JPH02266219A - On-vehicle position indicator - Google Patents

Abstract

PURPOSE:To accurately display the travel locus of the vehicle even when the vehicle travels on a road which is not displayed on a display screen such as an unregistered road by providing a restoring means for inhibiting the travel locus from being corrected and restoring the display of a travel locus before correction. CONSTITUTION:A position arithmetic means 6 calculates the position of the vehicle from information from a distance detecting means 2 and information from an azimuth detecting means 4. The position of the vehicle obtained by this means 6 is displayed as the traveled locus. Further, if the actual travel locus and the travel locus of the vehicle displayed on the display screen have a deviation, road information similar to the travel locus is extracted from road information on the periphery and the travel locus which is displayed 8 is corrected according to the information. Further, the restoring means 14 inhibits the travel locus from being corrected and restores the display of the travel locus before the correction. Then when the vehicle travels on what is called an unregistered road, the travel locus of the vehicle is inhibited from being corrected to make the travel locus of the vehicle which is displayed on the display screen coincident with the actual travel locus.

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Industrial Application Field) The present invention relates to a vehicle position display device that accurately displays the current position of a vehicle.

(Prior Art) In recent years, various so-called navigation systems have been developed that display a destination point, a starting point, a travel trajectory from the starting point, and the current position of the vehicle together with surrounding road information. .

In conventional vehicle position display devices incorporated into such navigation systems, the current position of the vehicle is calculated based on distance information from a distance sensor and direction information from a direction sensor, and the calculated current position of the vehicle is It is displayed on a display device such as a CRT together with road map information.

However, in conventional vehicle position display devices, if an error occurs in the distance information from the distance sensor or the direction information from the direction sensor, the current position of the vehicle may deviate from the road on the displayed map due to this error. .

Therefore, the shape of the vehicle's travel trajectory including the current location is compared with the shape of the road on the map that exists near this current location, and if the shapes of both are similar, the current location of the vehicle on the map is compared. A system has been proposed in which the position is automatically corrected according to the shape of the road (Japanese Patent Laid-Open No. 60-4528
Publication No. 5).

(Problem to be Solved by the Invention) However, in addition to roads that are registered in advance and displayed on the display screen of a display device, so-called registered roads, there are also roads that are not registered, such as newly constructed roads, and so-called unregistered roads. exist. When driving on such an unregistered road, the trajectory of the vehicle may deviate from the registered road displayed on the display screen.

In such a case, even though the vehicle is traveling on an unregistered road, the trajectory of the vehicle may be erroneously corrected to a registered road similar to the unregistered road.

To explain in detail with reference to FIG. 8, FIG. 8A shows registered roads R1 and R2, and also shows with dotted lines the case where there is a so-called unregistered road r1 that is not displayed on the display screen from the intersection PA. There is. Also, in Figure 8 (A), the vehicle is registered on road R.
1, and its traveling trajectory T101a,...T10
5a is shown.

Figure 8 (B) is the travel trajectory T 10 shown in Figure 8 (A).
1a, ---T105a is corrected along the registered road R1. Such automatic correction of the travel trajectory is performed every predetermined travel distance.

Next, FIG. 8(C) shows an unregistered road r that is not displayed on the display screen from the intersection PA after the vehicle has proceeded on the registered road R1.
Travel trajectory when progressing to 1 T111a1...T1
15a is shown.

Next, FIG. 8(D) shows the traveling trajectory of the vehicle T111, ... T1, which has been corrected according to the registered road R2 even though the vehicle is traveling on an unregistered road r1 that is not displayed on the display screen.
15 is shown. At this time, if the driver visually checks the display screen and confirms that the vehicle's travel trajectory has been automatically corrected by mistake, and operates the prohibition switch to prohibit automatic correction,
Subsequent automatic correction of the vehicle's travel trajectory is prohibited.

That is, as shown in FIG. 8(E), the traveling trajectory T121 a -T is not corrected after the prohibition switch is operated.
122 a -T 123 a s . . . are displayed as they are.

