JP4630375B2 - Navigation device - Google Patents

Description

  The present invention relates to a navigation device, and more particularly to a device that is mounted on a vehicle and transmits information (direction, map, route, etc.) for reaching a destination to a driver.

  Navigation devices such as those described above were initially limited to a type that is integrally fixed to the vehicle, but recently a portable type that can be carried has also been proposed, and only the navigation function part can be attached and detached. In addition, a separation type navigation device that further improves usability has been proposed (see, for example, Patent Document 1).

  In the technique described in Patent Document 1, a navigation device comprising a GPS receiver connected to a GPS antenna, a gyro sensor, a vehicle signal processing circuit including a vehicle speed signal, a display for displaying a map, and an ECU for controlling the whole. The vehicle side unit disposed on the vehicle side and the detachable unit detachably disposed on the vehicle, and at least the gyro sensor and the vehicle signal processing circuit are disposed on the vehicle side. And the ECU are disposed in the detachable unit so that they can be removed from the vehicle and used outside the vehicle.

Japanese Patent No. 3376813

  In the prior art described above, when the detachable unit is mounted on the vehicle side unit, positioning is performed based on the outputs of the three detectors, but when the detachable unit is detached, drive simulation using the detachable unit is performed. Configured to do. That is, there is room for improvement in that the positioning is limited to the use of three detectors.

  Accordingly, the object of the present invention is to solve the above-described problems, use the outputs of three detectors such as GPS signals, and be detachably disposed on the vehicle side unit disposed on the vehicle side and the vehicle. It is an object of the present invention to provide a navigation device including a detachable unit that improves the flexibility of using a detector in positioning.

  In order to solve the above-mentioned object, according to claim 1, a base unit that can be fixed to a vehicle and has at least a microcomputer, and a display that is detachable from the base unit and displays map data. And a front panel unit having at least a microcomputer having a navigation function for displaying the position of the vehicle measured on the map data, a receiver for receiving a GPS signal, and rotation of wheels of the vehicle At least three detectors comprising a wheel speed sensor for detecting speed and a gyro sensor for detecting an angular speed around the vertical axis of the vehicle are provided, and the microcomputer of the front panel unit is responsive to the output state of the detector. Should be used for positioning the position of the vehicle The output of the receiving device that receives the GPS signal is input to the microcomputer of the front panel unit while the outputs of the wheel speed sensor and the gyro sensor are input to the microcomputer via the microcomputer of the base unit. The output is made to the microcomputer of the front panel unit, and the outputs of the three detectors are synchronized by the microcomputer of the front panel unit.

  3. The navigation device according to claim 2, wherein the microcomputer of the base unit sends the outputs of the vehicle speed sensor and the gyro sensor to the microcomputer of the front panel unit with time information attached thereto, while the front panel unit The microcomputer stores the output of the receiver that receives the GPS signal with time information, and combines the stored data with the data at the same time in the transmitted data. The output is synchronized.

  4. The navigation device according to claim 3, wherein the microcomputer of the base unit acquires the outputs of the vehicle speed sensor and the gyro sensor, and the timing of sending the acquired data to the microcomputer of the front panel unit. And the timing at which the output of the receiver that receives the GPS signal is transmitted to the microcomputer of the front panel unit at a constant interval, the microcomputer of the front panel unit outputs the outputs of the three detectors. The outputs of the three detectors are synchronized based on the acquisition time.

  In the navigation device according to claim 4, when an instruction from the outside regarding the detector to be used for positioning of the position of the vehicle is given, the microcomputer of the front panel unit follows the instruction from the outside. The detector is to be used to determine the position of the vehicle.

  In the navigation device having a base unit that can be fixed to a vehicle and a front panel unit that is detachable from the base unit, a receiving device that receives a GPS signal and a wheel speed sensor that detects a wheel speed. And at least three detectors composed of gyro sensors for detecting the angular velocity around the gravity axis. The microcomputer of the front panel unit has a detector to be used for positioning the vehicle position according to the output state of the detector. The output of the receiver that receives the GPS signal is input to the microcomputer of the front panel unit, while the outputs of the wheel speed sensor and the gyro sensor are sent to the microcomputer of the front panel unit through the microcomputer of the base unit. The front panel unit Since b is configured so as to synchronize the output of the three detectors on a computer, it is possible to improve the positioning accuracy of the vehicle position, it is possible to improve the flexibility of use of the detector in positioning.

  In addition, the separation type makes it possible to remove the front panel unit from the base unit and mount it on other vehicles, or enter destinations and routes at home, and improve usability as a navigation device. Can do.

  In the navigation device according to claim 2, the microcomputer of the base unit sends the outputs of the vehicle speed sensor and the gyro sensor with time information to the microcomputer of the front panel unit, while the microcomputer of the front panel unit The output of the receiver that receives the GPS signal is stored with time information, and the stored data is combined with the data at the same time in the transmitted data to synchronize the outputs of the three detectors. Therefore, the positioning accuracy of the vehicle position can be further increased.

  In the navigation device according to claim 3, the microcomputer of the base unit acquires the output of the vehicle speed sensor and the gyro sensor, the timing of sending the acquired data to the microcomputer of the front panel unit, and the GPS signal The microcomputer of the front panel unit holds the three outputs based on the acquisition time of the outputs of the three detectors. Since the output of the detector is configured to be synchronized, the positioning accuracy of the vehicle position can be further increased in the same manner.

  In the navigation device according to claim 4, when an instruction from the outside regarding the detector to be used for positioning of the position of the vehicle is given, the microcomputer of the front panel unit detects the position of the vehicle according to the instruction from the outside. Since the detector to be used for the positioning of the vehicle is determined, in addition to the effect described in claim 1, the situation that the user can know well, for example, the vehicle tire has been replaced with a tire having a different diameter such as a snow tire. If the road surface condition changes significantly, such as when the road surface changes from an ordinary road surface to a frozen road surface where slipping is likely to occur, the detector can be selected accordingly, thereby further improving the positioning accuracy of the vehicle position. be able to.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a front perspective view of a base unit and a front panel unit in a navigation device according to a first embodiment of the present invention. It is a perspective view of the back side of the front panel unit shown in FIG. It is a perspective view of the front panel unit (back side), cradle unit, and cradle unit mounting arm shown in FIG. It is explanatory drawing which shows the state which mounted the base unit and cradle unit shown in FIG. 1 in the vehicle. It is explanatory drawing of the driver's seat of the vehicle of FIG. It is a block diagram which shows the internal structure of a front panel unit and a base unit. It is a block diagram which shows the internal structure of a front panel unit and a cradle unit. It is a block diagram which shows the software structure of the navigation microcomputer shown in FIG. 7 is a flowchart showing a software configuration of the system microcomputer shown in FIG. 6. It is a flowchart which shows the process which detects whether the base unit or the cradle unit was mounted | worn which a navigation microcomputer performs in a front panel unit. 11 is a flowchart showing a process of determining a sensor output to be used for positioning of the position of the vehicle, similarly executed by the navigation microcomputer following the process of FIG. 10 in the front panel unit. It is explanatory drawing which shows the positional information just before removing memorize | stored with ID number in the non-volatile memory of a front panel unit and a base unit. It is a flowchart which shows the determination processing whether the vehicle moved while the front panel unit was removed performed by the system microcomputer of a base unit. It is a flowchart which shows the process performed by the navigation microcomputer of a front panel unit according to the process of FIG. It is explanatory drawing of the process according to the priority for preventing the interference of the apparatus shown in FIG. It is a flowchart which shows the process performed by the navigation microcomputer of a front panel unit based on FIG. It is a block diagram which shows the structure of GUI (function) shown in FIG. It is explanatory drawing explaining the function deletion process in the structure of FIG. It is a flowchart which shows the setting process of the skin file in case the users of several vehicles use one front panel unit in common. FIG. 20 is a flowchart showing an automatic skin file selection process executed after the process of FIG. 19. FIG. It is explanatory drawing which shows the example of the button which must not be deleted in the function deletion of FIG. It is a flowchart which shows the process performed according to FIG. It is a flowchart which shows the theft determination process of a front panel unit performed by the navigation microcomputer of a front panel unit. It is a flowchart which shows the main routine for performing the process shown in FIG. 10 etc. of microcomputers, such as a navigation microcomputer of a front panel unit. FIG. 25 is a flowchart showing an interrupt processing routine described in the processing of FIG. 24. FIG. FIG. 26 is a block diagram showing a hardware configuration of a microcomputer used in the interrupt process of FIG. 25. It is explanatory drawing which shows the structure of the antenna shown in FIG. Similarly, it is explanatory drawing which shows another example of a structure of the antenna shown in FIG. Similarly, it is explanatory drawing which shows another example of a structure of the antenna shown in FIG. FIG. 11 is a flow chart similar to FIG. 10 illustrating the operation of the navigation device according to the second embodiment of the present invention. FIG.

  DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments for implementing a navigation device according to the present invention will be described with reference to the accompanying drawings.

  FIG. 1 is a front perspective view of a base unit and a front panel unit in a navigation device according to a first embodiment of the present invention, FIG. 2 is a rear perspective view of the front panel unit, and FIG. It is a perspective view of a back side), a cradle unit, and a cradle unit mounting arm. FIG. 4 is an explanatory view showing a state in which it is mounted, FIG. 5 (a) is an explanatory view in the vicinity of the driver's seat of the vehicle, and FIG. 5 (b) is an explanatory view in the vicinity of the steering wheel.

