JP3660644B2 - Bird's-eye view creation method, map display device, and navigation system - Google Patents

Description

【００６６】
また、このときの透視処理における座標変換は、視点の位置座標を（Ｔｘ，Ｔｙ，Ｔｚ）、平面Ａと平面Ｂがなす角度をθ、変換前の地図データ座標値を（ｘ，ｙ）、変換後の地図データ座標値を（ｘ’，ｙ’）とすると、つぎの（数２）および（数３）により表現される。
【００６７】
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【数２】

【００６８】
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【数３】

【００６９】
ステップ３において、ステップ２の時点では台形７２であった描画対象領域は、矩形領域７４に変換され、台形７２に外接する矩形７３は、矩形に外接する四角形７５に座標変換される。ここで、四角形７５内の領域のうち、描画対象領域７４外の部分は描画する必要がない。そこで、座標変換手段６２は、データクリップ手段６４を用いて、描画対象の矩形領域７４外の領域をクリップ処理して除く（ステップ４）。
【００７０】
このようにして得られた地図データは、描画命令発行手段６５に通知される。描画命令発行手段６５は、通知された地図データを用い、描画コマンドを生成してグラフィックス処理手段４９に描画データを作成させる。グラフィックス処理手段４９は、描画データを作成してＶＲＡＭ２６へ格納し、ディスプレイ２に表示を指示する。ディスプレイ２は、ＶＲＡＭ２６に保持された描画データを表示画面に表示する。これにより、図１に示すような鳥瞰地図１０２がディスプレイ２の表示画面に表示される。
【００７１】
ところで、鳥瞰図表示を用いれば、任意の２地点間の方位や位置関係の認識が容易になる。さらに、鳥瞰図表示は、ある地点周辺については詳細な情報を提供し、他の地点周辺については概略の情報を提供する場合に適している。このように、特定の地点周辺について詳細情報または概略情報を提供する場合、その特定の地点の座標をあらかじめ定めておいてもよく、あるいは、あらかじめ定められた条件を満たす座標を求めることによりその位置を定めてもよく、該地点の位置の入力を受け付けてもよい。
【００７２】
ナビゲーションシステムでは、一方の地点に現在地が選ばれる場合が多い。この現在地の位置情報は、現在位置演算手段４５ないしマップマッチ処理手段４６から得られる。そこで、入力装置５を介して、詳細情報表示地点および概略情報表示地点のいずれかに対して現在地が指示された場合、地図描画手段４４は、現在位置演算手段４５ないしマップマッチ処理手段４６から得られる現在地の座標を用いる。
【００７３】
しかし、表示画面に表示された地図上の位置の指定を受け付けて、詳細情報表示地点および概略情報表示地点のいずれかとする場合には、ユーザが詳細情報または概略情報を表示する地点を探すために、地図をスクロール表示しなければならないことが多い。しかし、鳥瞰図表示は、表示する領域を変更する度に全面再描画する必要があるため、スクロール速度が遅い。従って、スクロール表示を多様する操作は、使い勝手が悪いという問題がある。
【００７４】
この問題を解決するため、本実施例では、座標変換において、図８に示す処理を行う。
【００７５】
まず、座標変換手段６２は、地図の拡大または縮小が必要であれば（ステップ１０００）、処理対象の領域について、拡大または縮小演算を行い（ステップ１０１０）、地図の回転が必要であれば（ステップ１０２０）、回転変換処理（ステップ１０３０）を実行する。なお、回転変換処理（ステップ１０３０）には、回転角度演算（ステップ１０３１）とアフィン変換演算（ステップ１０３２）とが含まれる。
【００７６】
つぎに、座標変換手段６２は、鳥瞰図表示をするか否か判定する（ステップ１０４０）。ここで、例えば、入力装置５を介して、任意の地点を地図中から探し出す操作の指示が入力された場合や、入力装置５を介して、平面図の表示の指示が入力された場合は、座標変換手段６２は、鳥瞰図表示判定（ステップ１０４０）において、透視変換を行わないと判定し、透視変換処理（ステップ１０５０）を実行せずに、座標変換処理を終了する。この場合、透視変換処理が実行されないため、ディスプレイ２の表示画面には、平面地図が表示される。
【００７７】
本実施例によれば、任意の地点を地図中から探し出す操作においては、地図が鳥瞰図ではなく平面地図で表示されるため、素早く目標とする地点を探し出すことができる。
【００７８】
また、例えば、入力装置５を介して鳥瞰図の表示指示が入力された場合や、平面図表示中に、入力装置５を介して任意の地点が目的地として指示された場合などには、それらの指示をユーザ操作解析手段４１を介して受け付けた座標変換手段６２は、ステップ１０４０における鳥瞰図表示判定において、透視変換を要すると判定し、透視変換処理（ステップ１０５０）を実行する。
【００７９】
この透視変換処理（ステップ１０５０）には、投射角度の演算（ステップ１０５１）と、投射面の位置演算（ステップ１０５２）と、透視変換演算（ステップ１０５３）とが含まれている。これにより、描画命令発行手段６５に通知される地図データは、鳥瞰図に変換されたものになるので、グラフィックス処理手段４９が作成しＶＲＡＭ２６へ格納する描画データも、鳥瞰図のものになる。従って、ディスプレイ２に表示される地図も、平面図から鳥瞰図に切り替わる。
【００８０】
このように、鳥瞰図から平面図へ、平面図から鳥瞰図へ、任意に切り替えることができるため、本実施例によれば、わかりやすい地図表現を提供することができる。
【００８１】
また、上記処理に於いて発生する平面地図から鳥瞰図への画面切り替え、または入力装置５などを介しユーザから平面地図表示から鳥瞰図表示への切り替え、ないし鳥瞰図から平面地図への切り替えを指示された場合に、平面地図と鳥瞰図を直ちに切り替えてしまうと画面内の地図表現が大きく変わるため、ユーザは地図の認識が困難になってしまう。そこで、平面図と鳥瞰図との間の移行が徐々に行われるようにすることが望ましい。
【００８２】
本実施例では、平面地図から鳥瞰図に画面切り替えが発生したときには、透視変換処理（ステップ１０５０）における投射角度θ演算（ステップ１０５１）において、投射角度θを０°から経時的に（本実施例では０．５秒ごとに）徐々に（本実施例では５°ずつ）増加させ、目的の投射角度になった時点で増加を中止するように動作させる。このとき増加する投射角度単位は一定値にすると良い。
【００８３】
このように、経時的に投射角度を増加させ、透視変換演算（ステップ１０５３）することで平面地図から鳥瞰図へ滑らかに変化するため、ユーザは平面地図と鳥瞰図に表示された地点の位置関係を容易に把握することができるようになる。なお、鳥瞰図から平面地図に切り替える場合にも最初に設定されていた投射角度から０度まで時系列的に徐々に減少させることで、上述同様の効果を得ることができる。
【００８４】
つぎに、鳥瞰図表示における透視変換パラメータである地図と投射面とのなす角θ（投射角）、および、地図平面が含まれる物体座標系から見た投射面が含まれる視点座標系の原点座標（Ｔｘ，Ｔｙ，Ｔｚ）、即ち投射面の位置の決定方法について図８、図９を用いて説明する。
【００８５】
ナビゲーションシステムでは、一般に、ユーザが現在走行している地点、即ち現在地の周辺を詳細に表示することが望まれている。そこで、まず、図９の（ｃ）に示すように、現在地が画面中央下側に位置するように鳥瞰図表示する場合について説明する。この場合、画面上には現在地から見た進行方向前方と、これまで走行してきた道路地図が鳥瞰図表示される。なお、図９（ａ）に地図メッシュ９１における視界（描画表示される範囲）９２を示し、図９（ｂ）に鳥瞰図を得るための視点位置および投射角度を示す。また、図９（ｃ）に、得られる鳥瞰図表示における現在地の位置と進行方向を示す。なお、図９において点線の矢印は進行方向を示す。
【００８６】
図９（ｃ）のような鳥瞰図表示を実現するため、座標変換手段６２は、まず、必要な拡大／縮小処理を実行したのち（ステップ１０００および１０１０）、回転を要すると判断して（ステップ１０２０）、図９（ａ）に示すように進行方向ベクトルと地図メッシュの底辺がなす角度φを求め（ステップ１０３１）、さらに描画する地図データについて角度φだけ回転するというアフィン変換を各座標値に対して行う（ステップ１０３２）。
【００８７】
ステップ１０４０では鳥瞰図表示すると判定されるので、座標変換手段６２は、投射角度θおよび視点位置を演算する処理を実行する（ステップ１０５１および１０５２）。
【００８８】
投射角度θは、例えば、０°の近傍に設定すれば、視点近傍と視点遠方の縮尺の差が小さくなり、９０°の近傍に設定すれば、視点近傍と視点遠方の縮尺の差が大きくなる。本実施例では、通常、投射角度θを３０°〜４５°程度に設定する。
【００８９】
なお、本実施例では、座標変換手段６２は、ユーザ操作解析手段４１から通知された角度変更方向指示（投射角度変更キー６８により入力されたもの）に応じて、投射角度θを変更する。すなわち、ユーザ操作解析手段４１は、上昇を示す角度指示キー６８ａの押下を検出すると、投射角度の上昇指示を座標変換手段６２に通知する。また、押下が、この投射角度上昇指示の通知から０．５秒継続されたことを検出するたびに、座標変換手段６２に投射角度の上昇指示を通知する。この上昇指示の通知を受けた座標変換手段６２は、投射角度θを５°増加させる（すなわち、投射角度を５°上昇させる）。また、投射角度の下降指示についても、同様であり、下降を示す角度指示キー６８ｂの押下および０．５秒間の継続のたびに、ユーザ操作解析手段４１は、投射角度下降指示を座標変換手段６２に通知し、これを受けた座標変換手段６２は、投射角度θを５°減少させる（すなわち、投射角度を５°下降させる）。
【００９０】
このようにすることで、本実施例では、鳥瞰図地図表示で表示すべき地図領域をユーザが任意に設定できる。このようにして、投射角度の増加が指示された場合は、投射角度θが増えるためより遠方の地図が表示される。また投射角度を減少すると操作された場合は投射角度θが減るために現在地近傍の地図が表示されるようになる。
【００９１】
つぎに、座標変換手段６２は、投射面の位置（Ｔｘ，Ｔｙ，Ｔｚ）を、現在地（ｘ，ｙ，ｚ）から投射面の位置（Ｔｘ，Ｔｙ，Ｔｚ）を引いた差分値（Δｘ，Δｙ，Δｚ）が常に一定値になるように求める（ステップ１０５２）。また、座標変換手段６２は、絶対量としては、Δｘは０を、Δｚには地図を表示する縮尺に合わせ小さな縮尺で表示するときはΔｚに小さな値を、大きな縮尺で表示するときはΔｚに大きな値を設定する。通常は、平面図の縮尺と鳥瞰図表示の中央付近のある一点の縮尺が一致するようにΔｚを選択すると良い。
【００９２】
また、地図の縮尺はユーザの要求に応じ変更できることが望まれる。そこで、本実施例では、座標変換手段６２は、ユーザ操作解析手段４１から通知された縮尺変更指示（縮尺変更キー６７により入力されたもの）に応じて、表示される地図の縮尺を変更する。すなわち、ユーザ操作解析手段４１は、拡大指示キー６７ａの押下を検出すると、拡大指示を座標変換手段６２に通知する。また、押下が、この拡大指示の通知から０．５秒継続されたことを検出するたびに、座標変換手段６２に拡大指示を通知する。この拡大指示の通知を受けた座標変換手段６２は、ステップ１０５２において、Δｚを所定の値だけ増加させる。縮小指示についても、同様であり、縮小指示キー６７ｂの押下および０．５秒間の継続のたびに、ユーザ操作解析手段４１は、縮小指示を座標変換手段６２に通知し、これを受けた座標変換手段６２は、ステップ１０５２において、Δｚを所定の値だけ減少させる。
【００９３】
本実施例では、Δｙは、図９に示すように負の値を採ることもできるが、図１５に示すように正の値を取ることもできる。本実施例では、視点位置が、現在地の前方及び後方のどちらになった場合でも、何ら問題なく鳥瞰図表示ができる。なお、図１５は、図９に示したものと同様の範囲の異なる視点の鳥瞰図を得る場合の説明図である。図１５（ａ）に地図メッシュ１５１における視界（描画表示される範囲）１５２を示し、図１５（ｂ）に鳥瞰図を得るための視点位置および投射角度を示す。また、図１５（ｃ）に、得られる鳥瞰図表示における現在地の位置と進行方向を示す。なお、図１５において点線の矢印は進行方向を示す。
【００９４】
