Apparatus and method for navigating mobile body using road map displayed in form of bird's eye view

• US 5,742,924 A
• Filed: 12/01/1995
• Issued: 04/21/1998
• Est. Priority Date: 12/02/1994
• Status: Expired due to Fees

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Nakayama, Okihiko
• Primary Examiner(s): ZANELLI, MICHAEL J
• Application Number:
  US08/566,290
• Time in Patent Office: 872 Days
• Field of Search: 364/444.1, 364/449.3, 364/449.6, 364/449.2, 364/449.7, 364/460, 340/995, 345/139, 395/119, 395/122
• US Class Current: 701/208
• CPC Class Codes: G01C 21/3635 Guidance using 3D or perspective road maps
• CPC Class Codes: G08G 1/0969 having a display in the form of a map
• CPC Class Codes: G09B 29/106 using electronic means

Abstract

In apparatus and method for navigating a mobile body such as an automotive vehicle along a set route of travel, a road map stored in an external large-capacity memory unit such as a CD-ROM on a two-dimensional plane is graphically drawn on a display frame of an image screen with a degree of particulars of the road map data varied according to a displayed position of the image screen with respect to the display frame so that the graphically drawn road map in a form of a bird'"'"'s eye view is viewed three-dimensionally with a feeling of depth given to a viewer. In an embodiment, as the displayed position of the image screen becomes upper with respect to the display frame, the degree of the particulars becomes lower.

Claims

1. An apparatus for navigating a mobile body, comprising:

a) storing means for storing a plurality of road map data, each road map data stored therein being formed on a two-dimensional plane and having a predetermined level of detail;

b) graphical drawing means for graphically drawing at least any one of the road map data stored in said storing means which is related to a present position of the mobile body and a destination which the mobile body is finally to reach on a display image screen in a form of a bird'"'"'s eye view,

said graphical drawing means varying the level of detail of the road map data graphically drawn thereby according to a display position for said road map data on the display image screen; and

c) a display unit, having the display image screen, to operatively display the graphically drawn road map data in the form of the bird'"'"'s eye view on the display image screen so that the graphically drawn road map data is viewed approximately three-dimensionally with an appearance of depth given to a viewer of the display image screen.

2. An apparatus for navigating a mobile body as claimed in claim 1, wherein the display image screen includes lower and higher display regions, and said graphical drawing means operates for graphically drawing a specific one of the road map data with a lower level of detail for a display position in the higher display region of the display image screen and for drawing said specific one of the road map data with a higher level of detail for a display position in the lower dismay region of the display image screen.

3. An apparatus for navigating a mobile body as claimed in claim 1, wherein each road map data stored in said storing means includes road data, each road data being constituted by a plurality of points and a line interconnecting the points, and a plurality of data related to mutually different degrees of display priorities, wherein said graphical drawing means comprises:

d) selecting means for selecting any of a plurality of regional meshes covering the road map data to be graphically drawn and which is stored in said storing means on the basis of contents of the data related to the display priorities on the image screen of the display unit and on the basis of the display position of the road map data on the display image screen of the display unit; and

e) extraction controlling means for controlling an interval of points at which the road data constituted by the points and selected by said selecting means are extracted to graphically draw the selected road map data on the display image screen of the display unit on the basis of the contents of the data related to the display priorities and on the basis of the display position of the selected road map data on the display image screen of said display unit, and

wherein said graphical drawing means graphically draws the road map in the form of the bird'"'"'s eye view on the image screen of the display unit on the basis of the road map data selected by said selecting means and the road data which receives the controlled extraction by said extracting controlling means.

4. An apparatus for navigating a mobile body as claimed in claim 3, wherein the display image screen includes a lowest display region and a highest display region, said selecting means selects data having priorities from a highest priority of display up to a lowest priority of display for display in said lowest display region of the display image screen and selects data having respectively higher priorities of display for display at respectively higher display regions with respect to the display image screen.

5. An apparatus for navigating a mobile body as claimed in claim 4, which further comprises display image screen dividing means for dividing the display image screen into five regions including an uppermost display region (5)'"'"', a second uppermost display region (4)'"'"' lower than said uppermost display region, a third uppermost display region (3)'"'"' lower than said second uppermost display region, a middle display region (2)'"'"' lower than said third uppermost display region, and the lowest display region (1)'"'"' lower than said middle display region.