  As shown in the figure, the navigation apparatus according to the embodiment of the present invention is fixed or built in (durable) on the dashboard of the vehicle A and is supplied with operating power from the power source (battery) of the vehicle A. 10 and a cradle unit 12 that is fixed (fixable) to the dashboard of the vehicle B and is supplied with operating power from a power source (battery) of the vehicle B, and is detachable from the base unit 10 or the cradle unit 12. And a front panel unit 14. Vehicles A and B are both automobiles.

  The navigation apparatus according to this embodiment is based on the combination of the base unit 10 and the front panel unit 14. However, as an application example, the front panel unit 14 may be assembled to the cradle unit 12. As shown in FIG. 4, the base units 10-1, 10-2, 10-3,. . . , Or cradle units 12-1, 12-2, 12-3,. . . Corresponding vehicles A1, A2, A3,. . . Or vehicles B1, B2, B3,. . . Further, the user can set the screen setting of the front panel unit 14 in advance for himself / herself, and use it by switching according to the ID number of the base unit 10 or the cradle unit 12 for each vehicle. Can be improved.

  The base unit 10 includes a box-like base unit case 10a as a whole, and a board or the like on which a microcomputer capable of operating the audio equipment of the vehicle A is accommodated. The front surface of the base unit case 10a is formed in a 2DIN (German Industrial Standard) size, and a recess 10b is formed there.

  The front panel unit 14 includes a plate-like front panel unit case 14a having a size substantially the same as or slightly larger than the front surface of the base unit 10, and a liquid crystal panel (display) for displaying map data on the front surface of the front panel unit case 14a. 14b, and switches provided so as to be freely operated by the user (operator), for example, a destination input switch 14c, a current location input switch 14d, and the like. The liquid crystal panel 14b is provided with a touch panel that can detect the position touched by the user (operator), which will be described later. Reference numeral 14e denotes an iPod (registered trademark), and reference numeral 14f denotes a jack for connecting to an analog audio device.

  The front panel unit 14 is configured to be detachable (attachable / detachable) to and from the concave portion 10a1 and the concave portion 10b on the front surface of the base unit case 10a. Of the operation of the attaching / detaching mechanism, the mounting will be described first. On the back surface of the front panel unit 14, as shown in FIG. 2, two fixed claws 14 g are formed on the left side and the movable catch slide on the right side. Two 14h are arranged vertically. In the concave portion 10b of the base unit 10, two movable lock levers 10c are arranged up and down on the right side, and two fixed claws 10d are formed on the left side and up and down, and when the front panel unit 14 is mounted, Each is fitted to the catch slide 14h and the fixed claw 14g of the front panel unit 14.

  In this specification, the “up and down” direction means up and down on the vertical axis (gravity axis) when the base unit 10 and the front panel unit 14 are fixed to the vehicles A and B, and the “left and right” direction is It means the direction perpendicular to it.

  As shown in FIG. 1, a connector 10e is provided in the recess 10b of the base unit 10, and when the front panel unit 14 is attached to the base unit 10, operating power is supplied from the power source (battery) of the vehicle A through the connector 10e. At the same time, data and control signals of various sensors such as the GPS signal receiver 20 and AV equipment are transmitted and received. Of the electrical contacts of the connector 10e, the left and right electrical contacts are ground contacts.

  Next, the removal will be described. The front panel unit 14 is provided with a detach button 14i below the jacks 14e, f. When the detach button 14i is pushed by the user while attached to the base unit 10, the movement is transmitted to the lock lever 10c via the detach knob 10f disposed on the base unit 10, and the lock lever 10c is moved outward. The mating with the fixed claw is released.

  The catch slide 14h on the right side of the front panel unit 14 is urged outward (right side in FIG. 2) by a spring force and is merely engaged with the fixing claw 10d of the base unit 10, so that the lock lever 10c on the left side. If the front panel unit 14 is moved more than the overlap of the catch slide 14h and the fixed claw 10d (in the left direction in FIG. 1) by the user and the fitting of the fixed claw 14g is released, The fitting is released, so that the front panel unit 14 can be removed from the base unit 10.

  As shown in FIG. 1, a release lever 10 g is disposed in the recess 10 b on the front surface of the base unit 10. The release lever 10g is urged in a direction to push out the front panel unit 14 when the front panel unit 14 is mounted via a kick lever (both not shown) mounted with a spring. A panel unit detection switch (not shown) is attached to the release lever 10g, and an output corresponding to the position of the release lever 10g, that is, attachment / detachment of the front panel unit 14, for example, an on signal when the front panel unit 14 is attached, An off signal is generated when removed.

  As shown in FIGS. 2 and 3, a cradle unit 12 is detachably attached to the back surface of the front panel unit 14. Although the illustration of the attaching / detaching mechanism of the front panel unit 14 and the cradle unit 12 is omitted, it is the same as the attaching / detaching mechanism of the front panel unit 14 and the base unit 10 described with reference to FIG. 1, and the front panel unit 14 includes a lock lever, It is detachably attached to the cradle unit 12 via a catch slide or the like. A panel unit detection switch is also arranged in the cradle unit 12.

  The cradle unit 12 is fixed to the dashboard of the vehicle B via the cradle unit mounting arm 16. The cradle unit 12 includes a cradle unit case 12a that is smaller in height than the front panel unit case 14a and larger in depth (deep), and accommodates a substrate or the like on which a microcomputer or the like is placed.

  As shown in FIG. 5, the navigation apparatus according to this embodiment is in the vicinity of the driver seat of the vehicle A or B, more specifically, the front panel unit 14 is a base unit 10 built in the dashboard D (not visible in FIG. 5). Or placed on the dashboard D via the cradle unit 12. The front panel unit 14 is disposed at a height close to the front window 18 at any position.

  More specifically, when the front panel unit 14 is mounted on the base unit 10, the longitudinal center line 14bc of the liquid crystal panel of the front panel unit 14 is viewed from the user (having an average seat height) as viewed from the steering wheel. A position slightly higher than the rotation center SWc of SW and a position considerably higher than the rotation center SHc at the dashboard surface position of the steering shaft (substantially the front surface position of the front panel unit 14), that is, the rotation center SHc is closer to the lower surface of the front panel unit 14 Be placed. Reference sign SL indicates a shift lever of the transmission.

  In the navigation apparatus according to this embodiment, as described above, the front panel unit 14 is configured to be detachable from the base unit 10 or the cradle unit 12.

  6 is a block diagram showing the internal configuration of the front panel unit 14 and the base unit 10, and FIG. 7 is a block diagram showing the internal configuration of the front panel unit 14 and the cradle unit 12. As shown in FIG.

  As shown in FIG. 6, the front panel unit 14 includes a microcomputer (referred to as “navigation microcomputer”) 14m, and the base unit 10 includes a microcomputer (referred to as “system microcomputer”) 10i. As shown in FIG. 7, the cradle unit 12 includes a microcomputer (referred to as “cradle microcomputer”) 12b. The navigation microcomputer 14m has a processing capability several times that of the system microcomputer 10i or the cradle microcomputer 12b.

  6, the base unit 10 includes a traffic information module (VICS) 10k that receives traffic information via an antenna 10j attached to the vehicle A in addition to the system microcomputer 10i, and an in-vehicle audio device of the vehicle A. (AM / FM radio etc., not shown) Tuner 10l for receiving broadcast radio waves, audio (Audio) circuit block 10m for controlling the operation of the in-vehicle audio equipment, and images of DVD etc. on the liquid crystal of the front panel unit 14 The video circuit block 10n to be displayed on the panel 14b and the system microcomputer 10i operate in communication with each other, read audio and video signals from a CD or DVD, demodulate the video signals, and analog to the video circuit block 10n. DVD module 10o to send as a signal, Comprising a TV tuner 10q for receiving terrestrial digital broadcasts via an antenna 10p, the EEPROM10r consisting nonvolatile memory.

  The base unit 10 further includes a GPS signal receiving device (shown as “GPS”) 20 that receives a GPS (Global Positioning System) signal, a wheel speed sensor (shown as “SPEED PLS”) 22, and a gyro sensor (“gyro”). 24) and a reverse gear switch (shown as "REVERSE") 26. The reverse gear switch 26 is connected to the transmission or a shift lever 30 (FIG. 5) of the transmission.

  The GPS signal receiver 20 includes an antenna 20a, and the antenna 20a is attached to an appropriate position such as a base unit case 10a or a dashboard or a meter visor. When the front panel unit 14 is detached from the base unit 10 and attached to the cradle unit 12, the GPS signal receiving device 20 is an antenna attached to an appropriate position of the cradle unit case 12 a or the cradle unit attachment arm 16. Is used.

  The wheel speed sensor 22 is disposed in the vicinity of the drive shaft (not shown) of the vehicle A, and outputs a pulse signal for each predetermined rotation angle of the drive shaft, that is, the wheel (tire) (in other words, the wheel of the vehicle A Detect rotation speed). The gyro sensor 24 is disposed inside the base unit case 10a, and generates an output whose voltage changes according to an angular velocity (yaw rate) around the gravity axis (vertical axis) at the center of gravity of the vehicle A (in other words, the vehicle A The angular velocity (yaw rate) around the vertical axis, more specifically, the three axes of X, Y, and Z, is detected).

  The gyro sensor 24 is arranged on an appropriate substrate inside the base unit case 10a so as to receive the same vibration as that of the vehicle A, and is close to a substrate mounting screw such as an edge, and the sensitivity also changes depending on the mounting angle. Therefore, the attachment angle is measured after attachment to the vehicle A, and the measurement value is stored in the EEPROM 10r as a correction value.

