JPS587678A - Navigator carried on vehicle - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention] The present invention relates to an in-vehicle navigator.

Conventionally, as this type of device, Japanese Patent Application Laid-open No. 55-159299
No. 4, the vehicle is equipped with a distance sensor that detects the travel distance of the vehicle and a direction sensor that detects the direction in which the vehicle is traveling, and displays the current position of the vehicle on a road map on a display.

However, the signal from the above-mentioned direction sensor deviates by a declination angle that differs depending on the area (for example, 6.5° in a certain area of Aichi Prefecture and 9° in a certain area of Hokkaido), so the signal is not displayed on the road map. If the current position display shifts by that amount, there will be a problem.

The present invention has been made in view of the above-mentioned problem, and stores a plurality of map data and declination information of the geomagnetic field from due north, which corresponds to the plurality of map data and differs for each district, in a storage means,
Specific map data is read from the storage means to display a road map of a specific area on the display means, and declination information corresponding to the specific map data is continuously outputted from the storage means, and this declination information and direction The current position of the vehicle is calculated based on the traveling direction detected by the detection means and the travel distance detected by the distance detection means, and the calculated current position is overlaid on the display surface of the road map of the display means. The object of the present invention is to provide an in-vehicle navigator that can display the current position of the vehicle at an accurate position on the road map display-E by displaying the map in consideration of the declination angle depending on the area. .

The present invention will be described below with reference to embodiments shown in the drawings.

FIG. 1 is an overall configuration diagram showing one embodiment.

In Fig. 1, reference numeral 1 denotes a direction detection device as a direction detection means, which includes a direction sensor that detects the X and Y components of the earth's magnetic field according to the direction in which the vehicle is traveling, and a direction sensor that converts the signal from this direction sensor into a digital signal. Equipped with an A/D converter, the X responds to the vehicle's direction of travel.

It generates digital signals for Y5i.

Reference numeral 2 denotes a distance sensor as a distance detecting means, which generates a distance pulse every time the vehicle travels to the nest position (for example, about 39.2ag). 3 is a reading device that searches for and reads map data of a specific district using a set of sumo tapes 3a that store map data of multiple districts (including absolute coordinate data of the upper right point of each map). It is something.

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

5 is a cathode ray tube (hereinafter referred to as C! RT) controller, which individually stores map data, driving route information, and character data for a specific area in response to display signals from Microfunbu number 7, and also stores the stored map data. It generates video signals and synchronization signals for displaying data, travel route information, or character data on a CRT. 6 is a CR7 display device as a display means (!RT
A map of a specific area, a driving route, or characters are displayed on a CRT using a video signal and a synchronization signal from the controller 5. Reference numeral 7 denotes a touch panel section, which is attached to the display surface of the CRT display device f6, and generates a serial signal in response to a touch operation on a specific touch area among the 12 divided touch areas provided on this touch panel. It is something to do. Note that the reading device 3. Microcomputer 4. The CRT controller 5 constitutes a control means.

Next, a detailed electrical wiring diagram of the CRT controller 5 shown in FIG. 2 will be explained. 11 is 12.096MHs
12 is an oscillation circuit 11 that generates an oscillation signal of s.
13 is a dot counter that divides the oscillation signal of .

Vertical synchronization signal 1 A display controller that generates a display timing signal, a refresh memory address signal, and a raster address signal; 14 a hold signal that holds a microcomputer number during a display period based on horizontal and vertical synchronization signals from the display controller 13; This is a hold signal generating circuit that generates a hold signal at the hold (■obn) terminal of the microcomputer 4. 15 is microcomputer 4
The address signal from the microcomputer 4, the refresh memory address signal from the display controller 13, and the raster address signal from the microcomputer 4 (
HOL D A) A multiplexer that is switched by a signal, 16.1'7.18 is a bus driver with a tri-stay F that switches the direction of data between the microcomputer 4 and the display memory, and 19 is a bus driver that uses ASCII code etc. from the microcomputer 4. A character memory that stores display data and also receives a fresh memory address signal from the display controller 13 and outputs the contents as an address. 2o is a character memory that stores display data and receives a fresh memory address signal from the display controller 13 and outputs the contents as an address. It is a character generator that outputs patterns. 21 is a first graphic memory that stores map data from the microcomputer 4; 22;
23, 24, 25 are character generators 20, 1st. A parallel to serial (P48) converter converts the parallel signal from the second graphic memory 21 and 22 into serial data using the dot F timing clock from the dot counter 1z, and 26 converts the parallel signal from the dot counter 1z into serial data using the screen switching signal from the microcomputer computer number. 27 is a display controller that switches the reception of signals from P→S converter 23 and P→S converter 24.21S to select a character screen and generates an image signal based on a display timing signal from display controller 13; This is an exclusive OR circuit that generates a synchronization signal using the horizontal and vertical synchronization signals from the controller 13. Note that the character memory 19, the first and second graphic memories 21. j
! 2 has constant power backup from the onboard battery.

