JP5863100B2 - Navigation system - Google Patents

Description

  The present invention relates to a navigation system in which a mobile terminal device detects a vehicle position and draws a map image to display a map image on an in-vehicle device.

  2. Description of the Related Art Conventionally, a navigation system is known that performs a navigation operation by connecting a mobile terminal device having a GPS function to an in-vehicle device and executing a map application provided in the mobile terminal device (for example, Patent Document 1). reference.). By linking the mobile terminal device and the in-vehicle device, it is possible to detect the vehicle position and draw a map image around it in the mobile terminal device, and display the map image around the vehicle position in the in-vehicle device.

  On the other hand, recently, an interface standard called a terminal mode in which the display contents of the mobile terminal device are directly reflected on the in-vehicle device for display is in a practical stage. In this terminal mode, the same image as the mobile terminal device is displayed on the in-vehicle device, and the same operation as that using the touch panel provided in the mobile terminal device can be performed using the touch panel provided in the in-vehicle device. For example, considering the case where the terminal mode is applied to the navigation system described above, when the map image around the vehicle position is displayed on the mobile terminal device, the same map image is also displayed on the in-vehicle device. In addition, since the in-vehicle device does not require a special process (program) for realizing such map display, the configuration of the in-vehicle device can be simplified.

JP 2010-130673 A (page 4-23, FIG. 1-35)

  By the way, when performing vehicle position detection using the GPS function, radio waves from GPS satellites are difficult to reach or are affected by multipaths while traveling in tunnels or high-rise buildings. The vehicle position may not be detected. This is not limited to the portable terminal device, but also applies when a GPS receiver is connected to the in-vehicle device, but in the case of the in-vehicle device, not only the GPS device but also an autonomous navigation sensor, etc. Since vehicle position detection can be performed in combination, the vehicle position can often be updated even if radio waves from GPS satellites cannot be received. On the other hand, in the case of a mobile terminal device, since the mobile terminal device is often used alone, it is not realistic to use a method of updating the vehicle position in combination with an autonomous navigation sensor.

  Therefore, when the terminal mode is applied to the navigation system disclosed in Patent Document 1 and the map display is performed on the in-vehicle device, the vehicle is running when the vehicle position detection in the portable terminal device is disabled. Nevertheless, there was a problem that the vehicle position on the map was fixed. For example, a method is used in which the vehicle position is fixed at a predetermined position in the screen and the surrounding map is scrolled, and it is shown that the vehicle is relatively moving on the road in the map. If you look closely, you can see that although the vehicle is moving, the vehicle position is fixed without being updated. It is hard to understand that is fixed without being updated.

  The present invention was created in view of the above points, and its purpose is to detect a vehicle position in a mobile terminal device and draw a map on the periphery, and display a map on an in-vehicle device when the vehicle position cannot be detected. An object of the present invention is to provide a navigation system capable of updating a vehicle position.

  In order to solve the above-described problems, in the navigation system of the present invention, an in-vehicle device and a mobile terminal device are connected to each other, a vehicle position is detected in the mobile terminal device, and a map image around the vehicle position is drawn together with the vehicle position image. In the navigation system in which the map image drawing data is sent to the in-vehicle device and the map image display around the vehicle position is performed in the in-vehicle device, the in-vehicle device includes drawing data receiving means for receiving the drawing data of the map image; When display processing means for displaying a map image on the display means based on the drawing data received by the drawing data receiving means, vehicle position detection means for detecting the position of the vehicle, and vehicle position detection in the portable terminal device are disabled In addition, a display scroll instruction for the movement amount corresponding to the vehicle position detected by the vehicle position detection means is carried. Scroll instruction means to be sent to the terminal device, and when drawing data of the scrolled map image is sent from the portable terminal device in response to the display scroll instruction by the scroll instruction means, the vehicle position detected by the vehicle position detection means Traveling position drawing means for drawing a corresponding traveling position image on the scrolled map image is provided. As a result, even if the vehicle position detection (particularly detection using radio wave navigation) in the mobile terminal device is disabled and the vehicle position cannot be updated, the map image is adjusted to the actual travel position of the vehicle. In addition to scrolling the displayed content, the position of the traveling vehicle can be updated in the map image after the scrolling to present an accurate vehicle position.

  Further, the vehicle position detection means described above detects the direction of the vehicle together with the position of the vehicle, and the in-vehicle device is detected by the vehicle position detection means when the position detection of the vehicle in the portable terminal device becomes impossible. It is desirable to further include a rotation instruction means for sending a display rotation instruction of a rotation amount corresponding to the direction of the vehicle to the portable terminal device. As a result, when the vehicle direction changes while the vehicle position detection in the portable terminal device is disabled, the display content of the map image can be rotated simultaneously with the scrolling, and the vehicle position and orientation are always considered. It is possible to display the map.

  The on-vehicle device described above further includes vehicle position image extracting means for extracting a vehicle position image of a predetermined shape included in a map image corresponding to the drawing data received by the drawing data receiving means, and the traveling position drawing means includes display Until the drawing data of the map image corresponding to the scroll instruction is sent from the portable terminal device, the map position is detected by the vehicle position detecting means with reference to the position of the vehicle position image extracted by the vehicle position image extracting means. It is desirable to draw the travel position image corresponding to the vehicle position so as to overlap the map image before scrolling. When the map image scroll time interval is long, until the map image after scrolling is obtained, the current vehicle position is updated in the map image before scrolling with the display content fixed, and the vehicle position is accurate. Can be presented.

  Further, the vehicle position image extracting means described above preferably extracts the vehicle position image using a part of an image within a predetermined range from the center of the map image before scrolling. In general, since the position of the vehicle position image in the map image is often set near or below the center, the vehicle position image is reliably extracted even if only a predetermined range including the center portion is the extraction target. And the burden of processing can be reduced.

