Apparatus and method for storage of running track as well as storage medium with stored program for running track storage

Description: TECHNICAL FIELD [Detailed description of the invention]

【0001】

[Technical field to which the invention belongs]

The present invention relates to a navigation device that displays a guide path of a moving body on a display. In particular, a travel locus storage device, a travel locus storage method, and a travel locus storage that can be used as a unique route when searching for a new route, etc. by recording and saving the route traveled independently by the user other than the searched guide route. Regarding the storage medium in which the program is stored.

【0002】

[Conventional technology]

Conventionally, a navigation device has a function of identifying the current position of a moving body based on radio waves emitted from a plurality of satellites loaded on the moving body and orbiting the earth. Then, the navigation device is extremely effective in supporting the movement from the current position to the designated destination by utilizing the function of specifying the current position of the moving body. For example, various information such as a map is displayed on an attached display device, and a desired destination is specified by the user based on the various information.

【0003】

When a destination is specified, a plurality of routes representing the route from the current position of the moving body to this destination are searched according to different conditions. The different conditions are, for example, the condition that the route is the shortest, the condition that the expressway is used, and the like. Then, when one route is selected from the plurality of routes according to the preference of the user, guidance by the selected route is started.

【0004】

In addition, the various information displayed by the navigation device includes detailed information such as the characteristics, telephone numbers, and addresses of each facility on the map. Therefore, when designating a destination, it may be specified using these detailed information. Furthermore, between an external center (road information information station) such as VICS (Vehicle Information and Communication System) or ATIS (Traffic Information Service) and a navigation device, various information such as traffic information or parking lot information related to each road can be obtained. It is possible to give and receive.

【0005】

In other words, geographic and facility information and other information related to roads and parking lots are collected by information collection centers such as the National Police Agency, Japan Road Traffic Information Center, and parking lot management centers. This collected information is transmitted to the navigation device by a communication means such as an optical beacon, a radio beacon, an FM multiplex (frequency modulation multiplexing method) radio broadcast, or a radiotelephone. Such information may be used in the navigation device for route search, destination designation, and the like.

【0006】

[Problems to be Solved by the Invention]

By the way, in the route search from the current position of the moving body to the designated destination, a device is devised so that a relatively narrow road such as a narrow street is not used as a guide route as much as possible. The concept of traveling cost is used for each road on the map stored in the information recording medium, and the traveling cost is set high or low depending on the environment of each road such as the width of the road to be traveled and the number of lanes.

【0007】

For example, when a narrow street is used as a route, the traveling cost is increased as compared with the case where a wide trunk road is selected. Then, when searching for a route, the road is selected so that the traveling cost is lower. As a result, roads with a relatively poor road environment, such as narrow streets, are not selected as guide routes. However, the route selected and searched in this way may not always be the shortest and fastest route to the destination. For example, you may be able to reach your destination quickly by going through one narrow alley that you are familiar with.

【0008】

In such a case, the track that the user has traveled independently is saved and stored in the navigation device, and the track that is unique to the user is used at the next route search or when another person uses the navigation device. If possible, more efficient navigation can be achieved. Further, when the travel locus saved in the past is read and displayed, the memory area for displaying the travel locus is used for the display. Therefore, it is not possible to newly display or save the track currently being traveled. Therefore, the present invention can sequentially memorize and save the locus that the user has independently traveled, and simultaneously display the saved locus and the locus currently being traveled as a reference locus during traveling or searching for a new route. It is intended to realize a navigation device that can be used.

【0009】

[Means for solving problems]

In order to solve the above problems, the present invention records and saves a new traveling locus generated with the current movement of a moving body while displaying a traveling locus composed of a plurality of recorded and saved geographic coordinates. I made it possible. Moreover, the record of the new traveling locus can be added or replaced with a part or all of one traveling locus saved in the past and saved.

【0010】

BEST MODE FOR CARRYING OUT THE INVENTION

1. Summary of examples The traveling locus storage device disclosed by the present invention sequentially stores the traveling locus storage means (traveling locus point registration, step SH28) for sequentially storing each geographical coordinate of the traveling locus of a moving body, and the saved traveling locus is stored on a map screen. Along with displaying the identification (drawing of the traveling locus, step SH32), the traveling locus storage means stores a new traveling locus.

【0011】

Further, the traveling locus storage device disclosed by the present invention sequentially stores each geographical coordinate of the traveling locus of the moving body, and a traveling locus storage means (traveling locus point registration, step SH28) and the saved traveling locus on a map screen. After the identification display (drawing of the travel locus, step SH32) is performed above, a part or all of the geographical coordinates of the travel locus displayed in the identification is replaced with the geographic coordinates of the new travel locus (travel locus addition process, step SL2). ).

【0012】

Further, name changing means (steps SH12 to SH20) for changing the name of the saved traveling locus, erasing means (steps SH4 to SH10) for selecting and erasing the traveling locus stored in the information storage medium, and the above traveling. An IC memory, a memory card, an IC card, a PC card, an optical disk, a magneto-optical disk, a floppy (registered trademark) disk, a hard disk, a magnetic drum, or an external information storage device of an information center is used as a medium for storing the trajectory. It is characterized in that the identification display of the traveling locus is performed by brightness, saturation, shape, pattern, additional symbols, and characters.

【0013】

2. Overall circuit FIG. 1 shows a block configuration of the entire navigation device 10 that executes a computer program for navigation processing according to the present invention. The central processing unit 4 controls the operation of the entire navigation device 10. The central processing unit 4 exchanges information with a CPU (which may be an MPU or DSP (digital signal processor)), a flash memory, ROM, RAM, a timing means, and each peripheral device connected to the central processing unit 4. It consists of an interface, etc.

