JPH0545884B2 - - Google Patents

Description

[Detailed Description of the Invention] The present invention is an in-vehicle course guidance system that enables map matching, and in particular, an electronic display that is mounted on the driver's seat of a passenger car and shows roads, etc. on the display screen of the display. A course guidance system that maps a map, extracts the location of the vehicle using a direction sensor and a speed sensor mounted on the vehicle body, plots it on the display, and guides the driving course by associating it with the map. For example, a conspicuous plot is left on the surface of the display corresponding to the point of passage of a railroad crossing or a bridge, etc., to facilitate the correspondence with the map, and if necessary, the plot and the map can be linked. The present invention relates to an on-vehicle course guidance system that enables relative positional movement of the vehicle.

Recently, microcomputers have become relatively easy to obtain, and they are now being considered as driving navigators for automobiles. One of these types of navigators is equipped with a direction sensor and a speed sensor, extracts the driving position of the car, plots the driving trajectory on a CRT display, for example, and maps a road map onto the display. A system is being developed that guides the course by having the plots extend along the roads on the map.

When this system is employed, it is necessary that the trajectory on the display be correctly associated with the map. To do this, for example, when a car passes a bridge or railroad crossing, conspicuous plots are left on the display, so that these plots can be noted and correlated with the map. It is hoped that

The present invention aims to solve the above problems, and will be described below with reference to the drawings.

Fig. 1 is an overall perspective view of an embodiment of the course guidance system of the present invention as a unit, Fig. 2 is a block diagram of an embodiment of the invention, and Fig. 3 is position information stored in the trajectory memory shown in Fig. 2. FIGS. 4A, 4B, and 4C are explanatory diagrams illustrating map alignment when the present invention is used.

In FIG. 1, 1 is a display screen of a cathode ray tube display, 2 is a shaded portion, 3 is a map printed on, for example, a transparent film, 4 is a map insertion guide groove, 5 is a map fixing means, and 6 is a traveling vehicle. It represents the trajectory.

As will be described later with reference to FIG. 2, a direction sensor and a speed sensor are mounted on the vehicle body to extract the momentary running position from the starting point, for example, and display the running trajectory 6 on the display screen 1 of the cathode ray tube display. Let's plot it. On the other hand, a map 3 printed on a transparent film is inserted from the bottom of the figure along the map insertion guide groove 4 so that the map is positioned in front of the display screen 1,
It is fixed by the fixing means 5 mentioned above. Needless to say, consideration has been given to displaying the traveling trajectory 6 in accordance with the scale of the map. Then, the traveling locus 6 is made to appear sequentially along the desired traveling route on the map, and the driver or passenger knows the current traveling position from the correspondence between the traveling locus 6 and the map, The direction, current position, etc. are determined.

FIG. 2 shows an overall block diagram of one embodiment of the present invention. Reference numeral 7 in the figure is a direction sensor that detects the direction in which the vehicle is traveling in accordance with a certain reference direction. Reference numeral 8 denotes a speed sensor which generates clock pulses corresponding to, for example, the rotation of the wheels. Reference numeral 9 designates input keys, which are provided on the front surface of the shaded portion shown in FIG. 1 and on the side surface of the display body (not shown). Reference numeral 10 represents a display.

Direction information from the direction sensor 7 is converted into a digital signal by an A/D converter 11, and converted into angle information by an angle conversion section 12. On the other hand, the clock pulses from the speed sensor 8 are counted by a pulse counter 13 so that a sample clock can be output, for example, every 10 revolutions of the wheel. Every time the sample clock is issued, the angle information from the angle converter 12 is
The signal is supplied to the X component calculation section 15X and the Y component calculation section 15Y via the angle correction section 14. Then, the calculation unit 15X extracts the change on the X-axis with the direction (north) as a reference, adds it to the cumulative value of the change on the X-axis up to that point, calculates the current position coordinates on the X-axis, and stores it in the trajectory memory 16. Supplied to be stored in bank #0 (BANK). In addition, the calculation unit 15Y similarly extracts the change on the Y-axis, adds it to the cumulative value of the Y-axis change up to that point, calculates the current position coordinate on the Y-axis, and stores the coordinates in the #0 bank (BANK) of the trajectory memory 16. Supply to be stored in. That is, for example, when the coordinates at the start point are (0, 0), the coordinate values of the current position are calculated and supplied to the trajectory memory 16.

