JP4880272B2 - Route display device and map display method - Google Patents

Description

  The present invention relates to a technique using a device for displaying a map.

  The in-vehicle navigation system has a function of setting a destination, searching for a route from the current location to the destination using the Dijkstra method, and guiding the vehicle accordingly. In addition, the in-vehicle navigation system is set to search not only the final destination but also a waypoint to reach the destination, and search for the route to the destination through this waypoint. The route is combined with a map and displayed on a display or the like.

  Patent Document 1 describes a technique for setting a waypoint and a destination and searching for a route to the destination via the set waypoint.

JP-A-10-197275

  As described above, when setting a waypoint and a destination and searching for a route to the destination via the set waypoint, depending on the position of the waypoint and the destination, the vehicle passes through the same intersection or road several times. It may become a route to do.

  For example, in the map shown in FIG. 12, an example in which the waypoint 1201 and the destination 1202 are set and the in-vehicle navigation system is located at the current position 1203 will be described. At this time, the vehicle-mounted navigation system may search for a route that moves in the order of broken-line arrows (1), (2), and (3) in FIG. In such a case, for example, only the area indicated by the one-dot broken line in FIG. 12 is displayed on the display or the like by setting the current position, waypoint, distance between destinations, display scale, etc. There is. In such a case, the conventional in-vehicle navigation system displays the route as a route 1205 indicated by a bold line. The display screen 1206 does not display both the transit point 1201 and the destination 1202, and the intersection 1204 is displayed as if the route 1205 intersects. Therefore, the user does not know whether to go straight at the intersection 1204 or to turn right.

  The present invention has been made in view of such circumstances, and an object of the present invention is to provide a technique capable of clarifying a route to be taken first when a searched route intersects.

The present invention has been made to achieve the above object, and is, for example, a route display device that displays map information and a route to reach a destination, and includes a plurality of links that are line segments, and the line. Map data storage means for storing map data including road data indicated by nodes that are both end points of minutes, road data of roads constituting the route, and the order of passing through the roads are stored in association with each other. Route storage means for displaying, the map data, a display device for displaying the route, and control means for controlling display on the display device, wherein the control means is displayed on the display device. Among the links of the route included in the map data range , and the links that do not pass through in sequence, one of the nodes at the end points of one link is one of the nodes at the end points of the other link. Only one and one If you, and changing a part of the display form of the path of the link including the node that the matching.

  According to the technique according to the present invention, when routes cross each other, it is possible to clearly display which road should be followed first.

  Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.

  As shown in FIG. 12 described above, the route display device according to the present embodiment changes the route display form when the route to be taken is not clear because the route displayed on the display or the like intersects. Is. For this reason, the route display device of the present embodiment includes road data that is not in order and matches only one node in the road data that constitutes the route included in the range of the map displayed on the display device. The display form of the route is changed.

  Next, an example of the route display device will be specifically described. In FIG. 1, a route display device 1 is a navigation system mounted on a vehicle, for example. The route display device 1 includes an angular velocity sensor 11, an orientation sensor 12, a vehicle speed sensor 13, a controller 14, an input device 15, a storage device 16, a display 17, an audio output device 18, and the like.

  The angular velocity sensor 11 detects a change in the direction of the vehicle by detecting the yaw rate of the vehicle. The direction sensor 12 detects the direction of the vehicle by detecting geomagnetism. The vehicle speed sensor 13 outputs pulses at a time interval proportional to the rotation of the output shaft of the vehicle transmission.

  The input device 15 is, for example, a remote control and a remote control receiving unit, a touch panel, a switch, or the like. The storage device 16 is, for example, a storage medium such as a CD (Compact Disc) or a DVD (Digital Versatile Disk), a drive device for the storage medium, an HDD (Hard Disk Drive), and the like, and stores map data and the like.

  Here, map data will be described. In this embodiment, map data shall be shown by XY coordinate. The map data includes map image data including coordinate information, road data, address data, place name data, and the like.

  The road data is approximated by one or more line segments connecting two points, and these line segments are indicated by the coordinates of the start point and the end point. For example, as shown in FIG. 2, the road data is approximated by a line segment 201 to a line segment 208. Further, for example, the line segment 203 is indicated by (X3, Y3) and (X4, Y4) which are its end points. Hereinafter, this line segment is called a link, and points at both ends of the link are called nodes. The coordinates of the intersection are indicated by nodes. For example, the coordinates of the road intersection shown in FIG. 2 are (X4, Y4).

