JPH09304094A - Vehicle position display device - Google Patents

Abstract

(57) [PROBLEMS] To provide a vehicle position display device capable of preventing a display symbol of a vehicle position obtained from road network data from being displayed with a deviation from a road on a map. SOLUTION: In a vehicle position display device for displaying a symbol representing an estimated vehicle position calculated by a vehicle position and direction calculating means together with a map image, a display color investigating means for investigating a display color of map image data around the estimated vehicle position. 1, a road determination means 2 for determining the road display area of the map image data from the investigated display color, and a vehicle display position correction means for correcting the symbol representing the estimated vehicle position within the determined road display area. And 3 are provided. It is possible to prevent the symbol that displays the vehicle position calculated using the road network data from being displayed outside the road area of the map image based on the map display shape data.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention displays the position and orientation of a vehicle, a ship, and an aircraft together with surrounding geographical information and the like.
In particular, the navigation device is configured to suppress a deviation in display between the vehicle position and the map shape.

[0002]

2. Description of the Related Art A conventional vehicle position display device obtains a running locus of a vehicle by accumulating movement vectors of the vehicle detected by a vehicle speed sensor such as a vehicle speed gauge pulse detector and an angular velocity sensor such as a gyroscope. Is compared with road network data stored in a CDROM or the like, and the road closest to the estimated vehicle position, which is the end position of the traveling locus, or the direction closest to the estimated vehicle direction, which is the end direction of the traveling locus, The estimated vehicle position and the estimated vehicle azimuth are corrected by referring to a near road or a road having a shape most similar to the shape of the traveling locus to remove accumulated errors of the speed sensor and the angular velocity sensor, and to display a CRT display. It is displayed on a display device such as a liquid crystal display together with the shape data for map display that represents the road shape and facility shape stored in a CDROM or the like. .

Generally, the vehicle position calculation road network data and the map display shape data stored in a CDROM or the like are often independent for speeding up scrolling and the like, and the road network data is the road network data. The data structure has interpolating points that represent detailed attribute information and shape such as type, width, and traffic regulation such as one-way traffic, and that can efficiently search the connection status of roads at intersections.

On the other hand, the shape data includes large scale display data that is fine enough to determine the shape of the house in consideration of the display resolution of the display device and small scale display data in which interpolation points representing the shape are omitted. In addition, in many cases, attribute information necessary for display such as display color and line width is added.

[0005]

However, in the conventional vehicle position display device, there is a positional deviation between the vehicle position calculation road network data and the map display shape data, particularly when large scale display is performed. Because of that,
There is a problem that the driver of the vehicle, which is a user of the vehicle position display device, cannot accurately recognize the current vehicle position.

FIG. 2 shows the map display shape data, and FIG. 3 shows the shape data and the vehicle position calculation road network data in an overlapping manner (usually, the road network data is displayed to the user. I can't see.).
In FIG. 3, 10 is a part representing a road, 11 is a part representing an area other than the road, and 12 is a part particularly representing the shape of the facility in the area other than the road, both of which are map display shape data.

On the other hand, 14 is a portion representing an intersection, and 13 is a portion representing a road connecting the intersections, both of which are vehicle position calculation road network data. Further, FIG. 4 is an enlarged view of the upper right portion 19 of FIG.

The problem of the conventional vehicle position display device will be described with reference to FIG. As can be seen from the portion 19 of FIG. 3 (that is, FIG. 4), there is usually a discrepancy between the map display shape data and the vehicle position calculation road network data. In this example, the road that connects intersection 15 and intersection 16 is
While the shape data faithfully represent the actual road shape 18, the road network data shows a simple straight line 17
Is represented by

[0009] The road network data is expressed in this way because the number of interpolation points increases when trying to faithfully represent the shape, it takes a huge amount of time to search for the data, and the total map data size also increases, which results in CDROM. This is because there is a problem that it can no longer be stored in, and for that reason part of the data is omitted (note that
This example is an example of shape data for large-scale display that allows the shape of a house in an urban area to be sufficiently discriminated.
The ROM also stores small-scale map data overlooking a wide range, and here, on the contrary, interpolation points of the shape data are often omitted from the road network data. ).

Therefore, as shown in FIG. 4, the display position of the symbol 21 representing the vehicle position does not deviate from the position on the road network data, but deviates from the road position 20 on the shape data. There was a problem.

The present invention solves the above-mentioned conventional problems. It is possible to prevent the display of the symbol representing the vehicle position calculated using the vehicle position calculation road network data from deviating from the map display shape data. An object of the present invention is to provide a vehicle position display device that can prevent the vehicle driver from recognizing an accurate vehicle position.

[0012]

Therefore, in the present invention, from the vehicle position calculated using the vehicle position calculation road network data, the direction orthogonal to the vehicle direction or the direction orthogonal to the road where the vehicle is present. When the display color or display pattern of the road is detected, the portion is determined to be the road, and the display position of the vehicle is corrected to the position of the road.