  The on-vehicle device described above is a road image included in a map image corresponding to the drawing data received by the drawing data receiving means, and the traveling direction of the vehicle with respect to the vehicle position image extracted by the vehicle position image extracting means The road position drawing means further includes a road position extraction means for extracting road images connected to the vehicle position image extraction means until the drawing data of the map image corresponding to the display scroll instruction is sent from the portable terminal device. It is desirable to determine the drawing position of the traveling position image at the position along the road image extracted by the traveling road extracting means, using the position of the vehicle position image extracted by the above as a reference. Thereby, the position of the newly added travel position image can be surely set on the road, and unnaturalness that occurs when the vehicle deviates from the road can be avoided.

  Further, in the map image described above, the traveling direction of the vehicle coincides with the upper direction of the display screen, and the traveling road extracting means checks the color of each pixel from the position adjacent to the upper portion of the vehicle position image to obtain the road image. It is desirable to extract a road image that exists in the traveling direction of the vehicle by tracing each pixel that constitutes. Alternatively, the vehicle position image extracted by the vehicle position image extracting means described above has a shape that allows the position of the road existing in the traveling direction of the vehicle to be identified, and the traveling road extracting means is arranged in the traveling direction of the vehicle. It is desirable to extract the road image that exists in the traveling direction of the vehicle by examining the color of each pixel from the position adjacent to the vehicle position image along and tracing each pixel constituting the road image. As a result, it is possible to reliably extract the road on which the vehicle travels after vehicle position detection by the mobile terminal device becomes impossible.

It is a figure showing the whole navigation system composition of one embodiment. It is a figure which shows the software structure of the USB device corresponding to the function of a terminal mode. It is a figure which shows the detailed structure of a vehicle-mounted apparatus. It is a flowchart which shows the operation | movement procedure of the vehicle-mounted apparatus which performed the scroll instruction etc. with respect to the portable terminal device from the vehicle-mounted apparatus when the vehicle position detection by a portable terminal device was impossible, and displayed a map image. It is explanatory drawing of vehicle position mark extraction. It is a figure which shows the example of a display in which the travel position mark was added to the map image after scrolling and rotation. It is a flowchart which shows the operation | movement procedure of the modification of the vehicle-mounted apparatus which added the driving | running | working position mark corresponding to the driving | running | working position of a vehicle, and displayed a map image until the new map image after scrolling is displayed. . It is explanatory drawing of driving road extraction. It is explanatory drawing which shows the specific processing content of driving | running | working road extraction. It is explanatory drawing which shows the specific processing content of driving | running | working road extraction. It is a figure which shows the example of a display of the map image to which the driving | running | working position mark was added between scroll processes.

  Hereinafter, a navigation system according to an embodiment to which the present invention is applied will be described with reference to the drawings. FIG. 1 is a diagram illustrating an overall configuration of a navigation system according to an embodiment. The navigation system shown in FIG. 1 includes a mobile terminal device 10 and an in-vehicle device 50 that are connected to each other. In the navigation system of the present embodiment, by executing a map application in the mobile terminal device 10, a vehicle position detection operation using the GPS function and an operation of drawing a map image around the detected vehicle position together with the vehicle position image are performed. Done. Each of the mobile terminal device 10 and the in-vehicle device 50 performs an operation corresponding to the terminal mode, and a map image is displayed on the mobile terminal device 10, and drawing data of the map image is transferred from the mobile terminal device 10 to the in-vehicle device 50. The map image display of the same content is also performed on the in-vehicle device 50.

  The mobile terminal device 10 is a mobile terminal generally called a smart phone, for example, and has functions of a mobile phone and a mobile information terminal. The mobile terminal device 10 includes a control unit 12, an operation unit 13A, a touch panel 13B, an input processing unit 14, a display unit 15, a display processing unit 16, a telephone processing unit 18, an audio processing unit 20, an amplifier 22, a speaker 24, a USB ( Universal Serial Bus) interface unit (USB I / F) 26 is provided.

  The control part 12 is for controlling the whole portable terminal device 10, and is implement | achieved by running the predetermined program stored in ROM or RAM with CPU. The operation unit 13A includes various switches. The touch panel 13B detects the indicated position when a part of the screen of the display unit 15 is pointed by the user. The user can perform various operation instructions and various inputs using the touch panel 13B or the operation unit 13A. The input processing unit 14 monitors the operation content of the operation unit 13A and the touch panel 13B, and detects the content input by the user.

  The display unit 15 is configured by an LCD (Liquid Crystal Display) or the like. The display processing unit 16 displays an operation screen including a plurality of operation icons or a screen created by the control unit 12 (for example, a map image) on the display unit 15. The telephone processing unit 18 performs processing as a mobile phone. For example, the telephone processing unit 18 performs outgoing / incoming call processing with a base station (not shown) to perform call processing, Internet connection processing, and the like.

  The audio processing unit 20 is for reproducing music data and the like, and performs audio decoding processing for each data format and outputs an audio signal. This audio signal is amplified by the amplifier 22 and output from the speaker 24. Note that when only a relatively simple operation sound, warning sound, or guidance voice created by executing a map application is reproduced, the audio processing unit 20 is configured by a digital-analog converter. Also good.

  The USB interface unit 26 is for inputting and outputting signals between the portable terminal device 10 as a USB device (target) and the in-vehicle device 50 as a USB host, and includes a USB target controller. In addition, you may make it use the other method for the connection between the portable terminal device 10 and the vehicle-mounted apparatus 50. FIG. For example, a case where the connection is made via other wired connection means such as an IEEE 1394 cable or a case where the connection is made via a wireless connection means such as a wireless LAN or Bluetooth (registered trademark) can be considered. When these other connection means are used, it is necessary to replace the USB interface unit 26 with an interface unit corresponding to each connection means.