本実施例では、座標変換手段６２は、ユーザ操作解析手段４１から通知された視点位置（タッチセンサ７０により入力されたもの）に応じて、視点の位置（具体的にはΔｙ）を決定する。すなわち、ユーザ操作解析手段４１は、タッチセンサ７０への接触を検出すると、接触位置を座標変換手段６２に通知する。この位置情報の通知を受けた座標変換手段６２は、ステップ１０５２において、視点が通知された位置になるようにΔｙを設定する。
【００９５】
上述のように、本実施例では、ユーザの指示に応じて、Δｙを正〜負の広い範囲の任意の値に設定できる。従って、本実施例によれば、詳細に表示される位置を柔軟性に設定することができる。
【００９６】
最後に、座標変換手段６２は、このようにして得られた投射角度θおよび投射面の位置（Ｔｘ，Ｔｙ，Ｔｚ）を用いて地図データの各座標値を透視変換（ステップ１０５３）する。得られた地図データを用いてグラフィックス処理手段４９が描画処理することで、図９（ｃ）および図１５（ｃ）に示す地図の鳥瞰図表示において、進行方向が常に上方向になり、かつ現在地が画面上の同一地点に表示されるようになる。
【００９７】
ナビゲーションシステムでは、ユーザが現在走行している地点、即ち現在地周辺を詳細に表示することが望まれている。そこで、上述のように、本実施例のナビゲーションシステムでは、図９（ｃ）、図１０（ｃ）、図１５（ｃ）および図１６（ｃ）に示すように、現在地を画面中央下側に表示する。
【００９８】
本実施例のナビゲーションシステムでは、タッチパネル７０への接触を介して、目的地の指定を受け付けることができる。本実施例のナビゲーションシステムは、目的地が指定されると、その目的地が視野（表示画面に描画される範囲）に含まれるように描画する。この際、座標変換手段６２は、上述のように現在地が画面中央下側になるように、さらに、目的地が画面中央上側になるように（図１０（ｃ）および図１６（ｃ）に図示）、回転角度φを定める。
【００９９】
この場合の鳥瞰図表示方法について図８、図１０、図１６を用いて説明する。なお、図１０は、現在地と目的地とが両方同一画面（視野）に描画されるような鳥瞰図を得る場合の説明図であり、図１６は、図１０に示したものと同様の範囲の異なる視点の鳥瞰図を得る場合の説明図である。図１０（ａ）および図１６（ａ）に地図メッシュ１６１における視界（描画表示される範囲）１６２を示し、図１０（ｂ）および図１６（ｂ）に鳥瞰図を得るための視点位置および投射角度を示す。また、図１０（ｃ）および図１６（ｃ）に、得られる鳥瞰図表示における現在地と目的地の位置を示す。図１０および図１６における点線の矢印は、目的地の方向を表す。
【０１００】
なお、ここでは、画面中央下側を現在地、画面中央上側を目的地として表示する場合を例に説明するが、任意の二点の指定入力を受け付けて、該二点の一方を画面中央下側に、他方を画面中央上側に表示する場合も、同様にして処理される。
【０１０１】
図１０（ｃ）、図１６（ｃ）のような鳥瞰図表示を実現するため、座標変換手段６２は、ステップ１０３１において、図１０（ａ）および図１６（ａ）に示すように現在地と目的地を結ぶ線分に垂直な線と地図メッシュの底辺がなす角度φを求め、ステップ１０３２において、描画する地図データの各座標値を角度φだけアフィン変換する。
【０１０２】
ステップ１０４０では鳥瞰図表示すると判定されるので、つぎに、座標変換手段６２は、投射角度θおよび視点位置を演算する処理に移る（ステップ１０５１および１０５２）。上述のように、投射角度θの初期値は３０〜４０°のあらかじめ定められた値であり、投射角度変更キー６８による入力に応じて変更される。また、投射面の初期位置も、上述のように、現在地の座標から投射面の位置座標を引いた差分値があらかじめ定められた値になる用に決定され、縮尺指定キー６７による入力に応じて変更される。また、座標の回転には、上記（数２）および（数３）に示した変換式が用いられ、アフィン変換には、上記（数１）に示した変換式が用いられる。なお、投射面の位置を示すパラメータＴｙ及びＴｚは、Ｔｘにある適当な値、例えば０を代入し、現在地及び目的地の位置座標及び表示する位置を代入し、連立１次方程式を解くことで求められる。
【０１０３】
つぎに、座標変換手段６２は、透視変換演算処理（ステップ１０５３）を実行する。すなわち、座標変換手段６２は、上述のようにして得られた投射角度θおよび投射面の位置を用い、地図データの各座標値を透視変換する。
【０１０４】
これにより、得られた地図データを用いてグラフィックス処理手段４９が描画処理することで、現在地及び目的地を同一画面に表示することが可能になる。また、これらの処理を現在地が変わる度に実行すれば、経時的に現在地が変化しても、現在地と目的地が同一画面の同一位置に表示される。なお、鳥瞰図表示中は常にステップ１０４０における判定において透視変換処理が必要と判断されるようにすれば、常に、現在地の経時的変化に対応して画面表示が変更されることになる。また、ステップ１０４０における判定において、現在地があらかじめ定められた距離以上に移動した場合のみ、透視変換処理が必要であると判断するようにすれば、現在地が一定距離移動するまでは、同じ鳥瞰地図上で現在地を示すマーク１０５のみが移動し、現在地が一定距離移動して目的地に近づくと、地図の表示が拡大されたものに変化するようになる。
【０１０５】
上記処理を現在地が変わる度に実行し、かつ画面上に表示する現在地及び目的地の位置を固定することで、目的地に近づくにつれて地図が拡大表示されるようにすることもできる。
【０１０６】
また、現在地と目的地との距離が短くなるほど投射角度θを小さな値に変更してゆくことで、現在地と目的地との距離が離れている場合は鳥瞰図表示により互いの関係を理解しやすいように、そして現在地と目的地の距離が近づいた場合は平面図に近い表示にすることもできる。あるいは、逆に、現在地と目的地の距離が短くなるほど投射角度θを大きな値に変更してゆくことで、現在地と目的地との距離が離れている場合は全体の位置関係の把握が容易になるように、平面図を表示し、現在地と目的地との距離が近づくにつれて徐々に視点位置が上昇するように表示することで、距離感を把握しやすいようにしてもよい。
【０１０７】
つぎに、鳥瞰図表示における文字データの描画方法について説明する。まず、座標変換手段６２の透視変換演算（ステップ１０５３）の詳細を、図１１を用いて説明する。
【０１０８】
座標変換手段６２は、まず、入力された地図データが面データか判定する（ステップ１１００）。面データと判定すると、座標変換手段６２は、投射角度θ演算（ステップ１０５１）および視点位置演算（ステップ１０５２）で求められたパラメータを用いて、与えられた面データの各ノード座標値を透視変換する（ステップ１１０１）。このノードの透視変換処理（ステップ１１０１）は、入力された全ノードに関する処理が終了するまで繰り返される（ステップ１１０２）。
【０１０９】
つぎに、座標変換手段６２は、線データについても、面データ同様の処理を実行し、各ノードの座標値を透視変換する（ステップ１１０３〜１１０５）。
【０１１０】
線データに関する処理が終了すると、座標変換手段６２は、入力された地図データが文字データか判定する（ステップ１１０６）。文字データと判定されると、透視変換手段６２は、与えられた文字列の描画を開始する地点の座標値について、ステップ１０５１および１０５２で求められた投射角度θ及び視点位置座標値を用いて透視変換を行う（ステップ１１０７）。なお、本実施例では、文字イメージに関して透視変換を行わない。このステップ１１０７におけるノードの透視変換処理は、入力された全ノードに関する処理が終了するまで繰り返される（ステップ１１０８）。
【０１１１】
得られた透視変換結果を用いてグラフィックス描画すると、例えば、図１に示した地図１０３のような鳥瞰図が得られる。本実施例では、ステップ１１０７において、文字イメージの透視変換を行わないため、図１の地図１０３に示すように、文字は全て同じ大きさでかつ正立するように描画される。
【０１１２】
つぎに、描画判定手段６３の処理について図１２を用いて説明する。地図データに含まれる各データについて、描画するか否か判定する手段である。
【０１１３】
まず、描画判定手段６３は、入力される地図データに面データが含まれるか判定する（ステップ１２００）。面データが含まれると判定した場合、描画判定手段６３は、あらかじめ定められた面データ描画判定処理を行う（ステップ１２０１）。ここで行われる面データ描画判定処理（ステップ１２０１）は、例えば、あらかじめ面データごとに定められた属性を判断し、必要とする所定の面データを選択する処理である。
【０１１４】
この面データに関する処理が終了すると、描画判定手段６３は、次に、入力される地図データに道路や線背景などの線データが含まれるか判定する（ステップ１２０２）。線データが含まれると判定すると、描画判定手段６３は、あらかじめ定められた線データ描画判定処理を行う（ステップ１２０３）。ここで行われる線データ描画判定処理（ステップ１２０３）は、例えば、あらかじめ線データごとに定められた属性を判断し、必要とする所定の線データを選択する処理である。
【０１１５】
この線データに関する処理も終了すると、描画判定手段６３は、次に、入力された地図データに文字データが含まれるか判定する（ステップ１２０４）。文字データが含まれると判定すると、描画判定手段６３は、まず、文字列の描画を開始する地点の座標値について、視点遠方から視点近傍の並びになるように並び替え処理を行う（ステップ１２０５）。
【０１１６】
次に、描画判定手段６３は、並び替えられた各文字列の描画を開始する地点の高さｙと、表示画面上のあらかじめ定められた高さｈとの大小関係を比較する（ステップ１２０６）。なお、本実施例では、高さｈは、表示画面の高さを１としたとき、底辺から２／３の高さであり、あらかじめ定めらた一定の値である。これは、通常、底辺からの高さが２／３以上の場合、俯角が非常に小さくなり、描画すべきノードの密度が非常に高くなってしまうからである。しかし、この基準値（高さｈ）は、視点の高さ等に応じて定められるようにしてもよい。
【０１１７】
また、文字列を描画するか否かの基準として、その高さではなく、視点からの距離を用いてもよい。例えば、視点と目的地との距離を１とするとき、視点からの距離が２／３以下である文字列のみを描画し、２／３より距離が長い文字列については、描画対象から削除するようにしてもよい。
【０１１８】
描画判定手段６３は、位置判定の結果、画面上で文字列の描画を開始する地点の高さｙが高さｈより低ければ、その文字列を描画対象とし、高ければ、その文字列を描画対象文字列から削除する（ステップ１２０７）。このようにして、本実施例では、描画判定手段６３により取捨選択された地図データを用いてグラフィックス処理手段４９が描画することにより、鳥瞰図表示が繁雑になるのを防ぎ、すっきりと見やすい表示を得ることができる。
【０１１９】
なお、本実施例では、表示される高さのみを基準として、文字列の描画の有無を決定するが、文字列ごとに優先度をあらかじめ定めておき、表示される高さ（または視点からの距離）に応じて表示する文字列の優先度の範囲を定め、その範囲に含まれる優先度の付された文字列のみを描画するようにしてもよい。例えば、表示する文字列の優先度の上限は、高さに無関係に一定とし、表示する文字列の優先度の下限は、表示画面における高さに応じて高くなるようにすれば、表示画面の上辺に近い領域では、優先度の高い文字列のみが表示され、表示画面の底辺に近い領域では、優先度の高い文字列のみならず、優先度の低い文字列までも表示されることになる。そこで、現在位置を表示画面の底辺付近としている場合には、現在位置に近いほど詳細な文字情報を得ることができ、現在位置から遠ければ、重要な情報のみが表示されることになり、利便性が高い。
【０１２０】
また、文字列ごとにあらかじめ属性（表示文字の字体、文字列の意味内容等）が定められている場合には、上記優先度の代わりに、この属性を用い、領域ごとにあらかじめ定められた属性の文字のみを表示するようにしてもよい。
【０１２１】
なお、目的地としてあらかじめ定められた地点に文字列が定義されていれば、該文字列のみは表示するようにしてもよい。
【０１２２】
