WO2007091495A1

WO2007091495A1 - Position display device, position displaying method, position displaying program, and recording medium

Info

Publication number: WO2007091495A1
Application number: PCT/JP2007/051819
Authority: WO
Inventors: Hiroaki Shibasaki
Original assignee: Pioneer Corporation
Priority date: 2006-02-06
Filing date: 2007-02-02
Publication date: 2007-08-16

Abstract

A position display device (100) is comprised of a positioning data acquiring unit (101), a width information acquiring unit (102), a determining unit (103) and a display unit (104). The positioning data acquiring unit (101) acquires positioning data indicative of the present position of a mobile body. The width information acquiring unit (102) acquires information of a width of a road adjacent to the position corresponding to the positioning data acquired by the positioning data acquiring unit (101). The determining unit (103) determines a display position of the mobile body based on the information of the width acquired by the width information acquiring unit (102) and the positioning data. The display unit (104) displays the position of the mobile body at the display position determined by the determining unit (103).

Description

Specification

Position display device, position display method, position display program, and recording medium

The present invention relates to a position display device, a position display method, a position display program, and a recording medium that display the current position of a moving object. However, the use of the present invention is not limited to the above-described position display device, position display method, position display program, and recording medium.

Background art

Conventionally, a navigation apparatus mounted on a vehicle or the like receives a signal transmitted from a GPS (Global Positioning System) satellite and detects the current position of the vehicle. Then, based on the information about the vehicle detected by various sensors and the map information recorded in the recording device of the navigation device, the current position of the vehicle and the road on the map are matched (map matching). The current position of the vehicle is displayed on the map displayed on the display.

[0003] A navigation device that performs such map matching uses, for example, a traveling direction detection means for detecting the traveling direction of the host vehicle and road links included in a predetermined range including the host vehicle position as candidates for map matching. The acquisition means to acquire and the intersection force in the direction of travel of the vehicle with respect to the road link that is expected to be currently traveling. A predetermined number of road links are struck. The exclusion means for excluding the candidate power acquired by the acquisition means, and the exclusion means for the road link in which the traveling direction of the own vehicle in the case of a crash is substantially opposite to the traveling direction of the own vehicle by the traveling direction detection means Map matching means for selecting a road link from the remaining candidates from which a predetermined candidate is excluded and executing map matching processing (for example, the following patents) Document 1 reference.) O

[0004] Patent Document 1: Japanese Patent Laid-Open No. 2005-226999

Disclosure of the invention

Problems to be solved by the invention

[0005] However, according to the above-described conventional technology, the position of the vehicle is map-matched on the road link representing each road shape. One example is the problem that the position is displayed at the center of the road regardless. For example, even if there are multiple lanes on the road, the position is displayed uniformly in the center of the road regardless of the lane you are driving, so you can accurately recognize the position of your vehicle. An example of the problem is that it is not possible.

[0006] In addition, when there are multiple lanes on the road and the position of the vehicle is displayed uniformly in the center of the road, it is necessary to accurately guide lane change guidance and stop instructions when turning left or right. An example of the problem is that it is not possible. Furthermore, when collecting information on the running state of each vehicle from the navigation device and generating traffic information etc., the problem of being unable to know the degree of congestion for each lane is an example. Means for solving the problem

In order to solve the above-described problems and achieve the object, the position display device according to the invention of claim 1 includes positioning data acquisition means for acquiring positioning data indicating a current position of a moving body, and the positioning data acquisition Width information acquisition means for acquiring information on the width of the road in the vicinity of the position corresponding to the positioning data acquired by the means (hereinafter referred to as positioning position), information on the width acquired by the width information acquisition means, And determining means for determining a display position of the moving body based on positioning data; and display means for displaying the position of the moving body at the display position determined by the determining means. .

[0008] Further, the position display method according to the invention of claim 5 includes a positioning data acquisition step for acquiring positioning data obtained by positioning the current position of a moving body, and positioning data acquired by the positioning data acquisition step. The display position of the mobile body is determined based on the width information acquisition step of acquiring information on the width of the road near the corresponding position, the information on the width acquired in the width information acquisition step, and the positioning data. And a display step of displaying the position of the moving body at the display position determined by the determination step.

[0009] Further, a position display program that is useful for the invention of claim 6 causes a computer to execute the position display method of claim 5.

[0010] In addition, a recording medium according to the invention of claim 7 is a position display program according to claim 6. It can be read by the computer which recorded the.

