JP2003232639A - Map display device and navigation device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a map display device realizing three-dimensional map display capable of displaying information existing in a hidden position on a display screen and to provide a navigation device. <P>SOLUTION: This map display device is equipped with a map storage part in which three-dimensional data of each map component is stored; and a map display part producing a three-dimensional map bird's-eye view obtained by projecting each map component specified by three-dimensional data stored in the map storage part from a specified view point on a plane, and displaying the three-dimensional map bird's-eye view on a display screen. The map display part, when information which a user requests display is hidden by other map component existing on view point side of the information and is not displayed on the three-dimensional map bird's-eye view, changes the information or a projection form of the other map component on the plane so that the information is displayed on the display screen. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a map display device for displaying a three-dimensional map on the screen of a display device.

[0002]

2. Description of the Related Art Conventionally, a navigation device has been known as a device for facilitating traveling of an automobile. This type of navigation device reads out two-dimensional map vector data recorded in a storage medium such as a CD-ROM and creates a two-dimensional map in which map components such as buildings, roads, and terrain are drawn on a plane. , This two-dimensional map is displayed on a display screen such as a monitor. And GPS (Ground Position in
The current location (vehicle position) and destination detected by a sensor such as g System), the destination, or the route connecting the current location and the destination are displayed in an overlapping manner on the display screen.

By the way, in the conventional navigation device, the display scale of the display screen of the two-dimensional map is switched,
The bird's-eye view of the two-dimensional map is displayed on the display screen so that the surroundings of the current location can be easily grasped.

[0004]

However, such ingenuity in the screen display processing is based on the two-dimensional map. Therefore, for example, the situation of the grade intersection, the slope, or the road where the buildings are lined up is displayed in a two-dimensional (planar) manner, and it is difficult to grasp the situation around the present location or the destination. Therefore, in order to make it easier to grasp the situation around the present location and the destination, a navigation device for displaying a three-dimensional map that displays a projection view obtained when the three-dimensional map is viewed from an arbitrary viewpoint is provided. It is desirable to realize it.

By the way, when a navigation device for displaying a three-dimensional map is realized, a map component to be noticed may not be displayed behind another map component depending on the viewpoint position. Therefore, there is a problem in that the information desired by the user such as the current location, the destination, or the route connecting the current location and the destination may not be displayed on the display screen.

The present invention has been made based on the above circumstances, and provides a map display device and a navigation device that realize a three-dimensional map display capable of displaying information at a position hidden by a map component on a display screen. The purpose is to do.

[0007]

In order to solve the above-mentioned problems, the invention according to claim 1 is a map display device for displaying a map on a display screen, which comprises a plurality of map constituents forming a three-dimensional map. A map storage unit storing three-dimensional data, a map structure designating unit designating a predetermined map constituent, and each map constituent specified by the three-dimensional data stored in the map storage unit are designated with a predetermined viewpoint. A map display unit that creates a three-dimensional map bird's-eye view obtained by projecting the three-dimensional map bird's-eye view onto the display screen, and the map display unit is a map component designation unit. If the specified map composition specified is not displayed on the three-dimensional bird's-eye view because it is hidden by another map composition on the viewpoint side of the specified map composition, the specified map composition is displayed. The composition is displayed above To appear in the surface, and having a projecting form changing means for changing a projection mode to the plane of the predetermined map constituents or the other map constituent.

The user may be allowed to select whether or not to activate the projection form changing means.

According to a second aspect of the present invention, in the first aspect of the invention, the projection form changing means is configured such that the predetermined map constituent specified by the map constituent specifying section is more than the predetermined map constituent. Also changing the projection form of the predetermined map composition or the other map composition onto the plane so that the other map composition on the side of the predetermined viewpoint is displayed transparently. To do.

According to a third aspect of the present invention, in the first aspect of the invention, the projection form changing means is configured such that the predetermined map constituent specified by the map constituent specifying section is more than the predetermined map constituent. Also, the projection mode of the predetermined map composition on the plane is changed so that it is displayed on the front surface of another map composition on the side of the predetermined viewpoint.

According to a fourth aspect of the present invention, in the invention according to the third aspect, the projection form changing means is configured such that the predetermined map constituent designated by the map constituent designating section has a predetermined pattern, color or line type. It is characterized in that the display attribute of the predetermined map constituent is changed so as to be displayed by.

According to a fifth aspect of the present invention, in the first aspect of the invention, the projection form changing means is on the predetermined viewpoint side with respect to the predetermined map constituent specified by the map constituent specifying unit. The projection form of the other map component on the plane is changed so that the other map component is not projected on the plane.

According to a sixth aspect of the present invention, in the fifth aspect of the present invention, the projection form changing means replaces the other map component with an occupied area in the ground plane of the other map component. It is characterized by projecting on a plane.

According to a seventh aspect of the invention, in the fifth aspect of the invention, the projection form changing means uses the name of the other map component instead of the other map component, and the three-dimensional map bird's-eye view. It is characterized by displaying in.

According to an eighth aspect of the present invention, there is provided a map display device for displaying a map on a display screen, and a map storage unit storing three-dimensional data of a plurality of map constituents forming a three-dimensional map, and a predetermined map storage unit. 3D map bird's-eye view obtained by projecting a map composition designating unit for designating the map composition and each map composition specified by the 3D data stored in the map storage unit onto a plane from a predetermined viewpoint. And a map display unit for displaying the bird's-eye view of the three-dimensional map on the display screen, wherein the map display unit is configured such that the predetermined map constituent specified by the map constituent specifying unit is When the predetermined map position is not displayed on the three-dimensional map bird's-eye view because it is hidden by another map structure on the side of the predetermined viewpoint with respect to the map structure, the position of the predetermined viewpoint is determined by the predetermined map structure. Table on the bird's-eye view map It characterized by having a viewpoint position changing means for changing the position to be.

According to a ninth aspect of the present invention, there is provided a map display device for displaying a map on a display screen, and a map storage section storing three-dimensional data of a plurality of map constituents forming a three-dimensional map, and a predetermined memory. 3D map bird's-eye view obtained by projecting a map composition designating unit for designating the map composition and each map composition specified by the 3D data stored in the map storage unit onto a plane from a predetermined viewpoint. And a map display unit for displaying the bird's-eye view of the three-dimensional map on the display screen, wherein the map display unit is configured such that the predetermined map constituent specified by the map constituent specifying unit is A two-dimensional map is created based on the two-dimensional data of each of the map constituents when the map constituents are hidden by other map constituents on the predetermined viewpoint side and are not displayed on the three-dimensional map bird's-eye view. And the two-dimensional map It characterized by having a two-dimensional map display means for displaying on the display screen in place of the three-dimensional map bird's-eye view.

According to a tenth aspect of the present invention, there is provided a map display device for displaying a map on a display screen, and a map storage unit storing three-dimensional data of a plurality of map constituents forming a three-dimensional map, and a predetermined map storage unit. 3D map bird's-eye view obtained by projecting a map composition designating unit for designating the map composition and each map composition specified by the 3D data stored in the map storage unit onto a plane from a predetermined viewpoint. And a map display unit for displaying the bird's-eye view of the three-dimensional map on the display screen, wherein the map display unit is configured such that the predetermined map constituent specified by the map constituent specifying unit is When the map components are hidden by other map components on the side of the predetermined viewpoint and are not displayed on the three-dimensional map bird's-eye view, from the predetermined viewpoint based on the two-dimensional data of each map component. View 2D map To create a two-dimensional map bird's-eye view obtained when, characterized by having a two-dimensional map bird's-eye display means for displaying the two-dimensional map bird's-eye view on the display screen in place of the three-dimensional map bird's-eye view.

The invention according to claim 11 is a map display device for displaying a map on a display screen, and a map storage section in which three-dimensional data of a plurality of map constituents forming a three-dimensional map are stored, and a predetermined part. 3D map bird's-eye view obtained by projecting a map composition designating unit for designating the map composition and each map composition specified by the 3D data stored in the map storage unit onto a plane from a predetermined viewpoint. And a map display unit for displaying the bird's-eye view of the three-dimensional map on the display screen, wherein the map display unit is configured such that the predetermined map constituent specified by the map constituent specifying unit is A two-dimensional map is created based on the two-dimensional data of each of the map constituents when the map constituents are hidden by other map constituents on the predetermined viewpoint side and are not displayed on the three-dimensional map bird's-eye view. And the two-dimensional ground The characterized in that it has an overlap display unit that displays on the display screen together with the three-dimensional map bird's-eye view.

According to a twelfth aspect of the present invention, there is provided a map display device for displaying a map on a display screen, and a map storage section storing three-dimensional data of a plurality of map constituents forming a three-dimensional map, and a predetermined map storage unit. 3D map bird's-eye view obtained by projecting a map composition designating unit for designating the map composition and each map composition specified by the 3D data stored in the map storage unit onto a plane from a predetermined viewpoint. And a map display unit for displaying the bird's-eye view of the three-dimensional map on the display screen, wherein the map display unit is configured such that the predetermined map constituent specified by the map constituent specifying unit is When the map components are hidden by other map components on the side of the predetermined viewpoint and are not displayed on the three-dimensional map bird's-eye view, from the predetermined viewpoint based on the two-dimensional data of each map component. View 2D map To create a two-dimensional map bird's-eye view obtained when, characterized by having an overlap display means for displaying the two-dimensional map bird's-eye view on the display screen together with the three-dimensional map bird's-eye view.

According to a thirteenth aspect of the present invention, there is provided a map display device for displaying a map on a display screen, and a map storage section in which three-dimensional data of a plurality of map constituents forming a three-dimensional map are stored, and a predetermined memory. Of the map composition designating section for designating the map composition and each of the map composition identified by the three-dimensional data stored in the map storage section are obtained from a predetermined viewpoint on a plane. A three-dimensional map bird's-eye view and a map display unit for displaying the first three-dimensional map bird's-eye view on the display screen, wherein the map display unit has a predetermined map configuration designated by the map constituent designation unit. If the object is not displayed on the first three-dimensional bird's-eye view map by being hidden by another map constituent located on the predetermined viewpoint side with respect to the predetermined map constituent, the map constituent To see the map components of An overlapping display means for creating a second bird's-eye view of a three-dimensional map obtained by projecting onto a plane from a viewpoint capable of performing the above, and displaying the second bird's-eye view of the three-dimensional map on the display screen together with the bird's-eye view of the first three-dimensional map. It is characterized by having.

The invention according to claim 14 is the invention according to claim 1,
3, 4, 5, 6, 7, 8, 9, 10, 11, 12 or 1
In the invention described in Item 3, the map composition includes a mark having a two-dimensional shape or a three-dimensional shape.

The invention according to claim 15 is the same as claims 1, 2 and
3, 4, 5, 6, 7, 8, 9, 10, 11, 12 or 1
In the invention described in Item 3, the map constituent designating unit designates a predetermined map constituent based on a user's command input to the input device.

The predetermined map components may be set as default. For example, roads may be defaulted as the predetermined map composition. Further, when the device of the present invention is applied to an in-vehicle navigation device, a road on which the vehicle is traveling, a road on a guide route, a map component near the vehicle position, or a map component near the destination is predetermined. It may be set as a default as a map component of. Furthermore, a vehicle-mounted navigation device to which the device of the present invention is applied is provided with a beacon transmitter that emits traffic information such as road traffic congestion information, construction information, traffic control information such as traffic closure information, and a receiver that receives signals from FM multiplex broadcasting. In this case, roads and the like specified by the received traffic information may be set as default as a predetermined map component.

