JPH06323862A - Mobile navigation system - Google Patents

Abstract

PURPOSE:To realize effective utilization of memory by eliminating the superposed display of track and storing only the essentially required track data in a track memory. CONSTITUTION:Every time when the location of a vehicle detected through a vehicle location detector 3 makes a change of 100m, a deciding/registering section 14 receives a detected vehicle location data at that moment from a constant distance run monitoring section 13 and compares the detected vehicle location data with each discrete track data stored in a track memory 12. Only when nothing is found within 95m, current vehicle location is additionally stored in the track memory 12 as a discrete track data. On the other hand, a map image describing section 15 describes the map image around the vehicle location on a video RAM 17 and a track describing section 16 overwrites a track on the map image based on the discrete track data stored in the track memory 12. A map image around the vehicle location for one screen is read out from the video RAM 17 by a read control section 18 and presented on a CRT display 4.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an on-vehicle navigation system, and in particular, it memorizes discretely the trajectories of a vehicle in the past at fixed distance intervals and displays a map image in which the trajectories are superimposed on a map around the present location. The present invention relates to a vehicle-mounted navigation device.

[0002]

2. Description of the Related Art There is a vehicle-mounted navigation device that guides a vehicle so that a driver can easily reach a desired destination. In this vehicle-mounted navigator, while traveling, the position and direction of the vehicle are detected, the map data around the vehicle position is read from the CD-ROM, the map image is drawn in the V-RAM, and the current position on the map image is equivalent. The vehicle position mark is superimposed and drawn at a position corresponding to the vehicle traveling direction, and the image of the V-RAM is converted into a video signal and output to the CRT display device to be displayed on the screen. As the current position changes as the vehicle moves, for example, the vehicle position mark is fixed at the center of the screen and the map is scrolled so that the map information around the vehicle position can always be seen at a glance.

The map stored in the CD-ROM is divided into areas of appropriate longitude and latitude widths according to the scale level, and roads are represented by vertices (nodes) represented by coordinates of longitude and latitude. ) Is shown as a set. A part that connects two or more nodes is called a link. The map data is expressed with the north facing up.

Such an on-vehicle navigation device has a traveling locus display function for displaying the route the vehicle has traveled in the past on the map image on the screen. This traveling locus display stores the vehicle position at that point in time in the traveling locus memory as discrete traveling locus data every time the vehicle position detected by the vehicle position detection unit changes by a certain distance, and then, on the screen. When drawing a map image, by selecting one of the discrete travel locus data stored in the travel locus memory that is included in the map image and drawing the travel locus in a dot sequence at the corresponding location on the map image. Done.

According to this traveling locus display function, the route on which the vehicle has traveled in the past is indicated by a sequence of dots on the road on the screen. Therefore, for example, even if the vehicle travels to an unguided desired location, it will travel on the return route. By traveling so as to follow the trajectory in the opposite direction, it is possible to easily return to the starting point, and when traveling to the same desired location again afterwards, by traveling so as to follow the traveling trajectory on the outward path, It will be easy to reach. The running locus memory can store discrete running locus data at intervals of 100 m for about 200 km, for example.

[0006]

However, in the conventional traveling locus display, when the vehicle repeatedly travels on the same road while displaying the traveling locus, as shown in FIG. This has caused a problem that the traveling locus display becomes thick on the screen, making it difficult to see the road. Also, due to the limited capacity of the running track memory, 20
Discrete travel trajectory data over 0km is stored by rewriting the old discrete travel trajectory data stored in the travel trajectory memory, so if the vehicle makes multiple round trips on the same road, While a part of the discrete traveling locus data stored in the traveling locus memory becomes redundant, there is a problem that the vehicle travels only once and the data that should be originally stored may be lost.

In view of the above, an object of the present invention is to provide an on-vehicle navigation device capable of eliminating the overlapping display of the traveling loci and storing only the traveling locus data originally necessary in the traveling locus memory so as to effectively utilize the memory. That is.

[0008]

SUMMARY OF THE INVENTION In the present invention, the above-mentioned object is to provide a map information storing means for storing map data, a vehicle position detecting means for detecting a vehicle position, and a predetermined distance along a trajectory of the vehicle in the past. By using the traveling locus storage unit that discretely stores at intervals, the map data stored in the map information storage unit during traveling, and the discrete traveling locus data stored in the traveling locus storage unit, In a vehicle-mounted navigation device equipped with a drawing means for drawing on a screen a map image in which a vehicle position mark and a traveling locus are superimposed on a map,
Every time the vehicle position detected by the vehicle position detecting means changes by a certain distance, the detected vehicle position is compared with each discrete traveling locus data stored in the traveling locus storage means, and a predetermined constant distance is obtained with respect to the detected vehicle position. A discriminating means for discriminating whether or not there is discrete traveling locus data within the range, and the discriminating means discriminating that there is no discrete traveling locus data within the predetermined constant distance range with respect to the detected vehicle position. This is achieved by providing a traveling locus registration means for additionally storing the detected vehicle position data as new discrete traveling locus data in the traveling locus storage means.

[0009]

According to the present invention, each time the vehicle position detected by the vehicle position detecting means changes by a certain distance, the detected vehicle position is compared with each discrete traveling locus data stored in the traveling locus storing means to detect the position. If it is determined whether or not there is discrete travel locus data within the predetermined constant distance range with respect to the vehicle position, and there is no discrete travel locus data within the predetermined constant distance range with respect to the detected vehicle position. When determined, the detected vehicle position data is additionally stored in the traveling locus storage means as new discrete traveling locus data. As a result, since only discrete traveling locus data that does not overlap is stored in the traveling locus storage means, it is possible to store only the originally required traveling locus data in the traveling locus storage means and to effectively use the storage capacity. In addition, since the overlapping display of the traveling locus is eliminated on the screen, the road is very easy to see.

Further, at a predetermined time, each discrete traveling locus data stored in the traveling locus storage means is compared with other discrete traveling locus data, and other discrete traveling locus data having a relationship within a predetermined constant distance. When it is determined that another discrete running locus data having a relationship within a predetermined constant distance with respect to a certain discrete running locus data exists, one discrete running from the running locus storage means. Delete the trajectory data.

