JPH08114663A - Navigator - Google Patents

Abstract

PURPOSE: To provide a navigator which displays a three-dimensional landform image in which the ups and downs of a landform are considered. CONSTITUTION: The navigator 1 comprises a ROM 23 for previously storing height data, and image processing means 20 for generating three-dimensional coordinate data based on two-dimensional coordinate data such as planar road data, etc., and height data and outputting the three-dimensional coordinate data as map data to display means 40, and displays the three-dimensional map image in which the ups and downs of the landform are considered on the means 40. Accordingly, the three-dimensional map image can be displayed, and the advantages in safety and entertaining additional value are obtained.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a navigation device for a moving body such as a car, and more particularly to a device for displaying a current position on a map image based on position information of the current position and map information stored in advance. Regarding

[0002]

2. Description of the Related Art Conventionally, an LCD (Liquid Crystal Displ) has been used as a device for informing the present location of a moving body such as a car or a ship.
ay) or CRT (Cathode-Ray Tube) screen, CD
A navigation device is known in which a map stored in advance in a ROM (Compact Disc Read Only Memory), an IC card, or the like is displayed, and the current location is displayed on the map image. In such a navigation device, conventionally, a CD-
The two-dimensional coordinate data of the map is stored in the ROM or the like, and the two-dimensional map image viewed from the sky is displayed on the screen. That is, in the case of a car navigation device, a planar image similar to that of a road map book that has been generally used conventionally has been displayed.

[0003]

However, the conventional navigation device has a drawback in that the topography of the terrain cannot be seen because it is a planar map image as described above. Due to its drawbacks, conventional navigation devices mainly perform automatic display (scrolling) of a map from a starting point to a target point (destination), route setting, and guidance based on the set route. Therefore, it has been impossible to set the passage route in consideration of the landscape or, in the case of the car navigation device, to warn the driver in consideration of the ups and downs of the road.

The present invention has been made in view of the above circumstances, and a main object of the present invention is to provide a navigation device that displays a three-dimensional map image in consideration of ups and downs of the terrain.

[0005]

According to the first aspect of the present invention,
A navigation device comprising map data storage means for storing map data in advance and display means for displaying a map image of the vicinity of the current location based on position information and map data of the current location, wherein the map data storage means is Two-dimensional coordinate data of a point and height data corresponding to the height of the point are stored, three-dimensional coordinate data is generated based on the two-dimensional coordinate data and the height data, and An image processing means for outputting the three-dimensional coordinate data as map data to the display means is provided.

The invention according to claim 2 is a navigation device comprising map data storage means for storing map data in advance, and display means for displaying a map image of an area around the current location based on position information of the current location and map data. The map data storage means stores planar two-dimensional coordinate data of each point, and the height data storage means stores height data corresponding to the height of each point in advance. Image processing means for generating three-dimensional coordinate data based on the two-dimensional coordinate data and the height data and outputting the three-dimensional coordinate data as map data to the display means.

According to a third aspect of the invention, in the invention according to the first aspect or the second aspect, the image processing means generates three-dimensional coordinate data of an image viewed from an arbitrary viewpoint. Characterize.

The invention described in claim 4 is characterized in that, in the invention described in claim 3, the image processing means generates three-dimensional coordinate data of an image which faces the traveling direction from the present location.

[0009]

According to the first aspect of the present invention, the two-dimensional coordinate data of the two-dimensional coordinate data are stored in the map data storage means, and the two-dimensional coordinate data of each point and the height data corresponding to the height of the point are stored. The image processing means generates three-dimensional coordinate data based on the height data and the height data, and outputs the three-dimensional coordinate data as map data to the display means to display the map image. A three-dimensional map image in consideration can be displayed.

According to the second aspect of the present invention, the planar two-dimensional coordinate data of each point is stored in the map data storage means, and the height data corresponding to the height of each point is previously stored in the height data storage means. The image processing means generates three-dimensional coordinate data based on the two-dimensional coordinate data and the height data, and outputs the three-dimensional coordinate data as map data to the display means to generate a map image. Since it is displayed, it is possible to display a three-dimensional map image in consideration of ups and downs of the terrain. Moreover, it is possible to use a commercially available CD-ROM, IC card, or the like that stores two-dimensional coordinate data.