Further, not only the display position but also the position of the vehicle itself is corrected to the position of the road.

[0014]

BEST MODE FOR CARRYING OUT THE INVENTION The invention according to claim 1 of the present invention is a vehicle position display device for displaying a symbol representing an estimated vehicle position calculated by a vehicle position / azimuth calculation means together with a map image. Display color checking means for checking the display color or display pattern of the map image data around the vehicle position, and road judging means for judging the display area of the road of the map image data from the display color or display pattern investigated by the display color checking means. The vehicle position calculated by using the vehicle position calculation road network data is provided by a vehicle display position correction means for correcting the position of the symbol indicating the estimated vehicle position within the display area of the road determined by the road determination means. It is possible to prevent the symbol indicating “” from being displayed outside the road area of the map image based on the map display shape data.

According to a second aspect of the present invention, vehicle position correcting means for correcting the estimated vehicle position is provided at the position corrected by the vehicle display position correcting means.
Subsequent estimation of the vehicle position is accurate.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

As shown in FIG. 1, the vehicle position / direction display device according to this embodiment is developed with a vehicle position / direction calculation device 5 for calculating a vehicle position and a vehicle direction and developing map data around the vehicle position in a memory. The display color inspection means 1 for inspecting the display color of the image data in the direction orthogonal to the vehicle direction or the direction orthogonal to the direction of the road on which the vehicle is present from the image data around the vehicle position and the display color inspection means 1 Road determination means 2 for determining the display area of the road from the display color
And a vehicle display position correction means 3 for correcting the display position of the symbol representing the vehicle position in the road display area determined by the road determination means 2, and the vehicle position is corrected to the display position corrected by the vehicle display position correction means 3. Then, the result is fed back to the vehicle position / azimuth calculation device 5, and a vehicle position correction means 4 and a symbol indicating the vehicle position corrected by the vehicle display position correction means 3 are displayed on a CRT display or a liquid crystal display together with surrounding map data. And a map display device 6 for displaying on a display device.

Among these, the display color inspection means 1, the road determination means 2, the vehicle display position correction means 3 and the vehicle position correction means 4 surrounded by the dotted line are the novel parts according to the present invention.

Next, the operation of the vehicle position display device will be described.

The vehicle position / azimuth calculation device 5 obtains a traveling locus of the vehicle by accumulating movement vectors of the vehicle obtained by a vehicle speed sensor such as a speedometer pulse detector and an angular velocity sensor such as a gyroscope. Is compared with the road network data stored in the CDROM or the like to calculate the vehicle position and the vehicle direction. Then, the map display shape data around the vehicle position is developed in the memory for storing the image data. These are all performed by known methods.

FIG. 4 shows a part of the vehicle position calculation road network data superimposed on the map display shape data. The vehicle position 21 and the vehicle azimuth (direction of 21) are calculated by the vehicle position azimuth calculation device 5 using the road network data as being on the road 17 connecting the intersection 15 and the intersection 16. However, it is deviated from the position 20 on the road 18 represented by the shape data.

Here, as shown in FIG. 5, the display color checking means 1 is arranged in a direction orthogonal to the vehicle direction calculated by the vehicle position and direction calculation device 5 or in a direction orthogonal to the direction of the road 17 (at 23). (In the direction shown), the display color of the image data expanded in the memory is investigated. Subsequently, the road determination unit 2 determines the road portion from the display color surveyed by the display color survey unit 1.

In FIG. 5, the road is displayed in white, the land other than the road is displayed in gray, and the shape of the facility is displayed in black. The display color checking means 1 determines that the detected white area is a road. .

The display color is not limited to white,
It is appropriate to change it according to the color of the road which is predetermined by the shape data for map display. In addition, in this example, the road is detected / determined based on the difference in display color.However, the map display device sometimes distinguishes the difference in area not by the color to be filled but by the pattern to be filled. May be detected and determined.

In FIG. 5, the road judging means 2 detects a road located on the left side with respect to the vehicle direction, and distinguishes between an end point 25 on the front side of the road and an end point 24 on the other side of the road.

Next, the vehicle display position correcting means 3 displays a symbol representing the vehicle position between the end point 25 on the front side and the end point 24 on the other side of the road determined by the road determining means 2. FIG. 6 shows a state in which the display position of the symbol 22 representing the vehicle position is moved to the road. The display position may be the middle point of the end points 24 and 25, but in general, the road is bidirectional, and in Japan it is a left-hand traffic, so it is slightly more than the middle point of the end points 24 and 25. , It may be moved to the left side with respect to the vehicle direction.

By the above operation, even if there is a deviation between the vehicle position calculation road network data and the map display shape data, the symbol indicating the vehicle position does not stick out from the road portion, as shown in FIG. Can be displayed on.

