JP3610649B2 - Vehicle position display system - Google Patents

Description

となり、接線方向の縮尺Ｓ_ｓ は、

となる。したがって、
ｎＳ_ｈ ＝Ｓ_ｓ
となる。すなわち、法線方向の縮尺Ｓ_ｈ と接線方向の縮尺Ｓ_ｓ の比は、
１：ｎ
と一定になる。実施の形態例２における表示座標演算部１１の演算処理のフローチャートを図９に示す。法線方向の縮尺Ｓ_ｈ と接線方向の縮尺Ｓ_ｓ の比が一定であると、表示の歪みかたが一定であるため、比較的認識しやすい。
【００１２】
〔実施の形態例３〕
実施の形態例１〜２において、実際の位置１７から表示座標上の位置１８への対応表を作成し、該対応表をつかって表示座標変換を行う実施の形態例３の対応の一例を図１０に、表示座標演算部１１の演算処理のフローチャートを図１１に示す。これにより、非線形関数演算のための時間が短縮できる。
【００１３】
〔実施の形態例４〕
実施の形態例１〜３において、原点を中心とした円５θと原点を通る直線５ｒをグリッドとして表示する実施の形態例４の表示例を図１２に示す。これにより、原点からの距離と方向が理解しやすくなるうえ、グリッドが歪まない。
【００１４】
〔実施の形態例５〕
実施の形態例１〜４において、原点６と各前記車両マーク３の間の長さを短い順番にならべると、等間隔になるように表示する実施の形態例５の表示例を図１３に示す。
【００１５】
原点から表示点までの表示上の長さｒと実際の距離Ｄとの関係を次式のように表す。
【００１６】
ｒ＝ｋ_１ ｆ_１ （Ｄ）＋ｋ_２ ｆ_２ （Ｄ）＋・・・＋ｋ_ｐ ｆ_ｐ （Ｄ）
すると、原点から各車両までの表示上の長さｒ_ｉ と実際の距離Ｄ_ｉ （ｉ＝１，２，・・・，ｍ、ただしｉが小さいほどＤ_ｉ は短い）との関係は次式のようになる。
【００１７】
ｒ_ｉ ＝ｋ_１ ｆ_１ （Ｄ_ｉ ）＋ｋ_２ ｆ_２ （Ｄ_ｉ ）＋・・・＋ｋ_ｐ ｆ_ｐ （Ｄ_ｉ ）
ここで、
（Ｒ／ｍ−ｒ_１ ）^２ ＋（Ｒ・２／ｍ−ｒ_２ ）^２ ＋・・・＋（Ｒ−ｒ_ｍ ）^２ → ｍｉｎ
を満たすような係数ｋ_１ 〜ｋ_ｐ を最小二乗法により算出してｋ_ｍ１〜ｋ_ｍｐとして、
ｒ＝ｋ_ｍ１ｆ_１ （Ｄ）＋ｋ_ｍ２ｆ_２ （Ｄ）＋・・・＋ｋ_ｍｐｆ_ｐ （Ｄ）
を原点から表示点までの実際の距離Ｄから表示上の長さｒへの変換式として用いる。これにより、各車両の配置が均等になる。実施の形態例５における表示座標演算部１１の演算処理のフローチャートを図１４に示す。
【００１８】
〔実施の形態例６〕
実施の形態例１〜５において、原点６から最も遠い車両３′までの距離を表示範囲２０とする実施の形態例６の表示例を図１５に、表示座標演算部１１の演算処理のフローチャートを図１６に示す。これにより、表示部の大きさを有効に使う事ができる。
【００１９】
〔実施の形態例７〕
任意に原点を設定して表示座標をＸＹ座標とし、Ｘ軸方向の位置、およびＹ軸方向の位置にしたがって縮尺を変化させる実施の形態例７の表示例を図１７に示す。具体的には、地図上の位置（Ｘ，Ｙ）から表示座標上の位置（ｘ，ｙ）に、
ｘ＝ｋ_ｘ ｆ_ｘ （Ｘ）
（ただし、ｆ_ｘ （Ｘ）＝ｌｏｇ（Ｘ）、ａｔａｎ（Ｘ）等の非線形関数、ｋ_ｘ は係数）
ｙ＝ｋ_ｙ ｆ_ｙ （Ｙ）
（ただし、ｆ_ｙ （Ｙ）＝ｌｏｇ（Ｙ）、ａｔａｎ（Ｙ）等の非線形関数、ｋ_ｙ は係数）（図５参照）をつかって変換する。実施の形態例７のブロック図を図１８に、フローチャートを図１９に示す。
【００２０】
〔実施の形態例８〕
実施の形態例７において、実際の位置２１から表示座標上の位置２２への対応表を作成し、該対応表をつかって表示座標変換を行う実施の形態例８の対応の一例を図２０に、表示座標演算部１１の演算処理のフローチャートを図２１に示す。これにより、非線形関数演算のための時間が短縮できる。
【００２１】
〔実施の形態例９〕
実施の形態例７、８において、Ｘ軸に平行な直線５ＸとＹ軸に平行な直線５Ｙをグリッドとして表示する実施の形態例９の表示例を図２２に示す。これにより、原点からのＸ軸方向の距離とＹ軸方向の距離が理解しやすくなるうえ、グリッドが歪まない。
【００２２】
〔実施の形態例１０〕
実施の形態例７〜９に記載の装置において、各前記車両マークのＸ軸上の配置およびＹ軸上の配置をそれぞれ等間隔にする実施の形態例１０の表示例を図２３に、表示座標演算部１１の演算処理のフローチャートを図２４に示す。地図上の位置（Ｘ，Ｙ）と表示座標上の位置（ｘ，ｙ）との関係を次式のように表す。
【００２３】
ｘ＝ｋ_ｘ１ｆ_ｘ１（Ｘ）＋ｋ_ｘ２ｆ_ｘ２（Ｘ）＋・・・＋ｋ_ｘｐｆ_ｘｐ（Ｘ）
ｙ＝ｋ_ｙ１ｆ_ｙ１（Ｙ）＋ｋ_ｙ２ｆ_ｙ２（Ｙ）＋・・・＋ｋ_ｙｐｆ_ｙｐ（Ｙ）
すると、各車両の実際の位置（Ｘ_ｉ ，Ｙ_ｊ ）と表示座標上の位置（ｘ_ｉ ，ｙ_ｊ ）（ｉ＝１，２，・・・，ｍ、ｊ＝１，２，・・・，ｍ、ただしｉが小さいほどＸ_ｉ が小さく、ｊが小さいほどＹ_ｊ が小さい）との関係は次式のようになる。
【００２４】
ｘ_ｉ ＝ｋ_ｘ１ｆ_ｘ１（Ｘ_ｉ ）＋ｋ_ｘ２ｆ_ｘ２（Ｘ_ｉ ）＋・・・＋ｋ_ｘｐｆ_ｘｐ（Ｘ_ｉ ）