上述したステップ１２０５〜１２０７は、省略することもできるが、実行することが望ましい。これらのステップの効果を、図１３および図１４を用いて説明する。なお、図１３（ａ）は、ステップ１２０５〜１２０７の並び替え処理および描画文字列選択処理を行わずに描画した場合に得られる鳥瞰図である。図１３（ｂ）および図１４（ａ）は、ステップ１２０５の並び替え処理を実行し、ステップ１２０６および１２０７の描画文字列選択処理を行わずに描画した場合に得られる鳥瞰図である。図１４（ｂ）は、本実施例により得られる鳥瞰図、すなわち、ステップ１２０５〜１２０７の処理を実行した場合に得られる鳥瞰図である。なお、図１３および図１４では、面データおよび線データを元に描画される図形等の図示は省略した。
【０１２３】
ステップ１２０５の並び替え処理を行わずに鳥瞰図表示すると、図１３（ａ）に示すように、各文字列が、視点との遠近にかかわりなく、文字列の格納順序に従って表示されるため、視点近傍の文字列の上に視点遠方の文字列が重ねて表示されてしまうことがある。
【０１２４】
一方、ステップ１２０５による文字列の並び替え処理を実行すると、図１３（ｂ）に示すように、視点遠方の文字列と視点近傍の文字列とが重なる場合には、視点から近い方が遠い方の文字列の上に重ねて表示される。このように表示された鳥瞰図は、現在地に近い情報ほど容易に読みとることができるので望ましい。
【０１２５】
また、ステップ１２０６および１２０７による描画文字列選択処理を行わずに鳥瞰図表示すると、図１４（ａ）に示すように、視点から遠くなるほど、視点からの俯角が小さくなるため縮小圧縮され、単位面積当たりに描画される線、面、文字のデータ量が増大する。これらのデータのうち文字データは、他のデータの上に重ねて描画されるため、描画される文字データにより線や面背景が文字データで隠されてしまう。このような鳥瞰図では、遠方の道路や川、緑地帯などの面情報を表示画面から読みとることが非常に困難である。
【０１２６】
一方、本実施例では、ステップ１２０６および１２０７の描画文字列選択処理を実行するため、図１４（ｂ）に示すように、表示画面の底辺から高さがｈまでの範囲（文字描画範囲）にある文字データは描画され、それ以外の文字データは描画されない。従って、本実施例により描画される鳥瞰図では、視点遠方の道路や川、緑地帯などの面情報を、表示画面から容易に読みとることができる。
【０１２７】
本実施例の鳥瞰図表示装置およびナビゲーションシステムは、鳥瞰図により表現された地図を表示することができる。従って、本実施例によれば、ユーザは、見やすく、地図内に表示される地点の位置関係が認識しやすい地図表示を得ることができる。このような効果に加えて、本実施例には、つぎに列挙するような効果があると考えられる。
【０１２８】
第１に、本実施例では、平面地図表示と鳥瞰図表示とを任意に切り替えることができる。従って、本実施例では、ユーザの要求に従って、平面図および鳥瞰図の両方を表示することができる。
【０１２９】
第２に、本実施例では、鳥瞰図表示および平面地図表示の切り替えるに際して、地図を投射する平面と地図データが含まれる平面のなす角度を時系列で徐々に増加ないし減少させる。すなわち、本実施例では、平面地図表示と鳥瞰図表示との変換において、鳥瞰図を得るための視点が滑らかに移動するようにした。従って、本実施例では、平面図と鳥瞰図との間の移行が滑らかに行われるため、平面地図に表示された地点と鳥瞰地図に表示された地点との相関関係を容易に認識できる。
【０１３０】
第３に、本実施例では、鳥瞰図を得るための視点を、常に現在位置からある一定方向、一定距離離れた位置に固定することができ、また、操作入力に従って、視点の高さを変更することもできる。視点を固定すれば、常に画面のある一点に現在地が固定されるように鳥瞰図表示されるため、ユーザは現在地を容易に把握できるようになる。また、本実施例によれば、視点位置をユーザの所望の位置に設定することもできる。
【０１３１】
第４に、本実施例では、２地点（例えば、現在地と目的地）の位置が指定されると、その２地点が画面上の定められた位置に表示されるように視点及び地図を投射する平面と地図データが含まれる平面のなす角度を決定し、その結果を用い鳥瞰図表示を実行する。従って、本実施例によれば、当該２地点の位置的関係を容易に判断することができる。また、当該２地点の位置が変化した場合でも、常に同じ画面内に表示されるので、ユーザは複雑な操作をすることなく２地点の位置的関係を把握できる。
【０１３２】
第５に、本実施例の座標変換手段は、文字イメージについては透視変換を行わない。従って、本実施例では、鳥瞰図に含まれる文字は、すべて同じ大きさで正立して表示されるため、判読しやすい。
【０１３３】
第６に、本実施例の描画判定手段は、地図データ中の文字データ位置の視点からの距離に応じて、文字データ列をソーティングする。すなわち、視点からの位置が近い文字列ほど、表示の優先順位が高いものとして扱われる。従って、本実施例では、視点近傍の文字データが、他の表示に覆われるて欠損することなく表示されるので、視点に近い文字情報の識別が容易になる。
【０１３４】
第７に、本実施例の描画判定手段は、地図を透視変換した結果得られる画面上での文字列を描画する高さが、所定の値より高い場合は、描画対象から削除する。あるいは、描画判定手段は、視点から所定の距離以遠の位置に定義された文字列について、描画対象から削除するようにしてもよい。このように、所定の高さ以上または所定の距離以遠の領域、すなわち、鳥瞰図表示した場合に、俯角が小さくなるため単位面積当たりに描画されるデータ量が非常に多くなる領域については文字列を描画しないようにすることにより、この領域の道路表示や面背景表示等が文字列表示により覆われなくなるため、本実施例では、鳥瞰図表示をしても、視点遠方の道路等の認識が阻害されない。
【０１３５】
【発明の効果】
本発明の鳥瞰図表示装置および該装置を備えるナビゲーションシステムは、鳥瞰図により表現された地図を表示することができる。従って、本発明によれば、見やすく、地図内に表示される地点の位置関係が認識しやすい地図表示が得られる。
【図面の簡単な説明】
【図１】 本発明により描画される地図の鳥瞰図表示例を示す説明図である。
【図２】 実施例のナビゲーションシステムの構成図である。
【図３】 演算処理部のハードウェア構成図である。
【図４】 演算処理部の機能ブロック図である。
【図５】 地図描画手段の機能ブロック図である。
【図６】 地図の透視変換を示す説明図である。
【図７】 鳥瞰図表示のための座標変換過程を示す説明図である。
【図８】 座標変換手段の処理の流れを示すフローチャートである。
【図９】 鳥瞰図表示のための視点および投射面の設定方法を示す説明図である。
【図１０】 鳥瞰図表示のための視点および投射面の設定方法を示す説明図である。
【図１１】 透視変換演算の流れを示すフローチャートである。
【図１２】 描画判定手段の処理の流れを示すフローチャートである。
【図１３】 文字列の並び替え処理の効果を示す説明図である。
【図１４】 描画文字列選択処理の効果を示す説明図である。
【図１５】 鳥瞰図表示のための視点および投射面の設定方法を示す説明図である。
【図１６】 鳥瞰図表示のための視点および投射面の設定方法を示す説明図である。
【図１７】 実施例のナビゲーションシステムの外観斜視図である。
【符号の説明】
１…演算処理部、２…ディスプレイ、３…地図記憶装置、４…音声入出力装置、５…入力装置、６…車輪速センサ、７…地磁気センサ、８…ジャイロ、９…ＧＰＳ受信装置、１０…交通情報受信装置、２１…ＣＰＵ、２２…ＲＡＭ、２３…ＲＯＭ、２４…ＤＭＡ、２５…描画コントローラ、２６…ＶＲＡＭ、２７…カラーパレット、２８…Ａ／Ｄ変換器、２９…ＳＣＩ、３０…Ｉ／Ｏ装置、３１…カウンタ、４１…ユーザ操作解析手段、４２…経路計算手段、４３…経路誘導手段、４４…地図描画手段、４５…現在位置演算手段、４６…マップマッチ処理手段、４７…データ読み込み処理手段、４８…メニュー描画手段、４９…グラフィックス処理手段、６１…初期データクリップ手段、６２…座標変換手段、６３…描画判定手段、６４…データクリップ手段、６５…描画命令発行手段、６６…スクロールキー、６７…縮尺変更キー、６８…投射角度変更キー、６９…筐体、７０…タッチセンサ。[0001]
[Industrial application fields]
The present invention relates to a navigation system that measures the position of a moving body and informs a user of the current position, and a map display device used in the system.
[0002]
[Prior art]
In a navigation system mounted on a moving body, processing is performed such as measuring the position of the moving body by calculating information from various sensors and displaying the position.
[0003]
This navigation system projects a position measurement device that measures the absolute position of a moving body, two-dimensional vector data obtained by projecting ground points such as roads and structures onto a plane that is mesh-divided by universal horizontal Mercator projection, and these Vector data required from a storage device storing map data composed of character data attached to the input device, an input device receiving an external instruction, and a map mesh stored in the storage device according to the instruction input from the input device And a display device that displays a map on the display by converting the data.
[0004]
Here, the data conversion processing includes movement conversion for changing the display position of the map, scale conversion such as enlargement / reduction used for displaying the map at an arbitrary scale, and rotation conversion for changing the display direction of the map. is there. As a result of these processes, a planar map depicting the ground with an orthographic projection from directly above is displayed on the display.
[0005]
[Problems to be solved by the invention]
In a conventional navigation system, when displaying a map, a planar map display in which the ground is drawn by an orthogonal projection from directly above is performed. For this reason, there is a problem that, if an attempt is made to simultaneously display two points that are separated from each other, the scale is inevitably increased and detailed information cannot be displayed.
