JPH0461282B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an in-vehicle navigator that displays the current position of a vehicle on a road map display surface.

Conventionally, as a device of this type, there is a "traffic display device" disclosed in Japanese Patent Application Laid-Open No. 52-141662, which includes a moving speed detecting means for detecting the running speed of the vehicle, a moving direction detecting means for detecting the moving direction of the vehicle, The current position of the vehicle is obtained based on the signals from both detection means, and a map recorded on a recording medium such as microfilm is read and displayed on a CRT (hereinafter referred to as cathode ray tube) display device, and the current position is displayed on the map display. The location is additionally displayed.

However, the current position obtained by the moving speed detecting means and the moving direction detecting means may not necessarily be additionally displayed on the road display of the CRT display device due to detection errors of both detecting means, There is a problem that the current location is displayed everywhere.

In addition, there is Japanese Patent Application Laid-Open No. 50-57264 ``Vehicle Position Monitoring Device and Method'' that allows the current position display to match the road display position, and displays the current position of the vehicle on the road map and displays the current position of the vehicle within 5 seconds. In each case, the current position display is adjusted to match the road display device, and the coordinates indicating the current position are changed to the coordinates of the road display position to correct errors in the coordinates indicating the current position.

However, with this device, the current position display is not aligned with the road display until 5 seconds have elapsed, so if an error occurs in detecting the current position during that time, the current position display will deviate from the road display. There is a problem with this.

In other words, as shown in Fig. 13, even if the current position display (black circles in Fig. 13) is corrected on the road display at 5-second intervals, if an error occurs in detecting the current position during that time, the current position may change. The display may deviate from the road display.

Therefore, it is conceivable to align the current position display with the road display position and change the coordinates of the road display position each time the current position display is moved. In this way, it is possible to eliminate the problem that occurs when the current position display deviates from the road display as described above.

However, if the coordinates of the current position are changed to the coordinates of the road display position each time the current position display is adjusted to the road display position,
In a place where the road display is complicated, if you mistakenly search for the road display position near the current location, the coordinates indicating the current location will change accordingly, so the current location will be displayed by following the incorrectly displayed road. The problem arises.

The present invention has been developed in view of the above-mentioned problems, and it is possible to match the current position display to the road display position each time the current position display is moved, and to prevent errors even in places where the road display is complicated. The purpose of this is to prevent the display from following the displayed road.

In order to achieve the above object, the present invention, as shown in FIG. 12, includes a direction detecting means for detecting the traveling direction of the vehicle and generating a direction signal, and a distance detecting means for detecting the traveling distance of the vehicle and generating a distance signal. a detection means; a storage means storing map data corresponding to a road map of a predetermined area; a display means having a display surface for electronic display; and a road map read out from the storage means and displayed on the display surface. road map display control means for displaying a road map; and a current position for defining the current position of the vehicle in the form of coordinates and sequentially updating the coordinates based on a direction signal from the direction detection means and a distance signal from the distance detection means. a defining means, displaying the current position of the vehicle at a road display position near the coordinate position based on the coordinates of the current position updated by the current position defining means, and moving the display of the current position in accordance with the road display; and a coordinate change that changes the coordinates defining the current position to the coordinates of a road display position in the vicinity of the current position at the timing of display movement of the current position a plurality of times by the current position display control means. It is characterized by having the means.

Therefore, according to the above configuration, as shown in FIG. 14, the display of the current position (black circle in FIG. 14) is
When moving, it is made to match the road display. However, the coordinates that define the current position (the coordinate position is indicated by an x mark) are changed not in conjunction with the movement of the display, but at the timing of the movement of the display of the current position multiple times, so that the road display changes. To prevent a current position display from following an erroneously displayed road in a complicated place.

