JP2003042774A - Navigation device - Google Patents

Abstract

(57) [Summary] [Problem] By reducing the amount of information on new roads,
A navigation device capable of registering more new roads is provided. SOLUTION: A position detecting means 203a-2 intermittently detects coordinate data representing its current position on the earth. The registration means 203a-3 detects the earliest and last coordinate data among three or more consecutively detected coordinate data existing on a straight line, the coordinate data being detected during traveling on the new road. Except for at least one other than the coordinate data, it is registered as a new road.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a navigation device, and more particularly to a navigation device for updating map information including road information.

[0002]

2. Description of the Related Art In recent years, GPS (global positioning system)
tem; global positioning system) is used to superimpose the current position of the vehicle on the map image around the current position,
Navigation devices for displaying have become widespread.
The map image is displayed by reading out what is recorded as map information in a removable large-capacity memory (= map information recording medium) such as a CD-ROM.

[0003]

By the way, in recent years, roads in Japan are changing every day due to new construction. Therefore, the large-capacity memory such as the CD-ROM is updated with the latest map information and sold every time the road changes. Therefore, in order to obtain the latest map information, a general user who uses the conventional navigation device described above needs to purchase a large-capacity memory such as a CD-ROM that stores the updated map information each time it is released. However, there is a great cost burden. In addition, old map information had to be used until a large-capacity memory such as a CD-ROM storing the latest map information was released after the road was newly established.

Therefore, as a navigation device for solving such a problem, for example, Japanese Patent Laid-Open No. 8-271272
The one disclosed in the publication is proposed. This navigation device, from when it detects that it is traveling away from the existing road included in the map information until it detects that it is traveling back to the existing road, That is, while it can be determined that the vehicle is traveling on a new road, coordinate data (= traveling locus) representing the current position of the host vehicle obtained using GPS or the like is registered as a new road. As a result, general users can use the CD-R
The latest map information can be obtained without purchasing a large capacity memory such as an OM.

However, as described above, when the coordinate data obtained while the new road is traveling is simply registered as a new road, even if the new road has a straight line and a simple shape, the new road having a complicated shape can be used. The amount of information is the same as roads. Therefore, even if a new road having a simple shape is registered, a large amount of memory is consumed and there is a problem that it is impossible to register a larger number of new roads.

In view of the above, the present invention aims to provide a navigation device capable of registering a larger number of new roads by reducing the amount of information on the new roads by paying attention to the above problems. And

[0007]

The invention according to claim 1 made in order to solve the above-mentioned problems, as shown in the basic configuration diagram of FIG. 1, stores the road information recorded in the map information recording medium 204. Read-out means 203a-1 for reading out the included map information
And a display unit 206 for displaying a map image according to the read map information, and a position detecting unit 203a for intermittently detecting coordinate data representing the current position of the self on the earth.
-2, a new road not included in the map information recording medium, and registration means 203a-3 for registering the coordinate data detected during traveling as a new road, the registration means: Of the coordinate data detected during traveling on the new road, which is the coordinate data continuously detected on three or more lines existing on a straight line, at least other than the coordinate data detected first and last. 1
Except for one, there is a navigation device characterized by performing the registration.

According to the first aspect of the invention, the reading means reads the map information including the road information recorded in the map information recording medium. The display means displays a map image according to the read map information. The position detection means intermittently detects coordinate data representing the current position of the self on the earth. The registration means registers the new road not included in the map information recording medium and the coordinate data detected during traveling as the new road. The registration means is coordinate data detected while the vehicle is traveling on a new road, and among the three or more continuously detected coordinate data existing on a straight line, other than the first and last detected coordinate data. The registration is performed except for at least one of the above.

Therefore, if there are three or more consecutively detected coordinate data on a straight line, at least one other than the first and last detected coordinate data is removed and registered, so m pieces are registered. The straight line represented by the coordinate data of (≧ 3) can be represented by (m−the number n of coordinate data to be removed) pieces, and the amount of information of the new road can be reduced.

