U.S. patent application number 10/924851 was filed with the patent office on 2005-02-03 for navigation system.
Invention is credited to Sakamoto, Kiyomi.
Application Number | 20050027441 10/924851 |
Document ID | / |
Family ID | 18991105 |
Filed Date | 2005-02-03 |
United States Patent
Application |
20050027441 |
Kind Code |
A1 |
Sakamoto, Kiyomi |
February 3, 2005 |
Navigation system
Abstract
In a main device, a processor receives information about a
destination point, and further generates guide image data
representing a guide image for guiding a user who is driving a
vehicle. A display unit displays the guide image generated by the
processor, thereby guiding the driving user to the destination
point. When it is determined, while guiding the driving user, that
the user is going to get off the vehicle, the processor generates
navigation data Dnvg including the information about the
destination point, and transfers the navigation data to a
sub-device. In the sub-device, a processor generates, based on the
received navigation data Dnvg, guide image data for outside of the
vehicle representing a guide image for guiding the user who is
traveling to the destination point on foot. A display unit displays
the guide image generated by the processor. Thus, it is possible to
provide a navigation system that is convenient to use.
Inventors: |
Sakamoto, Kiyomi; (Ikoma,
JP) |
Correspondence
Address: |
WENDEROTH, LIND & PONACK, L.L.P.
2033 K STREET N. W.
SUITE 800
WASHINGTON
DC
20006-1021
US
|
Family ID: |
18991105 |
Appl. No.: |
10/924851 |
Filed: |
August 25, 2004 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
10924851 |
Aug 25, 2004 |
|
|
|
10134787 |
Apr 30, 2002 |
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Current U.S.
Class: |
701/532 |
Current CPC
Class: |
G01C 21/3688
20130101 |
Class at
Publication: |
701/200 ;
701/211 |
International
Class: |
G01C 021/26 |
Foreign Application Data
Date |
Code |
Application Number |
May 15, 2001 |
JP |
2001-145262 |
Claims
What is claimed is:
1. A navigation system for guiding a user from a starting point to
a destination point, said navigation system comprising: a main
device fixed to a vehicle; and a sub device operable to communicate
with the main device, said sub-device being portable by the user,
wherein said main device comprises: a receiving unit for receiving
at least information about the destination point; a first
generating unit for generating vehicle guide image data for vehicle
representing a guide image for guiding the vehicle; a first
displaying unit for displaying the guide image represented by the
vehicle guide image data generated by the first generating unit; an
input unit for generating, in response to an operation by the user,
a signal indicative when the user exits the vehicle; a determining
unit for determining whether the user exits the vehicle, said
determining unit determining that the user has exited the vehicle
when the signal is received; and a generating/transferring unit for
generating, when the determining unit determines that the user has
exited the vehicle, navigation data including at least the
destination point received by the receiving unit, and transferring
the navigation data to the sub-device, and the sub-device
comprises: a second generating unit for generating guide image data
representing a guide image for guiding the user when using public
transportation, a plane and/or a ship while traveling outside of
the vehicle based on the navigation data transferred from the
generating/transferring unit; and a second display unit for
displaying the guide image represented by the guide image data
generated by the second generating unit.
2. A navigation system for guiding a user from a starting point to
a destination point, said navigation system comprising: a main
device fixed to a vehicle; and a sub device operable to communicate
with the main device, said sub-device being portable by the user,
wherein said main device comprises: a receiving unit for receiving
at least information about the destination point; a first
generating unit for generating vehicle guide image data
representing a guide image for guiding the vehicle; a first
displaying unit for displaying the guide image represented by the
vehicle guide image data generated by the first generating unit; an
input unit for generating, in response to an operation by the user,
a signal indicative of when the user exits the vehicle; a
determining unit for determining whether the user has exited the
vehicle, said determining unit determining that the user has exited
the vehicle when the signal is received; and a
generating/transferring unit for generating, when the determining
unit determines that the user has exited the vehicle, navigation
data including information indicative of at least the destination
point and an identifier of a map around the destination point
received by the receiving unit, and transferring the navigation
data to the sub-device, and the sub-device comprises: a second
generating unit for generating guide image data representing a
guide image for guiding the user traveling outside of the vehicle
based on the navigation data transferred from the
generating/transferring unit; and a second display unit for
displaying the guide image represented by the guide image data
generated by the second generating unit.
3. The navigation system according claim 2, wherein said
information included in the navigation data is created with POIX
(Point Of Interest exchange language).
4. A navigation system for guiding a user from a starting point to
a destination point, said navigation system comprising: a main
device fixed to a vehicle; and a sub device operable to communicate
with the main device, said sub-device being portable by the user,
wherein said main device comprises: a receiving unit for receiving
at least information about the destination point from a base
station located externally; a first generating unit for generating
vehicle guide image data representing a guide image for guiding the
vehicle; a first displaying unit for displaying the guide image
represented by the vehicle guide image data generated by the first
generating unit; an input unit for generating, in response to an
operation by the user, a signal indicative of when the user exits
the vehicle; a determining unit for determining whether the user
has exited the vehicle, said determining unit determining that the
user has exited the vehicle when the signal is received; and a
transferring unit for transferring, if the determining unit
determines that the user has exited the vehicle, navigation data
including at least the destination point received by the receiving
unit to the sub-device, and the sub-device comprises: a second
generating unit for generating guide image data representing a
guide image for guiding the user traveling outside of the vehicle
based on the navigation data transferred from the
generating/transferring unit; and a second display unit for
displaying the guide image represented by the guide image data for
outside of the vehicle generated by the second generating unit.
5. A navigation system for guiding a user from a starting point to
a destination point, said navigation system comprising: a main
device fixed to a vehicle; and a sub device operable to communicate
with the main device, said sub-device being portable by the user,
wherein said main device comprises: a first generating unit for
generating vehicle guide image data representing a guide image for
guiding the vehicle; a first displaying unit for displaying the
guide image represented by the vehicle guide image data generated
by the first generating unit; an input unit for generating, in
response to an operation by the user, a signal indicative of when
the user exits the vehicle; and a determining unit for determining
whether the user has exited the vehicle, said determining unit
determining that the user has exited the vehicle when the signal is
received; and the sub-device comprises: a second generating unit
for generating, if the determining unit in said main device
determines that the user has exited the vehicle, navigation data
including at least the destination point; a third generating unit
for generating guide image data representing a guide image for
guiding the user traveling outside of the vehicle based on the
navigation data generated by the second generating unit; and a
second display unit for displaying the guide image represented by
the guide image data generated by the third generating unit.
6. A navigation system for guiding a user from a starting point to
a destination point, said navigation system comprising: a main
device fixed to a vehicle; and a sub device operable to communicate
with the main device, said sub-device being portable by the user,
wherein said main device comprises: a first generating unit for
generating vehicle guide image data representing a guide image for
guiding the vehicle; a first displaying unit for displaying the
guide image represented by the vehicle guide image data generated
by the first generating unit; an input unit for generating, in
response to an operation by the user, a signal indicative of when
the user exits the vehicle; and a determining unit for determining
whether the user has exited the vehicle, said determining unit
determining that the user has exited the vehicle when the signal is
received; and the sub-device comprises: a receiving unit for
receiving, if the determining unit in said main device determines
that the user has exited the vehicle, navigation data including at
least the destination point from a base station being located
externally; a second generating unit for generating guide image
data representing a guide image for guiding the user traveling
outside of the vehicle based on the navigation data received by the
receiving unit; and a second display unit for displaying the guide
image represented by the guide image data generated by the second
generating unit.
7. A navigation system for guiding a user from a starting point to
a destination point, said navigation system comprising: a main
device fixed to a vehicle; and a sub device operable to communicate
with the main device, said sub-device being portable by the user,
wherein said main device comprises: a first generating unit for
generating vehicle guide image data representing a guide image for
guiding the vehicle; a first displaying unit for displaying the
guide image represented by the vehicle guide image data generated
by the first generating unit; an input unit for generating, in
response to an operation by the user, a signal indicative of when
the user exits the vehicle; and a determining unit for determining
whether the user gets off the vehicle, said determining unit
determining that the user has exited the vehicle when the signal is
received; and the sub-device comprises: a first receiving unit for
receiving, if the determining unit in said main device determines
that the user has exited the vehicle, navigation data including at
least the destination point via a storage device being portable by
the user; a second generating unit for generating guide image data
representing a guide image for guiding the user traveling outside
of the vehicle based on the navigation data received by the first
receiving unit; and a second display unit for displaying the guide
image represented by the guide image data generated by the second
generating unit.