  In the present embodiment, the mobile terminal device 10 operates in the terminal mode when connected to the in-vehicle device 50, and performs navigation operations such as map display, route search, and guidance by executing a predetermined map application. Regarding the map data necessary for this navigation operation, there may be a case where a range necessary for processing is acquired each time from an external map distribution server (not shown) in addition to the case where the map data is stored in the mobile terminal device 10 and read out. It is done. In addition, when displaying the map image, the mobile terminal device 10 can perform a scroll process for translating the display range and a rotation process for rotating the display range. In response, or by transmitting a command equivalent to this instruction from the in-vehicle device 50, the command is executed. Furthermore, the mobile terminal device 10 has a function as a terminal device that operates in the terminal mode when connected to the in-vehicle device 50, and when the map display is performed on the mobile terminal device 10, the same map display is displayed. This is also performed in the in-vehicle device 50.

  The control unit 12 of the mobile terminal device 10 performs a navigation operation and a terminal mode operation as described above, and includes a vehicle position detection unit 12A, a map display processing unit 12B, a vehicle position information transmission unit 12C, a scale information transmission unit 12D, and a scroll. A rotation processing unit 12E and a TM (terminal mode) processing unit 12F are included. Among these, each processing unit corresponding to the navigation operation other than the TM processing unit 12F is realized by executing a map application by the CPU.

  The vehicle position detection unit 12 </ b> A detects the position of the mobile terminal device 10 (it is assumed that the mobile terminal device 10 is connected to the in-vehicle device 50, so the position of the vehicle in which the in-vehicle device 50 is mounted). The vehicle position detection unit 12A can be realized by a GPS function provided in a recent mobile phone or the like.

  The map display processing unit 12B predetermines a surrounding map image of the vehicle position detected by the vehicle position detecting unit 12A or a surrounding map image of an arbitrary position indicated by the user using the operation unit 13A or the touch panel 13B. Draw at display scale. The drawn peripheral map image is displayed on the display unit 15 by the display processing unit 16.

  The vehicle position information transmission unit 12C transmits the vehicle position detected by the vehicle position detection unit 12A to the in-vehicle device 50. The scale information transmission unit 12D transmits the display scale used in the map image drawing process by the map display processing unit 12B to the in-vehicle device 50.

  The scroll / rotation processing unit 12E performs a scroll process for translating the map image being displayed and a rotation process for rotating the map image being displayed around a predetermined position. The user can designate the amount of movement in the horizontal and vertical directions when performing the scroll processing, the designation of the predetermined position as the rotation center when performing the rotation processing, and the designation of the amount of rotation using the touch panel 13B. This is done by issuing commands instructing these from the in-vehicle device 50.

  The TM processing unit 12F performs processing necessary for operating the mobile terminal device 10 in the terminal mode. By “the mobile terminal device 10 operates in the terminal mode”, the same screen as the display screen of the mobile terminal device 10 is also displayed on the in-vehicle device 50, and various operations using the touch panel 13B of the mobile terminal device 10 are performed. The touch panel 50 can be used in the same manner. The terminal mode (Terminal Mode) is an interface standard defined by CE4A (Consumer Electronics for Automotive), a standardization organization for an interface between an in-vehicle electronic control unit (ECU) and a portable device.

  FIG. 2 is a diagram illustrating a software (protocol) configuration of the USB device (mobile terminal device 10) corresponding to the terminal mode function. In order to operate the mobile terminal device 10 in the terminal mode, as shown in FIG. 2, in addition to a USB driver and a CDC (Communication Device Class) driver, TCP / IP (Transmission Control Protocol / Internet), UPnP (Universal Plug and Play, VNC (Virtual Network Computing), and RTP (Real-time Transport Protocol) protocols must be implemented. A map image (drawing data) displayed on the mobile terminal device 10 is transmitted from the mobile terminal device 10 toward the in-vehicle device 50 by the VNC. 2 are partly realized by the USB interface unit 26 and the rest are realized by the TM processing unit 12F.

  FIG. 3 is a diagram illustrating a detailed configuration of the in-vehicle device 50. As shown in FIG. 3, the in-vehicle device 50 includes a control unit 52, a display image storage unit 53, a vehicle position detection unit 54, an operation unit 55A, a touch panel 55B, an input processing unit 56, a display unit 57, a display processing unit 58, and an audio. A processing unit 59, an amplifier 60, a speaker 61, and a USB interface unit (USB IF) 62 are provided.

  The control unit 52 is for controlling the entire vehicle-mounted device 50, and is realized by executing a predetermined program stored in the ROM or RAM by the CPU. In the present embodiment, the control unit 52 performs various controls corresponding to these operations when the mobile terminal device 10 operates in the terminal mode and displays a map during the navigation operation. In addition, the control unit 52 issues a command for instructing the mobile terminal device 10 to perform scroll processing and rotation processing (display scroll processing and display rotation instruction) of the map image being displayed. Details of the control unit 52 will be described later.

  The display image storage unit 53 stores display image drawing data sent from the mobile terminal device 10 when operating in the terminal mode in cooperation with the mobile terminal device 10. If the map image of the mobile terminal device 10 is only displayed on the display unit 57 of the in-vehicle device 50 by the operation in the terminal mode, the display image storage unit 53 is not necessary. The vehicle position mark is extracted from the vehicle or the travel position mark is overlapped and drawn. A display image storage unit 53 is added to perform these processes.

  The vehicle position detection unit 54 detects the position and direction of the vehicle by combining radio navigation using GPS and autonomous navigation using various sensors. For example, gyroscopes or acceleration sensors are used, vehicle speed information such as vehicle speed pulses output at a certain distance from the vehicle, and wheel difference information indicating how much the vehicle has traveled is combined as necessary. The position and direction of the vehicle are detected using autonomous navigation.

