JP3942811B2 - Navigation device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a navigation apparatus that displays a map image around a vehicle position, guides a guidance route, and the like.
[0002]
[Prior art]
In general, an in-vehicle navigation device detects the current position of the vehicle, reads map data in the vicinity of the vehicle from a data storage medium such as a CD or DVD, and displays it on a screen. In addition, a vehicle position mark indicating the vehicle position is displayed on the screen, and map data in the vicinity is scrolled as the vehicle progresses around the vehicle position mark, so that map information around the vehicle position is always displayed. It has come to understand.
[0003]
In addition, most of the recent in-vehicle navigation devices have a route guidance function that allows a user to travel to a desired destination without making a mistake and a map scroll function that moves the display position of a map image. It is installed.
According to the route guidance function, a route with the lowest cost connecting from the departure point to the destination is automatically searched using map data, and the searched route is stored as a guidance route. And while driving, draw the guidance route on the map image in a different color from other roads and display it on the screen, or display an enlarged view of the intersection where the next vehicle enters and output guidance voice By this, the user is guided to the destination. In addition, according to the map scroll function, the user can confirm information on the road shape and surrounding facilities on the screen for the road on which the vehicle is scheduled to travel.
[0004]
[Problems to be solved by the invention]
By the way, the above-described map scroll function includes a method in which a user manually scrolls by operating a joystick or the like provided in an operation unit, and a method in which scrolling is automatically performed along a guide route or the like.
[0005]
In the method of automatically scrolling, when a predetermined scroll instruction is given, the map image is automatically scrolled to a predetermined position (for example, a destination) along a preset guidance route. There is a drawback in that the user cannot perform detailed operations such as stopping scrolling at a desired point and acquiring peripheral information.
[0006]
On the other hand, in the method of manually scrolling, the user can stop scrolling at a desired point, but pay attention to when scrolling along a desired road such as a guide route. In order to display the map reliably without losing sight of the surrounding road, it is necessary to finely operate the joystick vertically and horizontally while observing the display screen to some extent, and the operation at the time of scrolling the map is complicated.
[0007]
For this reason, for example, considering that the driver performs such an operation while stopping at an intersection, traffic such as whether or not the signal has become “blue” within the stopping time at an intersection that is not so long. It was necessary to perform the complicated operations as described above while paying attention to the situation, and the operability during map scrolling was poor.
[0008]
In addition, it may be possible for the passenger in the passenger seat to perform the operation, but the passenger in the passenger seat is prone to car sickness and may not want to scroll while gazing at the map image. . Since such a person needs to perform a complicated operation while avoiding viewing the map image as much as possible, the operability at the time of scrolling the map is also poor.
[0009]
The present invention has been created in view of the above points, and an object of the present invention is to provide a navigation device capable of improving the operability during map scrolling.
[0010]
[Means for Solving the Problems]
In order to solve the above-described problem, in the navigation device of the present invention, a map image of a predetermined range around the point of interest along the traveling road of the vehicle is displayed by the map display means, and the map image is scrolled by the scroll processing means. When an operation member is operated to give an instruction to move the point of interest by the scroll operation, the operation direction is restricted by the operation restriction unit based on the road shape. By restricting the operation direction using the operation member based on the road shape, the user can follow the road shape based on the feeling transmitted to the hand when operating the operation member without gazing at the map image. Scrolling can be performed easily, and operability during scrolling can be improved. Further, it is possible to roughly grasp the road shape from the feeling transmitted to the hand during operation without gazing at the map image.
[0011]
The operation restriction means described above extracts the shape of the traveling road included in the map image displayed by the map display means by the road shape extracting means, and operates by the operation range setting means based on the extracted shape of the traveling road. When an operation range of the member is set, and the operation range of the operation member is out of the set content, it is desirable to generate a resistance force to the operation using the operation member by the resistance force generating means. Since the resistance force based on the road shape is generated when operating the operation member, the user can easily grasp the road shape to be driven according to the directionality of the resistance force applied to the hand.
[0012]
In addition, route search means for searching for a guide route in accordance with a predetermined search condition is further provided, and the operation restriction means performs the operation direction restriction operation by using the above-described operation restriction means as the above-described traveling road. It is desirable to do.
[0013]
In general, when a guide route is set, you are traveling on a land that you do not know well, and you can scroll the map to get information about the roads that you plan to drive and the facilities around it. Often done. Therefore, by restricting the operation direction of the operation member based on the road corresponding to the guide route, the map scroll along the guide route can be easily performed, and the operability at the time of scrolling is further improved. be able to. In addition, the shape of the road as the guidance route can be easily grasped.
[0014]
In addition, when the point of interest is moved along the traveling road by the scroll operation by the scroll processing unit described above, the operation member is vibrated by the vibration generating unit when the position of the point of interest satisfies a predetermined vibration condition. Is desirable. For example, during a scrolling operation, the actual feeling of distance on the road can be known without looking at the map image by vibrating the operation member at regular time intervals or every predetermined travel distance in terms of travel time. Can do. Thereby, the operativity at the time of map scrolling can further be improved.