Description
[0001] This application is a divisional application of Ser. No.
10/134,787, filed Apr. 30, 2002.
BACKGROUND OF THE INVENTION
[0002] 1. Field of the Invention
[0003] The present invention relates to navigation systems and,
more specifically, to a navigation system constructed by a main
device for carrying out navigation for a vehicle, and a sub-device
for carrying out navigation for outside of the vehicle.
[0004] 2. Description of the Background Art
[0005] An example of the above described navigation system is
disclosed in U.S. Pat. No. 6,125,326 (and its corresponding
Japanese Patent Laid-Open Publication No. 10-103999 (1998-103999)).
Such conventional navigation system is constructed by a main device
fixedly incorporated in a vehicle and a sub-device removably
mounted on the vehicle. When mounted on the vehicle, the sub-device
displays cartographic information and current position information
on a main display under the control of a control unit. Before
removed, the sub-device receives, from the control unit, a transfer
of cartographic information about a predetermined area surrounding
the current position of the vehicle. After removed, the sub-device
displays a map based on the cartographic information transferred
from the control unit and the current position of the user
traveling outside of the vehicle.
[0006] However, the conventional navigation system is not so
convenient for users to use. To describe this more specifically,
consider a case where a user goes from a starting point by vehicle,
gets off the vehicle at some point, and then goes to a destination
point on foot. In this case, the user first uses the main device
while driving the vehicle, and then uses the sub-device after
getting off the vehicle. In the conventional navigation system,
however, as described above, only the cartographic data for the
surrounding area has been transferred to the sub-device.
Consequently, the user has to further input information about the
destination point in the sub-device for receiving route guidance,
which is quite burdensome.
SUMMARY OF THE INVENTION
[0007] Therefore, an object of the present invention is to provide
a navigation system that is more convenient to use than ever
before.
[0008] The present invention has the following features to attain
the object mentioned above.
[0009] A first aspect of the present invention is directed to a
navigation system for guiding a user from a starting point to a
destination point. The navigation system includes: a main device
fixed to a vehicle; and a sub-device capable of communicating with
the main device and being held by the user. Here, the main device
includes a receiving unit for receiving at least information of the
destination point; a first generating unit for generating guide
image data for a vehicle representing a guide image for guiding the
vehicle; a first displaying unit for displaying the guide image
represented by the guide image data for the vehicle generated by
the first generating unit; a determining unit for determining
whether the user gets off the vehicle; and a
generating/transferring unit for generating, when the determining
unit determines that the user gets off the vehicle, navigation data
including at least the destination point received by the receiving
unit, and transferring the navigation data to the sub-device. The
sub-device includes a second generating unit for generating guide
image data for the vehicle representing a guide image for guiding
the user traveling outside of the vehicle based on the navigation
data transferred from the generating/transferring unit; and a
second display unit for displaying the guide image represented by
the guide image data according to the guide image data outside of
the vehicle generated by the second generating unit.
[0010] In the first aspect, the main device guides the vehicle from
the starting point to the destination point, and the sub-device
guides the user traveling outside of the vehicle from the point
where the user gets off the vehicle to the destination point. Here,
the main device automatically transfers the navigation data
including information about the destination point to the
sub-device. Based on the received navigation data, the sub-device
generates guide image data for outside of the vehicle representing
a guide image for guiding the user traveling outside of the vehicle
to the destination point. As such, the user can see the guide image
presented on the sub-device until he or she arrives at the
destination point without re-inputting the information about the
destination point to the sub-device. Therefore, it is possible to
provide a navigation system that is more convenient to use than
ever before.
[0011] A second aspect of the present invention is directed to a
navigation device fixed to a vehicle and capable of communicating
with another navigation device portable by a user. The navigation
device for guiding the user from a starting point to a destination
point includes a receiving unit for receiving at least information
about the destination point; a generating unit for generating
vehicle guide image data representing a guide image for guiding the
vehicle; a displaying unit for displaying the guide image
represented by the guide image data for the vehicle generated by
the generating unit; a determining unit for determining whether the
user gets off the vehicle; and a generating/transferring unit for
generating, when the determining unit determines that the user gets
off the vehicle, navigation data including at least the destination
point received by the receiving unit, and transferring the
navigation data to the sub-device. Here, the other navigation
device generates guide image data for outside of the vehicle
representing a guide image for guiding the user traveling outside
of the vehicle based on the navigation data transferred from the
generating/transferring unit, and displays the guide image.
[0012] A third aspect of the present invention is directed to a
navigation device portable by a user and capable of communicating
with another navigation device fixed to a vehicle. The navigation
device for guiding the user to a destination point includes a
receiving unit for receiving navigation data from the other
navigation device, the navigation data including at least the
destination point; a generating unit for generating guide image
data for outside of the vehicle representing a guide image for
guiding the user traveling outside of the vehicle to the
destination point based on the navigation data received by the
receiving unit; and a displaying unit for displaying the guide
image represented by the guide image data for outside of the
vehicle generated by the generating unit.
[0013] These and other objects, features, aspects and advantages of
the present invention will become more apparent from the following
detailed description of the present invention when taken in
conjunction with the accompanying drawings.
BRIEF DESCRIPTION OF THE DRAWINGS
[0014] FIGS. 1A and 1B are illustrations showing the overall
construction of a navigation system NS1 according to one preferred
embodiment of the present invention;
[0015] FIG. 2 is a block diagram showing the detailed construction
of a main device 1 and a sub-device 2 shown in FIG. 1;
[0016] FIG. 3 is an illustration showing the detailed structure of
a database DB1 shown in FIG. 1;
[0017] FIG. 4A is a schematic illustration showing a map and a road
network represented by first cartographic data Dcgp1 and first road
network data Dntw1, respectively, both shown in FIG. 3, and FIG. 4B
is a schematic illustration showing a map and a road network
represented by second cartographic data Dcgp2 and second road
network data Dntw2, respectively, both shown in FIG. 3;
[0018] FIG. 5 is a schematic illustration for demonstrating how a
user travels under the navigation system NS1 shown in FIG. 1;
[0019] FIG. 6 is a flowchart showing the procedure carried out by a
processor 11 shown in FIG. 2;
[0020] FIG. 7 is a sequence chart showing communications from the
main device 1 to the sub-device 2 of FIG. 2;
[0021] FIG. 8 is a flowchart showing the procedure carried out by a
processor 21 shown in FIG. 2;
[0022] FIG. 9A is a schematic illustration showing a guide image
represented by guide image data Dgdv generated by the processor 11
of FIG. 2, and FIG. 9B is a schematic illustration showing a guide
image represented by guide image data Dgdw generated by the
processor 21 of FIG. 2;
[0023] FIG. 10 is an illustration showing the structure of
navigation data Dnvg generated by the processor 11 of FIG. 2;
[0024] FIG. 11 is an illustration showing the overall structure of
a navigation system NS2 according to another preferred embodiment
of the present invention;
[0025] FIG. 12 is a block diagram showing the detailed construction
of a main device 5 and a sub-device 6 shown in FIG. 11;
[0026] FIG. 13 is an illustration for demonstrating a relation
between a destination point DP and an intermediate point IP for use
in the main device 5 of FIG. 11;
[0027] FIG. 14A is a schematic illustration showing the detailed
structure of a database DB2 shown in FIG. 11, and FIG. 14B is a
schematic illustration showing the detailed structure of
destination point data Ddp shown in FIG. 14A;
[0028] FIG. 15 is a schematic illustration showing a map and a road
network represented by third cartographic data Dcgp3 and third road
network data Dntw3 shown in FIG. 14;
[0029] FIG. 16 is a flowchart showing the procedure carried out by
a processor 11 shown in FIG. 12;
[0030] FIG. 17 is a flowchart showing the procedure carried out by
a processor 21 shown in FIG. 12;
[0031] FIG. 18 is an illustration showing the structure of
navigation data Dnvg generated by the processor 11 of FIG. 12;
[0032] FIG. 19 is an illustration showing a guide image represented
by guide image data Dgdw generated by the processor 21 of FIG.