The present invention will be described below with reference to embodiments shown in the drawings. FIG. 1 is an overall configuration diagram showing one embodiment. In Fig. 1, reference numeral 1 denotes a direction detection device as a direction detection means, which includes a direction sensor that detects the X and Y components of the earth's magnetism according to the direction in which the vehicle is traveling, and converts the signal from this direction sensor into a digital signal. It is equipped with an A/D converter and generates digital signals of X and Y components depending on the traveling direction of the vehicle. Reference numeral 2 denotes a distance sensor as a distance detecting means, which generates a distance pulse every unit traveling distance of the vehicle (for example, about 39.2 cm). Reference numeral 3 denotes a reading device which reads map data of a specific district among them by setting a cassette tape 3a serving as a storage means that stores map data of a plurality of districts (including absolute coordinate data of the upper right point of each map). It is something to explore and read.

4 is a microcomputer that executes software digital arithmetic processing according to a predetermined control program, and includes a CPU 4a, a ROM 4b, and a RAM.
4c and an I/O circuit section 4d, and is activated by receiving a stabilized voltage from a stabilized power supply circuit (not shown) that generates a stabilized voltage of 5V by receiving power from an on-board battery. , X and Y component digital signals from the direction detection device 1, distance sensor 2
The system performs arithmetic processing upon receiving distance pulses from the vehicle, reading signals from the reading device 3, etc., and generates display signals for displaying a map of a specific area, travel route information, and the like. Note that the RAM 4c is constantly backed up with power from the on-board battery.

5 is a cathode ray tube (CRT) controller,
In response to a display signal from the microcomputer 4, map data, driving route information, and character data of a specific area are individually stored, and the stored map data, driving route information, or character data is displayed on a CRT. It generates video signals and synchronization signals for Reference numeral 6 denotes a CRT display device as a display means, which displays a map and driving route of a specific area on the CRT using video signals and synchronization signals from the CRT controller 5. 7
is a tatsuna panel section, which is attached to the display surface of the CRT display device 6 and generates a serial signal in response to a touch operation on a specific touch area among the 12 divided touch areas provided on this touch panel. . Note that the reading device 3, microcomputer 4, and CRT controller 5 constitute a control means.

Next, the CRT controller 5 shown in FIG.
The detailed electrical wiring diagram will be explained. 11 is
Oscillation circuit that generates a 12.96MHz oscillation signal, 12
divides the oscillation signal from oscillation circuit 11 to 6.048M
A dot counter 13 generates a Hz dot timing clock and a 756KHz character timing clock, and 13 generates horizontal and vertical synchronization signals and displays according to instructions (commands) from the microcomputer 4 and character timing clocks from the dot counter 12. A display controller 14 generates a timing signal, a refresh memory address signal, and a raster address signal, and a display controller 14 generates a hold signal to hold the microcomputer 4 during the display period based on the horizontal and vertical synchronization signals from the display controller 13. This is a hold signal generation circuit that is generated at the hold (HOLD) terminal of the 15 is a multiplexer which switches the address signal from the microcomputer 4, the refresh memory address signal from the display controller 13, and the raster address signal in response to a hold acknowledge (HOLDA) signal from the microcomputer 4; 16, 17, and 18 A bus driver 19 has a tri-state that switches the direction of data between the microcomputer 4 and the display memory, and a bus driver 19 stores display data such as ASCII codes from the microcomputer 4 and receives a refresh memory address signal from the display controller 13. A character memory 20 receives the data and outputs the contents as an address, and a character generator 20 outputs a display pattern based on a display address from the character memory 19 and a raster address signal from the display controller 13. 21 is a first graphic memory for storing map data from the microcomputer 4; 22 is a second graphic memory for storing travel route information (travel trajectory data, current position data) from the microcomputer 4; 23; 24 and 25 are parallel to serial (P to S) converters that convert parallel signals from the character generator 20 and the first and second graphic memories 21 and 22 into serial data using the dot timing clock from the dot counter 12.
A converter 26 switches reception of signals from the P→S converter 23 and P→S converters 24 and 25 in order to select between graphic and character screens in response to a screen switching signal from the microcomputer 4. A video controller 27 generates a video signal using a display timing signal, and 27 is an exclusive OR circuit that generates a synchronization signal using horizontal and vertical synchronization signals from the display controller 13. Note that the character memory 19, the first
The second graphic memories 21 and 22 are constantly backed up with power from an on-vehicle battery.

