JPH08304094A - Navigation system - Google Patents

Abstract

PURPOSE: To facilitate arrival at a goal remote from a final guided point by indicating the direction and distance of goal when a vehicles enters a zone within a predetermined distance from the final guided point. CONSTITUTION: When a goal is not shown on the screen (Step 102), but a final guided point is shown on the screen (Step 108), direction and distance of the goal are found (Step 110, 112) and a mark M indicating the direction to the goal is displayed along with the distance to the goal (Step 114). Advancing direction can be judged easily based on the mark and distance thus displayed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a navigation device which displays a mark indicating the direction of a destination so that the destination can be reached when route guidance to the destination cannot be performed.

[0002]

2. Description of the Related Art In a conventional navigation device, after a user has registered a destination, a route to this destination is manually registered, or an optimum route to the destination is automatically obtained. Then, the route to the destination is displayed on the map screen by a prominent line such as a thick line, and the navigation is performed so that the own vehicle follows the route.

[0003]

However, in the road data used in the conventional navigation device, there are many cases where the road data does not include a narrow road having a predetermined width or less such as a pavement or an alley. Also, if the destination is in a vast site such as a clubhouse on a golf course,
Public roads to the golf course are included in the road data, but private roads within the golf course are often not included in the road data. In such a case, in the conventional navigation device, for example, the closest point to the destination from the stored map data, such as the intersection closest to the destination, the entrance of the destination, the tip of the road to the destination, etc. A final guidance point is set, and a route to this final guidance point is searched for navigation.

Therefore, in the conventional navigation device, when the map is displayed at a reduced scale, for example, if the destination is far from the final guidance point, the destination is reached even if the destination arrives at the final guidance point. The ground does not exist on the map screen, and it becomes difficult to know which direction to proceed from the final guidance point.

Further, Japanese Patent Publication No. 6-50560 discloses that
There is disclosed a navigation device that displays the direction of a destination when the vehicle arrives at a final guidance point and displays the direction of the destination when a vehicle enters a range of a predetermined distance from the destination. However, if the direction of the destination is displayed when the vehicle arrives at the final guidance point, it may not be possible to suddenly change the direction when the final guidance point is an intersection. In addition, even if there is a road leading to the destination slightly before the final guidance point, it is not possible to determine whether or not to follow this road.
Also, if the direction of the destination is displayed when entering the range of the predetermined distance from the destination, the direction of the destination is not displayed when the distance from the final guidance point to the destination is more than the predetermined distance. Therefore, it is difficult to know which direction to proceed from the final guidance point.

[0006]

In order to solve the above problems, the present invention is configured to display a mark indicating the direction of the destination when the final guidance point enters the map screen. Also, when this mark is displayed, the distance between the current position and the destination is displayed.

[0007]

[Operation] By displaying the direction of the destination as a mark before reaching the final guidance point, the driver can change the direction at the final guidance point with a margin and a little less than the final guidance point. It will be easier for you to follow the road leading to your destination.

[0008]

【Example】

1. Summary of Embodiments An embodiment according to the present invention described below includes a current position detecting means (step 5 in FIG. 5) for detecting the current position of a moving means.
0) and destination setting means for setting the destination (see FIG. 5).
51), a route setting means for setting a route to the destination set by the destination setting means (step 52 in FIG. 5), a route to the destination set by the route setting means, and the above Whether or not the route display means (step 53 in FIG. 5) for displaying the current position on the map screen and the final guidance point which is the guidance end position of the route set by the route setting means are displayed on the map screen. 6, an arrival point determining means (step 108 in FIG. 6) and a destination direction detecting means (step 11 in FIG. 6) for determining the direction in which the destination exists with respect to the current position of the moving means.
0) and the arrival point determination means determines that the final guidance point is displayed on the map screen, a mark indicating the destination direction of the destination detected by the destination direction detection means is displayed. And a destination direction mark display means (step 114 in FIG. 6) for displaying the navigation device.

In this embodiment, the distance calculating means for calculating the distance between the current position and the destination (step 11 in FIG. 6).
2), and when the destination direction display means displays a mark indicating the direction in which the destination exists, the distance display means (in FIG. 6) displays the distance to the destination calculated by the distance calculation means. Step 114).

Further, in this embodiment, the destination display discriminating means (step 102 in FIG. 6) for discriminating whether or not the destination is displayed on the map screen, and the destination is discriminated by the destination display discriminating means. When it is determined that the place is displayed on the map screen, a mark display prohibiting means (step 118 in FIG. 6) for prohibiting the display of the mark indicating the direction in which the destination is present is displayed by the destination direction mark displaying means. I have it.

2. Overall Circuit FIG. 1 shows the overall circuit of the navigation device. The central processing unit 1 controls the operation of the navigation device and performs calculations by the CPU 2. The first ROM 3 stores a system program executed by the CPU 2, programs necessary for display control and voice guidance control, various parameters, and the like. The RAM 4 stores externally input data, various parameters used for calculation, calculation results, and the like. The second ROM 5 stores display data necessary for route guidance and map display. The clock 6 generates time information. The sensor input interface 7 inputs detection data from the absolute azimuth sensor 21, the relative azimuth sensor 22, and the distance sensor 23 of the current position detection device 20,
Send to CPU2. The communication interface 8 transmits / receives various data to / from the device connected to the data bus 28.

The image processor 9 reads out the image data stored in the image memory 10 and outputs the image data to a display 33 capable of displaying an image such as a CRT, a liquid crystal display or a plasma display. The image memory 10 stores the image data displayed on the screen of the display 33, and sends and receives the image data to and from the image processor 9. The image processor 9 converts data of a target object, a road, etc., which will be described later, into display data according to a command from the CPU 2, and forms image data to be displayed on the screen of the display 33. At this time, due to the scrolling of the screen, an image around the screen displayed on the display 33 is also formed and stored in the image memory 10. The voice processor 11 inputs the synthesized voice waveform data read from the ROM 3 or 5 by the CPU 2, forms a voice waveform of an analog waveform, and sends it to the speaker 13.