12;
[0033] FIG. 20 is an illustration showing the overall construction
of a navigation system NS3 according to still another embodiment of
the present invention;
[0034] FIG. 21 is a block diagram showing the detailed construction
of a main device 7 and a sub-device 2 shown in FIG. 20;
[0035] FIG. 22 is a flowchart showing the procedure carried out by
a processor 11 of FIG. 21;
[0036] FIG. 23 is a block diagram showing the detailed construction
of a sub-device 8, which is an example modification of the
sub-device 2 of FIG. 21;
[0037] FIG. 24 is a flowchart showing the procedure carried out by
a processor 21 of FIG. 23; and
[0038] FIG. 25 is a schematic illustration showing the structure of
travel data Drt generated in step S605 of FIG. 24.
DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0039] FIG. 1A is an illustration showing the overall construction
of a navigation system NS1 according to a first embodiment of the
present invention. In FIG. 1A, the navigation system NS1 is so
constructed as to be mountable on a vehicle, the system including a
main device 1, a sub-device 2, a cable 3, and a holder 4. The main
device 1 has a display unit 19 fixed to a position viewable by a
driver's seat for navigating (directing) a user who is driving the
vehicle. The sub-device 2 is so constructed as to be portable for
navigating (directing) a user who is traveling outside of the
vehicle. Hereinafter, navigation carried out by the main device 1
is referred to as vehicle navigation, and navigation by the
sub-device 2 is referred to as off-vehicle navigation. The cable 3
connects the main device 1 and the sub-device 2 together so as to
enable data communications therebetween. The holder 4 is fixed to
the vehicle for removably holding the sub-device 2. Specifically,
as illustrated in FIG. 1A, the sub-device 2 is mounted on the
holder 4 while the user is driving. When the user gets off the
vehicle, as illustrated in FIG. 1B, the sub-device 2 is removed
from the holder 4, and taken with the user.
[0040] With reference to FIG. 2, described next is the detailed
construction of the main device 1 and the sub-device 2 shown in
FIG. 1A. As illustrated in FIG. 2, the main device 1 includes a
processor 11 communicably connected to program memory 12, a working
area 13, a storage unit 14, autonomous navigation sensors 15, a
receiver 16, a first input unit 17, a second input unit 18, the
display unit 19, and a communications controller 110. The processor
11 executes a computer program (hereinafter simply referred to as a
program) PG1 previously stored in the program memory 2 for carrying
out processing required for vehicle navigation while using the
working area 13.
[0041] The storage unit 14 stores a database DB1. The database DB1
is, as illustrated in FIG. 3, a set of first cartographic data
Dcgp1, first road network data Dntw1, second cartographic data
Dcgp2, and second road network data Dntw2. The first cartographic
data Dcgp1 and the first road network data Dntw1 are used for
vehicle navigation. The first cartographic data Dcgp1 represents a
map covering a predetermined wide area (hereinafter referred to as
a basic area), such as the entirety of Japan, scaled down by a
predetermined scaling factor SFlrg for showing the state on the
ground surface. Illustrated in FIG. 4A is a portion of the map
covering the basic area represented by the first cartographic data
Dcgp1. The first road network data Dntw1 uses nodes and links to
represent the connecting relation among roads of a road network on
the map represented by the first cartographic data Dcgp1. FIG. 4A
also schematically illustrates these nodes and links represented by
the first road network data Dntw1. Exemplarily illustrated in FIG.
4A are a node N11 denoted as a double circle, a node N12 denoted as
a black circle, and a link L11 connecting these two nodes N11 and
N12 together.
[0042] The second cartographic data Dcgp2 and the second road
network data Dntw2 illustrated in FIG. 3 are used for off-vehicle
navigation. The second cartographic data Dcgp2 represents the map
covering the basic area scaled down by a scaling factor SFsm1
smaller than the scaling factor SF1rg, showing the state on the
ground surface of the basic area. The scaling factor SFsm1 is
smaller than the scaling factor SF1rg because the user traveling
outside the vehicle generally moves, per unit of time, within an
area smaller than that within which the vehicle moves. Here,
illustrated in FIG. 4B is a portion of a map of the basic area
represented by the second cartographic data Dcgp2, more
specifically, an area surrounded by a chain double-dashed line in
the map illustrated in FIG. 4A. As is clear from comparison between
FIG. 4A and FIG. 4B, the map represented by the second cartographic
data Dcgp2 is more detailed than that represented by the first
cartographic data Dcgp1 because the scaling factor SFsm1 is smaller
than the scaling factor SF1rg. Therefore, narrow roads through
which vehicle cannot pass, such as sideways, can be represented on
the map. The second road network data Dntw2 uses nodes and links to
represent the connecting relation among roads of a road network on
the map represented by the second cartographic data Dcgp2. FIG. 4B
also schematically illustrates these nodes and links represented by
the second road network data Dntw2. Exemplarily illustrated in FIG.
4B are the node N11 as illustrated in FIG. 4A, a node N21, a node
N22, and a link L21 connecting the two nodes N12 and N22 to each
other.
[0043] The autonomous navigation sensors 15 illustrated in FIG. 2
typically include an azimuth sensor and a vehicle-speed sensor both
mounted on the vehicle for detecting the direction of travel and
the speed of the vehicle and transmitting the detection results to
the processor 11 as vehicle parameters Pvhc. The autonomous
navigation sensors 15 may not be restricted to the azimuth sensor
and the vehicle-speed sensor, and may include any unit as long as
it can detect parameters unique to the vehicle for achieving
autonomous navigation. Here, the autonomous navigation is such
navigation that the processor 11 derives the current position of
the vehicle from the results detected by a sensor in the
vehicle.
[0044] The receiver 16 is typically implemented by a GPS (Global
Positioning System) receiver, calculating the current position of
the vehicle based on information transmitted from an artificial
satellite and sending the calculation results to the processor 11
as the vehicle's positional data Dcpv. The receiver 16 may not be
restricted to a GPS receiver, and may be any unit as long as it can
calculate the current position of the vehicle for achieving
heteronomous navigation. Here, the heteronomous navigation is the
opposite of the autonomous navigation, meaning that the processor
11 derives the current position of the vehicle from information
supplied by a positioning system.
[0045] The first and second input units 17 and 18 are the same in
that both are operated by the user, but different in function. The
first input unit 7 is operated when the user desires to carry out a
route search in vehicle navigation. In response to the operation,
the first input unit 17 generates a search start instruction Irsh
for transmission to the processor 11. The route search instruction
Irsh is a signal for instructing the processor 11 to start the
route search. After the route search is started, the user also
operates the first input unit 17 to input the starting point SP and
the destination point DP (refer to FIG. 5) to the main device
1.
[0046] Furthermore, the user operates the second input unit 18
immediately before getting off the vehicle. In response to this
operation, the second input unit 18 generates timing notification
Ntrs for transmission to the processor 11. The timing notification
Ntrs is a signal for notifying the processor 11 of timing of change
from vehicle navigation to off-vehicle navigation.
[0047] The display unit 19 is typically a liquid crystal display.
The communications controller 110 transmits navigation data Dnvg
(refer to FIG. 10) generated by the processor 11 to the
communications control unit 24 of the sub-device 2 via the cable
3.
[0048] As illustrated in FIG. 2, the sub-device 2 includes a
processor 21 communicably connected to program memory 22, a working
area 23, a communications controller 24, autonomous navigation
sensors 25, a receiver 26, and a display unit 27. The processor 21
executes a computer program (hereinafter simply referred to as a
program) PG2 stored in the program memory 22 for carrying out
processing required for off-vehicle navigation by using the working
area 23. The communications controller 24 receives the navigation
data Dnvg transmitted from the communications controller 110 of the
main device 2 via the cable 3, and stores the received navigation
data Dnvg in the working area 23. The autonomous navigation sensors
25 typically include an azimuth sensor and a pedometer for
detecting the direction of travel and the number of steps taken by
the user and transmitting the detection results as travel
parameters Pwkr to the processor 21. The receiver 26 is similar in
operation to the receiver 16, generating positional data Dcpw
indicating the current position of the user and transmitting the
positional data Dcpw to the processor 21. Here, as with the
receiver 16, the receiver 26 may be a GPS receiver, or may be a PHS
(Personal Handy-phone System) receiver. In the latter case, the
user of the sub-device 2 has to sign up a position detecting
service provided by a PHS provider in order to receive information
for specifying the position of the sub-device 2 from a PHS base
station. The display unit 27 is typically a liquid crystal
display.