As a result, only discrete traveling locus data that does not overlap is stored in the traveling locus storage means, so that the traveling locus storage means can store only the originally required traveling locus data to effectively utilize the storage capacity. Since the overlapping display of the traveling locus is eliminated on the screen, the road is very easy to see. In addition, since redundant data is deleted from the discrete traveling locus data stored in the traveling locus storage means collectively at a predetermined time, the vehicle positions at regular intervals detected by the vehicle position detecting means during traveling. Need not be compared with each discrete traveling locus data stored in the traveling locus storage means one by one, and the other processing performed by the controller such as map drawing is not restricted.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is an overall configuration diagram of a vehicle-mounted navigation device according to a first embodiment of the present invention. In the figure, reference numeral 1 is a CD-ROM that serves as a map data storage means, and 2 is an operation panel provided with a map search key and the like. 3 is a vehicle position detector that detects the vehicle direction and vehicle position by self-contained navigation or satellite navigation, and outputs vehicle direction data and vehicle position data.
It is an RT display device, which inputs a video signal and displays a map on a screen together with a vehicle position mark and the like.

Reference numeral 10 denotes a navigation controller having a microcomputer configuration, which displays a map image around the vehicle position on the screen of the CRT display device 4 together with a vehicle position mark, a running locus of a point sequence, and the like. Of these, 11 is a CD-R
A buffer memory for temporarily storing the map data read out from the OM1, and a traveling locus memory 12 for storing a predetermined amount of discrete traveling locus data, which is constituted by a battery-backed SRAM or the like, and is a power source for the set. The memory data can be saved even after the power is turned off.
Reference numeral 13 is a constant distance traveling monitoring unit that monitors whether the vehicle position detected by the vehicle position detection unit 3 has changed by a predetermined constant distance, and outputs the detected vehicle position data at that time, an example here. The detected vehicle position data is output every time the vehicle position changes by 100 m.

A discriminating / registering unit 14 receives the detected vehicle position data from the fixed distance traveling monitoring unit 13 and compares the detected vehicle position data with each discrete traveling locus data stored in the traveling locus memory 12 to detect the detected vehicle position. It is determined whether or not there is discrete traveling locus data that falls within a predetermined fixed distance range (here, within 95 m as an example), and if it exists, the detected vehicle position data at this time is not added to the traveling locus memory 12. ,
Only when it does not exist, the detected vehicle position data of this time is additionally stored in the traveling locus memory 12 as new discrete traveling locus data.

As shown in FIG. 2, the traveling locus memory 12 has a predetermined number of storage areas each capable of storing one discrete traveling locus data, and the discriminating / registering unit 14 newly creates the discrete traveling locus data. When storing, the data is sequentially written from the first storage area 0 of the traveling locus memory 12, and when the writing is completed up to the last two storage areas N, the next storage area 0 is returned to and written. Therefore, a predetermined amount of discrete traveling locus data is always stored in the traveling locus memory 12 in the latest manner. It should be noted that the storage area N + immediately before the end of the travel locus memory 12
1 stores the number m of the storage area in which the discrete travel locus data was last written, and the last storage area N + 2.
The previous position data T, which is the vehicle position data when the constant distance travel monitoring unit 13 determines that the vehicle has traveled 100 m last time.
Is remembered.

Reference numeral 15 denotes a map image drawing unit, which stores one map including the current position detected by the vehicle position detection unit 3 and data of maps around the map from the CD-ROM 1 to the buffer memory 11 while traveling. At the same time as reading, a map image of 9 maps including one map including the current location and 8 maps surrounding the map is added to the video RAM described later,
Draw with the north facing up. Then, when the current position of the vehicle moves and the current position deviates from the area of the central one map that has been included so far, the one map including the current position detected by the vehicle position detection unit is again displayed. , The map data of the periphery of the map is read from the CD-ROM 1 to the buffer memory 11, and one map including the current location in the video RAM and eight maps surrounding the map are combined into nine map maps. Redraw the image so that the north is facing up.

Reference numeral 16 denotes a traveling locus drawing unit, which, after the map image drawing unit 15 draws a map image in the video RAM, records discrete traveling loci in the map area drawn in the video RAM from the traveling locus memory 12. All the data is selected, and the discrete traveling locus data is used to superimpose it on the map image, and the traveling locus is drawn as a sequence of points at the corresponding location on the map image. Even when one new discrete traveling locus data is added to the traveling locus memory 12, the traveling locus drawing unit 16 uses the added discrete traveling locus data to travel to a corresponding point on the map image at a point. Draw a trail.

Reference numeral 17 is a video RAM for storing a map image having a size corresponding to nine maps, and reference numeral 18 is a read-out control section, which under the read-out control of the map image drawing section 15,
An image for one screen centered on the current vehicle position is read from the video RAM 17. The map image drawing unit 15 is a video RA
The read center position data corresponding to the vehicle position on the map image drawn in M17 is given to the read control unit 18 to perform the read control. The read center position data is changed according to the change of the vehicle position.

A vehicle position mark generator 19 generates a predetermined vehicle position mark oriented in the vehicle azimuth direction detected by the vehicle position detector 3. 20 is a read control unit 18
A synthesizing unit for synthesizing the vehicle position mark on the map image for one screen read out by the reference numeral 21, and a video converting unit 21 for converting the synthesized image by the synthesizing unit 20 into a predetermined video signal and outputting it to the CRT display device 4. Is.

FIGS. 3 and 4 are flow charts showing the navigation processing of the navigation controller 10, FIG. 5 is an explanatory view of the entire traveling route of the vehicle, FIG. 6 is an operation explanatory view of the discrimination / registration section, and FIGS. Is an explanatory view of a screen display example of the CRT display device 4 and will be described below with reference to these drawings. It should be noted that, in the running locus memory 12, the discrete running locus data regarding the route traveled in the past as shown by the broken line in FIG. 5 is already stored in the storage areas 0 to m (m <N). It is assumed that no recording is performed in the range of the areas m + 1 to N. Further, it is assumed that m is stored in the storage area N + 1 and the immediately preceding position data T is stored in the storage area N + 2 (see FIG. 2). In addition, the vehicle starts from point A in Fig. 5 and goes to point B → C
It is assumed that the vehicle travels in the order of point → point B → point D → point B → point A. Point C is the first destination and point D is the second destination.

When the power of the set is turned on, the vehicle position detector 3 detects the vehicle position and the vehicle direction by the self-contained navigation or the satellite navigation, and outputs the vehicle position data and the vehicle direction data. After the power is turned on, the navigation controller 10 inputs the first vehicle position data from the vehicle position detector 3, and the fixed distance traveling monitor 13 causes the traveling locus memory 12 to operate.
Is compared with the immediately preceding position data T stored in the memory area N + 2 to determine whether the distance is 100 m (step 101 in FIG. 3,
102). If YES, the detected vehicle position input this time is written in the storage area N + 2 of the travel locus memory 12, and the detected vehicle position input this time is output as it is to the determination / registration unit 14. The discrimination / registration unit 14 compares the input detected vehicle position data with each discrete traveling locus data stored in the traveling locus memory 12, and discriminates the discrete traveling locus within 95 m from the detected vehicle position data this time. It is determined whether data exists (step 103).