[0015]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, a navigation device according to an embodiment to which the present invention is applied will be described with reference to the drawings.
(1) Overall configuration of navigation device
FIG. 1 is a diagram showing an overall configuration of an in-vehicle navigation device according to an embodiment to which the present invention is applied. The navigation device shown in FIG. 1 includes a navigation controller 1 that controls the whole, a DVD 2 that records map data necessary for map display, route search, and the like, a disk reader 3 that reads map data recorded on the DVD 2, and An operation unit 4 for a user to input various instructions; a GPS receiver 5 and an autonomous navigation sensor 6 for detecting the position and direction of the vehicle; a display device 7 for displaying a map image, a guidance route, and the like; And an audio unit 8 that outputs a predetermined voice during route guidance or the like.
[0016]
The disk reader 3 described above can be loaded with one or more DVDs 2 and reads map data from any of the DVDs 2 under the control of the navigation controller 1. The loaded disc is not necessarily a DVD but may be a CD. Further, both DVD and CD may be selectively loaded.
[0017]
The operation unit 4 is for giving various operation instructions to the navigation controller 1. Details of the operation unit 4 will be described later.
The GPS receiver 5 receives radio waves transmitted from a plurality of GPS satellites, performs a three-dimensional positioning process or a two-dimensional positioning process, and calculates the absolute position and direction of the vehicle (the vehicle direction is determined by the current vehicle). Calculated based on the position and the vehicle position before one sampling time ΔT), and these are output together with the positioning time. The autonomous navigation sensor 6 includes an angle sensor such as a vibration gyro that detects the vehicle rotation angle as a relative direction, and a distance sensor that outputs one pulse for each predetermined travel distance. Calculate the bearing.
[0018]
Based on the drawing data output from the navigation controller 1, the display device 7 displays a map image around the host vehicle together with a vehicle position mark, a departure point mark, a destination mark, etc., and displays a guidance route on the map. Or display.
(2) Detailed contents of map data
Next, details of the map data recorded on the DVD 2 will be described. The map data recorded on the DVD 2 is in units of rectangular shape leaves separated by a predetermined longitude and latitude, and the map data of each leaf is specified and read by designating the leaf number. It becomes possible. The map data for each map leaf includes (1) a drawing unit composed of various data necessary for map display, and (2) data necessary for various processing such as map matching, route search, and route guidance. Road unit and (3) an intersection unit made up of detailed data such as an intersection.
[0019]
In the road unit described above, a line connecting two arbitrary points on the road is called a link, and an adjacent point connecting two or more links is called a node. The road unit includes a unit header for identifying a road unit, a connection node table storing detailed data of all nodes, a node table indicating the storage position of the connection node table, and two adjacent nodes. And a link table storing detailed data of the specified link.
[0020]
FIG. 2 is a diagram illustrating detailed contents of various tables included in the road unit. As shown in FIG. 2A, the node table stores node records # 0, # 1,... Corresponding to all the nodes included in the target leaf. Each node record is given a node number from # 0 in the order of arrangement, and indicates the storage position of the connection node table corresponding to each node.
[0021]
In addition, as shown in FIG. 2 (B), the connection node table is provided for each existing node.
a. Normalized longitude / latitude
b. Intersection node flag indicating whether or not this node is an intersection node, adjacent node flag indicating whether or not the node is at the boundary with another figure, whether or not the link is branched at this node, branch If so, a “node attribute flag” including branching path information indicating whether the shape of the branch corresponds to a T-junction or a Y-junction,
c. "Number of connected nodes", which indicates the number of nodes that make up the other end of each link when there is a link with this node as one end of the link,
d. If the link connected to this node has traffic restrictions such as right turn prohibition or U turn prohibition, the "number of traffic restrictions"
e. Connection node records for the number of links indicating the link number of each link where this node is one end,
f. A traffic regulation record showing the specific contents of the traffic regulation corresponding to the number of traffic regulations mentioned above,
g. If this node is a node at the boundary with another leaf, an “adjacent node record” indicating the position of the connection node table of the corresponding node in the adjacent leaf,
h. If this node is an intersection node, the storage location and size of the corresponding intersection record in the intersection unit;
Etc. are included.
[0022]
Further, as shown in FIG. 2C, the link table includes a plurality of link records in the order of link numbers corresponding to all the links included in the drawing of interest. Each of these link records
a. Link ID, which is a code attached to each link mainly for the search route display,
b. Node number 1 and node number 2 identifying two nodes located at both ends of the link,
c. Link distance
d. Cost of traveling on this link
e. Various road attribute flags including road attribute information attached to this link (whether there is one-way traffic, whether this road is subject to search processing, etc.)
f. A road type flag indicating the road width such as whether the actual road corresponding to this link is a highway or a general road, how many meters the road is wide,
g. The number given to the road corresponding to this link,
Etc. are included.