Brief Description of Drawings

FIG. 1 is a block diagram showing a functional configuration of a position display device that works according to an embodiment.

FIG. 2 is a flowchart showing a procedure of position display processing by the position display device.

FIG. 3 is a block diagram showing a hardware configuration of the navigation device.

[FIG. 4] FIG. 4 is a flowchart showing the procedure of map matching processing by the navigation device.

[FIG. 5] FIG. 5 is a flowchart showing the procedure of map matching processing by the navigation device.

[FIG. 6] FIG. 6 is an explanatory diagram for explaining the map matching process of FIG. 4 and FIG. 5. [FIG. 7] FIG. 7 is an explanatory diagram for explaining the map matching process of FIG. Is

Explanation of symbols

[0012] 100 position display device

101 Positioning data acquisition unit

102 Width information acquisition department

103 decision part

104 Display

BEST MODE FOR CARRYING OUT THE INVENTION

[0013] Preferred embodiments of a position display device, a position display method, a position display program, and a recording medium according to the present invention will be described below in detail with reference to the accompanying drawings.

[0014] (Embodiment)

First, the functional configuration of the position display device 100 according to the embodiment will be described. FIG. 1 is a block diagram showing a functional configuration of a position display device that works according to the embodiment. The position display device 100 includes a positioning data acquisition unit 101, a width information acquisition unit 102, and a determination unit 103. The display unit 104 is configured.

[0015] The positioning data acquisition unit 101 acquires positioning data indicating the current position of the moving object. The positioning data acquisition unit 101 acquires, for example, an output value of a sensor for autonomous positioning such as a gyro sensor or an acceleration sensor, or a GPS signal transmitted from a GPS satellite.

[0016] The width information acquisition unit 102 acquires information on the width of the road near the position corresponding to the positioning data acquired by the positioning data acquisition unit 101 (hereinafter referred to as positioning position! /, U). The width-related information is, for example, the number of meters of the width of the road on which the moving body is currently traveling. For example, the width information acquisition unit 102 acquires map information around the positioning position, and acquires information about the width included in the map information. Also, for example, an image around the current position of the moving body is acquired, and information about the width included in the image around the current position is acquired by image recognition or the like.

The determination unit 103 determines the display position of the moving object based on the information on the width acquired by the width information acquisition unit 102 and the positioning data acquired by the positioning data acquisition unit 101. For example, the determination unit 103 predicts positions at both ends in the width direction of the road near the positioning position (hereinafter referred to as both-end positions) using information on the width, and if the positioning position is within the both ends, the positioning position The display position is determined, and if the positioning position is inside the both end positions, the display position is determined at both end positions.

Display unit 104 displays the position of the moving object at the display position determined by determination unit 103. The display unit 104 displays the position of the moving object, for example, superimposed on the map information displayed on the screen.

Next, the position display process of the position display device 100 will be described. FIG. 2 is a flowchart showing a procedure of position display processing by the position display device. In the flowchart of FIG. 2, the position display device 100 first acquires positioning data indicating the current position of the moving body by the positioning data acquisition unit 101 (step S201). Next, the width information acquisition unit 102 acquires information about the width of the road near the positioning position (step S202).

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[0020] Subsequently, the determination unit 103 predicts the both end positions of the road near the positioning position using the information on the width (step S203), and determines whether the positioning position is within the both end positions. Judgment is made (step S204). If the positioning position is inside the both end positions (step S20 4: Yes), the positioning position is determined as the display position because the positioning position is within the width of the road (step S205). On the other hand, when the positioning position is not inside the both end positions (step S204: No), the both ends position is determined as the display position because the road width positioning position is out of place (step S206).

[0021] Then, the display unit 104 displays the position of the moving object at the display position determined in step S205 or step S206 (step S207), and the process according to this flowchart ends.

[0022] As described above, according to the position display device 100, the display position of the moving body is determined based on the information about the width in the vicinity of the measurement position. Accordingly, the position of the moving body can be displayed in consideration of the width of the road along which the moving body moves, and the position of the moving body can be displayed at a more accurate position.

[0023] Further, the position of the moving body is determined on the positioning position or the both end positions depending on whether the positioning position is inside the both end positions. As a result, if the difference between the actual moving body position and the positioning position is considered to be very small, the positioning position is regarded as the display position, and the difference between the actual moving body position and the positioning position is considered large. In some cases, the display position can be determined on both ends of the road.