Then, with respect to the detected vehicle position data this time,
When there is no discrete traveling locus data within 95 m, the detected vehicle position data is used as new discrete traveling locus data, and the storage area m + 1 of the traveling locus memory 12 is set.
Write to the storage area of (when m + 1 becomes N + 1, write to storage area 0), and m stored in the storage area N + 1
Is incremented. When the incremented m becomes N + 1, it is set to 0 (step 104). However, when there is discrete traveling locus data within 95 m of the detected vehicle position data this time, the determination / registration unit 14 does not add the discrete traveling locus data to the traveling locus memory 12 (step 103). And NO judgment).

Subsequently, the map image drawing unit 15 refers to the map leaf management information in the map data, and refers to the map leaf from the CD-ROM 1 including the current location (see point A in FIG. 5) and the periphery of the map. All the map data of the map are read out and stored in the buffer memory 11, and the map image of the nine maps including the central one including the current location and the eight surrounding the map is displayed in the video RAM 17 with the north facing upward. Is drawn so as to become (step 105). Next, the traveling locus drawing unit 16 inputs the area information of the map image currently drawn in the video RAM 17 from the map image drawing unit 15, and the discrete traveling loci included in the area of the map image from the traveling locus memory 12 are entered. By selecting all the data and drawing points at the corresponding points on the map image corresponding to each discrete travel trajectory data,
A running locus of a point sequence is drawn (step 106).

Then, the map image drawing section 15 uses the video RA.
The read center position data corresponding to the vehicle position is given to the read control unit 18 on the map image drawn in M17,
From the video RAM 17,
An upward one-face map image centered on the vehicle position is read (step 107). Then, the vehicle position mark generating unit 19 generates a vehicle position mark in which the vehicle azimuth direction is oriented based on the vehicle azimuth data input from the vehicle position detecting unit 3 (step 108). The map image read from the video RAM 17 by the read control unit 18 is combined with the vehicle position mark by the combining unit 20, and then converted into a predetermined video signal by the video conversion unit 21 and output to the CRT display device 4, and the screen is displayed. Displayed (step 10)
9). On the screen, a map image around the vehicle position is displayed together with the traveling locus, and a vehicle position mark is displayed in the center (see FIG. 7 (1)).

After that, the navigation controller 1
For 0, new vehicle position data is input from the vehicle position detection unit 3, and the map image drawing unit 15 checks whether or not the current position deviates from one map in the center among the map images drawn in the video RAM 17 (FIG. 4). Steps 201 and 202). If it is not out, it is determined to be NO, and subsequently, the constant distance traveling monitoring unit 13 compares the immediately preceding position data T stored in the storage area N + 2 of the traveling locus memory 12 with the detected vehicle position this time, and is 100 m away? Check (Step 20)
3). When the traveling distance is still short and NO, the immediately preceding position data T is not rewritten and the detected vehicle position data is not output to the determination / registration unit 14.

Subsequently, the map image drawing unit 15 gives the read control unit 16 read center position data corresponding to the vehicle position in the map image drawn in the video RAM 17, and the new vehicle position is centered from the video RAM 17. The map image for one screen is read out in the upward direction (step 107 in FIG. 3). Next, the vehicle position mark generator 18 inputs the vehicle direction data from the vehicle position detector 3 and generates a vehicle position mark oriented in the vehicle direction (step 1).
08). The map image including the traveling locus for one screen is displayed on the screen after being combined with the vehicle position mark (step 10).
9).

Thereafter, the navigation controller 10 repeats the same processing, and as a result, the map image on the screen is directed upward in the north, and always scrolls downward as the vehicle travels so that the vehicle current position is in the center.

After that, the vehicle travels 100 m from point A in FIG. 5, and when the immediately preceding position data T stored in the storage area number N + 2 of the traveling locus memory 12 is compared with the vehicle position detected by the vehicle position detecting section 3, it is 100 m. When the vehicle is away, the fixed distance traveling monitoring unit 13 determines YES in step 203 of FIG. 4, writes the detected vehicle position data this time as the new immediately preceding position data in the storage area number N + 2 of the traveling locus memory 12, and again. The detected vehicle position data is output to the determination / registration unit 14. The determination / registration unit 14 compares the input detected vehicle position data with each discrete traveling locus data stored in the traveling locus memory 12, and compares the detected traveling vehicle position data with the current detected vehicle position data by 95 m.
It is determined whether or not there are discrete traveling locus data within the range (step 204).

Then, with respect to the detected vehicle position data of this time,
When there is no discrete traveling locus data within 95 m, the detected vehicle position data is used as new discrete traveling locus data, and the storage area m + 1 of the traveling locus memory 12 is set.
In the storage area of the memory, and increments m (step 205). However, when there is discrete traveling locus data within 95 m of the detected vehicle position data this time, the determination / registration unit 14 does not add the discrete traveling locus data to the traveling locus memory 12 (step 20).
No judgment in 4).

Here, assuming that new discrete traveling locus data is added, the traveling locus drawing unit 16 displays the video R.
In the map image drawn on the AM 17, a point is drawn at a position corresponding to the newly added discrete running locus data, and the running locus is added (step 206). Next, the map image drawing unit 15 instructs the read control unit 16 to perform the video RA.
Of the map images drawn in M17, read center position data corresponding to the vehicle position is given, and the map image for one screen is read upward from the video RAM 17 centering on the new vehicle position (step in FIG. 3). 107). Then
The vehicle position mark generator 18 inputs the vehicle direction data from the vehicle position detector 3 and generates a vehicle position mark oriented in the vehicle direction (step 108). The map image including the traveling locus for one screen is displayed on the screen after being combined with the vehicle position mark (step 109). A point indicating the latest travel path is added to the map image on the screen.

After that, the navigation controller 1
0 returns to step 201 of FIG. 4, vehicle position data is input from the vehicle position detection unit 3, and the map image drawing unit 15 outputs 1 at the center of the map image currently drawn in the video RAM 17.
Check if it is off the sheet (step 202), N
If it is O, then it is checked whether or not the fixed-distance travel monitoring unit 13 has traveled 100 m (step 203). If not, the process proceeds to step 107 and subsequent steps in FIG. 3 to scroll the map image only.

Similarly, the map is scrolled in accordance with the traveling of the vehicle, and every time the vehicle travels 100 m, the vehicle position at that time is separated by 95 m or more from each discrete traveling locus data stored in the traveling locus memory 12. If so, the travel locus memory 12 is additionally written as new discrete travel locus data, and the travel locus is also added to the map image.