[0023]
(3) Detailed configuration of navigation controller
Next, a detailed configuration of the navigation controller 1 shown in FIG. 1 will be described. The navigation controller 1 includes a map buffer 10, a map read control unit 12, a map drawing unit 14, a VRAM 18, a read control unit 20, an intersection guide unit 22, an image composition unit 24, a vehicle position calculation unit 30, a route search processing unit 32, a guidance A route memory 34, a guidance route drawing unit 36, a mark image drawing unit 38, an input processing unit 40, a cursor position calculation unit 42, an operation screen generation unit 44, a movable range setting unit 46, and an estimated arrival position calculation unit 48 are configured. ing.
[0024]
The map buffer 10 temporarily stores map data read from the DVD 2 by the disk reader 3.
The map reading control unit 12 reads the map data of a predetermined range including the vehicle position or the cursor position based on the vehicle position calculated by the vehicle position calculation unit 30, the cursor position calculated by the cursor position calculation unit 42, or the like. The request is output to the disk reader 3. Further, the map reading control unit 12 outputs a map data reading request necessary for performing a route search to the disk reading device 3 in response to a request from the route search processing unit 32.
[0025]
The map drawing unit 14 creates map drawing data necessary for display based on the map data stored in the map buffer 10, and includes a background drawing unit 15 and a road drawing unit 16.
The background drawing unit 15 creates background drawing data for displaying backgrounds of various facilities, mountains, rivers, and the like constituting the map. Further, the road drawing unit 16 creates road drawing data for displaying the roads constituting the map.
[0026]
The VRAM 18 stores map drawing data (background drawing data and road drawing data) created by the map drawing unit 14 and guidance route drawing data created by the guidance route drawing unit 36.
The read control unit 20 reads the drawing data for one screen centered on the vehicle position or the cursor position from the VRAM 18. Since the reading control unit 20 reads the drawing data as needed in accordance with the change of the vehicle position or the cursor position, the map drawing unit 14 described above stores the drawing data reading range by the reading control unit 20 in the VRAM 18. Update the map drawing data from time to time so as not to exceed the range.
[0027]
The intersection guide unit 22 performs guidance regarding an intersection that the host vehicle is approaching with a display image and voice. When the host vehicle approaches within a predetermined distance from an intersection in front of the guide route, the intersection guide unit 22 Drawing data corresponding to an approaching intersection guide map (intersection enlarged view, traveling direction arrow) is created, and the traveling direction is guided by voice through the audio unit 8.
[0028]
The image composition unit 24 superimposes the map drawing data read from the VRAM 18 by the read control unit 20 and the drawing data output from each of the intersection guide unit 22, the mark image drawing unit 38, and the operation screen generation unit 44, and superimposes the drawing data. Compositing is performed, and the composite drawing data is output to the display device 7.
[0029]
The vehicle position calculation unit 30 calculates the vehicle position based on the detection data of the GPS receiver 5 and the autonomous navigation sensor 6, and if the calculated vehicle position is not on the road of the map data, the vehicle position calculation unit 30 calculates the vehicle position. A map matching process for correcting the position is performed.
The route search processing unit 32 searches for a travel route that connects a preset destination and departure place under a predetermined condition. For example, a travel route that minimizes the cost under various conditions such as the shortest distance and the shortest time is set as the guide route. As a typical method of route search, Dijkstra method and horizontal search method are known. The guidance route set by the route search processing unit 32 in this way is expressed as a set of nodes from the departure point to the destination and stored in the guidance route memory 34.
[0030]
The guide route drawing unit 36 is drawn in the VRAM 18 at that time from the guide route data (a set of nodes from the departure point to the destination) set by the route search processing unit 32 and stored in the guide route memory 34. The map included in the map area is selected, and the guide route drawing data for displaying the guide route on the map image is created.
[0031]
The mark image drawing unit 38 generates drawing data for displaying a vehicle position mark at the own vehicle position after the map matching process or displaying a predetermined cursor mark at the cursor position.
The input processing unit 40 outputs commands for performing operations corresponding to various operation instructions input from the operation unit 4 to each unit in the navigation controller 1 and when an operation screen needs to be displayed, The operation screen generating unit 44 is instructed to that effect.
[0032]
The cursor position calculation unit 42 calculates the cursor position in accordance with an instruction from the input processing unit 40. Specifically, for example, when an instruction to scroll the map image is given, the cursor position calculation unit 42 obtains the current vehicle position from the vehicle position calculation unit 30 and sets it as the initial position of the cursor position. After that, the cursor position (latitude and longitude) that changes in response to an operation instruction given from the operation unit 4 is calculated.
[0033]
The operation screen generation unit 44 creates drawing data for displaying the operation screen in accordance with an instruction from the input processing unit 40.
The movable range setting unit 46 sets a movable range when limiting the movable direction when the operation unit 4 is operated, corresponding to the shape of the road displayed on the map image. Detailed operation of the movable range setting unit 46 will be described later.