The contents of the trajectory memory 16 are read out in order to be transferred to the trajectory memory 18, and the memory conversion processing section 17
A predetermined conversion is performed in the locus memory 1.
It is stored on 8. In this case, conversion corresponding to the scale of the map is performed, which will be described later with reference to FIG. The contents of the locus memory 18 are read out to be transferred to the locus display memory 20, and are subjected to a predetermined transformation such as parallel movement in the memory conversion processing section 19, and then stored in the locus display memory 20. The contents of the trajectory display memory 20 are displayed on the display 10.
corresponds to the image figure displayed by the display drive circuit section 21,
The display 10 is supplied with the signal. That is, a traveling trajectory 6 as shown in FIG. 1 is obtained. The traveling trajectory 6 is
The route is observed through a map written on a transparent sheet shown in FIG. 1, and the course is guided by matching the desired road on the map.

22 is a scale register in which scale information of the sensored map shown in FIG. The contents of the register 22 are supplied to the memory conversion processing section 17 and used when transcribing the contents of the trajectory memory 16 to the trajectory memory 18. Further, the contents of the register 22 are stored in the sampling interval determining section 23.
The information is notified to the memory address generator 24 and used for address generation by the memory address generator 24, and the processing during this time will be described later with reference to FIG.

Reference numeral 25 denotes a θ correction register, in which a correction value is set using the input key 9 to correct the angular deviation between the travel trajectory and the map when the vehicle is actually traveling on a road. Then, by using the correction value set in the adjustment mode, that is, the correction value set to correct the angular deviation in the adjustment mode such as when the unit shown in FIG. When transcribing to the trajectory memory 18, the above-mentioned angular deviation is corrected.

Reference numeral 26 is an X, Y, θ correction register, which is used to correct slight distortions between the road on the map and the travel trajectory 6 when the map is set as shown in FIG. Data is set via input key 9. Then, when the contents of the trajectory memory 18 are transferred to the trajectory display memory 20, the above distortion is corrected in the memory conversion processing section 19.

Reference numeral 27 is a parallel movement and/or rotation movement register, which is used to move the entire travel trajectory 6 on the display 10 in parallel or rotate it when the map 3 set as shown in FIG. 1 is replaced with a new map. When the movement amount information is set from the input key 9 and the contents of the trajectory memory 18 are transferred to the trajectory display memory 20, the parallel movement and rotation are performed in the memory conversion processing section 19.

28 is a count value memory in which the contents of the pulse counter 13 are set at the time when the automobile passes, for example, a railroad crossing or a bridge, and are displayed on the display screen of the display 10 in a manner different from the above-mentioned travel trajectory 6. It is used to plot the above passing position. That is, a memory mark of a brighter point is left in the travel trajectory 6 and is used for alignment with the map. Reference numeral 29 denotes an arithmetic processing section, which is used to write marks on the locus display memory 20 corresponding to points corresponding to the contents of the count value memory 28. Furthermore, 30 is an encoder that generates a code corresponding to input information from the input key 9.

Note that the display drive circuit 21 shown in FIG.
The suppress mode instruction information from the encoder 30 and the running information from the speed sensor 8 are received, and the display on the display 10 is suppressed while the car is running so that the display 1 is displayed while the driver is driving.
It has a display suppressing function to prevent undesired attention from being drawn to the display of 0.

The above-mentioned X component calculation section 15X, Y component calculation section 15
Regarding the main processes in Y, the trajectory memory 16, the memory conversion processing unit 17, and the trajectory memory 18, the third
This will be explained in detail with reference to the drawings.

As described above, the X-component calculation section 15X and the Y-component calculation section 15Y calculate the coordinates of the starting point, for example, (0,
0), the coordinates (xi, yi) of the vehicle traveling position at the time corresponding to each sample clock are calculated. This result is stored in the trajectory memory 16, and this aspect is illustrated corresponding to the travel trajectory 6 as follows.
It can be considered as something like the one on the left side of FIG. 3A. That is, from the coordinates (0,0) of the starting point (x _o-1 ,
y _o-1 ), ...... (x ₂ , y ₂ ), (x ₁ , y ₁ ), (x ₀ , y ₀ )
is stored in the trajectory memory 16. Trajectory memory 16
For example, #0 bank (BANK) for 128 words,
It has #1 bank to #5 bank of 64 words. Then, the 128 coordinates (x ₁₂₇ , y ₁₂₇ ) starting from the illustrated coordinates (x ₀ , y ₀ ) are sequentially stored in the #0 bank using, for example, a push-down method.
For example, the coordinate information overflowing from the #0 bank is extracted every second and stored in the #1 bank in a push-down manner, and the coordinate information overflowing from the #1 bank is extracted every second, for example. The data is stored in bank #2 using push-down method. #3 below
The same applies to storage in banks to bank #5.

