JPH027403B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a current position display device for a moving body such as an automobile, which displays the moving status of the moving body, such as the current position, movement trajectory, and direction of movement.

In general, when driving a car at night or in an unfamiliar area, the driver's car is displayed on a preset road map in order to provide appropriate guidance so that the driver does not deviate from the planned driving course and get lost. BACKGROUND ART Current position display devices that display movement status such as current position, movement trajectory, and direction of movement have been developed.

Conventionally, in this type of current position display device for a moving object, a distance detector detects the distance traveled by the vehicle according to the vehicle speed, and a direction detector detects the direction of travel of the vehicle and the amount of change thereof. Then, the current position of the vehicle, etc. on the travel route is calculated from each of these detected values, and the result is stored and displayed on the display screen as continuous point information that changes every moment. By comparing and collating it with a map of roads, etc. on a transparent sheet that is set in advance on the display screen,
This allows the driver to confirm the current location.

However, with this method of confirming your current location, you must select one of the multiple transparent sheet-like maps prepared for each area prior to driving, depending on the area you plan to travel. The map must be set on the display screen, which has become cumbersome, and the map may shift, making it difficult to compare and match what is displayed on the screen. .

The present invention has been made with these points in mind, and instead of setting a transparent sheet on which a map is printed on the display screen as in the past, the map is photographed in advance on a microfilm. A map of the area in which the vehicle is scheduled to travel is retrieved from the microfilm, photoelectrically converted, and based on the map information, a predetermined map is directly displayed on the display screen together with the current position and trajectory of the mobile object. The present invention provides a current position display device for a moving body that displays an approximate direction to a destination outside the effective display area of a map.

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

FIG. 1 shows the basic configuration of a current position display device for a moving object according to the present invention, which includes, for example, a photoelectric type, electromagnetic type, or mechanical contact type sensor that outputs a pulse signal proportional to the number of tire rotations. A distance detector 1 that generates a signal corresponding to the moving distance of the moving object, and a rate type gyroscope that detects the angular velocity in the yaw direction, for example, detects the direction or the amount of change in direction depending on the moving direction of the moving object. A direction detector 2 that outputs a proportional signal and a pulse signal from the distance detector 1 are counted to measure the moving distance of the moving object, and the moving direction of the moving object is determined from the output of the direction detector 2, A signal processing device 3 that calculates the position on the two-dimensional coordinates of the moving body for each unit traveling distance according to the detection signals from both the detectors 1 and 2, and performs centralized control of the entire device.
and a movement trajectory memory that sequentially stores the constantly changing position data on the two-dimensional coordinates obtained by the signal processing device 3 and holds it as finite continuous position information corresponding to the current position of the moving body. A device (RAM) 4, a microfilm 5 on which a map has been photographed in advance, and an imaging device 6 that electrically reads necessary map information from the microfilm 5.
Then, a map image is displayed on the screen according to the read map information, and the current position of the moving object, the previous movement trajectory, and the current location are displayed based on the position data stored in the movement trajectory storage device 4. a display device 7 that displays a mark on the same screen while constantly updating the movement status such as the direction of travel;
In addition to giving display commands to the signal processing device 3, selecting and specifying the map to be displayed on the display device 7, changing the direction of the displayed map and moving trajectory, shifting the display position, and displaying and enlarging a portion of the map and moving trajectory. It is comprised of an operating device 8 that can appropriately change display format settings such as selecting a scale, search for a map and movement trajectory, and the like.

The operation of the current position display device for a moving body according to the present invention configured as described above will be explained below.