That is, in this OR controller 5, based on the data sent from the microcomputer 4, character data is stored in the character memory 19, map data is stored in the first graphic memory 21, and display data of the travel trajectory and current position is stored in the second graphic memory 21. Always stored in the graphic memory 22,
The screen switching signal from the microcomputer number selects the graphic screen (displaying the travel trajectory and current position on the map) and the character screen (displaying specified characters, etc. to specify the district). The image signal and synchronization signal to display the corresponding screen in CR1 are sent to the CRT.
This has occurred on the display device 6.

Further, the touch panel section 7 has three parts as shown in FIG.
It has 12 touch areas numbered 1 to 42, and is composed of two pieces of glass and a transparent conductive film formed in a matrix on each glass.When a specific touch area is pressed, the glass The touch area is detected by the contact of the transparent conductive film of the matrix due to the deflection, and a serial signal (consisting of a start signal and a touch information signal) corresponding to the detected touch area is generated by a touch signal generation circuit (not shown). . Note that this touch signal generation circuit generates touch information at that time in the form of a serial signal every 40 Msec.

Furthermore, Figure 4 shows the data area corresponding to one district in Sumo wrestler tape 3a, where A is the map number and the absolute coordinates (coordinates relative to the North Pole) of the upper right point of the map of that district and the data relative to true north. A header section stores geomagnetic declination information, 1 is a map data storage section that stores map data of the area, and X is a blank section. Therefore, by reading portions A and B with the reading device 3, map data and absolute coordinate data of a specific area can be provided to the microcomputer 4. Similarly, a header section A1 and a map data storage section B are provided for a plurality of other districts, and each header section stores declination information corresponding to the district.

The operation of the above configuration will be explained with reference to the display explanatory diagram in FIG. 5 and the calculation flowcharts shown in FIGS. 6 to 9.

6 is a calculation flowchart showing the overall calculation processing of the main routine of the microcomputer 4, FIG. 7 is a calculation flowchart showing the calculation processing of the interrupt calculation routine based on the distance pulse from the distance sensor 2, and FIG. is a calculation flowchart showing detailed calculation processing of the mode calculation routine in FIG. 6, and FIG. 9 is a calculation flowchart showing detailed calculation processing of the current position calculation routine in FIG.

Now, in a vehicle equipped with components 1 to 7 shown in FIG. 1, when a key switch is turned on at the start of operation, each part of the electrical system is activated by receiving power from the vehicle battery. And in the microcomputer number,
After receiving the stabilized voltage of 5V from the stabilized power supply circuit, it enters the operating state, starts its arithmetic processing at the start step 100 in FIG. 6, and proceeds to the initial setup routine 200! Registers, counters, latches, etc. in the microcomputer 4 are set to initial states necessary for starting arithmetic processing. After this initial setting, the mode calculation routine 30
0 and current position calculation routine 400 several tens of meters
It is executed repeatedly at a cycle of about sec.

That is, in this mode calculation routine 300, one of the map mode and the character mode is selected, and the content corresponding to the selected mode is displayed.When in the map mode, the cursor indicating the current position can be moved, and the character When in the current position calculation routine 400, the current position calculation routine 400 executes calculation processing that enables map designation of a specific area.
Proceed to.

In this current position calculation routine 400, the CRT control p-
The current position data and regular trajectory data in the second graphic memory 22 at La 5 are X.

Arithmetic processing is executed to change the content of each Y component with a travel change of 150 m, and the process returns to mode calculation routine 300. Thereafter, the main routine arithmetic processing from the mode arithmetic routine 300 to the current position arithmetic routine 400 is repeatedly executed at a cycle of approximately several tens of m se o.

When the distance pulse from the distance sensor 2 is applied to the interrupt (NT) terminal of the microcomputer 4 in response to the repeated calculation of this main routine, the microcomputer 4 temporarily suspends the calculation processing of the main routine. Then, the interrupt calculation process shown in FIG. 7 is executed. That is, the arithmetic processing is started from the interrupt start step 501, and the process proceeds to the integration step 502, where the distance data D stored in the RAM 4c is updated by integrating the unit distance data (corresponding to about 39.24"g). Then, the process proceeds to distance determination step 503, where it is determined whether the distance data D has reached 6.25 m.