In other words, as shown in Figure 3B, 128 pieces of coordinate information from the current point (x ₀ , y ₀ ) are stored in bank #0 for each sample clock, and the coordinate information for the current point (x 0 , y ₀ ) is stored in bank #0 for each sample clock. ,y ₀ ) from the 129th to 256
Up to the first one, 64 pieces of coordinate information are stored in bank #1 every two sample clocks.
Similarly, from the 513th to the 1024th coordinate information, one piece of coordinate information is stored in bank #2 for 4 sample clocks for 64 pieces. Furthermore, bank #3 has one clock for every 8 sample clocks, bank #4 has one clock for every 16 sample clocks, and bank #5 has one clock for every 16 sample clocks.
One sample is stored in the bank for every 32 sample clocks.

When using a map as described above, display 1
The travel trajectory on 0 should be displayed in a form appropriate to the scale of the map. For this reason, when displaying the travel trajectory 6 corresponding to the map with the smallest scale ratio, the coordinate information on the #0 bank is sampled at an interval of "1" (sampling is performed as shown in FIG. 3C). without)
are sequentially read out to generate a travel trajectory consisting of 128 points. In addition, when using a map with approximately twice the scale, read the coordinate information for 64 pieces from the #0 bank at a sampling interval of "2" (extract every other piece).
Then, 64 pieces of coordinate information are read out from the #1 bank at a sampling interval of "1", and a travel trajectory consisting of a total of 128 points is generated. Similarly, for example, the scale factor is approximately 32
When using a double map, every 32 pieces from bank #0, every 16 pieces from bank #1, every 8 pieces from bank #2, every 4 pieces from bank #3, and every 2 pieces from bank #4. Read all from bank #5 one by one,
A travel trajectory consisting of a total of 128 points is generated.

When the contents of the trajectory memory 16 are transferred to the trajectory memory 18, scale information is set in the scale register 22 in accordance with the above-mentioned scale rate, and the above-mentioned sampling interval is determined accordingly. A memory address is generated. Then, the locus memory 16 is accessed based on the address. During this time, correction is performed based on the contents of the θ correction register 25 described above, but a detailed explanation thereof will be omitted in connection with FIG. 2. However, when extracting 128 points from the contents of the trajectory memory 16 and storing them in the trajectory memory 18, the memory conversion unit 17 converts the current coordinate position as conceptually shown on the right side of FIG. 3A. to the origin (0,
0), and the previous coordinate position is (x ₁ − x ₀ , y ₁ −
y ₀ ), the previous coordinate position is (x ₂ −x ₀ , y ₂ −y ₀ ),...
It is converted so that it becomes... and is transferred to the trajectory memory 18. By doing so, when displaying on the display 10, it is possible to process the current position as a reference, and various adjustments can be made easily.

The in-vehicle course guidance system according to one embodiment of the present invention has the configuration and functions as described above, but as described above, the travel trajectory on the display 10 is associated with the map. In this case, it is desirable that the road on the map and the driving trajectory 6 match correctly, and it is desirable that the points on the driving path 6 match the points on the map, for example, when the map is replaced. It is necessary to perform relative alignment.

That is, when the map 3 is replaced, or when an undesirable situation occurs for some reason, the road 31 on which the user is scheduled to travel, as shown in FIG.
It may occur that the traveling trajectory 6 is misaligned with respect to the vehicle. In the case shown in FIG. 4A, since there is a curved portion 32 of the road 31, it is relatively easy to focus on the curved portion 32 and perform alignment. However, in general, the case as shown in FIG. 4A is not always the case, and accurate positioning is relatively difficult.

For such cases, in the present invention,
As shown in FIG. 4B, memory marks 33 and 34 are left on the travel trajectory 6 corresponding to the time when the vehicle passes, for example, a railroad crossing or a bridge. By doing this,
Move the memory mark 33 to the railroad crossing on map 3,
Also, align the memory mark 34 with the bridge on the map 3, that is, as shown in FIG.
It becomes easy to perform relative positioning between the road 31 and the road 31.

In order to leave the above memory marks 33 and 34,
In FIG. 2, a count value memory 28 and an arithmetic processing section 29 are provided. In the case shown in FIG. 2, only one count value memory 28 is shown, but it may generally be assumed that there are a plurality of count value memories 28.

For example, upon passing a railroad crossing, the operator uses input key 9 (which may be considered to be switch A in FIG. 1) to instruct memory mark setting. As a result, the contents of the pulse counter 13 shown in FIG. 2 at that point in time are set in the count value memory 28. On the other hand, in order to display the traveling trajectory 6 on the display 10, the contents of the trajectory memory 16 are read out in a form that matches the map scale, and are stored in the trajectory display memory 20 via the trajectory memory 18.