[0006]
Therefore, the present invention provides a bird's-eye view that is a projection view projected onto an arbitrary plane between the plane (ground) and the viewpoint when the plane (ground) is viewed obliquely from the viewpoint of an arbitrary height. It is an object of the present invention to provide a bird's-eye view creation method for expressing a map using a map display device and a navigation system including the device.
[0007]
[Means for solving problems]
In order to achieve the above object, according to the present invention, there is provided a bird's-eye view creation method for creating drawing data of a map represented by a bird's-eye view using map data, with a predetermined position as a viewpoint and a predetermined projection plane. There is provided a bird's-eye view creation method characterized by perspectively transforming coordinate data included in the map data to create bird's-eye view drawing data.
[0008]
The bird's-eye view creation method of the present invention includes a step of receiving an input of the position of the viewpoint, coordinates of two predetermined points (for example, a current location and a destination) included in the map data, and the input It is desirable to include the step of determining the projection plane based on the viewpoint position so that the drawing positions of the two points after the perspective transformation become predetermined positions.
[0009]
Alternatively, the step of accepting the input of the scale factor, the coordinates of the two predetermined points included in the map data, and the drawing position of the two points after the perspective transformation based on the input scale factor Determining the position of the viewpoint and the projection plane so that the scale becomes a predetermined position and the drawing scale ratio becomes the input scale ratio.
[0010]
The step of receiving an input of a projection angle that is an angle formed between the plane defined by the map data and the projection plane, the input projection angle, and the determined viewpoint position, Determining a projection plane.
[0011]
Furthermore, the present invention provides a map display device that displays a bird's-eye view using the above-described bird's-eye view drawing method, and a navigation system that displays a map using the map display device.
[0012]
[Action]
In the bird's eye view display device and navigation system of the present invention, the map drawing means includes coordinate conversion means, and the coordinate conversion means performs perspective transformation to convert the map into a bird's eye view and display the map. Therefore, according to the present invention, it is possible for the user to obtain a bird's-eye view map display that is easy to see and in which the positional relationship between points displayed in the map is easy to recognize. According to the bird's-eye view creation method of the present invention, the viewpoint position can be arbitrarily set, so that the user's needs can be accurately met.
[0013]
In addition, if it is set as the structure which solves the following 1st-7th problem, a operability and the convenience navigation system can be obtained further.
[0014]
First, when the processing speed of the scroll process in the bird's-eye view display is slower than the scroll process in the flat-view display, the operability deteriorates when the scroll process is frequently used to search for a predetermined point in the bird's-eye view display. Sometimes.
[0015]
Therefore, it is desirable that the present invention can arbitrarily switch between a planar map display and a bird's eye view display. In this way, both a plan view and a bird's eye view can be displayed according to the user's request, and convenience is improved.
[0016]
In this case, a second problem that it becomes difficult for the user to grasp the positional relationship may occur when switching between the planar map display and the bird's eye view display. This is because the position where the same point is displayed on the screen changes greatly because the viewpoint of viewing the map changes, and the point that has not been displayed so far may or may not be displayed. is there.
[0017]
Therefore, in the present invention, when switching between the planar map display and the bird's eye view display is enabled, when switching between the bird's eye view display and the planar map display, the angle formed between the plane on which the map is projected and the plane including the map data is time-sequentially. It is desirable to increase or decrease gradually. That is, in the present invention, it is desirable that the viewpoint for obtaining the bird's-eye view moves smoothly in the conversion between the planar map display and the bird's-eye view display. In this way, since the transition between the plan view and the bird's eye view is smoothly performed, the correlation between the point displayed on the plan map and the point displayed on the bird's eye map can be easily recognized.
[0018]
Third, when displaying a bird's eye view of a map, a viewpoint that is a parameter for perspective transformation the position is If it is fixed, the current position mark displayed on the screen will move with the current location, and the current position mark will not be displayed when it deviates from the displayed map area. There is.
[0019]
Therefore, in the present invention, the viewpoint for obtaining the bird's-eye view can always be fixed at a position away from the current position in a certain direction and a certain distance. In addition, the height of the viewpoint can be changed according to the operation input. As mentioned above If the viewpoint is fixed, the bird's-eye view is displayed so that the current location is always fixed to a certain point on the screen, so that the user can easily grasp the current location. Further, if the viewpoint position can be set to a user's desired position, convenience is improved.
[0020]
Furthermore, when trying to display two points on the same screen, it was only necessary to update the scale according to the distance between the two points in the conventional planar map display, but it is optimal if only the scale is updated in the bird's eye view display of the map. There is a fourth problem that the map cannot be displayed.
[0021]
Accordingly, in the present invention, designation of the position of two points (for example, the current location and the destination) is accepted, and the viewpoint is set so that the two points are displayed at predetermined positions on the screen. , as well as , A plane that projects the map and a plane that contains the map data When May be determined, and a bird's eye view display may be executed using the result. In this way, the positional relationship between the two points can be easily determined. Further, even when the position of the two points is changed, it is always displayed on the same screen, so that the user can grasp the positional relationship between the two points without performing a complicated operation.
[0022]
In the present invention, line backgrounds such as roads and tracks, surface backgrounds such as rivers and green zones, and character strings are perspective-transformed and drawn when a bird's eye view is displayed. However, when perspective transformation is performed on the character string, the shape of the character far from the viewpoint is small and distorted. , Characters near the viewpoint are enlarged, making it difficult to read the string Sometimes There is a fifth problem.
[0023]
Therefore, it is desirable that the coordinate conversion means of the present invention does not perform perspective conversion for character images. In this way, since the characters included in the bird's-eye view are displayed upright in the same size, the character string can be easily read.
[0024]
When a large amount of character data is displayed, the character strings are displayed overlapping each other. In particular, in the bird's eye view, the far view point has a small depression angle from the view point, so that the reduction rate is large and the character data displayed per unit area is large. Therefore, in the bird's eye view, there is a sixth problem that the overlapping of character data and character data is likely to occur far from the viewpoint.
[0025]
Therefore, it is desirable that the drawing determination unit of the present invention increases the display priority of the character data as the distance from the viewpoint of the character data position in the map data is shorter. In this way, it is possible to prevent the character string from being lost and facilitate reading by displaying the one with the higher priority on top of the one with the lower priority.
[0026]
When the current location is near the bottom or near the viewpoint, it is preferable to use the displayed height or the distance from the viewpoint as the reference for this priority. If there are two or more character strings that overlap, the lower the displayed height (the height from the bottom of the display screen) (or the shorter the distance from the viewpoint), the higher the priority (ie, other characters). If it is displayed so as not to be covered by the column, it is displayed on the other character string so as to be covered with the other display without being lost. Thus, in this way, it is possible to prevent the loss of character information close to the current location that the user would like, and the character string can be easily read.
[0027]
As described above, when bird's-eye view display is performed, a large amount of line data, surface background data, and character data are drawn per unit area in a region far from the viewpoint (region having a small depression angle). Therefore, when character data of these data is drawn on top of other data, the line data and the surface background data are obscured by the character data in the far view area. It becomes difficult to read the shape of roads, etc. Sometimes There is a seventh problem.
[0028]
Therefore, it is desirable that the drawing determination unit of the present invention deletes the drawing character string from the drawing target when the height of drawing the character string on the screen obtained as a result of perspective transformation of the map is higher than a predetermined value. Alternatively, the drawing determination unit may delete a character string defined at a position beyond a predetermined distance from the viewpoint from the drawing target. In this way, a character string is used for an area that is more than a predetermined height or more than a predetermined distance, i.e., an area where the amount of data drawn per unit area is very large because the depression angle is small when a bird's-eye view is displayed. By not drawing, the road display and surface background display in this area are not covered by the character string display. Therefore, in this way, even if a bird's-eye view is displayed, there is an advantage that recognition of a road or the like far away from the viewpoint is hardly hindered.
[0029]
【Example】
Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
An example of a bird's-eye view map displayed by the bird's-eye view map display device mounted on the navigation system of this embodiment is shown in FIG. The bird's-eye view map display apparatus according to the present embodiment creates a bird's-eye view 102 showing a bird's-eye view from a specific position as a projection view of two-dimensional map data (illustrated as 101 in FIG. 1), and displays it on the display screen of the display 2. In addition, in the bird's eye view 102 shown in FIG. 1, the route 104 is highlighted to show the path (in FIG. 1, the emphasis is expressed by increasing the width of the line, but it is emphasized by blinking or discoloration. You may). A mark 105 is a symbol for indicating the current position. In FIG. 1, an arrow represents a projection relationship from the two-dimensional map data 101 to the bird's eye view 102.
[0030]
An external perspective view of the mobile navigation system of this embodiment is shown in FIG. The navigation system of the present embodiment is housed in a housing 69, and the housing 69 includes a display screen of the display 2, a scroll key 66, a scale change key 67, a projection angle change key 68, and a display 2. A touch panel 70 provided on the display screen is provided.
[0031]
The scroll key 66 is a key for accepting an instruction to scroll an image displayed on the display screen, and includes four direction designation keys 660 for accepting an up / down / left / right scroll instruction. The scale change key 67 is a key for accepting a change in the scale of the map displayed on the display screen, and includes two scale designation keys 67a and 67b for accepting enlargement and reduction, respectively. The projection angle change key 68 is a key for accepting designation of the angle of the projection surface of the bird's eye view displayed on the display screen, and includes two angle designation keys 68a and 68b for accepting the rise and fall of the projection angle, respectively. . The touch panel 70 is an input unit that detects contact with the surface of the touch panel 70 and outputs the touched position.
[0032]
As shown in FIG. 2, the mobile navigation system of this embodiment includes an arithmetic processing unit 1, a display 2 connected to the arithmetic processing unit 1 via a signal line S1, and a signal line connected to the arithmetic processing unit 1. The map storage device 3 connected via S2, the voice input / output device 4 connected to the arithmetic processing unit 1 via the signal line S3, and the arithmetic processing unit 1 connected via the signal line S4 Input device 5, wheel speed sensor 6 connected to arithmetic processing unit 1 via signal line S5, geomagnetic sensor 7 connected to arithmetic processing unit 1 via signal line S6, and arithmetic processing unit 1, a gyro 8 connected to the arithmetic processing unit 1 via a signal line S8, a GPS (Global Positioning System) receiver 9 connected to the arithmetic processing unit 1 via a signal line S8, and a signal line S9 to the arithmetic processing unit 1 And a traffic information receiving apparatus 10 connected via Each signal line S1 to S9 may be wired or wireless as long as it can transmit a signal, but a wired line is used in this embodiment.
[0033]
The arithmetic processing unit 1 detects the current position based on information output from the various sensors 6 to 9, reads necessary map information from the map storage device 3 based on the obtained current position information, and maps data The graphics are expanded and the current location mark is superimposed on them. The It is a central unit that performs various processes such as displaying or selecting an optimum road connecting the destination and the current location instructed by the user, and notifying the user using voice or graphic display.
[0034]
The display 2 is a unit that displays graphics information generated by the arithmetic processing unit 1 and is configured by a CRT or a liquid crystal display. Further, S1 between the normal arithmetic processing unit and the display is connected by an RGB (Red Green Blue) signal or an NTSC (National Television System Committee) signal in this embodiment as well as the normal system.
[0035]
The map storage device 3 includes a large-capacity storage medium such as a CD-ROM (Compact Disk-Read Only Memory) or an IC (Integrated Circuit) card, and is held in the large-capacity storage medium in response to a request from the arithmetic processing unit 1. The data is read out and notified to the arithmetic processing unit 1 and the data notified from the arithmetic processing unit 1 is written into the large-capacity storage medium.