As mentioned above, if the prohibition switch to prohibit automatic correction is operated after driving on an unregistered road "1" for a while, automatic correction of the vehicle's driving trajectory after operating this prohibition switch is prohibited. Therefore, the actual traveling trajectory of the vehicle, that is, the unregistered road r1, and the traveling trajectory T121a, T122a, T displayed on the display screen.
123a... A problem arose in that they did not match.

The present invention has been made in view of the above problems, and it is an object of the present invention to provide a vehicle position display device that more accurately displays the traveling trajectory of the vehicle, that is, the current position of the vehicle, which changes from moment to moment.

[Structure of the Invention] (Means for Solving the Problems) In order to achieve the above object, the position display device provided by the present invention, as shown in FIG. , a direction detecting means 4 for detecting the traveling direction of the vehicle, and a position calculating means 6 for calculating the position of the vehicle based on each information from the distance detecting means and the direction detecting means.
and a display means 8 for displaying the ever-changing vehicle position obtained from the position calculation means 6 as a travel trajectory together with surrounding road information, and a display means 8 for displaying a road similar to the travel trajectory from among the surrounding road information. an extraction means 10 for extracting information; a modification means 12 for modifying the travel trajectory displayed on the display means 6 according to the extracted road information; and a modification means 12 for modifying the travel trajectory displayed on the display means 6 in accordance with the extracted road information; (Operation) The present invention has a restoration means 14 for restoring the display of the distance detection means 2 and the direction detection means 4.
It has a position calculation means 6 for calculating the position of the vehicle based on information from the vehicle. The ever-changing vehicle position obtained from the position calculation means 6 is displayed as a travel trajectory together with surrounding road information. In addition, there may be a discrepancy between the actual driving trajectory and the vehicle's driving path displayed on the display screen, and in such cases, road information similar to the driving trajectory is extracted from surrounding road information. The travel trajectory displayed on the display means is then corrected in accordance with this extracted road information. Furthermore, the present invention has a restoration means for prohibiting the modification of the traveling trajectory and restoring the display of the traveling trajectory before the modification, and when driving on a so-called unregistered road that is not displayed on the display screen, the vehicle By prohibiting modification of the travel trajectory of the vehicle, it is possible to match the vehicle travel trajectory displayed on the display screen with the actual vehicle travel trajectory.

(Example) Hereinafter, an example according to the present invention will be described in detail with reference to the drawings.

First, the overall configuration of the vehicle position display device according to the present invention will be explained with reference to FIG.

The microcomputer 1 is connected to a distance sensor 2A, a keyboard 3, an orientation sensor 4A, an external memory 5, and a CRT 8A, and controls the entire device.

The distance sensor 2A is comprised of, for example, a photoelectric, electromagnetic, or mechanical contact type sensor, and generates a pulse signal every time the vehicle travels a predetermined distance.

The orientation sensor 4A includes, for example, a geomagnetic sensor for detecting the absolute traveling orientation of the vehicle or a gyro sensor for detecting the relative traveling orientation of the vehicle.

The keyboard 3 is an input device for inputting and setting various information such as a target point and a starting point on a map displayed on a display screen, which will be explained later.

The external memory 5 stores various map information and road information in advance, and sequentially stores information regarding the current position of the vehicle calculated by the microcomputer 1.

The CRT 8A displays the road information or map information stored in the external memory 5 on the display screen, and also displays the target point of the vehicle, the starting point, the traveling trajectory of the vehicle from the starting point, etc. on this map.

That is, the CRT 8A is a display means that displays the position of the vehicle, which changes every moment according to information inputted from the microcomputer 1, which is a position calculation means, as a traveling trajectory together with surrounding road information.

Next, the internal configuration of the microcomputer 1 will be explained.

The CPU II is connected via an interface circuit 13 to a distance sensor 2A, a keyboard 3, and a direction sensor 4A.