[0049] As illustrated in FIG. 5, when the user travels from the
starting point SP to the destination point DP, the user may first
go to a place somewhere between the starting point SP and the
destination point DP (the place is hereinafter referred to as an
intermediate point IP) by vehicle, and then go to the destination
point DP by means other than the vehicle (on foot, for example).
For example, when the user goes from home to a restaurant, he or
she uses a vehicle to go to a parking lot near the restaurant (the
parking lot corresponds to the intermediate point IP), gets off the
vehicle at the parking lot, and then goes to the restaurant by
another means. As such, the navigation system NS1 is suitable for
the user who travels from the starting point SP to the destination
point DP by vehicle and then by another means. Here, such another
means is not restricted to on foot, but may be public
transportation, plane, ship, or any combination thereof.
[0050] With reference to FIGS. 6 to 8, described next is the
operation of the navigation system NS1 in a case where the user
travels as illustrated in FIG. 5. The user first starts the
operation of the vehicle. At this time, the main device 1 and the
sub-device 2 are supplied with drive power. Then, the processor 11
of the main device 1 starts executing the program PG1. The
processor 21 of the sub-device 2 starts executing the program PG2.
Alternatively, the sub-device 2 may be supplied with drive power
immediately before use.
[0051] First, the user operates the first input unit 17 of the main
device 1. In response to the operation, the first input unit 17
transmits the above described search start instruction Irsh to the
processor 11. In response to the search start instruction Irsh, the
processor 11 carries out the vehicle navigation whose procedure has
been described in the program PG1. FIG. 6 is a flowchart showing
the procedure of vehicle navigation. In FIG. 6, the processor 11
first receives the starting point SP and the destination point DP
(step S101), and stores them in the working area 13 for setting an
original point and an end point of route search carried out in
following step S104 (step S102). More specifically, in step S101,
the user operates the first input unit 17 for designating the
starting point SP and the destination point DP. The processor 11
receives the designated starting point and destination point DP.
The starting point SP and the destination point DP stored in the
working area 13 are both represented by, for example, a longitude
coordinate and a latitude coordinate. In the following description,
the longitude and latitude coordinates of the starting point SP are
collectively referred to as a coordinate value Csp, and those of
the destination point DP are as a coordinate value Cdp.
[0052] The processor 11 then accesses the database DB1 for reading
data representing a portion covering a predetermined range R1 from
the first road network data Dntw1 into the working area 13 (step
S103). Here, the predetermined range R1 is a range assumed to
include an optimal route from the starting point SP to the
destination point DP set in step S102, generally the range
surrounded by a rectangle including both of the points SP and
DP.
[0053] The processor 11 then uses a scheme typified by the
Dijkstra's algorithm for deriving the optimal route from the
starting point SP to the destination point DP from the first road
network data Dntw1 read in step S103 and generating optimal route
data Dprv for the vehicle on the working area 13 (step S104). The
optimal route data Dprv is a string of nodes (or links)
representing the optimal route obtained in step S104.
[0054] The processor 11 then receives the vehicle parameters Pvhc
from the autonomous navigation sensors 15. The processor 11
accumulates the direction of travel and the vehicle speed indicated
by the received vehicle parameters Pvhc. The processor 11 also
receives the positional data Dcpv from the receiver 16. Based on
the accumulation results of the direction of travel and the vehicle
speed, and the positional data Dcpv, the processor 11 calculates an
accurate current position Ppcv of the vehicle on the working area
13 (step S105).
[0055] The processor 11 then accesses the database DB1 for reading
data representing a portion covering a predetermined range R2 from
the first cartographic data Dcgp1 representing the map that covers
the above described basic area into frame memory reserved on the
working area 13 (step S106). The predetermined range R2 is the
periphery of the accurate current position Ppcv calculated in step
S105. For convenience, assume in the present embodiment that the
predetermined range R2 is the same as a range covered by a map
displayed later on the display unit 19.
[0056] The processor 11 then generates vehicle guide image data
Dgdv (step S107). More specifically, in step S107, the processor 11
first selects anode string (or a link string) included in the
predetermined range R2 from the optimal route data Dprv generated
in step S104. The processor 11 then overlays the optimal route
represented by the selected node sting (or link string) on the map
represented by the first cartographic data Dcgp1 stored on the
frame memory. Also overlaid on this map is a mark indicating the
current position Ppcv obtained in step S105, thereby completing the
guide image data Dgdv on the frame memory. This guide image data
Dgdv represents a guide image as illustrated in FIG. 9A, having the
optimal route (refer to a back-slashed portion) and the current
position of the vehicle (refer to a triangular mark) depicted
thereon.
[0057] The processor 11 then transmits the guide image data Dgdv
generated in step S107 to the display unit 19 (step S108). The
display unit 19 carries out display processing based on the
received guide image data Dgdv for displaying on its screen the
guide image as illustrated in FIG. 9A. As such, the main device 1
presents the guide image to the user, thereby guiding the user who
is driving the vehicle from the starting point SP to the
destination point DP.
[0058] The processor 11 then determines whether the vehicle has
arrived at the destination point DP (step S109). More specifically,
when the current position Ppcv calculated in step S105 coincides
with the destination point DP set in step S102, the processor 11
determines that no further guidance is required for the driving
user, and ends the procedure of FIG. 6.
[0059] On the other hand, when it is determined that the vehicle
has not yet arrived at the destination point DP, the processor 11
determines whether the user is going to get off the vehicle (step
S1010). More specifically, in step S1010, the processor 11
determines that whether the timing notification Ntrs has been
received from the second input unit 18. As described above, when
the user travels as illustrated in FIG. 5, the user operates the
second input unit 18 before getting off the vehicle at the
intermediate point IP. In response to this operation, the timing
notification Ntrs is transmitted from the second input unit 18 to
the processor 11. If the timing notification Ntrs has not been
received in step S1010, the processor 11 determines that the user
is not going to get off, and returns to step S105 for continuing
the vehicle navigation.
[0060] On the other hand, if the timing notification Ntrs has been
received in step S1010, the processor 11 determines that the user
is now going to get off the vehicle with the sub-device 2. That is,
the processor 11 determines that the sub-device 2 is going to carry
out processing required for off-vehicle navigation to guide the
user traveling outside the vehicle to the destination point DP. As
described with reference to FIG. 2, however, the second
cartographic data Dcgp2 and the second road network data Dntw2 used
for off-vehicle navigation are stored in the storage unit 14 of the
main device 1. Furthermore, the coordinate value Cdp of the
destination point DP is set only in the main device 1, and not in
the sub-device 2.
[0061] For this reason, the processor 11 generates navigation data
Dnvg required for the off-vehicle navigation for transmission to
the sub-device (step S1011). More specifically, the processor 11
first accesses the database DB1 for reading data representing a
portion covering a predetermined range R3 from the second
cartographic data Dcgp2 representing the map covering the above
described basic area into the working area 13. The processor 11
further reads data representing a portion covering the
predetermined range R3 from the second cartographic data Dntw2
representing the road network covering the above described basic
area. The predetermined range R3 is a range including the current
position Ppcv calculated in step S105 and the destination point DP
received in step S101, that is, the range assumed to be traveled by
the user. The processor 11 then generates, on the working area 13,
the navigation data Dnvg including coordinate values of the current
position Ppcv collectively as a coordinate value Cvp of a vehicle
position VP, the coordinate value Cdp of the destination point DP,
and the second cartographic data Dcgp2 and the second road network
data Dntw2 representing the map and the road network, respectively,
of the predetermined range R3, as illustrated in FIG. 10. The
processor 11 then transfers the navigation data Dnvg to the
communications controller 110. As illustrated in FIG. 7, the
communications controller 110 transmits the received navigation
data Dnvg via the cable 3 to the communications controller 24 of
the sub-device 2. After the navigation data Dnvg has been
transmitted, the processor 11 ends the procedure of FIG. 6. The
user then stops the engine of the vehicle, removes the sub-device 2
from the cable 3, and heads for the destination point DP with the
sub-device 2 by means other than the vehicle (on foot, for
example).
[0062] As described above, the processor 21 of the sub-device 2
executes the program PG2. FIG. 8 is a flowchart showing the
procedure described in the program PG2 and carried out by the
processor 21. In FIG. 8, the processor 21 waits for the navigation
data Dnvg to come (step S201). When the navigation data Dnvg comes,
the processor 21 stores it in the working area 23 (step S202).