【0014】

An input device 1, a current position detection device 2, an information storage device 3, an information transmission / reception device 5, and an output device 6 are electrically connected to the central processing unit 4, and between these devices and the central processing unit 4. Various information data is exchanged. The input device 1 is composed of a plurality of command keys, touch switches, remote control keys, voice input devices, and the like provided on the surface of the navigation device 10. The voice input device includes a microphone, a voice recognition controller, and the like.

【0015】

For example, when an operator (navigation device user) operates a remote control key, the operated key information is sent from the remote control to the navigation device 10 by a remote communication means such as an optical or radio wave type. Similarly, in the voice input device, the operator's voice command is converted into an electric signal by the microphone, and then the corresponding command is given to the navigation device 10 by the voice recognition process.

【0016】

A plurality of transparent touch switches are arranged in a plane matrix, and the touch switches are directly attached to the screen of the display of the output device 6. The transparent touch switch is composed of, for example, a contact switch composed of transparent electrodes, a piezoelectric switch, or the like. The touch switch may be omitted.

【0017】

3. Current position detector 2 The current position detection device 2 is equipped with one or more sensors such as an absolute directional sensor, a relative directional sensor, a distance sensor, and a vehicle speed sensor. Furthermore, the current position detection device 2 is also equipped with a GPS (Global Positioning System) receiver. This GPS receiver receives GPS signals (microwaves from multiple geocentric orbiting satellites) and detects the geographical position of the moving object, such as latitude and longitude. The moving body is a vehicle or the like on which the navigation device 10 is loaded.

【0018】

The absolute orientation sensor is, for example, a geomagnetic sensor, and the direction of the geomagnetism is detected. That is, the north-south direction, which is the absolute direction, is detected. The relative orientation sensor is, for example, a steering angle sensor using a gyro device such as an optical fiber gyro or a piezoelectric vibration gyro. The steering angle sensor detects the steering angle of the wheel. Then, the relative angle of the moving body traveling direction with respect to the absolute direction is detected by the relative direction sensor.

【0019】

The distance sensor is composed of, for example, a counter linked to a mileage meter, and outputs mileage data of a moving body. The speed sensor is connected to the speedometer of the moving body, and the traveling speed of the moving body is detected. Based on the data detected by each sensor in this way, the current location and moving direction of the moving body can be obtained by calculation by the central processing unit 4.

【0020】

4. Information storage device 3 The information storage device 3 includes a highly versatile information storage medium 7 such as an optical disk or magneto-optical disk such as a CD-ROM, DVD-RAM, DVD-ROM, or MO, a floppy disk, or a removable disk, and the information storage medium 7. It consists of a pickup device that reads and records information from. That is, the information storage device 3 is a device that reads, stores, and stores information in a rewritable or non-rewritable information storage medium 7.

【0021】

The information storage medium 7 includes not only optical memory such as a CD-ROM, but also semiconductor memory such as an IC memory and an IC memo card, and magnetic recording method information storage such as a magneto-optical disk, a hard disk, a magnetic drum, or a floppy disk. Medium 7 is available. The information storage device 3 is provided with a data pickup that matches the changed storage medium when the information storage medium 7 to be used is changed. For example, if the storage medium is a hard disk, the information storage device 3 is provided with a magnetic signal writing / reading device such as a core head.

【0022】

5. Information transmission / reception device 5 The information transmission / reception device 5 is composed of a wireless transmission / reception device, a communication device for exchanging information with an external center, and the like. This external center is, for example, a company / organization / organization that manages and distributes information on roads such as ATIS (Traffic Information Service) or VICS (Vehicle Information and Communication System) and various other information. As a communication device for transmitting / receiving information to / from these external centers, for example, there is a beacon transmitting / receiving device using a radio wave beacon or an optical beacon.

【0023】

As a wireless transmission / reception device, a mobile phone equipped with a modem (modulation / demodulation device) is mainly used. In addition, it may be an FM multiplex radio receiver, a cellular phone, a radio receiver, a television receiver, a transceiver, a pager, or other wireless communication device.

【0024】

In addition, the beacon transmitter / receiver receives the beacon wave transmitted from each transmitting antenna controlled by the external center of VICS, and acquires VICS data. This VICS data includes information on neighboring roads or GPS correction data. Beacon waves used in VICS can only be received in a relatively small area. Therefore, the reception of VICS data is not performed unless the navigation device 10 passes in the vicinity of the transmitting antenna or the like (information transmitting device) that transmits the beacon wave.

【0025】

The transmitting antenna is installed near a road facility (above the road or on the surface of the road) at regular intervals on the main road. The VICS data transmitted from each transmitting antenna includes data representing the traffic state in the vicinity of the transmitting antenna, for example, each road within a radius of 10 kilometers. The data representing this traffic state also includes comprehensive information such as traffic congestion, congestion, impassability, the degree of congestion depending on the amount of traffic, and traffic regulation information such as traffic closure due to construction work. This information is used as operation assistance information such as route search. For example, based on this traffic regulation information, it is determined that the corresponding guide road is not suitable for traveling.

【0026】

It is also technically possible to receive information from an external center using a radio multiplex radio receiver such as FM, AM, VHF or UHF, but in this case, only reception is possible. Therefore, the information transmission from the information transmission / reception device 5 uses a telephone line or other wireless communication means. In addition, when two-way communication is performed with the ATIS or VICS center via telephone line, wireless communication, etc., the area for requesting information on road traffic information or parking lots can be selected. For example, it is possible to receive traffic information such as only the road condition near the destination or the congestion status of each road over a wide range from the departure point to the destination.