  The address data is, for example, information in which an address is associated with coordinates indicating the position of the address. The place name data is information in which place names such as “xx mountain”, “ΔΔ building”, “□□ park”, and the like are associated with coordinates indicating the position of the place name.

  In FIG. 1, the display 17 displays a map, and displays the current position, route, etc. on the displayed map. The audio output device 18 outputs audio.

  The controller 14 controls the operation of each peripheral device described above, and includes an AD converter 141, an AD converter 142, a counter 143, a parallel I / O 144, a DMA (Direct Memory Access) controller 145, and a memory 146. And a microprocessor (hereinafter referred to as MPU) 147 and the like.

  The AD converter 141 converts the signal (analog) of the angular velocity sensor 11 into a digital signal. The AD converter 142 converts the signal (analog) of the direction sensor 12 into a digital signal. The counter 143 counts the number of pulses output from the vehicle speed sensor 13, for example, every 0.1 second. The parallel I / O 144 receives an input signal from the input device 15. The DMA controller 145 transfers the map data read from the storage device 16. The memory 146 stores the current position, destination, waypoint, route, and the like.

  The MPU 147 implements a current position calculation unit 151, a route search reception unit 152, a route search unit 153, a display processing unit 154, and the like by executing a program loaded in the memory 146. The current position calculation unit 151 calculates the current position of the vehicle. The function of the current position calculation unit 151 is the same as that of the prior art. The route search accepting unit 152 accepts input of a destination and a waypoint. The function of the route search accepting unit 152 is the same as that of the prior art. The route search unit 153 performs a search process from the map data, the destination, the waypoint, the current position, etc., and acquires a route. The function of the route search unit 153 is the same as the route search of the prior art. The display processing unit 154 superimposes the current position and the searched route on the map and displays them on the display 17. At this time, the display processing unit 154 changes the display form of the route depending on whether or not the route displayed on the display 17 intersects. In the present embodiment, it is assumed that the display form of the route that passes later among the intersecting routes is changed.

  The memory 146 stores the current position calculated by the current position calculation unit 151, information indicating the location of the waypoints and destinations received by the route search reception unit 152, and the roads constituting the route searched by the route search unit 153. Road data and the like are stored.

  Here, an example of information indicating the location of the waypoints and destinations received by the route search receiving unit 152, road data of roads constituting the route searched by the route search unit 153, and the like will be described.

  FIG. 3 shows an example of a table that stores information indicating positions such as waypoints and destinations received by the route search receiving unit 152. In FIG. 3, a table 301 is a diagram illustrating an example of a waypoint and a destination in the road data illustrated in FIG. The table 301 includes a destination 302, coordinates 303, a place name 304, and the like. The destination 302, coordinates 303, place name 304, etc. are associated with each other. The destination 302 is information indicating the destination input by the user. The destination 302 includes a transit point 305, a destination 306, and the like. A transit point 305 is a point through which the destination 306 is reached. A plurality of via points 305 can be set. In this case, the order of passing is set as indicated by reference numeral 307 in FIG. The coordinates 303 are coordinates on the map data of the corresponding destination 302. The place name 304 is the place name of the corresponding destination 302. This place name is, for example, the place name corresponding to the coordinate 303 in the map data, and if the place name is not set, the place name corresponding to the coordinate 303 is used. It is.

  Information such as the destination 302, coordinates 303, and place name 304 in the table 301 is acquired and stored by an operation described later.

  FIG. 4 shows an example of a table that stores road data of roads constituting the route searched by the route search unit 153. In FIG. 4, a table 401 is a diagram showing an example of a route in the road data shown in FIG. The table 401 includes a number 402, a route link 403, and the like. Number 402, route link 403, and the like are associated with each other. The number 402 indicates the order in which the road data links constituting the route pass. The route link 403 is a link of road data that passes in the order of the corresponding numbers 402, and is indicated by the coordinates (nodes) of the end points of each link. Hereinafter, each link of the road data constituting the route searched by the route search accepting unit 152 is referred to as a route link, and a node of the route link is referred to as a route node.

  Note that the number 402, the route link 403, and the like in the table 401 are information acquired and stored by an operation described later.