After the navigation data Dnvg is stored, the processor 21 carries
out the off-vehicle navigation. The processor 21 first sets the
coordinate value Cvp of the vehicle position VP and the coordinate
value Cdp of the destination point DP included in the received
navigation data Dnvg as the original point and the end point,
respectively, for a route search carried out in the next step S204
(step S203).
[0063] The processor 21 then uses a scheme typified by the
Dijkstra's algorithm for deriving an optimal route from the vehicle
position VP to the destination point DP from the second road
network data Dntw2 on the working area 23 and generating optimal
route data Dprw for outside of the vehicle on the working area 23
(step S204). The optimal route data Dprw is a string of nodes (or
links) representing the optimal route obtained in step S204.
[0064] The processor 21 then accumulates the direction of travel
and the number of steps taken by the user, both indicated by the
travel parameters Pwkr transmitted from the autonomous navigation
sensors 25. The processor 21 then multiplies the accumulation
results of the number of steps by a stride length set as a default
or registered by the user for calculating the distance traveled by
the walking user. The processor 21 further receives the positional
data Dcpw from the receiver 26. Based on the accumulation results
of the direction of travel, the distance traveled, and the
positional data Dcpw, the processor 11 calculates an accurate
current position Ppcw of the user on the working area 23 (step
S205).
[0065] The processor 21 then reads data representing a portion
covering a predetermined range R4 of the map from the second
cartographic data Dcgp2 representing the predetermined range R3 of
the map stored in the working area 23 into frame memory reserved on
the working area 23 (step S206). Here, the predetermined range R4
is the periphery of the current position Ppcw calculated in step
S205. For convenience, assume in the present embodiment that the
predetermined range R4 is the same as a range covered by a map
displayed later on the display unit 27.
[0066] The processor 21 then generate guides image data Dgdw for
outside of the vehicle (step S207). More specifically, the
processor 21 first selects anode string (or a link string) included
in the predetermined range R4 from the optimal route data Dprw
generated in step S204. The processor 21 then overlays the optimal
route represented by the selected node string (or link string) on
the map represented by the second cartographic data Dcgp2 stored on
the frame memory. Also overlaid on this map is a mark indicating
the current position Ppcw obtained in step S205, thereby completing
the guide image data Dgdw on the frame memory. This guide image
data Dgdw represents a guide image as illustrated in FIG. 9B,
including the map covering the periphery of the current position of
the user who is traveling outside of the vehicle, with the optimal
route (refer to a back-slashed portion) and the current position of
the user (refer to a triangular mark) depicted thereon.
[0067] The processor 21 then transmits the guide image data Dgdw
generated in step S207 to the display unit 27 (step S208). The
display unit 27 carries out display processing based on the
received guide image data Dgdw for displaying on its screen the
guide image as illustrated in FIG. 9B. As such, the sub-device 2
presents the guide image for outside of the vehicle to the user,
thereby guiding the user from the vehicle position VP to the
destination point DP.
[0068] The processor 21 then determines whether the user has
arrived at the destination point DP (step S209). Specifically, when
the current position Ppcw calculated in step S205 coincides with
the destination point DP set in step S203, the processor 21
determines that no further guidance is required for the walking
user, and ends the procedure in FIG. 8. Now, the navigation system
NS1 has guided the user going from the starting point SP to the
destination point DP by vehicle and then on foot. On the other
hand, if the user has not yet arrived at the destination point DP,
the processor 21 determines to continue the off-vehicle navigation,
and returns to step S205.
[0069] As such, in the navigation system NS1, when the first input
unit 17 is operated, the navigation data Dnvg as illustrated in
FIG. 10 is automatically transmitted from the main device 1 to the
sub-device 2. As stated above, the navigation data Dnvg includes
the coordinate value Cvp of the vehicle position VP (which
corresponds to the intermediate point IP), the coordinate value Cdp
of the destination point DP, and the second cartographic data Dcgp2
and the second road network data Dntw2 representing the map and the
road network, respectively, covering the predetermined range R3. By
using the received navigation data Dnvg, the sub-device 2 guides
the user outside of the vehicle from the vehicle position VP to the
destination point DP. As such, even when vehicle navigation and
off-vehicle navigation are performed by the main device 1 and the
sub-device 2 separately, all the user has to do is to operate the
first input unit 17. Thus, the navigation system NS1 can smoothly
guide the user going by vehicle and then on foot from the starting
point SP to the destination point DP.
[0070] Furthermore, compared with the conventional navigation
system (refer to U.S. Pat. No. 6,125,326), the navigation system
NS1 has a distinguishable feature that the sub-device 2 guides the
user outside of the vehicle to the destination point DP based on
the coordinate value Cdp included in the received navigation data
Dnvg. Therefore, the user does not have to input the destination
point DP in the sub-device 2. Thus, it is possible to provide the
navigation system NS1, which is more convenient than the
conventional system.
[0071] Described next is a navigation system NS2 according to a
second embodiment of the present invention. As illustrated in FIG.
11, the navigation system NS2 is similar in construction to the
navigation system NS1 (refer to FIG. 1), but different therefrom
only in that a main device 5 and a sub-device 6 are provided in
place of the main device 1 and the sub-device 2. Therefore,
components corresponding to those illustrated in FIG. 1 are
provided with the same reference numeral, and are not described
herein.
[0072] With reference to FIG. 12, described next is the detailed
construction of the main device 5 and the sub-device 6. As
illustrated in FIG. 12, the main device 5 is similar in
construction to the main device 1, but different therefrom only in
that program memory 51, a storage unit 52, and an input unit 53 are
provided in place of the program memory 12, the storage unit 14,
and the first input unit 17, and that the second input unit 18 is
not provided. Therefore, components of the main device 5
illustrated in FIG. 12 corresponding to those of the main device 1
illustrated in FIG. 2 are provided with the same reference
numerals, and are not described herein.
[0073] The program memory 51 previously stores a computer program
(hereinafter simply referred to as program) PG3 executed by the
processor 11.
[0074] The storage unit 51 stores database DB2. The database DB2 is
constructed in consideration of a relation between the intermediate
point IP and the destination point DP. In the first embodiment, the
intermediate point IP and the destination point DP have no relation
to each other. That is, the user arbitrarily selects the
intermediate point IP, and gets off the vehicle there to travel to
the destination point DP by means other than the vehicle. In the
second embodiment, such a case is considered where the intermediate
point IP and the destination point DP have some relation. For
example, as illustrated in FIG. 13, consider a case where a
restaurant Prst owns a parking lot Ppkg only a short walk away. In
this case, to go to the restaurant Prst (destination point DP) from
a starting point SP (now shown), the user first travels to the
parking lot Ppkg (intermediate point IP) by vehicle, as indicated
by an arrow A1, and then travels from the parking lot Ppkg to the
restaurant Prst by means other than the vehicle (on foot, for
example), as indicated by an arrow A2. As such, the destination
point DP may relate to a particular intermediate point IP. The
database DB2 is generated in consideration of the above relation
between the destination point DP and the intermediate point IP, and
is structured as illustrated in FIG. 14A.
[0075] In FIG. 14A, the database DB2 is similar in construction to
the database DB1 (refer to FIG. 3), but different therefrom in that
plurality pieces of destination point data Ddp are included in
place of the second cartographic data Dcgp2 and the second road
network data Dntw2, and that the destination point data Ddp
includes several data sets Dst composed of a map identifier Idmp,
third cartographic data Dcgp3, and third road network data Dntw3.
Therefore, the pieces of data in FIG. 14A corresponding to those
illustrated in FIG. 3 are provided with the same reference
character, and are not described herein.
[0076] The destination point data Ddp is generated with POIX (Point
Of Interest exchange language). As illustrated in FIG. 14B, the
destination point data Ddp includes at least one piece of possible
place data Dpoi of a possible place as the destination point DP. In
FIG. 14B, the possible place data Dpoi includes a possible place
name Npoi, typical coordinates Cpoi representing the possible
place, typical coordinate Cip representing the intermediate point
IP related to the possible place, and the map identifier Idmp. The
map Idmp is information for uniquely identifying the third
cartographic data Dcgp3 and route search data Drsh (refer to FIG.
14A) that include an optimal route from the typical coordinate Cpoi
to the typical coordinate Cip.