【0027】

6. Output device 6 The output device 6 includes a liquid crystal display, a display device consisting of a graphic controller (dedicated / general-purpose DSP (digital signal processor)) for controlling the liquid crystal display, a video memory, and the like, a speaker that outputs sound in the audible range, and the speaker thereof. It is composed of a voice controller and the like that create a synthetic sound to be produced from a speaker. Then, the image data sent from the central processing unit 4 is displayed on the liquid crystal display, and a voice for guidance to the user is emitted. Further, the output device 6 may be provided with a printer or the like in some cases. Printers are used to print various information such as maps and facility guides.

【0028】

Further, as the display, in addition to the liquid crystal display, a display capable of displaying a visual image such as a CRT or a plasma display may be used. However, those with low power consumption, high visibility, and light weight are preferable. As the display, a wide liquid crystal display having a wide screen in the horizontal direction may be used, or two or more liquid crystal displays that can be separated may be adjacent to each other. In this case, each liquid crystal display may display independent information, or continuous map information over a plurality of liquid crystal displays may be displayed.

【0029】

7. Information storage medium 7 The information storage medium 7 includes map data, intersection data, node data, road data, photographic data, destination data, guide point data, detailed destination data, destination reading data, and house shape data, which are necessary for navigation operation. Other data is recorded. That is, information on roads and various information on buildings are recorded and stored. In addition, there are display guidance data, voice guidance data, simplified guidance route image data, and the like. In addition, a computer program for navigation processing may be stored in the information storage medium 7.

【0030】

The information storage medium 7 stores map data having different scales or map data having one scale. That is, even in the map of the same area, maps with different scales may be recorded, or only one map data with a lower scale (detailed map) may be recorded.

【0031】

When only one map data is stored in the information storage medium 7, it is recorded in the information storage medium 7 in order to display a small-scale map, that is, a map of a wider area (wide area map) on the display. Information is thinned out from the map data and displayed. In this map data thinning display, not only the geographical distance of each road or the like is reduced, but also the display symbol information of the facility or the like is thinned out. That is, only large facilities or major facilities are displayed, and display of small facilities below a predetermined value is omitted.

【0032】

8. Configuration of central processing unit 4 The flash memory of the central processing unit 4 is composed of an electrically erasable and writable memory (EEPROM) and the like. The computer program recorded in the information storage medium 7 is installed in this flash memory (internal storage medium / means). A general RAM may be used instead of this flash memory. That is, each time the power is turned on, the program may be read from the information storage medium 7 into the RAM and executed. The installation is to copy (transfer or save) the program so that the CPU of the central processing unit 4 can execute it.

【0033】

Alternatively, a program sent from an external device outside the navigation device 10 may be installed. The external device may be, for example, an external center such as VICS, or an external device such as a personal computer connected to the navigation device 10 by a two-way communication means such as LAN, the Internet (general public line), or USB.

【0034】

By changing the program of the flash memory, the latest navigation program can always be executed. The program may be changed automatically when the new information storage medium 7 is set for the first time, or the program may be transmitted from an external center at the request of the user.

【0035】

The device 10 according to the present invention includes a so-called personal computer provided with various interfaces such as a hard disk, a CD-ROM drive device, a keyboard, and a USB, and a display device centered on a CPU, and peripherals such as the current position detection device 2. It may be composed of a device. In this case, the navigation processing computer program according to the present invention is a dedicated program that can be executed via an operating system (OS) or basic software such as a system program, or can be executed independently.

【0036】

Further, a part or all of the computer program for navigation processing of the present invention may be stored and executed in one or more other devices other than the present device. Then, the data to be processed and / or the already processed data and / or the program is transmitted and received between the devices via the communication means interposed between the device 10 and each separate device, and the device and the device and each device are used. The process of the present invention may be executed as a whole for each separate device (so-called distributed process). As the communication means, a mobile phone, a CB radio, or the like provided in the information transmission / reception device 5 is used.

【0037】

Further, the ROM of the central processing unit 4 stores display graphic data and various general-purpose data. The display graphic data is various data such as symbols, signs, and characters used for route guidance and map display displayed on the display of the output device 6. The various general-purpose data include each data used at the time of navigation such as composite voice waveform data for guidance voice or recorded voice waveform data.

【0038】

Instead of ROM, a memory such as a flash memory that can rewrite information and retains information even when the power supply is stopped may be used. As a result, when a new information storage medium 7 is set, it is possible to rewrite the general-purpose data thereof.

【0039】

The RAM of the central processing unit 4 stores data input from the outside, various parameters and calculation results used for calculation, a vehicle traveling locus, a navigation program, and the like. That is, RAM is used for cache memory, working memory, and the like. The timekeeping means is composed of a counter, battery backup RAM, EEPROM, etc., and is used for the absolute time of geographical position measurement by GPS.

【0040】

9. Data file structure of information storage medium 7 FIG. 2 shows the contents of each data file stored in the information storage medium 7 or stored in the flash memory of the central processing unit 4. Map data file F1 stores map data such as national road maps, road maps of each region, and residential maps. Road maps consist of roads such as major trunk roads, highways, and narrow streets, and ground targets (facilities, etc.). A residential map is a city map on which a figure showing the outer shape of a ground building or the like and a road name or the like are displayed. A narrow street is, for example, a relatively narrow road whose width is less than or equal to a predetermined value below a national road or a prefectural road, and to which traffic regulation information such as "one-way" is not added. That is, a road where two-way traffic of general vehicles is relatively difficult corresponds to a narrow street.