According to the invention of claim 3, in the invention of claim 1 or 2, the image processing means generates three-dimensional coordinate data of an image viewed from an arbitrary viewpoint. Therefore, it is possible to display a point that cannot be actually seen as a shadow, for example, an image at the end of a curve, or an image of a point different from the current position viewed from various viewpoints.

According to the invention described in claim 4, in the invention described in claim 3, the image processing means is adapted to generate three-dimensional coordinate data of an image which faces the traveling direction from the present position. A map image of directions can be displayed.

[0013]

1 to 13 show an embodiment in which the navigation device according to the present invention is applied to a GPS (Global Positioning System) type car navigation device capable of knowing the present location by receiving radio waves from a satellite.
It will be described below based on. Among them, FIG. 1 is a schematic configuration diagram showing an example of a navigation device according to the present invention,
2 is a flow chart showing an example of the flow of the display method of the navigation device, FIG. 3 is a diagram showing an example of the display of a three-dimensional map, and FIGS. 4 to 5 explain the principle of coordinate conversion in a three-dimensional coordinate system. FIGS. 6 to 8 are views showing how the three-dimensional map display is rotated, FIG. 9 is a diagram showing the principle of the three-dimensional map display, and FIGS. 10 to 13 are examples of use of the three-dimensional map. It is a figure.

As shown in FIG. 1, the navigation device 1 has a height (elevation) of a point corresponding to each point on the map.
The data (hereinafter referred to as height data) is stored in the ROM 23, and the height data stored in the ROM 23 and the two-dimensional coordinate data of the map stored in the map data storage means 30 in advance. Based on, the three-dimensional map is displayed. In FIG. 1, 10 is position information output means, 20 is image processing means, and 40 is display means.
Note that FIG. 3 shows a display example of a three-dimensional map by the navigation device according to the present invention.

The position information output means 10 is a general GPS.
As with the navigation device, G via the antenna 11
Receiving circuit that receives radio waves from PS satellites, received L1
A decoding circuit for demodulating and decoding the band C / A code, an arithmetic circuit for calculating the latitude and longitude of the current position based on the decoded data, an output circuit for outputting the calculated latitude and longitude data to the image processing means 20, and the like. Have

The image processing means 20 is a CPU (Central Pr
, a CPU peripheral circuit 22, a ROM 23 storing the height data and a program for creating a three-dimensional map display, a RAM (Random) used as a work memory (work area) when the CPU 21 performs various arithmetic processes.
Access Memory) 24, a graphic controller 25 that draws graphics on a VRAM (Video RAM) 26 which is an image display memory according to an instruction from the CPU 21,
It has a VRAM 26.

The CPU 21 receives the latitude and longitude data of the current location output from the position information output means 10 via the CPU peripheral circuit 22. And the CPU 21 is a CPU
The map data storage means 30 is accessed through the peripheral circuit 22, and the CD of the map data storage means 30 is based on the latitude and longitude data received from the position information output means 10.
Read data (two-dimensional coordinate data) such as map information and road information around the current location from a storage medium such as a ROM. Further, the CPU 21 reads the height data and the program for creating the three-dimensional map display from the ROM 23, and performs the arithmetic processing of the three-dimensional coordinate conversion according to the program for creating the three-dimensional map display. Further, the CPU 21 outputs a graphics expansion command and a graphics display command to the graphic controller 25.

The graphic controller 25 is composed of a graphic display LSI or the like, and has a CPU 21.
3D map graphics are developed on the VRAM 26 according to a command from the. Further, the graphic controller 25 reads the expanded graphics from the VRAM 26 and outputs it as a video signal to the display means 40 in response to a command from the CPU 21.

Since the ROM 23 stores height data as described above, it also serves as height data storage means in this example.

The map data storage means 30 is a general GP.
Similar to the S-navigation device, it is composed of an external storage medium such as a CD-ROM or IC card storing planar two-dimensional coordinate information of a map and a read circuit for reading data from the storage medium. Also has a disk drive circuit and the like.