[0077] In the data set Dst illustrated in FIG. 14A, the map
identifier IDmp uniquely identifies the subsequent third
cartographic data Dcgp3 and third road network data Dntw3. The
third cartographic data Dcgp3 represents, as illustrated in FIG.
15, a map obtained by scaling down the state of the ground surface
on the area including the typical coordinates Cpoi and Cip. The map
represented by the third cartographic data Dcgp3 further includes
the optimal route connecting between these typical coordinates Cpoi
and Cip, as indicated by an arrow A3 in FIG. 15. As illustrated in
FIG. 15, the third road network data Dntw3 represents the
connecting relation among roads of the network on the map
represented by the third cartographic data Dcgp3 contained in the
same data set Dst by using nodes and links.
[0078] In FIG. 12, the input unit 53 is operated by the user for
carrying out route search in the vehicle navigation, In response to
the operation, the input unit 53 generates the search start
instruction Irsh as described above for transmission to the
processor 11. The user also operates the input unit 53 to input
information required for setting an original point and an end point
for route search to the main device 5.
[0079] The sub-device 6 is similar in construction to the
sub-device 2, but different therefrom only in that program memory
61 is provided in place of the program memory 22. Therefore,
components of the sub-device 6 illustrated in FIG. 12 corresponding
to those of the sub-device 2 illustrated in FIG. 2 are provided
with the same reference numeral or character, and are not described
herein. The program memory 61 previously stores a computer program
(hereinafter simply referred to as program) PG4 executed by the
processor 21.
[0080] With reference to FIGS. 16 and 17, described next is the
operation of the navigation system NS2 in a case where the user
travels as described with reference to FIG. 13. After the user
starts driving the vehicle, the main device 5 and the sub-device 6
are supplied with drive power. Then, the processor 11 of the main
device 5 starts executing the program PG3. The processor 21 of the
sub-device 6 also starts executing the program PG4.
[0081] The user first operates the input unit 53 of the main device
5. In response to this operation, the input unit 53 transmits the
above described search start instruction Irsh as described above to
the processor 11. On receiving the search start instruction Irsh,
the processor 11 carries out processing required for vehicle
navigation whose procedure has been described in the program PG3.
FIG. 16 is a flowchart showing the procedure of vehicle navigation.
In FIG. 16, the processor 11 first sets an original point (starting
point SP) for route search (step S301). More specifically, in step
S301, the user operates the input unit 53 to designate the starting
point SP. In response to the operation, the processor 11 represents
the designated starting point SP with longitude and latitude
coordinates, for example. In the following description, these
longitude and latitude coordinates of the starting point SP are
collectively referred to as a coordinate value Csp. The processor
11 stores the coordinate value Csp of the starting point SP in the
working area 13, thereby setting the original point for route
search carried out later in step S305.
[0082] The processor 11 then accesses the database DB2 for reading
one or more the possible place names Npoi from the destination
point data Ddp into the working area 13. The processor 11 then
transmits the possible place names Npoi stored on the working area
13 to the display unit 19. The display unit 19 displays the
received possible place names Npoi on the screen. The user uses the
input unit 53 to select a desired one of the displayed possible
place names Npoi as the destination point DP. If the user cannot
find any place he or she desires to set as the destination point
DP, the user does not select any from the displayed names Npoi, but
designates another place as the destination point DP. In this case,
the user is guided to the destination point DP in a manner similar
to that in the first embodiment.
[0083] After any Npoi has been selected, the processor 11 accesses
the database DB2 to retrieve the typical coordinates Cpoi and Cip
from the destination point data Ddp including the selected possible
place name Npoi. The processor 11 stores the retrieved typical
coordinates Cpoi and Cip in the working area 13 (step S302), and
sets the stored typical coordinates Cip of the intermediate point
IP as the end point for route search carried out later in step S305
(step S303).
[0084] The processor 11 then reads data representing a portion
covering a predetermined range R5 of the road network from the
above described first road network data Dntw1 into the working area
13 (step S304). The predetermined range R5 is a range assumed to
include an optimal route from the set original point to end point
for route search, generally, the range surrounded by a rectangle
including the starting point SP and the intermediate point IP.
[0085] The processor 11 then derives, from the first road network
data Dntw1 read in step S304, the optimal route from the original
point set in step S301 (starting point SP) to the end point set in
step S303 (intermediate point IP), and generates optimal route data
Dprv for the vehicle on the working area 13 (step S305). This step
is similar to step S104 of FIG. 6. The optimal route data Dprv is a
string of nodes (or links) representing the optimal route derived
in step S305.
[0086] The processor 11 then calculates an accurate current
position Ppcv of the vehicle on the working area 13 (step S306).
This step is similar to step S105 of FIG. 6. The processor 11 then
accesses the database DB1 for reading data representing a portion
covering the predetermined range R2 of the map from the first
cartographic data Dcgp1 into frame memory reserved on the working
area 13 (step S307). This step is similar to the step S106. The
processor 11 then generates vehicle guide image data Dgdv as
illustrated in FIG. 9A (step S308), which is similar to step S107.
The processor 11 then transmits the guide image data Dgdv generated
in step S308 to the display unit 19 (step S309), where an guide
image is displayed. As such, the main device 5 presents the guide
image to the user, thereby guiding the user who is driving the
vehicle from the starting point SP to the intermediate point
IP.
[0087] The processor 11 determines whether the user is going to get
off the vehicle (step S3010) More specifically, in step S3010, the
processor 11 determines whether the vehicle has arrived at the
intermediate point IP. That is, if the current position Ppcv
obtained in step S306 does not coincide with the intermediate point
IP set in step S302, the processor 11 determines that the user is
not going to get off the vehicle, and returns to step S306 for
continuing the vehicle navigation.
[0088] On the other hand, if it is determined that the vehicle has
arrived at the intermediate point IP, the processor 11 determines
that the user is going to get off the vehicle and start traveling
with the sub-device 6 outside of the vehicle. Based on this
determination, the processor 11 generates navigation data Dnvg
required for off-vehicle navigation, and transmits the navigation
data Dnvg to the sub-device 6 (step S3011). More specifically, the
processor 11 first accesses the database DB2 to retrieve the map
identifier IDmp from the possible place data Dpoi including the
possible place name Npoi designated by the user. The processor 11
also accesses the database DB2 to read the data set Dst having the
same map identifier IDmp as the retrieved one into the working area
13. What is read at this time includes the third cartographic data
Dcgp3 and the third road network data Dntw3 representing the map
and the road network, respectively, covering both of the
intermediate point IP and the destination point DP. Then, as
illustrated in FIG. 18, the processor 11 generates navigation data
Dnvg including the coordinate value Cdp of the destination point DP
stored in step S302 in the working area 13, and the data set Dst
read in step S3011, and transfers the generated navigation data
Dnvg to the communications controller 110. The communications
controller 110 transmits the received navigation data Dnvg via the
cable 3 to the communications controller 24 of the sub-device 6, as
illustrated in FIG. 7. After the navigation data Dnvg is
transmitted, the processor 11 ends the procedure of FIG. 16. The
user then stops the engine of the vehicle, removes the sub-device
from the cable 3, and then heads for the destination point DP with
the sub-device 6.
[0089] As described above, the processor 21 of the sub-device 6
executes the program PG4. FIG. 17 is a flowchart showing the
procedure described in the program PG4 and carried out by the
processor 21. In FIG. 17, the processor 21 stores the received
navigation data Dnvg in the working area 23 in a similar manner to
that in steps S201 and S202 (steps S401, S402). After storing, the
processor 21 carries out processing required for the off-vehicle
navigation.
[0090] The processor 21 then calculates an accurate current
position Ppcw of the user on the working area 23 in a similar
manner as that in step S205 (step S403). Note that, when the
receiver 26 is implemented by a PHS receiver, the receiver 26 has
to establish a communications connection with a PHS base station
before executing step S403. Then, the receiver 26 receives
information for specifying the current position. Also note that the
sub-device 6 does not have to carry out the route search, in
contrast to the sub-device 2 of the navigation system NS1 that
carries out route search in step S204. This is because, in the
navigation data Dnvg, the optimal route from the intermediate point
IP to the destination point DP has already been depicted on the map
represented by the third cartographic data Dcgp3, as illustrated in
FIG. 13.