That is, this CRT controller 5 stores character data in the character memory 19 based on the data sent from the microcomputer 4.
Then, the map data is stored in the first graphic memory 21.
The display data of the travel trajectory and current position is constantly stored in the second graphic memory 22, and the graphic screen (displaying the travel trajectory and current location on the map) and characters are displayed by a screen switching signal from the microcomputer 4. A screen (displaying designated characters, etc. for designating a district) is selected, and a video signal and a synchronization signal are generated on the CRT display device 6 to display the screen corresponding to the selection on the CRT.

The touch panel section 7 has 12 touch areas 31 to 42, as shown in FIG. configured,
When a specific touch area is pressed, the touch area is detected by the contact of the transparent conductive film of the matrix due to the bending of the glass, and a serial signal (start signal) corresponding to the touch area detected by a touch signal generation circuit (not shown) is detected. and touch information signals). Note that this touch signal generation circuit generates the touch information at that time in the form of a serial signal every 40 msec.

Furthermore, FIG. 4 shows a data area corresponding to one district on the cassette tape 3a, where A stores absolute coordinate data (coordinates relative to the North Pole) of the upper right point of the map of that district and map number data. B is a map data storage section storing map data of the area, and X is a blank section. Therefore, by reading portions A and B with the reading device 3, map data, absolute coordinate data, and map number data of a specific area can be provided to the microcomputer 4.

The operation of the above configuration will be explained with reference to the display explanatory diagram in FIG. 5, the calculation flowcharts shown in FIGS. 6 to 10, and the calculation explanatory diagram in FIG. 11. FIG. 6 is a calculation flowchart showing the overall calculation processing of the main routine of the microcomputer 4, FIG. 7 is a calculation flowchart showing the calculation processing of the interrupt calculation routine based on the distance pulse from the distance sensor 2, and FIG. A calculation flowchart showing detailed calculation processing of the mode calculation routine in FIG. 6; FIG. 9 is a calculation flowchart showing detailed calculation processing of the current position calculation routine in FIG. 6;
FIG. 10 is a calculation flowchart showing detailed calculation processing of the current position movement processing routine in FIG.

Now, in a vehicle equipped with components 1 to 7 shown in FIG. 1, when a key switch is turned on at the start of operation, each part of the electrical system is activated by receiving power from the vehicle battery. Then, the microcomputer 4 receives the stabilized voltage of 5V from the stabilized power supply circuit and enters the operating state, starts its calculation processing at the start step 100 in FIG. 6, and proceeds to the initial setting routine 200. The registers and counters in the microcomputer 4,
Sets latches, etc. to the initial state necessary to start arithmetic processing. After this initial setting, the mode calculation routine 300 and the current position calculation routine 400 are repeatedly executed at a cycle of approximately several tens of milliseconds.

That is, in this mode calculation routine 300,
Select either map mode or character mode and select the content according to that mode.
A CRT display is performed, and when in map mode, a cursor indicating the current position can be moved, and when in character mode, calculation processing is executed to enable map designation of a specific area, and the process proceeds to current position calculation routine 400.
In this current position calculation routine 400, the current position data and traveling trajectory data in the second graphic memory 22 of the CRT controller 5 are
Arithmetic processing is executed to change the content according to the running change for each component, and the process returns to mode calculation routine 300.
Thereafter, the main routine arithmetic processing from the mode arithmetic routine 300 to the current position arithmetic routine 400 is repeatedly executed at a cycle of about several + milliseconds.