The invention according to claim 2 is, as shown in the basic configuration diagram of FIG. 1, the navigation device according to claim 1, wherein the registration means uses coordinate data detected while the vehicle is traveling on the new road. Of the three coordinate data, a determination means 203a-31 for determining whether or not the coordinate data detected in the middle exists on the straight line connecting the coordinate data detected first and last is further provided. Then, except for the intermediate coordinate data determined to exist by the determination means,
A navigation device is characterized in that the registration is performed.

According to the second aspect of the present invention, the judging means in the registration means is the coordinate data detected during traveling on the new road, and is the first and last detected coordinate data among the three coordinate data. It is determined whether or not the coordinate data detected in the middle exists on the straight line connecting the coordinate data. The registration method is
Registration is performed except for the intermediate coordinate data determined to exist by the determination means. Therefore, if each coordinate data detected during traveling on a new road is judged as coordinate data detected in the middle, when three or more coordinate data exist on a straight line, the coordinate data detected first and last is detected. It can be registered as a new road except all the coordinate data other than the coordinate data.

According to a third aspect of the present invention, as shown in the basic configuration diagram of FIG. 1, the navigation device according to the first aspect is characterized in that the registration means causes the coordinate data to be detected each time the coordinate data is detected. Recording means 203 for temporarily recording data
a-32 and among the three coordinate data recorded above,
On the straight line connecting the coordinate data detected first and last,
It has judging means 203a-31 for judging whether or not the coordinate data detected in the middle exists, and removing means 203a-33 for removing the coordinate data judged by the judging means as existing from the recording. Of the coordinate data recorded by the recording means, the coordinate data detected while the new road is traveling is registered as a new road.

According to the third aspect of the invention, in the registration means, the recording means temporarily records the coordinate data each time the coordinate data is detected, and the judging means makes the three coordinate values recorded. Among the data, it is determined whether or not the coordinate data detected in the middle exists on the straight line connecting the coordinate data detected first and last, and the removing unit is determined to be present by the determining unit. Exclude the coordinate data from the record. The registration means registers the coordinate data detected during traveling on the new road among the coordinate data recorded by the recording means as a new road.

Therefore, if each coordinate data recorded in the recording means is judged as coordinate data detected in the middle, when three or more coordinate data exist on the straight line, the first and last coordinates are detected. All coordinate data other than the recorded coordinate data can be removed from the record. Therefore, among the recorded coordinate data, if the coordinate data detected during traveling on a new road is registered, the coordinate data detected first and last when three or more coordinate data exist on a straight line. It can be registered as a new road except all coordinate data other than. Moreover, since the coordinate data is removed at the stage of temporarily recording the coordinate data, the memory for temporarily recording the coordinate data can be reduced.

The invention according to claim 4 is the navigation device according to claim 3, wherein the determining means makes the determination each time the coordinate data is detected, and the removing means makes the determining means. Thus, the navigation device is characterized in that the coordinate data is excluded from the record each time it is determined to exist.

According to the fourth aspect of the present invention, the judging means makes a judgment each time the coordinate data is detected, and the removing means judges the coordinate data each time the judging means judges that the coordinate data exists. , Excluded from the record. Therefore, each time it is detected, a determination is made and the coordinate data to be deleted is deleted, so that the memory for temporarily recording the coordinate data can be made even smaller.

According to a fifth aspect of the present invention, there is provided the navigation device according to the second, third or fourth aspect, wherein the judging means detects the coordinate data detected in the middle and the first and last. The navigation device is characterized in that if it is within a predetermined range with respect to a straight line connecting the coordinate data, it is determined to be on the straight line.

According to the fifth aspect of the invention, if the coordinate data detected in the middle is within a predetermined range with respect to the straight line connecting the coordinate data detected first and last, the judging means is It is determined that the coordinate data detected in the middle exists on the straight line. Therefore, even if the coordinate data detected in the middle is slightly deviated from the straight line connecting the coordinate data detected first and last due to the detection error of the coordinate data, it is detected in the middle. The coordinate data can be removed.