If the vehicle position detected by the vehicle position detection unit 3 during traveling deviates from one map in the center among the map images currently drawn in the video RAM 17, the map image drawing unit 15 determines YES in step 202 in FIG. 4, and in this case, the map data of the CD-ROM 1 is used to generate a map image including one map in the center including the current location and eight maps surrounding the map. The map image is redrawn in the video RAM 17 (step 105 in FIG. 3), and the traveling locus drawing unit 16 uses the discrete traveling locus data stored in the traveling locus memory 12 to extract the map image redrawn in the video RAM 17, The traveling locus is redrawn as a sequence of points at the location corresponding to each discrete traveling locus data (step 106).

As a result, after starting from point A in FIG.
Every 100m you travel until you reach C after passing B
The new discrete traveling locus data is added to the traveling locus memory 12, and the traveling locus is sequentially added to the map image on the screen (see FIG. 7 (2)). FIG. 6 shows a traveling route near the point C when the vehicle reaches the point C, and FIG. 2 shows a state of the discrete traveling trajectory data stored in the traveling trajectory memory 12. In these figures, the point sequences P _k-2 , P _k-1, P
_k indicates a point stored in the traveling locus memory 12 as discrete traveling locus data. A map image of the screen when the vehicle reaches point C is shown in FIG. 8 (1).

Here, when the vehicle returns from point C to point B,
When the detected vehicle position data is output from the fixed distance traveling monitoring unit 13 to the determination / registration unit 14 assuming that the vehicle is 100 m away from P _k, P _k-1 is closer to 95 m than the detected vehicle position Q ₁ . The determination / registration unit 14 performs step 204 in FIG.
It is determined to be YES, Q ₁ is not added to the travel locus memory 12, and the travel locus drawing unit 16 does not add the travel locus to the map image. Similarly, when the detected vehicle position data is output from the fixed distance traveling monitoring unit 13 to the determination / registration unit 14 assuming that the vehicle is separated from Q ₁ by 100 m or more, PP _k-2 is closer than 95 m to the detected vehicle position Q _2. Since it is in the position, the determination / registration unit 14 again determines YES in step 204, does not add Q ₂ to the traveling locus memory 12, and the traveling locus drawing unit 1
No. 6 does not add the running track to the map image.

Thereafter, similarly, until the vehicle returns to the point B,
Discrete traveling locus data is not added to the traveling locus memory 12, and the traveling locus is not added to the map image (FIG. 8).
(See (2)). The route from B point to C point and the route from C point to B point are the same except for the direction. Even if the route from C point to B point is stored in the traveling locus memory 12 as discrete traveling locus data, the traveling locus is displayed. It is completely useless for use. Therefore, by not redundantly storing the route data once stored in the traveling locus memory 12 as described above, only the data necessary for displaying the traveling locus can be stored, and the memory capacity can be effectively used. When returning from the C point to the B point, the locus when traveling from the B point to the C point is displayed on the screen, so that it is possible to easily reach the B point by traveling along the traveling locus. You can Then, since the traveling locus when traveling from the point C to the point B is not overlapped with the traveling locus when traveling from the point B to the point C, the road on the screen becomes very easy to see.

When the vehicle starts traveling to the point D after returning to the point B, it does not overlap with the route traveled in the past, so that the discrete trajectory data is again stored in the trajectory memory 12 every 100 m. As they are added, the running loci of point sequences will be added on the map image. After that, when the vehicle reaches the point D, data has not been added to the traveling locus memory 12 while the vehicle first returned from the point C to the point B. B
Discrete travel locus data for a 100km route connecting points → C points and 100km for a 100km route connecting points B → D remain. Then, when returning from the point D to the point A, the discrete traveling locus data is not added to the traveling locus memory 12 in the same manner as when returning from the point C to the point B. The target trajectory data is saved, and the map image on the screen always displays the trajectory on the route connecting points D to A. You can return to the starting point A.

According to the first embodiment, every time the vehicle position detected by the vehicle position detector 3 changes by 100 m, the detected vehicle position is compared with each discrete traveling locus data stored in the traveling locus memory 12. However, it is determined whether or not there is discrete travel trajectory data within 95m of the detected vehicle position, and only when it is determined that there is no discrete travel trajectory data within 95m of the detected vehicle position. Since the detected vehicle position data is additionally stored in the traveling locus memory 12 as new discrete traveling locus data, only discrete non-overlapping discrete traveling locus data is stored in the traveling locus memory 12. Therefore, it is possible to store only the originally required discrete traveling locus data in the traveling locus memory 12 so that the storage capacity can be effectively used, and since the overlapping display of the traveling loci on the screen is eliminated, The road is very easy to see.

FIG. 9 is an overall configuration diagram of a vehicle-mounted navigation device according to the second embodiment of the present invention. The same components as those in FIG. 1 are designated by the same reference numerals. In FIG. 9, 2A
Is an operation panel, and is provided with a map search key, a travel path arrangement key, and the like. Reference numeral 10A is a navigation controller having a microcomputer configuration, which displays a map image around the vehicle position on the screen of the CRT display device 4 together with a vehicle position mark, a running locus of a point sequence, and the like. Among these, 13 is a constant distance running monitoring unit that monitors whether the vehicle position detected by the vehicle position detection unit 3 has changed by a predetermined constant distance and outputs the detected vehicle position data at that time when it changes, Here, as an example, it is assumed that the detected vehicle position data is output every time the vehicle position changes by 100 m.

A registration unit 22 receives the detected vehicle position data from the fixed distance traveling monitoring unit 13 and adds the detected vehicle position data to the traveling locus memory 12A as new discrete traveling locus data. Reference numeral 23 denotes a traveling locus data organizing unit, which compares each discrete traveling locus data stored in the traveling locus memory 12A with other discrete traveling locus data when the traveling locus organizing key is pressed on the operation unit 2A. If there is other discrete travel locus data within the fixed distance range (here, within 95 m, for example), the other discrete travel locus data is deleted. Running track memory 1
In 2A, the discrete traveling locus data is stored in the storage areas 0 to N, and the storage area number m of the latest stored discrete traveling locus data is registered in the storage area N + 1.