It is connected to each of the external memory 5 and CRT 8A. In addition, the interface circuit 13 includes a ROM 15 and an RA.
MI 7 and V-RAMI 9 are each connected.

The ROM 15 stores various control programs such as a calculation program for calculating the current position of the vehicle. C.P.
U11 has a function as a position calculation means for calculating the position of the vehicle every fixed travel distance M K + based on a program stored in the ROM 15. RAM17 is CP
Information regarding the current position of the vehicle calculated by UI 1 is temporarily stored.

The CPU II also has an extraction means for extracting road information similar to the vehicle's travel trajectory from the surrounding road information displayed on the CRT 8A, and extracts road information similar to the vehicle's travel trajectory from the surrounding road information displayed on the CRT 8A, and extracts the travel trajectory displayed on the CRT 8A according to the extracted road information. 2 for a certain mileage
It has a function as a correction means for making corrections every (K2 = 5XK+).

Further, the keyboard 3 has a function as a restoring means for prohibiting the above-mentioned modification of the traveling trajectory of the vehicle and restoring the display of the traveling trajectory before the modification.

Next, the overall operation will be explained with reference to FIG.

In step 23, initialization is performed by operating the keyboard 3 to input the target point, current point, etc. The information entered and set using the keyboard 3 is stored in the RAM 17, and the current location, map information, etc. are displayed on the display screen of the CRT 8A.

Next, in step 25, the interrupt in step 27 is permitted, and the following main loop is thereby entered.

This main loop is executed in step 2 if the current position of the vehicle moves in response to the interrupt processing in step 27.
The process advances from 9 to 31 to change the display of the current position on the display screen of the CRT 8A, and to update map information etc. around the current position.

The interrupt process shown in step 27 is executed every time the vehicle travels a predetermined distance. Specifically, distance sensor 2
The current position of the vehicle is calculated based on the distance information from A and the position information from the direction sensor 4A.

In step 33, after the previous comparison process, that is, the comparison between the vehicle travel trajectory and the surrounding road shape, the CRT8A
It is determined whether the vehicle has traveled a certain distance 2 corresponding to the five travel trajectories on the display screen, and if the vehicle has traveled a certain distance 2, the process proceeds from step 33 to step 35.

In step 35, the trajectory of the vehicle is compared with the shape of roads around it, and the road most similar to the trajectory of the vehicle is extracted. Further, in step 35, arithmetic processing related to correction of the current position of the vehicle and the travel trajectory of the vehicle is executed in accordance with the extracted road shape. The method of calculation processing related to such correction of the travel trajectory of the vehicle is preferably performed using a conventionally known method as disclosed in Japanese Patent Laid-Open No. 60-45285, for example.

Next, in step 37, it is determined whether there is a road that is most similar to the vehicle's travel trajectory, that is, whether or not the vehicle's travel trajectory needs to be corrected.If no correction or correction is required, step 37 is performed. Proceed to 39. Step 39
Then, the correction flag for correcting the vehicle's current position and travel trajectory is set to OFF.

Further, if it is determined in step 37 that the traveling trajectory of the vehicle needs to be corrected, step 41 is performed instead of step 37.
Proceed to.

In step 41, information regarding the vehicle's travel trajectory before being corrected is stored in the external memory 5.

Next, in step 43, the trajectory of the vehicle on the display screen of the CRT 8A is corrected.

Subsequently, in step 45, a correction flag for correcting the current position and travel trajectory of the vehicle is set on.

Next, a process for prohibiting modification of the traveling trajectory of the vehicle and restoring the display of the traveling trajectory before modification will be explained with reference to FIGS. 4 and 5.

First, referring to FIG. 5, the registered roads RRI and RR2 are shown in FIG. are indicated by dotted lines.Furthermore, as the vehicle travels on the registered road RRI, the vehicle positions T01, TO2, TO3,
TO4 and TO5 are displayed on the registered road RRI as travel trajectories. The vehicle also turned left at intersection PB,
Unregistered road rrl not displayed on CRT8A display screen
Suppose that we have progressed. Travel trajectories Tll and T1 at this time
2 is displayed above the registered road RRI. Also, at this time, the traveling trajectory is corrected according to the registered road RR2, and the vehicle positions T13 and T14, which are the corrected traveling trajectory, are
, T]-5, T21, and T22 are each registered road RR.
It is displayed above 2.