6. An apparatus for navigating a mobile body as claimed in claim 5, which further comprises setting means for setting a percentage r of controlling the interval of points at which the points of the selected road data are extracted according to the displayed position divided regions on the display image screen of the display unit.

7. An apparatus for navigating a mobile body as claimed in claim 6, wherein the percentage r of controlling the interval of points at which the road data points are extracted is increased as a position of the display position divided regions on the display image screen becomes higher with respect to the image screen.

8. An apparatus for navigating a mobile body as claimed in claim 7, wherein said setting means sets the percentage r using the following equation:

##EQU4## denotes a lowest region of the road map data to be displayed corresponding to the lowest region of 1'"'"', 2 denotes a middle region of the road map data to be displayed corresponding to the middle region of the display image screen 2'"'"', 3 denotes a third uppermost region of the road map data to be displayed corresponding to the middle region of 3'"'"', 4 denotes a second uppermost region of the road map data to be displayed corresponding to the second uppermost region of 4'"'"' of the display image screen, 5 denotes an uppermost region of the road map data to be displayed corresponding to the uppermost region of 5'"'"' in the display image screen, r2 denotes the percentage r for the middle region in the display image screen 3'"'"', r3 denotes the percentage r for the third uppermost 3'"'"' region in the display image screen, r4 denotes the percentage r for the second uppermost screen 4'"'"', and r5 denotes the percentage r for the uppermost region 5'"'"' in the image screen of the display unit.

9. An apparatus for navigating a mobile body as claimed in claim 1, wherein said storing means stores a first road map data having a first degree of particulars and a second road map data having a second degree of particulars, the first degree of the particulars being higher than the second degree of the particulars, said display unit has the image screen divided into a lower display region (abgh) and an upper display region (ghdc) and said graphically drawing means graphically draws the first road map data in the form of the bird'"'"'s eye view on the lower display region of the image screen of the display unit and the second road map data in the form of the bird'"'"'s eye view on the upper display region of the image screen of the display unit.

10. An apparatus for navigating a mobile body as claimed in claim 9, which further comprises:

d) position calculating means for calculating first coordinate positions on the first road map data as a first area (ABGH) which corresponds to respective apices of the lower display region of the image screen of the display unit and calculating second coordinate positions on the second road map data as a second area (GHDC) which corresponds to respective apices of the upper display region of the image screen of the display unit;

e) selecting means for selecting a plurality of regional meshes covering the first area (ABGH) from among the first road map data having the first degree of the particulars on the basis of the first coordinate positions of the first area and for selecting a plurality of other regional meshes covering the second area (GHDC) from among the second road map data having the second degree of the particulars on the basis of the second coordinate positions of the second area (GHDC); and

f) extracting means for extracting a first part of the first road map data which corresponds to the first area (ABGH) from among the selected regional meshes and for extracting a second part of the second road map data which corresponds to the second area (GHDC) from among the selected other regional meshes.

11. An apparatus for navigating a mobile body as claimed in claim 10, wherein said graphical drawing means coordinate transforms the extracted first part of the first road map data into the road map on a screen image display coordinate system so as to be displayed in the form of the bird'"'"'s eye view in the lower display region (abgh) and coordinate transforms the extracted second part of the second road map data into the road map on the screen image display coordinate system so as to be displayed in the form of the bird'"'"'s eye view in the upper display region of the image screen.

12. An apparatus for navigating a mobile body as claimed in claim 11, wherein said selecting means comprises deriving means for deriving a minimum integer value of m which satisfies the following relationship;

L≦

Lm·

m , wherein L denotes a maximum length from among the lengths between any two apices of the upper display region or the lower display region, Lm denotes a length of a shorter side of the corresponding one of the regional meshes, and wherein said selecting means selects the regional meshes, at least the number of the regional meshes to be selected being expressed as (m+1)².