  The operation unit 55 </ b> A includes various keys, switches, operation knobs, and the like that are provided in the casing of the in-vehicle device 50. The touch panel 55B detects the indicated position when a part of the screen of the display unit 57 is pointed by the user. The user can perform various operation instructions and various inputs including a display scroll instruction and a display rotation instruction using the touch panel 55B or the operation unit 55A. The input processing unit 56 monitors the operation content of the operation unit 55A and the touch panel 55B, and detects the operation content by the user. The display unit 57 is composed of an LCD or the like. The display processing unit 58 displays an operation screen including a plurality of operation icons or a screen created by the control unit 52 (a screen such as a map image) on the display unit 57.

  The audio processing unit 59 is for reproducing music data and the like, and performs audio decoding processing for each data format and outputs an audio signal. This audio signal is amplified by the amplifier 60 and output from the speaker 61. The USB interface unit 62 is for inputting and outputting signals between the in-vehicle device 50 as a USB host and the portable terminal device 10 as a USB device, and includes a USB host controller. In the case where a connection unit other than the USB interface unit 26 is used in the mobile terminal device 10, it is necessary to replace the USB interface unit 62 with an interface unit corresponding to each connection unit in the in-vehicle device 50.

  In addition, the control unit 52 includes a vehicle position information receiving unit 100, a scale information receiving unit 102, a display image acquiring unit 104, an undetectable determination unit 106, a vehicle position mark extracting unit 108, a traveling road extracting unit 110, and a traveling position determining unit 112. A travel position mark drawing unit 114, a map display unit 116, a display image scroll / rotation processing unit 118, a scroll / rotation instruction unit 119, and a TM (terminal mode) processing unit 120.

  The vehicle position information receiving unit 100 receives the vehicle position transmitted from the vehicle position information transmitting unit 12 </ b> C of the mobile terminal device 10. The scale information receiving unit 102 receives the display scale transmitted from the scale information transmitting unit 12 </ b> D of the mobile terminal device 10. The display image acquisition unit 104 acquires a display image (map image) sent from the mobile terminal device 10 to the in-vehicle device 50 by the VNC while the mobile terminal device 10 is navigating in the terminal mode. The acquired map image is stored in the display image storage unit 53.

  The undetectable determination unit 106 determines whether or not the vehicle position detection by the mobile terminal device 10 is disabled (whether or not the radio wave from the GPS satellite does not reach or is difficult to reach and cannot accurately detect the vehicle position). judge. This determination may be made by comparing the vehicle position detection status by the in-vehicle device 50 (vehicle position detection unit 50) with the vehicle position detection status by the mobile terminal device 10 received by the vehicle position information reception unit 100. Conceivable. Specifically, if the vehicle position detected by the mobile terminal device 10 is not updated even though the vehicle travels and the vehicle position detected by the in-vehicle device 50 is updated, the mobile terminal device 10 It is determined that the vehicle position detection by is disabled. Instead of the vehicle position detection status by the vehicle position detection unit 50, a part of the map image sent from the mobile terminal device 10 to the in-vehicle device 50 is monitored for the map display using the terminal mode. When the detection result of the vehicle position by the mobile terminal device 10 is not updated even though the content of the image is updated, it may be determined that the vehicle position detection by the mobile terminal device 10 is disabled. .

  The vehicle position mark extraction unit 108 extracts a vehicle position mark (vehicle position image) having a predetermined shape included in the map image acquired by the display image acquisition unit 104 and stored in the display image storage unit 53. In general, the position of the vehicle position mark in the map image to be displayed is determined in advance corresponding to the mobile terminal device 10 or the map application to be used. By making the region an extraction target, the processing load can be reduced.

  The traveling road extraction unit 110 extracts a traveling road of the vehicle included in the map image acquired by the display image acquisition unit 104 and stored in the display image storage unit 53. The road to be extracted is a road extending from the vehicle position mark in the traveling direction of the vehicle, and the traveling road is extracted by following the road by paying attention to the color of each pixel adjacent to the vehicle position mark.

  The travel position determination unit 112 determines the travel position of the vehicle. The determination of the travel position is performed using the position and direction of the vehicle detected by the vehicle position detection unit 54, and the travel position becomes a position along the travel road extracted by the travel road extraction unit 110. Done.

  Actually, there are several cases as a method for determining the traveling position of the vehicle. The first case is a case where the absolute position of the vehicle detected by the vehicle position detection unit 54 is used. In this case, when the map image is acquired by the display image acquisition unit 104, if the absolute position of the vehicle can be received simultaneously by the vehicle position information receiving unit 100, only the absolute position of the vehicle detected by the vehicle position detection unit 54 is obtained. When updated, the updated vehicle position (traveling position) can be specified on the map image.

  The next case is a case where the relative position of the vehicle detected by the vehicle position detection unit 54 is used. In this case, the relative position (movement amount and movement direction of the vehicle) after that is detected by the vehicle position detection unit 54 with reference to the time point before the position detection by the mobile terminal device 10 becomes impossible. The position (running position) of the vehicle after the is updated can be specified on the map image.

  The travel position mark drawing unit 114 adds a travel position mark (travel position image) of the vehicle to the travel position determined by the travel position determination unit 112 with respect to the map image stored in the map image storage unit 53. Process. The map display unit 116 sends the map image after the travel position mark is added to the display processing unit 58 and displays the map image on the display unit 57.

  The display image scroll / rotation processing unit 118 translates the map image with the travel position mark added so that the travel position matches the position of the vehicle position mark extracted by the vehicle position mark extraction unit 108 (scroll processing). Or the traveling direction of the vehicle (the direction of the road on which the vehicle is traveling) is rotated around the traveling position so that the vehicle is directed upward.