[0034]
The estimated arrival position calculation unit 48 calculates the estimated arrival position for each predetermined time interval from the initial position (the vehicle position at the time when the scroll instruction is given) when the map is scrolled along the guidance route. To do. Specifically, the estimated arrival position can be calculated by acquiring information such as the cost of the link from the road unit of the map data described above. In the present embodiment, for example, the estimated arrival positions from the initial position to 2 hours later are calculated every 10 minutes. It should be noted that the user can arbitrarily set how many hours later the estimated arrival position is calculated and every minute interval. Further, when the actual arrival position calculation unit 48 is actually scrolled and the cursor position matches any of the arrival arrival positions, the arrival position calculation unit 48 notifies the operation unit 4 to that effect.
[0035]
(4) Detailed configuration of the operation unit 4
FIG. 3 is a diagram illustrating an appearance of the operation unit 4 according to the present embodiment. The operation unit 4 of the present embodiment is installed at a predetermined position of the front console of the vehicle, and includes a commander 60, a plurality of push button switches 62, a volume knob 64, and the like, as shown in FIG.
[0036]
The commander 60 is a pointing device for inputting various operation instructions, for example, the moving direction of the cursor position, etc., when the user wraps in the palm and swings in any direction, as shown in FIG. It has a shape similar to that of a mouse widely used as an input device in a personal computer or the like. In the present embodiment, by operating the commander 60 according to the operation screen displayed on the screen of the display device 7, various operation instructions can be given to the navigation device.
[0037]
In addition, the operation unit 4 of the present embodiment serves not only as an operation unit of the navigation device but also as an operation unit for various on-vehicle devices (for example, an air conditioner and an audio device). A device to which the operation unit 4 sends an operation instruction is selected by pressing one of a plurality of (six in FIG. 3) push button switches 62.
[0038]
The volume knob 64 is for setting various adjustment values, for example, a volume value of music or the like reproduced by an audio device (not shown).
FIG. 4 is a diagram illustrating the internal configuration of the operation unit 4. As shown in the figure, the operation unit 4 includes an operation lever 66, a conversion unit 67, two gear units 68 and 69, two motors, in addition to the commander 60, the plurality of push button switches 62, and the volume knob 64 described above. 70, 71, two potentiometers 72, 73, and a control unit 80.
[0039]
The operation lever 66 is coupled to the commander 60 described above, and transmits an operation given to the commander 60 to the potentiometers 72 and 73 via the gear portions 68 and 69.
The conversion unit 67 converts the inclination angle and the inclination direction of the operation lever 66 into the rotation amounts of the two rotating bodies 67a and 67b arranged perpendicular to each other. In addition, when the driving force generated by the motors 70 and 71 is transmitted to the rotating bodies 67a and 67b via the gear portions 68 and 69, the conversion unit 67 transmits the driving force to the inclination angle of the operation lever 66. And convert to tilt direction.
[0040]
The motor 70 transmits a driving force to one rotating body 67 a included in the conversion unit 67 via the gear unit 68. Similarly, the motor 71 transmits a driving force to the other rotating body 67 b included in the conversion unit 67 via the gear unit 69. It is assumed that the motors 70 and 71 of the present embodiment are realized by a motor such as a stepping motor capable of controlling the rotation angle and rotation speed of the motor shaft with a certain degree of precision.
[0041]
The potentiometer 72 converts the amount of rotation of one rotating body 67a into an electric signal. Similarly, the potentiometer 73 converts the amount of rotation of the other rotating body 67b into an electric signal.
The control unit 80 controls the operation of the entire operation unit 4, and includes a movement amount calculation unit 81, a movable range memory 82, a reaction force calculation unit 83, a motor control unit 84, and an operation content output unit 85. It is configured.
[0042]
The movement amount calculation unit 81 calculates the movement amount (inclination angle, inclination direction) of the operation lever 66 based on signals output from the two potentiometers 72 and 73, respectively.
The movable range memory 82 stores data related to the movable range set by the movable range setting unit 46 in the navigation controller 1 described above.
[0043]
The reaction force calculation unit 83 calculates a reaction force applied to the operation lever 66 based on the movement amount calculated by the movement amount calculation unit 81 and the movable range data stored in the movable range memory 82. Here, in this specification, when the inclination angle and the inclination direction of the operation lever 66 change corresponding to the operation given to the commander 60, the resistance force to return the operation lever 66 to the original position is reduced. This is called “reaction force”. The detailed operation of the reaction force calculation unit 83 will be described later.
[0044]
The motor control unit 84 performs drive control of the motors 70 and 71 in order to actually generate the reaction force calculated by the reaction force calculation unit 83.
Further, when the notification that the cursor position has reached the estimated arrival position is output from the estimated arrival position calculation unit 48 in the navigation controller 1, the motor control unit 84 changes the rotation direction of the motor 71 at a predetermined cycle. Control to rotate forward and backward. As a result, the commander 60 can be vibrated, and the user operating the commander 60 can be notified of the expected arrival position. Note that the vibration may be generated by rotating the rotation direction of the motor 70 instead of the motor 71 in the normal direction and the reverse direction at a predetermined cycle.