  The reverse gear switch 26 is disposed at an appropriate position of the transmission (not shown) or the shift lever 30 (shown in FIG. 5) of the vehicle A, and the reverse gear for moving the vehicle A backward is engaged (turned on) or the shift lever. When 30 is in the R position, that is, when the vehicle A is going to travel backward, an ON signal is output.

  In addition to the navigation microcomputer 14m, the front panel unit 14 includes a RAM 14n, a FLASH memory 14o that stores map data for navigation, and a mobile phone handsfree microphone via an antenna 14p attached to the front panel unit case 14a. A BT (Bluetooth) module 14q that transmits and receives 2.45 GHz radio waves, a memory card 14r, a touch panel 14s disposed on the liquid crystal panel 14b, a touch panel microcomputer 14t that controls the operation thereof, and a liquid crystal display A timing controller 14u for generating various synchronization signals, a video switch 14v for inputting / outputting the video circuit block 10n of the base unit 10, and an antenna 14 attached to the front panel unit case 14a Receiving radio waves of the same frequency band image data from the rear camera via and a wireless module 14x.

  More specifically, the BT module (short-distance transmission / reception module) 14q and the wireless module (image data reception-only module) 14x are arranged on the back surface of the front panel unit case 14a.

  In the configuration shown in FIG. 6, the receiving device 20 that receives the GPS signal is installed on the base unit 10 side, and the position information obtained from the GPS signal is output along with the outputs of the wheel speed sensor 22, the gyro sensor 24, and the reverse gear switch 26. The system microcomputer 10i rearranges data at the same time, integrates them, and sends them to the navigation microcomputer 14m.

  The navigation microcomputer 14m first acquires the position of the vehicle A based on the GPS signal, and then corrects it with the outputs of the wheel speed sensor 22 and the gyro sensor 24. Thus, the navigation microcomputer 14m measures the position of the vehicle A according to autonomous navigation. The own vehicle position measured according to the autonomous navigation is stored in the FLASH memory 14o and / or the EEPROM 10r every predetermined time so that the current position can be estimated immediately after the engine of the vehicle A is started and powered on.

  A low-speed digital signal is transmitted and received between the system microcomputer 10i and the navigation microcomputer 14m via a signal line (serial data line), while a video signal input via the TV tuner 10q is transmitted via another data line. And sent to the front panel unit 14 as a high-speed digital signal. On the other hand, a video signal input from the DVD module or the outside is input to the video circuit block 10n of the base unit 10 and then sent to the video switch 14v of the front panel unit 14 as an analog signal through a signal line. The output of the video switch 14v is sent as a digital signal to the navigation microcomputer 14m, and a control signal from the navigation microcomputer 14m is also input. Further, the image signal of the wireless module 14x may be sent to the video circuit block 10n via the video switch 14v and sent to another video apparatus from an external terminal to be shown or recorded.

  Next, the internal configuration of the cradle unit 12 will be described with reference to FIG. 7. The cradle unit 12 is an audio (Audio) circuit that controls voice input / output to a speaker built in the cradle unit 12 in addition to the cradle microcomputer 12b. It includes a block 12c, an FM transmitter 12e that transmits the output of the audio module via radio waves via an antenna 12d, an EEPROM 12f composed of a nonvolatile memory, and a TV tuner 12h that receives terrestrial digital broadcast via the antenna 12g.

  As described above, when the front panel unit 14 is detached from the base unit 10 and attached to the cradle unit 12, the antenna 20a of the GPS signal receiving device 20 uses that of the vehicle B.

  The cradle microcomputer 12b sends position information obtained from the GPS signal to the navigation microcomputer 14m of the front panel unit 14, and the navigation microcomputer 14m measures the position of the vehicle B based only on the GPS signal.

  FIG. 8 shows a software configuration of the navigation microcomputer 14m and FIG. 9 shows a software configuration of the system microcomputer 10i for the navigation microcomputer 14m and the system microcomputer 10i shown in FIG.

  When operating a device having many functions and many setting items such as a navigation device, the user must visually understand the operation method by using a graphical user interface (hereinafter referred to as “GUI”). Can do. In view of this point, the navigation device according to this embodiment incorporates a configuration capable of customizing the GUI into the navigation microcomputer 14m of the front panel unit 14 shown in FIG. 6, and functions by the user operating the touch panel 14s. It was made to execute.

  That is, as shown in FIG. 8, the navigation microcomputer 14m displays a menu on the liquid crystal panel 14b and is selected by a GUI function that executes a specified function by touching a specified position on the touch panel 14s and a GUI function. Functions that execute specific operations (application functions), functions that define processing time for each function, manage memory space (platform functions), and functions that access peripheral devices (hardware) (drivers) ). This GUI function includes an XML parser 14m1, a VIEW controller 14m2, and a MODEL controller 14m3.

  As described above, the navigation microcomputer 14m supplies tuner and disk drive control commands to the system microcomputer 10i of the base unit 10 via the signal line (serial data line).

  As shown at S1 to S8 in the flow chart of FIG. 9, on the base unit 10 side, the system microcomputer 10i receives a command from the navigation microcomputer 14m to control peripheral devices, and obtains information and sensor data obtained from the device. The data is transmitted to the navigation microcomputer 14m via the serial data line. Although not shown, the cradle microcomputer 12b in the cradle unit 12 performs the same processing as the system microcomputer 10i.

  Further, in the front panel unit 14, the navigation microcomputer 14 m uses three sensor outputs as sensors to be used for positioning the position of the vehicle according to the output state of the sensors, or one sensor output of only GPS signals. To decide.

  FIG. 10 is a flowchart showing the processing.

  In the following, it is determined whether or not the front panel unit 14 in which it is stored in the base unit 10 is detected in S10. When attached to the base unit 10, it becomes possible to communicate with the system microcomputer 10 i through the signal line. Therefore, the navigation microcomputer 14 m determines whether or not it is detected that it is attached to the base unit 10.

  When the result is affirmative in S10, the process proceeds to S12, and the output (pulse signal) of the wheel speed sensor 22 is input for X seconds (predetermined time), for example, 3 seconds, and the process proceeds to S14, and whether or not the pulse signal is generated. Judge.

  When the result is affirmative in S14, the process proceeds to S16, and the vehicle position estimation is performed in the three-sensor mode, that is, the vehicle position (vehicle A) is set to three sensors (GPS signal receiving device 20, wheel speed sensor 22, and gyro sensor). Positioning is performed by output, and if the result is negative in S14, the process proceeds to S18, and the vehicle position estimation is performed in the single sensor mode, that is, the vehicle position (vehicle A) is measured by the output (GPS signal) of the GPS signal receiving device 20. .

  For example, when traveling on a congested road, the output of the wheel speed sensor 22 may not be generated or may be sparse, but the sensor used for positioning is optimally determined by determining according to the output state of the sensor. The positioning accuracy of the vehicle position can be selected to increase the flexibility of use of the detector in positioning in that the positioning is not necessarily limited to the use of three sensors.

  In the process of FIG. 10, the output of the wheel speed sensor 22 is determined by inputting for X seconds, but in addition to that, it is determined whether the output of the wheel speed sensor 22 exceeds a predetermined threshold. If not, the single sensor mode may be determined.

  Further, in the front panel unit 14, the navigation microcomputer 14 m recognizes which one is installed based on information from the system microcomputer 10 i or the cradle microcomputer 12 b in addition to the processing of FIG. It is decided whether to do it with one sensor output of only GPS signal. That is, the navigation microcomputer 14m of the front panel unit 14 determines a sensor (detector) to be used for positioning the position of the vehicle according to the mounting state of the front panel unit 14. The base unit 10 and the cradle unit 12 are assigned ID numbers (identification numbers), respectively, and are stored in the nonvolatile memories EEPROM 10r and 12f.

  FIG. 11 is a flowchart showing the processing, which is executed by the navigation microcomputer 14m as in FIG.

  In the following, it is determined whether or not the installation of the front panel unit 14 in which it is stored is detected in S20. When attached, communication with the system microcomputer 10i or the cradle microcomputer 12b becomes possible through the signal line, so the navigation microcomputer 14m determines whether or not its own attachment has been detected.

  When the result is affirmative in S20, the process proceeds to S22, where the ID number (identification number) of the attachment destination (attachment destination) is read, and the process proceeds to S24, in which it is determined whether or not the base unit 10 is attached. Proceeding to S26, the vehicle position is estimated in the 3-sensor mode, that is, the vehicle position (vehicle A) is measured by the outputs of three sensors (GPS signal receiving device 20, wheel speed sensor 22, and gyro sensor).

  When the result in S24 is negative, since the cradle unit 12 is attached, the process proceeds to S28, where the vehicle position is estimated by a single sensor, that is, the vehicle position (vehicle B) is output from the GPS signal receiving device 20) ( GPS positioning).

  Thus, since it comprised so that the sensor which should be used for the positioning of the position of the vehicle A or B was determined according to the mounting state of the front panel unit 14, the flexibility of the use of the sensor in positioning can be improved.

  Next, the storage of the vehicle position described above will be described.

  As described above, the base unit 10 includes a plurality of base units 10-1, 10-2, 10-3,. . . In such a case, the position data of the vehicle A stored in the non-volatile memory (FLASH memory 14o) in the front panel unit 14 is the data of another vehicle, that is, the vehicles A2, A3, etc. There is a possibility. Therefore, there is a case where after mounting, the GPS signal must be received, measured, and confirmed.