ｙ_ｊ ＝ｋ_ｙ１ｆ_ｙ１（Ｙ_ｊ ）＋ｋ_ｙ２ｆ_ｙ２（Ｙ_ｊ ）＋・・・＋ｋ_ｙｐｆ_ｙｐ（Ｙ_ｊ ）
ここで、
（Ｒ_ｘ ／ｍ−ｘ_１ ）^２ ＋（Ｒ_ｘ ・２／ｍ−ｘ_２ ）^２ ＋・・・＋（Ｒ_ｘ −ｘ_ｍ ）^２ → ｍｉｎ
（Ｒ_ｙ ／ｍ−ｙ_１ ）^２ ＋（Ｒ_ｙ ・２／ｍ−ｙ_２ ）^２ ＋・・・＋（Ｒ_ｙ −ｙ_ｍ ）^２ → ｍｉｎ
を満たすような係数ｋ_ｘ１〜ｋ_ｘｐ、ｋ_ｙ１〜ｋ_ｙｐを最小二乗法により算出してｋ_ｍｘ１ 〜ｋ_ｍｘｐ 、ｋ_ｍｙ１ 〜ｋ_ｍｙｐ として、
ｘ＝ｋ_ｍｘ１ ｆ_ｘ１（Ｘ）＋ｋ_ｍｘ２ ｆ_ｘ２（Ｘ）＋・・・＋ｋ_ｍｘｐ ｆ_ｘｐ（Ｘ）
ｙ＝ｋ_ｍｙ１ ｆ_ｙ１（Ｙ）＋ｋ_ｍｙ２ ｆ_ｙ２（Ｙ）＋・・・＋ｋ_ｍｙｐ ｆ_ｙｐ（Ｙ）
を実際の位置（Ｘ，Ｙ）から表示座標上の位置（ｘ，ｙ）への変換式として用いる。これにより、各車両の配置が均等になる。
【００２５】
〔実施の形態例１１〕
実施の形態例７〜１０において、原点６からＸ軸方向に最も遠い車両３′までの距離をＸ軸の表示範囲２０Ｘ、原点６からＹ軸方向に最も遠い車両３′までの距離をＹ軸の表示範囲２０Ｙとする実施の形態例１１の表示例を図２５に、表示座標演算部１１の演算処理のフローチャートを図２６に示す。これにより、表示部の大きさを有効に使う事ができる。
【００２６】
〔実施の形態例１２〕
実施の形態例１〜１１において、自車両位置２３を原点にした実施の形態例１２の表示例を図２７に、表示座標演算部１１の演算処理のフローチャートを図２８に示す。自車両マーク１６近くの車両配置が拡大されるため、グループ走行等に特に有効である。
【００２７】
〔実施の形態例１３〕
実施の形態例１〜１１において、車両配置の重心点２４を原点にした実施の形態例１３の表示例を図２９に、表示座標演算部１１の演算処理のフローチャートを図３０に示す。車両が密になっている部分が拡大されるため、車両管理等に特に有効である。
【００２８】
なお、つぎの第１〜５の問題を解決する構成にすれば、さらに視認性、操作性のよい車両位置表示を得ることができる。
【００２９】
第１に、本実施の形態の車両位置表示は、縮尺が変化するために表示に歪みが発生することは避けられない。この歪みは、表示の視認性を悪くする可能性がある。
【００３０】
そこで、本実施の形態では、表示の歪みが表示上のどの場所でも一定であることが望ましい。このようにすれば、ユーザーが、歪んだ表示からもとの位置関係を想像しやすくなり、視認性が向上する。
【００３１】
第２に、本実施の形態においては、非線形関数の演算が必要であるが、一般的に非線形関数の演算は時間がかかる。このため、表示の更新に時間がかかって、操作性を悪くする可能性がある。
【００３２】
そこで、本実施の形態では、表示座標変換の対応表を作成し、これを表示の作成に用いることが望ましい。これにより、非線形関数の演算が必要なくなり、車両位置表示の作成を高速化することができる。
【００３３】
第３に、本実施の形態においては、グリッドを設けた場合、グリッドが歪んでしまうため違和感が大きくなり、視認性が悪くなる可能性がある。
【００３４】
そこで、本実施の形態では、歪んだ表示上でも歪まないようなグリッドを表示するようにすることが望ましい。これにより、違和感が小さくなり、視認性が向上する。
【００３５】
第４に、表示する車両の数が多い場合には、車両マークの配置が偏ってしまい、視認性を悪くする場合がある。
【００３６】
そこで、本実施の形態では、各車両の配置に応じて、表示座標変換の変換関数や表示座標の原点を変更するステップを追加してもよい。これにより、車両位置マークの配置が均一になり、視認性が向上する。
【００３７】
第５に、車両マークを表示するだけではどの場所のどの道を走っているのかがわかりにくい。
【００３８】
そこで、本実施の形態では、車両マークと重ねて地図を表示する。これにより、地図上のどこを各車両が走っているのかが認識しやすくなる。
【００３９】
なお本発明の実施の形態例において、車両位置表示と重ねて地図を表示することを前提として説明したが、必ずしも地図を表示するとは限らない。また、自車両位置を入力することを前提としたが、自車両が存在しない場合もあり得る。
【００４０】
【発明の効果】
本発明の車両位置表示システムは、任意に定めた原点からの距離に応じて縮尺を小さくした車両位置を表示することができる。したがって、本発明によれば縮尺を切り替える必要なしに、一枚の表示で原点近くは詳細に、かつ遠方車両まで表示できる車両位置表示が得られる。
【００４１】
したがって、本発明の車両位置表示作成方法によれば、表示座標変換の変換関数を任意に設定できるため、ユーザーのニーズに的確に応じることができる。
【図面の簡単な説明】
【図１】本発明における実施の形態例１のブロック図である。
【図２】一般的な車両位置表示の一例（縮尺小）である。
【図３】一般的な車両位置表示の一例（縮尺大）である。
【図４】本発明における実施の形態例１の車両位置表示の一例である。
【図５】本発明における実施の形態例１の非線形関数の一例を示す図である。
【図６】従来例について説明する図である。