According to a sixteenth aspect of the present invention, there is provided a navigation device for displaying a map and a position of a vehicle on the map on a display screen, wherein three-dimensional data of a plurality of map constituents forming a three-dimensional map is displayed. Projecting a stored map storage unit, a vehicle position detection unit that detects a vehicle position, and each map constituent specified by the three-dimensional data stored in the map storage unit onto a plane from a predetermined viewpoint. And a map display unit that displays the three-dimensional map bird's-eye view on the display screen. The map display unit displays the vehicle position detected by the vehicle position detection unit. When the vehicle position is not displayed on the three-dimensional map bird's-eye view because it is hidden by the map component on the predetermined viewpoint side with respect to the vehicle position, the vehicle position is displayed on the display screen,
It is characterized by further comprising projection form changing means for changing a projection form of the map composition on the plane of the own vehicle position or the predetermined viewpoint side onto the plane.

According to a seventeenth aspect of the present invention, in the invention according to the sixteenth aspect, the destination setting unit for setting a destination, the own vehicle position detected by the own vehicle position detection unit, and the destination setting unit are used. A route detecting unit that detects a route connecting the set destination, and the projection mode changing unit is such that the route detected by the route detecting unit is closer to the predetermined viewpoint than the route. If the route is displayed on the display screen when it is hidden by the map component and not displayed on the three-dimensional map bird's-eye view, the route or the map component on the predetermined viewpoint side to the plane is displayed. It is characterized in that the projection form is changed.

The invention according to claim 18 is a navigation device for displaying a map and a destination on the map on a display screen, and stores three-dimensional data of a plurality of map constituents forming a three-dimensional map. It is obtained by projecting, from a predetermined viewpoint, a map storage unit, a destination setting unit that sets a destination, and each map constituent specified by the three-dimensional data stored in the map storage unit on a plane from a predetermined viewpoint. A map display unit that creates a three-dimensional map bird's-eye view and displays the three-dimensional map bird's-eye view on the display screen, wherein the map display unit is such that the destination set by the destination setting unit is Even if the destination is displayed on the display screen when it is hidden by the map component on the predetermined viewpoint side and is not displayed on the three-dimensional map bird's eye view, the destination or the predetermined viewpoint side is displayed. To It characterized by having a projection form changing means for changing a projection mode to the plane of the map constituents that.

Here, the map components include structures such as buildings and roads as well as topography such as mountains and rivers.

Further, the mark means, for example, a mark for displaying a predetermined map component (for example, a building, etc.), and when the device of the present invention is applied to an in-vehicle navigation device, a mark of a vehicle position or a destination. Mark, or a mark indicating the guidance direction of the vehicle, and the like.

To create a three-dimensional map bird's-eye view obtained by projecting each map constituent specified by the three-dimensional data stored in the map storage unit from a predetermined viewpoint onto a plane, first, Perspective transformation of 3D data to map these map components from a given viewpoint to a 2D plane (projection plane)
Obtain the two-dimensional coordinate data when projected on. In addition, coordinate data in the depth (line of sight) direction when these map components are viewed from a predetermined viewpoint is obtained. Next, hidden surface processing such as erasing the data of the portion on the hidden surface of each map component that has been perspective-transformed is performed. Here, the hidden surface refers to the surface of the portion that is the back side of the map composition or the portion that is hidden behind the map composition and is invisible when the three-dimensional map is viewed from the viewpoint. The hidden surface processing can be realized by various methods used in computer graphics, such as the Z sort method, the Z buffer method, the scan line method, and the ray cast method.

Various methods can be used to determine whether or not a predetermined map constituent specified by the map constituent specifying unit is hidden by another map constituent on the viewpoint side of the predetermined map constituent. Although possible, for example, a map component whose two-dimensional coordinate data on the perspective-transformed projection plane overlaps with the predetermined map component is detected, and the detected map component and the depth of the predetermined map component are detected. This can be performed by comparing the coordinate data in the (line of sight) direction and checking which is on the front side (viewpoint side).

According to the present invention, with the above configuration, it is possible to display on the display screen the map constituents and marks hidden by the map constituents located on the front side (viewpoint side), and therefore the information requested by the user to be displayed. It is possible to realize a three-dimensional map display that can be displayed on the display screen even when is hidden by the map components.

[0032]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described below with reference to the drawings.

First, the display screen of the vehicle-mounted navigation device to which this embodiment is applied will be described. FIG. 1 shows an example of a display screen of the navigation device in which the processing according to the present embodiment has been executed.

In this embodiment, the points on the ground of each map constituent such as buildings, roads, and terrain are projected on a plane obtained by mesh division by universal transverse Mercator projection, and the obtained latitude (X) direction and longitude of each object. Each map constituent is arranged on three-dimensional coordinates based on a map database that stores three-dimensional data consisting of vector data in the (Y) direction and vector data in the altitude (Z) direction of each map constituent. 3
A projection view (also referred to as a three-dimensional map bird's-eye view) obtained when the three-dimensional map 101 is viewed from a predetermined viewpoint is created, and the three-dimensional map bird's-eye view is displayed on the display 2. Also,
The vehicle position (current position) detected by a sensor such as a GPS (Ground Positioning System) and the destination, and the route connecting the current position and the destination are displayed on the display 2 in an overlapping manner.

In the example shown in FIG. 1, by performing the processing of this embodiment, the map is located on the hidden surface side of the mountain (the surface that cannot be visually recognized from the viewpoint), so that a three-dimensional bird's-eye view is formed. The undrawn destination and a part of the route are displayed on the display 2. As a result, the information that the user wants to know is displayed on the display 2.

Next, a vehicle-mounted navigation device to which this embodiment is applied will be described.

FIG. 2 is a diagram showing each constituent unit of the vehicle-mounted navigation device according to this embodiment.

In FIG. 2, the arithmetic processing unit 1 is a central unit for performing various processes. For example, the current position is detected based on the information output from the various sensors indicated by reference numerals 6 to 9, and the three-dimensional data of the map constituents required for display is stored in the map based on the obtained current position information. Device 3
Read from. In addition, the three-dimensional data of the read map constituent is expanded into graphics, and the current position mark is displayed on the display 262, or the optimum road connecting the destination and the current position designated by the user is selected, The user is guided using the input / output device 4 and the display 2.

The display 2 is a unit for displaying the graphics information generated by the arithmetic processing unit 1, and is a CRT.
And a liquid crystal display. The signal S1 between the arithmetic processing unit 1 and the display 2 is an RGB signal or NT.
It is common to connect with an SC (National Television System Committee) signal.

The map storage device 3 is composed of a large-capacity storage medium such as a CD-ROM or an IC card. On this large-capacity storage medium, the area on the ground of each map component is projected onto a plane obtained by mesh division by universal transverse Mercator projection, and the obtained vector data in the latitude (X) direction and the longitude (Y) direction of each object is obtained. , Three-dimensional data consisting of vector data in the height (Z) direction on the ground of each map constituent is stored. In addition, data specifying the type of each map constituent is stored. The map storage device 3 reads out the required three-dimensional data of the map constituent and the data for specifying the type from the large-capacity storage medium.

The voice input / output device 4 converts the message generated by the arithmetic processing unit 1 to the user into a voice signal and outputs the voice signal, and also recognizes the voice uttered by the user and transfers the content to the arithmetic processing unit 1. I do.

The input device 5 is a unit that receives an instruction from the user, and is composed of a hard switch such as a scroll key and a scale change key, a joystick, a touch panel attached on the display, and the like.

The various sensors indicated by reference numerals 6 to 9 are used by the vehicle-mounted navigation device to detect the position of the vehicle. The wheel speed sensor 6 measures the distance from the product of the circumference of the wheel and the measured rotation speed of the wheel, and further measures the angle at which the moving body bends from the difference in the rotation speed of the paired wheels. The geomagnetic sensor 7 detects the magnetic field held by the earth, and detects the direction in which the moving body is facing. Gyro 8
Is for detecting the angle of rotation of a moving body such as an optical fiber gyro or a vibration gyro. GPS receiver 9
Receives a signal from a GPS satellite and measures the distance between the mobile body and the GPS satellite and the rate of change of the distance with respect to three or more satellites to measure the current position, traveling direction and traveling direction of the mobile body. .

The traffic information receiver 10 receives a signal from a beacon transmitter or FM multiplex broadcasting that issues traffic information such as road congestion information, traffic control information such as restriction information such as construction and closure, parking lot information, weather forecast information, and the like.

The in-vehicle LAN device 11 receives various information of the vehicle, such as door opening / closing information, the type and status of the lights that are lit, the status of the engine, and the failure diagnosis result.

FIG. 3 is a diagram showing a hardware configuration of the arithmetic processing unit 1.

As shown in FIG. 3, the arithmetic processing unit 1 has a configuration in which devices are connected by a bus. The arithmetic processing unit 1 is a CPU (Central Processing Unit) 2 that executes various processes such as numerical calculation and controlling each device.
1 and a RAM (Random Access) that stores three-dimensional data and calculation data of map constituents read from the map storage device 3.
Memory) 22 and ROM for storing programs and data
(Read Only Memory) 23 and DMA (Direct Memory) that executes data transfer between memories and between memory and each device at high speed.
Memory Access) 24, a drawing controller 25 that performs high-speed graphics drawing such as expanding vector data into pixel information, and performs display control, and a VRAM (Video Ran) that stores graphics image data.
dom Access Memory) 26, a color palette 27 that converts image data into RGB signals, an A / D converter 28 that converts analog signals into digital signals, and an SCI (Ser) that converts serial signals into parallel signals synchronized with the bus.
ial communication interface) 29 and PIO (Parallel Inpu) that synchronizes parallel signals to the bus and places them on the bus.
t / Output) 30 and a counter 31 for integrating the pulse signal
And is prepared for.

FIG. 4 is a diagram showing the functional configuration of the arithmetic processing unit 1.

In FIG. 4, the current position calculating means 46 is
By using the distance data and the angle data obtained as a result of integrating the distance pulse data S5 measured by the wheel speed sensor 6 and the angular acceleration data S7 measured by the gyro 8, the data are integrated on the time axis. , The position (X ′, Y ′) after traveling of the vehicle is calculated from the initial position (X, Y). Here, in order to match the relationship between the rotated angle of the vehicle and the heading, the heading data S6 obtained from the geomagnetic sensor 7 and the angle data obtained by integrating the angular acceleration data S7 obtained from the gyro 8 are referred to, Estimate the absolute heading of the direction your vehicle is traveling. When the data of the wheel speed sensor 6 and the data of the gyro 8 are integrated, an error accumulates. Therefore, the error accumulated based on the position data S8 obtained from the GPS receiver 9 in a certain time period is calculated. The process of canceling is performed and the current position information is output.

The map matching processing means 47 collates the road data included in the map around the current location read by the data reading processing means 48 with the traveling locus obtained from the current position computing means 46 to correlate the shapes. Map matching is performed to match the current location to the highest road. Since the current position information obtained by the current position calculation means 46 includes a sensor error, a map matching process is performed for the purpose of further improving the position accuracy. As a result, in most cases, the current position coincides with the traveling road, and the current position information can be accurately output.