When a distance pulse from the distance sensor 2 is applied to the interrupt (INT) terminal of the microcomputer 4 in response to the repeated calculations of this main routine, the microcomputer 4 temporarily suspends the calculation processing of the main routine. The interrupt calculation process shown in FIG. 7 is executed. That is, the interrupt start step
The calculation process starts from 501, and the integration step 502
Proceed to the distance data D stored in RAM4c.
unit distance data (equivalent to about 39.2 cm) is integrated and updated, and the process proceeds to distance determination step 503, where it is determined whether the distance data D has reached 6.25 m. At this time, if the distance data D has not reached 6.25 m, the determination will be NO and the process will proceed to return step 510, but if the distance data D has reached 6.25 m, the determination will be NO.
The answer is YES, and the process advances to direction signal input step 504.
Then, in this azimuth signal input step 504, digital X and Y component signals from the azimuth detection device 1 are input.
Input Xa, Ya (positive directions for east and north, negative directions for west and south), proceed to step 505 to calculate average direction, and use the previous direction data Xo, Yo (direction data before traveling 6.25 m) and the current direction. Calculate the average orientation data X and Y from the orientation data Xa and Ya, and perform the distance component calculation step.
Proceed to 506 and set the distance component dx in the X direction to 6.25X/√ ²
+Y ² , the distance component dy in the Y direction is 62.5Y/√ ² + ^{2
Calculated as _ _}
corresponds to sinθ), the process proceeds to storage step 507, where the current azimuth data Xa and Ya are recorded as Xo and Yo for the next time, and the process proceeds to distance data reset step 508, where the distance data D is reset to 0 and the distance flag is The program proceeds to set step 509 to set the distance flag (DF=1), and then proceeds to return step 510 to return to the previously interrupted main routine. That is, in this interrupt calculation routine, the distance data D is cumulatively updated every time a unit distance is traveled, and when the distance data D reaches 6.25 m, X for this 6.25 m,
Calculates the distance components dx and dy in the Y direction and executes calculation processing to set a distance flag.

Next, detailed calculation processing of the mode calculation routine 300 in the main routine will be explained. In this mode calculation routine 300, the calculation process starts from the touch data input step 301 in FIG.
Input touch data from touch panel section 7
Store in RAM4e. Then, the process advances to map mode determination step 302, where it is determined whether the contents of the mode area in RAM 4c are map mode, and when it is map mode, the determination becomes YES, and the process advances to mode change determination step 303, where the content of the mode area in RAM 4c is YES.
It is determined whether the touch data stored in 4c is data indicating a mode change (data when touch area 34 in FIG. 3 is pressed).
At this time, if the touch data is data indicating a mode change, the determination becomes YES, and the process proceeds to character mode setting step 304, sets the contents of the mode area to character mode, and proceeds to character switching signal output step 305. Then, a character switching signal for causing the CRT display device 6 to display an image on the character screen is generated to the video controller 26 in the CRT controller 5, and one calculation process of this mode calculation routine 300 is completed.

On the other hand, when the touch data is not data indicating a mode change, that is, data when a touch area other than 34 in FIG. 3 is pressed, or data when no touch area is pressed (for example, data FF). Sometimes, the determination in the mode change determination step 303 becomes NO, and the process proceeds to the cursor movement determination step 306. In this cursor movement determination step 306, it is determined whether the touch data is data when any of the touch areas 32, 33, 35, 38, 40, and 41 is pressed (cursor movement data), If the touch data is not cursor movement data, the judgment will be NO and this mode calculation routine 300 1
However, if the touch data is cursor movement data, the determination becomes YES and the process proceeds to cursor movement calculation step 307. In this cursor movement calculation step 307, depending on the touch data, this touch data is 32 or 3.
The data for pressing the touch area in 3.
The current position cursor displayed on the CRT display device 6 is moved north by a predetermined distance.
The content of the second graphic memory 22 in the CRT controller 5 is changed, and if the touch data is data for pressing the touch area 35, the cursor is moved westward and the touch data is 4.
If the data corresponds to the press of touch area 0 or 41, the cursor is moved southward, and if the data corresponds to the press of touch area 38, the cursor is moved east by a predetermined distance. An arithmetic process for changing the contents of the memory 22 is executed, and one arithmetic process of this mode arithmetic routine 300 is completed.