[0036]
In addition, the voice input / output device 4 converts the message to the user generated by the arithmetic processing unit 1, performs voice output, accepts voice input, recognizes the contents thereof, and transfers it to the arithmetic processing unit 1. I do.
[0037]
The input device 5 is a unit that receives an instruction input from the outside. In this embodiment, the input device 5 includes the scroll key 66, the scale change key 67, the projection angle change key 68, and the touch panel 70 described above. The configuration of the input device 5 is not limited to this, and other input means such as a joystick, a keyboard, a mouse, and a pen input device may be used.
[0038]
Further, as a sensor used for detecting a position in mobile navigation, the navigation system of the present embodiment measures the distance from the product of the wheel circumference and the measured wheel rotation speed, and further forms a pair of wheels. The wheel speed sensor 6 that measures the angle at which the moving body is bent from the difference in the number of rotations, the geomagnetic sensor 7 that detects the magnetic field held by the earth and measures the direction in which the moving body is facing, and the angle at which the moving body is rotated , And a gyro 8 composed of an optical fiber gyro, a vibration gyro, etc. A GPS receiver 9 that measures the current position, traveling direction, and traveling direction of the moving body by measuring is provided.
[0039]
Furthermore, the navigation system of the present embodiment includes a traffic information receiver 10 for receiving signals from beacon transmitters and FM broadcasts that generate traffic information such as traffic jams, construction, road closure information and parking lot information.
[0040]
The hardware configuration of the arithmetic processing unit 1 described above is shown in FIG. The arithmetic processing unit 1 includes a CPU (Central Processing Unit) 21 that executes processing such as numerical calculation and control of each device 22 to 31, a RAM (Random Access Memory) 22 that holds maps and arithmetic data, and a program. Graphics such as ROM (Read Only Memory) 23 for holding, DMA (Direct Memory Access) 24 for executing data transfer between the memory and the memory at high speed, and memory and each device, and vector data developed into an image A drawing controller 25 that performs drawing at high speed and performs display control, a video random access memory (VRAM) 26 that stores graphics image data, a color palette 27 that converts image data into RGB signals, and analog signals that are digital A / D (Analog / Digital) converter 28 for converting the signal into a bus It includes a SCI (Serial Communication Interface) 29 for converting the synchronized parallel signal, and I / O (Input / Output) device 30 to put on the bus takes a parallel signal synchronized, and a counter 31 for integrating a pulse signal. These devices 21 to 31 are connected to each other via a bus.
[0041]
Next, using FIG. Arithmetic processing A functional configuration of the unit 1 will be described. Arithmetic processing The unit 1 includes a user operation analysis unit 41, a path calculation unit 42, a path guidance unit 43, a map drawing unit 44, a current position calculation unit 45, a map match processing unit 46, a data reading processing unit 47, A menu drawing unit 48 and a graphics processing unit 49 are provided. Each of these means 41 to 49 is realized by the CPU 21 executing instructions held in the ROM 23.
[0042]
The current position calculation means 45 uses distance data and angle data obtained as a result of integrating the distance pulse data measured by the wheel speed sensor 6 and the angular acceleration data measured by the gyro 8, respectively. By integrating, a process for calculating the position (X ′, Y ′) after the moving body is performed based on the initial position (X, Y). Here, the current position calculation means 45 corrects the absolute azimuth in the advancing direction from the azimuth data obtained from the geomagnetic sensor 7 and the angle data obtained from the gyro in order to match the relationship between the rotation angle of the moving body and the advancing azimuth. . As described above, when the data obtained from the sensor is integrated, a sensor error accumulates. Therefore, the current position calculation unit 45 cancels the accumulated error based on the position data obtained from the GPS receiver 9 at a predetermined time period (in this embodiment, every second). Processing is performed, and the corrected data is output as current position information.
[0043]
The current position information obtained in this way still contains a minute error due to the sensor. Therefore, in order to further improve the position accuracy, the map matching processing is performed by the map matching processing means 46 in the navigation system of the present embodiment. This is because the road data included in the map around the current location read by the data reading processing means 47 and the travel locus obtained from the current position calculating means 45 are compared with each other, and the current location is matched with the road having the highest shape correlation. Process. By applying the map matching process, the current location often coincides with the traveling road, so the current position information can be output with high accuracy.
[0044]
On the other hand, the user operation analysis means 41 analyzes the request content of the operation instruction received via the input device 5 and controls the units 42 to 48 so that the corresponding processing is executed. For example, when a route guidance request to the destination is input, the map drawing unit 44 is requested to display a map for setting the destination, and then the processing for calculating the route from the current location to the destination is performed. It operates to request the calculation means 42 and to request the route guidance means 43 to present the route guidance information to the user.
[0045]
The route calculation means 42 searches for a node connecting two designated points using the Dijkstra method or the like, and obtains the route with the highest priority. The route calculation means 42 includes a plurality of priority criteria, and uses the criteria specified by the operation instruction for determining the route. In this embodiment, a route with the shortest distance between two points, a route that can be reached in the shortest time, a route with the lowest cost, or the like is required in accordance with an operation instruction.
[0046]
The route guidance unit 43 compares the link information of the guidance route obtained by the route calculation unit 42 with the current position information obtained by the current position calculation unit 45 and the map match processing unit 46, and should proceed straight before passing the intersection. The voice input / output device 4 is notified of direction indication information such as whether to turn left or right, and is output as voice, or the direction to travel on the map displayed on the display screen of the display 2 is drawn.
[0047]
The data reading processing unit 47 operates to read and prepare the map data of the requested area from the map storage device 3. The map drawing unit 44 receives map data around the point designated for display from the data reading processing unit 47, and draws a specified object at a specified scale in a specified direction upward. Is transferred to the graphic processing means 49.
[0048]
On the other hand, the menu drawing unit 48 operates to receive a command output from the user operation analysis unit 41 and transfer a command for drawing various types of requested menus to the graphic processing unit 49.
[0049]
The graphics processing unit 49 receives a drawing command generated by the map drawing unit 44 and the menu drawing unit 48 and develops an image in the VRAM 26.
[0050]
Next, the function of the map drawing means 44 will be described with reference to FIG. The map drawing unit 44 includes an initial data clip unit 61, a coordinate conversion unit 62, a drawing determination unit 63, a data clip unit 64, and a drawing command issue unit 65.
[0051]
The initial data clip means 61 clips road data, surface and line background data, and character data related to areas necessary for the subsequent processing from each mesh of map data fetched from the map storage device 3 by the data reading processing means 47. And the coordinate conversion means 62 is notified of the result. In this embodiment, the initial data clip means 61 is activated at a cycle of 0.5 seconds. It is also activated by an operation instruction notification from the user operation analysis means 41.
[0052]
Clip processing algorithms used here include Cohen-Superland line clip algorithm for road data and line data, Sutherland-Hodgman polygon clip algorithm for surface data, etc. (Foley, van Dam, Feiner, Hughes: Computer Graphics: Addison -Wesley Publishing Company pp.111-127). Since this process makes it possible to reduce the amount of data to be subjected to subsequent coordinate conversion and drawing processing, speeding up is expected.
[0053]
The coordinate conversion means 62 performs processing for converting each coordinate value of the map data, such as enlargement / reduction, rotation, projection processing of the map data obtained by the clip processing. The coordinate conversion unit 62 is activated in response to a notification from the initial data clip unit 61 or the user operation analysis unit 41.
[0054]
The drawing determination unit 63 serves to select data that actually needs to be drawn from the map data obtained by the coordinate conversion unit 62. For example, the drawing determination unit 63 operates to delete thin roads, place names that can be omitted, and the like because the amount of data to be drawn substantially increases when the scale increases. This can prevent the processing speed for drawing from becoming extremely slow. The drawing determination unit 63 is activated in response to a notification from the coordinate conversion unit 62 or the user operation analysis unit 41.
[0055]
The data clip means 64 operates so as to select map data related to the drawing area from the map data obtained by the drawing determination means 63 by clip processing. The clip processing algorithm used here can use the same algorithm as the initial data clip means. The data clip unit 64 is activated in response to a notification from the drawing determination unit 63 or the user operation analysis unit 41. The data clip means 64 may be omitted.
[0056]
The drawing command issuing unit 65 draws roads, planes and lines, background data, character data, and the like included in the map data obtained by the data clip unit 64 with a designated color or pattern, so that lines, polygons, characters, etc. Operates to issue to the graphics processing means 49 a command for drawing and a command for setting a color and a pattern. The drawing command issuing unit 65 is activated in response to a notification from the data clip unit 64.
[0057]
In this embodiment, the initial data clip unit 61 is activated every 0.5 seconds, and notifies the coordinate conversion unit 62 of data obtained as a result of the clip process. Therefore, in this embodiment, drawing is performed every 0.5 seconds, except in the case of an operation instruction from the outside.
[0058]
Next, an overview of bird's-eye view display will be described with reference to FIG.
In a printed map book and a conventional navigation system, when a map is displayed, it is expressed by a planar map display in which the map is viewed from a point at infinity from the ground. In the planar map display, it is easy to get a sense of distance because there is an advantage that the scale is constant regardless of the point in the same screen. However, if you want to display between two points on the same screen, you will need to adjust the map display scale to be optimal, and if the distance between the two points is far away, it will be displayed at once. Since the amount of possible information is limited by the size and definition of the display, there is a disadvantage that only limited information can be displayed. There is a bird's-eye view display as means for solving this problem.
[0059]
Bird's-eye view display is 2D or 3D map information of plane A 5 3 is projected onto a plane B that forms an angle θ with the plane A. 5 This is realized by perspective transformation of obtaining 4. In the conceptual diagram shown in FIG. 6, a map 53 (point a, point b, point c) represented by a rectangle on the plane A (shown as a square 51) with the point 55 of coordinates (Tx, Ty, Tz) as a viewpoint. , Represented by a quadrangle having a point d as a vertex) and projected onto a plane B (shown as a quadrangle 52) that forms an angle θ with the plane A, and is projected 54 (point a ′, point b ′, point c ′) , Represented by a quadrangle having a point d ′ as a vertex). Here, point a, point b, point c, and point d on map 53 are projected onto point a ′, point b ′, point c ′, and point d ′, respectively. In the present specification, the viewpoint 55 that is the origin of the viewpoint coordinate system in the projection processing is simply referred to as “viewpoint”. In this specification, when simply referred to as “viewpoint”, it does not mean “viewpoint” as the position of the user's eyes.
[0060]
When bird's-eye view representation is performed, information on a portion close to the viewpoint 55 (for example, a straight line ab) is enlarged, and information on a portion far from the viewpoint (for example, a straight line cd) is reduced and expressed. By this, when displaying between two points on the same screen, the point where you want to get more detailed information is near the viewpoint, the other is far from the viewpoint, and two points are displayed on the same screen, It is possible to express each other's position interval in an easy-to-understand manner, and to provide a user with a larger amount of information about information near the viewpoint.
[0061]
In this embodiment, two-dimensional map data can be used for the map information used for bird's eye view display. Therefore, new map data can be obtained by adding a means for performing such perspective transformation to the conventional navigation system. A bird's eye view display can be realized without adding an amount. In the present embodiment, this perspective transformation is executed by the coordinate transformation means 62. In realizing the bird's-eye view display, it is desirable to make various ideas as described later.
[0062]
First, a method for realizing a basic bird's-eye view display will be described with reference to FIG.