The locus storage means 49 stores the current position information which has been subjected to the map matching processing by the map matching processing means 47,
The locus data is stored every time the vehicle travels a predetermined distance. It should be noted that this locus data is used to draw a locus mark on the road on the map corresponding to the road that has been traveling so far.

The user operation analysis means 41 receives a request from the user input to the input device 5, analyzes the content of the request, and sets display parameters. Then, the arithmetic processing unit 1 is configured to execute the process corresponding to the display parameter.
Control each constituent means of. For example, when the user requests the route guidance to the destination, the map display means 45 is requested to perform the process of displaying the map on the display 2 in order to set the destination, and the route from the current position to the destination is further requested. The route calculation means 42 is requested to perform a calculation process.

The route calculation means 42 searches the map data for a route connecting two designated points by using the Dijkstra method or the like, and stores the route thus obtained in the route storage means 43. Here, by using the Dijkstra method, it is possible to obtain a route with the shortest distance between two points, a route that can be reached in the shortest time, or a route with the lowest toll fee. is there.

The route guidance means 44 compares the link information of the guidance route stored in the route storage means 43 with the current position information obtained by the current position calculation means 46 and the map match processing means 47, and passes through an intersection or the like. The user is informed by voice using the voice output / input device 4 whether to proceed straight ahead or to turn left or right, or to display the direction to proceed on the map displayed on the display 2 to notify the user of the route. To do.

The data reading means 48 operates so as to read from the map storage device 3 the three-dimensional data and the data specifying the type of the map constituent in the area required to be displayed on the display 2.

The map display means 45 receives from the data reading means 48 the three-dimensional data of the map constituents in the area required to be displayed on the display 2, and the graphic processing means 2851 uses the designated scale and drawing method. , A map drawing command is generated so as to draw a mark such as a map constituent, a current position, a destination, and an arrow for a guide route.

The menu display means 50 receives an instruction output from the user operation analysis means 41, and the graphic processing means 51 causes the various kinds of menus and the map display means 4 to be displayed.
A menu drawing command is generated so as to draw a mark other than the mark for which the drawing command is generated in 5.

The graphics processing means 51 receives the commands generated by the map display means 45 and the menu display means 50, and the image data to be displayed on the display 2 is VR.
Image development to AM26.

FIG. 5 is a diagram showing the functional configuration of the map display means 45 shown in FIG.

In FIG. 5, the light source position setting means 61 is
It operates so as to store the position parameter of the light source used when the three-dimensional map bird's-eye view is displayed on the display 2 and the intensity parameter in the internal table. The position parameter and the intensity parameter of the light source are used to calculate the color of the surface of the map constituent drawn on the three-dimensional map bird's-eye view.
The position of the light source may be the position of the sun or the position of the moon calculated from the time information, the date information, and the position information obtained from the GPS receiver 9. Further, when the intensity of the light source is weak such as at night, a predetermined position set in advance may be set as the light source position. On the other hand, the intensity of the light source is determined by the light intensity sensor installed in the vehicle or the weather forecast information obtained by the traffic information receiving device 10 or the like at that time, or the sunshine conditions. Strong, weak in cloudy weather. This makes it possible to display a bird's-eye view of a three-dimensional map realistically.

The viewpoint position setting means 62 is the display 2
Set the viewpoint position for observing the map when displaying the 3D map bird's-eye view and the 2D map bird's-eye view. here,
The two-dimensional map bird's-eye view is a vector of the latitude (X) direction and the longitude (Y) direction on the ground plane (Z = 0) of the map constituent of the three-dimensional data of the map constituent stored in the map storage device 3. It is a projection view obtained when a two-dimensional map created based on data is viewed from a predetermined viewpoint.

The map display method selection means 63 is the input device 4
According to the map display method set by the user or the default map display method, the process is selected so that the map of the predetermined area requested to be displayed on the display 2 is displayed at a predetermined reduced scale. That is, when the two-dimensional map display is instructed, the two-dimensional map display means 64 is activated, and when the two-dimensional map bird's-eye view display is instructed, the two-dimensional map bird's-eye display means 65 is activated and the three-dimensional map bird's-eye view is activated. When the display is instructed, the three-dimensional map bird's-eye view display unit 66 is activated. It should be noted that when the power of the navigation device is turned on, it is preferable to operate so as to display the map in the map display method immediately before the power is turned off or the map display method set as default.

The map display means 64-66 generate map drawing commands and transfer these commands to the graphics processing means 51. Then, the graphics processing means 51 executes these commands to display the map on the display 2.

Here, the two-dimensional map display means 64, among the three-dimensional data of the map constituents stored in the map storage device 3, the vector data in the latitude (X) direction and the longitude (Y) direction of the map constituents. Based on the two-dimensional vector data consisting of the vector data and the vector data of the To display. In a two-dimensional map, all points on the map are represented at the same scale.

In addition, the two-dimensional map bird's-eye view display means 65, in the three-dimensional data of the map constituent stored in the map storage device 3, is in the latitude (X) direction on the ground plane (Z = 0) of the map constituent. Based on two-dimensional data composed of vector data and vector data in the longitude (Y) direction, a two-dimensional map centered at a predetermined point and made at a predetermined scale is viewed from the viewpoint set by the viewpoint position setting means 62. A projection view (two-dimensional map bird's-eye view) obtained when is displayed on the display 2. Here, it is preferable that the viewpoint position setting unit 62 sets the viewpoint position at a position on the three-dimensional coordinate system corresponding to the sky outside the vehicle, which is separated from the current position obtained by the map matching unit 47 by a predetermined distance. As a result, the map components near the viewpoint position are displayed in detail (large scale) and the map components in the distance are displayed roughly (small scale). The two-dimensional map bird's-eye view is obtained by perspective-transforming the two-dimensional data of the map constituents and projecting these data on the two-dimensional plane (projection surface) from the viewpoint set by the viewpoint position setting means 62. Created. The perspective transformation will be described with the three-dimensional map bird's-eye view display unit 66.

The three-dimensional map bird's-eye view display means 66 is based on the three-dimensional data of the map components stored in the map storage device 3 and is created at a predetermined scale centering on a predetermined point.
The projection view (three-dimensional map bird's-eye view) obtained when the three-dimensional map is viewed from the viewpoint set by the viewpoint position setting unit 62 is displayed on the display 2. Here, it is preferable that the viewpoint position setting unit 62 sets the viewpoint position at a position on the three-dimensional coordinate system corresponding to the sky outside the vehicle, which is separated from the current position obtained by the map matching unit 47 by a predetermined distance. As a result, the map components near the viewpoint position are displayed in detail (large scale) and the map components in the distance are displayed roughly (small scale). Also, the view seen from the set viewpoint is displayed three-dimensionally.

Next, the three-dimensional map bird's-eye view display means 66 is shown in FIG.
A detailed description will be given with reference to FIG.

6 and 7 are flow charts for explaining the operation of the three-dimensional bird's-eye view display means 66.

In the three-dimensional map bird's-eye view display means 66, first,
Vector data specifying the shape of a mark such as the current position, destination, waypoint, and arrow for route guidance, position information for displaying the mark, and mark color information are set and stored in the internal buffer (step 100
1). Here, it is advisable to set a two-dimensional shape or a three-dimensional shape as the mark shape and determine which is to be selected according to the map display method. The mark setting process will be described later.

Next, the mark data stored in the internal buffer in step 1001 and the three-dimensional data of the map constituents read from the map storage means 3 by the data reading means 48 are perspective-transformed, and these marks and Two-dimensional coordinate data when the map constituent is projected onto the two-dimensional plane (projection surface) from the viewpoint set by the viewpoint position setting means 62 is obtained. Further, the coordinate data in the depth (line of sight) direction when these marks and map components are viewed from the viewpoint set by the viewpoint position setting means 62 is obtained (step 1002).
The perspective transformation formulas are given by Equations 1 and 2.

[0071]

[Equation 1]

[0072]

[Equation 2]

Here, (x ', y') is the coordinate value on the projection plane after the perspective transformation, and (x, y, z) is the coordinate value of each vertex of the map component or mark to be perspective transformed. Coordinate values expressed in the system, (Tx, Ty, Tz) is the offset value between the viewpoint coordinate system with the viewpoint as the origin and the object coordinate system, and θ is when the object coordinate system is rotated around the X axis of the viewpoint coordinate system. Is the angle you make.

In step 1003, step 1002
The hidden surface processing such as erasing the data of the portion on the hidden surface of the map composition and the mark which has been perspective-transformed is performed. Here, the hidden surface refers to a surface that is behind the map composition or the mark, or a surface that is hidden behind the map composition or the mark located in front when the three-dimensional map is viewed from a certain viewpoint. Say. The hidden surface processing can be realized by various methods used in computer graphics, such as the Z sort method, the Z buffer method, the scan line method, and the ray cast method.

For example, when the Z sort method is applied to step 1003, the planes formed by the vertices of the map constituents and marks perspective-transformed in step 1002 are rearranged in the depth (line of sight) direction and held. Then, in step 1005, which will be described later, a map drawing command is generated so as to draw from the surface located farthest (the surface farthest from the viewpoint).

Further, for example, when the Z buffer method is applied to step 1003, first, the map constituents and marks perspective-transformed in step 1002 are constructed into a surface constituted by the respective vertexes of the map constituents and marks. Divide into pixels. Next, the coordinate data of these pixels in the depth (line of sight) direction is examined to detect other pixels located in front of (or on the viewpoint side of) the pixel and having the same two-dimensional coordinate value. Then, when another pixel located in front of this pixel (on the viewpoint side) and having the same two-dimensional coordinate value is detected, the data of this pixel is deleted from the pixel data of the map constituent or mark having the pixel data. Then, among the pixel data forming the map constituent and the mark, only the pixel data in the visible region that can be visually recognized from the viewpoint is held. afterwards,
In step 1005 described later, a map drawing command is generated so as to draw only pixel data in the visible region.

Further, for example, when applying the scan line method to step 1003, first, step 100
The map constituents and marks perspective-transformed in 2 are arranged on a three-dimensional coordinate system including a two-dimensional coordinate axis that specifies a position on the projection surface and a coordinate axis that specifies a position in the depth (line of sight) direction. Next, assuming a plurality of scan lines that scan the projection surface, consider a plurality of planes including each scan line and the viewpoint. Then, in each plane, the line segment of the map component and the mark that intersects the plane in the foremost side (viewpoint side) is detected. Then, in step 1005 described later, a map drawing command is generated so as to draw the detected line segment.

In step 1004, step 1002
Then, a straight line which is the normal line of the surface formed by the vertexes of the map constituent and the mark which are perspective-transformed and passes through the light source position coordinates set by the light source position setting means 61 is calculated. Then, based on the preset color information, the color information used when displaying each surface in the bird's-eye view of the three-dimensional map is calculated. The light source position and the light source intensity to be used are preferably the same for the structure and the mark.

In step 1005, step 1003
In step 1004, a map drawing command for drawing a surface and a line is generated so that the map constituents and marks that have been subjected to the hidden surface processing are displayed with the color information obtained in step 1004.

Incidentally, step 1001 to step 1005
21. By the processing of FIG.
Display 2D bird's eye view of 3D map as shown in (a)
Can be displayed on. However, steps 1001 to 1001
In the process of step 1005, the operation is performed so that the view seen from the viewpoint is displayed as it is.
In addition, the map components and marks for which the user needs information will not be displayed, and usability will be significantly deteriorated. In the present invention, in order to solve this problem, the processing of steps 1006 to 1012 is performed.