[0045]
In response to the operation instructions given to the commander 60, the push button switch 62, and the volume knob 64, the operation content output unit 85 sends operation instruction data indicating the operation contents to the input processing unit 40 in the navigation controller, Or it outputs to other vehicle equipment (not shown).
[0046]
The commander 60 and the operation lever 66 described above are the operation members, the input processing unit 40, the cursor position calculation unit 42, and the reading control unit 20 are the scroll processing means, the display device 7, the map buffer 10, the map reading control unit 12, and the map drawing. The unit 14, the VRAM 18, the read control unit 20, the image composition unit 24, and the guidance route drawing unit 36 correspond to the map display unit, and the movable range setting unit 46 and the operation unit 4 correspond to the operation restriction unit. Further, the movable range setting unit 46 includes a conversion unit 67, two gear units 68 and 69, two motors 70 and 71, a movement amount calculation unit 81, a reaction force calculation unit 83, a road shape extraction unit and an operation range setting unit. The motor control unit 84 corresponds to the resistance generation unit, and the route search processing unit 32 corresponds to the route search unit. Moreover, the estimated arrival position calculation part 48, the conversion part 67, the gear part 69, the motor 71, and the motor control part 84 respond | correspond to a vibration generation means.
[0047]
(5) Operation of navigation device
The navigation device of the present embodiment has such a configuration, and the operation thereof will be described next.
a. Operation to set the movable range of the commander 60 corresponding to the road shape
FIG. 5 is a flowchart showing an operation procedure when the movable range of the commander 60 is set corresponding to the shape of the road displayed on the map image. The operation content mainly performed in the movable range setting unit 46 is shown in FIG. Explained.
[0048]
The movable range setting unit 46 determines whether or not an instruction to scroll the map (scroll instruction) has been given (step 100). While the scroll instruction is not given, the determination in step 100 is repeated.
When a scroll instruction is given, an affirmative determination is made in step 100, and then the movable range setting unit 46 determines whether or not the route guidance mode is set (step 101). The route guidance mode refers to a state in which a route connecting the departure point and the destination set by the user is searched and route guidance is performed according to this route.
[0049]
If it is the route guidance mode, an affirmative determination is made in step 101, and the movable range setting unit 46 acquires drawing data of the guidance route that is currently displayed from the guidance route drawing unit 36 (step 102). .
When the route guidance mode is not selected, a negative determination is made in step 102 described above, and the movable range setting unit 46 determines that all roads included in the current display range from the road drawing unit 16 in the map drawing unit 14. The drawing data is acquired (step 103).
[0050]
When the processing of step 102 or step 103 is performed and drawing data of the guidance route or all roads is acquired, the movable range setting unit 46 creates a movable range table based on the acquired drawing data, and the movable range in the operation unit 4 is moved. Store in the range memory 82 (step 104).
[0051]
Here, a method of creating the movable range table will be specifically described. FIG. 6 is a diagram illustrating a method of creating a movable range table in the route guidance mode. FIG. 6A is an example of a map image displayed on the screen of the display device 7 and shows a state in which the guidance route is highlighted with a bold line. FIG. 6B is a diagram for explaining the movable range table created by the movable range setting unit 46. As shown in FIG. 6B, the movable range table created by the movable range setting unit 46 is a matrix-shaped data table corresponding to the position on the display screen in a one-to-one correspondence. Based on the acquired drawing data, an area close to the guidance route (area indicated by hatching) is set as a “movable range (movable range)”. When such a movable range table is set and output to the operation unit 4, the movable direction is controlled so that the commander 60 can be operated only at a position included in the set movable range. Details of the control operation in the movable direction in the operation unit 4 will be described later.
[0052]
FIG. 7 is a diagram illustrating a method of creating the movable range table in the non-route guidance mode. FIG. 7A shows an example of a map image displayed on the screen of the display device 7, and FIG. 7B shows a movable range table created by the movable range setting unit 46.
[0053]
The contents of the movable range table in the non-route guidance mode are basically set in the same manner as in the route guidance mode described above. However, in the non-route guidance mode, as shown in FIG. 7, based on the drawing data acquired from the road drawing unit 16 in the map drawing unit 14, all roads included in the map image (such as narrow streets) , Except for those displayed as the background) is set as the “movable range”.
[0054]
In FIG. 6B and FIG. 7B described above, the number of matrices in the movable range table is expressed to be small in order to avoid complication of the drawings, but in reality, the number of matrices is larger. It is assumed that the movable range table has been set.
Next, the movable range setting unit 46 determines whether or not the cursor position has been moved by operating the commander 60 (step 105). When the cursor position moves, an affirmative determination is made in step 105, and the movable range setting unit 46 returns to step 101 described above, and updates the contents of the movable range table by repeating the subsequent processing.