  Therefore, in the navigation apparatus according to this embodiment, when a plurality of base units 10 are provided, the position information immediately before being removed from the EEPROM (nonvolatile memory) 10r of the base unit 10 is set to ID as shown on the left side of FIG. Remember with the number. On the other hand, as shown on the right side of FIG. 12, when the front panel unit 14 is removed from the base unit 10, the ID number and position information of the base unit are stored in pairs and mounted on the same base unit again. When it is, the position information when the ID number is removed is read out and used as the position information. This can prevent erroneous position information from being used.

  Regardless of whether the number of the base units 10 is one or more, when the vehicle A moves and is mounted again while the front panel unit 14 is removed, the current position and the front panel unit 14 are restored. There may be a case where the position information stored in the data is different.

  Therefore, in the navigation apparatus according to this embodiment, the flag FLV indicating that the vehicle A has moved while the front panel unit 14 is removed is provided in the EEPROM 10r of the base unit 10 for processing.

  FIG. 13 is a flowchart showing the processing. The illustrated process is executed by the system microcomputer 10i.

  In the following, it is determined whether or not the front panel unit 14 has been removed in S100. This is determined from the output of the panel detection switch described above. When the result is affirmative in S100, the process proceeds to S102, the bit of the flag FLV is set to 1, and the process proceeds to S104, in which it is determined whether or not the vehicle has moved. This is determined from the output of the wheel speed sensor 22 described above.

  When the result in S104 is negative, the program proceeds to S106, where it is determined whether or not the front panel unit 14 is mounted again. When the result is negative, the program returns to S104. On the other hand, when the result in S104 is affirmative, the process proceeds to S108, and the bit of the flag FLV is reset to 0. Note that if the result in S104 is negative and the process proceeds to S106, where the result is affirmative, S108 is skipped because the vehicle is not moving anyway.

  FIG. 14 is a flowchart showing processing executed by the navigation microcomputer 14m in accordance with the processing of FIG.

  In the following explanation, whether or not it is attached to the base unit 10 in S200 will continue to be determined from the output of the panel detection switch described above, and if affirmative, the process proceeds to S202 to read the flag FLV stored in the EEPROM 10r of the base unit 10 In S204, it is determined whether or not the bit of the flag FLV is set to 1.

  When the result in S204 is affirmative, since the vehicle is not moved, the process proceeds to S206, where it is determined whether there is an ID number of the corresponding base unit 10 in the history table (shown in FIG. 12). Advances to S208, and the position information of the corresponding ID number is set as the vehicle position.

  On the other hand, when the result in S204 is NO, the process proceeds to S210, and the position information stored in the base unit 10 is read. The same applies when the result in S206 is negative. Next, the process proceeds to S212, in which it is determined whether or not it is 0 data. When the result is affirmative, the process proceeds to S214, and when it is determined as the vehicle position, the process proceeds to S216 when the result is negative. Later).

  That is, the system microcomputer 10i of the base unit 10 writes the position information in the GPS signal and the orientation information of the mounted vehicle in the EEPROM 10r every time the power is turned off after the front panel unit 14 is removed. At this time, if GPS cannot be measured, 0 data is written.

  In the front panel unit 14, the navigation microcomputer 14 m is stored in the base unit 10 when it is determined that the position information stored with reference to the flag FLV cannot be used after being attached to the base unit 10. The position information is read, and if it is not 0 data, it is used as the vehicle position (S204, S210, S212, S214). As a result, even if the front panel unit 14 is once removed and attached again after the vehicle has moved, it can function as a navigation device that can display the vehicle position.

  However, even in that case, if it is a place such as an underground parking lot, the GPS signal cannot be acquired even if the front panel unit 14 is mounted, and therefore the vehicle position must be zero data. If the vehicle position is lost, the route to the destination cannot be calculated, and the arrival time cannot be predicted.

  Therefore, in the navigation device according to this embodiment, the vehicle position can be set in the same manner as the destination setting only when the vehicle position is lost (S216). Specifically, the user determines the vehicle position by selecting the vehicle position from address search or peripheral facility information, and enables destination setting and route calculation.

  After that, while driving on the road, the user cannot be guided until the GPS signal is input and positioning is performed, but if the GPS signal is input, the user can be guided according to the autonomous navigation with the position as the vehicle position. .

  Next, navigation information storage or information sharing between base units will be described.

  In the navigation apparatus, parameters specific to each vehicle are used to determine the position of the vehicle. That is, since the sensitivity of the gyro sensor 24 varies depending on the attachment state, the angle at the time of attachment is measured and stored, and in navigation, the sensor output is corrected with the stored value.

  In the autonomous navigation, when calculating the movement distance, the movement distance (Distance Per Pulse) per pulse output from the wheel speed sensor 22 is used. The DPP is calculated from the movement trajectory derived from the GPS signal and the number of pulses of the wheel speed sensor 22, and is constantly updated.

  The mounting angle or moving distance DPP of these gyro sensors 24 is a parameter specific to the vehicle on which the navigation device is mounted. Therefore, in this embodiment, these parameters are stored in the EEPROM 10r of the base unit 10. In that case, when the user buys only the base unit 10, the information is temporarily saved in a memory card or the like and reinserted into the new base unit 10.

  In view of this point, in the navigation apparatus according to this embodiment, the information (parameters) stored in the EEPROM 10r of the base unit 10 is temporarily retracted to the front panel unit 14 side, and the navigation microcomputer 14m is instructed. It is assumed that the new base unit 10 is reinserted (copied). Thereby, information can be shared when the base unit is replaced.

  Next, the interference of the wireless module, that is, the priority order of devices will be described.

  In the navigation device according to this embodiment, since the front panel unit 14 includes two wireless modules including the BT module 14q and the wireless module 14x, there is a possibility that interference occurs between the two. For example, the operation of the device may interfere such as when a DVD playback request is made while the vehicle is moving backward (while the rear camera image is displayed) or a mobile phone with a hands-free microphone is called.

  Therefore, priorities were set and devices were operated accordingly. FIG. 15 is an explanatory diagram of the processing. In the figure, the horizontal axis shows the event, that is, the operation of the reverse gear switch 26, the mobile phone with a hand-free microphone, and the DVD, and the vertical axis shows the corresponding state, that is, the vehicle is moving backward, receiving a call, and playing a DVD. Show.

  FIG. 16 is a flowchart showing processing executed by the navigation microcomputer 14m based on FIG.

  Referring to FIG. 15, referring to FIG. 16, first, in S300, the reverse gear switch 26 outputs an ON signal. In other words, it is determined whether or not the vehicle is going to move backward. The operation of the camera (Wireless Camera) is stopped, the wireless function of the WLC (Wireless Camera) is turned off, and the image of the rear camera is stopped.

  Next, the process proceeds to S304, where it is determined whether or not the mobile phone is receiving (calling). If the determination is negative, the process proceeds to S306, where the ringing tone function of the hands-free mechanism is turned off and the function of the BT module 14q is turned off ( In other words, the standby state is set).

  Next, the process proceeds to S308, in which it is determined whether or not the DVD is being played back. If the result is negative, the process proceeds to S310, and it is determined whether or not the playback button (touch panel 14s) is pressed. At the same time as the reproduction is started, a DVD image is displayed on the liquid crystal panel 14b. In this case, since the vehicle is not going backward, there is no need to use the image of the rear camera.

  On the other hand, when the result in S300 is affirmative, the process proceeds to S314, where the incoming call (calling) to the mobile phone is disconnected and the BT module 14q is also stopped because it becomes unnecessary (that is, transmission / reception of radio waves is stopped). You can turn off the power as a means.) Next, the process proceeds to S316, DVD playback is stopped, the DVD display is turned off, the process proceeds to S318, the rear camera is activated, the WLC function is turned on, the rear camera image is displayed, and the process returns to S300.

  When the result in S304 is affirmative, the program proceeds to S320, in which a ring tone is transmitted from the in-vehicle speaker, and the BT module 14q is turned on to transmit and receive audio (in other words, the active state). Next, the process proceeds to S322, where it is determined whether or not the disconnect button (touch panel 14s) has been pressed. If the determination is affirmative, the process proceeds to S324 to turn off the ring tone and turn off because the BT module 14q is unnecessary. If the determination at S322 is No, S324 is skipped.

  If the result in S308 is affirmative, the process proceeds to S326 to determine whether or not the stop button (touch panel 14s) is pressed. If the result is affirmative, the process proceeds to S328 to stop DVD playback and turn off the DVD display. To do. If the result in S326 is negative, S328 is skipped.

  The processing shown in FIGS. 15 and 16 can ensure the display of the rear camera image taken from the rear of the vehicle A to the user, and the user can move backward while referring to it. In addition, the operation of the device does not interfere.

  Next, the FM transmitter 12e of the cradle unit 12 will be described.

  In the cradle unit 12 shown in FIG. 7, the FM transmitter 12e is means for sending out music content and voice guidance in the memory card 14r of the front panel unit 14 from the vehicle-mounted speaker of the vehicle B via the navigation microcomputer 14m. However, the output level of a device that transmits radio waves is regulated by the radio laws of the country concerned, and it must be output with weak radio waves. Therefore, when there is a radio station near the travel location, noise is generated due to the influence of the radio waves.

  Therefore, in the navigation apparatus according to this embodiment, the frequency database of the radio station in each district is stored in the EEPROM 12f of the cradle unit 12, and the cradle microcomputer 12b determines the route to the destination or the route to the destination. A frequency that is vacant over the entire area is searched, and the frequency is displayed on the liquid crystal panel 14b of the front panel unit 14.