The arithmetic processing unit 29 receives the sampling interval information according to the scale ratio, determines whether the position corresponding to the number of sampling corresponds to the contents of the count value memory 28, and determines whether the position corresponding to the number of sampling corresponds to the contents of the count value memory 28. A predetermined symbol is written in the trajectory display memory 20 to display a memory mark 33 at a point on the travel trajectory 6. Thereby, the memory mark 33 is displayed when the display drive circuit section 21 reads out the contents of the trajectory display memory 20 and displays them on the display 10.

The operations related to the arithmetic processing section 29 described above will be explained in more detail as follows. That is, (i) the arithmetic processing unit 29 stores the count value memory 28;
, a notification from the sampling interval determining unit 23 corresponding to the map scale, and a notification from the trajectory display memory 20 indicating how many trajectory points from the start point are currently displayed.

(ii) The arithmetic processing unit 29 first determines how many trajectory points from the start point the value in the count value memory 28 corresponds to on the currently displayed map. Determine.
That is, upon receiving a notification from the sampling interval determining unit 23, if the sampling is such that ``one out of 10 pieces is displayed'', the value in the count value memory 28 is set to 1/10. If it is not divisible, round it.

(iii) The arithmetic processing unit 29 then receives the above-mentioned notification from the trajectory display memory 20 of “how many trajectory points are the points from the start point that are currently being displayed” and the above-mentioned value, which has been reduced to, for example, 1/10. Compare with.

(iv) If there is a match in the comparison process, the arithmetic processing unit 29 notifies the trajectory display memory 20 and causes the trajectory display memory 20 to write a mark so that the mark is displayed on the display 10.

As explained above, according to the present invention, so-called raw data corresponding to the movement of the vehicle is held in the first trajectory memory, and then transferred to the second trajectory memory while leaving the contents of the first trajectory memory. Since the conversion corresponding to the scale factor is performed when doing so, the display can be appropriately switched according to any scale factor. Further, distance correction is performed when transcribing to the trajectory display memory while leaving the contents of the second trajectory memory intact. The memory marks can then be used to easily associate the travel trajectory on the display with the map.

[Brief explanation of the drawing]

Fig. 1 is an overall perspective view of an embodiment of the course guidance system of the present invention as a unit, Fig. 2 is a block diagram of an embodiment of the invention, and Fig. 3 is position information stored in the trajectory memory shown in Fig. 2. FIGS. 4A, 4B, and 4C are explanatory diagrams illustrating map alignment when the present invention is used. In the figure, 1 is a display screen, 2 is a shaded part, 3 is a map, 4 is a map insertion guide groove, 5 is a map fixing means, 6 is a traveling trajectory, 7 is a direction sensor,
8 is a speed sensor, 9 is an input key, 10 is a display, 13 is a pulse counter, 16,1
8 is a trajectory memory, 17 and 19 are memory conversion processing units, 20 is a trajectory display memory, 21 is a display drive circuit unit, 22 is a scale register, 23 is a sampling interval determination unit, 24 is a memory address generation unit, and 28 is a count A value memory 29 represents an arithmetic processing section.

Claims (1)

[Claims] 1. A vehicle including a direction sensor and a speed sensor mounted on a vehicle body, a display mounted on the vehicle body, and a map displayed in correspondence with the display screen of the display, wherein the direction sensor and the speed sensor are mounted on a vehicle body. - In an on-vehicle course guidance system configured to extract the current position of the vehicle body using a sensor, plot the current position on the display, and correlate it with the map, the travel information obtained from the speed sensor Based on the distance and the running direction obtained from the direction sensor, calculate the X component value and Y of each running position corresponding to the movement of the vehicle from the coordinates (0, 0) of the starting point
a first locus memory that sequentially stores component values; and a second locus memory that sequentially stores the information obtained by converting the contents of the first locus memory in accordance with the scale factor of the map in a memory conversion processing unit. and a locus display memory that stores information for plotting the contents of the second locus memory on a display to display the locus of travel, as well as mileage information corresponding to the point in time designated by the input key. The information stored in the count value memory is changed in accordance with the scale of the map, and a memory mark corresponding to the time point specified by the input key is displayed on the display. and an arithmetic processing unit that writes a predetermined symbol in the trajectory display memory so as to be left on the travel trajectory, and uses an input key so that the memory mark displayed on the display matches a point on the map. An in-vehicle course guidance system that enables map matching, characterized in that relative positioning is performed using a map.