10 to 13 show the traveling locus data arrangement unit 2
FIG. 3 is an operation explanatory diagram of _No. 3, and since the vehicle reciprocates between E and F of the road RD, discrete traveling locus data R ₁ , ..., R _n-2 , R _{n-1 at} 100 m intervals when traveling on the outward path. , R _n are stored in the storage areas j to j + n−1 of the traveling locus memory 12A,
Discrete travel locus data S at 100 m intervals when traveling on the return path
_It is assumed that ₁ , S ₂ , ..., S _i-2 , S _i-1 , S _i are stored in the storage areas j + n to j + n + i-1 of the traveling locus memory 12A. When the travel locus rearranging key is pressed on the operation panel 2A, the travel locus data organizing unit 23 first sets the discrete travel locus data S _i stored in the storage area m = j + n + i-1 of the travel locus memory 12A to the following and subsequent data. The storage areas Z to N and the discrete traveling locus data stored in the storage areas 0 to m-1 are sequentially compared, and it is determined whether or not there is any within 95 m. Since the discrete traveling locus data R ₁ within 95 m with respect to S _i exists in the storage area j, the storage area j + 1
The discrete traveling locus data stored in the memory areas j to m are moved up one by one and written to the memory areas j to m-1, and the dummy data is written to the memory area m to store the discrete data stored in the original memory area j. After deleting the traveling locus data R ₁ , m is decremented (see FIG. 11). In addition, if there is a distance within 95 m with respect to the discrete traveling locus data S _i, it is similarly deleted.

When the processing of the discrete traveling locus data S _i is completed, next, with respect to S _i-1 stored in the storage region m-1, storage regions Z to N and storage regions 0 to m-2. It is sequentially compared with the discrete travel locus data stored in, and it is determined whether or not there is one within 95 m. Since the discrete traveling locus data R ₂ within 95 m with respect to S _i-1 exists in the storage area j, the discrete traveling locus data stored in the storage areas j + 1 to m are advanced one by one. j to m−1, and dummy data is written in the storage area m to store the discrete travel locus data R ₂ stored in the original storage area j.
And then decrement m (see FIG. 12). In addition, if there is any data within 95 m with respect to the discrete travel trajectory data S _i-1, it is similarly deleted.

Hereinafter, similar processing is performed in the storage areas m-2 and m-.
Each discrete traveling locus data S _i-2 stored in 3, ...
Repeat for S _i-3 , ... Thereby, S _{i to} S
R ₁ to R _{n-1 where 1} for each present in a range within 95m
Are all deleted, and the duplicate discrete trajectory data for the same route are removed (see FIG. 13).

Reference numeral 15A is a map image drawing section, which uses the map data of the CD-ROM 1 to read the vehicle immediately after the power is turned on or when the position of the vehicle deviates from the one map in the center drawn in the video RAM 17. In addition to drawing a map image that combines one map including the position and eight maps surrounding the map in the video RAM 17, the traveling locus data arrangement unit 2
After the data 3 is arranged in the traveling locus memory 12A, the map image is redrawn in the video RAM 17 as well. The other components are configured similarly to the vehicle-mounted navigator of FIG.

14 to 16 are flow charts showing the navigation processing of the navigation controller 10A, FIG.
FIG. 18 is an explanatory diagram of the entire traveling route of the vehicle, FIG. 18 is an explanatory diagram of data stored in the traveling locus memory 12A, and FIGS. 19 and 20 are explanatory diagrams of screen display examples of the CRT display device 4. A description will be given according to these figures. It should be noted that in advance, the traveling locus memory 12A stores the discrete traveling locus data for the routes traveled in the past in the storage areas 0 to j-1 (j-
1 = m <N), and j to N have not been stored (see FIG. 18). Further, the discrete traveling locus data stored in the storage area x (x = 0 to N) of the traveling locus memory 12A is represented by DT (x), and the vehicle departs from point E in FIG. It shall reciprocate as the ground.

When the set is powered on, the vehicle position detector 3 detects the vehicle position and the vehicle direction by the self-contained navigation or satellite navigation, and outputs the vehicle position data and the vehicle direction data. After the power is turned on, the navigation controller 10A inputs the first vehicle position data from the vehicle position detection unit 3, and the fixed distance traveling monitoring unit 13 causes the traveling locus memory 1 to operate.
It is determined whether or not the distance is 100 m by comparing with the discrete traveling locus data stored in the storage area m of No. 2 (step 30 in FIG. 14).
1, 302). If YES, the detected vehicle position input this time is output to the registration unit 22. The registration unit 22 stores the input detected vehicle position data in the storage area m of the traveling locus memory 12A.
It is written to +1 (= j) as the discrete traveling locus data R ₁ (when m + 1 becomes N + 1, it is written to the storage area 0), and m is incremented (step 30).
3). When the incremented m becomes N + 1, it is set to 0.

Next, the map image drawing unit 15A refers to the map leaf management information in the map data, and refers to the map leaf from the CD-ROM 1 including the current position (see point E in FIG. 17) and the periphery of the map. Buffer memory 1 for reading all map data
1, and draws nine map images of the central one including the current location and eight surrounding the map in the video RAM 17 so that the north faces upward (step 304). . Next, the running locus drawing unit 16 inputs the area information of the map image currently drawn in the video RAM 17 from the map image drawing unit 15A, and the discrete running locus included in the area of the map image from the running locus memory 12A. All the data are selected, and points are drawn at the corresponding points on the map image corresponding to each discrete running locus data to draw the running locus of the point sequence (step 305).

Then, the map image drawing section 15A displays the video R
On the map image drawn in the AM 17, the read center position data corresponding to the vehicle position is given to the read control unit 18, and the read control unit 18 is operated so that the read RAM 1 from the video RAM 17 faces upward with respect to the vehicle position. The minute map image is read (step 306). Subsequently, the vehicle position mark generation unit 19 generates a vehicle position mark in which the vehicle azimuth direction is oriented based on the vehicle azimuth data input from the vehicle position detection unit 3 (step 307). Read control unit 18
The map image read from the video RAM 17 is combined with the vehicle position mark by the combining unit 20, converted into a predetermined image signal by the image converting unit 21, output to the CRT display device 4, and displayed on the screen ( Step 3
08). On the screen, a map image around the vehicle position is displayed along with the traveling locus, and a vehicle position mark is displayed in the center (see FIG. 19 (1)).

After this, the navigation controller 1
0A inputs new vehicle position data from the vehicle position detection unit 3 (step 401 in FIG. 15), and the map image drawing unit 15
It is checked whether A is out of the current position from the central one of the map images drawn in the video RAM 17 (step 402). If it is not out of the range, it is determined to be NO, and subsequently, the discrete traveling locus data R ₁ added immediately before being stored in the storage area m of the traveling locus memory 12A by the constant distance traveling monitoring unit 13 and the detected vehicle position this time. It is compared and it is checked whether they are 100 m apart (step 403). When the traveling distance is still short and NO, the discrete traveling locus data is not written in the traveling locus memory 12A.