[0055]
If the cursor position does not move, a negative determination is made in step 105 described above, and then the movable range setting unit 46 determines whether or not an instruction to end scrolling has been given (step 106). While an instruction to end scrolling is not made, a negative determination is made in step 106, and the movable range setting unit 46 returns to step 105 and repeats the processing after the determination as to whether or not the cursor position has moved.
[0056]
When an instruction to end scrolling is given, an affirmative determination is made in step 106 described above, and the movable range setting unit 46 ends a series of processes for setting the movable range.
Next, an operation in which the operation unit 4 receiving the movable range table limits the operation direction of the commander 60 will be described in detail. FIG. 8 is a flowchart showing an operation procedure on the side of the operation unit 4 that has received the movable range table, and mainly describes the operation content performed in the reaction force calculation unit 83 in the control unit 80.
[0057]
The reaction force calculation unit 83 determines whether or not a scroll instruction has been given (step 200). Specifically, in this embodiment, the start and end of scrolling are notified from the movable range setting unit 46 to the reaction force calculation unit 83, and the reaction force is checked by checking the presence or absence of this notification. The calculation unit 83 performs the determination in step 200. While the scroll instruction is not given, the determination in step 200 is repeated.
[0058]
When a scroll instruction is given, an affirmative determination is made in step 200, and then the reaction force calculation unit 83 reads the movable range table stored in the movable range memory 82 (step 201).
Next, the reaction force calculation unit 83 acquires the movement amount of the operation lever 66 from the movement amount calculation unit 81 (step 202). Specifically, when the user operates the commander 60 to scroll the map image, the operation lever 66 moves in response to the operation given to the commander 60, and the amount of movement of the operation lever 66 is the amount of movement. Calculated by the calculation unit 81.
[0059]
Next, the reaction force calculation unit 83 obtains the cursor position based on the amount of movement of the operation lever 66, and compares this position with the movable range table to determine whether the cursor position is out of the movable range. Determination is made (step 203).
If the cursor position is outside the movable range, an affirmative determination is made in step 203, and then the reaction force calculation unit 83 calculates a reaction force applied in a direction to return the cursor position to the movable range (step 204). ).
[0060]
When calculating the reaction force, by adjusting the magnitude (the magnitude of the torque generated by each of the motors 71 and 72), for example, the commander 60 can hardly be moved even if it is moved outside the movable range. A heavy resistance force can be applied, and it is also possible to make it possible to move it while applying a certain amount of resistance force when trying to move it outside the movable range. That is, by adjusting the magnitude of the reaction force to be generated, it is possible to variously change the feel transmitted to the user's hand operating the commander 60.
[0061]
When the reaction force is calculated, the motor control unit 84 drives the motors 70 and 71 to actually generate the reaction force on the operation lever 66 based on the calculation result of the reaction force (step 205). . Thereafter, the process returns to step 202 described above, and the processing after the operation of acquiring the movement amount of the operation lever 66 is repeated.
[0062]
If the cursor position is within the movable range, a negative determination is made in step 203 described above, and then the reaction force calculation unit 83 updates the contents of the movable range table stored in the movable range memory 82. It is determined whether it has been done (step 206). When the movable range table is updated, an affirmative determination is made in step 206, and the reaction force calculation unit 83 returns to step 201 described above, and repeats the processing after the movable range table reading operation.
[0063]
If the movable range table has not been updated, a negative determination is made in step 206 described above, and then the reaction force calculation unit 83 determines whether or not a notification to end scrolling has been given (step 207) When a notification is made, an affirmative determination is made, and a series of reaction force calculation operations are terminated.
[0064]
If the notification of the end of scrolling is not made, a negative determination is made in step 207 described above, and the reaction force calculation unit 83 returns to step 202 described above and repeats the subsequent processing.
FIG. 9 is a diagram for explaining the state of the map scrolling in a state where the movable range is set. As an example, when the movable range is set along the guide route indicated by a bold line in the drawing. The state of the map scroll is explained.
[0065]
As shown in the figure, when a scroll instruction is given, the vehicle position at that time is set as a cursor position C, and an area P for one screen is set around the cursor position C, and map drawing data is read out. . Then, as the cursor position C moves, the area P moves in the horizontal direction and the vertical direction, and the map drawing data is updated as needed, thereby scrolling the map. In this case, in this embodiment, since the movable range of the commander 60 is set along the guidance route, the movement direction of the cursor position C is indicated by a direction along the guidance route (indicated by a plurality of arrows in the figure). Direction).
[0066]
b. Operation to vibrate the commander 60 at the scheduled arrival position at predetermined intervals when scrolling
Next, the operation of vibrating the commander 60 at the scheduled arrival positions at predetermined intervals during scrolling will be described. Here, as an example, a vibration condition of “every time interval in terms of travel time” is set, that is, at an estimated arrival position for each predetermined time interval along a preset guide route. An operation for vibrating the commander 60 will be described.