On the other hand, if the determination in the map mode determination step 302 is NO, the process advances to a mode change determination step 308.
It is determined whether or not the mode is to be changed using the same calculation process as in the mode change determination step 303. At this time,
When the mode is changed and the determination is YES, the process proceeds to map mode setting step 309 to set the contents of the mode area in RAM 4c to map mode, and proceeds to data conversion step 310 to change the CRT controller 5.
The travel route data in the second graphic memory 22 is converted. In this case, first, the reading device 3 is controlled to search for a specified district, and the absolute coordinate data on the map of the searched district (stored in the header section A shown in Fig. 4) and the absolute coordinate data on the previous district map are used. The coordinate transformation value is calculated and the second graphic memory 22 is stored according to the calculated value.
Converts the travel trajectory and current position data in a sliding manner. Then, the process proceeds to map data reading and outputting step 311, where the map data on the cassette tape 3a is inputted via the reading device 3, and the map data is transferred to the first graphic memory 21.
The process proceeds to map switching signal output step 312, where a map switching signal is generated to the video controller 26 for displaying the map graphic screen on the CRT display device 6, and this mode calculation routine 300
One calculation process is completed. That is, when switching from the character screen to the graphic screen of a map different from the previous one, the above calculation process is executed, the current map data is stored in the first graphic memory 21, and the current position travel corresponding to this map is The contents in the second graphics memory 22 are transformed to modify the trajectory and the cursor indicating the current location. As a result, the CRT display device 6
Even if the displayed map changes, the travel trajectory and current location can be displayed in the area corresponding to that map.

On the other hand, if the determination in the mode change determination step 308 is NO, the process advances to a character calculation step 313.
When the character calculation step 313 is reached, the character mode has been set and a character switching signal has been issued to the video controller 26, so the CRT display device 6 can display the character as shown in FIG. The screen is being imaged. The numbers 0-2 shown in the center of this character screen
-4-68 are numbers that designate regions, regions, and districts, and each number is updated by incrementing by 1 with the increment switch 51, subtracting by 1 with the decrement switch 52, and set with the set switch 53. , reset switch 5
The character calculation step 313 performs calculation processing such that the character calculation step 313 is reset at step 4. Furthermore, this region,
Numerical data for regions and districts is stored in RAM4c. In addition, the switches 51, 52,
53 and 54 are touch area 3 in Figure 3, respectively.
9, 40, 41, and 42.

That is, in the mode calculation routine 300 shown in FIG. 8, the following operations are performed according to the touch data from the touch panel section 7 and the contents of the mode area in the RAM 4c.

When the map mode is in the map mode and the mode is not changed, if there is an instruction to move the cursor, arithmetic processing for moving the cursor is executed, and if there is no instruction to move the cursor, the map display is continued as it is.

If there is an instruction to change the mode while in the map mode, the map mode is changed to the character mode and the character screen is displayed on the CRT display device 6.

When the character mode is in effect and the mode is not changed, map changes can be accepted on the character screen as shown in FIG.

When a mode change instruction is given while in the character mode, the character mode is changed to the map mode, a graphic screen of the map is displayed on the CRT display device 6, and at the same time, the travel trajectory and current position are corrected and displayed.

