JPH0255796B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a current position display device for a moving body such as an automobile, which displays the moving status of the moving body, such as the current position, movement trajectory, and direction of movement.

In general, when driving a car at night or in an unfamiliar area, the driver's car is displayed on a preset road map in order to provide appropriate guidance so that the driver does not deviate from the planned driving course and get lost. BACKGROUND ART Current position display devices that display movement status such as current position, movement trajectory, and direction of movement have been developed.

Conventionally, in this type of current position display device for a moving object, a distance detector detects the distance traveled by the vehicle according to the vehicle speed, and a direction detector detects the direction of travel of the vehicle and the amount of change thereof. Then, the current position of the vehicle, etc. on the travel route is calculated from each of these detected values, and the result is stored and displayed on the display screen as continuous point information that changes every moment. By comparing and collating it with a map of roads, etc. on a transparent sheet that is set in advance on the display screen,
This allows the driver to check the current location of the vehicle.

However, with this method of confirming your current location, you must select one of the multiple transparent sheet-like maps prepared for each region before driving, and then select the The map must be set on the display screen, which has become cumbersome, and the map may shift, making it difficult to compare and match the information displayed on the screen. .

The present invention has been made with these points in mind, and instead of setting a transparent sheet on which a map is printed on the display screen as in the past, the map is photographed in advance on a microfilm. A map of the area in which the vehicle is scheduled to travel is retrieved from the microfilm and photoelectrically converted, and based on the map information, a predetermined map is directly displayed on the display screen together with the vehicle's current position and trajectory. The present invention provides a current position display device for a moving body that displays the approximate direction to a point.

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

FIG. 1 shows the basic configuration of a current position display device for a moving object according to the present invention, which includes, for example, a photoelectric type, electromagnetic type, or mechanical contact type sensor that outputs a pulse signal proportional to the number of tire rotations. A distance detector 1 that generates a signal according to the moving distance of the moving object, and a rate type gyroscope that detects the angular velocity in the yaw direction, etc., depending on the moving direction of the moving object, or the amount of change in direction A direction detector 2 that outputs a proportional signal and a pulse signal from the distance detector 1 are counted to measure the moving distance of the moving object, and the moving direction of the moving object is determined from the output of the direction detector 2, A signal processing device 3 that calculates the position on the two-dimensional coordinates of the moving body for each unit traveling distance according to the detection signals from both the detectors 1 and 2, and performs centralized control of the entire device.
and a movement trajectory memory that sequentially stores the constantly changing position data on the two-dimensional coordinates obtained by the signal processing device 3 and holds it as finite continuous position information corresponding to the current position of the moving body. A device (RAM) 4, a microfilm 5 on which a map has been photographed in advance, and an imaging device 6 that electrically reads necessary map information from the microfilm 5.
Then, a map image is displayed on the screen according to the read map information, and the current position of the moving object, the previous movement trajectory, and the current location are displayed based on the position data stored in the movement trajectory storage device 4. a display device 7 that displays a mark on the same screen while constantly updating the movement status such as the direction of travel;
In addition to giving display commands to the signal processing device 3, selecting and specifying the map to be displayed on the display device 7, changing the direction of the displayed map and moving trajectory, shifting the display position, and displaying and enlarging a portion of the map and moving trajectory. It is comprised of an operating device 8 that can appropriately change display format settings such as selecting a scale, search for a map and movement trajectory, and the like.

The operation of the current position display device for a moving body according to the present invention configured as described above will be explained below.

First, when a moving object such as a car is traveling, when the driver selects a map in the area where the driver is scheduled to travel by specifying a map number using the operating device 8, the signal processing device 3 operates according to the map selection input. Map information for a predetermined area is read out from the microfilm 5 via the imaging device 6, and the read map information is sent to the display device 7 to display a map of the planned travel area on the screen. At this time, predetermined map information on the microfilm 5 is continuously read by the imaging device 6, and a map of the planned travel area is continuously displayed on the screen of the display device 7. In addition, as a means of accessing the displayed map, a microfilm 5 under the control of the signal processing device 3 is used.
In addition, by key operations on the operating device 8, maps of a plurality of regions photographed on the microfilm 5 are sequentially displayed on the display device 7, and the display selection of the map in the area where the trip is planned is made. Needless to say, it is possible to take appropriate measures such as having them do so. Next, a display mark indicating the current position and a direction display mark indicating the traveling direction of the moving body at the current position are displayed on the screen of the display device 7 by key input from the operating device 8, and then By operating the switch, shift the current position display mark to the starting point position on the displayed map, and rotate the direction display mark so that it matches the moving direction of the moving object at the starting point to initialize each display mark. have them do it. However, direction detector 2
If a device capable of detecting the absolute direction, such as a geomagnetic compass, is used, there is no need to initialize the direction display mark as described above.