In step 1006, the data reading means 4
The map constituents and marks which the user desires to display from the map constituents read from the map storage means 3 by 8 and the marks set in step 1001,
Select one in the invisible (hidden) area. Here, the map component or mark which the user desires to display is a map component or mark whose display is designated by the user by the input device 4 or which is predetermined to be displayed by default. Is. The determination as to whether or not the map constituents and marks are in the invisible area will be described later.

In step 1007, in accordance with the display parameters set by the user by the input device 4 or the display parameters set as default, step 1
It is determined whether to display the map component in the invisible area selected in 006. If the display parameter is set to the mode for displaying the structure in the invisible area, the process proceeds to step 1008, and if it is set to the mode for not displaying the structure in the invisible region, the process is step 101.
Move to 0.

In step 1008, step 1006
Display attribute change processing such as attribute change in the display on the display 2 and transparency processing is performed on the map constituent selected in. The display attribute changing process will be described later. In step 1009, a map drawing command is generated so as to draw the planes and lines constituting the map constituent with the display attributes set in step 1008. Thereby, for example, in the bird's-eye view of the three-dimensional map as shown in FIG. 21B, the road 2005 to the destination hidden by the mountains is displayed by a dotted line or the like, and the information required by the user is provided. become able to.

In step 1010, in accordance with the display parameters set by the user by the input device 4 or the display parameters set as default, step 1
It is determined whether to display the mark in the invisible area selected in 006. If the display parameter is set to the mode for displaying the mark in the invisible area, the process proceeds to step 10.
If it is set to the mode in which the mark in the invisible area is not displayed, the flow shown in FIGS. 6 and 7 ends.

In step 1011, step 1001
A display attribute changing process, which will be described later, is performed for the mark set in. In Step 1012, Step 1001
Set the faces and lines that make up the mark set in step 1
A map drawing command is generated so as to draw with the display attributes set in 011. This allows, for example, FIG.
In the bird's-eye view of the three-dimensional map as shown in FIG. 1 (b), the destination mark 2004 set in step 1001 hidden by the mountains is displayed, and the information required by the user can be provided. .

Next, the mark setting process in step 1001 of FIG. 6 will be specifically described with reference to FIG.

FIG. 8 is a flow chart for explaining the mark setting process.

First, the display parameters set by the user by the input device 4 or the display parameters set by default are read to determine whether or not the current position mark is set (step 1101). If it is determined to set the current position mark, the process proceeds to step 1102, and the position for displaying the current position mark, the predetermined two-dimensional or three-dimensional shape of the current position mark, and the color information of the current position mark are set. The position information of the current position is obtained by the current position calculation means 46 and the map match processing means 47. As a result of this processing, as shown in FIG. 27A, even when the host vehicle is hidden by the road 21023 on the road on which the vehicle is traveling, the display attributes are changed in step 1011 of FIG. 6 and the current position mark 2101 is displayed. It is displayed in 2. This allows the user to easily know where he is now.

In step 1103, the display parameter set by the user by the input device 4 or the display parameter set by default is read to determine whether or not the destination mark is set. When the destination is set by the user and it is determined that the destination mark is to be displayed, the process proceeds to step 1104, the position where the destination mark is displayed, and the predetermined two-dimensional or three-dimensional shape of the destination mark. , And the color information of the destination mark are set.

In step 1105, the display parameter set by the user by the input device 4 or the display parameter set by default is read and it is determined whether or not the guide direction mark is set. Route storage means 4
If the guide route is set to 3 and it is determined that the guide direction mark is displayed, the process proceeds to step 1106,
A position for displaying the guide direction mark, a predetermined two-dimensional and three-dimensional shape of the guide direction mark, and color information of the guide direction mark are set. By this processing, FIG.
As shown in FIG.
Even when it is hidden by 083, the display attribute is changed in step 1011 of FIG.
084 is displayed on the display 2. As a result, the user can easily know the direction in which the route is guided.

In step 1107, the display parameters set by the user by the input device 4 or the display parameters set as defaults are read and it is determined whether or not to set other display marks. Here, the other display marks include, for example, a display mark indicating accident information obtained by analyzing a signal received by the traffic information receiving device 10. If it is determined to display the other display mark, the process proceeds to step 1108, and the position to display the other display mark, the predetermined two-dimensional and three-dimensional shapes of the other display mark, and the color of the other display mark. Set the information.

Next, the structure selection process in step 1006 of FIG. 6 will be specifically described with reference to FIG.

FIG. 9 is a flow chart for explaining the structure selecting process.

First, the display parameters set by the user by the input device 4 or the display parameters set by default are read out, and from the map components read from the map storage means 3 by the data reading means 48,
It is determined whether or not a road-related item is selected. If it is determined that a road-related item is selected, the process proceeds to step 1042. If it is determined that a road-related item is not selected,
The process moves to step 1043. The data reading means 48 determines whether the map constituent is related to the road.
By referring to the data for specifying the type of the map constituent, which is read from the map storage means 3, the process is performed.

At step 1043, the data reading means 4
8, some or all of the map components read from the map storage means 3 are in the invisible region, and some or all of the marks set in step 1001 of FIG. 6 are in the invisible region. Select the mark. Judgment whether map components and marks are in the invisible area,
For example, when the hidden surface processing in step 1003 of FIG. 6 is performed by the Z buffer method, the coordinate data in the depth direction of the pixels forming the surface of the map constituent or the mark subjected to the hidden surface processing by the Z buffer method is converted into This can be performed by comparing with the coordinate data in the depth direction of the pixels forming the surface of the map constituent or the mark before the hidden surface processing. That is, if they match, it can be determined that they are in the visible region, and if they do not match, some or all of the pixel data is determined by the map composition or the map composition located in front of the mark (viewpoint side). Since it has been rewritten, it can be determined that it is in the invisible area.

Next, in step 1044, the input device 4
Read out the display parameters set by the user or the display parameters set by default,
From the map constituents or marks selected in step 1043, it is determined whether the map constituents or marks according to the attribute are selected. When it is determined that the map constituent or mark is selected according to the predetermined attribute, step 104
If it is determined that the process is not performed, the process proceeds to step 1046.

In step 1045, step 1043
Input device 4 from the map components or marks selected in
Select the map component or mark having the attribute set by the user or the attribute set as the default. For example, when the structure of the destination is specified, the data reading means 48 operates to select the data of the structure of the destination from the map constituents read from the map storage device 3. By performing this process, for example, as shown in FIG.
Even when the destination structure 2044 is hidden by, the display attribute of the structure is changed and the operation is performed so that the structure is displayed on the display 2 as shown in FIG. 23B. The attribute structure can always be displayed. The data reading means 48 determines whether the map constituent has a predetermined attribute or not by the map storage means 3.
This is performed by referring to the data that specifies the type of map constituent read from the.

Next, in step 1046, the input device 4
Read out the display parameters set by the user or the display parameters set by default,
From the map components or marks selected in step 1043, it is determined whether or not to select the map components or marks according to the area of the three-dimensional bird's-eye view map. If it is determined that the map component or mark in the predetermined area of the three-dimensional bird's-eye view is to be selected, the process proceeds to step 1047, and if it is determined not to be performed, the process proceeds to step 1048.

In step 1047, step 1043
Input device 4 from the map components or marks selected in
A map component or mark in the area on the 3D map bird's eye view set by the user or the area on the 3D map bird's eye view set by default is selected. As a result, of the map components and marks in the invisible area, only the information desired by the user can be displayed on the display 2, and unnecessary map components and marks are reduced, making the display easier to see. Become. It should be noted that the determination as to whether or not the map constituent or the mark is located in a predetermined area of the bird's-eye view of the three-dimensional map is made by the two-dimensional coordinate data of the map constituent and the mark obtained by the perspective transformation process in step 1002 of FIG. Based on.

Next, in step 1048, the input device 4
Read out the display parameters set by the user or the display parameters set by default,
From the map components or marks selected in step 1043, it is determined whether to perform selection based on the distance from the boundary line between the visible area and the invisible area. If it is determined that the map constituents or marks within the predetermined distance from the boundary line are to be selected, the process proceeds to step 1049, and if it is determined that they are not to be selected, the flow shown in FIG. 9 ends.

In step 1049, step 1043
From the map components or marks selected in step 1, a map component or mark within the distance set by the user by the input device 4 or within the default setting distance is selected from the boundary line between the visible region and the invisible region. . By performing this processing, for example, as shown in FIG. 22B, a map component or mark existing in the invisible area and within a predetermined distance 2036 from the boundary line 2035 between the visible area and the invisible area. A map component or mark is selected. Therefore, as shown in FIG. 21B, the destination mark 2004 within the predetermined distance 2036 from the boundary line 2035 is displayed. As a result, of the map components and marks in the invisible area, only the information desired by the user can be displayed on the display 2, and unnecessary map components and marks are reduced.
The display is easier to see.

The boundary line between the visible region and the invisible region can be obtained by using, for example, the scan line method. As described above, in the scan line method, in each plane including the scan line and the viewpoint,
The line segment of the map component and the mark that intersects the plane at the forefront (viewpoint side) is detected. Therefore, the region located on the back of the line segment detected in the plane (in the direction away from the viewpoint) is an invisible region, and the line connecting the ends of the line segment detected in each plane is the boundary line.

Further, whether or not the map constituent or mark is within a predetermined distance from the boundary line is determined by determining the coordinate data in the depth (line of sight) direction of the map constituent or mark and the depth (line of sight) direction of the boundary line. This is done by finding the distance to the coordinate data.

Next, the road selection process in step 1042 of FIG. 9 will be specifically described with reference to FIG.

FIG. 10 is a flow chart for explaining the road selection processing.

First, in the same manner as the above-described processing in step 1043, a map constituent part or all of which is in the invisible area is selected from the map constituents read from the map storage means 3 by the data reading means 48. After that, referring to the data for specifying the type of map constituent, a road constituent is selected from the selected map constituents (step 1061).

Next, the display parameter set by the user by the input device 4 or the display parameter set by default is read out, and it is determined whether or not the road selected by the attribute is selected from the roads selected in step 1061. (Step 1062). When it is determined that the road is selected based on the predetermined attribute, step 106 is performed.
If it is determined that the process is not performed, the process proceeds to step 1064.

In step 1063, step 1061
The road having the attribute set by the user by the input device 4 or the attribute set as the default by the input device 4 is selected from the roads selected in. By performing this processing, for example, as shown in FIG. 24A, the road 2062 having an attribute to be noted by the map constituent located in the front (viewpoint side).
Even if is hidden, as shown in FIG.
Since the display attribute of the road 2064 is changed and the road 2064 is displayed in step 1008 of FIG. 6, the road having the attribute of interest can be always displayed. The process in step 1063 will be described later.

Next, in step 1064, the input device 4
Read out the display parameters set by the user or the display parameters set by default,
From the roads selected in step 1061 or step 1063, it is determined whether to select a road connected to a road in the visible area. If it is determined that the road connected to the road in the visible region is to be selected, the process proceeds to step 1065, and if it is determined that the road is not to be selected,
The flow shown in FIG. 10 ends.

In step 1065, step 1061
Alternatively, from the roads selected in step 1063, a road connected to a road existing in the visible area is selected. Note that the determination as to whether or not to connect to the road existing in the visible area is performed by, for example, obtaining the boundary line between the visible area and the invisible area by the same procedure as the processing in step 1049 of FIG. This can be done by selecting a road that crosses this boundary line from the roads selected in 1063.