  One table 401 is created for one route. Here, the description will be made assuming that the route search unit 153 searches for one route. However, when two or more routes are searched, the number of routes to be searched 401 is created.

  Next, the operation of the route display device 1 will be described.

  First, an operation example in which the current position calculation unit 151 calculates the current position will be described with reference to FIGS. 5 and 6. This operation is the same as that in the prior art.

  The operation illustrated in FIG. 5 is an operation performed by the current position calculation unit 151 at a constant cycle, for example, every 100 mS.

  First, the current position calculation unit 151 reads the output value of the angular velocity sensor 11 from the AD converter 141 (S501). Next, the current position calculation unit 151 reads the output value of the direction sensor 12 from the AD converter 142 (S502), and calculates the traveling direction of the vehicle from the output value of the angular velocity sensor 11 and the output value of the direction sensor 12. (S503). For example, when the vehicle speed is low for a predetermined time or more, the calculation of the traveling azimuth may use only the output value of the azimuth sensor 12 because the error of the output value of the angular velocity sensor 11 is large.

  The current position calculation unit 151 counts the number of pulses output from the vehicle speed sensor 13 by a counter 143 every predetermined time such as every 0.1 second, and reads the counted value (S504). The current position calculation unit 151 calculates a distance traveled during a predetermined time of 0.1 seconds by multiplying the read value by a distance coefficient (S505).

  The current position calculation unit 151 sequentially stores the travel direction and distance for each predetermined time acquired in this manner in a predetermined storage area of the memory 146.

  Next, the current position calculation unit 151 adds the distance value traveled by the vehicle within the predetermined time calculated in the above S505 to the distance value until the previous time, and the added distance becomes a predetermined distance (for example, 20 m) or more. It is determined whether or not (S506).

  If the result of determination in S506 is that the distance is less than the predetermined distance, the current position calculation unit 151 ends the current process and performs the above process again after a fixed period.

  If the result of determination in S506 is that the distance is equal to or greater than the predetermined distance, the current position calculation unit 151 stores the traveling direction and distance at that time in a predetermined storage area of the memory 146, and executes a map match process described later ( S507). The distance stored in the predetermined storage area of the memory 146 by the current position calculation unit 151 is the predetermined distance used for the determination in the process of S506, for example, 20 m.

  Next, an example of map match operation will be described with reference to FIG. This operation is the same as that in the prior art.

  First, the current position calculation unit 151 reads a traveling direction, a distance, and the like from a predetermined storage area of the memory 146 (S601). Next, the current position calculation unit 151 calculates the moving amount of the vehicle separately for the latitude direction and the longitude direction based on the read traveling direction, traveling distance, and the like. Furthermore, the current position calculation unit 151 adds the calculated movement amount in each direction to the position of the candidate point obtained in the previous map match process, and is a virtual current position that is currently estimated to be present. The position is calculated (S602).

  Next, the current position calculation unit 151 calculates one or more candidate points from the calculated virtual current position and the road data included in the map data (S603), and further calculates the reliability of each candidate point. (S604).

  Here, candidate points and reliability will be described. The current position calculation unit 151 reads a map around the virtual current position from the storage device 16 via the DMA controller 145, and road data (line segment) within a preset distance D centered on the virtual current position. ) To select these. In the present embodiment, a map included in a region corresponding to a square having a length L1 centered on the virtual current position is read from the storage device 16.

  Next, the current position calculation unit 151 selects and selects only the line segment in which the direction of the line segment is within the predetermined value from the extracted direction from the extracted line segment. With respect to all the n line segments, a perpendicular line is dropped from the virtual current position, and the length of the perpendicular line L (n) is obtained. Next, based on the lengths of these perpendicular lines, an error cost value ec (n) defined by the following equation is calculated for each selected line segment.

ec (n) = α × | θcar−θ (n) | + β | L (n) |
Here, θcar is the vehicle direction at the virtual current position, θ (n) is the direction of the line segment, L (n) is the distance from the virtual current position to the line segment, that is, the length of the perpendicular, α and β are , A weighting factor. The values of these weighting factors may be changed depending on whether the shift in the traveling direction or the direction of the road or the shift in the current position or the road is important in selecting a road on which the current position is located.