The invention according to claim 6 is the navigation apparatus according to claim 5, wherein the three consecutively detected
Of the two coordinate data, the coordinate data detected _first is (x ₁ , y ₁ ), the coordinate data detected in the middle is (x ₂ , y ₂ ), and the coordinate data detected last is (X
₃ and y ₃ ), the determination means is

[Equation 2] When, the coordinate data detected in the middle, with respect to the straight line connecting the coordinate data detected at the earliest and last,
A navigation device is characterized in that it is within a predetermined range and is judged to exist on the straight line.

According to the invention described in claim 6, when the formula (1) is satisfied, the coordinate data detected in the middle is within a predetermined range with respect to a straight line connecting the coordinate data detected first and last. It is determined that it is within the range and exists on the straight line. Therefore, the determination can be easily made based on the equation (1).

[0021]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described below with reference to the drawings. FIG. 2 is a diagram showing an embodiment of a map information updating system incorporating the navigation device of the present invention. As shown in the figure, the map information updating system includes a roadside device 100 installed at an intersection and forming a communication area A at the intersection, and a navigation device 200 installed in a vehicle.

The roadside device 100 and the navigation device 200 are provided with a DSRC antenna and a DSRC transceiver circuit, respectively, so that they can communicate with each other wirelessly. Note that as the wireless communication, it is possible to use, for example, dedicated short range communication (Dsrc; Dedicated Short Range Communication).

As shown in FIG. 3, the navigation device 200 described above intermittently receives a positioning signal from an artificial satellite constituting GPS via a GPS antenna AT1, and a GPS transmitting / receiving circuit 201, and The intersection position information from the roadside device 100 installed at the intersection is displayed as DSRC.
It has a DSRC transceiver circuit 202 for receiving via the antenna AT2.

The navigation device 200 also executes a microcomputer (hereinafter referred to as a microcomputer) that executes various arithmetic processes such as a position detection process for detecting coordinate data representing the current position of the vehicle (= self) based on a positioning signal from an artificial satellite. ,
μCOM) 203, under the control of μCOM 203, CD-
ROM 204 (corresponding to the map information recording medium in the claims)
CD for reading map information including road information stored in the CD
A liquid crystal display 206 (corresponding to the display means in the claims) on which a map image or the like corresponding to the map information read out using the ROM driver 205 and the CD-ROM 204 is displayed, intersection position information, coordinate data, and new installation described later. Read / write EEPROM 2 for recording roads etc.
Operation unit 208 including 07 and a power button
Is equipped with.

The above-described μCOM 203 is a central processing unit (CP) that performs various processes according to a processing program.
U) 203a, ROM 203b that is a read-only memory that stores programs for processing performed by the CPU 203a
And a RAM 203c which is a readable / writable memory having a work area used in various processing steps in the CPU 203a, a data storage area for storing various data, and the like.

The CPU 203a described above is the roadside unit 100.
A new road registration process for registering a new road based on the intersection position information and the coordinate data received from the vehicle. By superimposing the current position mark indicating the current position, the current position display process for displaying the current position is performed.

The navigation device 2 described in the above outline
The operation of the new road registration process of 00 is performed by the CPU of FIG.
A flowchart showing the processing procedure of 203a, and FIG.
The operation of the navigation device 200 will be described with reference to explanatory diagrams. First, the CPU 203a
The processing is started by operating a power button (not shown) provided in the operation unit 208, and a waiting state for receiving the intersection position information from the roadside machine 100 is maintained (step S1).

When the onboard vehicle passes the intersection b (see FIG. 5) and receives the intersection position information indicating the position of the intersection b from the roadside machine 100 installed at the intersection b (Y in step S1), the CPU 203a Records the received intersection position in the first intersection position information area D11 formed in the EEPROM 207 (step S2).