After that, the navigation controller 1
0A checks whether or not the travel track rearrangement key is pressed on the operation panel 2A (step 404), and if NO, the process proceeds to step 306 in FIG. 14, and the map image drawing unit 15A draws the read control unit 16 in the video RAM 17 The read center position data corresponding to the vehicle position is given from the generated map images, and the map image for one screen is read upward from the video RAM 17 with the new vehicle position as the center. Next, the vehicle position mark generator 18 inputs the vehicle direction data from the vehicle position detector 3 and generates a vehicle position mark oriented in the vehicle direction (step 307). The map image including the traveling locus for one screen is displayed on the screen after being combined with the vehicle position mark (step 308).

Hereinafter, the navigation controller 10A
Repeats the same processing, and as a result, the map image on the screen is directed upward in the north direction, and always scrolls downward as the vehicle travels so that the vehicle's current location is in the center.

After that, the vehicle travels 100 m from point E in FIG. 17, and the discrete traveling locus data R ₁ stored in the storage area m of the traveling locus memory 12A is compared with the vehicle position detected by the vehicle position detector 3, When the vehicle is 100 m away, the fixed distance traveling monitoring unit 13 determines YES in step 403 of FIG. 15, writes the detected vehicle position data this time as the discrete traveling locus data R _{2 in} the storage area m + 1 of the traveling locus memory 12A, Also, m is incremented (step 40 in FIG. 15).
3, 404).

Subsequently, the traveling locus drawing unit 16 displays the video RA
Of drawn map image M17, it draws a point at a position corresponding to the newly added discretely traveling locus data R _2,
A travel locus is added (step 405). Next, the map image drawing unit 15A gives the read control unit 16 read center position data corresponding to the vehicle position in the map image drawn in the video RAM 17, and the video RAM 17
Then, a map image for one screen is read upward with the new vehicle position as the center (step 306 in FIG. 14). Next, the vehicle position mark generator 18 inputs the vehicle direction data from the vehicle position detector 3 and generates a vehicle position mark oriented in the vehicle direction (step 307). The map image including the traveling locus for one screen is displayed on the screen after being combined with the vehicle position mark (step 308). A point indicating the latest travel path is added to the map image on the screen.

After that, the navigation controller 1
0A returns to step 401 of FIG. 15 and inputs vehicle position data from the vehicle position detection unit 3 and the map image drawing unit 15A
Is out of the center of the map image currently drawn in the video RAM 17 (step 40).
2) If NO, it is checked whether or not the fixed distance travel monitoring unit 13 has traveled 100 m (step 403), and if not, then it is checked whether or not the travel path arrangement key is pressed on the operation panel 2A (step 404). ), If NO here as well, the flow proceeds to step 306 and subsequent steps in FIG. 14 to scroll the map image only.

In the same manner, the map is scrolled according to the running of the vehicle, and every time the vehicle runs 100 m, new discrete running locus data is added to the running locus memory 12A, and the running locus is also written in the map image. to add.

If the vehicle position detected by the vehicle position detection unit 3 during traveling deviates from one map in the center among the map images currently drawn in the video RAM 17, the map image drawing unit 15A is YES in step 402 of FIG.
In this case, the map data of the CD-ROM 1 is used to generate a map image in which one map in the center including the current location and eight maps surrounding the map are combined into the video RAM 17
14 (step 304 in FIG. 14), the traveling locus drawing unit 16 uses the discrete traveling locus data stored in the traveling locus memory 12A to extract each of the discrete map images redrawn in the video RAM 17. The running trajectory is redrawn as a sequence of points at the location corresponding to the dynamic traveling trajectory data (step 30).
5).

As a result, a new discrete traveling locus data is added to the traveling locus memory 12A every time the vehicle travels 100 m from the point E in FIG. 17 until the point F is reached, and the map image on the screen is displayed. Also, the traveling locus is sequentially added (R ₁ , R ₂ , ..., R _n-2 , R _n-1 , R _{n in} FIG. 10).
_n , see FIG. 19 (2)). Similarly, when the vehicle reaches the point B and then returns to the point A, new discrete traveling locus data is added to the traveling locus memory 12A every time the vehicle travels 100 m, and the traveling locus is also displayed in the map image on the screen. Sequentially added (S ₁ , S ₂ , S ₃ , ..., S _i-2 , S in FIG. 10)
_i-1 , S _i , see FIG. 20 (1)).

By the way, the point E → F point and the point F → E point are the same route except that the directions are different.
Discrete travel locus data R _{1 to} R _n stored in A and S
_{1 to} S _i are the same route only with different directions and are redundant. Further, when the vehicle returns to point E, two traveling loci are overlapped and displayed between points E and F on the screen as shown in FIG. 20 (1), which makes the road hard to see. ing.

Here, when the driver presses the travel path arrangement key on the operation panel 2A, the navigation controller 10
The traveling locus data organizing unit 23 of A executes the traveling locus data organizing process shown in FIG. 16 to delete redundant data in the traveling locus memory 12A. That is, when the traveling locus rearrangement key is pressed, the traveling locus data rearranging unit 23 determines YES in step 404 of FIG. At this time, the traveling locus organizing unit 23 first sets m + 1 → Z (0 → Z when Z exceeds N), and registers the storage area of the oldest discrete traveling locus data in the traveling locus memory 12A. At the same time, the storage area M of interest this time is set to m, and the storage area n to be compared is set to Z (step 501 in FIG. 16, see FIG. 11).

Then, the discrete traveling locus data DT (M) = S _i stored in the storage area M is compared with the discrete traveling locus data DT (Z) stored in the storage area Z to obtain DT (M). On the other hand, it is checked whether DT (Z) is within 95 m (step 502). Here, if it is not entered, after incrementing n, the process proceeds to step 504 (step 503). If n after increment exceeds N in step 503, it is set to 0.

At step 504, it is checked whether n = M,
If NO, the process returns to step 502, this time, the discrete traveling locus data DT (M) = S _i is compared with the discrete traveling locus data DT (Z + 1) stored in the storage area Z + 1, and D
Check if DT (Z + 1) is within 95m for T (M). If not, step 503 again
Then, n is incremented, the process proceeds to step 504, and the same processing is repeated.

Here, S is stored in the original storage area Z to j-1.
None of these are deleted when there is no discrete trajectory data that is within 95 m for _i . Thereafter, when n = j, the discrete traveling locus data DT (j) = R _{1 in} the storage area j is within 95 m with respect to S _i, so YES is obtained in step 502. At this time, the discrete traveling trajectory data DT (j + 1) to D in the storage areas j + 1 to m
T (m) is packed in the previous storage areas j to m−1 one by one, and the discrete traveling locus data R ₁ stored in the original storage area j is deleted (step 505). The discrete traveling locus data DT (m) of number m is rewritten into dummy data (step 506). Then, both m and M are decremented to match the new storage area of S _i (step 507, see FIG. 12). When m or M after decrement becomes -1 in step 507, N is set.