First, the coordinate conversion means 62 determines the position of the viewpoint, determines which direction is viewed from the viewpoint position, and determines the angle of the projection plane (shown as an angle θ in FIG. 6) (step 1). Thereby, the area to be displayed in the bird's eye view is determined. When a bird's eye view is displayed on a rectangular display screen, the area near the viewpoint is narrow and the area far from the viewpoint is wide. Therefore, the finally drawn map data is a trapezoidal region 72 in the map mesh 71.
[0063]
Next, the coordinate conversion means 62 uses the initial data clip means 61 to extract the map data of the rectangular area 73 circumscribing the trapezoid area 72 to be actually drawn from the map mesh data 71 including the area to be displayed as a bird's eye view ( Step 2).
[0064]
Next, the coordinate conversion means 62 enlarges or reduces the extracted data, performs affine transformation so that the trapezoid is erected, and further converts each coordinate value of the map data by perspective transformation ( Step 3). At this time, the coordinate transformation by the affine transformation is that the angle between the plane A and the plane B is θ, the map data coordinate value before the transformation is (x, y), and the map data coordinate value after the transformation is (x ′, y If '), it is expressed by the following (Equation 1).
[0065]
◎
[Expression 1]

[0066]
In addition, coordinate conversion in the perspective processing at this time is (Tx, Ty, Tz) as the position coordinate of the viewpoint, θ is the angle formed by the plane A and the plane B, (x, y) is the map data coordinate value before conversion, When the converted map data coordinate value is (x ′, y ′), it is expressed by the following (Equation 2) and (Equation 3).
[0067]
◎
[Expression 2]

[0068]
◎
[Equation 3]

[0069]
In step 3, the drawing target area that was the trapezoid 72 at the time of step 2 is converted into a rectangular area 74, and the rectangle 73 circumscribing the trapezoid 72 is coordinate-transformed into a rectangle 75 circumscribing the rectangle. Here, it is not necessary to draw a portion outside the drawing target area 74 in the area inside the quadrangle 75. Therefore, the coordinate conversion means 62 uses the data clip means 64 to clip and remove the area outside the rectangular area 74 to be drawn (step 4).
[0070]
The map data obtained in this way is notified to the drawing command issuing means 65. Using the notified map data, the drawing command issuing unit 65 generates a drawing command and causes the graphics processing unit 49 to create drawing data. The graphics processing unit 49 creates drawing data, stores it in the VRAM 26, and instructs the display 2 to display it. The display 2 displays the drawing data held in the VRAM 26 on the display screen. Thereby, a bird's-eye view map 102 as shown in FIG. 1 is displayed on the display screen of the display 2.
[0071]
By the way, using the bird's eye view display, the direction between any two points position Recognize relationships. Furthermore, the bird's-eye view display is suitable for providing detailed information about a certain point and providing general information about another point. Thus, when providing detailed information or outline information about a specific point, the coordinates of the specific point may be determined in advance, or the position of the specific point may be determined by obtaining coordinates satisfying a predetermined condition. Or an input of the position of the point may be accepted.
[0072]
In the navigation system, the current location is often selected as one point. The current position information is obtained from the current position calculation means 45 or the map match processing means 46. Therefore, when the current location is instructed to either the detailed information display point or the summary information display point via the input device 5, the map drawing unit 44 obtains from the current position calculation unit 45 or the map match processing unit 46. Use the coordinates of the current location.
[0073]
However, when the designation of the position on the map displayed on the display screen is accepted and it is set as one of the detailed information display point and the summary information display point, the user searches for the point where the detailed information or the summary information is displayed. Often, the map must be scrolled. However, the bird's eye view display has a slow scrolling speed because it is necessary to redraw the entire surface every time the display area is changed. Accordingly, there is a problem in that the operations for diversifying the scroll display are unusable.
[0074]
In order to solve this problem, in this embodiment, the process shown in FIG. 8 is performed in the coordinate conversion.
[0075]
First, if the map needs to be enlarged or reduced (step 1000), the coordinate conversion means 62 performs an enlargement or reduction operation on the processing target area (step 1010), and if the map needs to be rotated (step 10). 1020) and the rotation conversion process (step 1030) is executed. The rotation conversion process (step 1030) includes a rotation angle calculation (step 1031) and an affine conversion calculation (step 1032).
[0076]
Next, the coordinate conversion means 62 determines whether or not to display a bird's eye view (step 1040). Here, for example, when an instruction for searching for an arbitrary point in the map is input via the input device 5 or when an instruction for displaying a plan view is input via the input device 5, In the bird's eye view display determination (step 1040), the coordinate conversion unit 62 determines that the perspective conversion is not performed, and ends the coordinate conversion process without executing the perspective conversion process (step 1050). In this case, since the perspective transformation process is not executed, a planar map is displayed on the display screen of the display 2.
[0077]
According to the present embodiment, in the operation of searching for an arbitrary point from the map, the map is displayed not as a bird's eye view but as a planar map, so that the target point can be quickly found.
[0078]
For example, when a bird's eye view display instruction is input via the input device 5 or when an arbitrary point is specified as a destination via the input device 5 during the plan view display, The coordinate conversion unit 62 that has received the instruction via the user operation analysis unit 41 determines that the perspective conversion is required in the bird's eye view display determination in step 1040, and executes the perspective conversion process (step 1050).
[0079]
This perspective transformation process (step 1050) includes a projection angle calculation (step 1051), a projection plane position calculation (step 1052), and a perspective transformation calculation (step 1053). As a result, the map data notified to the drawing command issuing means 65 is converted into a bird's eye view, so the drawing data created by the graphics processing means 49 and stored in the VRAM 26 is also a bird's eye view. Therefore, the map displayed on the display 2 is also switched from the plan view to the bird's eye view.
[0080]
Thus, since it can be arbitrarily switched from a bird's eye view to a plan view and from a plan view to a bird's eye view, according to the present embodiment, an easy-to-understand map expression can be provided.
[0081]
Further, the screen switching from the plane map to the bird's eye view generated in the above processing, or the user switching from the plane map display to the bird's eye view display via the input device 5 or the like, or the switching from the bird's eye view to the plane map. The When instructed, if the plane map and the bird's-eye view are immediately switched, the map representation on the screen changes greatly, and the user becomes difficult to recognize the map. Therefore, it is desirable that the transition between the plan view and the bird's eye view is gradually performed.
[0082]
In this embodiment, when the screen is switched from the planar map to the bird's eye view, the projection angle θ is changed from 0 ° over time in the projection angle θ calculation (step 1051) in the perspective conversion process (step 1050). It is increased gradually (every 0.5 seconds) (in this embodiment, by 5 °), and is operated to stop the increase when the target projection angle is reached. The projection angle unit that increases at this time is preferably a constant value.
[0083]
Thus, since the projection angle is increased with time and the perspective transformation calculation (step 1053) is performed to smoothly change from the planar map to the bird's eye view, the user can easily determine the positional relationship between the planar map and the points displayed in the bird's eye view. To be able to grasp. Even when switching from the bird's eye view to the plane map, the same effect as described above can be obtained by gradually decreasing the projection angle set initially to 0 degree in time series.
[0084]
Next, the angle θ (projection angle) between the map and the projection plane, which is a perspective transformation parameter in the bird's eye view display, and the origin coordinates of the viewpoint coordinate system including the projection plane viewed from the object coordinate system including the map plane ( Tx, Ty, Tz), that is, a method for determining the position of the projection surface will be described with reference to FIGS.
[0085]
In a navigation system, it is generally desired to display in detail the location where the user is currently traveling, that is, the vicinity of the current location. Therefore, first, as shown in FIG. 9C, a case where a bird's eye view is displayed so that the current location is located on the lower center side of the screen will be described. In this case, a bird's eye view is displayed on the screen in front of the traveling direction as viewed from the current location and the road map that has been traveled so far. FIG. 9A shows a field of view (range to be drawn and displayed) 92 in the map mesh 91, and FIG. 9B shows a viewpoint position and a projection angle for obtaining a bird's-eye view. FIG. 9C shows the position and traveling direction of the current location in the obtained bird's-eye view display. In FIG. 9, the dotted arrow indicates the traveling direction.
[0086]
In order to realize the bird's eye view display as shown in FIG. 9C, the coordinate conversion means 62 first executes necessary enlargement / reduction processing (steps 1000 and 1010), and then determines that rotation is required (step 1020). 9), the angle φ formed by the traveling direction vector and the base of the map mesh is obtained as shown in FIG. 9A (step 1031), and the map data to be drawn is affine transformed by rotating the angle φ for each coordinate value. (Step 1032).
[0087]
Since it is determined in step 1040 that the bird's-eye view is displayed, the coordinate conversion unit 62 executes processing for calculating the projection angle θ and the viewpoint position (steps 1051 and 1052).
[0088]
For example, if the projection angle θ is set in the vicinity of 0 °, the difference between the scales near the viewpoint and the viewpoint is small, and if it is set near 90 °, the difference between the scales near the viewpoint and the viewpoint is large. . In the present embodiment, the projection angle θ is normally set to about 30 ° to 45 °.
[0089]
In the present embodiment, the coordinate conversion unit 62 changes the projection angle θ according to the angle change direction instruction (input by the projection angle change key 68) notified from the user operation analysis unit 41. That is, when detecting that the angle instruction key 68a indicating the increase is pressed, the user operation analysis unit 41 notifies the coordinate conversion unit 62 of a projection angle increase instruction. Further, every time it is detected that the pressing is continued for 0.5 seconds from the notification of the projection angle increase instruction, the coordinate conversion means 62 is notified of the projection angle increase instruction. The coordinate conversion means 62 that has received the notification of the increase instruction increases the projection angle θ by 5 ° (that is, increases the projection angle by 5 °). The same applies to the projection angle lowering instruction. Whenever the angle instruction key 68b indicating the lowering is pressed and continued for 0.5 seconds, the user operation analysis unit 41 sends the projection angle lowering instruction to the coordinate conversion unit 62. In response to this, the coordinate conversion means 62 that receives this reduces the projection angle θ by 5 ° (ie, lowers the projection angle by 5 °).
[0090]
By doing in this way, in a present Example, the user can set arbitrarily the map area | region which should be displayed by a bird's-eye view map display. In this way, when an increase in the projection angle is instructed, the map at a further distance is displayed because the projection angle θ increases. When the operation is performed to decrease the projection angle, the map near the current location is displayed because the projection angle θ decreases.
[0091]
Next, the coordinate conversion means 62 calculates a difference value (Δx, Tz) obtained by subtracting the position (Tx, Ty, Tz) of the projection plane from the current position (x, y, z) for the position (Tx, Ty, Tz) of the projection plane. (Δy, Δz) is always determined to be a constant value (step 1052). In addition, the coordinate conversion means 62 has an absolute value of Δx of 0, Δz to a scale for displaying a map, a small value for Δz when displayed at a small scale, and Δz for a large scale. Set a large value. Usually, it is preferable to select Δz so that the scale of the plan view coincides with the scale of one point near the center of the bird's eye view display.
[0092]
Further, it is desirable that the scale of the map can be changed according to the user's request. Therefore, in the present embodiment, the coordinate conversion means 62 changes the scale of the displayed map in accordance with the scale change instruction (input by the scale change key 67) notified from the user operation analysis means 41. That is, when the user operation analysis unit 41 detects that the enlargement instruction key 67a is pressed, the user operation analysis unit 41 notifies the coordinate conversion unit 62 of the enlargement instruction. Further, every time it is detected that the pressing has continued for 0.5 seconds from the notification of the enlargement instruction, the coordinate conversion means 62 is notified of the enlargement instruction. In response to the notification of the enlargement instruction, the coordinate conversion means 62 increases Δz by a predetermined value in Step 1052. The same applies to the reduction instruction. Whenever the reduction instruction key 67b is pressed and continued for 0.5 seconds, the user operation analysis unit 41 notifies the coordinate conversion unit 62 of the reduction instruction, and receives the coordinate conversion. In step 1052, the means 62 decreases Δz by a predetermined value.
