JPS62214317A - Run course display device - Google Patents

Abstract

PURPOSE:To obtain a device which provides the best guidance by setting a target point on a screen and setting the direction of an advance at the target point, and deciding whether or not the current position is within a constant- distance range from the target position. CONSTITUTION:A map read out of a map information storage medium 5 selectively under the control of a signal processor 3 is displayed. The target position on a run course on the map on the display screen is set with a cursor moved through an operating device 8 and the direction of a next advance at the point is settable. The relative angle obtained when the target point is viewed in the moving direction of the moving body is computed and displayed until the distance between the current position of the moving body and the target position on the display screen reaches specific preset distance under the control of the processor 3. Further, when the current position enters the range of the specific distance from the target point, the relative angle obtained when the direction of the next advance is viewed at the target point from the moving direction of the moving body is computed and displayed.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a travel route display device for displaying the current position and travel trajectory of a moving object such as an automobile on a screen on which a map is displayed in advance.

1 Recently, as will be explained in detail later, 1 For example, when driving a car in an unfamiliar area, in order to provide appropriate guidance so that the driver does not deviate from the planned driving course and get lost, automobiles, etc. Distance detection II
K detects the traveling distance according to the vehicle speed, and the direction detector detects the direction of travel and its changes from time to time. From these detected values, the current position of the vehicle on two-dimensional coordinates is determined by sequential calculations, and the result is A driving route display device that allows the driver to confirm the current location by displaying continuous point information that changes every moment on a screen on which a map of roads, etc. is displayed in advance while storing the information. is being developed.

(2) The present invention provides a driving route display device which is particularly capable of providing more optimal guidance in such a driving route display device.

In order to achieve the object, the present invention provides a driving route display device, in particular, a means for setting a target point on a planned driving course of a map displayed on a screen, and a means for setting the direction to travel at the target point, and means for measuring the distance between a position and a target point to determine whether or not the current position is within a certain distance range before a preset target point; When the target point is outside the distance range, the relative direction of the target point as seen from the moving direction of the moving object at that time is calculated and displayed, and when the current position is within the certain distance range, the moving object's progress at that time is displayed. A method is used to calculate and display the relative direction of the direction to be taken at the target point viewed from the direction.

Hereinafter, one embodiment of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 shows the basic configuration of a driving route display device according to the present invention. For example, it may be a photoelectric type, an electromagnetic type, or a mechanical contact type that outputs a pulse signal corresponding to a unit traveling distance according to the rotation of an automobile tire. A direction sensor 2 that outputs a signal proportional to the amount of direction change as the car travels is composed of, for example, a gyroscope that detects changes in angular velocity in one direction. The distance traveled by the vehicle is measured by counting, and the position on the two-dimensional coordinates for each unit distance traveled by the vehicle is determined by successive calculations by calculating the change in the traveling direction according to the output signal of the direction sensor 2.
In addition, there is a signal processing device 3 consisting of a CPU that performs centralized control of the entire system, a program ROM, a control RAM, etc., and data on positions on two-dimensional coordinates that change every moment obtained by the signal processing device 3 are sequentially stored. death,
A travel trajectory storage device (RAM) 4 that holds finite continuous position information corresponding to the current position of the vehicle, and a map information storage medium 5 that stores in advance a large amount of map information for each region and various scales. and a storage medium playback device 6 that selectively reads out necessary map information from the storage medium 5.
Then, a map surface image is displayed on the screen according to the read map information, and the current position of the vehicle is displayed based on the position data stored in the travel trajectory storage device 4.

A display device 7 that constantly updates and displays the previous travel trajectory and current direction of travel on the same screen, and a signal processing device 3
In addition to giving operation commands to the display device 7, it also selects and specifies the map to be displayed on the display device 7, sets the starting point of the vehicle on the displayed map, and changes the direction of the displayed map and travel trajectory. Shift 1- of the display position
2. Partially enlarged display of the map and the driving trajectory; 9. An operating device 8 that can appropriately change display format settings such as selecting a display scale; and a geomagnetic sensor 9 that senses the geomagnetic field and detects the absolute orientation. It is made up of.