【0041】

The intersection data file F2 stores data related to the intersection such as the geographical position coordinates and names of the intersection. The node data file F3 stores the geographic coordinate data of each node used for route search on the map. The road data file F4 stores data related to roads such as the position and type of roads, the number of lanes, and the connection relationship between each road. The photographic data file F5 stores photographic image data of various facilities, tourist spots, or places where visual display is required, such as major intersections.

【0042】

The destination data file F6 stores data such as the locations and names of places and facilities that are likely to be destinations such as major tourist destinations, buildings, and companies / business establishments listed in the telephone directory. There is.

【0043】

The guidance point data file F7 stores guidance data for points where guidance is required, such as the contents of the guidance display board installed on the road and guidance for branch points. The detailed destination data file F8 stores detailed data regarding the destination stored in the destination data file F6. The road name data file F9 stores the name data of major roads among the roads stored in the road data file F4.

【0044】

The branch point name data file F10 stores the name data of the main branch points. The address data file F11 stores list data for searching the destination stored in the destination data file F6 from the address. The area / city code list file F12 stores list data of only the area / city code of the destination stored in the destination data file F6. The link data file F13 stores data indicating which road in the road data file F4 the link number included in the VICS information sent from an external center such as VICS corresponds to.

【0045】

The files F1 to F13 may be read directly from the information storage medium 7 and used for processing such as route search. However, the following files F14 to F17 are stored in a storage medium such as a flash memory, an IC memory card, or an EPROM that can retain information even when the power of the navigation device 10 is turned off.

【0046】

The registered telephone number data file F14 stores telephone number data to be remembered, such as business partners registered by the user's manual operation. In the mark data file F15, data such as the position and name of a point to be a mark on the way of traveling or a place to be remembered, which is manually input by the user, is stored. The point data file F16 stores detailed data regarding the mark points stored in the mark data file F15. The facility data file F17 stores data such as the position and explanation of a target such as a place where one wants to stop by other than the destination such as a gas station, a convenience store, or a parking lot.

【0047】

10. RAM data contents of central processing unit 4 FIG. 3 shows a part of the data group stored in the RAM of the central processing unit 4. The current position data MP stores data representing the current position of the moving object, which is detected by the current position detection device 2. The absolute directional data ZD is data indicating the north-south direction, and is obtained based on the information from the absolute directional sensor. The relative azimuth data Dθ is the angle data formed by the traveling direction of the moving body with respect to the absolute azimuth data ZD. This relative azimuth angle data Dθ is obtained based on the information from the relative azimuth sensor.

【0048】

The mileage data ML is the mileage of the moving body, and is obtained based on the data from the distance sensor. The current position data MP is calculated using the data of the relative bearing sensor and the distance sensor when the satellite radio wave cannot be received, such as when the moving body is traveling in the tunnel (estimated navigation). The relative direction sensor and the distance sensor detect the moving direction and the moving distance of the moving body. Therefore, the current position of the moving body is detected by the relative moving direction and the moving distance with respect to the position of the moving body in the past.

【0049】

VICS data VD and ATIS data AD are data input from the information transmission / reception device 5. VICS data VD or ATIS data AD is used to determine local traffic regulations, traffic congestion status, or facility congestion status such as parking lots. In addition, this VICS data VD may be used to correct an error in the position of a moving object detected by the GPS receiver 25.

【0050】

The registered destination data TP is data related to the destination such as the coordinate position and the name of the destination registered by the user. In the guidance start point data SP, the map coordinate data of the point where the navigation operation is started is stored. Similarly, the map coordinate data of the point where the navigation operation is terminated is stored in the final guide point data ED.

【0051】

The guidance start point data SP stores the node coordinates on the guidance road closest to the current location or departure location of the moving object. The reason why this guidance start point data SP is stored is that the current location of the moving body corresponding to the current position data MP is, for example, on the premises of a golf course or a parking lot, and is not necessarily on a road that can be guided. There is. Also in this case, it is used to determine whether or not the moving body has moved on the guide road so that the guidance can be performed correctly. Similarly, the guide final point data ED also stores the node coordinates on the guide road closest to the registered destination data TP. The reason why the guide final point data ED is stored is also in consideration of the case where the coordinates of the registered destination data TP are not on the guide road.

【0052】

The guidance route data MW stored in the RAM is data indicating the optimum route to the destination or the recommended route, and is obtained by the route search processing or the re-search processing of the navigation processing computer program described later. .. Each road in the road map stored in the information storage medium 7 has a unique road number. The guidance route data MW is composed of a row of road numbers from the guidance start point data SP to the final guidance point data ED.

【0053】

The mode set data MD is data used in the destination setting process. This mode set data MD identifies the mode content displayed on the display. The stop-off point DP is information about facilities, etc. that stop in the middle of the guidance route.

【0054】

The screen state GJ is data indicating the display state of the display. For example, when the display screen of the display is divided and different information is displayed at the same time, it is determined whether the display is in the divided display state or the single screen display state based on the data of the screen state GJ.

【0055】

The time stamp TSP1 represents the issue time of the latest received VICS data VD. That is, the VICS data VD contains information on each road monitored by an external center. However, road conditions change from moment to moment. Therefore, the VICS data released from the external center includes time information for indicating what time the road condition is in absolute time. This time information is stored in RAM as a time stamp TSP1.

【0056】

In the current location road GD, the number of the road matching the current position of the moving object is stored by the geographic coordinates indicated by the current position data MP or the map matching technique using the geographic coordinates. That is, the road number of the current road of the moving object is always memorized.