First, when a moving object such as a car is traveling, when the driver selects a map in the area to be traveled by specifying a map number using the operating device 8, the signal processing device 3 responds to the map selection input.
reads out map information for a predetermined area from the microfilm 5 via the imaging device 6, and sends the read map information to the display device 7 to display a map of the planned travel area on the screen. At this time, predetermined map information on the microfilm 5 is continuously read by the imaging device 6, and a map of the planned travel area is continuously displayed on the screen of the display device 7.
The displayed map can be accessed by frame-by-frame advancing of the microfilm 5 under the control of the signal processing device 3, but images can also be taken on the microfilm 5 by key operations on the operating device 8. Needless to say, it is possible to take appropriate measures such as sequentially displaying maps of a plurality of regions on the display device 7 while selecting the display of a map for the region to be traveled. Then,
After displaying the current position display mark and the direction display mark indicating the moving direction of the moving object at the current position on the screen of the display device 7 by key input from the control device 8, switch operation on the control device 8 is performed. Initialize each display mark by shifting the current position display mark so that it is at the starting point position on the displayed map, and rotating the direction display mark so that it matches the moving direction of the moving object at the starting point. let However, direction detector 2
If a device capable of detecting the absolute direction, such as a geomagnetic compass, is used, there is no need to initialize the direction display mark as described above.

After that, when the moving object starts running, one pulse signal is sent from the distance detector 1 for each unit distance traveled to the signal processing device 3, and the distance traveled is measured by counting the number of pulses there. At the same time, the output of the direction detector 2 is also sent to the signal processing device 3, where the traveling direction of the moving body at every moment is determined. In the signal processing device 3,
Based on the travel distance and direction change of the moving body detected as described above, the current position on the X-Y coordinates (x,
y) is calculated moment by moment, and the calculation results are sequentially sent to the display device 7 and also sent to the movement locus storage device 4 where they are stored and held. Note that the stored contents are constantly read out and continuously sent to the display device 7. At the same time, a direction signal at the current position is sequentially sent from the signal processing device 3 to the display device 7.
As shown in FIG. 2, the display device 7 has a display mark M1 indicating the current position of the mobile object on the travel schedule map displayed on the screen, and a display mark M1 indicating the traveling direction of the mobile object at the current position. Display mark M
2 and a movement locus display mark M3 from the starting point to the current position are displayed in a simulated manner following the movement state of the moving body. In addition, in that case,
Without separately displaying the current position display mark M1 and the direction display mark M2, it is easily possible to give the current position display mark itself directionality so that the current position display and the direction of travel can be displayed at the same time. be.

Further, FIG. 3 shows a specific example of the configuration of a current position display device for a moving body according to the present invention.

In the case of this configuration, the signal processing device 3 includes an input/output interface 31 for receiving and receiving signals, and a central processing control.
It consists of a CPU 32, a logic circuit 33, a ROM 34 for control programs, and a control clock driver 35. In addition, the rate output of the direction detector 2 is converted into a digital signal by the AD converter 9 and sent to the CPU through the input/output interface 31.
32, and the direction of movement of the moving object is sequentially detected there. Further, the pulse signal output of the distance detector 1 is sent to the CPU 32 through the input/output interface 31,
The internal counter counts the number of pulse signals and sequentially detects the travel distance of the moving object. The operating device 8 includes an operating switch panel 81 and a sub-CPU 82 for switch encoding that reads input from the operating switch panel 81 and provides various command signals to the CPU 32 through the input/output interface 31. .