13. An apparatus for navigating a mobile body as claimed in claim 1, wherein said storing means stores the plurality of the road map data whose predetermined levels of detail are mutually different from each other and wherein with the image screen of the display unit is divided into a plurality of display regions and wherein said graphical drawing means graphically draws the road map in the form of the bird'"'"'s eye view on a lowest display region from among the divided display regions on basis of any one of the road map data stored in storing means which has a highest predetermined level of detail and graphically draws any other of the road map data which have lower predetermined levels of detail from among the plurality of stored road map data in display regions of the image screen of the display unit which are higher with respect to the image screen of the display unit.

14. An apparatus for navigating a mobile body as claimed in claim 13, which further comprises:

d) position calculating means for calculating coordinate positions on the road map data corresponding to respective apices of the respective display regions and corresponding to apices of the respective regions;

e) selecting means for selecting a plurality of regional meshes covering the road map data to be displayed on the respective display regions and which are stored in said storing means; and

f) extracting means for extracting the road map data to be displayed on the respective display regions from the selected regional meshes.

15. An apparatus for navigating a mobile body as claimed in claim 14, wherein said graphical drawing means coordinate transforms the extracted road map data into the road map on a screen image display coordinate system so as to be displayed in the form of the bird'"'"'s eye view such that any one of the extracted road map data having the highest degree of the particulars is displayed on the lowest display region of the image screen surrounding the present position of the mobile body and any other of the extracted road map data having the lower degree of the particulars are displayed on the corresponding upper display regions of the image screen so that any one of the road map data which has a lowest degree of the particulars is displayed on an uppermost display region surrounding the destination.

16. An apparatus for navigating a mobile body as claimed in claim 15, wherein said selecting means comprises deriving means for deriving a minimum integer value m which satisfies a relationship as L≦

Lm·

m, wherein L denotes a maximum length from among the lengths between any two apices of the respective display region, Lm denotes a length of a shorter side of the corresponding one or the regional meshes, and wherein said selecting means selects the regional meshes, at least the number of the selected regional meshes being expressed as (m+1)² number of the regional meshes.

17. An apparatus for navigating a mobile body as claimed in claim 16, wherein when L<

Lm, the value of m indicates 1 and the selected number of the regional meshes are four and when L>

Lm, the value of m indicates 2 and the selected number of the regional meshes are nine.

18. An apparatus for navigating a mobile body as claimed in claim 1, wherein said storing means stores a plurality of lateral and longitudinal line segments, each one of the lateral and longitudinal line segments being parallel to the other lateral and longitudinal line segments, respectively, and each one of the lateral line segments being perpendicular to the longitudinal line segments so that all of the line segments constitute a grid shape on the road map data on the two-dimensional plane, and which further comprises:

d) line segment transforming means for coordinate transforming the plurality of lateral and longitudinal line segments into coordinate transformed line segments in the form of the bird'"'"'s eye view; and

e) second graphically drawing means for graphically drawing the coordinate transformed line segments on the road map displayed in the form of the bird'"'"'s eye view on the display image screen of the display unit.

19. An apparatus for navigating a mobile body as claimed in claim 18, wherein said line segment transforming means transforms the plurality of the lateral and longitudinal line segments whenever the mobile body has moved by a predetermined distance or whenever the mobile body has turned through an angle equal to or greater than a predetermined angle.

20. An apparatus for navigating a mobile body as claimed in claim 19, wherein each of the longitudinal line segments corresponds to a line of geographical longitude and each of the lateral line segments corresponds to another line of geographical latitude, each of both lines of the geographical longitudes and latitudes being spaced apart from the other one of the corresponding lines with a predetermined interval of distance.

21. An apparatus for navigating a mobile body as claimed in claim 20, wherein said second graphically drawing means graphically draws the lines of the geographical longitudes and the lines of the latitudes by mutually different methods.

22. An apparatus for navigating a mobile body as claimed in claim 21, wherein said second graphically drawing means graphically draws the lines of the geographical longitudes and latitudes with the lines of the geographical longitudes emphasized more than the lines of the geographical latitudes.

23. An apparatus for navigating a mobile body as claimed in claim 22, wherein said lines of the geographical longitudes are denoted by solid lines and said lines of the geographical latitudes are denoted by dotted lines.