【0057】

Further, in the RAM of the central processing unit 4, the flash memory, or the memory card, a collection of geographic coordinates for each predetermined moving distance of the moving body, that is, a traveling locus is recorded and stored. In this traveling locus, the moving distance of a moving body is detected by a distance sensor, and the moving distance is composed of a collection of geographic coordinates for each predetermined value. Further, even when the moving body makes a turn at an intersection or the like, the turn point is recorded and saved as one traveling locus. The detection of this bending point is performed by the information obtained from the relative orientation sensor.

【0058】

In addition to portable information storage media such as memory cards, IC cards, PC cards, and floppy disks, removable disks, magnetic disks, magnetic drums, magneto-optical disks, and rewrites can be used to store this travel locus data group. Any possible optical disc, single-write optical disc, DVD-RAM, flash memory, or the like may be used.

【0059】

11. Road data FIG. 4 shows a part of the road data file F4 stored in the information storage medium 7. This road data file F4 contains information about roads of a certain width or more existing in the area stored in the map data file. If the number of roads included in the road data file F4 is n, there is road data for n roads. Each road data is composed of road number data, guidance target flag, road attribute data, shape data, guidance data, length data, and time data.

【0060】

The data structure will be outlined below. Each road, etc. included in the map data of the information storage medium 7 is divided into the smallest units. The identification number assigned to each of the divided roads is the road number data. In the guidance target flag of the road data file F4, "1" is stored for the guidance target road and "0" is stored for the non-guidance target road. The guide target road is a road having a predetermined width or more, for example, a width of 5.5 meters or more, such as a main trunk road or a general road that is equal to or higher than a prefectural road, and is a road to be searched for. The non-guided road is a narrow narrow street with a width of less than a predetermined width such as a footpath or an alley, for example, a width of less than 5.5 meters, and is not a target of route search. In addition, the guide target road may be set as a main road above the prefectural road, and the non-guidance target road may be set as a main road below the prefectural road.

【0061】

Road attribute data is data showing attributes of elevated roads, underpasses, expressways, toll roads, and the like. The shape data is data indicating the shape of the road. For example, the shape data is composed of the coordinate data of the start point and the end point of the road and the coordinate data of each node between the start point and the end point.

【0062】

The guidance data is composed of intersection name data, caution data, road name data, road name voice data, and destination data. The intersection name data is data representing the name of the intersection when the end point of the road is an intersection. The caution data is data related to precautions on the road such as railroad crossings, tunnel entrances, tunnel exits, and width reduction points. The road name voice data is voice data representing the road name used for voice guidance.

【0063】

The destination data is data related to the road connected to the end point of the road (this is the destination), and is composed of the number of destinations k and the data for each destination. The data related to the destination is composed of destination road number data, destination name data, destination name voice data, destination direction data, and travel guidance data.

【0064】

The destination road number data indicates the destination road number. The destination name data indicates the name of the destination road. The destination name voice data stores voice data for voice guidance of the destination name. The destination direction data indicates the direction in which the destination road is facing.

【0065】

The travel guidance data is guidance data for guiding the driver to move to the right lane, the left lane, or the center of the road in order to enter the destination road. The length data is data of the length from the start point to the end point of the road, the length from the start point to each node, and the length between each node. The time data is the average time required for passage when the moving body travels between the nodes at a speed equal to or lower than the legal speed.

【0066】

12. Overall processing FIG. 5 shows a flowchart of the entire process executed by the navigation device according to the present invention. This process starts when the power is turned on and ends when the power is turned off. This power-on and power-off is executed by turning on / off the power of the navigation device itself or turning on / off the engine start key (ignition switch) of the vehicle.

【0067】

In the initialization process of step SA1, the navigation program is first read from the information storage medium 7. The read navigation program is copied (installed) to the flash memory and executed. Subsequently, the general-purpose data storage area in each RAM such as the work memory and the image memory of the RAM is cleared. The copying of the program to the flash memory is executed only when the new information storage medium 7 is set in the information storage device 3 for the first time. Therefore, the program is not copied to the flash memory unless the information storage medium 7 is replaced.

【0068】

When the above initialization process is completed, subsequent destination setting process (step SA2), route search process (step SA3), travel locus file editing (step SA7), guidance / display process (step SA5), and other processing. The process (step SA6) is cyclically executed. The destination setting process (step SA2) and the route search process (step SA3) are not executed in duplicate unless the destination is changed or the moving body leaves the route.

【0069】

If the moving object deviates from the route during the guidance / display processing, whether or not the route search processing is executed again depends on whether or not the auto-reroute function is turned on. If the auto-reroute function is on, the optimum route from the current position of the moving object to the final guide point is searched again. If the auto-reroute function is off, the route will not be re-searched. In addition, if a stop-off point is set for the above-mentioned guide route, a route via the stop-off point may be searched for.

【0070】

In the destination setting process (step SA2), the geographical coordinates of the destination desired by the user are set as the registered destination data TP by various methods. For example, using a road map or a residential map displayed on a display, the coordinates of the destination are pointed by the user with a cursor or the like. Alternatively, the destination is selected by the user from the itemized list of destinations displayed on the display.

【0071】

In the route search process (step SA3), the route from the guidance start point data SP to the final guidance point data ED is searched. The same data as the current position data MP is set in the guidance start point data SP, or node data on the guidance target road close to the current position data MP is set. Similarly, the geographic coordinates of the registered destination data TP or the node coordinates on the road closest to the registered destination data TP are set in the final guide point data ED.