  If the user matches the frequency of the car receiver (car audio), the user can listen to music content and voice guidance output from the in-vehicle speaker. As a result, music content and voice guidance can be provided to the user with less noise. The cradle microcomputer 12b outputs music content and voice guidance from the in-vehicle speaker via the FM transmitter 12e.

  Although the FM transmitter is arranged in the cradle unit 12 in this embodiment, it may be provided in the base unit 10.

  Next, the GUI shown in FIG. 8 will be further described.

  As described with reference to FIG. 8, when operating a device having many functions such as a navigation device and many setting items, the user can visually understand the operation method by using the GUI. In the navigation apparatus according to the example, the navigation microcomputer 14m of the front panel unit 14 shown in FIG. 6 incorporates a configuration capable of customizing the GUI, and the function is executed by the user operating the touch panel 14s.

  The configuration of the GUI (function) in FIG. 8 is shown in FIG. When the GUI is described again, the XML parser 14m1 defines a screen configuration, specifically, defines a button position, a button file name, a button name, and the like, and detects a button touch. The VIEW controller 14m2 defines the menu structure, i.e., which skin is displayed when the button is pressed. The MODEL controller 14m3 sends the selected function message to the application layer (APPLICATION LAYER). The application layer executes a command sent from the GUI.

  With the configuration as shown in FIG. 17, the user can visually understand the operation method, but the number of menus increases as the number of functions increases, resulting in a deeper menu hierarchy. As a result, in order to execute the function, the user selects the menu button many times to select the target function, which may be complicated. From the user's perspective, it may be easier to use if the functions are narrowed down.

  The menu screen is a skin file that defines the screen configuration definition (background file name, button display position, button file name, button name, etc.) prepared for each screen and the message sent when each button is selected, and the file It consists of a bitmap file prepared for each menu screen component (menu button) called from. The skin file and the bitmap file are stored in a non-volatile memory (FLASH memory) 14o, and the navigation microcomputer 14m displays them on the liquid crystal panel 14b using the XML parser function.

  In response to a user operation, the XML parser 14m1 sends a message to the VIEW controller 14m2. The VIEW controller 14m2 switches the skin file to be displayed by looking at the content of the message, and makes a command request to the MODEL controller 14m3 as necessary. The MODEL controller 14m3 confirms the requested command type and sends an operation command to the application layer. When the skin file is replaced in this structure, the menu screen is changed. The skin file is expressed in a language such as XML.

  When customizing the GUI, create a skin or controller with the menu configuration consisting of all the functions that you originally have, then create a skin file with the key you want to delete from the menu screen, and replace the corresponding skin file It will be. This eliminates the menu display below the deleted button and the sending of application commands, thereby reducing functions. An example is shown in FIG. 18 (the deleted part is indicated by a broken line).

  Further, when the skin file is described in a language such as XML, the button layout and the button shape can be changed only by changing the description of the skin file. By adopting such a method, it is possible to customize by replacing only the skin file without rewriting the software body.

  The original skin file of the main body is stored in the nonvolatile memory, and the skin file to be changed is put in the memory card 14r or the like. The user puts a favorite skin file into the memory card 14r, and after turning on the power, the user switches the skin by selecting a file in the memory card 14r from the initial setting skin selection menu. However, in this case, the user must select a favorite skin every time the power is turned on, and as a result, a setting is required every time the vehicle engine is turned off. Conversely, if the skin is fixed, only a specific user can benefit from the skin change.

  In the navigation apparatus according to this embodiment, the front panel unit 14, the base unit 10, and the cradle unit 12 each have a built-in nonvolatile memory and a microcomputer, and a unique ID number is stored in the memory. Configured to authenticate. That is, each microcomputer can specify the other party at the time of wearing. Further, since the base unit 10 and the cradle unit 12 are fixed to the vehicle, the front panel unit 14 can also identify the vehicle mounted based on the ID number.

  Nowadays, each vehicle has a situation where a user is determined and a user is determined for each vehicle. Therefore, a base unit 10 or a cradle unit 12 is attached to each vehicle, while a front panel unit is installed. It is expected that only 14 will be prepared and used together. Therefore, a skin file name corresponding to the ID number of the base unit 10 or the craid unit 12 scheduled to be attached to one front panel unit 14 is defined in advance, the ID number of the attached counterpart is read, and the memory card 14r The skin file inside is automatically switched.

  19 and 20 are flowcharts showing the processing. The illustrated process is executed by the navigation microcomputer 14m.

  The processing shown in FIG. 19 assumes that a plurality of types of skin files are stored in the memory card 14r of the navigation microcomputer 14m of the front panel unit 14, and the front panel unit 14 is attached to the base unit 10 or the cradle unit 12. Is executed according to the operation of each user of the plurality of vehicles.

  In the following description, in S400, the user is made to select one of a plurality of types of skin files stored in the memory card 14r, and the process proceeds to S402, where the selected skin file is read and displayed on the liquid crystal panel 14b. Next, the process proceeds to S404, where it is determined whether or not the user has pressed the skin file setting OK button to determine whether or not the user has agreed to the setting, and when the result is negative, the process returns to S400.

  On the other hand, when the result in S404 is affirmative, the process proceeds to S406, in which the ID number of the base unit 10 or the cradle unit 12 of the vehicle owned by the opponent, that is, the operated user is input, and the input ID number and the selected skin are input. The name of the file is registered (stored) in the nonvolatile memory (FLASH memory) 14o of the front panel unit 14.

  In this case, it may be registered (stored) in the EEPROM 10r and EEPROM 12f provided in the base unit 10 or the cradle unit 12, or may be separately registered (stored) in a nonvolatile memory. .

  Further, in addition to providing a separate non-volatile memory in the front panel unit 14, a non-volatile memory is also provided in the base unit 10 or the cradle unit 12, and the other party's ID number and the selected skin file are stored in both non-volatile memories. By registering (storing) the name, etc., if one of the data cannot be used or is not correct, the data on the side with no abnormality is used. In this case, the reliability of the present apparatus may be improved by preferentially using the data in the nonvolatile memory of the front panel unit 14.

  The process shown in FIG. 20 is executed when the removed front panel unit 14 is attached to the base unit 10 or the cradle unit 12 after the process shown in FIG. 19 is completed.

  In the following explanation, it is confirmed in S410 that the front panel unit 14 is attached to the base unit 10 or the cradle unit 12, and the process proceeds to S412 to read the ID number of the attached counterpart (base unit 10 or cradle unit 12), In step S414, it is determined whether a skin file having a name corresponding to the read ID number is registered. When the result in S414 is negative, the subsequent processing is skipped. When the result is affirmative, the process proceeds to S416, and the skin file with the selected name stored in the memory card 14r is set as a skin file for display. More specifically, it is automatically selected.

  Thereby, the user can switch a skin file automatically according to a vehicle at the time of wearing. However, since it is naturally possible to assume that the user is not determined for each vehicle, a button for switching to the original menu is always prepared in the menu.

  The above-described GUI changing procedure assumes that the user selects from a plurality of GUIs prepared in advance. Alternatively, the user may customize the GUI. In that case, a button that is not used in the menu organizing procedure is selected, but there is a possibility that a necessary button may be deleted by mistake.

  Therefore, in this embodiment, in the button erasing procedure, an attribute that cannot be erased is assigned to each button, and the attribute is surely confirmed in the erasing button selection process so that a button that should not be erased cannot be erased. Configure. In addition, a hard key is assigned to a button whose usage rate is high or whose function is clearly erasable from the beginning, and is not displayed in the menu edit display.

  FIG. 21 shows an example of a button that should not be erased (cannot be erased). FIG. 22 is the above flow chart.

  In the following, all menu buttons are displayed in S500, and the process proceeds to S502 to prompt the user to select a button to be deleted. Next, in S504, it is determined whether or not the selected button can be deleted. If the determination is affirmative, the process proceeds to S506 and the selected button is deleted. If the determination at S504 is No, the process at S506 is skipped.

  Next, the process proceeds to S508, where it is determined whether or not button editing has been completed. When the result is NO, the process returns to S502, and when the result is YES, the program is ended. Specifically, every time a process related to deleting one button is completed, a message “Yes to finish button editing” and a message “YES” or “NO” are displayed, and the user presses the “NO” button. The determination in S508 is denied and the process returns to S502. On the other hand, when the [YES] button is pressed, the determination in S508 is affirmed and the program is terminated.

  With the above-described configuration, the user can visually understand the operation method by using the GUI, and the operation becomes easy for the user, and the menu button can be narrowed down as necessary. This operation can be made easier. Also, when the user himself customizes the GUI, the necessary buttons are not accidentally deleted.

  Next, the installation location of the TV tuner 10q will be described.

  When the TV viewing function is incorporated in the navigation device, it is necessary to restrict the use. When all TV viewing functions are concentrated on the front panel unit 14, the output of the wheel speed sensor 22 for determining whether or not the vehicle is actually traveling is sent from the base unit 10 to the navigation microcomputer 14m, and the navigation microcomputer 14m Is used to turn on / off the TV viewing function.

  However, in that configuration, when a signal line (serial data line) connecting the base unit 10 and the front panel unit 14 is hacked and a pseudo signal is transmitted to the front panel unit 14, the TV viewing function that has been turned off is turned on. End up.