After that, when the moving object starts running, one pulse signal is sent from the distance detector 1 for each unit distance traveled to the signal processing device 3, and the distance traveled is measured by counting the number of pulses there. At the same time, the output of the direction detector 2 is also sent to the signal processing device 3, where the traveling direction of the moving body at every moment is determined. In the signal processing device 3,
Based on the travel distance and change in direction of the moving body detected as described above, the current position (x, y) on the X-Y coordinates is calculated moment by moment according to the preset map scale factor. The calculation results are sequentially sent to the display device 7 and also sent to the movement trajectory storage device 4 to be stored and held. In addition,
The stored contents are constantly read out and continuously sent to the display device 7. At the same time, a direction signal at the current position is sequentially sent from the signal processing device 3 to the display device 7. As shown in FIG. 2, the display device 7 has a display mark M1 indicating the current position of the mobile object on the travel schedule map displayed on the screen, and a display mark M1 indicating the traveling direction of the mobile object at the current position. The display mark M2 and the movement locus display mark M3 from the starting point to the current position are displayed in a simulated manner, following the movement state of the moving body. In addition, at that time, the current position display mark M1 and the direction display mark M
It is also easily possible to display the current position and the direction of travel at the same time by giving the current position display mark itself directionality, without separately displaying the current position and the direction of travel.

Further, FIG. 3 shows a specific example of the configuration of a current position display device for a moving object according to the present invention.

In the case of this configuration, the signal processing device 3 includes an input/output interface 31 for receiving and receiving signals, and a central processing control.
It consists of a CPU 32, a logic circuit 33, a ROM 34 for control programs, and a control clock driver 35. In addition, the rate output of the direction detector 2 is converted into a digital signal by the AD converter 9 and sent to the CPU through the input/output interface 31.
32, and the direction of movement of the moving object is sequentially detected there. Further, the pulse signal output of the distance detector 1 is sent to the CPU 32 through the input/output interface 31,
The internal counter counts the number of pulse signals and sequentially detects the travel distance of the moving body. The operating device 8 includes an operating switch board 81 and a sub CPU 82 for switch encoding which reads input from the operating switch board 81 and provides various command signals to the CPU 32 through the input/output interface 31.

In addition, a microfilm 5 on which maps of many areas have been photographed in advance is made into a cassette, and a drive mechanism is provided that can feed the microfilm 5 in the forward and reverse directions. By appropriately driving the map under control, it is possible to access a desired map. That is, the drive mechanism includes forward and reverse sprockets 10 and 11 that cooperate with the film feeding sprocket hole provided on the micro film 5 side, and drive motors 12 and 13 dedicated to each, and a position sensor. While detecting the positioning slits provided corresponding to each map on the microfilm 5 by the motor S, each motor 12,1 is
3 can be driven as appropriate. Note that 15 in the figure indicates a filter that pulse-shapes the detection output of the position sensor S. Further, the lamp 16 is turned on from the side of the microfilm 5 where the desired map has been accessed, and the surface of the microfilm 5 is illuminated through the light diffusion plate 17, and the light transmitted through the microfilm 5 carrying the map information is The signal is sent to the imaging device 6 via the imaging lens 18. On the imaging device 6 side, an imaging tube 61
(or one-dimensional or two-dimensional solid-state image sensor)
The optical signal from the micro film 5 is photoelectrically converted and the map information is read electrically, and the read map information and the current position, direction, and travel of the moving body sent from the signal processing device 3 are The mixer 62 mixes the data regarding the trajectory, etc., and the CRT driver 71 of the display device 7 outputs the CRT 7 according to the mixed video signal.
The map and the current position and direction of the moving object are displayed on the second screen.
The driving path etc. are displayed in an overlapping manner. Note that when the image pickup tube 61 converts map information based on an optical signal into an electrical signal, the signal processing device 3
The electrical map information is read out via the synchronization circuit 63 and the image pickup tube driver 64 so that it is synchronized with the control clock on the side. Further, as shown in FIG. 4, a part of the microfilm 5 contains digitized auxiliary data D (for example, the cassette number of the microfilm) for allowing the signal processing device 3 to identify the microfilm 5 itself. is recorded, and auxiliary data read during imaging is separated by a digital information separation circuit 65 and sent to the signal processing device 3. Furthermore, heading information a, b, c, ... of each map section A, B, C, ... is recorded on the microfilm 5, and the map of the planned driving area displayed on the screen of the display device 7 can be checked. We make it easy for you to do it. In Fig. 4, numeral 51 indicates a sprocket hole for film feeding, and numeral 52 indicates a positioning slit corresponding to each map portion A, B, C, etc. recorded for each frame. ing.