Next, in step 1066, the input device 4
Read out the display parameters set by the user or the display parameters set by default,
From the roads selected in step 1065, it is determined whether to select a road within a predetermined distance from the connection boundary with the road in the visible area. When it is determined that the road within the predetermined distance from the connection boundary is to be selected, the process proceeds to step 1067, and when it is determined that the road is not to be selected, the flow illustrated in FIG. 10 ends.

At step 1067, step 1 of FIG.
In the same manner as the processing in 049, step 1065
A road within a predetermined distance from the connection boundary with the road in the visible area is selected from the roads selected in.

By executing the processing shown in FIG. 10,
For example, as shown in FIG. 22A, a road existing in the invisible area and connected to the road in the visible area, that is, road 2, is selected in step 1065. That is, the road 1 which is not connected to the road existing in the visible area
Is not selected. Further, a road within a predetermined distance from the connection boundary with the road in the visible region, that is, the road 2024 of the portion corresponding to the distance A of the road 2 is selected in step 1067. As a result, as shown in FIG. 21A, the display attribute of the road 2005 on the hidden surface is changed in step 1008 of FIG. 6, and the road 2005 is displayed for a predetermined distance.

Next, the road attribute selection processing in step 1063 of FIG. 10 will be specifically described with reference to FIGS. 11 and 12.

11 and 12 are flow charts for explaining the road attribute selection processing.

First, the display parameter set by the user by the input device 4 or the display parameter set by default is read out, and it is determined whether the road having the predetermined attribute is selected from the roads selected in step 1061. (Step 1081). Here, the predetermined attribute is
For example, it is a road type such as a highway or a national road. If it is determined that the road having the predetermined attribute is to be selected, the process proceeds to step 1082. If it is determined that the road is not to be selected, the process proceeds to step 1083.

In step 1082, step 1061
A road having a predetermined attribute is selected from the roads selected in. The data reading means 48 determines whether or not the attribute is a predetermined attribute.
By referring to the data for specifying the type of the map constituent, which is read from the map storage means 3, the process is performed. By this processing, the display attribute of the road having the predetermined attribute in the invisible area is changed in step 1008 of FIG. 6, and this road is displayed on the display 2. As a result, the user can identify the road having the predetermined attribute in the invisible area.

Next, in step 1083, the input device 4
Read out the display parameters set by the user or the display parameters set by default,
From the roads selected in step 1061, it is determined whether to select a road on which the vehicle is running. Here, the road on which the vehicle is traveling is obtained by comparing the position information obtained by the current position calculation means 46 and the map match processing means 47 with the map information stored in the map storage means 3. If it is determined that the running road is selected, the process proceeds to step 1084, and if it is determined that the road is not selected,
The process moves to step 1085.

In step 1084, step 1061
From the roads selected in step 1, select the road on which the vehicle is running. When selecting a road on which the vehicle is running, it is preferable to select a road having a position obtained by the current position calculating means 46 and the map matching processing means 47 and within a predetermined distance from the current position. By this processing, the display attribute of the road on which the vehicle is traveling in the invisible area is changed in step 1008 of FIG. 6, and this road is displayed on the display 2. As a result, the user can identify the road on which the vehicle is traveling in the invisible area.

Next, in step 1085, the input device 4
Read out the display parameters set by the user or the display parameters set by default,
From the roads selected in step 1061, it is determined whether to select a road on the guide route. Here, the road of the guide route is obtained by the route calculation unit 42 accessing the route storage unit 43 that stores the result of calculating the optimum route from the current position at the time of the route calculation to the destination set by the user. If it is determined that the road of the guide route is selected, the process proceeds to step 1086, and if it is determined that the road is not selected, the process proceeds to step 1090 of FIG. 12.

In step 1086, step 1061
The road of the guide route is selected from the roads selected in. By this processing, the display attribute of the road of the guide route in the invisible area is changed in step 1008 of FIG. 6, and this road is displayed on the display 2. Thereby, the user can identify the road of the guide route in the invisible area.

In step 1090 of FIG. 12, the display parameter set by the user by the input device 4 or the display parameter set by default is read out, and the road in congestion is selected from the roads selected in step 1061. Determine whether to implement. Here, the road in traffic is obtained by analyzing the signal received by the traffic information receiving device 10. FM is a medium to convey traffic information
FM multiplex broadcasting that is modulated and transmitted on subcarriers of broadcasting,
There are radio beacon signals installed on roads that modulate quasi-microwave charged waves and optical beacon signals that modulate light waves. When it is determined that the road in the traffic jam is selected, the process proceeds to step 1091, and when it is determined that the road is not selected, the process proceeds to step 1092.

In step 1091, step 1061
From the roads selected in, select the road that is congested. By this processing, the display attribute of the congested road in the invisible area is changed in step 1008 of FIG. 6, and this road is displayed on the display 2. As a result, the user can identify the congested road in the invisible area.

Next, in step 1092, the input device 4
Read out the display parameters set by the user or the display parameters set by default,
From the roads selected in step 1061, it is determined whether to select a road that is not congested. A road that is not congested can be obtained by analyzing the signal received by the traffic information receiving device 10. If it is determined that the road that is not congested is selected, the process proceeds to step 1093,
If it is determined that the operation is not performed, the process proceeds to step 1094.

In step 1093, step 1061
Select the road that is not congested from the roads selected in. By this processing, the display attribute of the road not congested in the invisible area is changed in step 1008 of FIG. 6, and this road is displayed on the display 2. Thereby, the user can identify whether the road in the invisible area is not congested.

Next, in step 1094, the input device 4
Read out the display parameters set by the user or the display parameters set by default,
From the roads selected in step 1061, it is determined whether or not to select a road that is under regulation. The controlled road is obtained by analyzing the signal received by the traffic information receiving device 10. As a medium for transmitting traffic information, FM multiplex broadcasting that is modulated and transmitted on a subcarrier of FM broadcasting, a radio beacon signal that is installed on a road and modulates radio waves in the quasi-microwave band,
There is an optical beacon signal that modulates a light wave. If it is determined that the road under regulation is to be selected, step 109
If it is determined that the process is not performed, the process proceeds to step 1096.

In step 1095, step 1061
Select the regulated road from the roads selected in. By this processing, the display attribute of the restricted road in the invisible area is changed in step 1008 of FIG. 6, and this road is displayed on the display 2. As a result, the user can identify the regulated road in the invisible area.

Next, in step 1096, the input device 4
Read out the display parameters set by the user or the display parameters set by default,
From the roads selected in step 1061, it is determined whether to select a road that is not regulated. The unregulated road is obtained by analyzing the signal received by the traffic information receiving device 10. If it is determined that an unregulated road is to be selected, step 10975
If it is determined that the process is not performed and the process is not performed, the flow illustrated in FIGS. 11 and 12 ends.

In step 1097, step 1061
Select an unregulated road from the roads selected in. By this processing, the display attribute of the unrestricted road in the invisible area is changed in step 1008 of FIG. 6, and this road is displayed on the display 2. Thereby, the user can identify whether the road in the invisible area is not regulated.

Next, steps 1008 and 1011 in FIG.
The display attribute changing process in step 3 will be specifically described with reference to FIG.

FIG. 13 is a flow chart for explaining the display attribute changing process.

First, in step 1021, the method of expressing the map components or marks in the invisible area is read from the display parameters set by the user by the input device 4 or the display parameters set as default. Then, when the transparent display is designated, the process proceeds to step 1022, and when the attribute change display is designated, the process proceeds to step 1023.

In step 1022, step 1 in FIG.
The map composition in the invisible area selected in 006 is transparently displayed. Based on the color information of the map composition to be transparently displayed in step 1004 and the color information of the map composition that hides this map composition, the color that the map composition to be transparently displayed looks transparent with a predetermined transmittance. Calculate and set. Such processing is called α blending in the field of three-dimensional display. The processing of α blending is given by Equation 3.

[0134]

[Equation 3]

Here, Rs, Gs, Bs and As are sources, that is, R (Red), G (Green) and B of the image to be written.
Brightness value of (Blue), A (α) value, Rd, Gd, B
d and Ad are luminance values of R (Red), G (Green), and B (Blue) in the destination, that is, the area to be written, A
(Α) value. Further, Dr, Dg, Db and Da are mixing ratios of the respective sources and destinations. Set the color information of the map composition you want to display transparently on the source side, and set the color information of the map composition that hides the map composition you want to display transparently on the destination side. , 50% of the destination) can be displayed transparently by performing α blending processing according to the equation (3).

Even when the object to be transparently displayed is a mark, the same calculation is performed.

Using the color information obtained in this way, a map drawing command is generated so as to draw a map constituent or mark in the invisible area selected in step 1006 of FIG. As a result, the map components or marks in the invisible area can be transparently displayed.

On the other hand, in step 1023, the display attribute of the map constituent or mark selected in step 1006 of FIG. 6 on the display 2 is changed.

In step 1024, it is determined whether the map constituents or marks in the invisible area are changed in pattern and displayed according to the display parameters set by the user by the input device 4 or the display parameters set by default. . When the pattern change is designated as the display parameter, the process proceeds to step 1025, and the surfaces and lines forming the map component or mark selected in step 1006 of FIG. 6 in the invisible area are displayed in a predetermined pattern. Set the attributes as follows. FIG. 21 shows a specific display example.
It shows in (b). This is an example in which the selected road 2005 in the invisible area is replaced with a dotted line. The road 2005 in the invisible area is displayed with a different attribute from the road 2006 in the visible area.

In step 1026, in accordance with the display parameters set by the user by the input device 4 or the display parameters set as default, step 1 in FIG.
It is determined whether or not the map component or mark in the invisible region selected in 006 is displayed with the line width changed (step 1026). When the line width change is designated as the display parameter, the process proceeds to step 1027, and the attribute setting is performed so that the line forming the map constituent or mark selected in step 1006 of FIG. .

At step 1028, according to the display parameter set by the user by the input device 4 or the display parameter set as default, step 1 of FIG.
In 006, it is determined whether or not to change the colors of the surfaces and lines that make up the map component or mark in the invisible area. If color change is designated as the display parameter, the process proceeds to step 1029 and step 10 in FIG.
Attributes are set so that the planes and lines forming the map constituents or marks in the invisible area selected in 06 are displayed in a predetermined color. A specific display example is shown in FIG. This is an example in which the color of the destination mark 2004 in the invisible area is changed and displayed.

By the above-mentioned display attribute changing processing, the map composition or the mark in the invisible area is transparently displayed, or the attribute is changed and displayed to make it invisible whether the map composition or the mark is in the visible area. Since it can be determined at a glance whether it is in the area, usability is improved.

Next, a first modification of the three-dimensional map bird's-eye view display means 66 will be concretely described with reference to FIG.

FIG. 14 is a flowchart for explaining the operation of the first modification of the three-dimensional map bird's-eye view display means 66.

In the flow shown in FIG. 14, the processing of steps 1121 to 1124 is the processing of steps 1101 to 1104 shown in FIG. 6, and the processing of step 1125 is the processing of step 1006 shown in FIG.
The process of step 1129 is step 1005 shown in FIG.
The processing is basically the same as the above. Therefore,
Step 1121 to Step 1125, Step 112
Detailed description of 9 is omitted.