【0072】

In addition, during this route search process and the guidance / display process of step SA5, route change and other processes are performed based on the road / traffic / other information obtained from VICS data VD or ATIS data AD received at any time. May be done. For example, the received VICS data VD detects the presence or absence of traffic obstruction factors such as traffic congestion and regulations in front of the route being guided. When a traffic obstruction is detected, it is determined whether or not to change the route depending on whether or not there is time to change the route and perform a series of processing associated therewith. Then, when the route change is executed, the route after the change and the route before the change are displayed in parallel, and the like is performed in the guidance / display process of step SA5.

【0073】

In the travel locus file edit (step SA7), one travel locus storage / saving process consisting of a collection of geographic coordinates for each predetermined travel distance of the moving body and coordinates of the bending progress point is performed. In addition, editing work such as renaming and deleting each travel locus file is also executed.

【0074】

In the guidance / display process (step SA5), the guidance route obtained in the route search process (step SA3) is displayed on the display with the current position of the moving body as a fulcrum. The guide route displayed on this display is displayed so as to be identifiable on the display map. For example, on the map displayed on the display, the guide route is displayed in different colors and thickly, which is characteristically displayed. Further, according to this guidance route, a guidance voice is emitted from the speaker so that the moving body can travel satisfactorily. Along with this, various guidance information is displayed on the display at any time. As the image data for displaying the guide route, the road map data around the current position in the information storage medium 7 or the residential map data around the current position is used.

【0075】

Subsequently, the other processing of step SA6 is executed. In this "other processing", the nearest facility processing may be executed. This nearest facility process is a process in which a stop-by place (facility, etc.) other than the above-mentioned registered destination data TP is searched and specified. The data related to this stop-by place is determined by using the map displayed on the display or the information of each item. Then, this nearest facility processing is performed in the same manner as the destination setting processing in step SA2.

【0076】

Further, in the "other processing", for example, it is determined whether or not the traveling position of the moving body is along the calculated guide route. That is, when it is detected that the moving body deviates from the guide route, the state flags for starting each process are set so that the route is re-searched. Further, it is also determined whether or not the destination change command has been input by the user's switch operation.

【0077】

When the process of step SA6 is completed, the process is repeated from the destination setting process (step SA2) again. If there is no deviation from the route during the route guidance, the processing of steps SA2 and SA3 is naturally passed. In this way, the processes from step SA2 to step SA7 are sequentially repeated.

【0078】

13. Travel trajectory file edit (step SA7) FIG. 6 shows a flowchart of traveling locus file editing according to the present invention. Further, FIG. 10 shows an example of the movement locus of the moving body, that is, the traveling locus 55 in a simplified manner. Further, FIG. 11 shows the data contents stored in the memory card as the traveling locus 55 as a file 58. The file 58 representing the travel locus 55 is composed of the geographic coordinates P0, P1, P2 ... Pm of each point.

【0079】

That is, the geographic coordinates of point P0 are (east longitude, north latitude) = (X0, Y0), and the geographic coordinates of point P1 are (east longitude, north latitude) = (X1, Y1). An identification flag is added to each point P0, P1 ... This identification flag indicates whether or not the geographical point is a turning point such as an intersection. When the points P1 and P7 in FIG. 10 are intersections, the identification flag of each point is set to "1". The geographical straight line distance between two points other than the turning point is almost constant. That is, every time the moving body moves a certain distance, the geographic coordinates are stored.

【0080】

At the beginning of the process of FIG. 6, it is determined whether or not the file edit command has been input by the user of device 10 (step SH2). When a file edit request is input (the judgment in step SH2 is Yes), it is judged whether or not the deletion of the travel locus file saved / stored in the memory card is requested (step SH4). One travel locus is composed of the files 58 of FIG. 11, and a plurality of these files 58 are gathered to form a travel locus file group. Therefore, when an instruction for whether or not to delete one of those files is input (the judgment in step SH4 is Yes), the user specifies the file to be deleted (step SH6).

【0081】

When a file is specified, a confirmation message is displayed on the display screen of the output device 6 to determine whether the file is really deleted and whether or not the "Delete" command has been entered (step SH8). If the "Delete" command is entered (Yes for step SH8), the specified file will be deleted (Step SH10). However, if the "Delete" command is not entered (the decision in step SH8 is No), step SH10 is passed. Similarly, if file deletion is not requested (judgment in step SH4 is No), the processing in steps SH6 to SH10 is passed.

【0082】

Next, it is determined whether or not a request to change the name of each travel locus file has been made (step SH12). If there is no file name change request (judgment in step SH12 is No), the travel locus file editing in FIG. 6 is completed, and the flow is returned to the overall processing in FIG.

【0083】

However, if there is a file name change request (the decision in step SH12 is Yes), the subroutine that displays the file name input screen on the display is executed (step SH14). Then, when the file name is input, it is verified whether or not the same name as the file name exists in the travel locus file group (step SH16). If there is no same name (judgment in step SH16 is No), the name of the file is changed to the new name entered (step SH20). Then, the travel locus file editing is completed, and the flow is returned to the overall processing of FIG.

【0084】

On the other hand, if the same name is found (the judgment in step SH16 is Yes), a warning message indicating that the same name exists (step SH18) is displayed, and then the name input process (step SH14) is executed again.

【0085】

If the file edit request is not made at the beginning of the travel locus file edit (the determination in step SH2 is No), it is determined whether or not the travel locus registration request has been made (step SH22). When a registration request is made (the judgment in step SH22 is Yes), it is judged whether or not there is space in the storage area of the travel locus file (step SH24). If there is free space (the judgment of step SH24 is Yes), the registration and saving of the traveling locus points are started (step SH28). However, if there is no free space (the judgment of step SH24 is No), a warning message indicating that there is no free space is displayed (step SH28), and the process is jumped to step SH6 in order to delete an arbitrary file.