  In the navigation apparatus according to this embodiment, if the TV tuner 10q is installed in the front panel unit 14, the video signal received by the vehicle exterior antenna is transmitted to the front panel unit 14 via the base unit 10. In this case, since the broadcast radio wave that can be acquired from the antenna is weak at high frequencies, it is easily affected by the impedance of the path and surrounding noise, and a high-quality video signal cannot be obtained. In particular, since the front panel unit 14 and the base unit 10 are connected via the connector 10e, a loss due to contact also occurs and affects the video signal.

  Further, if a TV antenna is directly provided on the front panel unit 14 mounted on the base unit 10, the antenna is attached to a component that is outside, and as a result, the liquid crystal panel (display) 14b must be made small. Don't be.

  In view of this point, as shown in FIG. 6, the TV tuner 10 q is installed in the base unit 10 in the navigation apparatus according to this embodiment. That is, since the system microcomputer 10i of the base unit 10 receives the output of the wheel speed sensor 22, it can easily determine whether or not the vehicle is traveling. The operation of the tuner 10q can be restricted, a stable image can be obtained, and the liquid crystal panel 14b does not have to be made small.

  In other words, since the determination as to whether or not the vehicle is running and the operation restriction of the TV tuner 10q are completed inside the base unit 10, it is difficult to remove the TV viewing restriction from outside by hacking. .

  Further, by converting the video signal into a digital signal by the TV tuner 10q and transmitting it to the front panel unit 14, the influence of impedance and noise on the path can be reduced, and the quality of the video can be improved.

  Next, theft of the front panel unit 14 will be described.

  Since the front panel unit 14 is detachable from the base unit 10, it may be stolen. Therefore, in this embodiment, the ID number (identification number) is registered in the EEPROM 10r of the base unit 10 or the EEPROM 12f of the cradle unit 14, and it is determined whether or not the ID number (identification number) coincides with it. Deter theft.

  FIG. 23 is a flow chart showing the process of the navigation microcomputer 14m.

  In the following, it is determined whether or not the installation of the front panel unit 14 in which it is stored is detected in S600. When attached, communication with the system microcomputer 10i or the cradle microcomputer 12b becomes possible through the signal line, so the navigation microcomputer 14m determines whether or not its own attachment has been detected.

  Next, in S602, the ID number (identification number) of the attachment destination (attachment destination) is read out, and in S604, it is determined whether or not the ID number matches with a pre-registered ID number. If it is skipped and the result is negative, the process proceeds to S602 to generate a warning sound. At the same time or instead, the current location information is automatically notified to a telephone number designated in advance via the BT module 14q.

  FIG. 23 described above is the processing of the microcomputer (navigation microcomputer) 14m, but the navigation microcomputer 14m performs various other processes such as the processing shown in FIG. The system microcomputer 10i of the base unit 10 also executes the processing shown in FIG. The same applies to the cradle microcomputer 12b of the cradle unit 12.

  Here, the processing of these microcomputers will be described with reference to FIGS.

  FIG. 24 shows the main processing for the microcomputers, that is, the navigation microcomputer 14m, the system microcomputer 10i, and the cradle microcomputer 12b perform the above-described processing, for example, the processing shown in FIG. 10 by the navigation microcomputer 14m (hereinafter referred to as “task processing”). It is a flowchart which shows a routine.

  The illustrated routine starts when the ignition key is turned on and the operation power is supplied from the power source (battery) of the vehicle A (or B). First, initialization processing is executed (S700), and priority is given to task processing from 1 to n. The ordering is set in a predetermined RAM area (S702).

  Next, the OS (operating system) is activated (S704), all task processes are initialized (S706), and the task selection process (S708) enters a standby state. In this standby state, when an event flag is set by an interrupt process to be described later, an event (any one of S710 to S71n) corresponding to the set event flag is executed. When the processing of the corresponding event is completed, the process returns to the task selection process (S708), and the standby state is maintained until the event flag is set by the next interrupt process.

  In the task selection process (S708), specifically, it is monitored whether or not an event flag is set through an interrupt process (described later), and when the set is detected, a task process corresponding to the set event flag is executed. When the interrupt processing is duplicated, the task processing is executed in accordance with the priority order set in S702. The processing from the initialization (S706) to the event (any one of S710 to S71n) corresponds to the OS processing.

  FIG. 25 is a flowchart showing the above-described interrupt processing routine, and FIG. 26 is a block diagram showing the hardware configuration of the microcomputer used in the interrupt processing.

  Interrupt processing is broadly divided into a hardware processing portion that executes processing independently of software set later in the microcomputer and an interrupt processing routine portion that is software set for each microcomputer. 26, when data or a trigger signal is input to the interrupt terminals (A to n) in FIG. 26, or when a trigger signal is generated in a counter instructing an interrupt every predetermined time, the above hardware is generated in the microcomputer. The processing is started, and the recorded contents of various registers in which data being used or processed in the OS processing at that time are recorded are moved to each stack area (1 to n).

  Next, after the current value of the program counter is moved to the stack area, the value written in the interrupt address (A to n) corresponding to the interrupt terminal to which data or the like is input is written in the program counter. When the value of the program counter is rewritten, the program currently being processed is interrupted (suspended), and the interrupt processing routine of FIG. 25 is started.

  In the interrupt processing routine of FIG. 25, an interrupt processing routine (S800) is first started, then an event flag flag corresponding to the interrupted terminal or the like is set (S802), and finally an interrupt processing routine end command is set. Is issued (S804), and the interrupt processing routine ends.

  When this interrupt processing routine end command is issued, the hardware processing in the microcomputer is started again, and the values transferred to each stack area (1 to n) when interrupted are stored in the original various registers. By writing back and then writing back the value of the program counter that was temporarily saved when it was interrupted from the stack area to the program counter, a series of interrupt processing ends, and the state immediately before the interrupt is restored. From that point on, the suspended (pending) program that was being executed immediately before the interruption is executed again.

  Next, the antenna will be described.

  As is clear from FIGS. 6 and 7, the navigation apparatus according to this embodiment has many antennas. Besides the navigation device, the FM / AM radio is mounted on the vehicle, so there is an antenna for it. Although it is possible to arrange them individually, in this embodiment, an integral film antenna 200 is used as shown in FIG.

  The output of the film antenna 200 is amplified by the broadband high-frequency amplifier 202, then distributed by the distributor 204, and input to the base unit 10 (or the front panel unit 14 or the cradle unit 12) via the connector 206. Reference numeral 208 denotes a power supply line. The film antenna 200 is affixed to any one of, for example, the front window 18 of the vehicle, the rear window, the outer wall surface of the roof, and the rear mirror.

  Alternatively, as shown in FIG. 28, a high frequency amplifier 202 for each antenna may be built in the film antenna 200, and the output thereof may be input to the base unit 10 via the connector 206 and the distributor 204. In that case, since the FM / AM radio antenna has a relatively long wavelength, it does not have to be connected to the high-frequency amplifier 202.

  Alternatively, as shown in FIG. 29, a plurality of film antennas 200 are prepared and attached separately to the front window 18, the rear window, the outer wall surface of the roof, the rear mirror, etc., and the electric field strength is increased by the distributor 204 such as the base unit 10. You may make it choose a high thing.

  In this embodiment, as described above, the base unit 10 having at least a microcomputer (system microcomputer 10i) and the liquid crystal which can be attached to and detached from the base unit 10 and which displays map data can be fixed to the vehicle. A navigation device comprising a panel (display) 14b and a front panel unit 14 having at least a microcomputer (navigation microcomputer 14m) having a navigation function for displaying a position of the vehicle measured on the map data. At least three sensors (detectors) including a receiving device 20 for receiving, a wheel speed sensor 22 for detecting the rotational speed of the wheel of the vehicle, and a gyro sensor 24 for detecting an angular speed around the vertical axis of the vehicle, Front panel The microcomputer of the unit 14 is configured to determine a sensor to be used for positioning of the position of the vehicle according to the output state of the sensor (S10 to S18), so by determining according to the output state of the sensor , The sensor used for positioning can be optimally selected to improve the positioning accuracy of the vehicle position, and the flexibility of the use of the sensor in positioning is improved in that the positioning is not necessarily limited to the use of three sensors Can do.

  Similarly, the separation type allows the front panel unit 14 to be removed from the base unit 10 and mounted on another vehicle, or a destination, route, etc. can be input at home, which is convenient as a navigation device. Can improve the quality.

  The base unit 10 can be fixed to a vehicle and has at least a microcomputer (system microcomputer 10i), the liquid crystal panel (display) 14b can be attached to and detached from the base unit, and can display map data. In a navigation device comprising a front panel unit 14 having at least a microcomputer (navigation microcomputer 14m) having a navigation function for displaying the position of the vehicle measured above, a receiving device 20 for receiving a GPS signal and the vehicle At least three sensors (detectors) comprising a wheel speed sensor 22 for detecting the rotational speed of the wheel and a gyro sensor 24 for detecting an angular speed around the vertical axis of the vehicle are provided, and the microcomputer of the front panel unit 14 is provided. Since the sensor is configured to determine a sensor to be used for positioning of the position of the vehicle according to the mounting state of the front panel unit 14 (S20 to S28), the flexibility of use of the sensor in positioning is improved. Can do.

  Similarly, the separation type allows the front panel unit 14 to be detached from the base unit 10 and mounted on another vehicle, or a destination, route, etc. can be input at home. Goodness can be raised.