At step 1126, the display parameter set by the user or the display parameter set as default by the input device 4 is read out, and step 1
It is determined whether or not to remove the front map composition in front (viewpoint side) of covering the map composition or mark selected in 125. Step 1 if you want to remove the foreground map components
If it is not removed, the process proceeds to step 127. Step 1126a
Move to.

At step 1126a, the display parameter set by the user by the input device 4 or the display parameter set as default is read to determine whether or not the map constituent or mark selected at step 1125 is displayed on the display 2. To do. If it is determined that it is displayed, the process proceeds to step 1126b, and if it is determined that it is not displayed, the process proceeds to step 1129.

At step 1126b, step 112 is executed.
The map composition selected in 5 or the map composition in front of the mark is specified. Here, the foreground map component is specified in the following manner. First, referring to the two-dimensional coordinate data on the two-dimensional plane (projection surface) of each map constituent and mark obtained by the perspective conversion processing in step 1122, the map configuration selected in step 1125 on the projection surface. Extract map components that overlap with objects or marks. Next, step 1
The depth (line of sight) coordinate data of the map component or mark selected in 125 is compared with the depth (line of sight) coordinate data of the extracted map component, and the extracted map component is determined in step 1125. When located on the front side (viewpoint side) of the selected map constituent or mark, the extracted map constituent is specified as the front map constituent.
In step 1126b, the coordinate data in the depth (line of sight) direction of the map component or mark selected in step 1125, out of the coordinate data of the map component and the mark perspective-transformed in step 1122, is converted to the front map component. Is rewritten so as to be located closer to the front side (viewpoint side) than the coordinate data in the depth (line of sight) direction of the
The processes of 3 and 1124 are performed again. As a result, the graphics processing means 51 creates a bird's-eye view of the three-dimensional map in which the map constituents and marks requested by the user are drawn on the front side of the front map constituent based on the map drawing command generated in step 1129. It can be displayed on the display 2. For example, as shown in FIG. 25A, the route guidance mark 2086 should originally be the route guidance mark 20.
It is displayed on the front side of the building 2082 and the tree 2083 located on the front side of 86.

On the other hand, in step 1127, the map constituent selected in step 1125 or the map constituent in front of the mark is specified in the same manner as in the above step 1126b, and thereafter, the map reading means 48 is used by the data reading means 48.
From the three-dimensional data of the map composition read from, the three-dimensional data of the front map composition is removed. This front map component removal processing will be described later. Also, step 11
In step 27, steps 1122 to 112 are performed based on the three-dimensional data of the map constituent read from the map storage means 3 from which the three-dimensional data of the front map constituent is removed and the data of the mark set in step 1121. The processing of 1124 is performed again. Thereby, the graphics processing means 5
First, based on the map drawing command generated in step 1129, the foreground map components are removed, and a three-dimensional bird's-eye view map in which the map components or marks requested by the user are drawn is displayed on the display 2. You can For example, as shown in FIG.
The route guidance mark 208 required by the user is obtained by removing the map components on the front side such as buildings and trees that hide 86.
6 is displayed on the display 2.

In step 1128, step 1127
Instead of the front map component removed in step 3, the operation is performed to display information about the front map component. The front map constituent information display processing in step 1128 will be specifically described with reference to FIG. FIG. 15 is a flowchart for explaining the front map component information display processing.

First, in step 1141, the input device 4
The display parameters set by the user or the display parameters set by default are read out by
For the front map composition removed in step 1127 of step 4, display the horizontal plane occupied by the map composition 2
It is determined whether or not to display. If it is displayed, the process proceeds to step 1142. If it is not displayed, step 1143 is performed.
Move to.

At step 1142, the ground plane of the removed front map composition is obtained, and the ground plane is displayed on the display 2 with a predetermined attribute (color, pattern, etc.). First, the data reading means 48 reads the three-dimensional data of the front map constituent removed in step 1127 of FIG. 14 from the map storage means 3, and the read 3
From the dimension data, the data in the latitude (X) direction and the data in the longitude (Y) direction on the ground plane (Z = 0) are extracted. Next, the latitude (X) direction data and the longitude (Y) direction data of the extracted front map component and the altitude direction data (Z = 0) of the ground plane are processed in the same manner as in step 1122. Perspective transformation is performed in a manner similar to the above to obtain two-dimensional coordinate data when the ground plane occupied by the front map composition is projected onto the two-dimensional plane (projection surface) from the viewpoint set by the viewpoint position setting means 62. As a result, the graphics processing means 51 displays the ground plane occupied by the front map component on the basis of the map drawing command generated in step 1129.
Can be displayed on. FIG. 26 shows a specific display example.
It shows in (a). This is done by deleting the building 2082 and the tree 2083 which cover the guidance mark which is requested to be displayed from the bird's-eye view of the three-dimensional map shown in FIG. 25 (a), and removing the ground plane 2163 indicating the existence of the building in the area where the building existed. It is an example displayed. By displaying in this way, the user can know whether the deleted map component existed and where it existed, and therefore, the recognition error caused by deleting the map component and displaying it. Will be reduced.

Next, in step 1143, the input device 4
The display parameters set by the user or the display parameters set by default are read out by
It is determined whether or not the name of the front map component removed in step 1127 of 4 is displayed on the display 2. If it is displayed, the process proceeds to step 1144, and if it is not displayed, the flow shown in FIG. 15 ends.

In step 1144, step 1142
The ground plane of the front map component removed is obtained in the same manner as the process in step 1, and a mark is set to display the name of the front map component near a position on the ground plane. The name of the front map component is determined based on the data for reading the type of the front map component read from the map storage unit 3 by the data reading unit 48. By this processing, the graphics processing means 51 can display the name of the front map component near the position originally occupied by the front map component based on the map drawing command generated in step 1129. A specific display example is shown in FIG. This is the building 2082, the tree 2 that covers the guide mark requested to be displayed from the bird's-eye view of the three-dimensional map shown in FIG.
This is an example in which 083 is deleted and a ground plane 2166 and a building name 2167 indicating the existence of the building are displayed in the area where the building existed. By displaying in this way, the user can easily know what the deleted map composition is, so that recognition errors caused by deleting and displaying the map composition can be reduced. Become.

Next, the front map constituent removing process in step 1127 of FIG. 14 will be specifically described with reference to FIG.

FIG. 16 is a flow chart for explaining the front map component removal processing.

First, in step 1161, the attribute of the identified front map component is determined, and if the attribute is road, the process proceeds to step 1166, and if it is not the road, the process proceeds to step 1162. Here, the determination of the attribute is performed based on the data that specifies the type of the front map component read from the map storage unit 3 by the data reading unit 48.

At step 1163, the data reading means 4
3 of the map constituents read from the map storage means 3 by 8
The three-dimensional data of the front map component is removed from the dimensional data, and then the process proceeds to step 1163a.

On the other hand, in step 1166, the map constituents or marks selected in step 1125 of FIG.
Determine the amount of road overlap in front of you (covering the viewpoint). This overlap amount is detected in step 1 of FIG.
This is performed based on the two-dimensional coordinate data on the projection surface of the map constituent or mark selected in 125 and the two-dimensional coordinate data on the projection surface of the road which is the front map constituent. If the overlapping amount is less than or equal to the predetermined value, it is considered that the map constituent or mark selected in step 1125 of FIG. 14 overlaps with the road which is the front map constituent due to a grade separation or the like. Therefore, in such a case, it is not necessary to remove the road that is the front map component, and the flow of FIG. 16 ends. On the other hand, if the overlapping amount is equal to or larger than the predetermined value, the process proceeds to step 1167.

In step 1167, the range to be removed is determined for the road which is the map composition or the map composition in front of the mark selected in step 1125 of FIG. Here, the range to be removed may be limited to a portion within a predetermined distance from the current position obtained by the map matching processing means 47. As a result, overlapping roads are removed from the area of interest, which allows the user to obtain more information near the current location.

At step 1168, the data reading means 4
3 of the map constituents read from the map storage means 3 by 8
From the dimensional data, the three-dimensional data of the portion in the area (area specified by latitude and longitude) within a predetermined distance from the current position of the road, which is the front map constituent, is removed. Then, it transfers to step 1163a.

At step 1163a, step 116 is performed.
3 or the step 11 based on the three-dimensional data of the map constituent and the mark obtained through the processing of the step 1168.
The processing from 22 to step 1124 is performed again. As a result, the graphics processing unit 51 causes the step 1129.
The 3D map bird's-eye view in which the foreground map components are removed based on the map drawing command generated in step 3 and the user has requested the display of the map components and marks is displayed 2
Can be displayed on. For example, step 1168.
Step 1122 to Step 1124 based on the three-dimensional data of the map composition and the mark obtained through the processing in
When the above process is performed again, as shown in FIG.
Since the road, which is the map component in front of the mark 2104, is deleted and displayed, the user can obtain a detailed three-dimensional map bird's-eye view of the vicinity of the current location.

Next, a second modification of the three-dimensional map bird's-eye view display means 66 will be concretely described with reference to FIG.

FIG. 17 is a flow chart for explaining the operation of the second modification of the three-dimensional map bird's-eye view display means 66.

In the flow shown in FIG. 17, the processing of steps 1161 to 1164 is the processing of steps 1001 to 1004 shown in FIG. 6, and the processing of step 1165 is the processing of step 1006 shown in FIG.
The processing of step 1168 is performed by step 1005 shown in FIG.
The processing is basically the same as the above. Therefore,
Step 1161 to Step 1165, Step 116
Detailed description of No. 8 will be omitted.

In step 1166, step 1165 is executed.
It is determined whether or not a map component or mark in the invisible area is selected. If selected, step 1167
If not selected, the process proceeds to step 1168.

At step 1167, the viewpoint position setting means 62 is instructed to reset the viewpoint position. Specifically, the altitude position of the viewpoint is raised, that is, reset so that the coordinate value in the altitude (Z) direction of the viewpoint is large. Alternatively, the viewpoint is reset so as to approach the map constituent or mark selected in step 1165. Using the viewpoint position information reset in this way, step 11
The processing from 62 to step 1166 is re-executed. And
Steps 1162 to 1166 are repeated until no map constituent or mark in the invisible area is selected in step 1165. As a result, the graphics processing unit 51 obtains the three-dimensional image when viewed from the viewpoint position where the user can visually recognize the map constituents and marks which the user requests to display, based on the map drawing command generated in step 1168. Display bird's-eye view map 2
Can be displayed on. Therefore, it is possible to always provide more information than the user needs.

Next, a third modification of the three-dimensional map bird's-eye view display means 66 will be concretely described with reference to FIG.

FIG. 18 is a flow chart for explaining the operation of the third modification of the three-dimensional map bird's eye view display means 66.

In the flow shown in FIG. 18, the processing of steps 1181 to 1184 is the processing of steps 1001 to 1004 shown in FIG. 6, and the processing of step 1185 is the processing of step 1006 shown in FIG.
The process of step 1189 is step 1005 shown in FIG.
The processing is basically the same as the above. Therefore,
Step 1181 to Step 1185, Step 118
Detailed description of 9 is omitted.

In step 1186, step 1185 is executed.
It is determined whether or not a map component or mark in the invisible area is selected. If selected, step 1187
If not selected, the process proceeds to step 1189.

