JPS6252413A - Device for indicating optimum route - Google Patents

Abstract

PURPOSE:To make it possible to accurately detect a moving position, by a simple apparatus constituted so that a function representing the movement information of a movable body is converted by predetermined mapping to be preliminarily recorded and the recorded information is reproduced at the time of movement and detected information is converted by mapping. CONSTITUTION:The running information of a movable body is processed in a predetermined form by a running information processing part to be stored in a running information memory part and the map information of a recording medium is stored in a map information memory part. A tracking device compares the running information in the running information memory part with the map information in the map information memory part to perform the position defining and movement tracking operations of the movable body. A map information control part selectively transmits the information in the map information memory part to a video memory part on the basis of the selection codes of the running pattern and text graphics pattern to be displayed from the tracking apparatus and selectively stores map information in the map information memory part or the video memory part according to the scenario of a scenario memory part.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to a navigation system for accurately and efficiently moving an automobile or the like.

Conventional Examples and Problems Conventionally, the information prepared as map information is simply a raster scan image of a map used on a daily basis, or a polygonal approximation thereof, or road distances, branch points (intersections), etc. etc.) to store branching angles. The method of determining the location is to calculate the estimated location (X, Y) on the map from the course and travel distance assuming that the starting point is determined, or to determine if there is a branch point after traveling a specified distance along the road. This involved determining which branch to select based on the change in course in the vicinity. The former is raster scan image information and course,
Comparing the distance traveled or the estimated position (X, Y) on the map to determine the position requires a considerable amount of arithmetic processing, which hinders the simplification of the device. The latter solves the above problem, but since the position is determined only at the branch point, if there is no change in course at the branch point for several kilometers, there is a possibility of misjudged the branch point due to accumulated errors in measuring the distance along the road. Occur. Furthermore, both methods have a common drawback in that it is extremely difficult to determine the position when the position has been lost.

Embodiment of the present invention In order to solve the above-mentioned problems, the present invention introduces the following idea.

1. A function (f
), the mapping (G (f) ) of the function (f) by all useful mappings IJi (G) is defined as a map (map information).

2. The function (f) is always detected at a predetermined period according to the movement of the moving object, and is transformed by mapping (G). The map is written in a format corresponding to the mapping (G) at the predetermined period or at a predetermined synchronization different from the predetermined circle ill.

3. Photo (1 (G)) has filter characteristics, grasps movement information of a moving body from a viewpoint according to the frequency characteristics of the filter, and records it on a recording medium as map information.

This proposal assumes the following as a function that changes according to the movement of the moving object.

1. A function whose variables are the detection amount of the acceleration detector of the moving object and the operating amount of the moving mechanism used for traveling. 2. The detected amount of the moving object's magnetic course detection device and the operating amount of the moving mechanism used for traveling. Function 3 as variables, function 4 that uses as variables the detection amount detected by the radio wave beacon detection device of the moving object and the operating amount of the moving mechanism used for traveling, the operating amount of the moving mechanism used to change the course of the moving object and the moving mechanism These functions do not necessarily have to be used alone, but can be used while compensating for the advantages and disadvantages of each other.

The following embodiment will be described below.

1. Regarding the map, we set a trajectory that is considered to be a standard moving route for a moving object on a 1:2.500 map of the Geospatial Information Authority of Japan, and the distance along the road is 52.083 cm (latitude: 18'/3600).
The direction is plotted and measured for each map as basic data, and the method of creating map information and description format will be explained in sequence.

2. As for movement information, the mileage on the road is 8.6806 (
The detection by the acceleration detector and the magnetic course detector for every 21,600 cm of latitude, the information processing method, and the storage format in the travel information storage device will be described.

3. The operation of determining the position of the moving object and moving and tracking is performed by the moving mechanism of the moving object (mechanism for changing course and mechanism for running)
I also explain the driving information.

First, let's start with a map information recording medium (hereinafter also referred to as a map).

).

Maps are classified into three types:

(1) National map, (2) Prefectural map, and 3) City map.The map is composed of the following four parts.

(1) Index section, (2) Scenario section, (3) Relative display map information section, (4) Absolute display map information section Explanation of the index section The map is expressed by sequentially subdividing it as follows.

(1) Country, (2) Prefecture, (3) City, (4) Town, Chome (area of the same size), (5) Address (area of the same size)
, (6) Arc (road with directionality), (7) No. (-
(8) Notes (intersections) The location on the map is specified by specifying the name of each arbitrary area or the video display screen. Area (street address, town,
A typical city (city, etc.) has a representative point set within its area and is identified by that representative point. The name of each area corresponds to a code indicating the subdivision level, latitude and longitude indicating a representative point, area name patterning information, area name pronunciation information, and a scenario search address.

Description of Scenario Portion A scenario is specified by setting the scenario search address of the current location as the upper address and the scenario search address of the destination as the middle address. The lower address (maximum 8 bits) is
Indicates an address within one scenario (maximum 256 bytes).

As mentioned above, a scenario is specified by an arc, a number (eg, city hall, post office, apartment block, single family home, etc.) or two locations indicated by a note. One scenario is composed of a maximum of 256 heights in 32-byte units, and includes absolute memory type (resolution code B, absolute memory address X, Y, resolution code F, display range (X, y), display type), relative memory type ( Relative storage addresses (X, Y), route display formula (start position (current position) address, traveling direction, branch position address l, 2.3.4...N, destination position address) are written. The video display screen is directly controlled by the absolute memory formula. Resolution B, the lower screen is displayed by the absolute memory address indicating the unit area to be displayed approximately in the center of the screen,
The upper screen is displayed depending on the resolution F, display range (x, y), and display type.

In addition, the display on the upper screen is such that predetermined unit areas are sequentially reproduced in accordance with the movement of the moving object so that the position of the moving object is displayed in the center at a specified resolution.

The relative display map information section will be explained.

The relative display map information section is all sectors (512 bytes)
Consists of units: resolution, subroutine level, storage address X, Y, unit area address x, y, direction, direction change speed, direction change acceleration, bandpass direction change speed, bandpass direction change acceleration, bandpass displacement Distance, 5YNC1 branch destination unit area for branching and address within the area, travel pattern selection code, text/figure pattern selection code, announcement selection code, and map information memory error memory detection code are recorded.

Next, address x, y within the unit area for each resolution.

We will describe the calculation methods for the azimuth, azimuth change speed, azimuth change acceleration, bandpass azimuth change speed, bandpass azimuth change acceleration, and bandpass displacement distance.

As mentioned above, a trajectory that is considered to be a standard travel route is set on the map, and the distance of the travel route is 50.083 cm.
The azimuth (C) is plotted and measured at each time, and the 0 column arranged in the order of the traveling route is sequentially applied with two types of digital filters FA and FB.
C=FAC, F2C:FB (F+C), F? C=F
a (F+C), F4C=FB (F2C), F5C
=FII (F3C), FI3C=Fa (F4C)
Sequentially 5m, 30m, 300m, 1.81cm, 18
km is the direction of each resolution.

Digital filters FA and FB are FA expressed by the following formula.
CI=(1 zero C, -5+3*CI-, +8 Cl-1+
13*C+-2+ 15*C+-+S16*CI+ 1
5 * C, 4, +13 CI42 + 8 * Cμ3
+ 3 * C+, +1 Cl-5)/96 FaC+=(1 zero C1-5g+ 2 * C+-52+
3 * C+-c, 7+ ・ ・ ◆ ・
+N*C1-po+H+ ・ @ e6+
1 19*C1 or 5g/3800 The direction change speed is expressed by the following formula.

FC+' =FC+-1-FC+ (F indicates FA or FB.) The bandpass azimuth change speed is expressed by the following equation.

BNCI'=FN-1cI-FNC1 The direction change acceleration is expressed by the following equation.

FC+"=F C+-+' -F CI' (F indicates FA or FB.) The bandpass azimuth change acceleration is expressed by the following formula, Br1
ck" = FFB(, +'"-F N C+ "Address within unit area (X (llq y,:H>) is expressed by the following formula.

Y=ΣDN*s in (F++-+C-F++C
)X=ΣDr+* cos (FN-1cmFNC
)ycN=Y I NT (Y/60)XCN=X
The I NT (X/60) bandpass displacement distance is expressed by the following formula.

A N =K : I' A N -1+ΣSi n
(FN-1cmFNC) ( is a real number that satisfies K<1 and is, for example, 0.95.

Addresses within a unit area, such as azimuth, azimuth change speed, azimuth change acceleration, displacement distance, etc., are recorded for every predetermined distance of the DN expressed by the following formula.

DN=DH-1 wood cos (FN-1cmFNC)
Next, the absolute display map information section will be explained.

The route pattern of the absolute display map of each resolution is created in a format corresponding to the latitude Y and longitude X calculated by the above equation.

The absolute display map information section is divided into unit area pattern display, driving pattern display, text/figure pattern display, and video memory format description, all of which are sectors (512 bytes).
Composed of units.

The unit area pattern display includes the resolution, written content code, display color code, memory address X, Y, map information memory and video memory shared false memory detection code, unit area map latitude and longitude, and corresponding lower resolution part recording start address. , a magnification code, one standard deviation of the magnetic heading, a map information memory storage address, a unit area true latitude and longitude, and a unit area display pattern are recorded.

The driving pattern display includes resolution, display color code, memory address, map information memory error detection code, 2
5 unit area memory addresses, video memory false memory detection code, selection code, and 25 running display patterns are written.The character/figure pattern display includes resolution, display color code, memory content code, and memory address. ,
A map information memory erroneous memory detection code, 25 unit area storage addresses, a video memory erroneous memory detection code, a magnification code, and 25 character/graphic patterns are written.

The video memory format content description includes the resolution, written content code, storage address, map information memory erroneous memory detection code, video memory erroneous memory detection code, running pattern, or text/figure pattern selection code.

Next, the route display device will be explained.

The route indicating device includes a driving information processing unit that processes driving information and stores it in a driving information memory in a predetermined format, a driving information memory part that stores driving information and feature matching degree, and driving information and map information in the driving information memory. A feature tracking device that compares the azimuth change speed and azimuth change acceleration of the map information in the memory, determines the position and tracks the features while storing the degree of feature matching in the travel information memory, and the travel information in the travel information memory and the map information in the map information memory. The driving pattern to be displayed, the selection code of text/figure patterns, and the position of the moving object are sequentially transmitted to the map information control unit, various correction coefficients are calculated, and the data is transmitted to the driving information processing unit. Relative tracking device, absolute tracking device that tracks the movement of a moving object by comparing the travel information in the travel information memory and the latitude and longitude information of the map information in the map information memory, including when it is not written on the relative display, and the map information in the recording medium. The map information memory stores the driving pattern to be displayed from the relative tracking device, the text/figure pattern selection code is selected and transmitted from the map information memory to the video memory, and it is also stored at the map information storage address corresponding to the moving object position. The corresponding disassembly unit confirms the information to be stored and selectively stores it in the map information memory from the playback information of the map information recording medium according to the storage address according to the recording start address,
Storage memory for scenarios, etc. A map information control unit that sequentially stores map information in the map information memory and video memory according to a part of the scenario, detects erroneous storage in the map information memory and video memory, and stores the erroneous storage information in the map information control unit. Error memory detection device for transmitting, part of the memory for scenarios, etc. that stores specified scenarios, messages, route guidance, traveling information for transmission, display pattern corresponding to display color code, video signal, red and blue wire number 2 bits, overlay It is composed of a display color control section that converts to 2 bits, etc.

Next, a detailed explanation will be given with reference to drawing 52.

FIG. 1 is a block diagram of the main parts of the travel route indicating device. In the traveling information processing section, the detected traveling information is counted down to approximately 1/256 by a programmable counter, which is a pulse P,1 from a device that generates a number of pulses proportional to the operating amount of the moving mechanism used for traveling. About 8
．． A sample pulse is generated every 6806 cm. Magnetic heading CM - Course change acceleration C'' and mobile device used for course change.

The operating amount C1, etc. of the structure is sampled by the sample pulse, and sequentially filtered by two types of digital filters, and similarly to the above processing, the azimuth, azimuth change speed, azimuth change acceleration, bandpass azimuth change speed, bandpass azimuth Change acceleration, latitude, longitude, address within unit area Xl
:N, VCN, recording period, and bandpass azimuth change speed level are calculated and stored in the travel information memory. Magnetic direction correction, course change operation amount correction, and sampling period correction (program counter setting) are performed based on the azimuth error, latitude/longitude error, and their sampling period error corresponding to the position determined by the relative tracking device described later, and the correction is always optimal. Calculate and store the coefficients.

The feature tracking device functions as a position determining device when the position is not determined, and functions as a tracking confirmation device when the position is determined. FC', FC", BC', BC" of each resolution from the driving information memory
, Ac1 are read sequentially, and if the position is not determined by the relative tracking device, the FC of each resolution in the map information memory is read out.
Search for a matching position as a combination of ', FC', BC', BC', 80', and if there is no match with all travel information in the map information memory, store new map information in the map information memory. Then repeat the above operation.

If a matching position is found, the tracking is performed by sequentially comparing and tracking according to the travel route in the map information in descending order of matching degree. If tracking is possible, the tracking position is transmitted to the relative tracking device. If all the tracking is not possible, new map information is similarly stored in the map information memory and the above operation is repeated. If the position has been determined by the relative tracking device, tracking of the determined position is confirmed sequentially according to the tracking of the relative tracking device, and if tracking is not possible, feature tracking is performed within the range of map information stored in the map information memory. If the position can be determined by performing the operation, the tracking position is transmitted to the relative tracking device.

The relative tracking device determines a correction coefficient (ΔC) for the difference between the driving information rim FCS and the map information FC corresponding to the tracking position from the feature tracking device, and tracks the map information FCt using the true direction FC=FC5−ΔC. . If tracking is not possible, the above operation is repeated using a newly transmitted feature tracking position. If tracking becomes impossible during relative tracking, the absolute tracking device starts tracking. While relative tracking is possible, the absolute tracking device calculates latitude Y and longitude X from the true bearing FC and follows the tracking of the relative tracking device. Confirm and correct the relative tracking position sequentially, and when relative tracking becomes impossible, stop the correction operation, calculate latitude Y and longitude Compare it with the pattern of the possible area, detect the latitude Y, longitude Determine.

When the current location is unknown, the map information control unit controls the map information according to the determination by each of the tracking devices. When the destination is unknown (hereinafter referred to as free running), relative display and absolute display map information is reproduced from the map information recording medium and sequentially stored in the map information memory according to the movement of the moving body. If the current location and destination are clear, a scenario is specified, and the map information control unit controls the map information according to the description of the scenario in accordance with the movement of the mobile object. The absolute display map information stored in the video memory is controlled by the absolute storage type description, and the relative display map information stored in the map information memory is controlled by the relative storage type description. The running pattern and the text/figure pattern are sequentially displayed by the running pattern/letter/figure pattern selection coat written in the relative display storage section in response to tracking by relative tracking or the like.

The map information memory erroneous memory detection device detects sector (512
A CRC error check code written in each byte is used to detect erroneous storage, and a storage address is used to detect non-storage, and the information is transmitted to the map information control unit.

The video memory mismemory detection device detects mismemory based on the CRC error check code written in each sector (612 bytes) and detects non-memory based on the storage address, and transmits the driving pattern and character graphics to the map information control unit. The pattern is a display color that detects erroneous memory or non-memorization using the CRC error check code written in the format in the video memory, and detects non-memorization using the running pattern and character/figure pattern selection code during sequential display within the sector and transmits it to the map information section. Some generate video signals in response to each display color code and each display pattern stored in a video memory.

The announcement memory stores the announcement information reproduced from the recording medium together with the announcement information selection code, and selectively transmits the announcement information to the announcement device according to the announcement information selection code written on the relative display map according to tracking by relative tracking etc. do.

The announcement memory mismemory detection device has 128 sectors (
Erroneous storage or non-storage of announcement information is detected based on the CRC code written together with the announcement information in units of 641 (bytes) and transmitted to the map information control section.

Next, a specific example of an optimal route indicating device configured on a small scale will be described in more detail along with details of the map information writing format.

The various memories (driving information memory, map information memory, video memory, scenario memory, etc. memory, announcement memory) are composed of - memory devices, including a driving information processing section, each tracking device, a map information control section, and each false memory. The detection device is configured with - information processing devices.

The memory device is composed of eight 256*4-bit memory chips (1M byte), and includes a video display storage section (addresses ooooo to 2FFFF), an absolute display storage section (addresses 30000 to 3FFFF), and a relative display storage section l. , 2.3.4 (address 40000 to BFF
FF), driving information storage unit (from address coooo to D
FFFF), scenario storage unit (address EOOOO to E3FFF), place name pattern storage unit (E4000 to E7FFF), place name announcement storage unit (address E
8000 to EFFFF) and is used as a common phrase storage unit (addresses FOOOO to FFFFF).

Each storage unit will be explained in turn.

The video display storage unit is composed of 48 unit areas (192 bytes)*4 bit tree and two screens, and what is displayed on the video display device is 480 dots horizontally and 360 dots vertically. Each screen is controlled according to the absolute memory type and route display type during scenario running, and is controlled according to the movement of the mobile object during free running. The pattern display modes include a mode that expresses 60 dots (picture, arc note, movable range, area, and target object display mode), and a mode 1' that expresses 12 dots (12 dots).
A 62-byte format/content storage mode is stored in the format/content description section corresponding to each unit area in the video memory.

The relative display storage section is composed of four storage sections (bytes in δ12), and each storage section is controlled according to the relative storage formula during scenario running, and controlled according to the movement of the mobile object during free running. Ru. The relative display map information section of the recording medium is
The data is reproduced from the recording medium in units of 128 Kbytes and stored in the relative display storage section.

On the national map, 30m, 5m, and 50c correspond to a quarter of the area represented by the unit area in 300m resolution mode.
Each unit area of each mode of 1.8KmS, 18Km, and 1108K, including each unit area of each mode of m and the area of the 300m mode, is written in 128 bytes.

In each prefecture map, each unit area of 5m and 50cm modes corresponds to the area represented by the unit area of resolution 30m mode, and 300m, 1.
Each unit area of 8Km, 18Km, and 1108K modes is written in 128 bytes.

Each map includes each unit area in 50cm mode corresponding to one-fourth of the area represented by the unit area in 5m resolution mode, and 30m and 300m areas including the area in 5m mode.
Each unit area of each mode of 51.8Km, 18Km, and 1108K is written in 128 bytes.

The travel information storage unit is composed of 266 units (one unit is 512 bytes), and the data calculated by the travel information processing unit (50cm mode 30 samples, 5m mode 1
5 samples, 30m, 300m, 1.8Km, 18Km
, 1108K each mote l samples) are sequentially stored in unit units. The l sample is composed of 8 bytes, and the stored contents are in the same format as the relative display map information part of the recording medium, such as an address within a unit area, a direction, a direction change speed, a direction change acceleration, a band pass direction change speed, and a band pass direction. Change acceleration and bandpass displacement distance are stored.

The scenario storage unit stores the scenario of the recording medium specified by the current location and destination together with the CRC code.

The place name pattern storage section stores place name pattern data together with storage addresses X, Y, and selection codes.

The place name announcement storage section stores place name announcement data together with a storage address X, a YS transition code, and a CRC code.

The common phrase storage section stores common phrase data as a selection code, CR
Store it together with the C code.

Next, the description format of the relative display map information and the operation of each tracking device will be explained in detail.

From a different perspective, the relative display map information can be said to be a type of so-called novel-type stored program that sequentially describes work procedures. This program has countless two-conditional branches, arithmetic conditional branches, many conditional branches, simple, JUMP,
It consists of image display commands and audio display commands, and the scenario describes the conditions of various display commands. Further, the image information and audio information to be displayed are recorded in a predetermined format and reproduced from the recording medium according to the program to display images and audio. The computer that runs the program is different from a normal computer in that it has a program counter. This computer advances the processing of the program according to the amount of operation of the mobile device used for the running of the moving object, and the processing of the program is performed by combining the running information with the data processed by the running information processing section and the map. The data correlation with the information condition data sets its speed, and the processing statement
be identified. Furthermore, in this program, it is not determined which statement to start processing from, and processing can be started from any statement. If the approximate position of the moving body has been set, a statement is identified based on the correlation between the travel data processed by the travel information processing unit and the condition data of the relative display map information corresponding to the rough position, and the program progresses. Set the speed and run the program sequentially. The correlation S is expressed by the following formula.

s, = to *S+-t+Σ+s (fsM-fr, A)
2I (a real number that satisfies <1, for example 0.95.

fsM is each forward travel data obtained by processing travel information fTM is each term condition data of map information The program describes the travel route as follows. An arc (a road that is not an intersection) is described as each term condition data string (8 bytes) at the predetermined period. This part shows the countless two-conditional branches, and if the conditions are met, the same two-conditional branching process is performed using the following conditional data. If the conditions are not met, the absolute tracking device calculates the estimated latitude y and longitude X based on the current latitude Y1 longitude Latitude Y of the position deemed to be located within the display and arc node area display area,
The longitude X is used as the estimated position, and the driving position is determined based on subsequent driving information. (Innumerable calculation condition branches) Notes (intersections) are 5Y indicating branches other than roads and routes.
NC1 Write each term condition data of that branch with each term condition data of other branches and road/route intersections up to the distance that can be identified by the above correlation formula (m<number of each term condition data), and finally JUMP destination Addresses (many multi-branches) are written, similarly, other roads and branches other than the route are written in sequence, and finally, 5YNC1 indicating the road and the route, condition data for each term of that route are sequentially written. Further, the relative display map information section divides each unit area and moves to the next unit area. JUMP
Write the destination address (many simple branches) each time. In addition, image (absolute map information, driving pattern, character/figure pattern) display commands and audio display commands are written at predetermined positions according to display (navigation) needs.

Effects Since the map is created in the same format as the result of predetermined processing of the information sequentially detected as the moving object moves along its route, information processing on the moving object becomes easier, processing speed improves, and the H location is improved. is given a simple hit.

By processing the travel information with a low-pass filter or band-pass filter, the characteristics of the travel information according to the characteristics within the pass characteristics can be grasped, and the precision and accuracy of position determination can be improved.

By converting the travel distance along the road into a predetermined distance along the road according to the low-pass filter characteristics, processing of meandering, lane changes, detours, etc. that are outside the passing characteristics becomes easier.

By recording the azimuth change speed or azimuth change acceleration as condition data for each term, it becomes possible to determine the position and indicate the route without measuring the magnetic azimuth.

As condition data for each term, record the orientation, orientation change speed, orientation change acceleration, low-pass filtered orientation, orientation change speed, orientation change acceleration, band-pass filtered orientation change speed, orientation change acceleration, displacement distance, etc. This allows for faster and more accurate position determination.

By detecting a trajectory corresponding to a direction that has been filtered through a predetermined low-pass filter and correlating it with similarly written absolute display map information, accurate and reliable position determination can be performed by so-called dead reckoning navigation.

By sequentially recording relative display map information and absolute display map information in area units divided into predetermined areas, necessary information can be sequentially searched and utilized according to movement relative position.

A movement trajectory corresponding to the movement of a moving body is patterned in advance and recorded together with a predetermined selection code and an address within a unit area, and a clear display can be made at high speed by sequentially reproducing and displaying the pattern according to the movement.

Characters and figures that correspond to the movement of the moving object are patterned in advance and recorded together with a predetermined selection code and an address within a unit area, and are sequentially reproduced in accordance with the movement of the object, allowing for clear display at high speed.

By operating the relative tracking device, absolute tracking device, and feature tracking device in series and in parallel, the position can be determined from an unknown position, and the position can be calculated by dead reckoning when driving on a route that is not marked on the map. It is possible to achieve excellent navigation that is reliable and accurate, and does not require human judgment, such as immediate relative tracking when returning to the designated route area.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of the main parts of the travel route indicating device.

Claims (26)