The current position detecting device 20 is a device for obtaining data for detecting the current position of the vehicle. The absolute direction sensor 21 is, for example, a geomagnetic sensor that detects geomagnetism and outputs data indicating the north-south direction that is the absolute direction. The relative azimuth sensor 22 outputs data indicating the deviation in the traveling direction of the vehicle with respect to the absolute azimuth detected by the absolute azimuth sensor 21, and for example, a gyro device such as an optical fiber gyro or a piezoelectric vibration gyro, or steering of wheels. It is a steering angle sensor that detects an angle. The distance sensor 23
It outputs data indicating the distance traveled by the host vehicle, and is, for example, a digital counter linked with a speedometer or a distance meter.

The GPS receiver 25 is a GPS (Global P
ositioning System) signal and outputs the position data. The beacon receiving device 26 receives GPS correction data and a beacon wave from an information providing system such as VICS (road traffic information communication system) and outputs the received data. The data transmission / reception device 27 transmits / receives the current position information to / from a bidirectional current position information providing system using AT such as a cell phone, an FM multiplex signal, a telephone line, or ATIS (traffic information service).

The input / output device 30 inputs information necessary for setting a destination such as a starting point, a destination, and a passing point, and outputs guidance information during a navigation operation. Display 3
A transparent touch panel 34 is provided on the screen of No. 3. This touch panel has transparent touch switches arranged in a planar matrix. The printer 35
Various types of information such as maps and facility guides output via the communication interface 8 are printed. The information storage device 37 displays as map data, intersection data, node data, road data, photograph data, destination data, guidance data, detailed destination data, destination reading data, and other data necessary for navigation operation. It is a database that stores guidance data, voice guidance data, and the like. This information storage device is, for example, an IC memory, a CD-ROM, an IC.
It is composed of a storage medium such as a memory card, an optical disk, a magnetic disk, and a reading device for the storage medium.

3. Data Group FIG. 2 shows a part of the data group stored in the RAM 4. In the external data GD, all or part of the data stored in the information storage device 37 is copied. The current position data MP is the current position data of the vehicle detected by the current position detection device 20. Absolute direction data Z
D is data indicating the north-south direction obtained based on the data from the absolute azimuth sensor 21. The relative azimuth angle data θ is an angle formed based on the data from the relative azimuth sensor 22 with respect to the absolute direction from the traveling direction of the vehicle. The mileage data ML is the mileage of the own vehicle obtained based on the data from the distance sensor 23. The starting point data SP is coordinate data on the map of the starting point of the navigation operation used in the destination setting process (step 51) described later. The current position information PI is data regarding the current position input from the beacon receiving device 26 or the data transmitting / receiving device 27. VICS data VD
And ATIS data AD are VICS or A input from the beacon receiving device 26 or the data transmitting / receiving device 27.
These are TIS data. The registered destination data TP is data relating to the destination such as the position and name of the destination registered by the user, and the optimum route data MW is the optimum route to the destination searched in the route search process (step 52) described later. It is data indicating a route. The destination direction data MH is data indicating the direction of the destination obtained in the direction mark display process (step 100) described later. The final guidance point data STP is coordinate data of the final guidance point obtained in the route search process (step 52). Destination distance data M
K is data representing the distance from the current position to the destination obtained in the direction mark display process (step 100).

4. Overall Process FIG. 3 is a flowchart of the overall process executed by the CPU 2. This process starts when the power is turned on and ends when the power is turned off. CP at the start
Initialization processing of U2, RAM4, image memory 9, etc. is performed. Then, the current position acquisition process (step 5)
0), the destination setting process (step 51), the route search process (step 52), and the guidance display process (step 53) are repeatedly executed.

In the present position acquisition process (step 50),
The current position of the vehicle is calculated based on the data sent from the current position detection device 20. In the calculation process of the current position, the latitude and longitude are calculated from the data input from the GPS receiving device 25, and the latitude and longitude are stored in the RAM 4 as the current position data MP. The current position data MP is modified by the information about the current position input from the beacon receiving device 26 or the data transmitting / receiving device 27.

Further, a calculation process for specifying the position of the vehicle is performed based on the absolute azimuth data ZD, the relative azimuth data SD, and the traveling distance data ML. The own vehicle position obtained by this arithmetic processing is collated with the map data in the external data GD, and is corrected so that the current position on the map screen is accurately displayed. By this correction processing, the current position of the vehicle can be accurately obtained even when GPS signals cannot be received in the tunnel or the like.

In the destination setting process (step 51), a destination setting operation process is executed. In the destination setting operation processing, the destination setting input screen is displayed on the display 33 by the user selecting the destination setting mode. The user can specify the destination from any of the address, telephone number, and name. In addition, for example, when one genre is further selected from a genre-specific menu such as a tourist resort and various facilities, a plurality of destinations stored in the selected genre are displayed on the display 33 in the form of a list. Is also good. Further, detailed guidance of each destination can be displayed. Once the destination is decided,
By performing an operation to instruct the confirmation of the destination, the data regarding the confirmed destination is stored in the RAM 4 as the registered destination data TP. The destination setting process (step 51) is jumped when a new destination setting operation or a new target selecting operation is not performed.

In the route search process (step 52), the optimum route to the destination is searched based on the registered destination data TP, the current position data MP, and the map data.
Then, the road number data of the roads forming the optimum route are arranged according to the route from the starting point to the destination, and the arranged road number data is stored in the RAM 4 as the optimum route data MW. Here, if there is a road that reaches the registration destination TP, the final guidance point becomes the registration destination, and the coordinate data of the registration destination TP is stored as the final guidance point data STP. For example, as shown in FIG. 4, when going from the departure place SP to the destination TP, the user inputs the departure place and the destination in the destination setting process (step 51), The optimum route to the destination TP (indicated by the thick line in the figure) is automatically searched. For this optimum route, roads that are consecutive from the departure place SP can be selected from the roads sandwiched between the intersections K1 to K7, the shortest distance can be used, and many main roads can be used to reach the destination smoothly. It is such a route. And
The road number data forming the optimum route is stored in the RAM 4 as the optimum route data MW. In the case shown in FIG. 4, road number data 1, 3, 7, 11, and 14 are arranged in this order in the optimum route data MW, and RA
It is stored in M4.