At step 1187, the position of the display screen of the display 2 where the overlay screen (window) is to be displayed is determined. In a three-dimensional bird's-eye view display, the current location is often displayed in the lower part of the center of the display and the destination is displayed in the upper part of the center of the display. Therefore, it is desirable to determine the position so that the window is displayed in the other area. Specifically, FIGS. 28A and 28B
In the upper right or upper left area of the display screen of the display 2 as shown in FIG.
The following areas should be set. In addition to these, as a preferable window display position, half of the display screen is used as a window, and the screen is shifted so that the center part of the other screen matches the center part of the three-dimensional map that has been displayed until then. There is a way.

At step 1188, the three-dimensional map bird's-eye view display means 66, the two-dimensional map display means 64 or the two-dimensional display means 64 is displayed so as to display the map according to a predetermined map representation method in the window having the display position thus set. A command is issued to the map bird's-eye view display means 65. This map display command processing is shown in FIG.
Will be specifically described. FIG. 19 is a flow chart for explaining the operation of the map display command processing.

First, in step 1201, the input device 4
The display parameter set by the user or the display parameter set by default is read out to determine whether or not to display the two-dimensional map in the window. If the two-dimensional map is displayed, the process proceeds to step 1202, and if not displayed, the process proceeds to step 1204.

At step 1202, the area of the two-dimensional map displayed in the window is set. Here, as the area, it is preferable to select the area of the three-dimensional map which is the basis of the bird's-eye view of the three-dimensional map displayed on the display 2.

At step 1203, the two-dimensional map display means 64 is activated, and a map drawing command is issued so that the two-dimensional map included in the display range set at step 1202 is displayed in the window set at step 1189 of FIG. To generate. On the other hand, the three-dimensional map bird's-eye view display means 66
Shifts to step 1187 of FIG. 18 to generate a map drawing command of the three-dimensional map bird's eye view. Thereby, the graphics processing means 51, based on the map drawing command generated by the three-dimensional map bird's eye view display means 66 and the map drawing command generated by the two-dimensional map display means 64,
For example, as shown in FIG. 28A, a two-dimensional map can be displayed in the window 2123 of the display 2 and a three-dimensional map bird's-eye view can be displayed on the display screen 2121 other than the window of the display 2. Therefore, it is possible to always provide more information than the user needs.
As a result, the user can obtain the map information of the invisible area, which is an obstacle in the bird's-eye view of the three-dimensional map, from the two-dimensional map, and the recognizability and usability of the map are improved.

Next, in step 1204, the input device 4
The display parameter set by the user or the display parameter set by default is read out to determine whether to display the two-dimensional map bird's-eye view in the window. Step 120 when displaying a two-dimensional map bird's-eye view
5, and when not displaying, the process proceeds to step 1207.

At step 1205, the area of the two-dimensional map which is the basis of the bird's-eye view of the two-dimensional map displayed in the window,
The viewpoint position when viewing this two-dimensional map is set.
Here, the area and the viewpoint position may be set to be the same as the area and the viewpoint position of the three-dimensional map which is the basis of the three-dimensional bird's-eye view displayed on the display 2. By setting in this way, the display ranges of the bird's-eye view of the three-dimensional map and the bird's-eye view of the two-dimensional map on the display 2 will match. The viewpoint position is set by the viewpoint position setting means 62.

At step 1206, the two-dimensional map bird's-eye view display means 65 is activated, and the two-dimensional map obtained when the two-dimensional map included in the display range set at step 1205 is viewed from the viewpoint position set at step 1205. A map drawing command is generated so that the bird's-eye view is displayed in the window set in step 1189 of FIG.
On the other hand, the three-dimensional map bird's-eye view display means 66 proceeds to step 1187 of FIG. 18 and generates a map drawing command for the three-dimensional map bird's-eye view. Thereby, the graphics processing means 51 is based on the map drawing command generated by the three-dimensional map bird's-eye view display means 66 and the map drawing command generated by the two-dimensional map bird's-eye view display means 65, for example, as shown in FIG.
As shown in (b), the window 21 of the display 2 is displayed.
A two-dimensional map bird's-eye view can be displayed on 26, and a three-dimensional map bird's-eye view can be displayed on a display screen 2124 other than the window of the display 2. As a result, the user can obtain the map information of the invisible area that is an obstacle in the display of the three-dimensional map from the bird's-eye view of the two-dimensional map in which the invisible area does not occur, and the recognizability and usability of the map are improved.

Next, in step 1204, the input device 4
The display parameter set by the user or the display parameter set by default is read out to determine whether or not the three-dimensional bird's-eye view map is displayed in the window. Step 120 when displaying a three-dimensional bird's-eye view
If it is not displayed, the flow shown in FIG. 19 ends.

In step 1208, the display range of the bird's-eye view of the three-dimensional map displayed in the window and the viewpoint position are set. Here, the viewpoint position of the bird's-eye view of the three-dimensional map displayed in the window may be different from the viewpoint position of the bird's-eye view of the three-dimensional map displayed outside the window of the display 2. Specifically, the viewpoint may be set at a position where the map constituent or mark in the invisible area selected in step 1185 of FIG. 18 can be visually recognized. The viewpoint position is set by the viewpoint position setting means 62.

In step 1209, when the three-dimensional map included in the display range set in step 1208 is viewed from the viewpoint position set in step 1208, in the same manner as the processing in steps 1001 to 1005 shown in FIG. A map drawing command is generated so that the obtained three-dimensional map bird's-eye view is displayed in the window set in step 1189 of FIG. After that, the processing shifts to step 1189 of FIG. 18, and a map drawing command for a three-dimensional bird's-eye view map to be displayed on a display screen other than the window of the display 2 is generated. Thereby, the graphics processing means 5
1 displays the 3D map bird's-eye view in the window of the display 2 based on the map drawing command generated in step 1189 of FIG. 18 and the map drawing command generated in step 1209 of FIG. 3D map bird's-eye view is also displayed on other display screens. Therefore, the user can obtain the map information viewed from a plurality of viewpoint positions in the bird's-eye view of the three-dimensional map, and the recognizability and usability of the map are improved.

Next, a fourth modification of the three-dimensional map bird's-eye view display means 66 will be concretely described with reference to FIG.

FIG. 20 is a flow chart for explaining the operation of the fourth modification of the three-dimensional map bird's eye view display means 66.

In the flow shown in FIG. 20, the processing of steps 1221 to 1224 is basically the processing of steps 1001 to 1004 shown in FIG. 6, and the processing of step 1227 is the processing of step 1005 shown in FIG. Is similar to. Therefore, steps 1221 to
Detailed description of steps 1224 and 1227 will be omitted.

At step 1225, it is determined whether or not the current position obtained by the current position calculating means 46 and the map matching processing means 47 is covered by a map component located in front of this (viewpoint side). If it is determined that the current location is visible, the process proceeds to step 1227, and if it is determined that the current location is invisible, the process proceeds to step 1226.

At step 1226, the three-dimensional map bird's-eye view display unit 66, the two-dimensional map bird's-eye display unit 64 or the two-dimensional map bird's-eye view display unit 65 is instructed to display the map according to a predetermined map representation method on the display screen of the display 2. Give out.
Note that step 1226 is basically the same as the process of step 1186 shown in FIG. 19 except that a map according to a predetermined map representation method is displayed on the entire display screen of the display 2 instead of the window. Is. That is, for example, the two-dimensional map bird's-eye view display unit 65 is displayed so that the two-dimensional map bird's-eye view is displayed on the display screen of the display 2.
When a command is issued to, as shown in FIG.
When the two-dimensional map bird's-eye view is displayed, even if the current position is hidden by the mountain 2143 existing in front of the vehicle position mark 2142 (viewpoint side), the display should be switched to the two-dimensional map bird's-eye view as shown in FIG. 29 (b). As a result, the recognizability and usability of the map will be improved.

The present invention is not limited to the above embodiment, but various modifications can be made within the scope of the gist thereof. For example, in the above embodiment, the map display means 4
As 5, a two-dimensional map display means 64, a two-dimensional map bird's-eye view display means 65 and a three-dimensional map display means 66, and a map display method selection means 63 for selecting an arbitrary display means from these display means are provided. However, the map display means used in the present invention may be at least capable of displaying a three-dimensional bird's-eye view map on a display screen such as a display.

In the above embodiment, an example in which the present invention is applied to a navigation device has been described, but the present invention can be applied to various devices that display a bird's-eye view of a three-dimensional map.

[0190]

As described above, according to the present invention, it is possible to display the information such as the map constituents on the hidden surface which is generated when the three-dimensional bird's-eye view display is performed by the above-mentioned structure. It is possible to provide a map display device and a navigation device that can display information required by the user and that can perform a highly visible three-dimensional map display.

[Brief description of drawings]

FIG. 1 is a diagram showing an example of a display screen of a navigation device in which a process according to an embodiment of the present invention has been executed.

FIG. 2 is a diagram showing each constituent unit of the vehicle-mounted navigation device according to the embodiment of the present invention.

FIG. 3 is a diagram showing a hardware configuration of an arithmetic processing unit shown in FIG.

FIG. 4 is a diagram showing a functional configuration of an arithmetic processing unit shown in FIG.

5 is a diagram showing a functional configuration of a map display means shown in FIG.

6 is a flowchart for explaining the operation of the three-dimensional map bird's-eye view display unit shown in FIG.

7 is a flowchart for explaining the operation of the three-dimensional map bird's-eye view display means shown in FIG.

FIG. 8 is a flowchart for explaining the mark setting process of FIG.

9 is a flowchart for explaining the structure selection process of FIG.

10 is a flowchart for explaining the road selection processing of FIG.

11 is a flowchart for explaining the road attribute selection processing of FIG.

12 is a flowchart for explaining the road attribute selection processing of FIG.

FIG. 13 is a flowchart for explaining the display attribute changing process of FIGS. 6 and 7.

FIG. 14 is a flowchart for explaining the operation of the first modification of the bird's-eye view display means for three-dimensional map shown in FIG.

15 is a flowchart for explaining the front structure information display processing of FIG.

FIG. 16 is a flowchart for explaining the front structure removal processing of FIG.

FIG. 17 is a flowchart for explaining the operation of the second modified example of the three-dimensional bird's-eye view display unit shown in FIG. 5.

18 is a flowchart for explaining the operation of the third modified example of the three-dimensional map bird's-eye view display means shown in FIG.

19 is a flowchart for explaining the map display command processing of FIG.

20 is a flowchart for explaining the operation of the fourth modified example of the bird's-eye view display means for three-dimensional map shown in FIG.

FIG. 21 is a diagram showing an example of a display screen when the flows shown in FIGS. 6 and 7 are executed.

FIG. 22 is a diagram for explaining a boundary line between a visible area and an invisible area.

FIG. 23 is a diagram showing an example of a display screen of a target structure.

FIG. 24 is a diagram showing an example of a display screen displaying a destination road.

FIG. 25 is a diagram showing an example of a display screen when a guide mark is displayed.

FIG. 26 is a diagram showing an example of a display screen when a guide mark is displayed.

FIG. 27 is a diagram showing an example of a display screen when a destination road is displayed.

FIG. 28 is a diagram showing an example of a display screen when a map is displayed in an overlapping manner on a window.

FIG. 29 is a diagram showing an example of a display screen when the map display method is switched.