[0024] Furthermore, if information on the width is acquired from the image around the current position of the moving body, more accurate information on the width can be acquired. Further, if the information on the width is acquired from the map information, the processing load of the position display device 100 can be reduced.

Example

Next, an example of the position display device 100 according to the above-described embodiment will be described. In the following embodiments, a case will be described in which the position display device 100 is applied to a navigation device 300 mounted on a vehicle.

[0026] (Hardware configuration of navigation device 300)

First, the hardware configuration of the navigation device 300 will be described. FIG. 3 is a block diagram showing a hardware configuration of the navigation device. In FIG. 3, a navigation device 300 includes a CPU 301, a ROM 302, a RAM (memory) 303, a magnetic disk drive 304, a magnetic disk 305, an optical disk drive 306, an optical disk 307, and an audio IZF (interface). ) 308, microphone 309, speaker 310, input device 311, video I / F 312, camera 313, display 314, communication I / F 315, GPS unit 316, and various sensors 317 Yes. Each component 301 to 317 is connected by a bus 320.

The CPU 301 governs overall control of the navigation device 300. The ROM 302 records programs such as a boot program, a communication program, a database creation program, and a data analysis program. The RAM 303 is used as a work area for the CPU 301.

The magnetic disk drive 304 controls reading and writing of data with respect to the magnetic disk 305 according to the control of the CPU 301. The magnetic disk 305 records data written under the control of the magnetic disk drive 304. As the magnetic disk 305, for example, HD (node disk) or FD (flexible disk) can be used.

The optical disc drive 306 controls reading and writing of data to the optical disc 307 according to the control of the CPU 301. The optical disc 307 is a detachable recording medium from which data is read according to the control of the optical disc drive 306. The optical disk 307 can also use a writable recording medium. Further, the removable recording medium may be a power MO of the optical disc 307, a memory card, or the like.

Another example of the information recorded on the magnetic disk 305 and the optical disk 307 is map data used for route search / route guidance. The map data includes background data that represents features (features) such as buildings, rivers, and the ground surface, and road shape data that represents the shape of the road. Two-dimensional or three-dimensional data is displayed on the display screen of the display 314. Is drawn to. When the navigation device 300 is guiding a route, the map data and the current position of the vehicle acquired by the CPU 301 are displayed in an overlapping manner.

Here, the background data further includes background shape data representing the shape of the background and background type data representing the type of the background. The background shape data includes, for example, the representative point of the feature “polyline”, “polygon” and the coordinates of the feature. The background type data is For example, it includes text data that represents the name, address, and telephone number of the feature, and type data of the feature such as a building, river, or ground surface.

[0033] Further, with regard to major facilities (POI: Point of Interest) in the map, information such as business hours and the presence / absence of a parking lot is included as facility information. Sarasako, among the features, “gas stations” and “convenience stores” such as facilities provided for a predetermined purpose are classified by genre. Then, the representative point and coordinate data of the feature and the facility information “genre information” are associated with each other. The genre into which the facilities are classified at this time includes, for example, parking lots, train stations, etc., in addition to the above gas stations and convenience stores.

[0034] The road shape data further includes traffic condition data. The traffic condition data includes, for example, the presence or absence of traffic lights and pedestrian crossings for each node, the presence or absence of highway entrances and junctions, the length (distance) for each link, road width, traveling direction, road type (highway , Toll roads, general roads, etc.).

[0035] Further, the standard road width information includes information on the average width of the road! /. The standard road width information may be a uniform value for all roads, or it may have information for each type of road (such as a highway 'national road' prefectural road 'city road).

[0036] Further, the traffic condition data may include past traffic information obtained by statistically processing past traffic information based on the season 'day of the week and large holidays' time. The navigation device 300 obtains information on the current traffic jam based on road traffic information received by the communication IZF315, which will be described later, but it can predict the traffic situation at the specified time using the past traffic information. Become.

The voice IZF 308 is connected to a microphone 309 for voice input and a speaker 310 for voice output. The voice received by the microphone 309 is AZD converted in the voice IZF308. In addition, sound is output from the speaker 310. Note that the sound input from the microphone 309 can be recorded on the magnetic disk 305 or the optical disk 307 as sound data.

[0038] Examples of the input device 311 include a remote controller, a keyboard, a mouse, and a touch panel that are provided with a plurality of keys for inputting characters, numerical values, various instructions, and the like. In addition, the input device 311 is connected to another information processing terminal such as a digital camera or a mobile phone terminal. Data input / output.