The display means 40 is an LCD, a CRT or the like, and is preferably a color monitor or a tuner because it has excellent visibility and the display color can be changed according to the height as described later. For example, a color TV monitor having a function.

Next, a processing method for displaying a three-dimensional map around the present location by the navigation device according to the present invention will be described with reference to FIG. First, when the map display by the navigation device 1 is started and the C / A code of the L1 band emitted by the GPS satellite is received by the position information output means 10 via the antenna 11, the position information output means 10 causes the C / A code to be displayed. Is decoded and decoded to determine the latitude and longitude of the current location, and the latitude / longitude data is output to the image processing means 20.

The CPU 21 uses the position information output means 10
The latitude / longitude data of the present location demodulated and decoded from is received (step S1), and the area to be displayed on the map is calculated based on the latitude / longitude data (step S2). The CPU 21 then uses the map data storage means 3 based on the latitude / longitude corresponding to the obtained display area.
Road data and place name data represented by two-dimensional coordinates in the corresponding display area are read from the CD-ROM of No. 0 (step S3), and the three-dimensional map display creation program and the compressed high data are read from the ROM23. Data is read (step S4).

Subsequently, the CPU 21 expands the read compressed height data (step S5) and, based on the expanded height data, calculates the three-dimensional coordinate conversion with the initially set direction and elevation of the viewpoint. Processing is performed (step S6). Details of this three-dimensional coordinate conversion will be described later.

Further, the CPU 21 determines the color of each coordinate which has been three-dimensionally converted based on the height data (step S7). That is, in this example, the display color of the coordinate differs depending on the height. Further, the CPU 21 obtains the relief of the terrain based on the height data, and calculates the shadowed portion (step S8).

Based on the results of various arithmetic processing, C
The graphic controller 25 is instructed by the instruction of the PU 21.
Develops three-dimensional map graphics on the VRAM 26. The graphic controller 25 outputs the developed graphics to the display means 40 as a video signal, and draws a map from the rear of the screen while filling each raster data with vertical lines (step S9). The details of this drawing method will be described later.

Further, the graphic controller 25 is
A road is drawn on the VRAM 26 on the basis of the road data obtained by the three-dimensional coordinate conversion, and the road is output to the display means 40 to display the road on the map on the screen (step S1).
0). Further, the graphic controller 25 is a VR
A place name is drawn on the AM 26 based on the place name data, and is output to the display means 40 to display the place name in a superimposed manner on the screen (step S11). Furthermore, a mark indicating the own vehicle position is superimposed and displayed on the screen of the display means 40 via the graphic controller 25 and the VRAM 26 (step S12).

Thereafter, a key input section of the CPU peripheral circuit 22 for instructing left rotation, right rotation, elevation angle up, elevation angle down, enlargement, reduction, etc. from an input device such as a joystick or various keys for operating the navigation device 1. When various keys are operated (step S13), the process returns to step S6, and again based on the road data, the place name data, and the height data, three-dimensional with the direction and elevation of the viewpoint specified by the various key operations. The coordinate conversion calculation process is performed, and steps S7 to S13 are repeated. Step S
If various key operations are not performed at 13, the display process ends. This process is executed every predetermined time.

Next, the principle of the above-described three-dimensional coordinate conversion in step S6 will be described. In the three-dimensional coordinate system shown in FIG. 4,

[Equation 1] Then, when rotating by the rotation angle θ around the z axis,
Each unit vector of x, y, z is

[Equation 2] Becomes

Here,

(Equation 3) Any vector represented by

[Equation 4] Is a vector when is rotated by the rotation angle θ around the z axis

(Equation 5) Is

(Equation 6) Becomes Therefore, the rotation matrices rotz and x ', y', z'when rotated around the z-axis are

(Equation 7) Becomes

Similarly, the rotation matrices rotx and roty when rotated about the x-axis and the y-axis are respectively