  Next, the current position calculation unit 151 is defined by the following equation according to the calculated error cost ec (n) and the accumulated error cost es related to the candidate point calculated in the previous process. The accumulated error cost es (n) in the current process is calculated.

es (n) = (1-k) × es + k × ec (n)
Here, k is a weight coefficient larger than 0 and smaller than 1. Next, the current position calculation unit 151 calculates a reliability trst (n) defined by the following equation based on the calculated accumulated error cost es (n).

trst (n) = 100 / (1 + es (n))
Next, based on the calculated reliability trst (n), the current position calculation unit 151 determines a point advanced from a certain candidate point by a length corresponding to the distance R traveled by the vehicle along the corresponding line segment. And a new candidate point C (n). Therefore, when the number of line segments that are within a predetermined range D from the current position A with respect to a candidate point and the difference between the direction and the vehicle direction is equal to or less than a predetermined value is n, n pieces A new candidate point C (n) will be generated.

  When the candidate point and the reliability of each candidate point are calculated, the current position calculation unit 151 selects a candidate point having the highest reliability value among the candidate points, and sets the candidate point as a display candidate point ( S605). This display candidate point is information indicating the current position displayed on the display 17. The current position calculation unit 151 stores information indicating the position of the display candidate point in a predetermined area of the memory 146. The operation of the current position calculation unit 151 so far is the same as that of the conventional route display device. The display processing unit 154 positions the display candidate points read from the predetermined area of the memory 146 on the map and displays them on the display 17 (S606). This display process will be described later.

  As described above, the current position may be calculated from the traveling direction, distance, map data, etc. acquired by the sensor. The position, traveling direction, received by a GPS (Global Positioning System) receiver (not shown), You may calculate from advancing direction etc. Moreover, you may correct | amend the present position calculated from the advancing direction, distance, map data, etc. which were acquired by the above-mentioned sensor with the position etc. which were received with the GPS receiver.

  Next, an example of an operation for searching for a route will be described with reference to FIG. The operation for searching for a route is the same as that in the prior art.

  When the route search accepting unit 152 accepts an input of a waypoint, a destination, or the like (S701), the route waypoint, the destination, etc. are stored in the memory 146 (S702), and the route search unit 153 is instructed to perform processing. . Specifically, the user inputs coordinates such as waypoints and destinations using the input device 15. For this input, for example, the route search accepting unit 152 or the like displays a map on the display 17 according to the map data read from the storage device 16, and the user designates on the map displayed using the input device 15. May indicate the coordinates of the waypoint and the destination. The route search accepting unit 152 stores the input waypoint coordinates in the coordinates 303 corresponding to the waypoint 305 in the table 301. Here, when a plurality of waypoints are instructed, the route search accepting unit 152 stores the coordinates of the waypoints in the coordinates 303 corresponding to the number 307 of the order of passage of the waypoints input by the user using the input device 15. To do. In addition, the route search reception unit 152 stores the input coordinates of the destination in the coordinates 303 corresponding to the destination 306 in the table 301. Further, the route search accepting unit 152 reads the place name or address corresponding to the input coordinates from the map data in the storage device 16 and stores the read place name or address in the corresponding place name 304.

  The route search unit 153 searches for a route from the current position, waypoint, destination, map data, and the like by the same operation as in the conventional technique (S703). Although the specific operation to search is not specifically limited, For example, the Dijkstra method or the like may be used. Next, the route search unit 153 stores the road data of the roads constituting the searched route in the memory 146. Specifically, for example, the route search unit 153 stores the order of passage in the number 402 of the table 401, and stores the node of the link that should be passed in the order corresponding to the number 402 in the corresponding route link 403. .

  The display processing unit 154 positions the route searched by the route search unit 153 on the map and displays it on the display 17 (S704). This display process will be described later.

  Next, an example of display processing by the display processing unit 154 (the above-described S606, S704, etc.) will be described with reference to FIG. Note that the display process described below is not limited to the above-described current position calculation and route search initial setting, and is executed every time a map and a route are displayed on the display 17, for example, when a reroute is performed. It is processing.

  First, the display processing unit 154 reads map data to be displayed from the storage device 16 (S801). Specifically, for example, the display processing unit 154 reads from the storage device 16 map data of a predetermined range centered on the current position read from the memory 146.