Thereafter, the process proceeds to step 504, n = M
If NO, return to step 502,
Discrete travel trajectory data S _i stored in a new storage area M
On the other hand, it is checked whether the new discrete traveling locus data R ₂ stored in the storage area j exists within 95 m. Here, when it becomes NO, n is incremented and n = j + 1
After that (step 503), the process proceeds to step 504, it is checked whether n = M, and since it is NO, step 502
Return to. Then, with respect to the discrete traveling locus data S _i stored in the storage area M, it is checked whether the discrete traveling locus data R ₃ stored in the storage area j + 1 exists within 95 m.

Since NO is again obtained, n is incremented to n = j + 2 (step 503), and n =
It is checked if it is M (step 504), and since it is NO, it will return to step 502. Thereafter, similarly, the storage area j + 2 to
Any discrete travel trajectory data stored in M-1 is S
Since it is more than 95 m away from _i , these discrete travel locus data are not deleted. After that, when n = M, if M = Z is not satisfied, M is decremented and the discrete traveling locus data of interest is set to S _i-1 and n = Z is set (steps 504, 508 to 510). .

Then, returning to step 502, the storage area Z
It is compared with each discrete traveling locus data in order from and it is checked whether or not there is one within 95 m with respect to S _i-1 . The discrete travel locus data in the storage areas Z to j-1 are all S
_It will not be deleted because it is more than 95m away from _i-1 . next,
n = j, and the storage area j is stored in step 502 for S _i-1.
When it is checked whether R ₂ stored in is within 95m, YE
It becomes S. Then, the discrete travel locus data DT (j + 1) to DT (m) in the storage areas j + 1 to m are packed one by one into the previous storage areas j to m−1, and the discrete travel locus data stored in the original storage area j is stored. The traveling locus data R ₂ is deleted (step 505), and the discrete traveling locus data D of the original storage area number m is deleted.
T (m) is rewritten with dummy data (step 50).
6). Then, decrement both m and M, S
_It is matched with the new storage area of _i-1 (step 507).

Thereafter, the process proceeds to step 504, n = M
Since it is NO, the process returns to step 502, and the discrete traveling locus data S _i-1 stored in the new storage area M is checked.
On the other hand, it is checked whether the new discrete traveling locus data R ₃ stored in the storage area j exists within 95 m. This time N
Since it becomes O, after n is incremented to n = j + 1 (step 503), it is checked whether n = M (step 504). Since it is NO, the process returns to step 502. In the same manner, the discrete traveling locus data stored in the storage areas j + 1 to M-1 are further away from S _{i-1 by} more than 95 m, so these discrete traveling locus data are not deleted. After that, when n = M (step 504)
YES), decrement M and set discrete traveling locus data of interest as S _i-2, and n = Z (step 5).
08-510).

Thereafter, by repeating the same processing, the discrete traveling locus data R ₃ within 95 m from S _i-2 is deleted, and the discrete traveling locus data R ₄ within 95 m from S _i-3 is deleted. Deleted, and so on, from R ₁ to R _n-1 . When the process of setting the discrete traveling locus data focusing on S ₁ is completed, the traveling locus memory 12A is changed to the state shown in FIG.
It becomes the state of 3. Thereafter, the discrete traveling locus data stored in the storage area Z + 1 from the storage area immediately before S ₁ in FIG. 13 is deleted because there is no other discrete traveling locus data within 95 m. If the processing focusing on the discrete travel locus data in the storage area Z + 1 ends, M after decrement matches Z in step 508, so YES is obtained in step 509, and all the processing for organizing the travel locus data ends. .

After that, the navigation controller 1
0A returns to step 304 in FIG. 14, the map image drawing unit 15A redraws the map image around the vehicle position in the video RAM 17, and the running locus drawing unit 16 makes the running locus memory 1
From 2A, all the discrete traveling locus data in the area of the map image drawn in the video RAM 17 are selected,
On the basis of the discrete traveling locus data, the traveling locus is drawn as a sequence of points on the map image (step 305). Then, the map image drawing unit 15A causes the read control unit 18 to display the video RA.
The read center position data corresponding to the vehicle position drawn in M17 is given to read one screen centered on the vehicle position and display the screen (steps 306 to 30).
8). At this time, the screen is as shown in FIG. 20 (2), and there is only one traveling locus between points E and F.

Then, as the vehicle position changes, the map image drawing unit 15A changes the read center position data and scrolls the map. Further, the constant distance travel monitoring unit 13 outputs the detected vehicle position data at that time to the registration unit 22 every time the vehicle travels 100 m, and the registration unit 22 stores the input detected vehicle position data in the travel locus memory 12A of FIG. In addition to the memory area m + 1 in the memory area and stored, the running locus drawing unit 16 adds the running locus represented by dots to the video RAM 17 based on the newly added discrete running locus data (step of FIG. 15). 401-403, 40
5, 406).

As described above, when the vehicle returns to the point E, the traveling locus data is organized, so that only the discrete traveling locus data having no duplication remains in the traveling locus memory 12A, and the free space remains. Therefore, even if the vehicle travels on another route and new discrete traveling locus data is added thereafter, it is possible to prevent the old discrete traveling locus data stored in and after the storage area Z from being erased. When traveling again to the G point or the like, it is possible to easily reach the G point while referring to the traveling locus display. Further, even when traveling to the F point again, only one traveling locus is displayed on the route from the E point to the F point, so that the road is very easy to see and the convenience for the driver is enhanced.

According to the second embodiment, when the traveling locus rearranging key is pressed, each discrete traveling locus data stored in the traveling locus memory 12A is compared with other discrete traveling locus data, When it is determined that other discrete traveling locus data having a relationship within 95 m with the discrete traveling locus data exists, the other discrete traveling locus data is deleted from the traveling locus memory 12A. Only discrete traveling locus data that does not overlap can be left in the locus memory 12A, only the originally required traveling locus data can be stored in the traveling locus memory 12A, and the storage capacity can be effectively used. Since the overlapping display of the traveling locus is eliminated, the road is very easy to see. Further, since the redundant data is collectively deleted from the discrete traveling locus data stored in the traveling locus memory 12A when the traveling locus organizing key is pressed, as in the first embodiment. It is no longer necessary to compare the vehicle positions at regular intervals detected by the vehicle position detection unit during traveling with each discrete traveling locus data stored in the traveling locus memory one by one. There is no need to restrict processing.