【図７】本発明における実施の形態例１のフローチャートである。
【図８】本発明における実施の形態例２の表示例である。
【図９】本発明における実施の形態例２のフローチャートである。
【図１０】本発明における実施の形態例３の表示座標変換の対応の一例である。
【図１１】本発明における実施の形態例３のフローチャートである。
【図１２】本発明における実施の形態例４のグリッド表示の一例である。
【図１３】本発明における実施の形態例５の表示の一例である。
【図１４】本発明における実施の形態例５のフローチャートである。
【図１５】本発明における実施の形態例６の表示の一例である。
【図１６】本発明における実施の形態例６のフローチャートである。
【図１７】本発明における実施の形態例７の表示の一例である。
【図１８】本発明における実施の形態例７のブロック図である。
【図１９】本発明における実施の形態例７のフローチャートである。
【図２０】本発明における実施の形態例８の表示座標変換の対応の一例である。
【図２１】本発明における実施の形態例８のフローチャートである。
【図２２】本発明における実施の形態例９のグリッド表示の一例である。
【図２３】本発明における実施の形態例１０の表示の一例である。
【図２４】本発明における実施の形態例１０のフローチャートである。
【図２５】本発明における実施の形態例１１の表示の一例である。
【図２６】本発明における実施の形態例１１のフローチャートである。
【図２７】本発明における実施の形態例１２の表示の一例である。
【図２８】本発明における実施の形態例１２のフローチャートである。
【図２９】本発明における実施の形態例１３の表示の一例である。
【図３０】本発明における実施の形態例１３のフローチャートである。
【符号の説明】
１ 通信手段
２ ナビゲーションシステム
２ａ 本体
２ｂ モニタ
３ 車両マーク
３′ 最も遠い車両
４ 道路
５ グリッド
５θ 原点を中心とした円のグリッド
５ｒ 原点を通る直線のグリッド
５Ｘ Ｘ軸と平行なグリット
５Ｙ Ｙ軸と平行なグリッド
６ 原点
７ 車両位置入力手段
８ 演算手段
９ 自車両位置入力手段
１０ 車両１〜ｎの位置入力手段
１１ 表示座標演算部
１２ 地図データ記録手段
１３ 非線形表示演算部
１４ 表示手段
１５ 法線方向
１６ 接線
１７ 地図上の位置
１８ 表示上の位置
１９ 目盛り（実際には表示されない）
２０ 表示範囲
２０Ｘ Ｘ軸方向の表示範囲
２０Ｙ Ｙ軸方向の表示範囲
２１ 地図上の位置
２２ 表示上の位置
２３ 自車両位置
２４ 車両配置の重心位置
２５ Ｘ方向の重心
２６ Ｙ方向の重心[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a display method for a vehicle position display system having a function of displaying the position of one or a plurality of vehicles.
[0002]
[Prior art]
In a conventional vehicle position display system, position information is communicated from a navigation system of another vehicle using a communication means that is a wireless communication device, and is displayed superimposed on a map screen of the navigation system of the own vehicle. For example, Japanese Patent Application Laid-Open No. 60-1000071 or Japanese Patent Application Laid-Open No. 63-223586 discloses this type of prior art as shown in FIG. The navigation system 2 includes a main body 2a and a display 2b, and displays position information of other vehicles received by the wireless communication device 1 as a vehicle mark 3 on a map screen of the display 2b.
[0003]
[Problems to be solved by the invention]