After that, the CPU 203a functions as a position detecting means, performs position detecting processing for detecting coordinate data representing the current position of the mounted vehicle based on the positioning signal from the artificial satellite (step S3), and detects the detected coordinate data. Is temporarily recorded in the coordinate data area formed in the EEPROM 207 (step S
4). The operations of steps S3 and S4 are repeated until the onboard vehicle next receives the intersection position information (N in step S5).

After that, when the onboard vehicle passes the next intersection and receives the intersection position information from the roadside machine 100 installed at the next intersection (Y in step S5), the CPU 20
3a displays the received intersection position information in the EEPROM 20.
It records in the 2nd intersection position information area D12 formed in 7 (step S6).

If the onboard vehicle is traveling on the new road between the intersection b and the intersection c after passing through the intersection b, the intersection position information indicating the position of the intersection c is stored in the second intersection position information area D12. , Coordinate data bc1, ..., Bcn detected during traveling on a new road are recorded in the coordinate data area. On the other hand, if the installed vehicle is traveling on the existing road between the intersection b and the intersection d after passing the intersection b, the intersection position information indicating the position of the intersection d is displayed in the second intersection position information area D12. In the coordinate data area, coordinate data bd1 detected while the existing road is traveling,
, Bdn are recorded respectively (see FIG. 5).

Next, the CPU 203a records the intersection represented by the intersection position information recorded in the first intersection position information area D11, the coordinate data recorded in the coordinate data area, and the second intersection position information area D12. The road connecting the intersections represented by the intersection position information is the CD-ROM 204.
It is determined whether or not the data is recorded in (step S
7).

An onboard vehicle is traveling on a new road between the intersection b and the intersection c, and the intersection b → coordinate data bc1, ...
If the road connecting bcn → intersection c is not recorded (N in step S7), the CPU 203a functions as a registration unit and performs a registration process of registering the intersection b, the coordinate data bc1, ... Bcn, and the intersection c as a new road. After that (step S8), the process proceeds to step S9.

On the other hand, the onboard vehicle is traveling on the existing road between the intersection b and the intersection d, and the intersection b → the coordinate data bd.
If the road connecting 1, ... bdn → intersection d is already recorded (Y in step S7), the CPU 203a immediately proceeds to step S9 to reset the coordinate data recorded in the coordinate data area. After that, the CPU 203a
Records the intersection position information recorded in the second intersection position information area D12 in the first intersection position information area D11 (step S10), and then returns to step S3.

Next, the detailed processing procedure of the CPU 203a in the recording processing of step S4 described above will be described with reference to FIG.
This will be described below with reference to the flowchart of FIG. First, CP
The U203a functions as a recording unit and records the coordinate data detected in the position detection process of step S3 in the coordinate data area P _n (step S40). Note that n
Indicates the number of the coordinate data recorded between the reception of the intersection position information in step S2 or step S6 and the reception of the next intersection position information, and each time the coordinate data area is reset ( Step S9) is reset to 1.

Next, the CPU 203a determines whether the coordinate data number n is 3 or more (step S4).
1). At this time, if the number of coordinate data n is smaller than 3 (N in step S41), the CPU 203a determines that three or more coordinate data are not recorded in the coordinate data area and increments the coordinate data number n. After that (step S44), the process returns. On the other hand, if the coordinate data number n is 3 or more (Y in step S41), CP
U203a has 3 coordinate data in the coordinate data area.
If it is judged that one or more data have been recorded, the next step S42
Proceed to.

The coordinate data recorded in the coordinate data areas P _n , P _n-1 and P _n-2 are coordinate data (x ₃ , y ₃ ), (x ₂ , y ₂ ), (x ₁ and y ₁ ). Then, in step S42, the CPU 203a functions as a determination unit, and three coordinate data (x ₃ , y ₃ ),
Of (x ₂ , y ₂ ), (x ₁ , y ₁ ), the coordinate data (x ₂ , y ₂ ) detected in the middle is the coordinate data (x ₁ , y ₁ ) detected _first and It is determined whether or not it exists on the straight line connecting the finally detected coordinate data (x ₃ , y ₃ ).