The video IZF 312 is connected to a camera 313 for video input and a display 314 for video output. Specifically, the video IZF312 is output from, for example, a graphic controller that controls the entire display 314, a buffer memory such as VRAM (Video RAM) that temporarily records image information that can be displayed immediately, and a graphic controller. Based on the image data to be displayed, it is configured by a control IC or the like that controls display of the display 314.

[0040] The camera 313 captures images inside and outside the vehicle and outputs them as image data. An image captured by the camera 313 can be recorded on the magnetic disk 305 or the optical disk 307 as image data. You can also use the image taken by the camera 313 to analyze the image with the CPU 301 etc. to obtain information such as road conditions around the vehicle!

[0041] The display 314 displays icons, cursors, menus, windows, or various data such as characters and images. As the display 314, for example, a CRT, a TFT liquid crystal display, a plasma display, or the like can be adopted.

Communication IZF 315 is connected to a network via radio and functions as an interface between navigation device 300 and CPU 301. The communication I / F 315 is further connected to a communication network such as the Internet via radio, and functions as an interface between the communication network and the CPU 301.

[0043] Communication networks include LANs, WANs, public line networks, and mobile phone networks. Specifically, the communication IZF315 is composed of, for example, FM tuner, VICS (Vehicle Information and Communication System) Z beacon Resino, wireless navigation device, and other navigation devices. Get road traffic information such as traffic regulations. VICS is a registered trademark.

[0044] The GPS unit 316 receives radio waves from GPS satellites and calculates information indicating the current position of the vehicle (current position of the navigation device 300). The output information of the GPS unit 316 is used when the CPU 301 calculates the current position of the vehicle together with output values of various sensors 317 described later. The information indicating the current position is information specifying one point on the map data, for example, latitude'longitude and altitude. [0045] Various sensors 317 output information that can determine the position and behavior of the vehicle, such as a vehicle speed sensor, an acceleration sensor, and an angular velocity sensor. The output values of the various sensors 317 are used for calculation of the current position of the vehicle by the CCU 301 and measurement of changes in speed and direction.

Here, in the configuration of the position display device 100 that is relevant to the embodiment, the positioning data acquisition unit 101 is based on the GPS unit 316 and various sensors 317, and the width information acquisition unit 102 is the magnetic disk drive 304 and the magnetic disk. 305, or optical disk drive 306 and optical disk 307, or camera 313 and CPU 301, the determining unit 103 is realized by the CPU 301, and the display unit 104 is realized by the display 314.

[0047] (Map matching process of navigation device 300)

Next, the map matching process of the navigation device 300 will be described. The navigation device ₃₀₀ guides the user to the destination point while superimposing the current position of the vehicle on the map information. Data calculated from the GPS unit 316 and various sensors 317 (hereinafter referred to as positioning data) is used to calculate the current position of the vehicle. The calculated current position (hereinafter referred to as positioning position) and the actual current position are used. An error occurs in the position. In order to correct this error, the navigation apparatus 300 performs correction (map matching) so that the vehicle is most likely traveling and the vehicle is positioned on the road!

[0048] On the other hand, in the recent navigation apparatus 300, the accuracy of the positioning position has been improved by improving the sensor accuracy, etc., and the reliability of the positioning position is also good except when traveling on a terrain where the positioning error is large. It is expensive. Furthermore, normal map matching, for example, matches the position on one reference line for each road, such as the center position of the road, so even if there are multiple lanes on the road on which the vehicle travels, Drive the vehicle! I can't know! /.

[0049] For this reason, the navigation apparatus 300 acquires the width information of the road on which the vehicle is traveling, and displays the positioning position as the current position without performing map matching when the positioning position is within the width of the road. . If the positioning position is not within the width of the road, the reference line for map matching is determined based on the relative position between the positioning position and the lane. As a result, the position of the vehicle can be displayed at a more appropriate position while vitalizing the positioning position.

FIG. 4 and FIG. 5 are flowcharts showing the procedure of map matching processing by the navigation device. It is a chart. In the flowchart of FIG. 4, the navigation device 300 first waits until the vehicle on which the device is installed starts traveling (step S401: No loop). Whether or not the vehicle has started running is determined, for example, by whether or not the positioning position has started a continuous change.

[0051] When the vehicle starts traveling (step S401: Yes), the navigation device 300 acquires positioning data from the GPS unit 316 and various sensors 317 (step S402), and calculates a positioning position (step S403). Note that the positioning data to be acquired may be any one of the GPS unit 316 or the various sensors 317.