Incidentally, as shown in FIG. 3, some roads that exist in the large-scale map display shape data may not exist in the vehicle position calculation road network data. Even in this case, the vehicle position / azimuth calculation device 5
An attempt is made to correct the calculated vehicle position on any of the surrounding road network data, which causes a new positional deviation.

The lack of road network data for this shape data makes it desirable to perform a more detailed map display. On the other hand, if the road network data is too detailed, the data size becomes large and a huge amount of time is required to retrieve the data. Or because the map data cannot be stored in the CDROM, a part of the data is omitted.

In the vehicle position display device of this embodiment, the vehicle position correction means 4 determines the vehicle display obtained by the vehicle display position correction means 3 in order to virtually supplement the lack of road network data by using the shape data. The position correction data is used to correct the vehicle position calculated by the vehicle position / azimuth calculation device 5, and the corrected vehicle position data is fed back to the vehicle position / direction calculation device 5.

The vehicle position / azimuth calculation device 5 also takes into consideration (considers) the data provided from the vehicle position correction means 4 and executes the subsequent calculation of the vehicle position. In this case, the substantial vehicle position correction means is composed of the vehicle position correction means 4 and the vehicle position / azimuth calculation device 5. As a result, not only the display of the symbol indicating the vehicle position but also the true vehicle position can be calculated more accurately.

FIG. 7 shows a specific example in which the vehicle position can be accurately calculated by feeding back the data from the vehicle position correcting means 4 to the vehicle position / azimuth calculating device 5.

When the vehicle position calculation road network data 31, 34, 35, 38 and the map display shape data (white road shape such as 32) shown in FIG. 5 is when the vehicle travels on the road 33,
The vehicle position is calculated as a position on the road 34. for that reason,
The vehicle will then pass through road 33, turn right, then left and pass on road 35.
Assuming that the vehicle has passed through the road 34 and turned right, the distance from the road 34 is erroneously calculated as if the vehicle is traveling on the road 38 at a distance 37 substantially equal to the distance 31.

At this time, the vehicle position / azimuth calculation device 5 travels on the road 35 thereafter by obtaining the position of the vehicle when the vehicle is traveling on the road 33 from the vehicle position correcting means 4 as correction data. The vehicle position can be calculated correctly.

In this case, if the display position is provided to the vehicle position / orientation calculation device 5 too often, the processing frequency of the vehicle position / orientation calculation device 5 increases. The processing may be thinned out, such as providing only when the displayed position has moved by a certain distance or more.

As described above, the vehicle position can be calculated with high accuracy by virtually compensating for the lack of road network data using the shape data.

[0037]

As is apparent from the above description, the vehicle position display device of the present invention can display the symbol representing the position of the vehicle without protruding from the road portion of the displayed shape data. In addition, the vehicle position can be calculated with high accuracy.

Therefore, it is possible to provide a comfortable driving environment without giving the driver of the vehicle a feeling of strangeness or anxiety.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of a vehicle position display device according to an embodiment of the present invention,

[FIG. 2] Example of shape data for map display,

FIG. 3 is an example in which shape data for map display and road network data for vehicle position calculation are superposed,

FIG. 4 is a display example of a symbol representing a vehicle position, which is displayed by a conventional vehicle position display device,

FIG. 5 is a diagram illustrating a road determination operation by the vehicle position display device according to the embodiment of the present invention;

FIG. 6 is a display example of a symbol representing a vehicle position displayed on the vehicle position display device according to the embodiment of the present invention;

FIG. 7 is a diagram illustrating an operation of correcting the vehicle position in the vehicle position display device according to the embodiment of the present invention.

[Explanation of symbols]

1 Display Color Examining Means 2 Road Judging Means 3 Vehicle Display Position Correcting Means 4 Vehicle Position Correcting Means 5 Vehicle Position Orientation Calculators 6 Map Display 10, 18, 32 Roads 11 Other than Roads 12 Facilities 13, 17, 31, 34 , 35, 38 Roads in road network data 14, 15, 16 Intersections in road network data 20 Vehicle position on shape data 21, 22 Vehicle position display pattern 23 Direction orthogonal to vehicle direction 24, 25 Road end points 31, 37 Distance

Claims (2)

[Claims] 1. A vehicle position display device for displaying a symbol representing an estimated vehicle position calculated by a vehicle position / azimuth calculation means together with a map image, and displaying a display color or a display pattern of map image data around a current estimated vehicle position. A display color checking means to be checked, a road judging means for judging the display area of the road of the map image data from the display color or the display pattern investigated by the display color checking means, and a symbol representing the estimated vehicle position of the road judging means. A vehicle position display device, comprising: vehicle display position correcting means for correcting the position within the determined road display area. 2. The vehicle position display position according to claim 1, further comprising vehicle position correction means for correcting the estimated vehicle position at a position corrected by the vehicle display position correction means.