In addition, in the case of the configuration shown in Fig. 3, when the system power is temporarily turned off by turning off the ignition switch when the car stops while driving, for example, when the car resumes driving next time. A backup non-volatile memory 19 is provided for storing and retaining the minimum necessary information up to that point in preparation for displaying the current position. The minimum necessary information to be stored and retained in the non-volatile memory 19 when the system is powered off includes, for example, the cassette number of the microfilm currently in use, the map number currently displayed, the current display scale, and the current location. Coordinates and movement direction on the screen, part of the travel trajectory to the current position (2 to 3 cm)
If the operating device 8 allows a travel route to be marked with a guide mark on the map in advance, the position of the guide mark may be considered. Therefore, when the system power is turned on at the time of resuming driving, the signal processing device 3 stores the non-volatile memory 1.
9 is read and the same content as when the power is turned off is displayed on the screen of the display device 7, and the current position is continuously displayed as the moving object resumes running.

In the current position display device of a moving body configured as described above, in particular, the present invention not only sets a starting point mark on the map displayed on the screen by key input from the operating device 8, but also displays the starting point of the moving object. Mark settings for the destination point and passing points serving as check points along the way can be added as appropriate on the planned route, and the signal processing device 3 can determine the setting status of each mark with respect to the start point, destination point, or passing point. The direction of the destination point or passing point as seen from the starting point and the direction of the next passing point or destination point as seen from one passing point are determined from the starting point on the map on the display screen, as shown in Figure 5 a and b. The approximate direction to each destination is displayed using an arrow D near the point or passing point. In addition, in FIGS. 5a and 5b, A indicates a starting point, B indicates a destination point, and C indicates a passing point, respectively. Also,
The internal memory of the signal processing device 3 stores data of arrow D in each direction, which is obtained by dividing 360° into multiple parts.
In the signal processing device 3, the data is read out as appropriate in accordance with the direction to the destination determined as described above, and an arrow D is displayed at a predetermined position on the screen of the display device 3. Practically speaking, it is sufficient to display the approximate direction to the destination using arrows D in eight directions: up and down, right and left, and diagonally.

In addition, this kind of approximate direction display to the destination is not limited to one map displayed on the screen, but also when the distance from the starting point A to the destination B is far, as shown in Figure 6. , even in the case where a plurality of maps must be sequentially switched and displayed on the screen while connecting a plurality of maps, a similar direction display is performed for each map displayed. Therefore, even when a plurality of such maps are connected to provide long-term guidance, according to the present invention, each target point on the map sequentially displayed on the screen can be determined from a short-term perspective. By following the approximate direction indicated step by step, the moving object can be smoothly guided to the final destination. In the figure, C1 to C6 indicate passage points that are preset as check points on the planned travel route, respectively.