However, when the vehicle position display system of the related art is close to the host vehicle and the other vehicle or the other vehicle and the other vehicle, the vehicle position display on the map screen overlaps and the exact positional relationship is not known. On the other hand, there is a problem that when the user is far away from the screen, the screen cannot be fully displayed, and it is necessary to change the scale of the map each time.
[0004]
The present invention solves such problems of the prior art, and in a vehicle position display for group running and vehicle management, a vehicle position display system that can display details close to the origin and even distant vehicles on a single display map. The purpose is to provide.
[0005]
[Means for Solving the Problems]
In order to achieve the above object, according to the present invention, position data input means for inputting position data of one or more other vehicles, calculation means for calculating display coordinates, and the vehicle position according to the display coordinates. and converting means for converting the data, the vehicle position display system comprising a display means for displaying the vehicle mark of the other vehicle, the origin of the display coordinate the center of gravity point of the vehicle arrangement, including other vehicles, according to the distance from the raw point Reduce the scale.
[0006]
According to the present invention, the position data input means for inputting position data of one or a plurality of other vehicles, the calculation means for calculating display coordinates, and the vehicle position data are converted according to the display coordinates. conversion means, the vehicle position display system comprising a display means for displaying the vehicle mark of the other vehicle, and the origin of the XY coordinates is displayed coordinate the center of gravity point of the vehicle arrangement, including other vehicles, in the X-axis direction from the origin The scale in the X-axis direction is reduced according to the distance, and the scale in the Y-axis direction is reduced according to the distance in the Y-axis direction.
[0007]
DETAILED DESCRIPTION OF THE INVENTION
Next, an embodiment of a vehicle position display system according to the present invention will be described in detail with reference to the accompanying drawings.