(Equation 8) Becomes

In order to display a three-dimensional map, the original map represented by the two-dimensional two-dimensional coordinates is rotated in the x-axis and the z-axis in the initial state.
And x ′, y ′, z ′ are respectively

[Equation 9] Becomes

Here, as shown in FIG. 5, it is assumed that there is a cube having a vertex at the point A (xW, yW, zW) on the World coordinate system, and the coordinates of the point A are the center points OB (xO of the cube).
, YO, zO) in the body coordinate system centered on

[Equation 10] Becomes When this is rotated by xB axis at rotation angle δ and further rotated by zB axis at rotation angle φ for coordinate conversion (that is, when equation (5) is substituted into equation (4-2)), the transformed coordinates are ,

[Equation 11] Becomes

A concrete example of the coordinate conversion is shown in order in FIGS. That is, the two-dimensional map image shown in FIG. 6 is rotated as an arrow B (xB axis rotation) about the vertical rotation center line indicated by the two-dot chain line EE in FIG. The image shown in FIG. 8 is obtained by rotating the image shown in FIG. 7 around the horizontal center line of rotation indicated by the chain double-dashed line in FIG. 7 as a rotation axis (zB axis rotation). In addition,
The same applies to other rotations, and the rotation matrices rotx and roty
, Rotz.

Next, the principle of the drawing method in step S9 described above will be described. To display a three-dimensional object on a two-dimensional screen, the x of the coordinate after the above three-dimensional coordinate conversion is used.
Only the component and the y component need be extracted. Although not particularly limited, the navigation device 1 of this example employs, for example, a wire frame model graphics in which an object is represented by only ridge lines. Therefore, as shown in FIG. 9, the height data of the original two-dimensional map data is sampled in a raster pattern based on latitude and longitude, and the x component, y component and z component of the height data are coordinate-converted. Obtained by (x ', y', z ') and [(x + 1)', y ',
z '] and a line. Further, in this example, as a hidden line processing method for hiding a line hidden behind an object to make it look more stereoscopic, as shown in FIG. 9, for example, data on the first scanning line and the second scanning line is used for multi-processing. It adopts a method of forming a polygon and filling it while displaying it from the back of the screen.

Next, an example of use of the navigation device according to the present invention will be described. FIG. 10 shows a usage example of a three-dimensional map displayed by the navigation device according to the present invention. The usage example of FIG. 10 utilizes the fact that the image displayed on the display unit 40 of the navigation device 1 is three-dimensional (three-dimensional).
This is an example in which, for example, the name and positional relationship of mountains can be instantly known by comparing the actual scenery seen from the front with the three-dimensional image displayed on the display means 40. In this case, it is more effective to set the viewpoint of the navigation device 1 to the direction and the elevation angle as if the user were looking forward from the inside of the vehicle.

FIG. 11 shows another example of use of the three-dimensional map displayed by the navigation device according to the present invention. The usage example of FIG. 11 uses the function of the navigation device 1 that allows a user to see an arbitrary place on a map three-dimensionally from an arbitrary viewpoint.
As shown in (a), an arbitrary place, for example, Mt. Fuji 110 in the example of FIG. 11 and an area including an arbitrary viewpoint 111 that desires Mt. Fuji 110 are displayed on the screen of the display means 40, and the viewpoint 111 is input. This is an example in which a desired scenery or the like can be viewed without actually going to the site by designating with a device or the like, as shown in FIG.
In this navigation device 1, when an arbitrary location on the map is viewed from an arbitrary viewpoint, by designating an arbitrary viewpoint with the input device, the latitude and
The longitude data is input to the image processing means 20 as the latitude / longitude data of the current location.

FIG. 12 shows another example of use of the three-dimensional map displayed by the navigation device according to the present invention. The use example of FIG. 12 is an example in which a drive plan can be more efficiently made by utilizing the above-described function of being able to see a desired scenery or the like without going to the field. That is, for example, as shown in FIG. 12, Lake Mashu has a first observatory, a second observatory, and a back Mashu observatory, but the view from each observatory is displayed before the actual visit to Lake Mashu 40. It is possible to predetermine which observatory to go to by displaying them on the screen and comparing them.