  The cradle unit 12 is fixed to a vehicle and has at least a microcomputer (cradle microcomputer 12b) and a receiving device 20 that receives GPS signals. The front panel unit 14 is detachably attached to the cradle unit 12. In addition, the microcomputer (navigation microcomputer 14m) of the front panel unit 14 uses the outputs of the three sensors (detectors) when the front panel unit 14 is attached to the base unit 10. While positioning the position of the vehicle (S24, S26), when the front panel unit 14 is mounted on the cradle unit 12, the position of the vehicle is determined using only the GPS signal (S24, S28). Since it was configured, In addition to the effect, together with the front panel unit 14 is detachable, by providing the cradle unit 12 to the positioning by the GPS signal, it is possible to further increase the ease of use as a navigation device.

  Note that the gyro sensor 24 is required for positioning in the three-sensor mode. When the gyro sensor 24 is built in the front panel unit 14, the sensitivity may change due to the front panel unit mounting backlash or the tilt due to the tilt adjustment of the front panel unit 14, and the accuracy may decrease. It also affects the miniaturization of the front panel unit 14 itself. Further, when the output of the wheel speed sensor is transmitted to the front panel unit 14, the number of joint terminals between the front panel unit 14 and the base unit 10 increases.

  As a countermeasure, the gyro sensor 24 is incorporated in the base unit 10, and the gyro data and the output of the wheel speed sensor 22 are captured by the system microcomputer 10i in the base unit 10 and then transmitted to the navigation microcomputer 14m via the serial communication line. You can also. However, in this case, a delay in information transmission to the navigation microcomputer 14m occurs via the system microcomputer 10i, and the GPS data acquisition timing deviates.

  Originally, the three sensor data are position information, movement distance information, and direction information at each timing, and it is necessary to obtain and process them simultaneously. If the acquisition timing is shifted, the position accuracy is affected.

  However, in the navigation device according to this embodiment, the GPS signal receiving device 20 is also installed on the base unit 10 side, and the position information obtained from the GPS is arranged together with the gyro data and the output of the wheel speed sensor 22 by the system microcomputer 10i. Since the configuration is such that the data is sent to the navigation microcomputer 14m after being integrated, the delay due to the data transfer becomes the same value for all three sensor data via the system microcomputer 10i, so that such inconvenience does not occur.

  In the case of the configuration as well, if the CPU processing capacity of the system microcomputer 10i is high, the vehicle position estimation and navigation functions can be performed on the system microcomputer 10i side. However, in order to display the display map data created by the system microcomputer 10i on the liquid crystal panel 14b of the front panel unit 14, the image data created by the system microcomputer 10i is directly sent to the navigation microcomputer 14m and displayed by the navigation microcomputer 14m. Or converted to an analog image signal by the system microcomputer 10i and transmitted to the front panel unit 10 for display on the liquid crystal panel 14b.

  Since map data is sent from 1 to 5 color image data per second, the data transmission amount is large. If data is transmitted through the parallel bus, the number of data lines (signal lines) between the front panel unit 14 and the base unit 10 increases considerably.

  Further, when the data is transmitted through the serial data line, the map data transmission amount is large, so that the serial data line is occupied by the video data transmission, and transmission of other information to be transmitted from the system microcomputer 10i to the navigation microcomputer 14m is delayed.

  Further, when the navigation function is moved from the navigation microcomputer 14m to the system microcomputer 10i, the CPU capacity of the navigation microcomputer 10i is lowered, but it is necessary to incorporate a microcomputer having a processing capability capable of navigation into the system microcomputer 10i and the cradle microcomputer 12b. As a result, the system upgrade cost becomes high. Depending on the user, it may be assumed that a plurality of cradle 12 is purchased, and the total cost is lower if the functions with high intelligence are concentrated on the front panel unit 14.

  In this embodiment, in consideration of the above, the navigation function is completed by the navigation microcomputer 14m of the front panel unit 14, and the peripheral microcomputer is controlled by the system microcomputer 10i of the base unit 10.

  Even when the GPS signal receiving device 20 is connected to the front panel unit 14 and the gyro sensor 24 is arranged in the base unit 10 and the wheel speed sensor 22 is connected to the base unit 10, each signal data is obtained by the following method. It is possible to synchronize.

  1. The system microcomputer 10i integrates the outputs of the gyro sensor 24 and the wheel speed sensor 22 and transmits it to the navigation microcomputer 14m in combination with the time stamp data. The navigation microcomputer 14m also saves GPS data and the time stamp data at the time of GPS data acquisition as a pair in the memory, and performs the vehicle position estimation process by combining data of the same time as the time stamp received from the system microcomputer 10i.

  2. The timing at which the system microcomputer 10i acquires the outputs of the wheel speed sensor 22 and the gyro sensor 24, the timing at which those data are transmitted to the navigation microcomputer 14m, and the timing at which GPS data is transmitted from the GPS signal receiver 20 to the navigation microcomputer 14m. The system is designed so as to be maintained at a constant interval, and the sensor signal acquisition time is managed and synchronized by the navigation microcomputer 14m.

  In this embodiment, as described above, the base unit 10 can be fixed to the vehicle, has at least a microcomputer (system microcomputer 10i), is detachably attached to the base unit, and map data is displayed. In a navigation apparatus comprising a liquid crystal panel (display) 14b and a front panel unit 14 having at least a microcomputer (navigation microcomputer 14m) having a navigation function for displaying a position of the vehicle measured on the map data, a GPS signal is provided. At least one of three sensors (detectors) including a receiving device 20 for receiving the vehicle, a wheel speed sensor 22 for detecting the rotational speed of the wheel of the vehicle, and a gyro sensor 24 for detecting an angular velocity about the vertical axis of the vehicle. The position of the vehicle using And, more specifically, a short-distance transmission / reception module (BT module) 14q including an antenna 14p and an image data reception dedicated module (wireless module) 14x are arranged on the front panel unit 14. did.

  Since the image data reception dedicated module (wireless module) 14x is arranged in the same front panel unit 14 as the navigation microcomputer 14m that drives the liquid crystal panel 14b as described above, an image can be displayed without a time lag.

  The frequency band of the wireless module such as the reception-only module 14x is 2.4G. In addition, it uses about 1/3 of the allowable bandwidth, and the frequency band with the best communication state among the three divided bands is selected during communication, and communication is performed without changing the band. Communication is possible stably. If BT (Bluetooth) communication using the same band is performed at the same time, the communication speed may be slow or noise may occur, so when using the rear camera as described above with respect to the processing of FIG. May not use BT communication.

  Furthermore, even when the front camera image is received using the same wireless module, 2/3 of the band is still left, so the front camera image is also 1/3 of the remaining band. , High-speed communication is possible stably, and BT communication can also be used stably because the remaining ３ band is secured for BT communication.

  Furthermore, since the short-range reception-only module (BT module) 14q including the antenna 14p is arranged on the front panel unit 14, more specifically on the back surface thereof, transmission / reception with a mobile phone hands-free microphone in the vehicle is easy.

  In this embodiment, as described above, the base unit 10 can be fixed to the vehicle, has at least a microcomputer (system microcomputer 10i), is detachably attached to the base unit, and map data is displayed. In a navigation apparatus comprising a liquid crystal panel (display) 14b and a front panel unit 14 having at least a microcomputer (navigation microcomputer 14m) having a navigation function for displaying a position of the vehicle measured on the map data, a GPS signal is provided. At least one of three sensors (detectors) including a receiving device 20 for receiving the vehicle, a wheel speed sensor 22 for detecting the rotational speed of the wheel of the vehicle, and a gyro sensor 24 for detecting an angular velocity about the vertical axis of the vehicle. The position of the vehicle using The microcomputer of the base unit 10 (system microcomputer 10i) maintains the position of the vehicle A even after the front panel unit 14 is removed, and the microcomputer of the front panel unit 14 (navigation microcomputer 14m). Is configured to determine the position of the vehicle based on the running state of the vehicle (S200 to S216 in FIG. 14).

  As a result, in addition to the effects described above, it is possible to perform positioning immediately using the retained data as long as the vehicle is not running even if it is removed, and the retained data when the vehicle moves, etc. It is also possible to avoid using the inaccurate position data.

  In this embodiment, as described above, the base unit 10 can be fixed to the vehicle, has at least a microcomputer (system microcomputer 10i), is detachably attached to the base unit, and map data is displayed. In a navigation apparatus comprising a liquid crystal panel (display) 14b and a front panel unit 14 having at least a microcomputer (navigation microcomputer 14m) having a navigation function for displaying a position of the vehicle measured on the map data, a GPS signal is provided. At least one of three sensors (detectors) including a receiving device 20 for receiving the vehicle, a wheel speed sensor 22 for detecting the rotational speed of the wheel of the vehicle, and a gyro sensor 24 for detecting an angular velocity about the vertical axis of the vehicle. The position of the vehicle using Positioning function, and the control function of the microcomputer of the front panel unit (navigation microcomputer 14m) is provided with a liquid crystal panel for displaying a menu on the liquid crystal panel 14b and a touch panel overlaid on the liquid crystal panel 14b. It consists of a graphical user interface (GUI) function to be executed, an application function that executes an operation selected by the graphical user interface function, and a platform function that defines at least a processing time for the function, but cannot be erased on the touch panel. The function buttons are displayed (S500 to S508 in FIGS. 21 and 22).

  This makes it possible for the user to visually understand the operation method by using the GUI, making the operation easy for the user and enabling the user to narrow down the menu buttons as necessary. Can be made easier. Also, when the user himself customizes the GUI, the necessary buttons are not accidentally deleted. Furthermore, the change according to a vehicle model becomes easy.