【0086】

Along with the process of registering the travel locus in step SH28, it is determined whether or not a display request for the travel locus registered so far has been made on the display screen (step SH30). If there is a request to draw the locus (yes in step SH30), the subroutine that specifies the running locus file to be drawn and draws it is executed (step SH32). By dividing the memory for drawing the travel locus into a plurality of areas or preparing a plurality of memories, the travel locus registered so far and the locus currently being traveled can be displayed on the screen at the same time. Will be. However, if there is no request for drawing the traveling locus (the judgment of step SH30 is No), the processing of steps SH32 and SH34 is passed, and the processing is returned to the entire processing of FIG.

【0087】

When the drawing of the traveling locus is completed (step SH32), it is determined whether or not the registration of the traveling locus performed in step SH28 is completed (step SH34). If it is not completed, the traveling locus point registration subroutine of step SH28 is executed again. However, when the registration of the travel locus is completed (the judgment in step SH34 is No), the process of editing the travel locus file in FIG. 6 is completed, and the process returns to the entire process in FIG.

【0088】

14. Registration of running locus points FIG. 7 shows a flowchart of the traveling locus point registration process. First, it is determined whether or not the current position of the moving body (vehicle) has changed by using the detection data of the current position detection device 2 (step SJ2). If there is no change in the current position (judgment in step SJ2 is No), the travel locus point cannot be registered, so this subroutine is terminated and the process returns to the process shown in FIG.

【0089】

If there is a change in the current position of the moving object (yes in step SJ2), a road that matches the current position of the moving object is detected using the road data of the information storage medium 7. Then, the connection between the road detected immediately before and the new compatible road detected by this movement is verified (step SJ4). If the connection between the two roads is an intersection or a road junction (the judgment in step SJ4 is Yes), the junction is registered in the file 58 as one of the locus points (step SJ10).

【0090】

However, if it is not a branch point (the judgment in step SJ4 is No), the linear distance TK between the geographic coordinates of the previously registered locus point and the geographic coordinates of the current position of the moving object is obtained (step SJ6). Then, it is determined whether or not this straight line distance TK is 150 m (meter) or more (step SJ8). If it is 150 m or more, the current position of the moving body is registered as a locus point (step SJ10). However, if it is 150 m or less, the process of registering the travel locus point in FIG. 7 is temporarily terminated, and the process returns to the process of editing the travel locus file in FIG.

【0091】

15. Travel locus drawing FIG. 8 shows a subroutine for drawing a traveling locus. First, the file 58 specified as the drawing target is read from the travel locus file group saved / stored in the memory card or the like (step SK2). Next, the entire trajectory formed by connecting each geographic coordinate stored in file 58 is compared to the scale of the map currently displayed on the display. Then, if the scale is such that all the traveling locus points can be drawn (the judgment of step SK4 is No), one traveling locus point of the file 58 is drawn.

【0092】

However, if the scale of the map is such that all the travel locus points cannot be drawn (the judgment of step SK4 is Yes), it is determined whether or not the travel locus points are intersections (step SK6), and if it is not an intersection, drawing is performed. Absent. That is, if the displayed map is a wide area map, the locus points may be crowded and the entire traveling locus may not be satisfactorily discriminated. In that case, the locus points to be drawn are thinned out.

【0093】

However, if the travel locus point is an intersection (yes for step SK6), drawing is done to clarify the shape of the entire travel locus (step SK8). Whether or not the traveling locus point is an intersection is determined by the state of the identification flag (see FIG. 11). Then, it is determined whether or not all the traveling locus points in the file 58 have been drawn or thinned out (step SK10). If the processing is completed for all the locus points (the judgment in step SK10 is Yes), the traveling locus drawing process is completed. If the processing for all the locus points is not completed (the judgment in step SK10 is No), the process returns to step SK2 and the processing for the next traveling locus point is repeated.

【0094】

15. Second Example of Travel Track Registration FIG. 9 shows a flowchart of the second embodiment of the driving regulation registration. In this second embodiment, the traveling locus of the current moving body is overwritten and recorded after an arbitrary point of the traveling locus 55 composed of a plurality of geographic coordinates shown in the file 58. The processing contents will be described below. At the beginning of the process of FIG. 9, one of the traveling loci recorded and saved in the past is specified and drawn on the screen as in the first embodiment (step SH32). The drawing of the traveling locus is performed according to the process shown in FIG.

【0095】

When the drawing is finished, it is determined whether or not the additional request has been input by the user (step SL4). If there is no additional request (the judgment in step SL4 is No), the travel locus shown in FIG. 9 is not added and the process ends. However, when the addition request is input (the determination in step SL4 is Yes), it is subsequently determined whether or not the addition start point has been specified (step SL6). That is, it is determined from which point of the displayed travel locus the coordinate data of the new travel locus point is used for rewriting.

【0096】

If a point is specified by the user (yes for step SL6), the specified point is set as the starting point for registration (step SL10). This point specification is directly specified by moving the cursor on the display screen. However, if no point is specified (the decision in step SL6 is No), the point of the traveling locus 55 closest to the current position of the moving object is searched from the file 58. Then, the point closest to the current position in each geographic coordinate of the travel locus 55 recorded in the past is set as the registration start point (step SL8).

【0097】

Registration of a new travel locus point is started from the registration start point determined in this way (step SH28). When the travel locus points are sequentially recorded, it is determined whether or not the file 58 of one travel locus 55 is full (step SL12). When it is full (the judgment of step SL12 is Yes), the process of adding the travel locus is completed. If the file 58 is not full (the judgment of step SL12 is No), the running locus point is further registered (step SH28).