More specifically, the CPU 203a has a configuration shown in FIG.
If the coordinate data (x ₂ , y ₂ ) exists within the predetermined range B with respect to the straight line L connecting the coordinate data (x ₁ , y ₁ ) and (x ₃ , y ₃ ) as shown in FIG. , It is determined that the line exists on the straight line L. The predetermined range B is the coordinate data (x ₂ ,
The distance between y ₂ ) and the straight line L is set within a range that is within 10 m, which is the distance error of the positioning signal, for example.

Therefore, the CPU 203a first calculates the coordinate data (x ₂ ′, y ₂ ′) of the coordinate data (x ₂ , y ₂ ) when the coordinate data (x ₁ , y ₁ ) is the origin. It is determined by the formula (2) shown.

[Equation 3]

Next, the CPU 203a causes the coordinate data (x
₂ ', y _2') the coordinate data when rotating angle theta (x ₂ '', y ₂ 'to'), is obtained by equation (3) below. Note that the angle θ is, as shown in FIG.
It is the angle formed by the x axis when the coordinate data (x ₁ , y ₁ ) is the origin.

[Equation 4]

As shown in FIG. 7, the y coordinate of the coordinate data _{(x 1 '', y 1} ''), the coordinate data (x _2,
y ₂ ) and the straight line L. Therefore, the CPU 20
3a, the absolute value of the y coordinate of the obtained coordinate data (x ₂ ″, y ₂ ″) is within 10 m (corresponding to the predetermined value in the claims), as shown in the following formula (4). If there is, it is determined that the coordinate data (x ₂ , y ₂ ) exists within the predetermined range B and the coordinate data (x ₂ , y ₂ ) exists on the straight line L (Y in step S42), and the process proceeds to the next step S43.

[Equation 5]

In step S43, the CPU 203a
Acts as removing means, the coordinate data recorded in the coordinate data area _{P n (x 3, y 3} ), after recording the coordinate data area P _n-1, stored in the coordinate data area P _n The coordinate data (x ₃ , y ₃ ) is reset (step S43). By the operation of step S43, the coordinate data (x ₂ , y) recorded in the coordinate data area P _n-1 is recorded.
₂ ) is deleted from the record.

On the other hand, if the above equation (4) is not satisfied and the absolute value of the y coordinate of the obtained coordinate data P _n-1 ″ is 10 m or more (N in step S42), the coordinate data P _{n- It} is determined that ₁ does not exist within the predetermined range B and the coordinate data P _n-1 does not exist on the straight line L, the number n of coordinate data is incremented (step S44), and then the process returns.

By repeating the above operation every time the coordinate data is detected, as shown in FIG. 8, when there are three or more coordinate data on a straight line, all the coordinate data except the first and last ones are recorded. Can be removed from.

Of the coordinate data recorded as described above, if the data determined to be the coordinate data detected while the new road is running is recorded as a new road, there are three or more coordinate data on a straight line. For example, except for the coordinate data detected first and last, it is registered as a new road. Therefore, as shown in FIG. 8, the straight line represented by 5 pieces of coordinate data can be represented by 2 pieces of coordinate data,
Many new roads can be registered by reducing the amount of information on new roads.

Further, according to the above-mentioned navigation device,
For example, each time coordinate data is detected, the detected coordinate data is detected.
The coordinate data (x₃, Y₃), Record
Of the stored coordinate data, the last recorded coordinate data
Coordinate data (x₂, Y₂),last
The coordinate data recorded second from was detected first.
Coordinate data (x₁, Y₁) And the above three coordinate data
(X₁, Y₁), (X₂, Y₂) And (x₃, Y₃) Out of
The first and last detected coordinate data (x₁, Y ₁)as well as
(X₃, Y₃), The coordinate detected in the middle on the straight line L
Data (x₂, Y ₂) Exists and is present
Intermediate coordinate data (x₂, Y₂) Is recorded
Excluded from.

As described above, since unnecessary coordinate data is removed at the stage of temporarily recording the coordinate data in the coordinate data area, the memory for temporarily recording the coordinate data can be made small. it can.