In addition, when there are multiple maps, when photographing the map on the microfilm 5, as shown in FIG. Photographs are taken on the microfilm 5 in a predetermined order as indicated by A, B, C, . . . in FIG. 4. Therefore, when the user selects each of the small maps 23 in the area to be traveled in advance according to an input command from the operating device 8 prior to driving, giving priority to access, the signal processing device 3 reads the input data. A map (small map 23) that is stored in the internal memory and then displayed on the screen as the vehicle starts moving and the current position of the mobile object advances.
The switching is performed sequentially. At that time, if the map displayed on the screen is switched to empty as shown in FIG. 7, for example, the display position of the current position display mark M1 on the screen will be different at the boundary, but in that case, The signal processing device 3 performs arithmetic processing for coordinate conversion as appropriate, and the current position of the moving object is continuously displayed from the new position after the conversion with respect to the switched small map. In the case of Fig. 7, if (0, y ₁ ) in becomes (0, 0) in (0, 0), the position of the current position display mark M1 on the boundary between x ₁ , y ₁ ) to (x ₁ , 0), and even if the small map displayed on the screen is switched, the current position can be displayed without showing the wrong road. There are many things.

As described above, in the current position display device of a moving object according to the present invention, the approximate direction of the destination point or passing point as seen from the starting point, and one passing point are displayed on the map of the planned travel area directly displayed on the screen. Since it is possible to display the approximate direction of the next passing point or destination point as seen from Even when driving on a road, guidance can be provided appropriately while accurately determining the direction to the destination.

In this case, in particular, according to the present invention, the moving object is guided along a planned travel route that is set by marking the destination and passing points along the way on the road map used for guidance in advance. When driving, for example, even if the road leading to the destination is closed due to construction etc. and you have to take a detour and deviate from the planned driving route, it will display the approximate direction to the destination. This prevents you from losing the direction of your destination.

Also, if the road from your current location to your destination is spread across multiple maps, the planned driving route from your current location to your destination will not be displayed on one screen. By displaying the approximate direction of the destination as seen from the current location on the map currently displayed on the screen, you will not lose the direction of the destination, and you will be able to properly guide the moving object to the destination. You will be able to do this.

Note that in the above explanation, a map of the planned driving area is displayed on the screen using the microfilm 5 and its imaging device 6, but instead, map information is stored in a storage medium in advance.
Means can be taken to read the necessary map information from the storage medium and display a predetermined map image on the screen.

As described above, in the current position display device of a moving object according to the present invention, the moving object is moved based on the output of the distance detector that detects the distance traveled by the moving object and the output of the direction detector that detects the direction accompanying the movement. The position of the body on two-dimensional coordinates is determined by calculation, and the current position of the moving body is displayed on the screen based on the data of the determined and ever-changing position. a means for setting a base point and a target point, respectively, and a means for setting a base point and a target point, and a direction or direction of the target point as seen from the base point;
The direction of the next target point as seen from one target point is determined, and the approximate direction to the target point is displayed using an arrow at the base point or near the target point. It has the excellent advantage that guidance to a destination can be performed appropriately when guidance is provided by displaying the current position on a map of the planned area.

[Brief explanation of the drawing]

FIG. 1 is a block configuration diagram showing the basic configuration of a current position display device for a moving body according to the present invention, FIG. 2 is a diagram showing an example of display contents on the display device of the same embodiment, and FIG. FIG. 4 is a block diagram showing an example of a specific circuit configuration of the micro film. FIGS. FIG. 6 is a diagram showing a large map divided into a plurality of small maps, and FIG. 7 is a diagram for explaining coordinate transformation when switching the map displayed on the screen. DESCRIPTION OF SYMBOLS 1...Distance detector, 2...Direction detector, 3...Signal processing device, 4...Travel trajectory storage device, 5...Micro film, 6...Imaging device, 7...Display device, 8...Operation device, A...Start point ( B... Destination point (target point), C... Passing point (target point), D... Approximate direction to the target point indicated by an arrow.

Claims (1)

[Claims] 1 Calculate the position of the moving object on two-dimensional coordinates based on the output of a distance detector that detects the distance traveled by the moving object and the output of the direction detector that detects the direction of the movement, and calculate the position of the moving object on two-dimensional coordinates. Means for displaying the current position of a moving object on a screen based on the obtained constantly changing position data, which allows setting of a base point and a target point on the screen by operating input commands. and,
The direction of the target point as seen from the base point or the direction of the next target point as seen from one target point is determined, and means is taken to display the approximate direction to the target point using an arrow at the base point or target point. A current position display device for a moving object, characterized in that: