KR940001632B1 - Navigation system for movable body - Google Patents

Abstract

No content.

Description

Mobile navigation device

1 is an overall configuration diagram.

2 is a front view of the indicator.

3a to 3e are schematic configuration diagrams for explaining the principle of the present invention.

4 is a flowchart showing arithmetic processing of the entire main routine in the control unit.

5 to 7 are explanatory diagrams of various menus displayed on the screen of the indicator.

8 is a flowchart showing the operation processing of the navigation main routine.

9 is a flowchart showing arithmetic processing based on a distance pulse from a distance sensor.

10 is a flowchart showing an assignment operation routine based on a distance pulse from a distance sensor and a signal from an azimuth sensor.

11 is an explanatory diagram of a setting pattern displayed on the screen.

12 is a schematic diagram illustrating the relationship between a map and a trajectory memory.

13 is a schematic diagram showing detailed arithmetic processing in the locus display mode and the locus non-display mode.

14 is a flowchart showing detailed arithmetic processing for storing positional data in a trajectory memory.

15A to 15C are examples of map and trajectory display displayed on the display means.

FIG. 16A is a screen diagram showing a map, a current location and a trajectory. FIG.

Figure 16b is a screen diagram showing only the map and the current location.

* Explanation of symbols for main parts of the drawings

1: control unit 7: CPU

8: Temporary storage means RAM 9: CRT.C (display control means)

10: RAM for display 11: Navigation device

20: orientation sensor 21: distance sensor

25a: Map memory means (CD. ROM) 26: Marker (CRT)

32: first mode switching means 33: second mode switching means

M: Current position K: Trajectory

L: Lead TA, TB, TC: Map

MA, MB, MC: Trajectory Memory

[Industrial use]

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a navigation apparatus installed in a mobile body such as a car, and more particularly, to a navigation apparatus for a mobile body that provides driving information to a driver by displaying a map, a current position of the car, a driving trajectory, and the like on an indicator such as a CRT.

[Prior art]

In general, a navigation apparatus installed in a mobile object such as a car stores a national map or a plurality of divided regional maps as map information in map storage means. By displaying, a map for running is provided.

In addition, the current position of the vehicle on the map displayed on the display by calculating the current position of the vehicle based on a detection signal from the distance sensor for detecting the vehicle travel distance and the direction sensor for detecting the traveling direction. A triangular mark and a driving trajectory indicating a symbol are displayed as a plurality of points in succession, and the vehicle position on the map of the screen can be recognized (for example, Japanese Patent Application Laid-Open No. 58-53711; (See Publication No. 59-39800, Japanese Patent Application Laid-Open No. 60-165511).

In this conventional apparatus, in the case of displaying the travel trajectory on the screen, the position data calculated in advance for each predetermined distance is sequentially stored in the storage means at predetermined time intervals. Then, in displaying the map, the position data is detected from the storage means, and displayed on the screen by a plurality of consecutive dots (dots).

In addition, since the running trajectory displayed on the screen has a display limit, when the limit is exceeded, a new starting point is set by the operation device to continue running.

[Problem to Solve Invention]

By the way, this type of device can reduce the memory capacity by retrieving and storing the position data, but since the position data is stored every certain time for one trace memory, the dot interval of the driving trace displayed on the screen is It becomes constant width. Therefore, even when the map displayed on the screen is switched from a map having a different scale, for example, from a wide area to a detailed map, the dot spacing of the driving trajectory still does not change, so the driving trajectory is not displayed correctly in response to the scale map, The driving route could not be properly recognized.

When the running trajectory displayed on the screen reaches the display limit, the starting point must be set at each time, and such setting operation while running is extremely complicated.

Further, this type of apparatus can repeatedly display the driving trajectory of the vehicle on the map displayed on the screen based on the position data from the position detecting means, but this driving trajectory cannot be arbitrarily erased. Therefore, when the driving trajectories overlap with the roads, bridges, etc. of the maps displayed while driving, it is sometimes difficult to identify these leading driving trajectories, and it always accompanied confusion. In addition, the driving trajectory may be mistaken as a leading, and there is a drawback of giving false information to the driver.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and makes it possible to freely display or erase a map, a current position and a driving trajectory displayed on the screen of the display means, in particular, the driving trajectory, thereby facilitating identification of the leading driving trajectory of the map. The purpose is to prevent misunderstanding of the map and to store location data in correspondence with each map of multiple scales, to display driving trajectories in accordance with the difference in the scale of the map displayed on the screen, and to provide accurate driving route information to the driver. Doing.

[Means for solving the problem]

The navigation apparatus for a moving object according to the present invention includes a map storage means for storing a map, a current position detecting means for detecting a current position of the moving object, a trajectory storage means for storing a trajectory of a current position detected by the current position detecting means, Display means having a screen capable of displaying at least one of a map from the map storage means, a current position from the position detection means, and a trajectory from the trajectory storage means, a map from the map storage means, the current position detection means A first mode for displaying on the screen a current position from and the trajectory from the trajectory storage means, a map from the map storage means and a current position from the current position detection means, and The trajectory has a second mode not shown, and these first and second Is provided with a switching means for switching the node.

Further, a navigation apparatus for a mobile body according to the present invention includes map storage means for storing a plurality of maps each including a common area and having different scales, a current position detecting means for detecting a current position of the moving object, and a current position detecting means from the present position detecting means. The current position data is created for each of a plurality of scales in the map storage means, and the current position data from the current position detection means is stored every predetermined time according to the plurality of scales, and for a predetermined time for the plurality of scales. The map, the current position and the trajectory based on a plurality of trajectory memories stored as trajectory data, map data from the map storage means, current position data from the current position detecting means and trajectory data from the trajectory memory. Display means having a screen to be displayed, said plurality of axes Is one of a display control device for displaying a map and the locus based on the locus data of the locus from the memory corresponding to the map data and the scaled corresponding to the designated one of the storage on the display means.

[Action]

In the present invention, when switching to the first mode, the map, the current position and the trajectory can be displayed on the screen of the display means. On the other hand, when switching to the second mode, only the map and the current location are displayed, and the trajectory is not displayed. Therefore, the misunderstanding of the lead trajectory on a map can be prevented.

When the moving object starts to move, map information corresponding to one designated scale among map information on a plurality of scales and trajectory data corresponding to this scale are read out from the storage means, respectively. Therefore, since the driving trajectory according to the scale factor of the displayed map is displayed on the screen of the display device, the driving trajectory can be accurately recognized even if a map of a different scale from the previously displayed map is displayed.

EXAMPLE

EMBODIMENT OF THE INVENTION Hereinafter, one Embodiment of this invention is described based on drawing.

1 is an overall configuration diagram of a navigation device for a mobile body, FIG. 2 is a front view of an indicator, and FIG. 3 is a schematic configuration diagram for explaining the principle of the present invention.

In the figure, reference numeral 1 denotes a control unit, which includes various I / O circuits 2, 3, 4, and input / output ports 5, 6, and the CPU 7 is a CRT controller (hereinafter, CRT.C); 9) lights are supplied from a vehicle loading battery via a constant voltage circuit and supplied with stabilized power to control various devices.

(2) is a first I / O interface circuit, and navigation (11) for guiding the driving of a vehicle, traffic information (12) for receiving road conditions, a mobile radio telephone (13), and an air conditioner for indoor air conditioning (14). ), Such as the television sound 15, the radio 16, the tape 17, and the CD 18, which are video sound sources, can be selected via the function switches SW1 to SW8. These function switches SW1 to SW8 are arranged on the front panel 26b of the CRT 26 shown in FIG. 2, to impart a drive signal to the CPU 7 by pressing operation, and to operate each function. It is.

In addition, the first I / O interface circuit 2 includes a GPS device 19 capable of receiving radio waves from the satellite via the antenna 19a and confirming or determining the current position and moving speed of the vehicle, and the vehicle. A fixed flux gate type geomagnetic detector or the like is connected to an orientation sensor 20 for decomposing and detecting the geomagnetism into a traveling direction component of the vehicle and its vertical component, and outputting a corresponding signal as the vehicle traveling orientation θ.

(3) is a 2nd I / O interface circuit, and is connected by the distance sensor 21 which outputs the pulse signal proportional to the rotation speed of a wheel using the vehicle speed sensor which detects rotation of a wheel by an electronic pickup, a lead switch, etc. It is. In addition, the current position detection means is configured by the orientation sensor 20 and the distance sensor 21 to obtain the current position data of the vehicle and to obtain the driving trajectory data.

Reference numeral 4 denotes a third I / O interface circuit, to which video and audio equipment such as a television tuner 22, a radio tuner 23, a tape deck 24, and a CD deck 25 are connected. The CD deck 25 is provided with a CD.ROM 25a which is a map storage means. When the navigation 11 is selected, various kinds of map information and diagram data described later can be read and displayed on the CRT 26. It is supposed to be done.

As the CD.ROM 25a, a memory for storing map information described in the November 26, 1987 issue of NOKEI Electronics (NO434) is employed, and map information such as a local map, a regional map, a map district, or the like can be used. It is stored as vector data. In this example, the map is made of three types of wide area, standard, and detail, each of which has a different scale, and the map information is stored to include a common area. In addition, the district map is divided into four regions corresponding to four upper limits of the screen 26a of the CRT 26, and four map blocks are used as partial maps, and four times the one map block that is part of this partial map is CRT. This data is sequentially stored in the CD.ROM 25a as map information so as to be the background of the screen 26a of (26). In addition, diagrams connecting points on the earth map, for example, diagrams representing roads, rivers, bridges, etc. are decomposed and stored in the diagram data, and are also stored as character data such as letters and symbols, and as a service symbol as a hotel or golf course. Service data such as the above is also stored. The color pallet is stored in a plurality of color codes in order to display the specific items such as roads and river bridges in various colors. In addition to this color code, a plurality of memory tables in which a plurality of color pallets are stored as color codes in order to be able to display the items in other colors are also included. In addition, dot data for applying shadow on the screen 26a and dot data for applying shadow on the screen 26a are also stored.

Numeral 7 denotes a CPU, which controls the operation of video and audio equipment in accordance with the selection operation of the function switches SW1 to SW8, and reads map information and the like from the CD.ROM 25a to read the CRT 26. The control signals for displaying on the screen 26a of the image are given to the CRT, C9. In addition, a pulse signal from the distance sensor 21, a GPS signal from the GPS device 19, and a digital signal of X and Y components from the azimuth sensor 20 are received via an IRT (assignment circuit) 7a to perform arithmetic processing. Then, the driving trajectory and the current position as the driving route information are obtained, and the display signal is output. In addition, the current position is stored every predetermined time, and the driving trajectory is the driving route information.

(8) is a temporary storage RAM which is a temporary storage means, and as shown in the schematic diagram of FIG. 3, the data read out from the CD.ROM 25a is temporarily stored in the process of the CPU 7 performing arithmetic processing. Power is always backed up from the onboard battery so that it can be accumulated and maintained. When the map information is read, the lead data is also read as a part thereof, and when the desired map is selected, the data is read so that various lines overlap on the map. In this RAM 8, the coordinates (x0, y0) of the current position stored in the first memory table are located near the coordinates (x0, y0) from the CD.ROM 25a such that the coordinates (x0, y0) become the center of the screen 26a. The map data is read and stored, and when this current position data is read, it is displayed as the current position mark M in the center of the screen 26a. In addition, a memory table for storing position data is provided for displaying the driving trajectory on the screen 26a of the CRT 26. In this example, the maps stored in the CD.ROM 25a have different scales. In correspondence with the map information, there is an infinite plurality of memory tables.

More specifically, in FIG. 12 (MA, MB, MC) is a memory table which is a trajectory memory for storing current position data, and corresponds to three kinds of map screens TA, TB, TC having different scales, respectively. . That is, (TA) is a wide area map in a specific area, (TB) is a standard map in which the common area F of this wide area map (TA) is enlarged at a predetermined magnification, and (TC) is a standard map of TB. It is the detailed map which enlarged common area F by predetermined magnification. (MA) is a memory table corresponding to the wide area map (TA), (MB) is a memory table corresponding to the standard map (TB), and (MC) is a memory table corresponding to the detailed map (TC). .

Reference numeral 9 denotes a CRT.C (CRT controller) which is a display control means, which receives a command for outputting a display signal from the CPU 7, expands the driving route information to the display RAM 10, and displays the expanded map. The video signal and the synchronization signal for displaying data, character data, driving route information, and the like on the CRT 25 are outputted. The CPU 7 stores map information corresponding to a designated scale among the wide area, standard and detailed map information stored in the CD.ROM 25a, and driving trajectory information corresponding to the map information. Is read from the memory table and superimposed on the map L on the map.

Denoted at 10 is a display RAM, and in addition to additional information such as a map number and scale type, pattern data for displaying an operation key for driving the various devices as a touch switch is stored on the screen 26a. . As the pattern data, a plurality of consecutive current position marks M (refer to FIG. 3) displayed on the screen 26a of the CRT 26 and a traveling trajectory K as shown in FIG. The locus display pattern 32, which is the first mode for displaying the dot (dot) of, and the locus non-display pattern 33, which is the second mode for erasing the displayed locus K from the screen 26a, are stored in the CPU ( It is stored as a switching means, i.e., a touch switch, which gives a switching signal to 7). Although not illustrated, a scroll key pattern constituting a map moving means for arbitrarily moving the map displayed on the screen 26a, and a correction position for correcting the position of the current position mark M displayed on the screen 26a A correction position mark as mark display means, a return pattern as a map movement return means for returning the moved map to its original position, and a current position mark moved to the position of the correction position mark when the current position mark M is moved. Correction patterns and the like that are correction means are stored. In addition, although illustration is abbreviate | omitted, the enlargement and reduction pattern which changes the scale of a map, etc. are also memorized.

Reference numeral 26 denotes a CRT which is a display means, and displays a map, a driving route, a current position, and the like of a specific district by the video signal and the synchronization signal from the CRT.C (9). In addition, various operation keys of the touch switch unit described later are displayed in a predetermined touch area, and the television tuner 22 is turned on by pressing the function switch SW5 to display a television image.

27 and 29 are light emitting units 28 and 30 connected to the CPU 7 via the output port 6, and are light receiving units connected to the CPU 7 via the input port 5, and the CRT 26 It is arrange | positioned in the inner frame of the screen, and comprises the touch panel part of a touch switch. In addition, although not shown, this touch panel part divides the touch area which consists of a row direction and a column direction into many, and when the specific touch area of this touch area is operated, it passes the intersection of a row direction and a column direction. External light is interrupted and a drive signal for giving various instructions is output. Specifically, when the screen 26a is touched, the operation pattern is displayed on the inner circumference of the screen 26a, and when any of these patterns is touched, the operation start or stop of each device is set, and the time or value is set. You can do it.

Next, the operation of the moving device navigation apparatus configured as described above will be described with reference to the flowcharts shown in FIG. 4, FIG. 8 to FIG.

First, when the key switch is turned on at the start of driving of the vehicle, the electric system of each part is operated by receiving power supply from the onboard battery. Then, when the CPU 7 of the control unit 1 is powered on, it is operated by the stabilizing power supply, the initialization is performed in step S11 of the flowchart shown in FIG. 4, and the arithmetic processing displayed in the main routine of this figure is performed. Repeated period of several tens of msec. Next, function key processing is performed in step S12, and input processing of the touch switch is then performed in step S13. At this time, in step S14, for example, when the operator presses and operates the function keys SW6 and SW4 such as the radio 16 and the air conditioner 14, the process proceeds to step S15, and the screen of the CRT 26 is shown in FIG. The pattern of the radio mode as shown in FIG. 6 or the pattern of the air conditioner mode shown in FIG. 6 is displayed. Then, by touching the area of the switch pattern provided on the display screen of each mode, it is possible to operate the selected device to the desired setting. Also in this operation, the process proceeds to step S16, where the CPU 7 executes arithmetic processing for the current position or the like.

First, as shown in the flowchart of FIG. 8, the travel distance of a vehicle is detected by the distance sensor 21 in step S21. Next, in step S22, the pulse signal from the distance sensor 21 is received, and the assignment operation of the present position is performed at predetermined time intervals. In step S23, the current position data and the driving trajectory data obtained by this calculation are sequentially stored in the temporary storage RAM 8. As a result, when the vehicle starts to travel, travel route information such as a travel distance and a travel trajectory to the current position can be obtained.

First, when the vehicle is driven, a pulse signal is output from the distance sensor 21 and is given to the CPU 7 via the IRT 7a as shown in the flowchart of FIG. Then, the number of pulses N is added by this CPU 7, and the travel distance to the present is obtained (step S31).

Next, the assignment processing routine shown in the flowchart of FIG. 10 is started with the driving of an automobile. First, in step S41, the pulse number N from the vehicle speed sensor is read at a fixed time, for example, at 1 second intervals. Next, in step S42, the traveling distance D for each fixed time is obtained by multiplying the pulse number N at this time by the unit travel distance d, for example, 39.25 cm.

Next, in step S43, the azimuth θ from the azimuth sensor 20 is read.

In step S44, the position on the two-dimensional coordinates of the vehicle at the azimuth θ and the traveling distance D is obtained by the following equation.

Δx = D

Δy = Dsinθ

Subsequently, the current position (x, y) of the vehicle is obtained from the calculated coordinates Δx, Δy and the starting points (x0, y0) in step S45 by the following equation.

xn + 1 ← xn + Δx

yn + 1 ← yn + Δy

Thereby, while the traveling distance D to the present position which changes every time is obtained, latitude and longitude are determined every fixed time, and the present position (x, y) can be known. In addition, this data is sent to the temporary storage RAM 8 and sequentially stored. In this RAM 8, data at the current position (x, y) is recorded, while old data is gradually erased. In a way. In addition, even if the driving of the vehicle is stopped and the key switch is turned off, data of the current position (x, y) and the traveling distance D can be maintained.

In step S46, the count of the pulse number N is cleared. Subsequently, if it advances to step S47, the arithmetic process which receives a GPS signal from the said GPS apparatus 19 and performs a GPS process is performed. As a result, since the absolute value of latitude and longitude is determined every predetermined time, for example, every second, the travel route information can be corrected.

By the way, when starting a car, the navigation 11 is operated first. In connection with this, on the screen 26a of the CRT 26, as shown in Fig. 7, the setting pattern between the map selection and the current position is displayed as a menu. At this time, if any touch operation of the setting pattern is performed, the display mode of navigation shown in the flowchart of FIG. 13 is started.

First, when an operator touches somewhere on the screen 26a of the CRT 26 (step S51), the screen 26a shows the locus display (first mode) and no locus display (second mode) as shown in FIG. ) Is displayed as a pattern.

Now, when the locus display mode is selected and the setting pattern 32 is touched (step S53), the drive signal is outputted and the locus mode processing is performed (step S54). First, when map information and lead data are read from the CD.ROM 25a, the current position data and the driving trajectory data are read from the temporary storage RAM 8 and sent to the CRT 26. Therefore, as shown in FIG. 16A, the screen 26a displays a road map and a line L such as a road or a railway track. Moreover, the present position mark M which shows the position of the present car of this line L, and the running trace K which display the travel path | route so far are displayed on the road L (step S55). Therefore, the driver can know the current position and driving route required for driving.

By the way, when the vehicle enters the main road or passes through the lane during driving, the driving trajectory K may be difficult to distinguish from these tracks L. That is, in order to distinguish the various types of roads, rivers, tracks, and the like, these types of lines L are usually distinguished from each other by the color of the lines L, or various widths of the lines L are varied. For this reason, for example, when the driving trajectory K overlaps on the trunk road indicated by the wide line L, the point (dot) of the driving trajectory K is hidden in the wide line L. There is a case. Moreover, when the road line L of the road and the road line L of the railroad track are indexed in the same system as the running trajectory K, it is difficult to distinguish between these road lines L and the trajectory K.

In order to eliminate such confusion, the driving trajectory K may be temporarily not displayed. In this case, the setting pattern 33 of the trajectory non-display mode (second mode) is selected from the setting patterns 32 and 33 displayed on the screen 26a to perform touch operation (step S53). Then, processing of the locus non-display mode is performed, and as shown in FIG. 16B, only the map and the current position mark M are displayed on the screen 26a, and the travel locus K is not displayed (step S57). Therefore, the driver can see the road on the map accurately while confirming the position of his car on the map.

As described above, in this embodiment, only the map and the current position mark M are displayed, and the trajectory display mode for displaying the road map, the current position mark M and the driving trajectory K of the vehicle on the screen 26a. In this case, the locus non-display mode, which does not display the running locus K, is displayed on the screen 26a, and the switching means for switching these modes is displayed as the setting patterns 32 and 33.

For this reason, when the locus display mode is selected when the vehicle is running, the current position M and the locus K of the vehicle can be recognized on the map displayed on the screen 26a. On the other hand, when it is difficult to identify the road L and the driving trajectory of the road passing while traveling, the driving trajectory K can be erased from the screen 26a by switching to the trajectory non-display mode. When necessary, it is also possible to switch back to the trajectory display mode and display the travel trajectory K. In this way, the driving trajectory can be temporarily erased from the screen 26a by a simple operation as necessary, so that the confusion of the various lines L and the driving trajectory K can be avoided, and the misunderstanding of the map can be prevented. It works.

Next, a case where the current position data output from the current position detecting means is stored in the memory table will be described with reference to the flowchart of FIG.

In this example, the three time intervals T1 (2sec), T2 (4sec), and T3 at which the data of the current position (x, y) obtained by the calculation along with driving of the vehicle as described above differ in sampling rate. At 8 sec, the scales are stored corresponding to different maps TA, TB, and TC.

First, when the position data (x, y) is input, it is judged whether or not the position data (x, y) is the same value as the previous time (step S51). At this time, if YES, the vehicle is stopped, the process proceeds to Step S52 and returns. On the other hand, if NO, it progresses to step S53 and the position data of every time is stored by the sampling rate corresponding to the scale factor of a map. In step S53, it is determined whether time T1 (2sec) has elapsed. If YES, the flow advances to step S54, where the position data is stored in the storage areas A ₁₀ to A _1N of the memory table MA shown in FIG. That is, as shown in the subroutine, first, the position data is added in step S71. Next, the position data is counted in step S72. Next, in step S73, it is determined whether this count number n exceeds N which is the maximum storage capacity of the memory table MA. If YES, the memory capacity is exceeded. In step S14, the count n up to that time is zero. On the other hand, if NO, it progresses to step S55 and it will time up 4sec after the setting time T1 (2sec) has passed.

Therefore, this memory table MA stores position data for a predetermined period corresponding to the wide area map TA.

Next, the storage operation to the memory table MB is performed in parallel with the above operation. First, in step S56, it is determined whether the predetermined time T2 (4sec) has elapsed since the start. At this time, if NO, the process proceeds to step S59. If YES, the process proceeds to the subroutine of step S57. In this subroutine, the same processing as the subroutine is performed.

Therefore, in the storage areas B ₂₀ to B _2N of the memory table MB, position data for a predetermined period is stored corresponding to the standard map TB.

In parallel with the above operation, the storage operation in the memory table MC is performed. Also in this case, in step S59, it is determined whether the predetermined time T3 (8sec) has elapsed since the start, and then the same processing as the subroutine is performed. Therefore, in the storage areas C ₃₀ to C _3N of the memory table MC, position data for a predetermined period is stored corresponding to the detailed map TC.

However, when the navigation 11 is set to the trajectory display mode as the memory processing of the driving trajectory data continues, a plurality of dots showing the trajectory of the trajectory are displayed on the map displayed on the screen 26a.

First, when an operator touches somewhere on the screen of the CRT 26, a menu is displayed on the screen 26a as shown in FIG. 7, and the setting pattern of the map selection and the current position is displayed. At this time, no matter what setting pattern is touched, on the screen 26a which has been switched for the first time, an enlarged and reduced setting pattern for selecting the type of map is displayed, although not shown.

Now, when touch operation of the enlarged setting pattern is performed, map information is read from the CD.ROM 25a, and as shown in FIG. 15a, the wide area map TA including the current position of the subject car on the screen 26a. Is displayed. As a result, trajectory data is read from the memory table MA, and pattern data is read from the display RAM 10, and the current position mark M and the driving trajectory are displayed on the map TA of the screen 26a. (K) is displayed. The running trajectory K is represented by a plurality of consecutive dots (dots), but this interval corresponds to the wide area map TA.

Next, when the wide area map TA is to be converted to the standard map TB while driving, touching the reduction of the setting pattern causes the map TA to be switched to a standard as shown in FIG. 15B. The map TB is displayed on the screen 26a. Along with this, the locus data is read from the memory table MB, and a plurality of dots corresponding to the standard map TB are displayed as the running locus K. FIG.

Subsequently, when the map TB is to be converted into the detailed map TC, when the setting pattern is touched, the map TB is switched to display the detailed map TC as shown in FIG. 15C. It is displayed at 26a. In connection with this, the locus data is read from the memory table MC, and the dot corresponding to the detailed map TC is displayed as the running locus K. FIG.

Therefore, when the driver sees each map displayed on the screen 26a, the scale of the map is different, but the interval of the dot showing the driving trajectory K is displayed corresponding to each map, so that the driver is shown on a diagram such as a road. It is possible to properly check the traveling route.

When the driving trajectory K displayed on the map of the screen 26a reaches the display limit of the screen 26a while the vehicle is running, the trajectory data as described above is respectively obtained even if the map is switched to an adjacent map. Are stored in the memory tables MA, MB, and MC, and are automatically displayed on the converted adjacent map.

In addition, the interval of dots displayed on the screen 26a corresponds to the set time when storing the position data. Therefore, when the speed of the vehicle becomes faster, the interval between dots becomes longer, and becomes shorter when the speed becomes lower.

As described above, in the present embodiment, the memory tables MA, MB, and MC corresponding to three types of maps TA, TB, and TC having different scales are used for the position data (x, y) output from the current position detecting means. ) Is read out as the locus data according to each map displayed on the screen 26a, and is displayed as the driving locus K on the map. Therefore, the driving trajectories of the dot intervals according to the types of the wide area map TA, the standard map TB, and the detailed map TC can be displayed, so that the driver can appropriately recognize the driving route of the vehicle. In addition, even if the map is sequentially switched to adjacent maps, since the trajectory data is always stored, it is automatically displayed on the adjacent maps. Therefore, even when the map is switched in the state where the driving trajectory K has reached the display limit of the screen 26a, there is an effect that it is unnecessary to set a new starting point on the next map screen.

[Effects of the Invention]

As described above, the present invention has a first mode for displaying a map, a current position and a trajectory on a screen of the display means, and a second mode for displaying the map and the current position but no trajectory, and arbitrarily switch these modes. Since the switching means is provided, the driving information necessary for driving can be displayed on the screen when the vehicle enters the first mode. In addition, when it becomes difficult to identify the road and the running trajectory displaying the road or river displayed on the screen while driving, when switching to the second mode, only the running trajectory is not displayed on the screen, and confusion of the freshness and the trajectory is avoided. Misunderstanding of the map is prevented and there is an effect that leads to safe driving.

Furthermore, in the present invention, since a trajectory memory corresponding to a plurality of maps having different scales is provided, the position data output from the current position detecting means can be stored as trajectory data for a predetermined period of time corresponding to the plurality of scales. , The trajectory according to the map displayed on the screen of the display means can be displayed. Therefore, even if a map having a different scale is displayed on the screen by switching the map, the trajectory is displayed corresponding to the map, so that the trajectory up to the current position can be appropriately visually recognized.

Claims (2)

Map storage means 25a for storing a map, current position detection means 1 for detecting the current position of the moving object, trajectory storage means 8 for storing the trajectory of the current position detected by this current position detection means, and Display means 26 having a screen capable of displaying at least one of a map from map storage means, a current position from the position detection means and a trajectory from the trajectory storage means, a map from the map storage means, the present A first mode for displaying the current position from the position detection means and the trajectory from the trajectory storage means on the screen, the map from the map storage means and the current position from the current position detection means to display the trajectory storage means Has a second mode which does not display, and the switching means 32 and 33 for switching these first and second modes are obtained. Navigation apparatus for a mobile body, characterized in that compared. Map storage means 25a for storing a plurality of maps each having a different scale including a common area, a current position detecting means 1 for detecting a current position of a moving object, and current position data from the current position detecting means. Each of the plurality of scales in the storage means is made, and the current position data from the current position detecting means is stored for each predetermined time in the plurality of scales. A screen capable of displaying the map, the current position and the trajectory based on a plurality of trajectory memories, map data from the map storage means, current position data from the current position detecting means and trajectory data from the trajectory memory. Display means (26) having an angle corresponding to a specified one of the plurality of scales; FIG moving body navigation device, characterized in that a display control means (9) for displaying the map and the locus based on the trajectory data in the trajectory from the memory corresponding to the data, and the scale on the display means.