  Next, the display processing unit 154 determines whether a route is set (S802). This determination may be performed by, for example, the display processing unit 154 referring to a flag indicating whether the table 401 is stored in the memory 146 or whether a route is set. This flag is changed by the route search unit 153, for example.

  If the route is set as a result of the determination in S802, the display processing unit 154 reads a route link (route node) or the like included in the range of the map screen data read in S801 (S803). Specifically, for example, the display processing unit 154 reads the number 402 and the route link 403 included in the XY coordinates of the screen data read in S801 from the table 401 in the memory 146.

  Next, the display processing unit 154 determines whether there is a waypoint setting (S804). This determination may be made, for example, based on whether or not the coordinates 303 corresponding to the waypoint 305 are stored in the table 301 of the memory 146.

  If the waypoint is set as a result of the determination in S804, the display processing unit 154 determines whether the waypoint and the destination are included in the XY coordinates of the image data read in S801 (S805). Specifically, for example, the display processing unit 154 reads the image in which the coordinates 303 associated with the transit point 305 and the coordinates 303 associated with the destination 306 in the table 301 of the memory 146 are read in S801. It is determined whether the data is included in the XY range.

  As a result of the determination in S805, if neither the transit point nor the destination is included in the XY range of the read image data, the display processing unit 154 does not follow the route link read in S803. In addition, it is determined whether there is a route link that matches only one route node (S806). Specifically, for example, the display processing unit 154 selects two route links that are not consecutive from the route links read in S803, and only one of the two route nodes of each selected route link matches. It is determined whether or not. In the case of the table 401 shown as an example in FIG. 4 described above, the display processing unit 154 selects and selects one number 402 in descending order or the like from the number 402 and the route link 403 of the table 401 in the memory 146 acquired in S803. The route link 403 associated with the number 402 is compared with the route link 403 associated with the selected number 402 and the non-consecutive number 402, and only one of the two route nodes of each route link 403 matches. It is determined whether or not.

  Here, a specific example of the above-described operation of S806 will be described using the case of the table shown in FIG. 3 and FIG. 4 as an example. Here, it is assumed that the coordinates of the waypoint are the coordinates “X8, Y8”. Further, it is assumed that the route link 403 corresponding to the numbers 402 “2” to “7” is read from the table 401 illustrated in FIG.

  First, the display processing unit 154 selects the route link 403 “(X2, Y2), (X4, Y4)” corresponding to the number 402 “2”. Next, the display processing unit 154 selects the route link 403 “(X2, Y2), (X4, Y4)” corresponding to the number 402 “2” and the route link 403 “(X7, X” corresponding to the number 402 “4”. Y7), (X8, Y8) ".

  In this case, since only one of the matching route nodes is not included, the display processing unit 154 displays the route link 403 “(X2, Y2), (X4, Y4)” corresponding to the number 402 “2” and the other The route link 403 corresponding to the number 402 is compared. Here, the display processing unit 154 displays the route link 403 “(X2, Y2), (X4, Y4)” corresponding to the number 402 “2” and the route link 403 “(” corresponding to the other number 402 “5”. X8, Y8), (X7, Y7) ".

  In this case, since only one of the matching route nodes is not included, the display processing unit 154 displays the route link 403 “(X2, Y2), (X4, Y4)” corresponding to the number 402 “2” and the other The route link 403 corresponding to the number 402 is compared. Here, the display processing unit 154 displays the route link 403 “(X2, Y2), (X4, Y4)” corresponding to the number 402 “2” and the route link 403 “(” corresponding to the other number 402 “6”. X7, Y7), (X4, Y4) ".

  In this case, since one route node “(X4, Y4)” matches, the display processing unit 154 stores this route node “(X4, Y4)” in a predetermined area of the memory 146. The display processing unit 154 performs the same comparison as described above for the route link 403 corresponding to the number 402 “2” and the route link 403 corresponding to the other number 402 “6”.

  As described above, after all the comparisons between the selected route link and the other route links are performed, the display processing unit 154 selects another route link, and the same processing as described above is performed on the selected route link. To do. Specifically, the display processing unit 154 selects the route link 403 “(X4, Y4), (X7, Y7)” corresponding to the number 402 “3”, and the route link corresponding to this number 402 “3”. A comparison between 403 and the route link 403 corresponding to each of the numbers 402 “5” to “7” is performed in the same manner as described above.