In addition, a microfilm 5 on which maps of many areas have been photographed in advance is made into a cassette, and a drive mechanism is provided that can feed the microfilm 5 in the forward and reverse directions. By appropriately driving the map under control, it is possible to access a desired map. That is, the drive mechanism includes forward and reverse sprockets 10 and 11 that cooperate with the film feeding sprocket hole provided on the micro film 5 side, and drive motors 12 and 13 dedicated to each, and a position sensor. The motors 12 and 13 are driven as appropriate via the motor driver 14 while detecting the positioning slits provided for each map on the microfilm 5 by the motor S. In addition,
In the figure, 15 indicates a filter that pulse-shapes the detection output of the position sensor S. Further, a lamp 16 is turned on from one side of the microfilm 5 where the desired map has been accessed to illuminate the surface of the microfilm 5 through the light diffusion plate 17, and an optical signal carrying the map information transmitted through the microfilm 5 is transmitted. is sent to the imaging device 6 via the imaging lens 18. On the imaging device 6 side, the optical signal from the microfilm 5 is photoelectrically converted by the imaging tube 61 (or one-dimensional or two-dimensional solid-state imaging device), and the map information is electrically read. A mixer 62 mixes the map information and data regarding the current position, direction, travel trajectory, etc. of the moving body sent from the signal processing device 3, and the CRT driver of the display device 7 responds to the mixed video signal. 71, the map and the current position, direction, travel trajectory, etc. of the moving body are displayed superimposed on the screen of the CRT 72. Note that when the image pickup tube 61 converts map information based on an optical signal into an electrical signal, a synchronization circuit 63 and an image pickup tube driver 64 are used so that the conversion is performed in synchronization with the control clock on the signal processing device 3 side. Map information is now being read electronically. Further, as shown in FIG. 4, a part of the microfilm 5 contains digitized auxiliary data D (for example, the cassette number of the microfilm) for allowing the signal processing device 3 to identify the microfilm 5 itself. is recorded,
The auxiliary data read during imaging is separated by the digital information separation circuit 65 and sent to the signal processing device 3.
It is now being sent to Furthermore, heading information a, b, c, ... of each map section A, B, C, ... is recorded on the microfilm 5, and the map of the planned driving area displayed on the screen of the display device 7 can be checked. We make it easy for you to do it. In Fig. 4, numeral 51 indicates a sprocket hole for film feeding, and numeral 52 indicates a positioning slit corresponding to each map portion A, B, C, etc. recorded for each frame. ing.

In addition, in the case of the configuration shown in Fig. 3, when the system power is temporarily turned off by turning off the ignition switch when the car stops while driving, for example, when the car resumes driving next time. A backup non-volatile memory 19 is provided for storing and retaining the minimum necessary information up to that point in preparation for displaying the current position. The minimum necessary information to be stored and retained in the non-volatile memory 19 when the system is powered off includes, for example, the cassette number of the microfilm currently in use, the map number currently displayed, the current display scale, and the current location. Coordinates and movement direction on the screen, part of the travel trajectory to the current position (2 to 3 cm)
If the operating device 8 allows guide marks for the driving route to be placed on the map in advance, the position of the guide marks may be considered. Therefore, when the system power is turned on at the time of resuming driving, the signal processing device 3 stores the non-volatile memory 1.
9 is read and the same content as when the power is turned off is displayed on the screen of the display device 7, and the current position is continuously displayed as the moving object resumes running.

In the current position display device of a moving body configured as described above, in particular, in the present invention, it is possible to not only mark a starting point on the map displayed on the screen by key input from the operating device 8, but also set a target In addition, the signal processing device 3 can set a mark for the starting point and the destination based on the data of each position on the X-Y coordinates between the marked starting point and the destination. The direction of the straight line heading toward the destination is determined by arithmetic processing, and the approximate direction to the destination is displayed outside the map display area 20 on the display screen, as shown in FIG. That is, in FIG. 5, a direction display area 21 is provided around the map display area 20 that is divided into eight vertical, horizontal, and diagonal directions. One of the lights is turned on to indicate the approximate direction to the destination. By displaying the direction, it is possible for the driver of a car to intuitively sense the direction to the destination while maintaining the relative relationship with the map displayed on the screen. become.

In addition, this kind of approximate direction display to a destination is not limited to one map displayed on the screen, but also when the distance from start point A to destination B is far, as shown in Figure 6. , even in the case where a plurality of maps must be sequentially switched and displayed on the screen while connecting a plurality of maps, a similar direction display is performed for each map displayed.