At this time, if the distance data D has not reached 6,251n, the determination becomes No and the process proceeds to return step 510, but if the distance data D reaches 6.25m, the determination becomes YES and the direction signal input step Proceed to step 504. Then, in this azimuth signal input step 504, digital X, Y$, minute signals X*, Ya from the azimuth detection device 1 are inputted.
(East and north are the positive directions.

Input west and south (negative direction) and calculate average direction step 50
Proceed to step 5 and read the previous direction data Xo, Y.

(6,25Fff azimuth data before traveling) and current azimuth data X*, Ya to calculate average azimuth data -Kg Y)/XY]-1
Distance in Y direction * component D7 is 6.25 (IIY + Kx X)
/ X Y] - Toshite request T.

(X/ QOaα, !1 for α corresponds to @ina, and (7) K1 and Kg read out what is stored in the header part of the cassette tape 31 as declination information and perform RA
Use what is stored in M4c. ), memory step 50
? Proceed to this time's azimuth data Xa, Ya for next time.

Save as Yo and reset distance data step 50
Proceed to Step 8 to reset the distance data D to 0, proceed to Distance Flag Set Step 509 to set the distance flag,
The process advances to return step 510 to return to the previously interrupted main routine.

That is, in this interrupt calculation routine, the distance data D is cumulatively updated every time a unit distance is traveled, and the distance data D is 6.
When the distance reaches 25 m, the distance components DX and Dy in the X and Y directions that reach g46 m are calculated, and arithmetic processing is executed to set a distance flag.

Next, mode calculation routine 30 in the main routine
Detailed calculation processing of 0 will be explained. In this mode calculation routine 300, FIG. *The arithmetic processing is started from the data input step 301, and touch data from the touch panel unit 7 is input and stored in the RAM 4c. Then, the process proceeds to map mode determination step 302 and the RAM 4
It is determined whether the content of the mode area in c is map mode or not, and when it is map mode, the determination becomes YIS, and the process proceeds to mode change determination step 303, where RAM 4 is
It is determined whether the touch data stored in c is data indicating a mode change (data when the touch area 34 in FIG. 3 is pressed). At this time, if the touch data is data indicating a mode change, the determination is Y.
ES, proceeds to character mode setting step 304, sets the contents of the mode area to character mode, proceeds to character switching signal output step 305, and selects O.
A character switching signal for displaying a character screen on the RT display device 6 is generated to the video controller 26 in the OR controller 5, and one calculation process of this mode calculation routine 300 is completed.

On the other hand, when the touch data is not data indicating a mode change, that is, data when a touch area other than 34 in FIG. 3 is pressed, or data when no touch area is pressed (for example, ?1) data), the determination in the mode change determination step 303 becomes NO, and the process proceeds to the cursor movement determination step 306.

In this cursor movement determination step 306, it is determined whether the touch data is data when any of the touch areas 32.33, 35.38, or 40.41 is pressed (cursor movement data). If the touch data is not cursor movement data, the determination becomes No and one calculation process of this mode calculation routine 300 is performed, but if the touch data is cursor movement data, the determination becomes Y1ffi3. Cursor movement calculation step 3
Proceed to 07. In this cursor movement calculation step 307, in accordance with the touch data, the cursor at the current position displayed on the CRT display device 6 is moved in a predetermined north direction, indicating that this touch data is data for pressing the touch area 32 or 33. The contents of the second graphic memory 22 in the CRT controller 6 are changed so that the cursor is moved by the distance, and similarly, if the touch data is data for pressing the touch area 35, the cursor is moved in the west direction.
If the touch data is data for pressing the touch area 40 or 41, the cursor will be moved southward, and if the touch data is data for pressing the touch area 38, the cursor will be moved eastward by the distance traveled. The arithmetic processing for changing the contents of the second graphic memory 22 is executed, and one arithmetic processing of this mode arithmetic routine 300 is completed.