Here, although the vehicle is traveling on the unregistered road rr1, the driving trajectory on the CRT8A display screen is the registered road R.
When the driver confirms that the automatic correction has been made in accordance with R2 and operates the operation key on the keyboard 3 to prohibit the correction of the travel trajectory, the interrupt process shown in FIG. 4 is started.

In step 53, it is determined whether a correction flag for correcting the current position and travel trajectory of the vehicle is on. If the correction flag is on, the process proceeds from step 53 to step 55.

In step 55, by comparing the data before correction and the data after correction on the two-dimensional coordinates of the final vehicle position T15 of the traveling trajectory corrected last time, the amount of correction E, that is, the corrected distance and the correction Calculate the direction.

Next, in step 57, the previous corrected traveling trajectory, that is, the vehicle position T11, TI on the display screen of the CRT 8A is
2, erase each of T13, T14, T15, T21, and T22.

Next, in step 59, the corrected vehicle positions T11, T
12, ... As T15 has been deleted, the vehicle positions Tl1a and T15 before being corrected in their place are
12a, T13a, T14a.

Each of T15a is displayed on the display screen of CRT8A.

As a result, as shown in FIG. 5(B), the traveling trajectory Tl, 3
Unregistered road rr where aST14a and T15a are not displayed
It is displayed at the position where l exists.

Next, in step 61, the position T of the vehicle that has not been corrected is
21a and T22a are moved by the correction amount E and displayed at their original positions. As a result, the vehicle positions T21a and T22a are displayed at the position where the unregistered road rrl exists, as shown in FIG. 5(B).

Next, in step 63, the correction flag is set to OFF.

Next, similar interrupt processing is executed via step 65.

Next, another embodiment of the present invention will be described with reference to FIGS. 6 and 7.

In this embodiment, when the operation key for prohibiting the modification of the traveling trajectory is operated, the traveling trajectory is traced back to a point where the degree of coincidence between the road shape and the traveling trajectory is small, that is, a point where the amount of correction is large, and the subsequent traveling trajectory is reset to the original one. The present invention is characterized in that the display is restored to the display of the travel trajectory before the correction.

That is, in the embodiment shown in FIGS. 4 and 5, the range for restoring the travel trajectory to the pre-correction travel trajectory is determined by determining the latest five vehicle positions within the travel trajectory displayed on the display screen of the CRT8A. In contrast, in this example, within the travel trajectory,
It is characterized by targeting the latest 25 vehicle locations.

Of course, depending on the computing power of the microcomputer 1, the range of interest may be extended further back into the past.

FIG. 7(A) shows a case where registered roads RR3 and RR4 are displayed, and an unregistered road rr2, which is not displayed on the display screen of the CRT 8A, branches off from the intersection PC.

FIG. 7(B) shows the traveling trajectory T35, T41, . . . T45, T51 . . . when the vehicle is traveling on the registered road RR3.
・ is displayed above registered road RR3. Furthermore, in FIG. 7(B), even though the vehicle traveled on the unregistered road rr2, the travel trajectory was corrected according to the registered road RR4, that is, the vehicle position T55, T61, . . . T
65, T71, ...T75 are each registered roads RR
4 is displayed above.

As described above, even though the vehicle is traveling on the unregistered road rr2, after a considerable amount of incorrect travel trajectory has been corrected,
For example, if an operation key for prohibiting modification of the travel trajectory is operated at vehicle position T75, an interrupt process shown in FIG. 6 is started.

In step 73, it is determined whether or not a correction flag for correcting the vehicle position and vehicle travel trajectory is on. If the correction flag is on, the process proceeds from step 73 to step 75.