With this configuration, the selectively read map is displayed on the display [i! It will be displayed on the screen of 7, and
As the car travels from the starting point set on the map, the signal processing device if3 calculates the current position on the two-dimensional coordinates every moment according to the map scale rate set in advance, and the calculation result is calculated. The information is sequentially sent to the travel trajectory storage device 4 and its storage contents are updated, and the storage contents are constantly read out and sent to the display device 7. As a result, as shown in FIG. 2, on the display device 7, a display mark M 1 indicating the current position of the moving body and a display mark indicating the traveling direction of the moving body at the current position are displayed on the map displayed on the screen. M2 and starting point S
A driving trajectory display mark M3 from P to the current position is displayed in a simulated manner following the driving state of the automobile. At that time, in order to display the driving route of the car in accordance with the orientation of the map displayed on the screen, the signal processing bag detects the geomagnetic sensor 9 under the control of 3 (the driving route is displayed according to The contents are rotated as appropriate.

The above configuration and operation are the same as the conventional travel route display device described at the beginning.

In such a driving route display device, in particular, in the present invention, a large number of maps divided into each area are stored in the map information storage medium 5, and the reference points 9 of meshes based on graticules in each of these maps are stored. For example, the latitude and longitude values at at least one intersection point of the mesh are registered in advance in the storage medium 5 together with the corresponding map information as known values, and the latitude and longitude values at at least one intersection point of the mesh are registered in advance in the storage medium 5 together with the corresponding map information, and the When a predetermined map is read out and displayed on the screen of the display device [7], the latitude-longitude values at the reference point on the mesh of the map are simultaneously read out and recognized by the signal processing device 3. There is.

In addition, on the display screen of the 1 display device iffnear, a frame is set that is the limit for displaying the driving route on the map displayed on the screen, and when the current position displayed on the screen exceeds the frame, a ) The processing device 3 detects this and updates the map of the next driving area displayed on the screen according to the moving direction of the moving object at that time.

Furthermore, by inputting information from the operating device 8, a target point can be positioned and set using a cursor at any point on the planned course on the map displayed on the screen, and the target point can be used to determine the next direction to proceed. It allows you to configure settings.

Specifically, as shown in Fig. 3, the intersection point s M is located approximately in the center of the screen formed by the longitude line No. and the latitude line Qa on the map displayed on the screen, so that it becomes the reference point. Make it. In the figure, F is a frame for map switching set to be the display limit of the driving trajectory displayed on the screen, 0 is the target point set on the map, and D is the target point 0. Each indicates the next direction that has been set.

In such a device, the present invention has three signal processing bags.
The distance between the current position of the moving body displayed on one screen and the target point displayed on the screen is measured under the control of , and the cursed position [ Until P approaches a predetermined distance Q set in advance with respect to the target point 0, the relative angle θl when looking at the target point 0 from the moving direction of the moving object at the current cursed position 1iHP is calculated and displayed on the screen. As shown in the same figure (b), when the current position P is within a predetermined distance Q from the target point 0, the 1] gage point is displayed from the moving direction of the moving object at the current position P. The relative angle (θ1+02) when looking at the direction in which the vehicle should proceed next is calculated and displayed on the screen.

Also, under the control of the signal processing device 3, when it is determined that the current position P is within a predetermined distance Q from the target point O, an alarm such as a buzzer is activated to remind the driver that the target point 0 is within a predetermined distance Q. I'm trying to alert you when it's approaching.

As a specific method for calculating θ1, for example, Fig. 4(a)
The two-dimensional coordinate position of target point 0 on the graphic plane is (xi, y t) + the coordinate position of cursed position fiP is (x2
+y2)+When the coordinate position of the direction mark M2 at the current position 1iiP is (x3, 73).