On the other hand, if the determination in the map mode determination step 302 is NO.
In this case, the process proceeds to mode change determination step 308, where it is determined whether the mode is to be changed or not by the same arithmetic processing as in mode change determination step 303. At this time, if the determination is YES when changing the mode, the map mode setting step 309
Proceed to step 310 to set the contents of the mode area in RAM4c to map mode, and proceed to data conversion step 310 (!R
Second graphic memory 2 in T controller 5
Convert the driving route data in step 2. In this case, first control the reading device 3 to search for a specified area using its map number, and then use the absolute coordinate data (fourth
(stored in the header section A shown in the figure) and the absolute coordinate data on the previous district map, coordinate conversion values are calculated, and the travel trajectory and current position data in the second graphic memory 2z are slid according to the calculated values. Convert to

Further, along with the continuous output of the absolute coordinate data, the declination information (11 2, Kg as explained earlier) is generated one after another and is stored in the RAM 4C. Then, the process proceeds to a map data reading/outputting step 311, in which the map data of the cassette tape 3a is inputted via the reading device N3, and the map data is outputted to the first graphic memory 21, and a map switching event outputting step 312 is performed. Then, a map switching signal is generated to the video controller 26 for displaying the graphic screen of the ground 1 on the CRT display device 6, and one calculation process of this mode calculation routine 300 is completed. That is, when switching from the character screen to the graphic screen of a map different from the previous one, the above calculation process is executed, the current map data is stored in the first graphic memory 21, and the current location corresponding to this map is updated with the travel trajectory and the like. - converting the contents in the second graphics memory 22 to modify the cursor indicating the current location; As a result, the CRT display device 6
Even if the displayed map changes, the driving trajectory and current location can be displayed in the area corresponding to that map.

On the other hand, if the determination in the mode change determination step 308 is NO.
If so, the process advances to character calculation step 313. If the Yarakuta calculation step 313 is reached during this time, the character mode is set and a character switching signal is being issued to the video controller 26.
The CRT display device 6 displays a character screen as shown in FIG. The numbers 02-4-68 shown in the center of this character screen are numbers that designate regions, regions, and districts, respectively, and each number is determined by the increment switch 5.
1 is added and updated by 1, and the decrement switch 52
The character calculation step 313 performs arithmetic processing such that the value is subtracted and updated by l at the character calculation step 313, set by the set switch 53, and reset by the reset switch 54.

Incidentally, numerical data of this locality, region, and district, that is, map number, is stored in the RAM 4a. Further, the aforementioned switches 51, 52, 53, 54 correspond to the touch areas 39, 40, 41, 42 in FIG. 3, respectively.

That is, the mode calculation routine 300 shown in FIG.
Now, touch data from the touch panel part and RAM4
■~ as shown below according to the contents of the mode area in o
■ Perform the operation.

■ If there is a cursor movement instruction when the map mode is on and the mode is not changed, the arithmetic processing for cursor movement is executed, and if there is no cursor movement instruction, the map display is continued as is.

■ If you are instructed to change the mode while in map mode,
Change map mode to character mode and CR
A character screen is displayed on the T display device 6.

- When in the character mode and not changing the mode, it is possible to accept changes to the map on the character screen as shown in FIG.

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

Next, the current position calculation routine 4 in the main routine
The detailed arithmetic processing of 00 will be explained. In this current position calculation routine 400, the calculation process starts at distance flag determination step 401 in FIG. 9, and it is determined in the interrupt calculation process in FIG. 7 whether or not the distance flag is set. At this time, if the distance flag is not set, the determination is N.

Then, one calculation process of the current position calculation routine 400 is completed, but if the distance flag is set, the determination becomes YleS, and the process proceeds to the X distance correction step 402. And in this X distance correction step 402! Correction calculation using the X distance component Dx obtained from the distance data DI by interrupt calculation processing (DI = DI + D x )
At L,,Y distance correction step 403! Distance data D
Similarly, Y is corrected (DY=DY+D7) L/, and the process proceeds to the first X distance determination step 404, where it is determined whether the X distance data DX has reached a value of 50 m or more. At this time,
If the X distance data DI is a value of 50ffi or more, the determination is YleS, and the process proceeds to an X distance subtraction step 405, where the value of 50 m is subtracted from the memory 2z
The current position data within is moved in the positive direction (eastward) by 50 m, and the traveling locus data is also caused to follow this.

Further, the determination in the first X distance determination step 404 is N
If o, the process proceeds to a second X distance determination step 407, where it is determined whether the X distance data DX has become a value less than or equal to -SOW. At this time, if the X distance data DI is a value of 150 or less, the determination becomes YXS, the process proceeds to I distance addition step 408, the value of BOm is added to the X distance data DI, and the process proceeds to display movement step 409. moves the current position data in the second graphic memory 22 by 50 m in the negative direction (
(in the west direction), and the travel locus data is also made to follow along with this.