Here, it is determined whether or not to correct the traveling trajectory every predetermined distance, for example, the position of five vehicles is displayed on the display screen of the CRT8A. The degree of coincidence SP (i) between the travel trajectory and the road shape at this time is calculated.

The matching degree SP (i
) can be easily calculated by using a conventionally known method as disclosed in, for example, Japanese Patent Laid-Open No. 60-45285.

In step 75, it is determined whether there is a value smaller than a predetermined reference value SPc among the degree of coincidence SP (i) (i-0, 1,, 2, 34) between the road shape and the travel trajectory. If the value of -growth SP (i) is larger than the reference value SPc, that is, if the correction amount E is small, the process proceeds from step 75 to step 79, and the value of the coefficient I is set to 0. do.

Further, in step 75, if the value of the matching degree SP (i) is smaller than the reference value SPc, that is, if the value of the correction flE is large, the process proceeds from step 75 to step 77.

In step 77, the matching degree SP is smaller than the reference value SPc.
(i), and this extracted degree of matching SP
The oldest one among (i) is set as the matching degree SP ml).

Here, the matching degree SP (
If the travel locus corresponding to [) is the vehicle position T61, . . . T65 shown in FIG. 7(B), then in step 81, the vehicle position T61, .
...T65 and subsequent vehicle position T71,...
Remove T75 from the CRT8A display screen.

Next, in step 83, the vehicle positions T61, . . . T65 are determined.
And T71,... CRT8 the trajectory before correction of T75
Display on A's display screen.

As a result, as shown in FIG. 7(C), the vehicle position T61a, which is the traveling trajectory before correction, is displayed on the display screen of the CRT8A.
-T65a and T71a, -...T75a are each displayed at the position where unregistered road rr2 exists.

Next, in step 85, a correction flag for correcting the vehicle position and travel trajectory is set to OFF.

In the above-described embodiment, it is determined whether or not to correct the traveling trajectory at every predetermined traveling distance, but the present invention is not limited to this, and the present invention is not limited to this. It may also be configured to perform correction each time a shape appears.

[Effects of the Invention] As explained above, according to the present invention, since a means for prohibiting the modification of the traveling trajectory is provided and the display of the traveling trajectory before the modification is restored, unregistered roads, etc. Even when the vehicle travels on a road that is not displayed on the display screen, the travel trajectory of the vehicle can be accurately displayed.

[Brief explanation of drawings]

FIG. 1 is a complaint correspondence diagram, FIG. 2 is a block diagram showing the overall configuration of a vehicle position display device according to the present invention, and FIG.
Figure 4 is a flowchart showing the overall control process, Figure 4 is a flowchart showing the control process for prohibiting modification of the travel trajectory and restoring the display of the travel trajectory before correction, and Figure 5 is the flowchart shown in Figure 4. FIG. 6 and FIG. 7 are explanatory diagrams showing control processing of other embodiments of the present invention, and FIG. 8 is an explanatory diagram showing a conventional example. 2...Distance detection means 4...Direction detection means 6...
・Position calculation means 8...Display means 10...Extraction means 12...Modification means 14...Recovery means agent Patent attorney Hidekazu Miyoshi Figure 1, Figure 13, Figure 4, Figure 6, Figure 7 (A) Figure 7 (B) Figure (C) 101a Figure 8 (A) IOI Figure 8 (8) "1 Figure 8 (C)

Claims (1)

[Scope of Claims] Distance detection means for detecting the travel distance of the vehicle, direction detection means for detecting the traveling direction of the vehicle, and a position of the vehicle based on each information from the distance detection means and the direction detection means. position calculation means for calculating; display means for displaying the ever-changing vehicle position obtained from the position calculation means as a travel trajectory together with surrounding road information; Extracting means for extracting road information; Modifying means for modifying the traveling trajectory displayed on the display means according to the extracted road information; Prohibiting modification of the traveling trajectory and displaying the uncorrected traveling trajectory. A vehicle position display device comprising: a restoration means for restoring; and a vehicle position display device.