[0067]
FIG. 10 is a diagram showing an operation procedure when the commander 60 is vibrated at a scheduled arrival position for each predetermined time interval along the guidance route. Details of the operation performed mainly in the scheduled arrival position calculation unit 48 are shown. Explained.
The estimated arrival position calculation unit 48 determines whether or not a scroll instruction has been issued (step 300), and when the instruction is given, acquires the current vehicle position from the vehicle position calculation unit 30 (step 301). Moreover, the estimated arrival position calculation part 48 acquires the guidance route data stored in the guidance route memory 34 via the route search process part 32 (step 302).
[0068]
Next, the estimated arrival position calculation unit 48 calculates the travel time when traveling along the guidance route from the current host vehicle position (step 303), obtains the estimated arrival position for each predetermined time interval, and displays the list. Create (step 304). Specifically, for travel time along the guidance route, information related to the cost of traveling on the road corresponding to the guidance route is acquired from the map data (road unit, etc.) stored in the map buffer 10. Can be calculated.
[0069]
FIG. 11 is a diagram showing an example of the expected arrival position list created by the expected arrival position calculation unit 48. In this embodiment, for example, assuming that the estimated arrival positions (latitude and longitude) from the current own vehicle position to two hours later (120 minutes later) every 10 minutes are calculated as shown in FIG. In addition, 10 minutes, 20 minutes,..., 120 minutes later scheduled arrival positions Q1 (x1, y1), Q2 (x2, y2),..., Q12 (x12, y12) ) Is required.
[0070]
Next, the estimated arrival position calculation unit 48 acquires the current cursor position from the cursor position calculation unit 42 (step 305), and determines whether or not the cursor position matches the estimated arrival position as a result of scrolling. (Step 306). Specifically, as to whether or not the cursor position and the estimated arrival position coincide with each other, whether or not the cursor position matches any of the expected arrival positions included in the expected arrival position list shown in FIG. It can be determined by examining.
[0071]
If the cursor position matches the estimated arrival position, an affirmative determination is made in step 306, and the estimated arrival position calculation unit 48 instructs the motor control unit 84 in the operation unit 4 to cause the commander 60 to generate vibration. Output (step 307).
Receiving the instruction, the motor control unit 84 drives the motor 71 to generate vibration (step 308). Specifically, the motor control unit 84 performs control so that the rotation direction of the motor 71 is rotated forward and reverse at a predetermined cycle as described above. As a result, vibration is generated in the commander 60, and the user can know that the cursor position has reached the scheduled arrival position for each predetermined time interval. Thereafter, the estimated arrival position calculation unit 48 returns to step 305 described above, and repeats the processing after the cursor position acquisition operation.
[0072]
If the cursor position and the estimated arrival position do not match, a negative determination is made in step 306 described above, and the estimated arrival position calculation unit 48 next determines whether or not a notification to end scrolling has been given. A determination is made (step 309), and if a notification is made, an affirmative determination is made and the series of operations is terminated.
[0073]
While the notification to end the scrolling is not made, a negative determination is made in step 309 described above, and the estimated arrival position calculation unit 48 returns to step 305 described above and repeats the subsequent processing.
FIG. 12 is a diagram schematically illustrating the relationship between the cursor position and the estimated arrival position. As shown in the figure, when a scroll instruction is given, a scroll operation corresponding to an operation given to the commander 60 is performed with the vehicle position at that time as the cursor position C. In addition, the estimated arrival positions Q1, Q2,... Every 10 minutes are calculated by the estimated arrival position calculation unit 48 corresponding to the guidance route displayed in bold lines in the figure. The commander 60 vibrates when the cursor position C moves and coincides with one of the expected arrival positions, so that the user can feel that the display position of the map has reached the expected arrival position. You can know more.
[0074]
As described above, in the navigation device of the present embodiment, the operation direction of the commander 60 is limited by setting the range in which the cursor position can be moved corresponding to the shape of the road, that is, the movable range. When the position deviates from the movable range, a resistance force is generated with respect to the operation using the commander 60. Therefore, the user feels when operating the commander 60 without gazing at the map image. Therefore, scrolling along the road shape can be easily performed, and operability during scrolling can be improved. In addition, there is an advantage that it is possible to know the actual sense of distance of the traveling road without gazing at the map image.
[0075]
In addition, this invention is not limited to the said embodiment, A various deformation | transformation implementation is possible within the range of the summary of this invention. For example, in the above-described embodiment, the movable range of the commander 60 in the non-route guidance mode is set corresponding to all roads, but may be set in consideration of traffic restrictions such as one-way traffic. Good. Specifically, the traffic regulation can be grasped by reading out information on traffic regulation (such as a road attribute flag included in the link record shown in FIG. 2C) from the map data. By reflecting the contents of traffic regulation when setting the movable range, for example, if there is a road that is restricted to one-way traffic and cannot be entered from the current vehicle position, The operation range of the commander 60 can be limited so that the operation along the line cannot be performed.