Then, when the judgment in the second X distance judgment step 407 is NO, or after the display movement steps 406 and 409, the process proceeds to the Y component display movement processing routine 410, and the Y distance data DY calculated in the Y distance correction step 403 is , the same determination and calculation processing as in steps 404 to 409 described above is performed. (When the Y distance data DY reaches a value of 50 m or more in either the positive or negative direction, the current position data and traveling trajectory data in the second graphic memory 22 are
Move in the corresponding direction by Fj. ) Then, the process proceeds to the next distance flag reset step 411, where the distance flag is set to 9.

That is, the current position calculation routine 40 shown in FIG.
0, the current position data and traveling locus data in the second graphic memory 22 are converted regardless of the screen displayed on the CR1 display device 6.

Therefore, the current position data and traveling trajectory data in the second graphic memory 22 are sequentially changed by the main routine repeated calculations by the mode calculation routine 300 and the current position calculation routine 400, and the interrupt calculation shown in FIG. At the same time, select the screen of OR1 display device WI6 according to the specified mode, and if it is map mode, the map graphic screen (including display of current position and driving trajectory)
If the character mode is selected, the entire character screen for map designation shown in FIG. 5 is displayed.

In the above embodiment, the declination information is added when calculating the distance components Dx and Dy in the X and Y directions for traveling 6 and 25 meters, but the signal from the direction detection device 1 is obtained angularly. In this case, the angle may be corrected by the declination angle.

In addition, although QR〒display device Wt6 is shown as a display means,
A liquid crystal display device, CI+display device, etc. may also be used.

Furthermore, although the cassette tape 3& is shown as the storage means, it may be used in a form where the 1-chip ROM 1 is replaceable.

As described above, in the present invention, a plurality of map data and geomagnetic declination information from due north that corresponds to the plurality of map data and differ for each district are stored in the storage means, and Reading specific map data and displaying a road map of a specific area on the display means, reading declination information corresponding to the specific map data from the storage means, and detecting the declination information and the direction detecting means. The current position of the vehicle is calculated based on the traveling direction and the distance detected by the distance detecting means, and the calculated current position is displayed overlappingly on the display surface of the road map of the display means. The current position of the vehicle can be displayed at an accurate location on the road map by taking into account the declination angle depending on the area, and the declination information is added to the calculation of the current position.
There is no need to manipulate the road map display side or direction detection side to rotate according to the declination angle, and since the declination information according to each area is stored, even if the driving area changes. This has the excellent effect of being able to accurately display the current location of the vehicle on the road map.

[Brief explanation of drawings]

FIG. 1 is an overall configuration diagram showing an embodiment of the present invention. Figure 2 is a detailed electrical wiring diagram of the CRT controller in Figure 1, Figure 3 is an explanatory diagram showing the touch area of the touch panel section, Figure 2 is an explanatory diagram showing the data area of the cassette tape, and Figure 5 is an explanatory diagram of the CRT controller. A display explanatory diagram showing the display state of the display device, Fig. 6 is a calculation flowchart showing the overall calculation processing of the main routine of the microcomputer, and Fig. 7 shows the calculation processing of the interrupt calculation routine based on the distance pulse from the distance sensor. FIG. 8 is a calculation flowchart showing detailed calculation processing of the mode calculation routine in FIG. 6, and FIG. 9 is a calculation flowchart showing detailed calculation processing of the current position calculation routine in FIG. 6. . 1. Direction detection device as one direction detection means, 2. Distance sensor as distance detection means, 3 &... Cassette tape as storage means, 3, 4.5. Reading device constituting control means. , microfunpiyuta. OR controller, 6...OR as display means〒
Display device. Representative Patent Attorney Takashi Okabe Figure 3 Figure 4 Figure 5 Rod 6 Figure 7 Figure 8

Claims (1)

[Scope of Claims] Distance detection means for detecting the travel distance of the vehicle, direction detection means for detecting the traveling direction of the vehicle, display means, and a plurality of display means for displaying road maps for specific districts. a storage means that stores map data of the map data, and information on the declination of the earth's magnetic field from due north that corresponds to the plurality of map data and differs for each district; and a storage means that reads specific map data from the storage means and displays it on the display means. While displaying a road map of a specific area, declination information corresponding to the specific map data is read from the storage means, and this declination information, the traveling direction detected by the azimuth detection means, and the distance detection means are used. An in-vehicle navigator comprising: a control means for calculating a current position of the vehicle based on the detected travel distance, and displaying the calculated current position overlappingly on a road map display surface of the display means.