  The display processing unit 154 repeats the above-described processing to determine whether or not there is a route link whose order is not continuous and only one of the route nodes coincides with the route link within the range of the screen data displayed on the display 17. To determine. In the specific example of the table 401 in FIG. 4 described above, it is determined that there is a corresponding route link, and it is determined that the route node “(X4, Y4)” matches.

  As a result of the determination in step S806, when the route link read in step S803 does not have a sequential order and there is a route link that matches only one route node, the display processing unit 154 changes the display form of the route to display the route link. 17 is displayed (S807). Specifically, the display processing unit 154 displays the current position read from the memory 146, the traveling direction, the route link read in S803, and the like by positioning the image data read in S801. At this time, the display processing unit 154 changes and displays the display form of the route link that passes later in the route node determined to match in the processing of S806. Therefore, for example, the display processing unit 154 selects a route link including the route node determined to match in the processing of S806 among the route links read out in S803, and the slowest passing order among the selected route links. The display mode of the route link is changed and displayed.

  Specifically, for example, in the case of the tables shown in FIG. 3 and FIG. 4, as described above, the route node determined to match in S806 is “(X4, Y4)”. Among the route links read out in S803, the route link passing the route node “(X4, Y4)” is the route link 403 “(X2, Y2), (X4, Y4)” corresponding to the number 402 “2”, The route link 403 “(X7, Y7), (X4, Y4)” corresponding to the number 402 “6” and the route link 403 “(X4, Y4), (X5, Y5)” corresponding to the number 402 “7” There are three. Among these, the route link with the largest number 402 is the route link 403 “(X4, Y4), (X5, Y5)” corresponding to the number 402 “7”. The display processing unit 154 changes and displays the display form of the route link 403 “(X4, Y4), (X5, Y5)” corresponding to the number 402 “7”.

  In addition, when there exists a route link of the order following the route link of the slowest order among the selected route links, you may display by changing the display form of the route link. In the case of the table shown in FIG. 3 and FIG. 4 as an example, the display processing unit 154 includes the route link 403 “(X5, Y5) corresponding to the number 402“ 8 ”in the XY coordinates of the screen data to be displayed. When (X6, Y6) ”is included, the display form of the route link may be changed.

  An example in which the display form is changed is shown in FIG. In FIG. 9A, a screen 901 is an example of a case where the display form of a route that passes later is changed and displayed.

  This display mode change is not particularly defined. For example, the color is changed, the luminance is changed, the gradation is added, the route is blinked, the route is stereoscopically displayed, the route thickness is changed, an arrow, etc. Can be considered. When changing the display form, for example, the route that passes first may be made more conspicuous. For example, when the color is changed, the route that passes first is made the same color as the route that has been displayed so far, and the route that passes later is made a different color. When changing the brightness, the brightness of the route that passes first is set to the same brightness as the route that has been displayed so far, and the brightness of the route that passes later is made lower than the brightness of the route that has passed so far. When adding gradation, the route that passes first is set to the same density as the route that has been displayed so far, and the route that passes later is made thinner than the route that has been displayed so far. When blinking a route, the route that passes first is blinked. When the route is displayed in three dimensions, the route that passes first is displayed in three dimensions. When changing the thickness of the route, the route that passes first is made the same thickness as the route that has been displayed so far, and the route that passes later is displayed narrowly. In the case of displaying with an arrow or the like, an arrow is displayed on the route that passes first, or a number indicating the order of passing is given to the arrow to be displayed. 9B and 9C show examples of screens in the case of displaying with arrows and the like. In FIG. 9B, a screen 902 is an example in which an arrow is displayed on a route that passes first. In FIG. 9C, a screen 903 is an example in which an arrow is assigned with a number indicating the order of passage.

  In addition, the change of the above-mentioned display form is an example, and it is not necessarily restricted to this. In addition, the route display form is changed to pass later, but the route that passes first may be changed. For example, the change of the display form described above as an example may be reversed. . Specifically, for example, when a route is blinked, a route that passes later may be blinked.

  If the route is not set as a result of the determination in S802, the result of the determination in S804, if the transit point is not set, the result of the determination in S805, if the transit point is included in the display screen, the result of the determination in S806 If the order of the route links read out in S803 is not continuous and there is no route link that matches only one of the route nodes, the display processing unit 154 displays map data, current position, traveling direction, route, and the like. (S808). Specifically, the display processing unit 154 displays the current position read from the memory 146, the traveling direction, the route link read in S803, and the like by positioning the image data read in S801. This display process is the same as that in the prior art.