In addition, when there are multiple maps, when photographing the map on the microfilm 5, as shown in FIG. Photographs are taken on the microfilm 5 in a predetermined order as indicated by A, B, C, . . . in FIG. 4. Therefore, when each small map 23 in the area to be traveled is selected in advance according to an input command from the operating device 8 prior to traveling while giving priority for access, the signal processing device 3 receives the input data. Read and store in internal memory,
After that, as the moving object starts moving and the current position of the moving object advances, a map (small map 2) is displayed on the screen.
3) are performed sequentially. At that time, if the map displayed on the screen is switched to empty as shown in FIG. 7, for example, the display position of the current position display mark M1 on the screen will be different at the boundary, but in that case, In the signal processing device 3, arithmetic processing for coordinate transformation is performed as appropriate,
The current position of the moving body is continuously displayed from the new position after conversion on the switched small map. In the case of FIG. 7, if we perform a coordinate transformation such that (0, y ₁ ) becomes (0, 0), the position of the current position display mark M1 on the boundary between and is (x ₁ , y ₁ ) is converted to (x ₁ , 0), and even if the small map displayed on the screen is switched, the current position display with connection to the road can be displayed without showing the wrong road. It will be done. Also, when displaying the current position of a moving object while connecting multiple maps,
Instead of displaying a uniform direction between the start point A and the destination B on the entire planned travel route as described above, each small map 2 is displayed sequentially on the screen.
Each time the small map 23 displayed on the screen is switched, a check point display mark (not shown) can be placed on the planned route according to an input command from the operating device 8. It is also possible to have the driver sequentially display the approximate directions to the checkpoints and guide the user step by step through each checkpoint to the destination.
By providing such a direction display means, it becomes possible to smoothly guide the vehicle to the destination, especially when the vehicle must take a detour to reach the destination.

In the above explanation, a map of the planned driving area is displayed on the screen using the microfilm 5 and its imaging device 6, but instead, map information is stored in a storage medium in advance. Means can be taken to read the necessary map information from the storage medium and display a predetermined map image on the screen. In addition, the approximate direction to the destination is displayed by the direction display area 21 provided on the same screen around the map display area, but instead, each dedicated display is placed around the screen. Needless to say, it is possible to easily take other means such as providing a separate light source and having the signal processing device 3 control its lighting.

As described above, in the current position display device of a moving object according to the present invention, the moving object is moved based on the output of the distance detector that detects the distance traveled by the moving object and the output of the direction detector that detects the direction accompanying the movement. The position of the body on two-dimensional coordinates is determined by calculation, and the current position of the moving body is displayed on the screen based on the data of the determined and ever-changing position. means for setting a base point and a target point, and according to each position data on the two-dimensional coordinates of the set base point and target point,
This system uses a method to calculate the direction on the two-dimensional coordinates of a straight line from the base point to the target point and displays the direction around the screen. It has the excellent advantage of being able to provide good guidance to the destination.

[Brief explanation of drawings]

FIG. 1 is a block configuration diagram showing the basic configuration of a current position display device for a moving body according to the present invention, FIG. 2 is a diagram showing an example of display contents on the display device of the same embodiment, and FIG. 4 is a block diagram showing an example of a specific circuit configuration, FIG. 4 is a diagram showing an example of a microfilm configuration, FIG. 5 is a diagram showing the approximate direction to the destination displayed on the screen, and FIG. Diagram showing a state where the map is divided into multiple small maps, No. 7
The figure is a diagram for explaining coordinate transformation when switching the map displayed on the screen. DESCRIPTION OF SYMBOLS 1...Distance detector, 2...Direction detector, 3...Signal processing device, 4...Trajectory storage device, 5...Micro film, 6...Imaging device, 7...Display device, 8...Operation device, 20...Map display Area, 21...Direction display area.

Claims (1)

[Claims] 1 Calculate the position of the moving object on two-dimensional coordinates based on the output of a distance detector that detects the distance traveled by the moving object and the output of the direction detector that detects the direction of the movement, and calculate the position of the moving object on two-dimensional coordinates. In systems that display the current position of a moving object on a screen on which a map is displayed based on the obtained position data that changes from moment to moment, the base point and target point can be set on the screen by operation input commands. The direction of a straight line from the base point to the target point on the two-dimensional coordinates is determined by arithmetic processing according to each position data on the two-dimensional coordinates of the set base point and target point, and the screen is displayed. Current position display of a moving body, characterized in that it takes means for lighting up an area corresponding to the direction determined by the arithmetic processing in a direction display section provided by dividing the surrounding area of the mobile body into a plurality of areas. Device.