Further, since the road data file does not store narrow roads or alleys having a predetermined width or less, private roads on the site, etc., there are cases where a road reaching the coordinates of the destination cannot be searched. In this case, since the registered destination cannot be the final guidance point, the final guidance point is automatically set, and the coordinate data of the final guidance point thus set is stored in the RAM 4 as the final guidance point data STP. To be done.
For this automatic setting of the final guidance point, for example, the roads existing within a predetermined distance from the registered destination are searched, and the coordinate data of the point which is the shortest distance from the registered destination among the end points of these roads is used as the final guidance point data. It is performed by setting STP.

If the registered destination cannot be the final guidance point, the user may input the final guidance point. For example, in the final guidance point input mode, when the user designates a point on the road displayed on the map screen, the coordinate data of the designated point is stored in the RAM 4 as the final guidance point data STP. Configure. This route search process (step 5
In 2), if there is no change in the optimum route, it is jumped.

In the guidance / display process (step 53), the optimum route obtained in the route search process (step 52) is displayed in red on the map screen displayed on the display 33. Then, the guide is audibly produced by the speaker 13 or the guide is displayed on the map screen so that the vehicle can travel along the optimum route. Further, in this guidance / display processing, a destination direction display processing described later is executed. By repeating the above process,
In the map screen displayed on the display 33, the optimum route to the destination registered by the user, the current position of the own vehicle and the traveling direction of the own vehicle are displayed, and the current position is displayed according to the progress of the own vehicle. Is corrected, and when the vehicle approaches a point requiring guidance such as an intersection or a branch, the guidance is notified by voice or display.

5. Road Data FIG. 5 shows a part of road data in the road data file stored in the information storage device 37. This road data file contains information about all roads having a certain width or more existing within the area stored in the map data file. If the number of roads included in this road data file is n, road data of each road regarding n roads is included, and each road data includes road number data, length data, road attribute data, and shape data. , Guidance data. The road number data is an identification number assigned to each of the divided roads by dividing all the roads included in the map data. The road attribute data is data indicating attributes of an elevated road, an underpass, a highway, a toll road, and the like. The shape data is data indicating the shape of the road, and stores coordinate data of nodes from the start point to the end point of the road. For example, in the case shown in FIG. 4, node numbers N1 to N4 are assigned to roads having road numbers 1, 4, and 14, and the coordinate data of each is stored as shape data.

The guide data is composed of intersection name data, caution point data, road name data, road name voice data, and destination data. The intersection name data is data representing the name of the intersection when the end point of the road is the intersection. Points to note are railroad crossings, tunnel entrances,
This is data related to roadway precautions such as tunnel exits and width reduction points. Road name voice data is voice data representing a road name used for voice guidance.

The destination data is data relating to a road continuing to the end point of the road (this is the destination), and is composed of the number of destinations k and data for each destination. The data regarding the destination is the destination road number data indicating the destination road number, the destination name data indicating the destination road name, the destination name voice data for voice guidance of the destination road name, and the direction of the destination road. It includes the destination direction data shown, and travel guidance data for guiding the driver to approach the right lane, the left lane, or the center to enter the destination road.

6. Direction Mark Display Process FIG. 6 shows a flowchart of the direction mark display process (step 100) executed in the guidance / display process (step 53). This process is executed as a part of the process related to the navigation operation by the guide / display process. In this processing, it is first determined whether or not the destination is within the map screen displayed on the display 33 (step 102). Although various processes can be performed to make this determination, for example, the coordinate data of the registered destination data TP stored in the RAM 4 is included in the image data sent to the display 33 by the image processor 9. It can be determined by whether or not there is. Also, the coordinate data of the four corners of this image data and the registered destination data T
It can also be performed by discriminating the size from the P coordinate data. When the destination is displayed on the display 33, it is not necessary for the driver to indicate the direction of the destination because the direction of the destination is clear to the driver. If not, and if the destination direction mark and the distance to the destination are displayed,
The display of this mark is erased (step 118).

If the destination is not displayed on the display 33, it is next determined whether or not the host vehicle is traveling on the optimum route (step 104). Although various processes can be performed to make this determination, for example, the optimum path data MW and the current position data MP stored in the RAM 4 are stored.
It can be determined based on whether and match.
For example, if the road number data of the road currently traveling is obtained based on the current position data MP and this road number data matches any of the road number data of the roads included in the optimum route data MW, It is determined that the own vehicle is traveling on the optimum route, and if they do not match, it is determined that the own vehicle is traveling at a position deviating from the optimum route. It can also be determined by matching each coordinate data of the road data of the optimum route data MW with the current position data MP. If the current position is out of the optimum route, the destination direction mark M indicating the direction in which the destination exists and the distance to the destination are displayed on the display 33 by the processing of steps 110 to 116 described later, and the voice guidance is provided. Is done. As a result, even if the driver deviates from the optimum route, the driver can confirm the direction and distance of the destination, so that the driver can reach the destination without getting lost.

On the other hand, if the vehicle is traveling on the optimum route, then it is judged whether or not the vehicle is traveling in reverse (step 106). Although various processes can be performed to make this determination, for example, it is determined whether or not the movement of the coordinates of the current position data MP is from the start point to the end point of the road data included in the optimum route data MW. If the vehicle is running in reverse, the destination direction mark M and the distance to the destination are displayed on the display 33 by the processing of steps 110 to 116 described later, and voice guidance is provided. As a result, the driver can know that he is traveling in the reverse direction and can confirm the direction and distance of the destination, so that the driver can go in the correct direction without leaving the destination while traveling in the reverse direction. it can.