FIG. 13 shows another example of use of the three-dimensional map displayed by the navigation device according to the present invention. The example of use in FIG. 13 uses a function that allows an arbitrary location on a map to be viewed three-dimensionally from an arbitrary viewpoint. For example, as shown in FIG. 13, a steep mountain top or an eruption is occurring. An example in which by setting the viewpoint at a point where entry is not possible, such as the crater of the volcano, it is possible to display the scenery seen from that point where entry is not possible on the screen of the display means 40. Is.

As described above in detail, according to the above-described embodiment, the navigation device 1 is based on the ROM 23 in which height data is stored in advance, the two-dimensional coordinate data such as planar road data, and the height data. Image processing means 20 for generating three-dimensional coordinate data and outputting the three-dimensional coordinate data as map data to the display means 40. Therefore, a three-dimensional map image in consideration of ups and downs of topography is displayed. It can be displayed on the means 40. Therefore, the display means 40
You can display a map image of the direction of travel to know the topography of the current location, and you can display a map image of the destination to know the situation of the destination, etc., making it easy to accurately make a drive plan. There are safety benefits. For example, the safety is enhanced by the driver's early recognition that the road in progress is a downhill slope and that the driver must be careful not to overspeed. Further, since the image processing means 20 is adapted to generate three-dimensional coordinate data of an image viewed from an arbitrary viewpoint, a point which is actually invisible due to a shadow or the like, for example, an image ahead of a curve is displayed. It is also possible to display an image of a point different from the current location viewed from various viewpoints. Therefore, for example, by identifying the shaded areas from the undulations of the terrain, it may be possible that the road surface may be frozen due to shaded areas in the course of the road in winter, etc. You can know the hand in advance, and anticipate that there is a possibility that the preceding vehicle may be decelerating at the bend because the tip of the curve is uphill and take measures such as deceleration in advance. Can be properly performed, which increases safety. Further, as in the case of the above-described use example, by displaying a landscape or the like which cannot be actually seen on the display unit 40, an entertainment added value can be obtained.

The configuration of the image processing means 20 and the flow of the display processing are not limited to those in the above embodiment, and the three-dimensional coordinate conversion is performed based on the two-dimensional coordinate data and the height data of the planar map, and the display means. It does not matter as long as a three-dimensional map image can be displayed on the screen of 40.

In the above embodiment, the case where the navigation device according to the present invention is applied to the navigation system based on the GPS system has been described, but the present invention is not limited to this, and the present position can be determined by using a vehicle speed sensor or a gyro sensor. It may be applied to a navigation system, or may be applied to a system that uses both a GPS-based navigation system and a self-contained navigation system. When the present invention is applied to the self-contained navigation system, the position information output means 10 calculates the latitude / longitude of the current position based on the latitude / longitude information of the departure point and the detection information of the vehicle speed sensor, the gyro sensor and the like. When the navigation system based on the GPS system and the self-contained navigation system are used together, the position information output means 10
Calculates the latitude and longitude of the current location based on the current location information from both systems.

Further, the navigation device according to the present invention and an FM multiplex broadcast receiver are combined to receive traffic jam information, weather information, seasonal information such as cherry blossom fronts and pollen fronts, and the information is displayed on the display means 40. It may be displayed.

Furthermore, in the above-mentioned embodiment, the height data is stored together with the program for creating the three-dimensional map display in the form of R.
Although stored in the OM23, a ROM for storing a program for creating a three-dimensional map display and an RO for storing height data
The height data may be stored in an external storage medium such as a CD-ROM of the map data storage means 30 together with the planar two-dimensional coordinate information of the map. However, when the height data is stored in a CD-ROM or the like together with the two-dimensional coordinate information, a CD for an existing car navigation device is used.
-When the ROM is used, there is a disadvantage that a three-dimensional map cannot be displayed.

Further, the navigation device according to the present invention is applicable not only to a vehicle but also to a moving body such as a ship.