[0093]
In this embodiment, Δy can take a negative value as shown in FIG. 9, but can also take a positive value as shown in FIG. In the present embodiment, the bird's-eye view can be displayed without any problem regardless of whether the viewpoint position is in front of or behind the current location. FIG. 15 is an explanatory diagram for obtaining a bird's-eye view of different viewpoints in the same range as that shown in FIG. FIG. 15A shows a field of view (range to be drawn and displayed) 152 in the map mesh 151, and FIG. 15B shows a viewpoint position and a projection angle for obtaining a bird's eye view. FIG. 15C shows the position and traveling direction of the current location in the obtained bird's-eye view display. In FIG. 15, a dotted arrow indicates the traveling direction.
[0094]
In the present embodiment, the coordinate conversion unit 62 determines the viewpoint position (specifically, Δy) according to the viewpoint position notified from the user operation analysis unit 41 (input by the touch sensor 70). That is, when the user operation analysis unit 41 detects contact with the touch sensor 70, the user operation analysis unit 41 notifies the coordinate conversion unit 62 of the contact position. Upon receiving the notification of the position information, the coordinate conversion unit 62 sets Δy so that the viewpoint is the notified position in step 1052.
[0095]
As described above, in this embodiment, Δy can be set to an arbitrary value in a wide range from positive to negative in accordance with a user instruction. Therefore, according to the present embodiment, the position displayed in detail can be set flexibly.
[0096]
Finally, the coordinate conversion means 62 performs perspective conversion of each coordinate value of the map data using the projection angle θ and the position of the projection plane (Tx, Ty, Tz) obtained in this way (step 1053). The graphics processing means 49 performs drawing processing using the obtained map data, so that the traveling direction is always upward in the bird's eye view display of the map shown in FIGS. Will be displayed at the same point on the screen.
[0097]
In the navigation system, it is desired to display in detail the location where the user is currently traveling, that is, the vicinity of the current location. Therefore, as described above, in the navigation system of the present embodiment, as shown in FIG. 9C, FIG. 10C, FIG. 15C, and FIG. indicate.
[0098]
In the navigation system of the present embodiment, designation of a destination can be received through contact with the touch panel 70. When the destination is designated, the navigation system of the present embodiment draws the destination so that it is included in the field of view (the range drawn on the display screen). At this time, the coordinate conversion means 62 is shown in FIGS. 10 (c) and 16 (c) so that the current location is at the lower center of the screen and the destination is at the upper center of the screen as described above. ) To determine the rotation angle φ.
[0099]
A bird's eye view display method in this case will be described with reference to FIGS. 8, 10, and 16. FIG. 10 is an explanatory diagram for obtaining a bird's eye view in which both the current location and the destination are drawn on the same screen (field of view), and FIG. 16 is different in the same range as that shown in FIG. It is explanatory drawing in the case of obtaining the bird's-eye view of a viewpoint. FIGS. 10 (a) and 16 (a) show the field of view (range to be displayed) 162 in the map mesh 161, and FIGS. 10 (b) and 16 (b) show the viewpoint position and projection angle for obtaining a bird's eye view. Indicates. FIGS. 10C and 16C show the positions of the current location and the destination in the obtained bird's-eye view display. The dotted arrows in FIGS. 10 and 16 indicate the direction of the destination.
[0100]
In this example, the case where the lower center of the screen is displayed as the current location and the upper center of the screen is displayed as an example will be described. Similarly, when the other is displayed at the upper center of the screen, the same processing is performed.
[0101]
In order to realize the bird's eye view display as shown in FIG. 10C and FIG. 16C, the coordinate conversion means 62 in step 1031 displays the current location and the destination as shown in FIG. 10A and FIG. An angle φ formed by a line perpendicular to the line segment connecting to the bottom of the map mesh is obtained, and in step 1032, each coordinate value of the map data to be drawn is affine transformed by the angle φ.
[0102]
Since it is determined in step 1040 that the bird's eye view is displayed, the coordinate conversion means 62 proceeds to processing for calculating the projection angle θ and the viewpoint position (steps 1051 and 1052). As described above, the initial value of the projection angle θ is a predetermined value of 30 to 40 °, and is changed according to the input by the projection angle change key 68. Also, the initial position of the projection surface is , A difference value obtained by subtracting the position coordinates of the projection plane from the coordinates of the current location is determined to be a predetermined value, and is changed according to the input by the scale designation key 67. Further, the transformation formulas shown in the above (Equation 2) and (Equation 3) are used for rotating the coordinates, and the transformation formula shown in the above (Equation 1) is used for the affine transformation. Parameters Ty and Tz indicating the position of the projection plane are substituted with appropriate values in Tx, for example, 0, and the coordinates of the current position and the destination and the positions to be displayed are substituted, and the simultaneous linear equations are solved. Desired.
[0103]
Next, the coordinate conversion means 62 performs a perspective conversion calculation process (step 1053). That is, the coordinate conversion means 62 performs perspective conversion of each coordinate value of the map data using the projection angle θ and the position of the projection plane obtained as described above.
[0104]
As a result, the graphics processing unit 49 performs drawing processing using the obtained map data, so that the current location and the destination can be displayed on the same screen. If these processes are executed each time the current location changes, even if the current location changes over time, the current location and the destination are displayed at the same position on the same screen. If it is determined that the perspective transformation process is always required in the determination in step 1040 during the bird's eye view display, the screen display is always changed in accordance with the temporal change of the current location. In addition, in the determination in step 1040, if it is determined that the perspective transformation process is necessary only when the current location has moved beyond a predetermined distance, the current location will remain on the same bird's-eye view map until the current location moves a certain distance. When only the mark 105 indicating the current location moves and the current location moves a certain distance and approaches the destination, the map display changes to an enlarged one.
[0105]
The map can be enlarged and displayed as the destination is approached by executing the above process every time the current location changes and fixing the positions of the current location and the destination displayed on the screen.
[0106]
In addition, by changing the projection angle θ to a smaller value as the distance between the current location and the destination becomes shorter, it is easier to understand the relationship between each other by displaying a bird's eye view when the distance between the current location and the destination is far In addition, when the distance between the current location and the destination approaches, the display can be made close to a plan view. Or, conversely, by changing the projection angle θ to a larger value as the distance between the current location and the destination becomes shorter, it becomes easier to grasp the overall positional relationship when the distance between the current location and the destination is far away. In this way, a plan view may be displayed so that the viewpoint position gradually rises as the distance between the current location and the destination approaches, so that the sense of distance can be easily grasped.
[0107]
Next, a method of drawing character data in the bird's eye view display will be described. First, Coordinate Details of the perspective transformation calculation (step 1053) of the transformation means 62 will be described with reference to FIG.
[0108]
Coordinate The conversion means 62 first determines whether the input map data is surface data (step 1100). If it is determined as surface data, Coordinate The conversion means 62 performs perspective conversion of each node coordinate value of the given surface data using the parameters obtained by the projection angle θ calculation (step 1051) and the viewpoint position calculation (step 1052) (step 1101). The perspective transformation process (step 1101) of this node is repeated until the processes related to all input nodes are completed (step 1102).
[0109]
Next, Coordinate The conversion means 62 performs the same process as the surface data for the line data, and perspective-transforms the coordinate value of each node (steps 1103 to 1105).
[0110]
When the process related to line data ends, Coordinate The conversion means 62 determines whether the input map data is character data (step 1106). When the character data is determined, the perspective conversion means 62 uses the projection angle θ and the viewpoint position coordinate value obtained in steps 1051 and 1052 for the coordinate value of the point at which drawing of the given character string is started. Conversion is performed (step 1107). In this embodiment, the perspective transformation is not performed on the character image. The node perspective transformation processing in step 1107 is repeated until the processing for all input nodes is completed (step 1108).
[0111]
When graphics are drawn using the obtained perspective transformation result, for example, a bird's-eye view like the map 103 shown in FIG. 1 is obtained. In this embodiment, since the perspective transformation of the character image is not performed in step 1107, the characters are all drawn with the same size and upright as shown in the map 103 of FIG.
[0112]
Next, processing of the drawing determination unit 63 will be described with reference to FIG. It is means for determining whether or not each data included in the map data is drawn.
[0113]
First, the drawing determination unit 63 determines whether the input map data includes plane data (step 1200). When it is determined that the surface data is included, the drawing determination unit 63 performs a predetermined surface data drawing determination process (step 1201). The surface data drawing determination process (step 1201) performed here is, for example, a process of determining an attribute predetermined for each surface data and selecting necessary predetermined surface data.
[0114]
When the process related to the surface data is completed, the drawing determination unit 63 next determines whether the input map data includes line data such as roads and line backgrounds (step 1202). If it is determined that the line data is included, the drawing determination unit 63 performs a predetermined line data drawing determination process (step 1203). The line data drawing determination process (step 1203) performed here is, for example, a process of determining an attribute predetermined for each line data and selecting necessary predetermined line data.
[0115]
When the processing relating to the line data is also completed, the drawing determination unit 63 next determines whether the input map data includes character data (step 1204). If it is determined that the character data is included, the drawing determination unit 63 first performs a rearrangement process so that the coordinate value of the point where the drawing of the character string is started is arranged from the far viewpoint to the vicinity of the viewpoint (step 1205).
[0116]
Next, the drawing determination means 63 compares the magnitude y between the height y of the point where drawing of each rearranged character string is started and the predetermined height h on the display screen (step 1206). . In this embodiment, the height h is 2/3 from the bottom when the height of the display screen is 1, and is a predetermined constant value. This is because, when the height from the base is 2/3 or more, the depression angle becomes very small, and the density of nodes to be drawn becomes very high. However, the reference value (height h) may be determined according to the height of the viewpoint or the like.
[0117]
Further, as a reference for whether or not to draw a character string, a distance from the viewpoint may be used instead of its height. For example, when the distance between the viewpoint and the destination is 1, only a character string whose distance from the viewpoint is 2/3 or less is drawn, and a character string whose distance is longer than 2/3 is deleted from the drawing target. You may do it.
[0118]
As a result of the position determination, the drawing determination unit 63 renders the character string to be drawn if the height y of the starting point of drawing the character string on the screen is lower than the height h, and draws the character string if it is higher. Delete from the target character string (step 1207). In this way, in this embodiment, the graphics processing unit 49 draws the map data selected by the drawing determination unit 63, thereby preventing the bird's eye view display from becoming complicated and providing a clear and easy-to-view display. Can be obtained.
[0119]
In this embodiment, whether or not to draw a character string is determined based on only the displayed height. However, a priority is determined in advance for each character string, and the displayed height (or from the viewpoint) is determined. A range of priority of character strings to be displayed may be determined in accordance with (distance), and only character strings with priorities included in the range may be drawn. For example, if the upper limit of the priority of the character string to be displayed is constant regardless of the height, and the lower limit of the priority of the character string to be displayed is increased according to the height on the display screen, In the area close to the top side, only the high priority character string is displayed, and in the area close to the bottom side of the display screen, not only the high priority character string but also the low priority character string is displayed. . Therefore, when the current position is near the bottom of the display screen, the closer to the current position, the more detailed character information can be obtained, and if it is far from the current position, only important information is displayed, which is convenient. High nature.