[0052] Next, the navigation device 300 determines whether or not the vehicle is capable of acquiring road width information of a road that is actually running (step S404). The ability to acquire road width information of the road that is actually running is determined by whether the road width information of the currently running road is included in the map data, images around the vehicle taken with the camera 313, Judgment is made based on whether the road width of the running road can be analyzed by recognizing a white line on the road from the output of sensor 317 (for example, an infrared sensor).

[0053] If the road width information of the running road can be obtained (step S404: Yes), the road width information of the running road is obtained (step S405). On the other hand, when the road width information of the running road cannot be acquired (step S404: No), the standard road width information indicating the average width of the road is acquired from the map data (step S406). Note that P is the road width derived from the road width information (standard road width information) acquired in step S405 or step S406.

[0054] When the road width information (standard road width information) is acquired in step S405 or step S406, the navigation apparatus 300 virtually generates both-end reference lines of the running road based on the acquired information. (Step S407), the process proceeds to Step S408 in FIG. The double-sided reference line is a line generated on the left and right of PZ2 with reference to the center line of the running road. That is, the both-end reference line indicates the pseudo-end positions of the road on which the vehicle is traveling.

[0055] It should be noted that the reference lines at both ends may be sequentially generated for the road on which the vehicle is traveling, or may be generated for some areas or all roads on the map in advance. Record it! Also, for roads that have been run once, record the generated both-end reference line and again It may be used when traveling on the same road.

Turning to the explanation of FIG. 5, the navigation device 300 identifies the traveling direction of the vehicle (step

5408), select one of the two end reference lines as the map matching reference line (step

5409). The identification of the direction of travel identifies which direction the vehicle is traveling with respect to the lane based on the change in the positioning position calculated in step S403. In Japan, the left lane is driven in the direction of travel, so the both-end reference line located on the left side of the center line is selected as the map matching reference line.

[0057] The vehicle on which the vehicle is traveling is referred to as a traveling lane, and the lane on the opposite side of the traveling lane is referred to as an opposite lane. The driving lane is the center line and the area indicated by the map matching reference line selected in step S409, and the opposite lane is the center line and the area indicated by the double-sided reference line not selected as the map matching reference line in step S409. Become.

[0058] Then, the positioning position calculated in step S403 is plotted on the both-end reference line and the center line virtually generated in step S407 (step S410), and the positioning position is shifted to the opposite lane side from the center line. It is determined whether or not (step S411). If it is shifted to the opposite lane side (Step S411: Yes), since the traveling lane force is also shifted, the display position is determined on the center line (Step S412), and the process proceeds to Step S416.

[0059] On the other hand, if it is not shifted to the opposite lane side (step S411: No), it is determined whether or not the positioning position is shifted to the outside from the map matching reference line (step S413). If the map lane shifts outside the map matching reference line (Step S413: Yes), the display position is determined on the map matching reference line because the driving lane force is also shifted (Step S414). Transition.

[0060] On the other hand, if the position is not shifted outward from the map matching reference line (step S413: No), the positioning position is determined as the display position without performing map matching because it is located in the traveling lane (step S415). ). Then, the position of the vehicle is displayed and output at the determined display position (step S416).

[0061] Until the vehicle travels (Step S417: No), the process returns to Step S402 in Fig. 4 and the subsequent processing is repeated. When the vehicle travels (Step S417: Yes), this flow is completed. The processing by the chart is terminated. The navigation device is operated by the above procedure. 300 performs map matching processing and displays the position of the vehicle on the display 314.

FIG. 6 and FIG. 7 are explanatory diagrams for explaining the map matching processing of FIG. 4 and FIG. In Fig. 6, road R is the road on which the vehicle runs. The center line X indicated by the dotted line is the center line of the road R, and the reference lines Υ and Z are generated at positions away from the center line X by PZ2 (see step S407 in FIG. 4). Arrow A indicates the direction of travel of the vehicle (see step S408 in Fig. 5). For this reason, the map matching reference line is the both-end reference line Y (see step S409 in FIG. 5), and the lane in which the vehicle is traveling is the area indicated by the center line X and the both-end reference line Y.

[0063] Points dl to dl7 plotted around the road R are obtained by plotting the positioning position of the vehicle per unit time (see step S410 in Fig. 5). The plot may be performed every unit time, or may be performed at regular intervals when the moving speed of the vehicle is low.

