of the vector v is (xv, yv). The vector calculation means 803 performs the calculation of (Equation 1) on the vector v using the own vehicle display position calculation parameter, and thereby the vector V (XV, YV) representing the direction of the own vehicle on the display screen. Can be calculated.
[0028]
As described above, according to the third embodiment, the own vehicle display direction calculating means includes the own vehicle azimuth calculating means 801, the azimuth vector converting means 802, and the vector calculating means 803, so that the own vehicle display direction calculating means 801, The display of the direction of the vehicle can be displayed so as to correspond to the direction of the own vehicle with respect to the direction of the road on which the vehicle is actually traveling.
[0029]
【The invention's effect】
As described above, according to the present invention, a road map information storage unit that stores the shape of a three-dimensional road as road map information, and a road map display that displays a three-dimensional road map image using the road map information means, and the vehicle current position calculating unit that issues calculate the current position of the vehicle, on the basis of the shape of the three-dimensional road, on the road the subject vehicle in the three-dimensional road map image on is traveling and the vehicle display position calculating means that to calculate the display position, the own vehicle to the host vehicle display position calculating means and said three-dimensional road on the map image based on the display position location on the road of the vehicle calculated by more and this with a vehicle display unit that displays, there is an advantage that it is possible to display the superimposed vehicle on a road of a three-dimensional road map image.
[0030]
The own vehicle display position calculating means can calculate the display position using the starting node position, the ending node position, and the road width of the three-dimensional road shape. An error between the current position of the vehicle and the current position calculated by the own vehicle current position calculation means can be reduced on the display screen.
[0031]
Also, the self-vehicle display direction calculation means converts the traveling direction calculated in the previous SL vehicle azimuth calculating means to the azimuth vector expressed as a vector, the road map on the basis of the shape of the three-dimensional road by the Ruco to calculate the display direction of the vehicle in the image, display of direction of the vehicle on the road map image may be displayed so as to correspond to the direction of the vehicle in the road on which the vehicle actually travels The effect is obtained.

[Brief description of the drawings]
FIG. 1 is a block diagram illustrating a configuration of an on-vehicle navigation device according to Embodiment 1 of the present invention.
FIG. 2 is a schematic diagram showing nodes and links and a current position of a host vehicle according to a second embodiment of the present invention.
FIG. 3 is a screen diagram showing a display example of a road and a current position of a host vehicle on a display screen corresponding to FIG. 2;
FIG. 4 is a diagram showing a start node and an end node according to Embodiment 2 of the present invention.
FIG. 5 is a diagram showing a road display on a display screen corresponding to FIG. 4;
FIG. 6 is a diagram showing the road width in FIG. 4;
FIG. 7 is a diagram showing a display width of the road display of FIG. 5;
FIG. 8 is a block diagram showing a configuration of a host vehicle display direction calculation unit according to Embodiment 3 of the present invention.
FIG. 9 is a diagram showing an azimuth of the host vehicle converted into a vector according to the third embodiment.
[Explanation of symbols]
101: own vehicle display position calculation parameter storage means, 102: own vehicle presence link determination means, 103: own vehicle display position calculation parameter acquisition means, 104: own vehicle current position calculation means, 105: own vehicle display position calculation means, 106 ... vehicle display means 107 road map information storage means 108 road map display means 109 display device 801 own vehicle direction calculation means 802 direction vector conversion means 803 vector calculation means

Claims (4)

Road map information storage means for storing a three-dimensional road shape as road map information;
Road map display means for displaying a three-dimensional road map image using the road map information stored in the road map information storage means ,
Own vehicle current position calculating means for calculating the current position of the own vehicle,
Own vehicle position calculation parameter storage means for storing in advance a parameter for converting a specific position into coordinates on a three-dimensional road map image for each link;
Multiplying the parameter stored in the host vehicle position calculation parameter storage means by the current position calculated by the host vehicle current position calculation means to calculate a position on the three-dimensional road map image corresponding to the current position; Vehicle display position calculating means,
The Table Shimesuru own on the displayed three-dimensional road map image by the road map display device of the current position of the vehicle with a position on the calculated three-dimensional road map image by the vehicle display position calculating means Vehicle display means;
An in-vehicle navigation device comprising: The host vehicle position calculation parameter storage means includes a start node position, an end node position and a road width of an actual road, and a start node display position, an end node display position and a road of a three-dimensional road map image corresponding to the actual road. The on-vehicle navigation device according to claim 1, wherein a parameter is calculated from the display width and stored . Own-vehicle azimuth calculating means for calculating a running azimuth in which the own-vehicle is traveling,
Own vehicle display direction calculation means for calculating a display direction on the three-dimensional road map image from the traveling direction,
The in-vehicle navigation device according to claim 1, further comprising: The vehicle display direction calculation means, said converting the traveling direction calculated by the vehicle azimuth calculating means in a square position vector, and calculates the display direction on the three-dimensional road map image The in-vehicle navigation device according to claim 3.

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