Note that, in the road data stored in the road data file in the information storage device 37, as shown in FIG. 7, the road between the intersections Ka, Kb, Kc and the nodes Na, Nb is the ascending lane. And a pair of lanes L1
Some are divided into L8, and each lane has a different road number. In this case, step 10
The determination process of 6 is unnecessary. Because the optimum route data M
Since only one of the paired roads is selected for W, it is determined that the vehicle is off the optimum route by the determination processing of step 104 during reverse running, and steps 110 to 110 are performed. By the processing of 116, the destination direction mark M and the distance to the destination are displayed and voice guidance is performed.

If the vehicle is not traveling in the reverse direction, it is then determined whether or not the final guidance point is displayed on the map screen (step 108). For example, it can be determined whether or not the coordinate data of the final guidance point data STP stored in the RAM 4 is included in the image data sent to the display 33 by the image processor 9. It can also be performed by discriminating between the coordinate data of the four corners of the image data and the coordinate data of the final guidance point data STP. If the final guidance point is not displayed on the map screen, the destination direction mark M and the distance to the destination are not displayed, and if the destination direction mark M and the distance to the destination are displayed. If so, it is erased (step 118).

If it is determined in step 108 that the final guidance point is displayed on the map screen, then the direction of existence of the destination with respect to the current position is determined (step 110). For example, the direction of existence of the destination can be obtained by obtaining the inclination angle of the straight line connecting the coordinate data of the current position data MP and the coordinate data of the registered destination data TP with respect to the vertical direction of the map screen. The obtained direction of the destination is stored in the RAM as the destination direction data MH.
4 is stored.

Next, the distance from the current position to the destination is obtained (step 112). For example, the linear distance between the two coordinates is obtained from the coordinate data of the current position data MP and the coordinate data of the registered destination data TP, and this linear distance data is stored in the RAM 4 as the destination distance data MK.

Next, based on the destination direction data MH, a destination direction mark M indicating the direction in which the destination exists is displayed near the current position display H3, and based on the destination distance data MK. A distance indicator H7 indicating the distance to the destination is displayed by numbers in the lower left corner of the map screen H1 (step 114). A character pattern of an arrow is stored in the second RAM 5, and displayed so that the direction of the arrow points in the direction of the angle of the destination direction data MH. Alternatively, for each angle obtained by dividing 360 degrees into a predetermined number, an arrow pattern pointing in the direction of the angle is made to correspond,
A pattern corresponding to the angle of the destination direction data MH is selected and displayed. The character pattern data of the arrow is sent to the image processor 9 and is incorporated into the image data so that the destination direction mark M is displayed at the coordinate position near the current position coordinate. At the coordinate position where the pattern data of the destination direction mark M is displayed, a deviation from the current position data MP is provided for each pattern so that the tip of the arrow becomes radial around the current position coordinate.

For example, as shown in FIG. 8, when the vehicle is traveling on the optimum route, the current position display H3 is on the optimum route display H2. Then, the destination TP is the map screen H.
1, which is outside of 1 and is not displayed in the map screen H1,
When the final guidance point GP enters the map screen H1,
By the above processing, the arrow-shaped destination direction mark M indicating the direction in which the destination TP exists is displayed in the direction of the destination TP in the vicinity of the current position display H3, and the destination is displayed in the lower left corner of the map screen H1. Distance H7 is displayed. In this way, it is possible to see at a glance which direction should be taken in order to go from the current position to the destination TP.

A road H continuing from the final guidance point GP
When 4 is not connected to the destination TP, even if the direction of the destination is displayed after arriving at the final guidance point GP as in the conventional case, I am wondering how to reach the destination and suddenly change direction. Is also difficult to do. On the other hand, in the case of this embodiment, since the destination direction mark M is displayed when the final guidance point GP enters the map screen H1, the destination is reached before the final guidance point GP. If there is a road H8, it is possible to easily go to this road H8, so that it is possible to reach the destination accurately and quickly.

When the destination direction mark M and the distance to the destination are displayed, the direction and the distance of the destination are sounded from the speaker 13 (step 116). This voice guidance data is stored in advance in the ROM 3 or 5, is selected in correspondence with the destination direction data MH and the destination distance data MK, and is sent to the voice processor 11. This voice guidance is, for example, "the destination direction is right (left, top,
Downward, diagonally upper right, diagonally lower right, diagonally upper left, diagonally lower left) direction,
… A meter away. It is pronounced like.

When the scale of the map screen is increased when the current position approaches the destination, the map screen becomes a wide area screen and the destination is displayed in the map screen. Conversely, when the scale is decreased, the map screen is displayed. The destination may not be displayed on the map screen in the detail screen. In this case, in step 108, the destination direction mark M and the distance may or may not be displayed depending on the switching of the scale.

As described above, the navigation apparatus of this embodiment has a destination ahead of a narrow road having a predetermined width or less, such as a road or alley, or has a vast destination such as a golf clubhouse. When the final arrival point enters the map screen, the destination direction mark M indicating the direction in which the destination exists and the distance to the destination are displayed when the final arrival point enters the map screen. As a result, the driver can change the direction at the final arrival point with a margin, and it becomes easy to proceed to the road leading to the destination slightly before the final arrival point. In addition, when the vehicle deviates from the optimum route or when the vehicle is traveling backward in the optimum route, the distance between the destination direction mark M and the destination is displayed, so that the driving vehicle deviates from the optimum route. You can know that you are traveling or running backwards, and you can follow the correct route to your destination.

6. Other Examples By the way, for example, when the vehicle is traveling off the route to the destination, as shown in FIG. 18, the current position display H3 is on the currently displayed road display H9, The optimum route display H2 is separated from the current position display H3. In this case, when the destination does not exist in the map screen H1,
A direction display H5 and a scale display H6 are displayed on the map screen H1, but since the direction of the destination is unknown, it is not clear which direction to go after returning to the optimum route display H2.