θ 1l=t, an ((yl y2)/(xt
-x2)) -(1)012 =Sh an'((y3-
y2)/(x3-x2))-(2), and θ1=011-012...(3).

In addition, as a specific method for calculating θ2, 1, for example, Fig. 4 (
When the position on the two-dimensional coordinates of the direction mark M4 at g gauge ○ on the graphic plane of b) is (x4.y4), 021 = jan ((y4 yl)/(x4-
xi)) ・= (4), and θ1+02=021-fll+, 2...(5)
It can be found as

Further, a specific method of measuring the distance between the current position P and the target point ○ will be described below.

First, the signal processing device 3 is as shown in FIG.

Latitude of reference point S on the map displayed on the screen -
After recognizing the longitude values (Xs, 'Ys).

The current position P displayed on the map is the reference point S
The distance dx on the two-dimensional coordinates of the current position EtP from the reference point S is taken as offset 1-Imi from the reference point S.

dy is calculated by calculation, and each of them is dx, d
By multiplying y by the longitude conversion coefficient Rx and the latitude conversion coefficient Ry, the longitude and latitude distances ΔX and ΔY are respectively converted. ” + Y m ) to calculate the latitude of the current position V!!P on the map -
Calculate the longitude value (XP, Yρ).

X p = X s + Rx - d x - (6) Yρ
=Ys+Ry-dy...(7) Here, Rx-d
x==ΔX, Ry−dy=ΔY.

Note that the longitude conversion coefficient Rx and the latitude conversion coefficient Ry are derived from the relationship between the straight-line distance per 1 degree of longitude and the straight-line distance per 1 degree of latitude on a map displayed on one screen.

Similarly, the latitude-longitude value (Xs,
The latitude-longitude values (Xo, ¥o) of the target point ○ set on the map are determined according to Ys).

Xo = Xs + Rx - dx - (8) Yo = Y
s+Ry-dy'' (9) Next, the signal processing device 3 is processed as shown in FIG.

Current position converted to a position on the latitude-longitude coordinates of the map [P
Find the latitude difference and longitude difference between the target point 0 and the target point 0, and calculate how many km in the latitude and longitude of the map each found latitude difference and longitude difference correspond to using the conversion coefficients described above. Start rolling out. In this case, each conversion coefficient at the intermediate latitude and longitude between the current position fX11) and the l:I reference point O is used.

Finally, as shown in FIG.
The difference in longitude between the reigning Yu P and the target point ○ is (Lo) Km
, the difference in latitude is (La)Km, then the straight line distance between the current position [P and the target point 0 is calculated by the following formula, and the current position htp and the target point obtained by adding ΔU are calculated. The distance to point O is displayed at a predetermined location on the screen.

L = Lo" + La" - (5) However, if we adopt this method of measuring the distance between the current position [P and the target point 0, we will have a system divided into areas for one screen. Even if maps created by a planar projection method based on graticules that do not take any connection with the system into account are displayed selectively on the screen one after another, the difference between each map displayed on one screen is Since the reference point S is treated as a known one, each of these maps can be easily handled by the signal processing device 3 as having a common coordinate system, and maps of different areas can be updated and displayed on the screen. Even if the current position fflP and the target point ◯ exist over a period of time, the absolute distance between them can be accurately measured.

Note that as the moving object progresses, 1. The distance between the aforementioned current position P and target point 0 is periodically measured every predetermined travel distance.

Further, in the present invention, when displaying the direction to the target point 0 or displaying the next direction to proceed at the target point 0 according to a total of 11111 distances between the current position P of the moving object and the target point 0, the signal processing device i! Under the control of No. 3, the relative direction is always displayed with the upper part of the screen as the traveling direction.