[0091] The processor 21 then reads data representing a portion
covering a predetermined range R6 of the map from the third
cartographic data Dcgp3 stored in the working area 23 into frame
memory reserved on the working area 23 (step S404). Here, the
predetermined range R6 is the periphery of the current position
Ppcw calculated in step S403. For convenience, assume in the
present embodiment that the predetermined range R6 is a range of a
map displayed later on the display unit 27.
[0092] The processor 21 then generates guide image data Dgdw for
outside of the vehicle (step S405). More specifically, the
processor 21 overlays a mark indicating the current position Pcw
obtained in step S403 on the map represented by the third
cartographic data Dcgp3 stored on the frame memory, thereby
completing the guide image data Dgdw on the frame memory. The guide
image data Dgdw represents such a guide image for outside of the
vehicle as that the map covering the periphery of the current
position of the user, with the optimal route (refer to a dotted
arrow line A4) and the current position of the user (refer to a
triangular mark) depicted thereon.
[0093] The processor 21 then transmits the guide image data Dgdw
generated in step S405 to the display unit 27 (step S406). The
display unit 27 carries out display processing based on the
received guide image data Dgdw for displaying a guide image as
illustrated in FIG. 19 on the screen. As such, the sub-device 6
presents the guide image for outside of the vehicle to the user,
thereby guiding the user outside of the vehicle from the
intermediate point IP to the destination point DP.
[0094] The processor 21 then determines whether the user has
arrived at the destination point DP (step S407). Specifically, if
the current position Ppcw calculated in step S403 coincides with
the destination point DP contained in the navigation data Dnvg
received in step S401, the processor 21 determines that no further
guidance is required for the walking user, and ends the procedure
of FIG. 17. Now, the navigation system NS2 has guided the user
traveling by vehicle and then on foot from the starting point SP to
the destination point DP. On the other hand, if the user has not
yet arrived at the destination point DP, the processor 21
determines to continue the off-vehicle navigation, and returns to
step S403.
[0095] In the navigation system NS1, the user has to operate the
second input unit 18 to designate timing of change from vehicle
navigation to off-vehicle navigation. In the navigation system NS2,
however, if there is any relation between the intermediate point IP
and the destination point DP, the navigation data Dnvg is
automatically transmitted to the sub-device 6, as illustrated in
step S3011 of FIG. 16. Therefore, the user does not have to
designate such timing of change as described above, thereby
reducing the number of times the user has to operate the main
device 5. Thus, it is possible to provide the more convenient
navigation system NS2, which is more convenient to use.
[0096] With reference to FIG. 20, described next is a navigation
system NS3 according to a third embodiment of the present
invention. As illustrated in FIG. 20, the navigation system NS3 is
similar in construction to the navigation system NS1 (refer to FIG.
1), but different in that a main device 7 is provided in place of
the main device 1. Therefore, components of FIG. 20 corresponding
to those of FIG. 1 are provided with the same reference numerals,
and are not described herein.
[0097] With reference to FIG. 21, described next is the detailed
construction of the main device 7. As illustrated in FIG. 21, the
main device 7 is similar in construction to the main device 1, but
different therefrom in that program memory 71 and an input unit 72
are provided in place of the program memory 12 and the first input
unit 17, and that the second input unit 18 is not required.
Therefore, components of the main device 7 illustrated in FIG. 21
corresponding to those of the main device 1 illustrated in FIG. 2
are provided with the same reference numerals, and are not
described herein.
[0098] The program memory 71 previously stores a computer program
(hereinafter simply referred to as a program) PG5 executed by the
processor 11. The input unit 72 is operated by the user when he or
she desires to carry out the route search in the vehicle
navigation. In response to the operation, the input unit 72
generates the search start instruction Irsh as described above for
transmission to the processor 11. The user further operates the
input unit 72 to input the starting point SP, the intermediate
point IP, and the destination point DP to the main device 7.
[0099] As has been described with reference to FIG. 5, the user may
go from the starting point SP to the intermediate point IP by
vehicle, and then goes to the destination point DP by means other
than the vehicle. In this case, the user may have determined both
of the intermediate point IP and the destination point DP at the
time of starting the travel. The navigation system NS3 is suitable
for such case.
[0100] With reference to FIG. 22, described next is the operation
of the navigation system NS3 in a case when the user travels as
illustrated in FIG. 5. After the user starts driving the vehicle,
the main device 7 and the sub-device 2 are supplied with drive
power. The processor 11 of the main device 7 starts executing the
program PG5. The processor 21 of the sub-device 2 starts executing
the program PG2.
[0101] First, the user operates the input unit 72 of the main
device 7. In response to this operation, the input unit 72
transmits the above described search start instruction Irsh to the
processor 11. In response to the search start instruction Irsh, the
processor 11 carries out vehicle navigation whose procedure is
described in the program PG5. FIG. 22 is a flowchart showing the
procedure of vehicle navigation. In FIG. 22, the processor 11 first
retrieves the starting point SP, the intermediate point IP, and the
destination point DP, and stores them in the working area 13 (step
S501). More specifically, the user operates the input unit 72 for
designating the starting point SP, the intermediate point IP, and
the destination point DP. The input unit 72 transmits these
designated points to the processor 11. The starting point SP, the
intermediate point IP, and the destination point DP designated in
step S501 are represented by longitude and latitude coordinates. In
the following description, the longitude and latitude coordinates
of the starting point SP are referred to as coordinate values Csp,
those of the intermediate point IP are referred to as coordinate
values Cip, and those of the destination point DP are referred to
as coordinate value Cdp.
[0102] Next at step S501, the processor 11 sets the stored
coordinate values Csp and Cip as an original point and an end
point, respectively, for route search carried out later in step
S505 (step S502).
[0103] The processor 11 then reads data representing a portion
covering the predetermined range R5 (refer to the second
embodiment) of the road network from the first road network data
Dntw1 into the working area 13 (step S503). The processor 11 then
derives, as with step S104 of FIG. 6, an optimal route from the
original point (starting point SP) and the end point (intermediate
point IP) set in step S503 from the first road network data Dntw1
read in step S503, and generates optimal route data Dprv for the
vehicle on the working area 13 (step S504). The optimal route data
Dprv is a string of nodes (or links) representing the optimal route
derived in step S504.
[0104] The processor 11 then calculates an accurate current
position Ppcv on the working area 13 (step S505), which is similar
to step S103. The processor 11 then reads data representing a
portion covering the predetermined range R2 (refer to the first
embodiment) of the map from the first cartographic data Dcgp1 into
the frame memory (step S506), which is similar to step S106. The
processor 11 then generates the vehicle guide image data Dgdv
representing the guide image as illustrated in FIG. 9A (step S507),
which is similar to step S107. The processor then transmits the
generated guide image data Dgdv to the display unit 19 (step S508),
where a guide image as illustrated in FIG. 9A is displayed. As
such, the main device 5 presents the guide image to the user,
thereby guiding the user driving the vehicle from the starting
point SP to the intermediate point IP.
[0105] The processor 11 then determines whether the user is going
to get off the vehicle (step S509), which is similar to step S3010
of FIG. 16. If it is determined that the user is not going to get
off, the processor 11 returns to step S505 for further vehicle
navigation.
[0106] On the other hand, if it is determined that the user is
going to get off, the processor 11 determines that the user is
going to travel outside of the vehicle with the sub-device 2. Based
on the determination, the processor 11 generates the navigation
data Dnvg (refer to FIG. 10) for transmission to the sub-device 2
(step S5010), which is similar to step S1011 of FIG. 6. After the
navigation data Dnvg has been transmitted, the processor 11 ends
the procedure of FIG. 22. The user then stops the engine of the
vehicle, removes the sub-device 2 from the cable 3, and then heads
for the destination point on foot with the sub-device 2.
Thereafter, the sub-device 2 carries out the off-vehicle navigation
as illustrated in FIG. 8.
[0107] In the navigation system NS1, the user has to operate the
second input unit 18 to input the timing of change from the vehicle
navigation to the off-vehicle navigation in the main device 1. In
the navigation system NS3, however, the intermediate point IP has
been previously designated. Therefore, as shown in step S5010 of
FIG. 22, the navigation data Dnvg is automatically transmitted to
the sub-device 2. For this reason, the user does not have to input
the timing of change in the main device 5, thereby reducing the
number of times he or she operates the main device 5. Thus, it is
possible to provide the navigation system NS3, which is more
convenient to use.