When the vehicle is traveling on the route to the destination, the current position display H3 is displayed over the optimum route display H2 in the map screen H1 as shown in FIG. To be done. However, even if the vehicle is traveling on the optimum route, it may be traveling in the direction opposite to the direction to reach the destination, and the driver may not know that the vehicle is traveling in the reverse direction. .

Further, since the own vehicle is traveling far off the optimum route, if there is neither a destination nor an optimum route display H2 on the map screen H1, it is impossible to know at all which direction to go. . In addition, when the user scrolls the screen to check the direction of the destination from the state where the current position is displayed as shown in FIG. 18 or 19, the direction of the destination may not be known. is there.

Therefore, when the vehicle deviates from the route to the destination, by notifying the direction of the destination or the traveling direction of the route or the direction in which the route exists, the correct direction for reaching the destination can be easily determined. It becomes easy to return to the route to the destination. Further, when the vehicle is traveling backward on the route to the destination, the driver can know that the vehicle is traveling backward by notifying the traveling direction of the route, and can proceed in the correct direction. Furthermore, when the map screen is scrolled, by notifying the direction of the destination or the traveling direction of the route or the direction in which the route exists, the direction of the destination is not lost and the direction of the destination can be easily confirmed. Become.

An embodiment for obtaining such an effect will be shown below. The whole circuit and the whole process of the embodiment described below are the same as those shown in FIGS. 1 and 3. Further, in the RAM 4, in addition to the registers for storing various data shown in FIG. 2, traveling direction data SH indicating a traveling direction on the optimum route obtained in a direction mark display process (step 200) described later, A register is provided for storing intersection point data CP indicating the coordinates of the intersection of the optimum route and the end of the map screen, and existence direction data KH indicating the existence direction of the optimum route.

FIG. 9 shows the guidance / display processing (step 53).
Direction mark display processing (step 2)
00) is a flowchart. This process is executed as a part of the process related to the navigation operation by the guide / display process. In this process, first, it is determined whether or not the destination is within the map screen displayed on the display 33 (step 202). Although various processes can be performed to make this determination, for example, the coordinate data of the registered destination data TP stored in the RAM 4 is included in the image data sent to the display 33 by the image processor 9. It can be determined by whether or not there is. It can also be performed by discriminating between the coordinate data of the four corners of the image data and the registered destination data TP. When the destination is displayed on the display 33, since the direction of the destination is clear to the driver, the display for indicating the traveling direction is unnecessary, and the traveling direction mark display processing is not performed. When the traveling direction mark MA or the route direction mark MB is displayed, the display of this mark is erased (step 228).

If the destination is not displayed on the display 33, a predetermined (constant) distance to the destination (for example,
It is determined whether it is within 300 m (step 2)
04). Various processes can be performed to make this determination. For example, the current position data MP and the registered destination data TP are used.
It can be determined by calculating the linear distance between both points based on the coordinate data of and. If the destination is within a predetermined distance, it is easy to reach the destination even if the destination is not displayed. Therefore, the display for indicating the traveling direction is unnecessary, the traveling direction mark display processing is not performed, and if the traveling direction mark MA or the route direction mark MB is displayed, the display of this mark is erased. (Step 228).

When the destination is not displayed on the display 33 and the distance to the destination is equal to or more than the predetermined distance, it is next determined whether or not the own vehicle is traveling on the optimum route ( Step 206). Although various processes can be performed to make this determination, for example, the determination can be made based on whether or not the optimum route data MW stored in the RAM 4 and the current position data MP match. For example, based on the current position data MP, the road number data of the road currently being traveled is obtained, and if this road number data matches any of the road number data of the roads included in the optimum route data MW, the vehicle is It is determined that the vehicle is traveling on the optimal route, and if they do not match, it is determined that the vehicle is traveling at a position deviating from the optimal route. It can also be determined by matching each coordinate data of the road data of the optimum route data MW with the current position data MP.

When the current position is out of the optimum route, it is judged whether or not the optimum route is displayed on the display 33 (step 210). Although various processes can be performed to make this determination, for example, the road number data of the road included in the image data sent to the display 33 by the image processor 9 is read, and the optimum route data is stored in this road number data. It can be determined whether or not there is data that matches the road number data of the roads that make up the MW. When the matching road number data exists, it is determined that the optimum route is displayed, and when the matching road number data does not exist,
It is determined that the optimum route is not displayed.

When the optimum route is displayed on the display 33, it is judged whether or not the optimum route is within a predetermined distance from the current position (step 212). Although various processes can be performed to make this determination, for example, the coordinate data of the start point and the end point in the road data included in the optimum route data MW or the coordinate data of each node in the shape data and the coordinates of the current position. It can be obtained by finding each linear distance from the data and searching for the smallest one.

When the optimum route is not within the predetermined distance from the current position, this direction mark display processing is ended. This is because displaying the traveling direction mark MA after the own vehicle approaches the optimum route by a predetermined distance allows the driver to obtain sufficient information to know the traveling direction. By displaying the traveling direction mark MA only for a limited period, the processing load on the CPU 2 can be reduced.

On the other hand, when the optimum route is within the predetermined distance from the current position, the intersection of the displayed optimum route and the edge of the map screen displayed on the display 33 is calculated (step 214). In this processing, the road that is included in the range of the coordinates displayed on the display 33 by the image processor 9 and is the closest to the registered destination TP is obtained from the roads that form the optimum route data MW. Further, the coordinate data of the point where the straight line connecting the start point and the end point of this road intersects the screen end of the display 33 is obtained. The obtained coordinate data is stored in the RAM 4 as the intersection point data CP.

Next, a process for obtaining the traveling direction of the optimum route displayed on the display 33 is performed (step 216). There are various conceivable methods for this processing.
It is obtained by calculating the inclination angle of the straight line connecting the coordinates of the start point or the end point of the road obtained in 14.