In the second embodiment described above, for example,
A certain storage area j for the focused discrete trajectory data S _i
When the discrete traveling locus data R ₁ stored in the table is within 95 m, the discrete traveling locus data R ₁ is deleted, but the focused discrete traveling locus data S _i is deleted. You may do it. Also, when the travel track data rearranging key on the operation panel is pressed, the travel track data organizing unit is arranged to perform the process of organizing the travel track data in the travel track memory, but when the power of the set is turned on or the vehicle is 50 km, 100 k
The traveling locus data reduction process may be automatically performed when the vehicle travels a predetermined distance such as m.

[0073]

As described above, according to the present invention, every time the vehicle position detected by the vehicle position detecting means changes by a certain distance, the detected vehicle position is compared with each discrete traveling locus data stored in the traveling locus storing means. Then, it is determined whether or not there is discrete traveling locus data within the predetermined constant distance range with respect to the detected vehicle position, and the discrete traveling locus data within the predetermined constant distance range with respect to the detected vehicle position is detected. When it is determined that the detected vehicle position data does not exist, the detected vehicle position data is additionally stored in the traveling locus storage means as new discrete traveling locus data, so that the traveling locus storage means does not have any overlapping discrete trajectories. Since only the locus data is stored, it is possible to store only the originally required locus data in the locus storage means for effective use of the storage capacity, and the overlapping display of the loci on the screen is possible. Since Kunar, the road becomes very easy to see.

Further, at a predetermined time, each discrete traveling locus data stored in the traveling locus storage means is compared with other discrete traveling locus data, and other discrete traveling locus data having a relationship within a predetermined constant distance. When it is determined that another discrete running locus data having a relationship within a predetermined constant distance with respect to a certain discrete running locus data exists, one discrete running from the running locus storage means. Since the locus data is configured to be deleted, only discrete running locus data that does not overlap is stored in the running locus storage means. Therefore, the running locus storage means stores only the originally required running locus data and saves the storage capacity. It is possible to effectively use the road, and since the overlapping display of the traveling locus on the screen is eliminated, the road becomes very easy to see. In addition, since redundant data is deleted from the discrete traveling locus data stored in the traveling locus storage means collectively at a predetermined time, the vehicle positions at regular intervals detected by the vehicle position detecting means during traveling. Need not be compared with each discrete traveling locus data stored in the traveling locus storage means one by one, and the other processing performed by the controller such as map drawing is not restricted.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram of a vehicle-mounted navigation device according to a first embodiment of the present invention.

FIG. 2 is an explanatory diagram of data stored in a travel locus memory.

FIG. 3 is a first flowchart showing a navigation process of a navigation controller.

FIG. 4 is a second flowchart showing the navigation processing of the navigation controller.

FIG. 5 is an explanatory diagram of all traveling routes of the vehicle.

FIG. 6 is an explanatory diagram of the operation of a determination / registration unit.

FIG. 7 is an explanatory diagram showing a screen display example.

FIG. 8 is an explanatory diagram showing a screen display example.

FIG. 9 is an overall configuration diagram of a vehicle-mounted navigation device according to a second embodiment of the present invention.

FIG. 10 is an operation explanatory diagram of a traveling locus data arrangement unit.

FIG. 11 is an operation explanatory diagram of a traveling locus data arrangement unit.

FIG. 12 is an operation explanatory diagram of a traveling locus data arrangement unit.

FIG. 13 is an operation explanatory diagram of a traveling locus data arrangement unit.

FIG. 14 is a first flowchart showing a navigation process of the navigation controller.

FIG. 15 is a second flowchart showing the navigation processing of the navigation controller.

FIG. 16 is a third flowchart showing the navigation processing of the navigation controller.

FIG. 17 is an explanatory diagram of all travel routes of the vehicle.

FIG. 18 is an explanatory diagram of data stored in a travel locus memory.

FIG. 19 is an explanatory diagram showing a screen display example.

FIG. 20 is an explanatory diagram showing a screen display example.

FIG. 21 is a diagram illustrating a conventional problem.

[Explanation of symbols]

 1 CD-ROM 2, 2A Operation panel 3 Vehicle position detection unit 4 CRT display device 10, 10A Navigation controller 12, 12A Running locus memory 13 Fixed distance running monitoring unit 14 Discrimination / registration unit 15, 15A Map image drawing unit 16 Running locus Drawing unit 17 Video RAM 18 Read-out control unit 20 Compositing unit 21 Video conversion unit 22 Registration unit 23 Travel locus data arrangement unit

Claims (2)

[Claims] 1. A map information storage means for storing map data, a vehicle position detection means for detecting a vehicle position, and a traveling locus storage means for discretely storing past trajectories of a vehicle at fixed distance intervals. During travel, using the map data stored in the map information storage means and the discrete travel trajectory data stored in the travel trajectory storage means, a map in which the vehicle position mark and the travel trajectory are superimposed on the map around the current position of the vehicle In a vehicle-mounted navigation device equipped with a drawing means for drawing an image on a screen, each time the vehicle position detected by the vehicle position detecting means changes by a certain distance, the detected vehicle position is stored in the traveling locus storing means. Discriminating means for discriminating whether or not there is discrete traveling locus data within a predetermined constant distance range with respect to the detected vehicle position by comparing with the dynamic traveling locus data; On the other hand, when it is determined that there is no discrete traveling locus data within the predetermined fixed distance range, the detected vehicle position data is additionally stored in the traveling locus storage means as new discrete traveling locus data. An in-vehicle navigation device comprising: a traveling locus registration means. 2. A map information storage means for storing map data, a vehicle position detection means for detecting a vehicle position, and a travel locus storage means for discretely storing past trajectories of a vehicle at fixed distance intervals. During travel, using the map data stored in the map information storage means and the discrete travel trajectory data stored in the travel trajectory storage means, a map in which the vehicle position mark and the travel trajectory are superimposed on the map around the current position of the vehicle In a vehicle-mounted navigation device equipped with a drawing means for drawing an image on a screen, at a predetermined time, each discrete traveling locus data stored in the traveling locus storage means is compared with other discrete traveling locus data, and a predetermined fixed distance is obtained. A discriminating means for discriminating whether or not there is another discrete traveling locus data having a relationship within the above, and another discriminating means having a relation within a predetermined constant distance with respect to the certain discrete traveling locus data by the judging means. When traveling locus data is determined to exist, the vehicle-mounted navigation device comprising a deletion means for deleting one discrete traveling locus data from the traveling locus storing unit, that was provided.