  In this embodiment, as described above, the base unit 10 can be fixed to the vehicle, has at least a microcomputer (system microcomputer 10i), is detachably attached to the base unit, and map data is displayed. In a navigation apparatus comprising a liquid crystal panel (display) 14b and a front panel unit 14 having at least a microcomputer (navigation microcomputer 14m) having a navigation function for displaying a position of the vehicle measured on the map data, a GPS signal is provided. At least one of three sensors (detectors) including a receiving device 20 for receiving the vehicle, a wheel speed sensor 22 for detecting the rotational speed of the wheel of the vehicle, and a gyro sensor 24 for detecting an angular velocity about the vertical axis of the vehicle. The position of the vehicle using And a tuner (TV tuner) 10q for receiving a TV image is arranged in the base unit 10, and an output (TV image signal) of the tuner is sent from the microcomputer (system microcomputer 10i) of the base unit 10 to the front unit. It was configured to transmit to the panel unit 14.

  Thus, since the system microcomputer 10i of the base unit 10 is inputted with the output of the wheel speed sensor 22, it can easily determine whether or not the vehicle is traveling. When determining that the vehicle is traveling, The operation of the TV tuner 10q can be limited. Further, since the determination as to whether or not the vehicle is traveling and the operation restriction of the TV tuner 10q are completed inside the base unit 10, it is difficult to remove the TV viewing restriction by hacking from the outside.

  Further, by converting the video signal into a digital signal by the TV tuner 10q and transmitting it to the front panel unit 14, the influence of impedance and noise on the path can be reduced, and the quality of the video can be improved.

  In this embodiment, as described above, the base unit 10 having at least a microcomputer (system microcomputer 10i) and the liquid crystal which can be attached to and detached from the base unit and which displays map data can be fixed to the vehicle. A navigation device comprising a panel (display) 14b and a front panel unit 14 having at least a microcomputer (navigation microcomputer 14m) having a navigation function for displaying a position of the vehicle measured on the map data. At least one of three sensors (detectors) including a receiving device 20 for receiving, a wheel speed sensor 22 for detecting the rotational speed of the wheel of the vehicle, and a gyro sensor 24 for detecting an angular velocity around the vertical axis of the vehicle is provided. Use vehicle position In addition to positioning, FM transmitter 12e and means (EEPROM 12f) for storing a frequency database of a radio station in the region where the vehicle travels, and search for an available frequency according to the region where the vehicle travels, The frequency is configured to be displayed on the liquid crystal panel 14b of the front panel unit 14.

  More specifically, the cradle unit 12 includes at least a microcomputer (cradle microcomputer 12b) to which the front panel unit is detachable. The FM transmitter 12e is disposed in the cradle unit 12, and the cradle unit 12 The microcomputer (cradle microcomputer 12b) is configured to search for a vacant frequency in accordance with an area where the vehicle travels and display the frequency on the liquid crystal panel 14b of the front panel unit 14.

  As a result, if the user matches the frequency of the receiver, the user can listen to the music content and the voice guidance by outputting them from the in-vehicle speaker, and can listen to the music content and the voice guidance with less noise.

  FIG. 30 is a flowchart similar to the flowchart of FIG. 10 showing the operation of the navigation device according to the second embodiment of the present invention. The illustrated process is also executed by the navigation microcomputer 14m as in FIG.

  Explained below, the illustrated process starts when the user operates a sensor mode switching screen appropriately displayed on the touch panel 14s disposed on the liquid crystal panel 14b, that is, when the touch panel 14s is pressed. The sensor mode switching screen is displayed to prompt the user to select.

  Next, in S902, it is determined whether or not the single sensor mode has been selected by the user, in other words, whether or not an external instruction regarding the detector to be used for positioning of the position of the vehicle A has been given. The vehicle position estimation is determined to be performed in single sensor mode, that is, the vehicle position (vehicle A) is measured by the output (GPS signal) of the GPS signal receiving device 20, and if the result is negative, the process proceeds to S906. Position estimation is determined in three sensor mode, that is, the vehicle position (vehicle A) is determined to be measured by the outputs of three sensors (GPS signal receiving device 20, wheel speed sensor 22, gyro sensor), in other words, an instruction from the outside To determine the detector to be used for positioning the position of the vehicle A.

  In the navigation microcomputer 14m, when the three-sensor mode or the single-sensor mode is determined in the process of the flowchart of FIG. 10 or the flowchart of FIG. 11 of the first embodiment, the process of FIG. 30 is prioritized. .

  To explain this, for example, a user who knows that the road condition changes greatly, for example, the vehicle tire has been replaced with a tire with a different diameter, such as a snow tire, or has changed from a normal road surface to a frozen road surface where slipping easily occurs. Or situations where only the user can detect. The same applies to the case where the vehicle itself is a new vehicle and the navigation microcomputer 14m (or the system microcomputer 10i) has not sufficiently learned the output of the wheel speed sensor 22.

  In such a case, if the vehicle position is measured in the three-sensor mode using the output of the wheel speed sensor 22, an error occurs, so that the user can select the sensor according to the situation by instructing from the outside. More specifically, the single sensor mode can be selected. The instruction from the outside is not limited to an instruction from a user, a dealer, a worker, or the like, but may be an input signal from another device.

  In the navigation microcomputer 14m, if the single sensor mode is determined in the process of S904 and the learning period in the new environment ends and the positioning accuracy using the wheel speed sensor 22 is ensured, Alternatively, the mode may be switched to the 3-sensor mode.

  In the second embodiment, as described above, the base unit 10 can be fixed to the vehicle, has at least a microcomputer (system microcomputer 10i), is detachable from the base unit 10, and displays map data. In a navigation apparatus comprising a liquid crystal panel (display) 14b that performs and a front panel unit 14 having at least a microcomputer (navigation microcomputer 14m) that has a navigation function for displaying the position of the vehicle measured on the map data. The apparatus includes at least three sensors (detectors) including a receiving device 20 that receives a signal, a wheel speed sensor 22 that detects a rotational speed of a wheel of the vehicle, and a gyro sensor 24 that detects an angular speed around the vertical axis of the vehicle. The front panel unit When an instruction from the outside regarding the detector to be used for positioning of the position of the vehicle is given (S900, S902), the microcomputer of the front panel unit 14 follows the instruction from the outside. The sensor to be used for position measurement is determined (S904, S906).

  As a result, the situation that the user can know well, for example, the road condition has changed greatly, for example, the tire of the vehicle has been replaced with a tire with a different diameter such as a snow tire, or has changed from a normal road surface to a frozen road surface where slipping easily occurs. When a situation arises, it is possible to further increase the positioning accuracy of the vehicle position by making the sensor selectable accordingly. The remaining configuration and effects are not different from those of the first embodiment.

  As far as claims 1 to 3 are concerned, the navigation apparatus according to the first and second embodiments need only be provided with the base unit 10 and the front panel unit 14, and can be established without the cradle unit 12.

  Further, although the case where there are a plurality of base units 10 or cradle units 12 has been described, it is needless to say that one base unit 10 or cradle unit 12 may be provided.

  10 base unit, 10a base unit case, 10i system microcomputer (microcomputer), 10q TV tuner, 10r EEPROM (nonvolatile memory), 12 cradle unit, 12a cradle unit case, 12b cradle microcomputer (microcomputer), 12e FM transmitter, 12f EEPROM (nonvolatile memory), 14 front panel unit, 14a front panel unit case, 14b liquid crystal panel, 14m navigation microcomputer (microcomputer), 14q BT (Bluetooth) module, 14x wireless module, 20 GPS signal receiver, 22 wheels Speed sensor, 24 gyro sensor, 26 reverse gear switch, A, B vehicle

Claims (4)

  A base unit that can be fixed to the vehicle and has at least a microcomputer, a display that displays the map data, and a navigation that displays the position of the vehicle measured on the map data while being detachable from the base unit. In a navigation device comprising a front panel unit having at least a microcomputer that has a function, a receiving device that receives a GPS signal, a wheel speed sensor that detects a rotational speed of a wheel of the vehicle, and an angular velocity about a vertical axis of the vehicle At least three detectors composed of gyro sensors to detect, and the microcomputer of the front panel unit determines a detector to be used for positioning of the vehicle according to the output state of the detector, Receive the GPS signal The output of the transmission device is input to the microcomputer of the front panel unit, while the outputs of the wheel speed sensor and the gyro sensor are sent to the microcomputer of the front panel unit via the microcomputer of the base unit, and the front panel A navigation apparatus characterized in that outputs of the three detectors are synchronized by a microcomputer of the unit.   The microcomputer of the base unit sends the outputs of the vehicle speed sensor and the gyro sensor with time information to the microcomputer of the front panel unit, while the microcomputer of the front panel unit receives the GPS signal. The output of the three detectors is stored with time information, and the stored data is combined with data at the same time in the transmitted data to synchronize the outputs of the three detectors. The navigation device described.   The timing at which the microcomputer of the base unit acquires the outputs of the vehicle speed sensor and the gyro sensor, the timing at which the acquired data is sent to the microcomputer of the front panel unit, and the output of the receiving device that receives the GPS signal Is transmitted to the microcomputer of the front panel unit at a predetermined interval, and the microcomputer of the front panel unit determines the output of the three detectors based on the acquisition time of the outputs of the three detectors. The navigation apparatus according to claim 1, wherein outputs are synchronized.   When an external instruction regarding a detector to be used for positioning the vehicle position is given, the microcomputer of the front panel unit selects a detector to be used for positioning the vehicle position according to the external instruction. The navigation device according to claim 1, wherein the navigation device is determined.

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