Next, a process of displaying a traveling direction mark MA indicating the traveling direction at the calculated intersection is performed (step 2).
17). This process is executed as follows, for example. The second ROM 5 stores a plurality of character pattern data of arrows used for the traveling direction mark. 360
For each angle obtained by dividing the degree into a predetermined number, an arrow pattern pointing in the direction of the angle is made to correspond, and the intersection point data CP
On the other hand, the character pattern of the arrow is displayed in the direction of the traveling direction data SH. This character pattern data is sent to the image processor 9 and is incorporated into the image data, whereby the traveling direction mark MA
May be displayed at the coordinates indicated by the intersection data CP. Actually, a deviation from the intersection data CP is provided for each pattern so that the tip of the arrow coincides with the coordinates of the intersection data CP. Further, the traveling direction mark MA may be displayed in a direction connecting the coordinate data of the intersection point data CP and the coordinate data of the optimum route inside the map screen of the coordinate data.

Here, if the route direction mark indicating the existing direction of the optimum route, which will be described later, is displayed, the display of this route direction mark is erased (step 21).
8). Then, a voice for guiding the traveling direction is produced from the speaker 13 (step 220). This voice guidance is
For example, the direction of travel is right (left, up, down, diagonally upper right, diagonally lower right, diagonally upper left, diagonally lower left). This voice guidance data is stored in advance in the ROM 3 or 5
Are stored in the audio processor 11 and are selected according to the traveling direction data SH and sent to the audio processor 11.

For example, as shown in FIG. 10, when the vehicle is running off the route to the destination, the current position display H3 is on the currently running road display H9 and the The optimum route display H2 is separated from the current position display H3. In this case, when the destination does not exist in the map screen H1, an arrow-shaped traveling direction mark MA indicating the traveling direction is displayed at the intersection CP between the optimum route display H2 and the end of the map screen H1 by the above processing. To be done. by this,
You can see at a glance in which direction you should proceed after returning from the current position to the optimum route.

Even if the host vehicle is traveling on the optimum route, it may be traveling in the opposite direction, so step 2
If the determination result in 06 is YES, a determination process of whether or not the vehicle is running in reverse is performed (step 208). Whether or not the vehicle is traveling backward is determined, for example, by whether or not the movement of the coordinates of the current position data MP is from the start point to the end point of the road data included in the optimum route data MW. Then, when the vehicle is running in the reverse direction, the processing for displaying the traveling direction mark MA (steps 210 to 220) is executed.

For example, as shown in FIG. 11, when the vehicle is traveling on the optimum route, the current position display H3 is displayed over the optimum route display H2 in the map screen H1. Then, the traveling direction mark MA is displayed at the intersection CP between the optimum route display H2 and the end of the map screen H1. In this case, since the host vehicle is traveling in the reverse direction, the direction indicated by the traveling direction mark MA is displayed in the direction opposite to the traveling direction of the host vehicle. Therefore, the driver can easily understand that the vehicle is running in reverse.

When the road data stored in the road data file in the information storage device 37 is as shown in FIG. 7, the determination process of step 208 is unnecessary.
Because only one of the paired roads is selected for the optimum route data MW, it is determined that the road is out of the optimum route during reverse running, and steps 210 to 220 are executed. As a result of the processing, as shown in FIG. 11, the traveling direction mark M is added to the end of the optimal route display H2 in the traveling direction.
A is displayed.

On the other hand, when it is determined in step 210 that the optimum route is not displayed on the map screen H1, a process for determining the direction of existence of the optimum route is executed (step 222). Various processes can be performed to find the direction of the optimum route. For example, the distance between the coordinate data of the start point or the end point of each road data forming the optimum route data MW and the current position data MP is calculated, It is also possible to find a short distance. Then, the coordinate data and the current position data M at the obtained shortest distance are obtained.
The direction of the straight line connecting to P (the tilt angle with respect to the vertical direction of the map screen) is obtained, and this direction data is stored in the RAM 4 as the existence direction data KH of the optimum route.

Then, based on the existing direction data KH, the route direction mark MB indicating the direction in which the optimum route exists.
Is displayed near the current position display H3 (step 22).
4). The second ROM 5 stores a plurality of character pattern data of arrows used for the route direction mark. For each angle obtained by dividing 360 degrees into a predetermined number, an arrow pattern indicating the direction of the angle is associated, and a pattern corresponding to the angle of the existence direction data KH is selected. The character pattern data of the selected arrow is sent to the image processor 9 and incorporated in the image data to display the route direction mark MB at coordinates near the current position coordinates. At the coordinate position where the pattern data of the route direction mark MB is displayed, a deviation from the current position data MP is provided for each pattern so that the tip of the arrow becomes radial around the current position coordinate.

When the route direction mark MB is displayed, a voice for guiding the traveling direction is produced from the speaker 13 (step 226). This voice guidance is, for example,
The direction of the optimum route is right (left, top, bottom, diagonally upper right, diagonally lower right, diagonally upper left, diagonally lower left). This voice guidance data is stored in advance in the ROM 3 or 5 and is selected according to the presence direction data KH and sent to the voice processor 11.

For example, as shown in FIG. 12, when the vehicle is traveling on a road other than the optimum route, the current position display H
3 is on the currently displayed road display H9. When the optimum route H2 to the destination is outside the map screen H1 and is not displayed in the map screen H1, the above process allows the arrow-shaped route indicating the direction in which the optimum route H2 exists. The direction mark MB is displayed near the current position display H3 in the direction in which the optimum route H2 exists. In this way, it is possible to see at a glance which direction should be taken to return to the optimum route from the current position.

As described above, the navigation device of this embodiment is designed so that when the optimum route is displayed on the display 33 when the vehicle deviates from the optimum route to the registered destination, the optimum route is displayed. A traveling direction mark MA indicating the traveling direction is displayed at the end of the traveling direction of the vehicle, and when the optimal route is not displayed on the display 33, a route direction mark MB indicating the direction in which the optimal route exists at the shortest distance from the vehicle position. Is displayed. This makes it easier to reach the destination.