  The scroll / rotation instruction unit 119 displays a display scroll instruction and a movement direction corresponding to the movement amount when the vehicle moves and the travel position is updated in a state where the vehicle position detection by the mobile terminal device 10 is disabled. A command indicating a display rotation instruction corresponding to is issued to the mobile terminal device 10 via the USB interface unit 62.

  When the mobile terminal device 10 operates in the terminal mode, the TM processing unit 120 performs an operation corresponding to this (operation of the terminal device that operates in the terminal mode). For example, when drawing data such as a map image indicating the display content of the mobile terminal device 10 is sent, a process for displaying a screen with the same content, or an operation similar to the operation using the touch panel 13B of the mobile terminal device 10 is performed. The TM processing unit 120 performs a process realized using the touch panel 55B.

  The TM processing unit 120 described above is the drawing data receiving unit, the display unit 57 is the display unit, the display processing unit 58 is the display processing unit, the vehicle position detection unit 54 is the vehicle position detection unit, and the scroll / rotation instruction unit 119 is the display unit. The travel position mark drawing unit 114 corresponds to the travel position drawing unit, the vehicle position mark extraction unit 108 corresponds to the vehicle position image extraction unit, and the travel road extraction unit 110 corresponds to the travel road extraction unit. .

  The navigation system of this embodiment has such a configuration, and the operation thereof will be described next. In the present embodiment, while the vehicle position detection is performed in the mobile terminal device 10, the in-vehicle device 50 operates in the terminal mode in cooperation with the mobile terminal device 10 and receives a map image from the mobile terminal device 10. Display the map with the same contents. On the other hand, when the radio wave transmitted from the GPS satellite does not reach or is difficult to reach and the vehicle position detection in the mobile terminal device 10 becomes impossible, the in-vehicle device 50 carries out the scroll processing of the map image linked with the traveling of the vehicle. The terminal device 10 is instructed, and a map display in which a travel position mark is added to the map image after the scroll processing and the like sent from the mobile terminal device 10 is performed is performed.

  FIG. 4 shows an operation procedure of the in-vehicle device 50 in which when the mobile terminal device 10 cannot detect the vehicle position, the on-vehicle device 50 performs a scroll instruction or the like to the mobile terminal device 10 to display a map image. It is a flowchart.

  When starting the operation in the terminal mode, the TM processing unit 120 receives map image drawing data sent from the portable terminal device 10 by the function of the VNC (step 100), and uses the display processing unit 58 to display the map image. Display (step 102). The map image has a vehicle position mark in the center of the screen, various operation buttons in the lower area, information on the display scale of the map image in the upper left area (for example, the unit length on the map and the actual distance) Image showing correspondence). Although this map image is displayed on the mobile terminal device 10, in this embodiment, since the mobile terminal device 10 and the in-vehicle device 50 operate in the terminal mode, the in-vehicle device 50 uses the touch panel 55B. By directly pointing the operation buttons displayed in the lower area of the map image with a finger or the like, an operation instruction corresponding to each operation button can be performed.

  In parallel with the map image display operation using the terminal mode described above, the detection impossibility determination unit 106 determines whether or not the vehicle position detection by the mobile terminal device 10 has been disabled (step 104). If it is not undetectable, a negative determination is made, and the process returns to step 100 to repeat the operation for displaying the map image.

  Further, when the vehicle position detection by the mobile terminal device 10 becomes impossible, an affirmative determination is made in the determination of step 104. For example, when the vehicle position received by the vehicle position information receiving unit 100 is not updated even though the movement of the vehicle position (update of the vehicle position) is confirmed based on the detection result of the vehicle position detecting unit 54 It can be considered that vehicle position detection has become impossible.

  Next, the display image acquisition unit 104 acquires the drawing data of the map image sent by the VNC function in the terminal mode operation by the TM processing unit 120 and stores it in the display image storage unit 53 (step 106). Further, the scale information acquisition unit 102 acquires the display scale of the stored map image (step 108). If the display scale is fixed, this step 108 can be omitted. In this embodiment, the display scale is transmitted and received between the scale information transmitting unit 12D and the scale information receiving unit 102. However, the display scale is included in the upper left area of the map image stored in the display image storage unit 53. The display scale may be extracted by examining the content of information by image recognition.

  Next, the vehicle position mark extraction unit 108 reads a part of the map image stored in the display image storage unit 53 and extracts a vehicle position mark having a predetermined shape included in the read part of the map image (step 110). ).

  FIG. 5 is an explanatory diagram of vehicle position mark extraction. In FIG. 5, the range indicated by A is the range of the map image stored in the display image storage unit 53, and the map image corresponding to a part of the range indicated by B is the vehicle position mark extraction range. Read out. In general, since the position of the vehicle position mark is set at a predetermined position in the center of the screen or below it, there is no need to examine the entire map image for display, and the range in which the vehicle position mark may exist is narrowed. But there is no particular problem. In addition, since candidates for the portable terminal device 10 that can be connected to the in-vehicle device 50 and map application candidates that can be executed in the portable terminal device 10 are determined in advance, the shape of the vehicle position mark to be extracted is also one or more. The vehicle position mark included in the map image can be extracted by performing pattern matching using these plural shapes. In the example shown in FIG. 5, the vehicle position mark which combined the circle and triangle shown by C is used.

  Next, the vehicle position detector 54 detects the position and orientation of the vehicle (step 112). In addition, the scroll / rotation instruction unit 119, based on the detected position and orientation of the vehicle, moves in the horizontal direction and the vertical direction when scrolling the map image, and rotates when rotating the map image. The amount is determined (step 114). Next, the scroll / rotation instruction unit 119 issues a command including a display scroll instruction for the determined movement amount and a display rotation instruction for the determined rotation amount to the mobile terminal device 10 (step 116).