[0008]
[Embodiment 1]
When the vehicle mark 3 of the vehicle position display is biased as shown in FIG. 2, if the vicinity of the biased portion is enlarged, the vehicle marks 3 are scattered and easy to see. However, if it is enlarged as a whole, the distant vehicle marks 3 cannot fit into the screen as shown in FIG. Therefore, FIG. 4 shows a display example of the first embodiment in which the origin is arbitrarily set and the scale is reduced according to the distance from the origin. Specifically, from the actual distance D from the origin to the display point to the distance r on the display,
t = kf (D)
(Where f (D) = log (D), non-linear function such as atan (D), k is a coefficient) (see FIG. 5) for conversion. Thereby, it becomes easy to see each vehicle mark 3 scattered. A block diagram of the first embodiment is shown in FIG. 1, and a flowchart is shown in FIG.
[0009]
As shown in FIG. 1, the vehicle position display system in the present embodiment is recorded on a vehicle position input means 7 which is a GPS receiver, vehicle position information received from the vehicle position input means 7 and a CD-ROM. The computer 8 is composed of a computer 8 for calculating the positions of the host vehicle and other vehicles based on the map information 12, and a display 14 such as a liquid crystal display. The position information of the host vehicle and the position information of the other vehicle received by the vehicle position input means 7 are output to the display coordinate calculation unit 11 and the non-linear display calculation unit 13. FIG. 7 is a flowchart showing the processes 11 and 13 in the display coordinate calculation unit 11 and the non-linear display calculation unit 13, and after performing these processes, the own vehicle and others on the map information at the current position loaded from the CD-ROM. Display the vehicle.
[0010]
[Embodiment 2]
FIG. 8 shows a display example of the second embodiment in which the ratio of the scale in the normal direction 15 and the scale in the tangential direction 16 is made constant at the display points on the display coordinates of the first embodiment. However, the normal and tangent are the normal and tangent of a circle that passes through the display point with the origin at the center.
[0011]
The relational expression between the actual distance D from the origin to the display point and the display length r is
r = kf (D)
D = f ⁻¹ (r) / k = r ⁿ / k
If you, the scale S _h in the normal direction,

The tangential scale S _s is

It becomes. Therefore,
nS _h = S _s
It becomes. That is, the ratio of the normal scale _Sh and the tangential scale S _s is
1: n
And become constant. FIG. 9 shows a flowchart of the calculation process of the display coordinate calculation unit 11 in the second embodiment. If the ratio between the normal scale S _h and the tangential scale S _s is constant, the display distortion is constant, so that it is relatively easy to recognize.
[0012]
[Embodiment 3]
In Embodiments 1 and 2, a correspondence table from the actual position 17 to the position 18 on the display coordinates is created, and an example of the correspondence of Embodiment 3 in which display coordinate conversion is performed using the correspondence table is shown in FIG. FIG. 11 shows a flowchart of the calculation process of the display coordinate calculation unit 11. Thereby, the time for nonlinear function calculation can be shortened.
[0013]
[Embodiment 4]
In Embodiments 1 to 3, a display example of Embodiment 4 in which a circle 5θ centered on the origin and a straight line 5r passing through the origin are displayed as a grid is shown in FIG. This makes it easier to understand the distance and direction from the origin and does not distort the grid.
[0014]
[Embodiment 5]
In the first to fourth embodiments, a display example of the fifth embodiment is shown in FIG. 13 in which the lengths between the origin 6 and each of the vehicle marks 3 are arranged at equal intervals when arranged in the short order. .
[0015]
The relationship between the display length r from the origin to the display point and the actual distance D is expressed by the following equation.
[0016]
r = k ₁ f ₁ (D) + k ₂ f ₂ (D) +... + k _p f _p (D)
Then, the relationship between the display length r _i from the origin to each vehicle and the actual distance D _i (i = 1, 2,..., M, where D _i is shorter as i is smaller) become that way.
[0017]
r _i = k ₁ f ₁ (D _i ) + k ₂ f ₂ (D _i ) +... + k _p f _p (D _i )
here,
(R / m-r ₁ ) ² + (R · m / r ₂ ) ² +... + (R−r _m ) ² → min
The coefficients k _{1 to} k _p satisfying the above are calculated by the least square method, and k _m1 to k _mp are obtained.
r = k _m1 f ₁ (D) + k _m2 f ₂ (D) +... + k _mp f _p (D)
Is used as a conversion formula from the actual distance D from the origin to the display point to the display length r. Thereby, arrangement | positioning of each vehicle becomes equal. FIG. 14 shows a flowchart of the calculation process of the display coordinate calculation unit 11 in the fifth embodiment.
[0018]
[Embodiment 6]
In the first to fifth embodiments, a display example of the sixth embodiment in which the distance from the origin 6 to the farthest vehicle 3 ′ is the display range 20 is shown in FIG. As shown in FIG. Thereby, the size of the display unit can be used effectively.