[Explanation of symbols]

1 Arithmetic processing section 2 display 3 map storage 4 Voice input / output device 5 Input device 6 Wheel speed sensor 7 Geomagnetic sensor 8 gyro 9 GPS receiver 10 Traffic information receiver 11 In-vehicle LAN device 21 CPU 22 RAM 23 ROM 24 DMA 25 Drawing controller 26 VRAM 27 color palettes 28 A / D converter 29 SCI 30 PIO 31 counter 41 User operation analysis means 42 Route calculation means 43 route storage means 44 Route guidance means 45 Map display means 46 Current position calculation means 47 Map Match Means 48 Data reading means 49 Locus storage means 50 Menu display means 52 graphics processing means 61 Light source position setting means 62 viewpoint position setting means 63 Map display method selection means 64 Two-dimensional map display means 65 Two-dimensional map bird's-eye view display means 66 three-dimensional map bird's-eye view display means

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Mariko Okude             7-1-1, Omika-cho, Hitachi-shi, Ibaraki Prefecture             Inside the Hitachi Research Laboratory, Hitachi Ltd. F term (reference) 2C032 HB03 HB22 HB23 HB24 HC08                       HC14 HC16 HC22 HC23 HC24                       HC31 HD03 HD07 HD21 HD23                       HD30                 2F029 AA02 AB01 AB07 AB13 AC03                       AC08 AC14 AC16 AD04                 5B050 AA10 BA09 BA17 EA26 EA29                       FA02                 5H180 AA01 FF04 FF05 FF12 FF22                       FF25 FF27 FF33

Claims (18)

[Claims] 1. A map display device for displaying a map on a display screen, comprising: a map storage section in which three-dimensional data of a plurality of map constituents forming a three-dimensional map are stored; and a predetermined map constituent specified. 3D map bird's-eye view obtained by projecting a map constituent designating unit to be specified and each map constituent specified by the three-dimensional data stored in the map storage unit onto a plane from a predetermined viewpoint. A map display unit for displaying a three-dimensional map bird's-eye view on the display screen, wherein the map display unit is configured such that the predetermined map constituent specified by the map constituent specifying unit is more than the predetermined map constituent. The predetermined map composition is displayed so that the predetermined map composition is displayed on the display screen when it is hidden by another map composition on the predetermined viewpoint side and is not displayed on the three-dimensional map bird's-eye view. Or other map A map display device comprising a projection form changing means for changing a projection form of a component onto the plane. 2. The projection form changing means selects another map constituent located on the side of the predetermined viewpoint from the predetermined map constituent specified by the map constituent specifying unit. The map display device according to claim 1, wherein a projection form of the predetermined map component or the other map component on the plane is changed so as to be displayed transparently. 3. The projection form changing means is configured so that the predetermined map constituent specified by the map constituent specifying unit is located on the side of the predetermined viewpoint with respect to the predetermined map constituent. The map display device according to claim 1, wherein a projection form of the predetermined map component onto the plane is changed so as to be displayed on the front surface. 4. The projection form changing means is configured to display the predetermined map constituent so that the predetermined map constituent specified by the map constituent specifying unit is displayed in a predetermined pattern, color or line type. The map display device according to claim 3, wherein display attributes are changed. 5. The projection form changing means does not project another map component on the predetermined viewpoint side with respect to the predetermined map component designated by the map component designation unit onto the plane. The map display device according to claim 1, wherein a projection form of the other map component onto the plane is changed. 6. The projection mode changing means projects an occupied area on the ground plane of the other map constituent instead of the other map constituent onto the plane. Map display device. 7. The map according to claim 5, wherein the projection form changing means displays the name of the other map component instead of the other map component on the bird's-eye view of the three-dimensional map. Display device. 8. A map display device for displaying a map on a display screen, comprising: a map storage section in which three-dimensional data of a plurality of map constituents forming a three-dimensional map are stored; and a predetermined map constituent specified. 3D map bird's-eye view obtained by projecting a map constituent designating unit to be specified and each map constituent specified by the three-dimensional data stored in the map storage unit onto a plane from a predetermined viewpoint. A map display unit for displaying a three-dimensional map bird's-eye view on the display screen, wherein the map display unit is configured such that the predetermined map constituent specified by the map constituent specifying unit is more than the predetermined map constituent. The position of the predetermined viewpoint is displayed on the three-dimensional map bird's-eye view when it is hidden by another map component on the predetermined viewpoint side and is not displayed on the three-dimensional map bird's-eye view. Change to the position A map display device having a viewpoint position changing means. 9. A map display device for displaying a map on a display screen, wherein a map storage section in which three-dimensional data of a plurality of map constituents forming a three-dimensional map is stored, and a predetermined map constituent is designated. 3D map bird's-eye view obtained by projecting a map constituent designating unit to be specified and each map constituent specified by the three-dimensional data stored in the map storage unit onto a plane from a predetermined viewpoint. A map display unit for displaying a three-dimensional map bird's-eye view on the display screen, wherein the map display unit is configured such that the predetermined map constituent specified by the map constituent specifying unit is more than the predetermined map constituent. When the map is hidden by other map components on the predetermined viewpoint side and is not displayed on the bird's-eye view of the 3D map, a 2D map is created based on the 2D data of each map component, and the 2D map is created. The 3D map bird's-eye view A map display device having a two-dimensional map display means for displaying on the display screen instead of the figure. 10. A map display device for displaying a map on a display screen, comprising: a map storage section in which three-dimensional data of a plurality of map constituents forming a three-dimensional map are stored; and a predetermined map constituent is designated. 3D map bird's-eye view obtained by projecting a map constituent designating unit to be specified and each map constituent specified by the three-dimensional data stored in the map storage unit onto a plane from a predetermined viewpoint. A map display unit for displaying a three-dimensional map bird's-eye view on the display screen, wherein the map display unit is configured such that the predetermined map constituent specified by the map constituent specifying unit is more than the predetermined map constituent. The two-dimensional map was viewed from a predetermined viewpoint based on the two-dimensional data of each of the map constituents when it was hidden by another map constituent on the predetermined viewpoint side and was not displayed on the three-dimensional map bird's-eye view. Secondary obtained at times A map display device comprising a two-dimensional map bird's-eye view display means for creating an original map bird's-eye view and displaying the two-dimensional map bird's-eye view on the display screen instead of the three-dimensional map bird's-eye view. 11. A map display device for displaying a map on a display screen, comprising: a map storage section in which three-dimensional data of a plurality of map constituents forming a three-dimensional map are stored; and a predetermined map constituent specified. 3D map bird's-eye view obtained by projecting a map constituent designating unit to be specified and each map constituent specified by the three-dimensional data stored in the map storage unit onto a plane from a predetermined viewpoint. A map display unit for displaying a three-dimensional map bird's-eye view on the display screen, wherein the map display unit is configured such that the predetermined map constituent specified by the map constituent specifying unit is more than the predetermined map constituent. When the map is hidden by other map components on the predetermined viewpoint side and is not displayed on the bird's-eye view of the 3D map, a 2D map is created based on the 2D data of each map component, and the 2D map is created. The three-dimensional map bird A map display device having an overlapping display means for displaying on the display screen together with a perspective view. 12. A map display device for displaying a map on a display screen, comprising: a map storage section in which three-dimensional data of a plurality of map constituents forming a three-dimensional map are stored; and a predetermined map constituent specified. 3D map bird's-eye view obtained by projecting a map constituent designating unit to be specified and each map constituent specified by the three-dimensional data stored in the map storage unit onto a plane from a predetermined viewpoint. A map display unit for displaying a three-dimensional map bird's-eye view on the display screen, wherein the map display unit is configured such that the predetermined map constituent specified by the map constituent specifying unit is more than the predetermined map constituent. The two-dimensional map was viewed from a predetermined viewpoint based on the two-dimensional data of each of the map constituents when it was hidden by another map constituent on the predetermined viewpoint side and was not displayed on the three-dimensional map bird's-eye view. Secondary obtained at times A map display device, comprising: an original map bird's-eye view, and an overlapping display means for displaying the two-dimensional map bird's-eye view on the display screen together with the three-dimensional map bird's-eye view. 13. A map display device for displaying a map on a display screen, comprising: a map storage section in which three-dimensional data of a plurality of map constituents forming a three-dimensional map are stored; and a predetermined map constituent is designated. And a first three-dimensional bird's-eye view map obtained by projecting each map constituent specified by the three-dimensional data stored in the map storage section from a predetermined viewpoint onto a plane. And a map display unit that displays the first three-dimensional bird's-eye view map on the display screen, wherein the map display unit is configured such that the predetermined map constituent specified by the map constituent specifying unit is the predetermined map constituent. When each of the map components is hidden by another map component on the predetermined viewpoint side of the map component and is not displayed on the first 3D map bird's-eye view, the map component is visually recognized. From the perspective you can A second three-dimensional map bird's-eye view obtained by projecting onto a surface, and having an overlapping display means for displaying the second three-dimensional map bird's-eye view on the display screen together with the first three-dimensional map bird's-eye view. Characteristic map display device. 14. The map structure includes a two-dimensional shape or three-dimensional shape.
A three-dimensional mark is included, and the mark is included in any one of claims 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, and 1.
The map display device according to 2 or 13. 15. The map constituent designating unit designates a predetermined map constituent based on a user's instruction input to an input device. 5,
The map display device according to 6, 7, 8, 9, 10, 11, 12 or 13. 16. A navigation device for displaying a map and a position of a vehicle on the map on a display screen, wherein a map storage unit stores three-dimensional data of a plurality of map constituents forming a three-dimensional map. A vehicle position detection unit for detecting the vehicle position, and a three-dimensional map obtained by projecting each map constituent specified by the three-dimensional data stored in the map storage unit onto a plane from a predetermined viewpoint. A map display unit that creates a bird's-eye view and displays the three-dimensional map bird's-eye view on the display screen, wherein the map display unit is such that the own-vehicle position detected by the own-vehicle position detection unit is less than the own-vehicle position. When the vehicle position is not displayed on the three-dimensional map bird's-eye view because it is hidden by the map component on the predetermined viewpoint side, the vehicle position or the predetermined vehicle position is displayed so that the vehicle position is displayed on the display screen. On the viewpoint side A navigation device comprising a projection form changing means for changing a projection form of a map constituent on the plane. 17. A destination setting unit for setting a destination, and route detection for detecting a route connecting the own vehicle position detected by the own vehicle position detection unit and the destination set by the destination setting unit. The projection form changing means is configured such that the route detected by the route detecting unit is hidden by a map component located on the predetermined viewpoint side of the route and is displayed on the three-dimensional map bird's-eye view. The projection form of the map constituent on the route or the predetermined viewpoint side onto the plane is changed so that the route is displayed on the display screen when the route is not displayed. Navigation device. 18. A navigation device for displaying a map and a destination on the map on a display screen, wherein a map storage unit stores three-dimensional data of a plurality of map constituents forming a three-dimensional map. , A destination setting unit for setting a destination, and a three-dimensional map bird's-eye view obtained by projecting each map constituent specified by the three-dimensional data stored in the map storage unit onto a plane from a predetermined viewpoint And a map display unit for displaying the three-dimensional map bird's-eye view on the display screen, wherein the map display unit is such that the destination set by the destination setting unit is closer to the predetermined viewpoint than the destination. Of the map composition on the destination or the predetermined viewpoint side so that the destination is displayed on the display screen when the map composition is hidden by the map composition in FIG. The above A navigation device comprising a projection form changing means for changing a projection form on a plane.