Next, detailed calculation processing of the current position calculation routine 400 in the main routine will be explained.
In this current position calculation routine 400, the calculation is started at the distance flag determination step 401 in FIG.
In the interrupt calculation process shown in FIG. 7, it is determined whether the distance flag is set. If the distance flag is not set, the determination will be NO and one calculation process of this current position calculation routine 400 will be completed, but if the distance flag is set, the determination will be NO.
The result is YES, and the process proceeds to the X distance correction step 402. In this X-distance correction step 402, the X-distance data Dx is corrected using the X-distance component dx obtained by the interrupt calculation process (Dx=Dx+dx), and then the process proceeds to Y-distance correction step 403, where the Y-distance data Dy is similarly calculated. Calculate the correction (Dy = Dy + dy) and perform the current position movement processing routine 404
Proceed to. The detailed arithmetic processing of this current position movement routine 404 is shown in FIG. First, proceed to Qo search step 411 to find Qo. A method for determining this Qo will be explained with reference to FIG. This first
In Figure 1, the display point whose current position was corrected at a certain point in time when Po was traveling, the dotted line is the trajectory of the current position obtained by calculation, and the circle mark is the first graphic memory 2.
These are the road dots on the road map stored in 1. In the figure, Q indicated by an x mark is the current position calculated from the input signal after traveling a certain distance with Po as the starting point (based on Dx and Dy calculated earlier). The intersections of fine vertical and horizontal solid lines are display points (corresponding to pixels) of the CRT display device 6 that displays a map or a trajectory. Qo is the display point closest to the calculated Q, and it depends on whether the remaining distance after subtracting an integer multiple of 1 dot from the X-direction distance and Y-direction distance of Q is less than or equal to half of 1 dot. Find out whether it should be to the right or left, and whether it should be above or below, and determine the Qo closest to Q. Next, the process advances to memory read step 412, where the point Qo is read from the first graphic memory 21 and Qo is set to "1".
(If the road part is "1" and if it is not a road part, it is "0"), then Qo is "0", if Qo is "0", then the 8 points around Qo (Q ₁ to Q ₈ ) are stored in the first graphic memory 2.
1 and search for a point among Q ₁ to Q ₈ that is "1". If there is no "1" point among Q ₁ to _{Q 8} , the surrounding O ₉ to Q ₁₆ are read out, and so on until a "1" point is found. If a "1" point is found, the process advances to the next "1" determination step 413, where it is determined whether or not there is only one "1" point. If there is one point of "1", the judgment becomes YES and the process proceeds to the current position display step 416, but if there are two or more points of "1", the judgment becomes YES.
If the answer is NO, proceed to qx calculation step 414. this qx
In the calculation step 414, the straight line distance between the two or more "1" points obtained earlier and the point Q is calculated.
Find qx. Then, proceed to the next shortest point calculation step 415, and calculate each straight line distance qx obtained earlier.
Find the one with the shortest distance from among them, and use the point with the shortest distance as the shortest point. Then, when the closest point calculation step 415 is 5 or the judgment in the previous "1" judgment step 413 is YES, the process advances to the current position display step 416, and the shortest point or the point when there is one "1" (The coordinate data of that point is
Dx', Dy') as the current position, and if it is different from the current position displayed so far and it is necessary to move the display, the second graphic memory 2
The current position data and travel trajectory data in 2 are appropriately corrected with respect to the newly obtained current position, and a movement flag is set. An example of the above is the 11th
To explain with a diagram, a point slightly to the left of Q obtained by calculation
Qo is calculated, and since there is no road in Qo (“0”), Qo
When reading the 8 points around , Q ₁ and Q ₇ are “1”,
Find the straight line distances q ₁ and q ₇ of Q ₁ and Q ₇ with respect to Q, and q ₁
Compare the values of and q ₇ , and since q ₁ is smaller, Q ₁ is determined to be the current position and the current position is displayed.

Next, proceeding to movement determination step 405 in FIG. 9, it is determined in the current position movement processing routine 404 whether or not a movement flag accompanying display movement is set, and if the movement flag is not set, it is determined. However, if the movement flag is set, the determination becomes YES, and the process proceeds to movement flag reset step 406, where the movement flag is reset, and the process proceeds to addition step 407, where "1" is added to the number of times data N. Then, the process advances to count determination step 408, where it is determined whether the count data N is 10, that is, whether the current position and the movement have coincided 10 times.
Then, until the number data N does not reach 10, the determination becomes NO, but when the number data N reaches 10, the determination becomes YES and the process proceeds to coordinate correction step 409. Then, in this coordinate correction step 409, in order to correct the coordinate data for the current position to the road position, the X distance data Dx and the Y distance data Dy are changed to Dx',
Dy', the process proceeds to count reset step 410, resets the count data N to 0, and proceeds to distance flag reset step 411 (if the previous movement determination step 405 and count determination step 408 are NO).
Proceed to this flag reset step 408 also when
The distance flag is reset (DF=o) and the calculation process of this current position calculation routine is completed.

That is, in the current position calculation routine 400 shown in FIG. 9, the current position data and travel trajectory data in the second and graphics memory 22 are converted regardless of the screen displayed on the CRT display device 6.