[0019]
[Embodiment 7]
FIG. 17 shows a display example of the seventh embodiment in which the origin is arbitrarily set and the display coordinates are set to XY coordinates, and the scale is changed according to the position in the X-axis direction and the position in the Y-axis direction. Specifically, from the position (X, Y) on the map to the position (x, y) on the display coordinates,
x = k _x f _x (X)
(However, f _x (X) = non-linear function such as log (X), atan (X), k _x is a coefficient)
_{y = k y f y (Y} )
(However, f _y (Y) = log (Y), non-linear function such as atan (Y), k _y is a coefficient) (see FIG. 5) for conversion. FIG. 18 is a block diagram of the seventh embodiment, and FIG. 19 is a flowchart of the seventh embodiment.
[0020]
[Embodiment 8]
In the seventh embodiment, a correspondence table from the actual position 21 to the position 22 on the display coordinates is created, and an example of the correspondence of the eighth embodiment in which the display coordinate conversion is performed using the correspondence table is shown in FIG. FIG. 21 shows a flowchart of the calculation process of the display coordinate calculation unit 11. Thereby, the time for nonlinear function calculation can be shortened.
[0021]
[Embodiment 9]
FIG. 22 shows a display example of the ninth embodiment in which the straight lines 5X parallel to the X axis and the straight lines 5Y parallel to the Y axis are displayed as grids in the seventh and eighth embodiments. This makes it easier to understand the distance in the X-axis direction and the distance in the Y-axis direction from the origin, and does not distort the grid.
[0022]
[Embodiment 10]
In the apparatus described in the seventh to ninth embodiments, a display example of the tenth embodiment in which the arrangement of the vehicle marks on the X axis and the Y axis is equally spaced is shown in FIG. A flowchart of the calculation process of the calculation unit 11 is shown in FIG. The relationship between the position (X, Y) on the map and the position (x, y) on the display coordinates is expressed by the following equation.
[0023]
x = k _x1 f _x1 (X) + k _x2 f _x2 (X) +... + k _xp f _xp (X)
y = k _y1 f _y1 (Y) + k _y2 f _y2 (Y) +... + k _yp f _yp (Y)
Then, the actual position (X _i , Y _j ) of each vehicle and the position (x _i , y _j ) (i = 1, 2,..., M, j = 1, 2,. , M, where X _i is smaller as _i is smaller, and Y _j is smaller as _j is smaller.
[0024]
x _i = k _x1 f _x1 (X _i ) + k _x2 f _x2 (X _i ) +... + k _xp f _xp (X _i )
y _j = k _y1 f _y1 (Y _j ) + _{ky 2} f _y2 (Y _j ) +... + k _yp f _yp (Y _j )
here,
(R _x / m−x ₁ ) ² + (R _x · 2 / m−x ₂ ) ² +... + (R _x −x _m ) ² → min
^{_{(R y / m-y 1}} ) 2 + (R y · 2 / m-y 2) 2 + ··· + (R y -y m) 2 → min
Is calculated by the least squares method coefficient _{k x1 ~k xp, k y1 ~k} yp satisfying the _k mx1 _{to k mxp,} as _k my1 ~k _{myp,
x = k mx1 f x1 (X} ) + k mx2 f x2 (X) + ··· + k mxp f xp (X)
y = k _my1 f _y1 (Y) + k _my2 f _y2 (Y) +... + k _myp f _yp (Y)
Is used as a conversion formula from the actual position (X, Y) to the position (x, y) on the display coordinates. Thereby, arrangement | positioning of each vehicle becomes equal.
[0025]
[Embodiment 11]
In Embodiments 7 to 10, the distance from the origin 6 to the vehicle 3 'farthest in the X-axis direction is the X-axis display range 20X, and the distance from the origin 6 to the vehicle 3' farthest in the Y-axis direction is the Y-axis A display example of the eleventh embodiment in which the display range is 20Y is shown in FIG. 25, and a flowchart of the calculation processing of the display coordinate calculation unit 11 is shown in FIG. Thereby, the size of the display unit can be used effectively.
[0026]
[Embodiment 12]
In the first to eleventh embodiments, FIG. 27 shows a display example of the twelfth embodiment with the own vehicle position 23 as the origin, and FIG. 28 shows a flowchart of the calculation process of the display coordinate calculation unit 11. Since the vehicle arrangement near the own vehicle mark 16 is enlarged, it is particularly effective for group traveling or the like.
[0027]
[Embodiment 13]
In the first to eleventh embodiments, FIG. 29 shows a display example of the thirteenth embodiment using the center of gravity 24 of the vehicle arrangement as the origin, and FIG. 30 shows a flowchart of the calculation process of the display coordinate calculation unit 11. Since the portion where the vehicles are dense is enlarged, it is particularly effective for vehicle management and the like.
[0028]
In addition, if it is set as the structure which solves the following 1st-5th problem, a vehicle position display with further visibility and operativity can be obtained.
[0029]
First, in the vehicle position display of the present embodiment, it is inevitable that the display is distorted because the scale changes. This distortion may deteriorate the visibility of the display.
[0030]
Therefore, in this embodiment, it is desirable that the display distortion is constant everywhere on the display. In this way, the user can easily imagine the original positional relationship from the distorted display, and the visibility is improved.
[0031]
Secondly, in the present embodiment, calculation of a nonlinear function is necessary, but in general, calculation of a nonlinear function takes time. For this reason, it takes time to update the display, which may deteriorate operability.
[0032]
Therefore, in the present embodiment, it is desirable to create a correspondence table for display coordinate conversion and use it for display creation. Thereby, calculation of a nonlinear function becomes unnecessary and creation of a vehicle position display can be speeded up.
[0033]
Thirdly, in the present embodiment, when a grid is provided, the grid is distorted, so that a sense of incongruity increases and visibility may deteriorate.
[0034]
Therefore, in this embodiment, it is desirable to display a grid that does not distort even on a distorted display. Thereby, the uncomfortable feeling is reduced and the visibility is improved.
[0035]
Fourthly, when the number of vehicles to be displayed is large, the arrangement of the vehicle marks is biased, and the visibility may be deteriorated.
[0036]
Therefore, in the present embodiment, a step of changing the display coordinate conversion conversion function and the display coordinate origin may be added according to the arrangement of each vehicle. Thereby, the arrangement of the vehicle position marks becomes uniform and the visibility is improved.
[0037]
Fifth, it is difficult to know which road of which place is running only by displaying the vehicle mark.
[0038]
Therefore, in the present embodiment, a map is displayed so as to overlap the vehicle mark. This makes it easy to recognize where each vehicle is running on the map.
[0039]
In the embodiment of the present invention, the description has been made on the assumption that a map is displayed overlapping the vehicle position display, but the map is not necessarily displayed. In addition, although it is assumed that the host vehicle position is input, the host vehicle may not exist.
[0040]
【The invention's effect】
The vehicle position display system of the present invention can display a vehicle position with a reduced scale according to an arbitrarily determined distance from the origin. Therefore, according to the present invention, it is possible to obtain a vehicle position display that can display in detail near the origin and up to a distant vehicle on a single display without switching the scale.
[0041]
Therefore, according to the vehicle position display creation method of the present invention, the conversion function of the display coordinate conversion can be arbitrarily set, so that the user's needs can be appropriately met.
[Brief description of the drawings]
FIG. 1 is a block diagram of Embodiment 1 of the present invention.
FIG. 2 is an example of a general vehicle position display (small scale).
FIG. 3 is an example (scale-scale) of a general vehicle position display.
FIG. 4 is an example of a vehicle position display according to the first embodiment of the present invention.
FIG. 5 is a diagram illustrating an example of a nonlinear function according to the first embodiment of the present invention.
FIG. 6 is a diagram illustrating a conventional example.
FIG. 7 is a flowchart of Embodiment 1 according to the present invention.
FIG. 8 is a display example of Embodiment 2 according to the present invention.
FIG. 9 is a flowchart of Embodiment 2 according to the present invention.
FIG. 10 is an example of correspondence of display coordinate conversion according to the third embodiment of the present invention.
FIG. 11 is a flowchart of Embodiment 3 according to the present invention.
FIG. 12 is an example of grid display according to the fourth embodiment of the present invention.
FIG. 13 is an example of display according to Embodiment 5 of the present invention.
FIG. 14 is a flowchart of Embodiment 5 according to the present invention.
FIG. 15 is an example of display according to the sixth embodiment of the present invention.
FIG. 16 is a flowchart of Embodiment 6 according to the present invention.
FIG. 17 is an example of display according to the seventh embodiment of the present invention.
FIG. 18 is a block diagram of Embodiment 7 according to the present invention.
FIG. 19 is a flowchart of Embodiment 7 according to the present invention.
FIG. 20 is an example of correspondence of display coordinate conversion according to the eighth embodiment of the present invention.
FIG. 21 is a flowchart of Embodiment 8 according to the present invention.
FIG. 22 is an example of grid display according to the ninth embodiment of the present invention.
FIG. 23 is an example of display according to Embodiment 10 of the present invention.