  In the present embodiment, even after the vehicle position detection by the mobile terminal device 10 becomes impossible, the mobile terminal device 10 performs a scroll process on the map image so that the actual vehicle travel position matches the previous vehicle position mark. A rotation process is performed, and a command including a movement amount and a rotation amount necessary for these processes is sent from the in-vehicle device 50 to the mobile terminal device 10.

  Thereafter, the scroll / rotation processing unit 12E of the mobile terminal device 10 performs scroll processing and rotation processing corresponding to the movement amount and the rotation amount included in the command sent from the in-vehicle device 50. The map image is displayed after the display range is changed by the processing. In this map image, the display range is changed, but the vehicle position mark is still drawn at the position detected immediately before the vehicle position detection by the mobile terminal device 10 becomes impossible.

  The TM processing unit 120 receives the drawing data of the map image after the display range change sent from the mobile terminal device 10 by the function of the VNC (step 118), and the traveling position mark drawing unit 114 sets the traveling position mark of the vehicle. After the drawing process to be added is performed (step 120), the map image with the travel position mark added is displayed by the display processing unit 58 (step 122). The travel position mark is added to the same display position as the position where the vehicle position mark was extracted in step 110. At this time, since the entire map image is scrolled, the vehicle position mark included in the map image does not overlap with the newly added travel position mark. In addition to the case where the drawing process for adding the travel position mark is performed directly on the display processing unit 58 (for example, the drawing data of the travel position mark is directly written in the video RAM in the display processing unit 58), the map image is displayed. The drawing data is temporarily stored in the display image storage unit 53 and a travel position mark is added to the drawing data. However, a method suitable for the adopted hardware configuration may be selected.

  FIG. 6 is a diagram illustrating a display example in which a travel position mark is added to the map image after scrolling and rotation. In FIG. 6, E indicates an added travel position mark. The map image shown in FIG. 6 is the map image itself sent from the mobile terminal device 10 except for the travel position mark, and the vehicle position mark remains as it is.

  After the vehicle position detection by the mobile terminal device 10 becomes impossible and the update of the display content of the map image is stopped, a command is sent from the in-vehicle device 50 to the mobile terminal device 10 so that the travel position of the vehicle is a predetermined position (position The map image is scrolled and rotated so that the vehicle position mark is displayed before detection is disabled (in the example shown in FIG. 6, only the traveling position of the vehicle is updated). Since only the scrolling process was performed), the traveling position mark E was added to the correct vehicle position at that time, and the user confirmed the traveling position of the vehicle in the map image. can do.

  In parallel with the display operation of the map image, the undetectable determination unit 106 determines whether or not the state in which the mobile terminal device 10 cannot detect the vehicle position continues (step 124). If the undetectable state does not continue (when position detection is enabled and correct vehicle position detection is resumed), a negative determination is made, and the process returns to step 100 to repeat the operation for displaying the map image. . If the undetectable state continues, an affirmative determination is made in the determination in step 124, and the process returns to step 106 to repeat the process of acquiring and storing map image drawing data. Note that the movement amount and the rotation amount determined in step 114 are values corresponding to the subsequent changes in the position and direction of the vehicle with reference to the previous command issuance.

  By the way, as described above, when the command is issued from the in-vehicle device 50 to the mobile terminal device 10 and the map image scroll process and the rotation process are performed by the mobile terminal device 10, It is conceivable that the moving distance of the vehicle becomes longer, and the contents of the map images before and after the scroll change greatly, making it difficult to see. In such a case, such inconvenience can be avoided by adding the traveling position mark in accordance with the actual traveling position of the vehicle before the next command is issued.

  FIG. 7 shows an operation procedure of a modified example of the in-vehicle device 50 in which a map image display is performed by adding a travel position mark corresponding to the travel position of the vehicle until a new map image after scrolling is displayed. It is a flowchart which shows. In the operation procedure shown in FIG. 7, steps 107 and 200 to 218 are added to the operation procedure shown in FIG. Below, operation | movement of each of these added steps is demonstrated.

  When the acquisition and storage of the map image drawing data in step 106 are completed, the scroll / rotation instruction unit 119 next determines whether or not it is a scroll / rotation instruction timing (command issue timing) (step 107). For example, if a scroll instruction and a rotation instruction are issued every 2 seconds, an affirmative determination is made at a timing of every 2 seconds, and the processing after step 108 described above is performed. As a result, a new map image that has been scrolled and rotated in the mobile terminal device 10 is obtained, and the map image after the travel position mark is added is displayed.

  On the other hand, if it is not the timing of the scroll / rotation instruction, a negative determination is made in the determination of step 107. Next, the scale information acquisition unit 102 acquires the display scale of the map image stored in step 106 (step 200). Step 108 can be omitted when the display scale is fixed, or the display scale may be extracted by examining the contents of information related to the display scale included in the upper left area of the map image by image recognition. Is the same as

  Next, the vehicle position detector 54 detects the vehicle position (step 202). Further, the vehicle position mark extraction unit 108 reads a part of the map image stored in the display image storage unit 53, and extracts a vehicle position mark having a predetermined shape included in the read part of the map image (step 204). .

  Next, the traveling road extraction unit 110 reads a part of the map image stored in the display image storage unit 53, and extracts the traveling road of the vehicle included in the part of the read map image (step 206). Note that the map image used for extracting the vehicle position mark can be used as it is as the map image used for extracting the traveling road, and there is no need to newly read out for extracting the traveling road.

  FIG. 8 is an explanatory diagram of traveling road extraction. In FIG. 8, c1 indicates the center position of the vehicle position mark (vertex position at the top of the triangle), and corresponds to the vehicle position in this map image. Further, the direction of the triangle toward the circle of the vehicle position mark indicates the traveling direction of the vehicle. In the example shown in FIG. 8, the traveling direction of the vehicle is set to face the upper direction of the display screen (heading up). D1, d2, d3, d4, and d5 indicate traveling roads that exist in the traveling direction of the vehicle. d1 is the road from the current position of the vehicle to the next branch along the direction of travel, d2 is the road going straight after the branch, d3 is the road when turning right at the branch, and d4 is when turning left at the branch A road d5 indicates a road that is branched and exists in a diagonally upper right direction.