[0076]
In the above embodiment, the shape of the commander 60 is similar to that of a mouse operated by wrapping it in the palm of the hand. However, the present invention is not limited to this. The invention can be applied. In this case, a joystick type operation member may be coupled to the operation lever 66 described above.
[0077]
Further, in the above-described embodiment, a vibration condition of every fixed time interval is set in terms of travel time, and the commander 60 is vibrated when the cursor position matches the estimated arrival position calculated along the guidance route. However, the timing (vibration conditions) for vibrating the commander 60 is not limited to this, and various other variations are conceivable. Specifically, for example, vibration may be generated at a timing when the cursor position coincides with each intersection included on the map when the map is scrolled, and each time the cursor position advances by a predetermined distance (for example, 5 km). Vibrations may be generated. Further, at the time of route guidance, vibration may be generated when the cursor position coincides with an intersection where a course change such as a right or left turn is made.
[0078]
Further, in the above-described embodiment, when calculating the estimated arrival position, road information (distance, cost, etc.) corresponding to the guidance route is read from the map data stored in the map buffer 10, and the guidance route is obtained. The travel time when traveling along the road was calculated, but the navigation device has a receiving device for receiving the VICS information sent from the road traffic information center (VICS center). Based on this, the cost for obtaining the travel time may be modified. By calculating the travel time in consideration of the VICS information received in real time, the estimated arrival position can be obtained more accurately in response to road conditions such as occurrence of traffic congestion.
[0079]
【The invention's effect】
As described above, according to the present invention, the user can easily perform scrolling along the road shape based on the feeling transmitted to the hand when operating the operation member without gazing at the map image. The operability during scrolling can be improved. Further, it is possible to roughly grasp the road shape from the feeling transmitted to the hand during operation without gazing at the map image.
[Brief description of the drawings]
FIG. 1 is a diagram illustrating an overall configuration of an in-vehicle navigation device according to an embodiment.
FIG. 2 is a diagram showing detailed contents of various tables included in a road unit.
FIG. 3 is a diagram illustrating an appearance of an operation unit.
FIG. 4 is a diagram illustrating an internal configuration of an operation unit.
FIG. 5 is a flowchart showing an operation procedure when a movable range of a commander is set corresponding to the shape of a road displayed on a map image.
FIG. 6 is a diagram illustrating a method of creating a movable range table in the route guidance mode.
FIG. 7 is a diagram showing a method of creating a movable range table in the non-route guidance mode.
FIG. 8 is a flowchart showing an operation procedure on the operation unit side that has received the movable range table;
FIG. 9 is a diagram illustrating a state of map scrolling in a state where a movable range is set.
FIG. 10 is a diagram showing an operation procedure when the commander is vibrated at a scheduled arrival position for each predetermined time interval along the guidance route.
FIG. 11 is a diagram showing an example of a scheduled arrival position list created by a planned arrival position calculation unit.
FIG. 12 is a diagram schematically illustrating a relationship between a cursor position and an expected arrival position.
[Explanation of symbols]
1 Navigation controller
4 Operation part
7 Display device
10 Map buffer
12 Map readout controller
14 Map drawing part
16 Road drawing part
18 VRAM
20 Read controller
24 Image composition part
30 Vehicle position calculator
32 Route search processing unit
34 Guide route memory
36 Guide route drawing part
40 Input processing section
42 Cursor position calculator
46 Movable range setting section
48 Estimated arrival position calculator
60 Commander
66 Control lever
67 Conversion unit
68, 69 Gear part
70, 71 motor
72, 73 Potentiometer
80 Control unit
81 Movement amount calculation unit
82 Movable range memory
83 Reaction force calculator
84 Motor controller
85 Operation content output section

Claims (4)

Map display means for displaying a map image of a predetermined range around the point of interest along the traveling road of the vehicle;
Scroll processing means for performing a scroll operation of the map image to change the display range by the map display means by moving the point of interest;
An operation member for giving an instruction to move the point of interest;
Operation restriction means for restricting the operation direction of the operation member based on the shape of the traveling road including the point of interest;
A navigation device comprising: In claim 1,
The operation restriction means includes
Road shape extraction means for extracting the shape of the traveling road included in the map image displayed by the map display means;
An operation range setting means for setting an operation range of the operation member based on the shape of the traveling road extracted by the road shape extraction means;
A resistance force generating means for generating a resistance force to an operation using the operation member when the operation range of the operation member is out of the contents set by the operation range setting means;
A navigation device comprising: In claim 1 or 2,
A route search means for searching for a guided route according to a predetermined search condition;
The navigation device according to claim 1, wherein the operation restriction unit performs the operation direction restriction operation using the guidance route searched by the route search unit as the traveling road. In any one of Claims 1-3,
Vibration generating means for vibrating the operating member when the position of the point of interest satisfies a predetermined vibration condition when the point of interest is moved along the traveling road by a scroll operation by the scroll processing unit; A navigation device comprising:

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