For example, as shown in Fig. 8(,), if the current position P is more than a predetermined distance Q from the target point ○, and the target point 0 is in the direction of movement of the moving body at that time, then A direction mark M5 of the target point 0 is displayed in the upper part of the screen, which corresponds to the moving direction of the moving object when the upper part of the screen is the moving direction of the moving object. In addition, as shown in FIG. 6(b), the current position 1i! IP is target point O
If the target point 0 is a predetermined distance n1Ω or more away from the target point 0 in the direction 01 to the left with respect to the moving direction of the moving object at that time, a message will be displayed at the bottom left of one screen, assuming that the upper part of the screen is the moving direction of the moving object. The direction mark M5 of the target point 0 is displayed, which is inclined by 01 to the left with respect to the direction of progress.

However, with this kind of direction display, the driver can always check the direction of the target point from the direction of travel of the vehicle, and can reach the target without losing a sense of direction even in unfamiliar areas. It becomes possible to run towards a point.

For example, as shown in FIG. 9(a), if the current position [p approaches within a predetermined distance 2 from the target point O and the target point O is on the moving direction of the moving body at that time, , a mark M5 indicating the 02 direction in which the moving body should turn at the target point 0 when the upper part of the screen is the moving direction of the moving body is displayed at the lower left of the screen. In addition, as shown in FIG. 3(b), when the current position [P approaches within a predetermined distance 2 from the target point ○ and there is a left OL force direction target point 0 with respect to the moving direction of the moving body at that time for.

At the bottom left of the screen, if the top of the screen is the moving direction of the moving object, the direction to turn at the target point O as seen from the moving direction of the moving object is ol+o2.
Display the direction mark M5.

However, by providing this kind of direction display, the driver can confirm the direction in which he or she should turn at the target point before reaching the target point, and can easily determine the course of the vehicle when reaching the target point. It becomes possible to grasp the surface easily.

In the driving route display device according to the present invention, when the driving route display device according to the present invention is far from the target point, the vehicle moves toward the target point without checking the relative direction of the target point as seen from the traveling direction of the own vehicle displayed on the screen. This system has the excellent advantage of being able to advance the vehicle's journey, and when the vehicle approaches a target point, know in advance the direction in which it should proceed next at that target point, and provide appropriate guidance to the driver. are doing.

[Brief explanation of drawings]

Fig. 1 is a block diagram showing an example of the basic configuration of a driving route display device according to the present invention, Fig. 2 is a diagram showing an example of display contents on the driving route display device, and Fig. 3 is a diagram showing an example of display contents on the driving route display device. A diagram showing an example of the state of the map, Figure 4 (a), (
L+) is a diagram showing an example of the relative positional relationship between the current position and the target point displayed on the screen, and Figure 5 shows the positional relationship between the reference point of the map and the target point set on the map. 6 is a diagram showing the positional relationship between two target points on latitude-longitude coordinates, and FIG. 7 is a diagram showing the relationship between the latitude difference and longitude difference between the two target points and the distance between the target points, 8th
Figures (a) and (b) respectively show examples of screen displays when the current position is within a predetermined distance from the target point.
Figures (a) and (b) are diagrams each showing an example of a screen displayed when the current position is within a predetermined distance from the target point. l...Distance sensor 2...Direction sensor 3...Signal processing bag 4...Travel trajectory storage device i! i 5・
...Map information storage medium 6...Storage medium playback device 7
... Display device 8 ... Operation device 9 ... Geomagnetic sensor P ... Current position 0 ... Target point

Claims (1)

[Claims] The current position of the moving object on the two-dimensional coordinates as it travels is determined by sequential calculations, and the current position of the moving object is displayed on a screen displaying a map divided into areas according to the obtained current position data. In a driving route display device configured to perform update display, means for setting a target point on a planned driving course of a map displayed on a screen and a direction to proceed at the target point, and a means for setting a current position and a target point. means for determining whether the current position is within a predetermined distance range in front of a preset target point by measuring the distance between the two; At a certain time, the relative direction of the target point as seen from the moving direction of the moving object at that time is calculated and displayed, and when the current position is within a certain distance range, the target point as seen from the moving direction of the moving object at that time is displayed. 1. A driving route display device characterized by having means for calculating and displaying a relative direction of a direction to be traveled based on points.