Here, the points d4 to d7 are out of the center line X on the opposite lane side (step S411 in FIG. 5: pattern of Yes). Therefore, the display position is determined on the center line X (see step S412 in FIG. 5). In addition, the points dl2 to dl5 are outside the map matching reference line (both end reference line Y) (step S413: pattern of Yes in FIG. 5). Therefore, the display position is determined on the map matching reference line (both end reference line Y) (see step S414 in FIG. 5). Remaining points dl to d3, d8 to dl l, dl6, dl7 [Kot! Determine (see step S415 in Fig. 5).

[0065] The display position determined in this way is shown in FIG. In FIG. 7, points sl to sl7 indicate the display positions of the positioning positions (points dl to dl7) shown in FIG. Points s4 to s7 correspond to points d4 to d7 that are off the opposite lane side from the center line X, and are drawn from the points d4 to d7 toward the center line X. The intersection of the vertical line and the center line X Located in.

[0066] In addition, points sl2 to sl5 correspond to points dl2 to dl5 that are outside the map matching reference line (both ends reference line Y), and map matching reference lines (both ends reference line) from points dl2 to dl5 Intersection of perpendicular line drawn on line Y) and map matching reference line (both end reference line Y) Located at a point. Since the remaining points sl to s3, s8 to sl l, sl6, and sl7 are located in the lane, the positioning positions (points dl to d3, d8 to dl l, dl6, dl7) are displayed as they are. Is in position.

[0067] It should be noted that map matching is not performed when the map matching reference line force deviates outside a predetermined distance or more (for example, deviates outside point d14). The map matching reliability can be improved by not performing the map matching for the map matching reference line at a point greatly deviating from the map matching reference line.

[0068] As described above, according to the navigation device 300, it is possible to perform map matching in consideration of the width of a running road. This makes it possible to display the vehicle position at a more accurate position than map matching in the center of the road.

[0069] Specifically, when the positioning position is inside the running road, the position is displayed at the positioning position without performing map matching. In addition, if the positioning position is outside the running road, map matching is performed at both end positions close to the positioning position. As a result, in principle, the positioning position can be used as the display position, and if the positioning position error is large, map matching can be performed according to the driving lane.

[0070] Further, by using the positioning position as the display position as it is, it is possible to know which position on the road each vehicle is traveling. For this reason, for example, when road traffic information such as traffic jam information is generated by measuring the travel trajectory of each vehicle, it is possible to provide congestion conditions at the lane level.

It should be noted that the position display method described in the present embodiment can be realized by executing a prepared program on a computer such as a personal computer or a workstation. This program is recorded on a computer-readable recording medium such as a hard disk, a flexible disk, a CD-ROM, an MO, and a DVD, and is executed when the recording medium force is also read by the computer. The program may be a transmission medium that can be distributed through a network such as the Internet.

Claims

The scope of the claims

[1] Positioning data acquisition means for acquiring positioning data indicating the current position of the moving body;

Width information acquisition means for acquiring information relating to the width of the road in the vicinity of the position corresponding to the positioning data acquired by the positioning data acquisition means (hereinafter referred to as positioning position); information relating to the width acquired by the width information acquisition means And determining means for determining the display position of the mobile body based on the positioning data!

Display means for displaying the position of the moving body at the display position determined by the determining means;

A position display device comprising:

[2] The determining means includes:

Information on the width is used to predict positions at both ends in the width direction of the road in the vicinity of the positioning position (hereinafter referred to as both-end positions), and when the positioning position is inside the both-end positions, the display is performed at the positioning position. The position display device according to claim 1, wherein a position is determined, and if the positioning position is not inside the both end positions, the display position is determined on the both end positions.

[3] The width information acquisition means includes:

3. The position display device according to claim 1, wherein map information around the positioning position is acquired, and information regarding the width included in the map information is acquired.

[4] The width information acquisition means includes:

3. The position display device according to claim 1, wherein an image around the current position of the moving body is acquired, and information on the width included in the image is acquired.

[5] A positioning data acquisition process for acquiring positioning data obtained by measuring the current position of the mobile body, and a width information acquisition for acquiring information on the width of the road near the position corresponding to the positioning data acquired by the positioning data acquisition process Process,

A determination step of determining the display position of the mobile body based on the information on the width acquired by the width information acquisition step and the positioning data!

A display step of displaying the position of the moving body at the display position determined by the determination step; The position display method characterized by including.

6. A position display program for causing a computer to execute the position display method according to claim 5.

A computer-readable recording medium in which the position display program according to claim 6 is recorded.