  FIG. 9 is an explanatory diagram showing the specific processing contents of traveling road extraction. In the example shown in FIG. 9, the width of the road is one pixel, but in reality, the road is composed of several pixels. In FIG. 9, c2 indicates the starting point of the road to be extracted d1 (for example, a pixel at a position shifted by one pixel in the vehicle traveling direction with respect to the center position c1 (FIG. 8) of the vehicle position mark). ing. The traveling road is extracted by repeating the operation of extracting pixels of the same color as the starting point c2 by performing line scanning of several pixels by shifting the starting point c2 by one pixel in a direction crossing the traveling direction of the vehicle. For example, if the roads d1 and d2 shown in FIG. 8 are drawn in the same color, the roads d1 and d2 are extracted by this operation. Also, assuming that the roads d3, d4, and d5 are drawn in different colors, when a straight line portion or a curved portion having a width of several pixels having different colors is continuous with the road to be traveled, these portions are drawn. Is included in the extraction target (FIG. 10), roads d3, d4, and d5 are extracted.

  Further, the travel position determination unit 112 determines the travel position of the vehicle at that time based on the vehicle position detected by the vehicle position detection unit 54 in step 202 and the travel road extracted by the travel road extraction unit 110 in step 206. Determine (step 208). Specifically, when the detected vehicle position is accurately placed on the extracted road to be traveled, the detected vehicle position is determined as the travel position of the vehicle. Further, when the detected vehicle position is deviated from the extracted road to be traveled, a position on the road closest to the detected vehicle position is determined as the travel position of the vehicle.

  In the above-described example, the case where the extraction of the planned travel road (step 206) and the determination of the travel position of the vehicle (step 208) are performed separately has been described, but these may be performed in parallel. In this case, if there is a branch on the road, the detection position of the vehicle after the branch is known when the road is extracted, so it is possible to extract only the road on which the vehicle travels after the branch. The processing burden can be reduced. For example, when the vehicle travels on the road indicated by d5 in FIG. 8, the extraction of the road indicated by d2, d3, and d4 can be stopped. Further, although the scheduled road is first extracted within the range indicated by B in FIG. 6, the road is exceeded beyond the range B as the road extraction progresses.

  Next, the travel position mark drawing unit 114 performs a drawing process of adding a travel position mark of the vehicle to the map image stored in the map image storage unit 53 (step 210). In addition, the display image scroll / rotation processing unit 118 displays the map image with the travel position mark added as the travel position (the position of the travel position mark added last when a plurality of travel position marks are added). The map image is scrolled so as to coincide with a predetermined position (for example, the display position of the vehicle position mark included in the map image sent from the mobile terminal device 10), and the traveling direction of the vehicle is the upper direction of the display screen. The map image is rotated so as to match (step 212). Thereafter, the map image scrolled and rotated in this way is sent to the display processing unit 58 to display the map image (step 214).

  Next, the scroll / rotation instruction unit 119 determines whether or not it is a scroll / rotation instruction timing (step 216). When the timing of the scroll / rotation instruction comes, an affirmative determination is made, and the process proceeds to step 108 and subsequent steps. On the other hand, if it is not the timing of the scroll / rotation instruction, a negative determination is made in step 216. Next, the detection impossibility determination unit 106 determines whether or not the inability to detect the vehicle position by the mobile terminal device 10 continues (step 218). If it is continued, an affirmative determination is made, and the operation returns to step 202 and the operations after the vehicle position detection by the vehicle position detection unit 54 are repeated. The vehicle position mark extraction operation in step 204 can be omitted for the second and subsequent times. If the undetectable state does not continue, a negative determination is made in the determination in step 218, and the process returns to step 100 to repeat the operation for displaying the map image.

  FIG. 11 is a diagram illustrating a display example of a map image in which a travel position mark is added between the scroll processes. As shown in FIG. 11, when vehicle position detection by the in-vehicle device 50 is performed a plurality of times (for example, three times) until a new map image after scrolling is received, traveling position marks are added in the order of E1, E2, and E3. Each time, the map image is scrolled / rotated and displayed. In the example shown in FIG. 11, the map image is scrolled and rotated around the vehicle position mark E3 added for the third time.

  As described above, in the navigation system according to the present embodiment, even when the vehicle position cannot be detected in the mobile terminal device 10 and the vehicle position cannot be updated, the map image is matched to the actual traveling position of the vehicle. In addition to scrolling the displayed content, the position of the traveling vehicle can be updated in the map image after the scrolling to present an accurate vehicle position. In addition, by instructing the rotation of the map image together with the scroll, when the vehicle direction is changed while the vehicle position detection in the mobile terminal device 10 is disabled, it is sent from the mobile terminal device 10 to the in-vehicle device 50. The display contents of the incoming map image can be rotated simultaneously with the scrolling, and it is possible to always perform map display in consideration of the position and orientation of the vehicle.

  In addition, when the time interval for scrolling the map image is long, the vehicle position during traveling is updated in the map image before scrolling, in which the display content is fixed, until the map image after scrolling is obtained. The vehicle position can be presented.

  In addition, by setting only a predetermined range including the center portion of the map image as a vehicle position mark extraction target, it is possible to reliably extract the vehicle position mark and reduce the processing load. In addition, by extracting the road connected to the vehicle position mark as the planned road for the vehicle and determining the drawing position of the travel position mark along this road, it is possible to ensure that the position of the newly added travel position mark is on the road. It is possible to avoid unnaturalness that occurs when the vehicle deviates from the road.