Further, since the traveling direction mark MA is displayed at the intersection of the optimum route display H2 and the end of the map screen H1, it may be erroneously recognized as a guide display for instructing the traveling direction at the intersection. Instead, the driver can be surely made to recognize that it is the traveling direction mark MA. In addition, since the traveling direction mark MA is displayed even when running backwards,
You can quickly confirm that you are running in reverse, and navigation will be more reliable.

The optimum route is also displayed when the map screen is scrolled or the map screen at an arbitrary position is displayed for map search in order to confirm the entire optimum route to the destination or to confirm halfway. Is displayed, the traveling direction mark MA is displayed, and if the optimum route is not displayed, the existing direction mark M is displayed.
Since B is displayed, the map screen can be scrolled and searched while being aware of the traveling direction and the existing direction of the optimum route, which is convenient.

Further, instead of the route direction mark MB in the above embodiment, a mark indicating the direction of the destination may be displayed. In this case, as shown in FIG. 13, instead of steps 222 and 224 in FIG. 9, a process of obtaining the direction of the destination (step 230) and a process of displaying a mark indicating the direction of the destination ( Step 232) and are performed. The direction of existence of the destination is obtained from the inclination angle of the straight line connecting the coordinates of the destination and the coordinates of the current position with respect to the vertical direction of the map screen. In the destination direction mark display processing (step 232), a character pattern in the arrow direction that matches the direction of existence of the destination is displayed in the vicinity of the current position display H3, as in step 224 of FIG. In this way, the driver can recognize the direction in which the destination is present, and the traveling direction can be easily determined. Further, instead of step 218 in FIG. 9, when the destination direction mark is displayed, a process of erasing it is executed (step 234).

Further, when the user scrolls the map screen in order to search for a destination from the state where the current position is displayed on the map screen, the user cannot find the direction of the destination to find the destination. It takes time. Therefore, by notifying the direction of the destination when the map screen is scrolled, the destination can be easily searched.

FIG. 14 is a flow chart showing the processing (step 300) for displaying the direction of the destination during this scroll. When the scroll key in the touch switch 34 or a switch (not shown) provided around the display 33 is operated (step 302), the direction of the destination is calculated (step 304). The calculation process of the direction of the destination is obtained, for example, from the inclination angle of a straight line connecting the coordinates of the reference point set in advance such as the center of the map screen or the center of the upper side of the map screen and the coordinates of the registered destination data TP. To be

Then, based on the obtained direction data of the destination, the destination direction mark is displayed on the map screen (step 306). This destination direction mark is displayed at an arbitrarily set display point such as the center of the map screen or the end of the map screen closest to the direction in which the destination exists. At this time, the direction of the destination may be notified by voice.

Then, once the scroll key is operated, the display of the destination direction mark continues to be updated and displayed until the guide return key is operated next (step 308). The guidance return key is a key for returning to the guidance screen in which the current position is displayed, and may be a dedicated key, or may be a return key, a key for indicating the current position display, or a guidance operation start key. It may be. When the guide return key is operated, the destination direction mark is not displayed and the screen returns to the guide screen.

The destination direction mark may be displayed only while the scroll key is being operated. In this case, as shown in FIG.
Instead of step 308 in 4, the process (step 310) of determining whether or not the scroll key is released is executed.

Further, instead of the steps 304 and 306 in FIG. 14 or FIG. 15, as shown in FIG. 16, the direction in which the optimum route exists is obtained (step 312), and the obtained direction of the optimum route is obtained. Alternatively, the route direction mark indicating “” may be displayed (step 314). The direction in which the optimum route exists is, for example, the coordinates of a reference point set in advance such as the center of the map screen or the center of the upper side of the map screen and the coordinates of the start point or the end point of each road data forming the optimum route data MW. Of the straight line connecting the coordinates at the shortest distance thus obtained and the coordinates of the registered destination data TP of the straight line connecting the reference points. . Further, the route direction mark is displayed at an arbitrarily set display point such as the center of the map screen or the end of the map screen closest to the direction in which the destination exists. At this time, the direction in which the optimum route exists may be notified by voice.

Further, instead of steps 304 and 306 in FIG. 14 or FIG. 15, when the optimum route is displayed on the map screen as shown in FIG. 17 (step 316), the traveling direction of the optimum route is changed. Seeking (Step 31
8) The traveling direction of the obtained optimum route may be notified (step 320). The determination as to whether or not the optimum route is displayed on the map screen is performed, for example, by the same process as step 210 in FIG. 9, and the process for determining the traveling direction of the optimal route and the traveling direction are displayed. The process to be performed is, for example, step 214 in FIG.
~ 217 is performed by the same processing.

The present invention is not limited to the above embodiment,
Various modifications can be made without departing from the spirit of the present invention.
For example, the destination direction mark M indicates the current position display H3.
May be displayed in contact with, or may be displayed at a predetermined position away from the current position display H3. The destination direction mark M may be a character pattern other than an arrow shape such as a triangle, a finger shape, or a car cartoon, or may be a character pattern such as up / down / left / right, diagonal up / down / left / right. Further, in the above embodiment, the display of the destination direction mark M is prohibited when the destination is displayed on the map screen, but such prohibition may be omitted. In this case, the process of step 102 is omitted. Further, the distance to the destination may not be displayed, and the voice guidance (step 116) may be omitted.

Further, instead of step 108 in FIG. 6, it is determined whether or not the current position is within a predetermined distance from the final guidance point, and if it is within the predetermined distance, step 11
A process of proceeding to step 118 may be provided if the processes of 0 to 116 are executed and the distance is not within the predetermined distance. In this case, as shown in FIG. 8, when the current position H3 reaches the point of the predetermined distance L from the final guidance point GP, the destination direction mark M and the distance display H7 are displayed.