Therefore, the mode calculation routine 300 and the current position calculation routine 400 calculate the current position data and travel trajectory data in the second graphic memory 22 through the repeated calculations of the main routine and the interrupt calculations shown in FIG. At the same time, the screen of the CRT display device 6 is selected according to the specified mode, and if it is in the map mode, the map graphic screen (including the display of the current position and driving trajectory) is displayed, and the character In the mode, a character screen for specifying a map shown in FIG. 5 is displayed.

In addition, in the above embodiment, as a display means
CRT display device 6 is shown, but liquid crystal display device, EL
A table device or the like may also be used. Further, although the direction detection device 1 using geomagnetic detection is shown as the direction detection means, it is also possible to use a device that uses a gyro or the like to determine the relative direction with respect to the progress of the vehicle. Furthermore, although the cassette tape 3a is shown as a storage means, a semiconductor memory may also be used.

Note that the current position defining means described in the claims corresponds to the arithmetic processing in FIG. 7 and the processing in steps 402 and 403 in FIG. Further, the current position display control means corresponds to the current position movement processing routine 404 shown in FIG. 9 and the arithmetic processing shown in FIG. 10 showing its details. Further, the coordinate changing means corresponds to the arithmetic processing from step 405 to step 410 in FIG.

As described above, according to the present invention, the current position of the vehicle can be displayed in accordance with the road display position on the map on the display means, and when the current position display is adjusted to the road display position, the coordinates indicating the current position can be displayed. This is done at the same time as the display of the current position is moved multiple times, so even if adjustment is made to the wrong road display position, the coordinates of the road display device will not be used as the reference, but instead Since a new search for a road display device is performed using the coordinates of the current position as a reference, there is an excellent effect that it is possible to prevent the current position display from following an erroneously displayed road.

[Brief explanation of the drawing]

FIG. 1 is an overall configuration diagram showing an embodiment of the present invention;
Figure 2 is a detailed electrical wiring diagram of the CTR controller in Figure 1, Figure 3 is an explanatory diagram showing the touch area of the touch panel, Figure 4 is an explanatory diagram showing the data area of the cassette tape, and Figure 5 is the CRT display. A display explanatory diagram showing the display state of the device, Fig. 6 is a calculation flowchart showing the entire calculation processing of the main routine of the microcomputer, and Fig. 7 is a calculation diagram showing the calculation processing of the interrupt calculation routine based on the distance pulse from the distance sensor. Flow chart, FIG. 8 is a calculation flow chart showing detailed calculation processing of the mode calculation routine in FIG. 6, FIG. 9 is a calculation flow chart showing detailed calculation processing of the current position calculation routine in FIG. 6, and FIG. FIG. 9 is a calculation flowchart showing detailed calculations of the current position movement process routine; FIG. 11 is an explanatory diagram for explaining the calculations of the current position movement process; FIG. 12 is a configuration diagram showing the configuration of the present invention; FIG. 13 is an explanatory diagram of the display of the prior art, and FIG. 14 is an explanatory diagram of the display of the present invention. 1... Orientation detection device as direction detection means, 2
...Distance sensor 3a as distance detection means...
A cassette tape as a storage means, 4...a microcomputer, 6...a CRT display device.

Claims (1)

[Scope of Claims] 1. Direction detecting means for detecting the traveling direction of the vehicle and generating a direction signal; Distance detecting means for detecting the travel distance of the vehicle and generating a distance signal; Corresponding to a road map of a predetermined area. a display means having a display screen for performing electronic display; a road map display control means for reading the map data from the storage means and displaying the road map on the display surface; current position defining means for defining the current position in the form of coordinates and sequentially updating the coordinates based on a direction signal from the direction detecting means and a distance signal from the distance detecting means; a current position display control means for displaying the current position of the vehicle at a road display position near the coordinate position based on the updated coordinates of the current position, and moving the display of the current position in accordance with the road display; A vehicle-mounted navigator comprising: coordinate changing means for changing the coordinates defining the current position to the coordinates of a road display position near the coordinate position at the timing of display movement of the current position a plurality of times by the display control means.