[0120]
In addition, when attributes (characters of display characters, meaning contents of character strings, etc.) are determined in advance for each character string, this attribute is used instead of the above priority, and attributes determined in advance for each region Only the characters may be displayed.
[0121]
If a character string is defined at a predetermined point as the destination, only the character string may be displayed.
[0122]
Steps 1205 to 1207 described above can be omitted, but it is desirable to execute them. The effect of these steps will be described with reference to FIGS. FIG. 13A is a bird's eye view obtained when drawing is performed without performing the rearrangement process and the drawing character string selection process in steps 1205 to 1207. FIG. 13B and FIG. a ) Is a bird's-eye view obtained when the rearrangement process of step 1205 is executed and the drawing character string selection process of steps 1206 and 1207 is not performed. FIG. 14B is a bird's-eye view obtained by the present embodiment, that is, a bird's-eye view obtained when the processing of steps 1205 to 1207 is executed. In FIG. 13 and FIG. 14, illustrations of figures drawn based on the plane data and line data are omitted.
[0123]
When the bird's-eye view is displayed without performing the rearrangement process in step 1205, as shown in FIG. 13A, each character string is displayed according to the storage order of the character strings regardless of the perspective with respect to the viewpoint. A character string far from the viewpoint may be superimposed on the character string.
[0124]
On the other hand, when the character string rearrangement process in step 1205 is executed, as shown in FIG. 13B, when the character string far from the viewpoint overlaps with the character string near the viewpoint, the one closer to the viewpoint is farther away. It is displayed over the character string. The bird's eye view displayed in this way is desirable because information closer to the current location can be easily read.
[0125]
When the bird's-eye view is displayed without performing the drawing character string selection process in steps 1206 and 1207, as shown in FIG. 14 (a), the farther from the viewpoint, the smaller the depression angle from the viewpoint, the smaller the compression angle, and the per unit area. The amount of data of lines, faces, and characters drawn on the screen increases. Of these data, the character data is drawn on top of other data, so that lines and surface backgrounds are hidden by the character data by the drawn character data. In such a bird's-eye view, it is very difficult to read surface information such as distant roads, rivers, and green zones from the display screen.
[0126]
On the other hand, in this embodiment, since the drawing character string selection processing in steps 1206 and 1207 is executed, as shown in FIG. 14B, the range from the bottom of the display screen to the height h (character drawing range). Some character data is drawn, and other character data is not drawn. Therefore, in the bird's-eye view drawn according to the present embodiment, it is possible to easily read surface information such as roads, rivers, and green zones far from the viewpoint from the display screen.
[0127]
The bird's eye view display device and the navigation system of the present embodiment can display a map expressed by a bird's eye view. Therefore, according to the present embodiment, the user can obtain a map display that is easy to see and in which the positional relationship between the points displayed in the map can be easily recognized. In addition to these effects, the present embodiment is considered to have the following effects.
[0128]
1stly, in a present Example, a plane map display and a bird's-eye view display can be switched arbitrarily. Therefore, in this embodiment, both a plan view and a bird's-eye view can be displayed according to the user's request.
[0129]
Secondly, in this embodiment, when switching between the bird's eye view display and the planar map display, the angle formed by the plane on which the map is projected and the plane including the map data is gradually increased or decreased in time series. That is, in this embodiment, the viewpoint for obtaining the bird's-eye view is smoothly moved in the conversion between the planar map display and the bird's-eye view display. Therefore, in this embodiment, since the transition between the plan view and the bird's eye view is smoothly performed, the correlation between the spot displayed on the plan map and the spot displayed on the bird's eye map can be easily recognized.
[0130]
Thirdly, in this embodiment, the viewpoint for obtaining the bird's-eye view can always be fixed at a certain direction and a certain distance away from the current position, and the height of the viewpoint is changed according to the operation input. You can also. If the viewpoint is fixed, the bird's-eye view is displayed so that the current location is always fixed to a certain point on the screen, so that the user can easily grasp the current location. Further, according to the present embodiment, the viewpoint position can be set to a user's desired position.
[0131]
Fourth, in this embodiment, when the positions of two points (for example, the current location and the destination) are designated, the viewpoint and the map are projected so that the two points are displayed at the predetermined positions on the screen. The angle formed by the plane and the plane including the map data is determined, and the bird's-eye view display is executed using the result. Therefore, according to this embodiment, the positional relationship between the two points can be easily determined. Further, even when the position of the two points is changed, it is always displayed on the same screen, so that the user can grasp the positional relationship between the two points without performing a complicated operation.
[0132]
Fifth, the coordinate conversion means of the present embodiment does not perform perspective conversion for character images. Therefore, in this embodiment, all the characters included in the bird's-eye view are displayed upright with the same size, and are easy to read.
[0133]
6thly, the drawing determination means of a present Example sorts a character data string according to the distance from the viewpoint of the character data position in map data. In other words, a character string closer to the position from the viewpoint is treated as having a higher display priority. Therefore, in this embodiment, the character data near the viewpoint is displayed without being covered with another display and missing, so that the character information close to the viewpoint can be easily identified.
[0134]
Seventh, the drawing determination means of the present embodiment deletes the drawing character string from the drawing target when the height of the character string on the screen obtained as a result of the perspective transformation of the map is higher than a predetermined value. Alternatively, the drawing determination unit may delete a character string defined at a position beyond a predetermined distance from the viewpoint from the drawing target. In this way, a character string is used for an area that is more than a predetermined height or more than a predetermined distance, i.e., an area where the amount of data drawn per unit area is very large because the depression angle is small when a bird's-eye view is displayed. By not drawing, the road display and the surface background display in this area are not covered by the character string display. Therefore, in this embodiment, even if the bird's-eye view is displayed, recognition of roads far from the viewpoint is not hindered. .
[0135]
【The invention's effect】
The bird's-eye view display device of the present invention and the navigation system including the device can display a map expressed by the bird's-eye view. Therefore, according to the present invention, it is possible to obtain a map display that is easy to see and in which the positional relationship between points displayed in the map can be easily recognized.
[Brief description of the drawings]
FIG. 1 is an explanatory diagram showing a bird's eye view display example of a map drawn according to the present invention.
FIG. 2 is a configuration diagram of the navigation system of the embodiment.
FIG. 3 is a hardware configuration diagram of an arithmetic processing unit.
FIG. 4 is a functional block diagram of an arithmetic processing unit.
FIG. 5 is a functional block diagram of map drawing means.
FIG. 6 is an explanatory diagram showing perspective transformation of a map.
FIG. 7 is an explanatory diagram showing a coordinate conversion process for displaying a bird's eye view.
FIG. 8 is a flowchart showing a flow of processing of coordinate conversion means.
FIG. 9 is an explanatory diagram showing a method for setting a viewpoint and a projection plane for bird's-eye view display;
FIG. 10 is an explanatory diagram showing a viewpoint and projection plane setting method for bird's-eye view display.
FIG. 11 is a flowchart showing a flow of perspective transformation calculation.
FIG. 12 is a flowchart showing a flow of processing of a drawing determination unit.
FIG. 13 is an explanatory diagram showing an effect of a character string rearrangement process;
FIG. 14 is an explanatory diagram showing an effect of a drawn character string selection process.
FIG. 15 is an explanatory diagram showing a method for setting a viewpoint and a projection plane for bird's-eye view display;
FIG. 16 is an explanatory diagram showing a method for setting a viewpoint and a projection plane for bird's-eye view display;
FIG. 17 is an external perspective view of the navigation system according to the embodiment.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Arithmetic processing part, 2 ... Display, 3 ... Map storage device, 4 ... Voice input / output device, 5 ... Input device, 6 ... Wheel speed sensor, 7 ... Geomagnetic sensor, 8 ... Gyro, 9 ... GPS receiver, 10 ... traffic information receiving device, 21 ... CPU, 22 ... RAM, 23 ... ROM, 24 ... DMA, 25 ... drawing controller, 26 ... VRAM, 27 ... color palette, 28 ... A / D converter, 29 ... SCI, 30 ... I / O device, 31 ... counter, 41 ... user operation analysis means, 42 ... route calculation means, 43 ... route guidance means, 44 ... map drawing means, 45 ... current position calculation means, 46 ... map match processing means, 47 ... Data reading processing means 48 ... Menu drawing means 49 ... Graphics processing means 61 ... Initial data clipping means 62 ... Coordinate conversion means 63 ... Drawing determination means 64 ... Decoding Data clipping means, 65 ... drawing command issuing means, 66 ... scroll key, 67 ... scale change key, 68 ... projection angle changing key, 69 ... housing, 70 ... touch sensor.

Claims (6)

  Map data storage means for storing map data including road data;
  Current position detecting means for detecting the current position of the vehicle;
  The map data is perspective-transformed from the viewpoint position based on the current position point of the vehicle to create a bird's-eye view map, the bird's-eye view map is displayed on the display together with the current position point of the vehicle, and as the vehicle progresses A navigation device comprising map drawing means for updating and displaying the bird's eye view map,
  The map drawing means includes:
  A projection angle calculating means for calculating a projection angle from the viewpoint position according to a distance from the current position point of the vehicle to a set destination point;
  Map updating means for updating and displaying the bird's eye view map based on the projection angle and the viewpoint position as the vehicle travels;
A navigation device comprising:   The navigation apparatus according to claim 1, wherein the projection angle calculation unit calculates the projection angle such that the projection angle becomes smaller as the distance from the current position of the vehicle to the destination point becomes shorter.   The navigation apparatus according to claim 1, wherein the projection angle calculation unit calculates the projection angle such that the projection angle increases as the distance from the current position of the vehicle to the destination point is shorter.   Map data storage means for storing map data including road data;
  Current position detecting means for detecting the current position of the vehicle;
  The map data is perspective-converted from the viewpoint position based on the current position point of the vehicle to create a bird's eye view map, the bird's eye view map is displayed on the display together with the current position point of the vehicle, and as the vehicle advances A map display method of a navigation device comprising map drawing means for updating and displaying the bird's eye view map,
  The map drawing means includes:
  The projection angle from the viewpoint position is obtained according to the distance from the current position point of the vehicle to the set destination point, and the bird's-eye view map is updated based on the projection angle and the viewpoint position as the vehicle travels A map display method of a navigation device, characterized by displaying.   Map data storage means for storing map data including road data;
  Current position detecting means for detecting the current position of the vehicle;
  The map data is perspective-converted from the viewpoint position based on the current position point of the vehicle to create a bird's eye view map, the bird's eye view map is displayed on the display together with the current position point of the vehicle, and as the vehicle advances A navigation device comprising map drawing means for updating and displaying the bird's eye view map,
  The map drawing means includes:
  A projection angle calculating means for calculating a new projection angle by changing the current projection angle by a predetermined angle,
  A process of repeating the process of perspective-converting the map data based on the viewpoint position and the newly calculated projection angle to create the bird's eye view map and displaying it on the display until a predetermined projection angle is reached. Map update means to perform
A navigation device characterized by comprising:   Map data storage means for storing map data including road data;
  Current position detecting means for detecting the current position of the vehicle;
  The map data is perspective-converted from the viewpoint position based on the current position point of the vehicle to create a bird's eye view map, the bird's eye view map is displayed on the display together with the current position point of the vehicle, and as the vehicle advances A map display method of a navigation device comprising map drawing means for updating and displaying the bird's eye view map,
  The map drawing means includes:
  A new projection angle is obtained by changing the current projection angle by a predetermined angle, and the bird's eye map is obtained by perspective-transforming the map data based on the viewpoint position and the newly calculated projection angle. The map display method characterized by repeating the process of creating and displaying on the display until a predetermined projection angle is reached.

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