In the above embodiment, the navigation device having the function of automatically searching the optimum route to the destination set and registered by the user has been described as an example, but the user manually operates the destination. It goes without saying that the present invention can be similarly applied to the navigation device having the function of determining the route to.

Further, the traveling direction mark MA may be displayed near the intersection of the optimum route display H2 and the end of the map screen H1, or may be displayed at any place on the optimum route display H2 (for example, the current traveling direction). It may be displayed at the intersection of the inside road and the optimum route). Further, the traveling direction mark MA may be moved and displayed so as to flow in the traveling direction on the optimum route display H2. This makes it easier to recognize the display of the traveling direction mark MA and the existing direction mark MB.

The route direction mark MB may be displayed in contact with the current position display H3, or may be displayed at a predetermined position apart from the current position display H3. Alternatively, the guidance may be provided only by voice without displaying the traveling direction mark MA, the route direction mark MB, or the destination direction mark.

Further, the traveling direction mark MA or the presence direction mark MB may be a character pattern other than an arrow shape such as a triangle, a finger shape, or a cartoon of a car, or may be a character pattern such as up / down / left / right, diagonal up / down / left / right. May be. Further, in the above embodiment, the display of the traveling direction mark MA or the route direction mark MB is prohibited when the destination is displayed on the map screen or when the destination approaches within a predetermined distance. The prohibition may not be performed.

Further, step 20 in FIGS. 9 and 13 above.
One or both of the processes 2 or 204 may be omitted. In this case, the traveling direction mark MA or the route direction mark MB is displayed regardless of whether the destination is displayed on the screen or within a predetermined distance.
The direction of travel can be reliably indicated until the destination is reached. Further, the order of the processes of steps 216 and 218 may be exchanged, and the voice guidance process (steps 220 and 22).
6) may be executed before the mark display processing (steps 218 and 224) or may be omitted. Further, the process of step 212 may be omitted.

[0082]

As described above in detail, according to the present invention, when the final guidance point is displayed on the map screen, the mark indicating the direction of the destination or the distance between the mark and the destination is displayed. By doing so, when the destination is far from the final guidance point, even if the destination is not displayed on the map screen, the destination can be easily reached by displaying the mark and the distance. Further, the driver can change the direction at the final arrival point with a margin, and it becomes easy to proceed to the road leading to the destination slightly before the final arrival point.

[Brief description of drawings]

FIG. 1 is an overall circuit diagram of a navigation device.

FIG. 2 is a diagram showing a part of data stored in a RAM 4.

FIG. 3 is a diagram showing a flowchart of overall processing.

FIG. 4 is an explanatory diagram showing an example of optimum route data MW.

5 is a diagram showing the contents of a road data file stored in an information storage device 37. FIG.

FIG. 6 is a diagram showing a flowchart of direction mark display processing.

FIG. 7 is a diagram for explaining the structure of road number data.

FIG. 8 is a distance H7 between the destination direction mark M and the destination.
It is a figure which shows the example of a display of.

FIG. 9 is a diagram showing a flowchart of another example of the direction mark display processing.

FIG. 10 is a diagram showing a display example of a traveling direction mark MA.

FIG. 11 is a diagram showing a display example of a traveling direction mark MA during reverse running.

FIG. 12 is a diagram showing a display example of an existing direction mark MB.

FIG. 13 is a diagram showing a flowchart of still another example of the direction mark display processing.

FIG. 14 is a diagram showing a flowchart of a process of notifying the direction of the destination when the screen is scrolled.

FIG. 15 is a diagram showing a flowchart of another example of processing for notifying the direction of the destination when the screen is scrolled.

FIG. 16 is a diagram showing a part of a flowchart of a process of notifying a direction of a route during screen scrolling.

FIG. 17 is a diagram showing a part of a flowchart of a process of notifying a traveling direction of a route during screen scrolling.

FIG. 18 is a diagram showing a conventional display example when the vehicle deviates from the route.

FIG. 19 is a diagram showing a conventional display example during reverse running.

[Explanation of symbols]

1 ... Central processing unit, 2 ... CPU, 3, 5 ... ROM, 4 ...
RAM, 9 ... Image processor, 10 ... Image memory, 11
... voice processor, 13 ... speaker, 20 ... current position detecting device, 21 ... absolute direction sensor, 22 ... relative direction sensor, 23 ... distance sensor, 25 ... GPS receiving device, 26 ...
Beacon receiving device, 27 ... Data transmitting / receiving device, 30 ... Input / output device, 33 ... Display, 34 ... Touch panel,
37 ... Information storage device, H1 ... Map screen, H3 ... Current position display, H7 ... Distance display to destination, M ... Destination direction mark, GP ... Final guidance point.

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Internal reference number FI technical display location G09B 29/00 G06F 15/62 335

Claims (3)

[Claims] 1. A current position detecting means for detecting a current position of a moving means, a destination setting means for setting a destination, and a route for setting a route to the destination set by the destination setting means. Setting means, route display means for displaying the route to the destination set by the route setting means and the current position on the map screen, and final guidance which is the guidance end position of the route set by the route setting means. The arrival point determination means for determining whether or not the point is displayed on the map screen, the destination direction detection means for determining the direction in which the destination exists with respect to the current position of the moving means, and the arrival point determination means When it is determined that the final guidance point is displayed on the map screen, a mark indicating the destination direction of the destination detected by the destination direction detecting means is displayed. And a destination direction mark display means. 2. The distance calculation means for calculating the distance from the current position to the destination, and the distance calculation means when a mark indicating the direction of existence of the destination is displayed by the destination direction display means. 2. The navigation device according to claim 1, further comprising: a distance display unit that displays the distance to the destination calculated by. 3. A destination display discriminating means for discriminating whether or not the destination is displayed on the map screen, and the destination display discriminating means for discriminating that the destination is displayed on the map screen. 2. The navigation device according to claim 1, further comprising mark display prohibiting means for prohibiting the display of the mark indicating the direction of existence of the destination by the destination direction mark displaying means.