【0098】

16. Other explanations As described above, in the present invention, it is possible to display the already saved past traveling locus on the display screen, display the traveling locus, and sequentially store and save the traveling locus of the current moving body. In addition, the data after any point of the displayed travel locus is sequentially replaced with the new geographic coordinates currently traveled. The guide route can be searched by utilizing each geographical coordinate of the traveling locus 55 saved in this way by the route search process of FIG.

【0099】

In each of the above embodiments, the traveling locus displayed on the screen is not limited to one. Two or more travel loci may be displayed on the screen. In this case, each traveling locus needs to be displayed so that it can be identified by changing the display color of each other. As this identification display method, various methods such as adding brightness, saturation, shape, pattern, additional symbol, character, and the like may be used.

【0100】

The present invention is not limited to the above embodiment, and various modifications can be made without departing from the spirit of the present invention. For example, a voice input device including an analog / digital converter may be provided for command input to the device 10. Then, each operation and selection may be executed by the voice command input by the voice input device. Further, the search or re-search process of the route bypassing the congested road may be performed based on the VICS data VD or the like that the moving body receives at any time during the route traveling or before the traveling starts.

【0101】

Further, in the navigation device according to the present invention, all or a part of the above-mentioned flowcharts of FIGS. 5 to 8 may be executed in various external information processing centers such as VICS and ATIS. Then, the processing result (processing information) is received via the information transmission / reception device 5. For example, the route search process (step SA3) shown in FIG. 5 is executed at the information processing center where the map information is accumulated. Then, the searched route data is sent back to the navigation device 10 via the information transmission / reception device 5. However, the current position and destination of the moving object must be sent from device 10 to its center.

【0102】

Then, in the navigation device 10 of the present invention, the guidance display process is executed based on the sent route data. That is, information such as the search condition of the destination or the stop-by facility and the route search condition is sent from the navigation device of the present invention to the information processing center. In the information processing center, the search for the desired facility and the search for the route to the destination are executed based on the sent conditions. Then, information on the search / extraction / search result is transmitted from the information processing center to the navigation device 10 together with the map information and the like.

【0103】

In the navigation device 10, the search facility is displayed on the display based on the received search / extraction / search result. This makes it possible to search, extract, and search for each facility based on the detailed and up-to-date information of each facility regarding the current position of the moving object or the vicinity of the destination. In addition, in the facility search, it is possible to search in consideration of changes in the environment of surrounding roads (new construction of one-way roads, etc.). In this case, the information about each facility stored in the information processing center needs to be updated at any time.

【0104】

Further, the map data file F1 and the intersection data file F2 ... In the present invention are stored in the external center, and only each processing program shown in FIGS. 5 to 8 of the present invention is stored in the apparatus 10. You may. In this case, the map data or the like is received from the external center by solving the communication means and used for the route search and the guidance / display processing. Moreover, in this case, the map data received from the external center need only be the area portion necessary for the route search. According to this, the map data is revised from time to time, so that navigation based on the latest road information is always possible.

【0105】

Further, the information storage medium 7 storing each program described in the present invention and information such as a map and display symbols may be used in a general computer device. That is, the program stored in the information storage medium 7 is configured as a program that can be executed by a general computer. Then, if the information storage medium 7 is connected to a portable computer device together with a device capable of detecting the current position by the GPS receiving device, the navigation process can be performed by this computer device as well. Further, the present invention can be applied as a navigation device for moving objects other than automobiles, ships, aircraft, helicopters, etc., and the map used for navigation may be a nautical chart, a seabed map, or the like in addition to a road map. Furthermore, the present invention may be applied to a small personally portable navigation device. That is, the present invention may be applied to a small human-carryable navigation device used in cycling, travel, mountain climbing, hiking, fishing, and the like.

【0106】

[Effect of the invention]

As described in detail above, the present invention can record and save a new traveling locus generated with the current movement of the moving body while displaying a traveling locus composed of a plurality of recorded and saved geographic coordinates. I did. Moreover, the record of the new traveling locus can be added to a part of one traveling locus saved in the past and saved. As a result, the past traveling locus of the moving body can be confirmed, and a part or all of each traveling locus can be rewritten with a new traveling locus, and a navigation device having a traveling locus editing process with higher editability can be realized. .. Moreover, by displaying the recorded travel locus at any time, it is possible to verify one's own travel pattern.

[Simple explanation of drawings]

[Figure 1]

It is a block block diagram of a navigation device.

[Figure 2]

It is a figure which shows the data structure of the information storage medium 7.

[Fig. 3]

It is a figure which shows the data stored in RAM.

[Fig. 4]

It is a figure which shows the structure of the road data file F4.

[Fig. 5]

It is a figure which shows the flowchart of the whole processing.

[Fig. 6]

It is a figure which shows the flowchart of a traveling locus file edit.

[Fig. 7]

It is a figure which shows the flowchart of registration of the traveling locus point.

[Fig. 8]

It is a figure which shows the flowchart of drawing of the traveling locus which has already been registered and saved.

[Fig. 9]

It is a figure which shows the flowchart of the addition processing of a traveling locus.

[Fig. 10]

It is a figure which shows the state of the traveling locus 55.

[Fig. 11]

It is a figure which shows the file 58 which is the set of each geographic coordinate which constitutes the traveling locus 55.

[Explanation of symbols]

1 ... input device, 2 ... current position detector, 3 ... information storage device, 4 ... central processing unit, 5 ... information transmission / reception device, 6 ... output device, 7. Information storage medium, 10 ... navigation device, 55 ... travel track, 58 ... file.