  In addition, this invention is not limited to the said embodiment, A various deformation | transformation implementation is possible within the range of the summary of this invention. For example, in the above-described embodiment, the instruction to perform the scroll process and the rotation process at the same time in steps 114 and 116 in FIG. 4 is performed from the in-vehicle device 50 to the portable terminal device 10, but only the scroll process instruction is performed. You may do it. In this case, the direction of the map image is not changed even if the direction of the road on which the vehicle travels after position detection becomes impossible, but even in that case, the vehicle travel position is updated (the travel position mark Since (addition) is performed at the correct position, an accurate vehicle position can be presented.

  Further, in the operation procedure shown in FIG. 7, after the vehicle position detection by the portable terminal device 10 becomes impossible, the planned road of the vehicle is extracted from the map image (step 206), and the position along the road is set. Although the travel position mark is drawn (step 210), the process of extracting the planned travel road may be omitted. In this case, a travel position mark may be drawn at a position off the road. However, since the travel position of the vehicle can still be schematically shown, the map image is displayed even though the vehicle is traveling. Unnaturalness where the upper vehicle position is not updated can be avoided. In step 212, the map image is scrolled / rotated around the travel position. However, after the travel position mark is added (step 210), the scroll / rotation operation is omitted to display the map image. May be.

  As described above, according to the present invention, even if the vehicle position cannot be detected in the mobile terminal device 10 and the vehicle position cannot be updated, the map image is displayed in accordance with the actual traveling position of the vehicle. While scrolling the display content, it is possible to update the position of the running vehicle in the map image after the scrolling to present an accurate vehicle position.

DESCRIPTION OF SYMBOLS 10 Portable terminal device 12,52 Control part 12A Vehicle position detection part 12B Map display process part 12C Vehicle position information transmission part 12D Scale information transmission part 12E Scroll and rotation process part 12F, 120 TM process part 13A, 55A Operation part 13B, 55B Touch panel 14, 56 Input processing unit 15, 57 Display unit 16, 58 Display processing unit 18 Telephone processing unit 26, 62 USB interface unit (USB I / F)
DESCRIPTION OF SYMBOLS 50 In-vehicle apparatus 53 Display image storage part 54 Vehicle position detection part 100 Vehicle position information reception part 102 Scale information reception part 104 Display image acquisition part 106 Undetectable determination part 108 Vehicle position mark extraction part 110 Traveling road extraction part 112 Traveling position determination part 114 Traveling position mark drawing unit 116 Map display unit 118 Display image scroll / rotation processing unit 119 Scroll / rotation instruction unit

Claims (7)

The in-vehicle device and the mobile terminal device are connected to each other, the vehicle position is detected in the mobile terminal device, a map image around the vehicle position is drawn together with the vehicle position image, and drawing data of this map image is sent to the in-vehicle device. In the navigation system in which the map image display around the vehicle position is performed in the in-vehicle device,
The in-vehicle device is
Drawing data receiving means for receiving drawing data of the map image;
Display processing means for displaying a map image on the display means based on the drawing data received by the drawing data receiving means;
Vehicle position detection means for detecting the position of the vehicle;
Scroll instruction means for sending a display scroll instruction of a movement amount corresponding to the vehicle position detected by the vehicle position detection means to the portable terminal device when vehicle position detection in the portable terminal device becomes impossible;
When drawing data of the scrolled map image is sent from the portable terminal device in response to a display scroll instruction by the scroll instruction means, a travel position image corresponding to the vehicle position detected by the vehicle position detection means is obtained. , Travel position drawing means for drawing on the scrolled map image,
A navigation system comprising: In claim 1,
The vehicle position detection means detects the direction of the vehicle together with the position of the vehicle,
The in-vehicle device sends a display rotation instruction of a rotation amount corresponding to the vehicle direction detected by the vehicle position detecting means to the portable terminal device when the position of the vehicle in the portable terminal device becomes impossible. A navigation system further comprising a rotation instruction means. In claim 1 or 2,
The in-vehicle device further includes vehicle position image extracting means for extracting a vehicle position image of a predetermined shape included in a map image corresponding to the drawing data received by the drawing data receiving means,
The travel position drawing means uses the position of the vehicle position image extracted by the vehicle position image extraction means as a reference until the drawing data of the map image corresponding to the display scroll instruction is sent from the mobile terminal device. The navigation system is characterized in that the travel position image corresponding to the vehicle position detected by the vehicle position detection means is drawn on the map image before scrolling. In claim 3,
The navigation system according to claim 1, wherein the vehicle position image extraction means extracts the vehicle position image using a part of a predetermined range from the center of the map image before scrolling. In claim 3 or 4,
The in-vehicle device is a road image included in a map image corresponding to the drawing data received by the drawing data receiving means, and is in a traveling direction of the vehicle with respect to the vehicle position image extracted by the vehicle position image extracting means. It further comprises a traveling road extracting means for extracting connected road images,
The travel position drawing means uses the position of the vehicle position image extracted by the vehicle position image extraction means as a reference until the drawing data of the map image corresponding to the display scroll instruction is sent from the mobile terminal device. And a drawing position of the traveling position image is determined at a position along the road image extracted by the traveling road extracting means. In claim 5,
In the map image, the traveling direction of the vehicle coincides with the upper direction of the display screen,
The traveling road extracting means extracts the road image existing in the traveling direction of the vehicle by examining the color of each pixel from the position adjacent to the upper part of the vehicle position image and tracing each pixel constituting the road image. A navigation system characterized by that. In claim 5,
The vehicle position image extracted by the vehicle position image extraction means has a shape that can identify the position of the road existing in the traveling direction of the vehicle,
The traveling road extraction means is present in the traveling direction of the vehicle by examining the color of each pixel from a position adjacent to the vehicle position image along the traveling direction of the vehicle and tracing each pixel constituting the road image. A navigation system characterized by extracting road images.

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