  In this way, when the routes intersect, the display form of the route is changed, so that the order of passing the route becomes clear.

  Here, with reference to FIG. 10, an example in the case where the order in which the routes cross and pass becomes unclear will be described.

  (A) of FIG. 10 is an example when a path | route is set in order of broken-line arrow (1), (2), (3). In this case, the route link is, for example, 1 “(X4, Y4), (X3, Y3)”, 2 “(X3, Y3), (X2, Y2)”, 3 “(X2, Y2), (X3, Y3) ”, 4“ (X3, Y3), (X5, Y5) ”. In this case, the route links that are not in order and that match only one route node are 1 and 3, 1 and 4, 2 and 4, and the same route node is (X3, Y3). That is, in the route node 1001 (X3, Y3), the route intersects and the passing order is unknown.

  (B) of FIG. 10 is an example when a route is set in the order of broken line arrows (1), (2), and (3). In this case, the route link is, for example, 1 “(X4, Y4), (X3, Y3)”, 2 “(X3, Y3), (X2, Y2)”, 3 “(X2, Y2). , (X6, Y6) ”, 4“ (X6, Y6), (X5, Y5) ”, 5“ (X5, Y5), (X3, Y3) ”, 6“ (X3, Y3), (X4, Y4) ) ”. In this case, the route links that are not in order and that match only one route node are 1 and 5, 1 and 6, 2, and 5, and the same route node is (X3, Y3). That is, in the route node 1002 (X3, Y3), the routes intersect and the order of passage becomes unknown.

  (C) of FIG. 10 is an example when a route is set in the order of broken-line arrows (1), (2), and (3). In this case, the route link is, for example, 1 “(X1, Y1), (X3, Y3)”, 2 “(X3, Y3), (X2, Y2)”, 3 “(X2, Y2), (X6, Y6) ”, 4“ (X6, Y6), (X5, Y5) ”, 5“ (X5, Y5), (X3, Y3) ”, 6“ (X3, Y3), (X4, Y4) ” Set by. In this case, the route links that are not in order and match only one of the route nodes are 1 and 3, 1 and 4, 2, and 5, 2 and 6, and the same route node is (X3, Y3). It is. That is, in the route node 1003 (X3, Y3), the route intersects and the passing order is unknown.

  (D) of FIG. 10 is an example when a path | route is set in order of broken-line arrow (1), (2), (3). In this case, the route link is, for example, 1 “(X4, Y4), (X3, Y3)”, 2 “(X3, Y3), (X2, Y2)”, 3 “(X2, Y2), (X6, Y6) ”, 4“ (X6, Y6), (X5, Y5) ”, 5“ (X5, Y5), (X3, Y3) ”, 6“ (X3, Y3), (X1, Y1) ” Set by. In this case, the route links that are not in order and match only one route node are 1 and 5, 1 and 6, 2, and 5, 2 and 6, and the same route node is (X3, Y3). It is. That is, in the route node 1004 (X3, Y3), the route intersects and the passing order becomes unknown.

  In the display processing by the route display device of the present embodiment, the route display form can be changed when an example is shown in FIG. 10 described above.

  The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and design changes and the like within a scope not departing from the gist of the present invention are included. .

  For example, when there are a plurality of route nodes whose display forms are to be changed, the display form as described above may be changed only partially or may be performed for all displayed route links. In the case of performing only a part, for example, the display form of a route that has not passed may be changed, or the display form of the route closest to the current position may be changed.

  Further, in the above-described embodiment, as a condition for performing the above-described display processing, it is determined whether the waypoint and the destination are included in the display range. However, this condition is not essential. Of the routes displayed on the display screen, the display form may be changed only based on the determination result as to whether or not there is a route link that is not in order and that only one route node matches.

  In the above-described embodiment, the display form is changed when both the waypoint and the destination are not included in the range displayed on the display. However, this condition is not essential. The display form may be changed when only at least one of the waypoints or destinations is not included in the display range, and the display form may be changed even when both the waypoints and the destination are included in the display range. May be changed.