[Claims] (1) A record that records information written in a format corresponding to G(f), which is obtained by converting a function (f) that is considered to represent information detected when a moving object moves along a travel path using a predetermined mapping (G). A device comprising a device for reproducing a medium and a device for detecting information detected when the moving body moves along a travel path, and converting information detected by the device when the moving body moves by the mapping (G). Optimal route indicating device with. (2) Acceleration detection amount (C') of the acceleration detector of the moving object,
Claims in which the function (k(C', d)) whose variable is the actuation amount (d) of the moving mechanism used for traveling is a function that is considered to represent information detected when the moving body moves along the moving path. The optimal route indicating device according to item 1. (3) A function (k(C', d)) whose variables are the amount of azimuth acceleration detected by the azimuth acceleration detector (C') that detects the course change component of the moving object, and the amount of operation (d) of the moving mechanism used for traveling. ) is a function deemed to represent information detected during movement of the moving body along the travel route, the optimal route indicating device according to claim 2. (4) A function (k (C', d )
) and a conversion function (
Conversion D=d*cos(k(C', d) when M)
−M(k(C', d)) is a function (n(M(k
4. The optimal route indicating device according to claim 3, wherein (C', d)), D)) are functions that are considered to represent information detected when the moving body moves along the travel route. (5) Detection amount (C) of the device that detects the magnetic course of the moving object
, a function (s(C, d)) whose variable is the actuation amount (d) of the moving mechanism used for traveling is a function that is considered to represent information detected when the moving body moves along the moving path. The optimal route indicating device according to item 1. (6) Detection amount (C) of the device that detects the magnetic course of the moving body,
Transformation D=d*cos(s(
If the function (t(s(C, d), D) with variables C, d) - F(s(C, d), D) represents the information detected when the moving object moves along the moving path, 6. The optimum route indicating device according to claim 5, wherein the optimum route indicating device is a function that is considered as a function. (7) A function (f
) is a function deemed to represent information detected during movement of the moving body along the travel route, the optimal route indicating device according to claim 1. (8) Operation amount of the moving mechanism used to change the course of the moving body (C
a) A patent claim in which the function (f(Ca, d)) whose variable is the actuation amount (d) of the moving mechanism used for traveling is a function that is considered to represent information detected when the moving body moves along the moving path The optimum route indicating device according to item 7. (9) Operation amount of the moving mechanism used to change the course of the moving body (C
a), the operating amount (d) of the moving mechanism used for traveling, and the conversion amount g( Ca
, d) and a transformation function (F) having a predetermined low-pass filter characteristic, the transformation D=d*cos(g(Ca,
d) −F(g(Ca, d))) as a function (h
8. The optimal route indicating device according to claim 7, wherein (g(Ca, d), D) is a function deemed to represent information detected when the moving body travels on the travel route. (10) Detection amount detected by the mobile radio wave beacon detection device (
r) and a function (f(r, d)) whose variables are the actuation amount (d) of the moving mechanism used for traveling, as a function that is considered to represent information detected when the moving body moves along the moving path. An optimal route indicating device according to claim 1. (11) The optimal route indicating device according to claim 1, further comprising a device that sequentially detects at least one of the azimuth change speed or the azimuth change acceleration of the approximate movement trajectory of the moving body for each predetermined distance along the road. (12) A device that sequentially detects at least one of the azimuth, azimuth change speed, azimuth change acceleration, or displacement distance of the approximate movement locus of a moving body after applying a predetermined low-pass filter or band-pass filter, for each predetermined distance along the road. An optimal route indicating device according to claim 1. (13) At least one of the azimuth, azimuth change speed, azimuth change acceleration, or displacement distance that has been filtered with a predetermined low-pass filter or band-pass filter of the approximate movement trajectory of the moving body is filtered using the low-pass filter of the azimuth of the movement trajectory. 2. The optimal route indicating device according to claim 1, further comprising a device for sequentially detecting cosine components at predetermined distances in different directions. (14) The optimum route indicating device according to claim 1, further comprising a device for detecting a trajectory corresponding to a direction applied with a predetermined low-pass filter, of a substantially moving trajectory of a moving body. (15) The optimal route indicating device according to claim 1, further comprising a device for storing information on a predetermined area according to the position of a mobile object, the information being sequentially recorded in area units divided into predetermined areas. (16) The optimum route indicating device according to claim 1, which identifies and sequentially displays a travel route display pattern corresponding to a travel route of a moving object using a selection code. (17) The optimal route indicating device according to claim 1, which identifies characters or figures using a predetermined selection code and sequentially displays them in accordance with the moving route or course direction of the moving object. (18) The optimal route indicating device according to claim 1, further comprising a device for detecting non-memory or erroneous memorization based on a data confirmation code in the buffer memory and storing predetermined information. (19) The optimal route indicating device according to claim 1, wherein information corresponding to a unit area density of the recorded information is recorded. (20) The optimal route indicating device according to claim 1, in which information corresponding to the degree of feature identification in the vicinity of the recorded information is recorded. (21) The optimal route indicating device according to claim 1, comprising a device for feature tracking the information recording density and content in the vicinity of the recorded information or information string using the feature discrimination degree. (22) The optimal route indicating device according to claim 1, comprising at least two of a relative tracking device, an absolute tracking device, or a feature tracking device. (23) The optimal route indicating device according to claim 1, comprising two or more of at least one of a relative tracking device, an absolute tracking device, and a feature tracking device. (24) An optimal route indicating device having a device that sequentially displays a substantially optimal route at an appropriate speed without depending on the movement of a moving object. (25) The optimal route indicating device according to claim 1, comprising a device for storing movement information of a moving body after predetermined processing, and a device for storing information on a recording medium. (26) An optimal route indicating device comprising a device that displays display data by selecting it according to travel information without creating new data.