FIG. 24 is a flowchart of Embodiment 10 according to the present invention.
FIG. 25 is an example of display according to Embodiment 11 of the present invention.
FIG. 26 is a flowchart of Embodiment 11 according to the present invention.
FIG. 27 is an example of display according to Embodiment 12 of the present invention.
FIG. 28 is a flowchart of Embodiment 12 according to the present invention.
FIG. 29 is an example of display according to Embodiment 13 of the present invention.
FIG. 30 is a flowchart of Embodiment 13 according to the present invention.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Communication means 2 Navigation system 2a Main body 2b Monitor 3 Vehicle mark 3 'Farthest vehicle 4 Road 5 Grid 5 (theta) Circle grid 5r centering on the origin The straight grid 5X passing through the origin The grid 5Y parallel to the X axis 5Y Parallel to the Y axis Grid 6 origin 7 vehicle position input means 8 calculation means 9 own vehicle position input means 10 position input means 11 for vehicles 1 to n display coordinate calculation section 12 map data recording means 13 nonlinear display calculation section 14 display means 15 normal direction 16 Tangent line 17 Map position 18 Display position 19 Scale (not actually displayed)
20 Display range 20X Display range in X-axis direction 20Y Display range in Y-axis direction 21 Position on map 22 Position on display 23 Own vehicle position 24 Center of gravity position of vehicle placement 25 Center of gravity in X direction 26 Center of gravity in Y direction

Claims (12)

Position data input means for inputting position data of one or more other vehicles;
Computing means for computing the display coordinates;
Conversion means for converting the vehicle position data according to the display coordinates;
In a vehicle position display system comprising display means for displaying a vehicle mark of the other vehicle ,
A vehicle position display system, wherein a center of gravity of a vehicle arrangement including the other vehicle is used as an origin of display coordinates, and the scale is reduced according to a distance from the origin. 2. The vehicle position display according to claim 1, wherein a ratio of a scale in a normal direction and a scale in a tangential direction of a circle centering on the origin on the display coordinates and passing through the display point is made constant. system. 3. The display system according to claim 1, wherein a correspondence table for display coordinate conversion is created and coordinate conversion is performed using the correspondence table. 4. The vehicle position display system according to claim 1, wherein one or both of a circle centering on the origin and a straight line passing through the origin are displayed as a grid. Position data input means for inputting position data of one or a plurality of other vehicles;
Computing means for computing the display coordinates;
Conversion means for converting the vehicle position data according to the display coordinates;
In a vehicle position display system comprising display means for displaying a vehicle mark of the other vehicle,
The vehicle position display is characterized by the fact that the center of gravity of the vehicle arrangement including the other vehicles is the origin of the display coordinates, and the length between the origin and each vehicle mark is arranged in a short order so that they are always equidistant. system. 6. The vehicle position display system according to claim 1, wherein a distance from a point set as the origin of the display coordinates to the farthest vehicle is set as a maximum display range. Position data input means for inputting position data of one or more other vehicles;
Computing means for computing the display coordinates;
Conversion means for converting the vehicle position data according to the display coordinates;
In a vehicle position display system comprising display means for displaying a vehicle mark of the other vehicle ,
The center of gravity of the vehicle arrangement including the other vehicle is set as the origin of the XY coordinates as display coordinates, the scale in the X axis direction according to the distance in the X axis direction from the origin, and the Y axis direction according to the distance in the Y axis direction. A vehicle position display system characterized by reducing the scale of the vehicle. The display system according to claim 7, wherein a display coordinate conversion correspondence table is created, and coordinate conversion is performed using the correspondence table. 9. The display system according to claim 7 or 8, wherein one or both of a straight line parallel to the X axis and a straight line parallel to the Y axis are displayed as a grid. Position data input means for inputting position data of one or more other vehicles;
Computing means for computing the display coordinates;
Conversion means for converting the vehicle position data according to the display coordinates;
In a vehicle position display system comprising display means for displaying a vehicle mark of the other vehicle,
The center of gravity of the vehicle arrangement including the other vehicle is set as the origin of the XY coordinates as display coordinates, and the arrangement of the vehicle marks on the X axis and the Y axis is equally spaced. Vehicle position display system. 11. The display system according to claim 7, wherein the distance from the origin of the display coordinates to the vehicle farthest in the X-axis direction is the maximum display range of the X-axis, and the distance from the origin of the display coordinates to the vehicle farthest in the Y-axis direction. Is the maximum display range of the Y-axis. 12. The display system according to claim 1 , further comprising means for storing and reading out map data, converting the map data in accordance with the display coordinates, and displaying the map data in a superimposed manner. Vehicle position display system.

Images