  Further, the order of passing through the route is not limited to the case shown in FIG. 10 as an example. For example, on a mountain road or the like, there can be a road as shown in FIG. In FIG. 11, the bold line indicates the path 1101. At this time, a display screen 1102 indicated by a one-dot broken line may be displayed on the display depending on the display scale or the like. In such a case, since the road is not continuously displayed on the display, the route is not clear. Therefore, as described above, the display form of the route that passes later may be changed. Specifically, for example, after reading out the route link displayed on the display as described above, it is determined whether or not the order of the route link is continuous. As a result of the determination, if it is not continuous, the display form of the route that passes later is changed and displayed as described above. In the case of the example in FIG. 11, for example, the display form of the route link in the section 1103 is changed and displayed.

  Further, in the above-described embodiment, in order to determine whether or not the routes intersect, it is determined whether or not there is a route link that is not in order and that matches only one route node. It is not limited to this. For example, when searching for a route and storing the route link (route node) of the searched route in a table, the route search unit needs to make a right turn or a left turn at a route node that requires guidance such as a right turn or a left turn. In addition, image data or voice data for guiding the right turn or the left turn may be further stored. In this case, does the display processing unit not include only the route link including the route node that needs to turn right or left among the route links included in the image data to be displayed, and includes the same route node? It may be determined whether or not.

  In the in-vehicle navigation system, when calculating the current position, there are cases where it is determined that a vehicle or the like exists on the road, and cases where it is determined that no vehicle or the like exists on the road. When it is determined that there is no vehicle or the like on the road, the display form may be changed as described above or not.

In the same embodiment, it is a figure which shows the structural example of a route display apparatus. In the embodiment, it is a figure for demonstrating map data. In the same embodiment, it is an example of the table which stores a waypoint, a destination, etc. In the same embodiment, it is an example of the table which stores the searched path | route. FIG. 6 is a diagram illustrating an example of normal operation of the route display device in the same embodiment. FIG. 6 is a diagram illustrating an example of normal operation of the route display device in the same embodiment. FIG. 6 is a diagram illustrating an example of normal operation of the route display device in the same embodiment. In the embodiment, it is a figure explaining the operation example in which a route display apparatus displays a route. In the embodiment, it is an example of a screen to be displayed. In the same embodiment, it is a figure which shows the example when the path | route to display is not clear. In the same embodiment, it is a figure which shows the example when the path | route to display is not clear. In the same embodiment, it is a figure for demonstrating the subject of a prior art.

Explanation of symbols

  1: path display device, 11: angular velocity sensor, 12: bearing sensor, 13: vehicle speed sensor, 14: controller, 15: input device, 16: storage device, 17: display, 18: audio output device, 141: AD converter 142: AD converter 143: counter, 144: parallel I / O, 145: DMA controller, 146: memory, 147: MPU, 151: current position calculation unit, 152: route search reception unit, 153: route search unit, 154: Display processing unit, 301: Table, 401: Table

Claims (3)

A route display device that displays map information and a route to reach a destination,
Map data storage means for storing map data including road data indicated by a plurality of links that are line segments and nodes that are both end points of the line segments;
Route storage means for storing road data of roads constituting the route and the order of passing through the roads in association with each other;
A display device for displaying the map data and the route;
Control means for controlling display on the display device,
The control means is a link of a route included in the range of the map data displayed on the display device , and one of the nodes at both end points of one link out of the links that do not pass through in sequence. A route display device that changes a display form of a part of a route of a link including the matching node when only one of the nodes at both end points of the other link matches . The route display device according to claim 1 ,
When changing the display form of the route, the route display apparatus changes the display form of the route of the link that passes later among the links including the matching nodes .   A map display method by a route display device that displays map information and a route to reach a destination,
  The route display device
  Map data storage means for storing map data including road data indicated by a plurality of links that are line segments and nodes that are both end points of the line segments;
  Route storage means for storing road data of roads constituting the route and the order of passing through the roads in association with each other;
  A display device for displaying the map data and the route;
  Control means for controlling display on the display device,
  The control means is a link included in the range of the map data displayed on the display device, and one of the nodes at both end points of one link out of the links whose order of passing is not continuous is the other Executing a step of changing a display form of a part of the route of the link including the matching node when the node matches only one of the nodes at both end points of the link.
  A map display method characterized by the above.

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