[0046]

According to the first aspect of the present invention, it is provided with the map data storage means for storing the map data in advance and the display means for displaying the map image around the current location based on the position information of the current location and the map data. In the navigation device, the map data storage means stores planar two-dimensional coordinate data of each point and height data corresponding to the height of the point. 3D coordinate data is generated based on the height data, and part 3
Since the image processing means for outputting the dimensional coordinate data as map data to the display means is provided, it is possible to display a three-dimensional map image in consideration of ups and downs of the terrain. Therefore, safety advantages and entertainment added value can be obtained.

According to the second aspect of the present invention, the navigation comprises map data storage means for storing map data in advance and display means for displaying a map image of the vicinity of the current location based on the position information of the current location and the map data. In the device, the map data storage means stores planar two-dimensional coordinate data of each point, and height data storage means stores height data corresponding to the height of each point in advance. ,
3 based on the two-dimensional coordinate data and the height data
Displaying a three-dimensional map image considering terrain ups and downs because the image processing means generates dimensional coordinate data and outputs the three-dimensional coordinate data as map data to the display means. You can Therefore, as in the case of the first aspect of the present invention, safety advantages and entertainment added value can be obtained. Moreover, it is possible to use a commercially available CD-ROM, IC card, or the like that stores two-dimensional coordinate data.

According to the invention of claim 3, in the invention of claim 1 or 2, the image processing means generates three-dimensional coordinate data of an image viewed from an arbitrary viewpoint. Therefore, it is possible to display a point that cannot be actually seen as a shadow, for example, an image at the end of a curve, or an image of a point different from the current position viewed from various viewpoints.

According to the invention described in claim 4, in the invention described in claim 3, since the image processing means is adapted to generate three-dimensional coordinate data of the image which faces the traveling direction from the present location, A map image of directions can be displayed.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram showing an example of a navigation device according to the present invention.

FIG. 2 is a flowchart showing an example of a flow of a display method of the navigation device.

FIG. 3 is a diagram showing a display example of a three-dimensional map by the navigation device.

FIG. 4 is a diagram illustrating the principle of coordinate conversion in a three-dimensional coordinate system.

FIG. 5 is a diagram illustrating the principle of coordinate conversion in a three-dimensional coordinate system.

FIG. 6 is a diagram showing how a three-dimensional map display is rotated.

FIG. 7 is a diagram showing how a three-dimensional map display is rotated.

FIG. 8 is a diagram showing how a three-dimensional map display is rotated.

FIG. 9 is a diagram showing the principle of three-dimensional map display.

FIG. 10 is a diagram showing a usage example of a three-dimensional map.

FIG. 11 is a diagram showing a usage example of a three-dimensional map.

FIG. 12 is a diagram showing a usage example of a three-dimensional map.

FIG. 13 is a diagram showing a usage example of a three-dimensional map.

[Explanation of symbols]

 1 Navigation Device 20 Image Processing Means 23 ROM (Height Data Storage Means) 30 Map Data Storage Means 40 Display Means

Claims (4)

[Claims] 1. A navigation device comprising: map data storage means for storing map data in advance; and display means for displaying a map image of an area around the current location based on position information of the current location and the map data. The storage means stores planar two-dimensional coordinate data of each point and height data corresponding to the height of the point, and stores the three-dimensional data based on the two-dimensional coordinate data and the height data.
A navigation device comprising image processing means for generating dimensional coordinate data and outputting the three-dimensional coordinate data as map data to the display means. 2. A navigation device comprising: map data storage means for storing map data in advance; and display means for displaying a map image of the vicinity of the present location based on the position information of the present location and the map data. The storage means stores planar two-dimensional coordinate data of each point, and height data storage means that stores height data corresponding to the height of each point in advance, the two-dimensional coordinate data and the height data storage means. 3 based on height data
An image processing means for generating dimensional coordinate data and outputting the three-dimensional coordinate data as map data to the display means. 3. The navigation device according to claim 1, wherein the image processing means generates three-dimensional coordinate data of an image viewed from an arbitrary viewpoint. 4. The navigation device according to claim 3, wherein the image processing means generates three-dimensional coordinate data of an image of which the traveling direction is viewed from the current location.