24. An apparatus for navigating a mobile body as claimed in claim 1;

wherein said storing means stores a plurality of line segments of the geographical longitudes and latitudes in the form of the bird'"'"'s eye view when viewing said line segments from a predetermined view point along a predetermined line of sight, and which further comprises d) second graphical drawing means for graphically drawing the plurality of line segments of longitudes and latitudes into the road map displayed on the image screen in the form of the bird'"'"'s eye view.

25. An apparatus for navigating a mobile body as claimed in claim 24, wherein said graphically drawn lines of the geographical longitudes and latitudes on the road map in the form of the bird'"'"'s eye view are left unchanged even when the vehicle runs by a predetermined distance toward the destination or when the vehicle has turned through an angle equal to or greater than a predetermined angle.

26. An apparatus for navigating a mobile body as claimed in claim 25, wherein each of both lines of the geographical longitudes and latitudes being spaced apart from the other one of the corresponding lines with a predetermined interval of distance.

27. An apparatus for navigating a mobile body as claimed in claim 26, wherein said second graphically drawing means graphically draws the lines of the geographical longitudes and the lines of the latitudes by mutually different methods.

28. An apparatus for navigating a mobile body as claimed in claim 27, wherein said second graphically drawing means graphically draws the lines of the geographical longitudes and latitudes with the lines of the geographical longitudes emphasized more than the lines of the latitudes.

29. A navigating apparatus comprising:

a) present position detecting means for detecting a present position of a mobile body and a forwarding direction toward which the mobile body moves at the present position thereof;

b) initial display parameter value setting means for previously setting the detected present position and display parameters thereinto as initial values;

c) direction of line of sight determining means for determining a direction of line of sight for a perspectively projected image on the basis of at least the detected forward direction;

d) view point position determining means for determining a position of a view point on which the direction of line of sight is based as a function of at least the information of the forwarding direction detected by the present position detecting means;

e) road map data storing means for storing at least a road map data expressed with a two-dimensional X-Y plane as a reference;

f) coordinate transforming means for executing a coordinate transformation of the road map data stored in said road map storing means on the basis of at least the determined direction of line of sight and the determined view point into a bird'"'"'s eye view so as to generate the bird'"'"'s eye view therefrom;

g) display means for receiving the display data of the bird'"'"'s eye view and for displaying the bird'"'"'s eye view on its image screen; and

h) graphical drawing means for graphically drawing any one of road map data stored in said road map data storing means and having a relatively high level of detail in the form of the bird'"'"'s eye view on a relatively low positioned region of the image screen through said display means and for graphically drawing another road map data stored in the road map data storing means and which is adjacent to the road map having the relatively high level of detail, said other road map data having a relatively low level of detail being graphically drawn in the form of the bird'"'"'s eye view on a relatively high positioned region of the image screen through said display unit, so that a whole displayed road map is in the form of the bird'"'"'s eye view as an approximately three-dimensional image with an appearance of depth given to a viewer.

30. A method for navigating a mobile body along a set route of travel, comprising the steps of:

a) storing a plurality of road map data, each stored road map data being formed on a two-dimensional plane and having a predetermined level of detail;

b) graphically drawing at least any one of the stored road map data which is related to a present position of the mobile body and a destination which the mobile body is finally to reach on a display image screen in a form of a bird'"'"'s eye view and varying the drawn level of detail according to a display position of the road map data on the display image screen; and

c) displaying the graphically drawn road map data in the form of the bird'"'"'s eye view on the display image screen so that the graphically drawn road map data is viewed approximately three-dimensionally to give an appearance of depth to a viewer.

31. An apparatus for navigating a mobile body, comprising:

a) storing means for storing a plurality of road map data, each road map data stored in said storing means including information having a predetermined degree of particularity of details of the road map data;

b) graphical drawing means for graphically drawing at least any one of the road map data stored in said storing means which is related to a present position of the mobile body and a destination which the mobile body is finally to reach on a display image screen in a form of a bird'"'"'s eye view,

said graphical drawing means drawing said any one of the road map data with a degree of particularity of details which is determined by a display position thereof on the display image screen; and

c) a display unit including said display image screen;

d) said display unit operatively displaying the graphically drawn road map data in the form of the bird'"'"'s eye view on said display image screen thereof so that the graphically drawn road map data is viewed approximately three-dimensionally with an appearance of depth given to a viewer of the display image screen.