[0108] With reference to FIG. 23, described next is a sub-device 8,
which is an example modification of the sub-device 2. The
sub-device 8 is similar in construction to the sub-device 2, but
different therefrom in that program memory 81 is provided in place
of the program memory 22, and that a non-volatile storage unit 82
is further provided. Therefore, components of the sub-device 8
illustrated in FIG. 23 corresponding to those of the sub-device 2
illustrated in FIG. 21 are provided with the same reference
numerals, and are not described herein.
[0109] The program memory 81 previously stores a computer program
(hereinafter simply referred to as program) PG6 executed by the
processor 21. With reference to FIG. 24, described next is the
procedure required for the off-vehicle navigation carried out by
the sub-device 8 of FIG. 23. The flowchart of FIG. 24 is similar to
that of FIG. 8, but different therefrom in that steps S601 to S604
are further provided. Therefore, steps in FIG. 24 corresponding to
those in FIG. 8 are provided with the same step numbers, and are
not described herein. The processor 21 of the sub-device 8
determines, in the next step of step S203, whether travel data Dtr
containing the vehicle position VP and the destination point DP
that coincide with those contained in the navigation data Dnvg
received this time has been stored in the non-volatile storage unit
82 (step S601). If such travel data Dtr has not been stored, the
processor 21 carries out steps S204 and thereafter. If such travel
data Dtr has been stored, the processor 21 carries out step S602,
which is described later.
[0110] Also, next to the step S205, the processor 21 carries out
map matching for correcting the calculated current position Ppcw to
longitude and latitude coordinates on a road of the map covering
the predetermined range R4 stored in the working area 23, and
stores a combination of these coordinates as a coordinate value Cmm
in the working area 23 (step S603). With the above step S601 added,
if it is determined in step S209 that the user has arrived at the
destination point, the working area 23 has a plurality of
combinations of these coordinates Cmm stored therein. After the
user arrives at the destination point, the processor 21 detects a
travel time Ttr taken by the user to travel from the vehicle
position VP to the destination point DP (step S604) The processor
21 then generates travel data Dtr, as illustrated in FIG. 25,
containing the coordinate value Cvp of the vehicle position VP, the
coordinate value Cdp of the destination point DP, all of the
coordinate values Cmm currently stored in the working area 23, and
the travel time Ttr detected in step S604, and then stores the
generated travel data Dtr in the non-volatile storage unit 82 (step
S605). Here, each coordinate value Cmm represents a path traveled
by the user going from the vehicle position VP to the destination
point DP.
[0111] Here, if it is determined in step S601 that the travel data
Dtr has been stored in the non-volatile storage unit 82, the user
has once traveled via the vehicle position VP contained in the
navigation data Dnvg to the destination point DP. In this case, the
travel data Dtr contains the coordinate value Cmm indicating the
path previously traveled. Therefore, the processor 21 does not have
to generate the optimal route data Dprw in step S204, thereby
jumping from step S601 directly to step S205. In this case, note
that the guide image data Dgdw generated in step S207 is based on
the coordinate value Cvp of the vehicle position VP, the coordinate
value Cdp of the destination point DP, and each coordinate value
Cmm stored in the non-volatile storage unit 82, in place of the
optimal route data Dprw. Also, in step S207, the processor 21 may
overlay the travel time Ttr contained in the travel data Dtr on the
map represented by the guide image data Dgdw, or may calculate the
remaining time assumed to be required for arriving at the
destination point DP and overlay the calculated remaining time on
the map.
[0112] Note that, in the above example modification, the travel
data Dtr may be stored in a non-volatile storage unit provided to
the main device 1 or 7.
[0113] Also, a scheme other than that described in step S1010 of
FIG. 6, step S3030 of FIG. 16, and step S509 of FIG. 22 may be
taken for determining whether the user is going to get off the
vehicle. In an example scheme, it is detected whether the
sub-device 2 (6) has been removed from the holder 4 and, based on
the detection result, the processor 11 determines whether the user
is going to get off.
[0114] Furthermore, in the above first, second, and third
embodiments, the main device 1 and the sub-device 2; the main
device 5 and the sub-device 6; and the main device 7 and the
sub-device 2 are connected to each other via the cable 3. This is
not restrictive, and both may be coupled to each other so as to
wirelessly communicate with each other.
[0115] Still further, in the first and third embodiments, the
storage device 14 of the main devices 1 and 7 has the second
cartographic data Dcgp2 and the second road network data Dntw2
stored therein, and both data are transmitted to the sub-device 2
as part of the navigation data Dnvg. This is to reduce the
sub-device 2 in weight and size. Alternatively, the sub-device 2
may include a storage unit for storing the second cartographic data
Dcgp2 and the second road network data Dntw2. In the off-vehicle
navigation, the sub-device 2 reads the second cartographic data
Dcgp2 and the second road network data Dntw2 from the storage unit
for use. In this case, the navigation data Dnvg to be transmitted
to the sub-device 2 does not have to contain the second
cartographic data Dcgp2 and the second road network data Dntw2.
[0116] Still further, in the first and third embodiments, the
processor 11 uses the first cartographic data Dcgp1 and the first
road network data Dntw1 read from the database DB1 stored in the
storage unit 14 for generating the guide image data Dgdv for the
vehicle. In recent years, as well known, such a distribution
technology has become available as that the first cartographic data
Dcgp1 and the first road network data Dntw1 are distributed to the
navigation systems NS1 and NS3 from servers remote therefrom. This
distribution technology may be applied to the navigation system NS1
and NS3. That is, the processor 11 may use the first cartographic
data Dcgp1 and the first road network data Dntw1 received from a
remote server to generate the guide image data Dgdv for vehicle.
Therefore, the storage unit 14 is not necessarily a component
requisite to the main device 1 and 7. The same goes for the second
embodiment, that is, the storage unit 52 is not necessarily a
component requisite to the main device 5.
[0117] Still further, in the first and third embodiments, the
processor 11 transmits the second cartographic data Dcgp2 and the
second road network data Dntw2 to the communications controller 24
via the communications controller 110 and the cable 4, as
illustrated in FIG. 10. The processor 21 uses the second
cartographic data Dcgp2 and the second road network data Dntw2
received from the communications controller 110 to generate the
guide image data Dgdw for outside of the vehicle. Alternatively, by
applying the above distribution technology, the processor 21 can
receive, from a remote server, the second cartographic data Dcgp2
and the second road network data Dntw2 including both of the
vehicle position VP and the destination point DP, as long as the
coordinate value Cvp of the vehicle position VP and the coordinate
value Cdp of the destination point DP are known. Thus, in the first
and third embodiments, the navigation data Dnvg may include at
least information for specifying the vehicle position VP
(intermediate point IP) and the destination point DP. Similarly, in
the second embodiment, the navigation data Dnvg may include at
least information for specifying the destination point DP.
[0118] Still further, in the first and third embodiments, the
processor 11 transmits the coordinate value Cvp of the vehicle
position VP to the communications controller 24 via the
communications controller 110 and the cable 4, as illustrated in
FIG. 10. However, by using the autonomous navigation sensors 25 and
the receiver 26, the sub-device 2 can detect the coordinate value
Cvp of the vehicle point VP. Therefore, the navigation data Dnvg
may not contain the coordinate value Cvp of the vehicle point
VP.
[0119] Still further, in the first and third embodiments, the user
may go back to the vehicle after he or she performs some activities
at the destination point. Therefore, it is preferable that the
sub-device 2 set the starting point SP as a new destination point
and the destination point DP as a new starting point, automatically
search for a route from the new starting point to the new
destination point, and then guide the user to the position of the
vehicle according to the found route.
[0120] Still further, the programs PG1 to PG6 described in the
above embodiments may be distributed as being recorded in a
recording medium typified by CD-ROM, or via a communications
network typified by the Internet.
[0121] Still further, the above described navigation system NS1 is
constructed by the main device 1 and the sub-device 2 in the above
embodiment. Alternatively, the main device 1 and the sub-device 2
may not be components of the system, but may be provided separately
from the system. Similarly, the main device 5 and the sub-device 6,
and the main device 7 may be provided separately from the
system.
[0122] While the invention has been described in detail, the
foregoing description is in all aspects illustrative and not
restrictive. It is understood that numerous other modifications and
variations can be devised without departing from the scope of the
invention.
* * * * *