Moreover, each time it is detected, it is judged whether or not the coordinate data (x ₂ , y ₂ ) detected in the middle exists on the straight line L, and the coordinate data to be deleted is deleted. Therefore, the memory of the coordinate data area for temporarily recording the coordinate data can be further reduced.

Further, the coordinate data (x
₂ , y ₂ ) is the coordinate data (x
_{If a} straight line L connecting ( ₁ , y ₁ ) and (x ₃ , y ₃ ) is within a predetermined range B, it is determined that it exists on the straight line. Therefore, it is assumed that the coordinate data (x ₂ , y ₂ ) detected in the middle is slightly deviated from the straight line L due to the detection error of the coordinate data or the distorted road. Can also be removed.

In the above embodiment, unnecessary coordinate data among the coordinate data on a straight line is removed from the record at the stage of temporarily recording the detected coordinate data in the coordinate data area. The memory of the area was reduced. However, if the coordinate data area has a sufficient memory, it is conceivable to record all the detected coordinate data in the coordinate data area and register unnecessary new coordinate data when registering a new road.

Further, in the above-described embodiment, when three or more coordinate data are present on a straight line when registering a new road, all but the first and last detected coordinate data are removed. It was registered. However, even if all are not removed, 1 other than the coordinate data detected first and last
By registering all but one, it is possible to reduce the amount of information on new roads.

[0052]

As described above, according to the first aspect of the present invention, if there are three or more consecutively detected coordinate data on a straight line, the first and last detected coordinate data. Since at least one other than the data is registered and registered, the straight line represented by the m (≧ 3) coordinate data is
Since it can be represented by (m-the number n of coordinate data to be removed), it is possible to reduce the amount of information on the new road.
It is possible to obtain a navigation device that can register more new roads.

According to the second aspect of the present invention, if each coordinate data detected during traveling on the new road is judged as coordinate data detected in the middle, three or more coordinate data are obtained on a straight line. When it exists, it can be registered as a new road except all coordinate data other than the first and last detected coordinate data, so it is possible to easily and further reduce the amount of information on the new road. It is possible to obtain a navigation device that can

According to the third aspect of the present invention, the straight line 3
When there is more than one coordinate data, all coordinate data except the coordinate data detected first and last,
Since the road can be registered as a new road, the amount of information on the new road can be easily and further reduced.
Moreover, since the coordinate data is removed at the stage of temporarily recording the coordinate data, it is possible to obtain a navigation device in which the memory for temporarily recording the coordinate data can be made small.

According to the fourth aspect of the present invention, a determination is made every time it is detected and the coordinate data to be deleted is deleted. Therefore, a memory for temporarily recording the coordinate data is further provided. It is possible to obtain a navigation device that can be reduced in size.

According to the invention described in claim 5, the coordinate data detected in the middle due to the detection error of the coordinate data is slightly different from the straight line connecting the coordinate data detected first and last. Even if there is a deviation, the coordinate data detected in the middle can be removed, so that it is possible to obtain a navigation device that can further reduce the information amount of the new road.

According to the invention described in claim 6, it is possible to obtain a navigation device which can easily make a judgment based on the equation (1).

[Brief description of drawings]

FIG. 1 is a basic configuration diagram of a navigation device of the present invention.

FIG. 2 is a diagram showing an embodiment of a map information updating system incorporating the navigation device of the present invention.

FIG. 3 is a detailed view of the navigation device of FIG.

FIG. 4 is a view showing C configuring the navigation device 200 of FIG.
It is a flow chart which shows a processing procedure in new road registration processing of PU203a.

5 is an explanatory diagram for explaining an operation in a new road registration process of the navigation device in FIG.

FIG. 6 is a view showing C configuring the navigation device 200 of FIG.
7 is a flowchart showing a processing procedure in a recording process of the PU 203a.

FIG. 7 is an explanatory diagram for explaining an operation in a recording process of the navigation device in FIG.

FIG. 8 is an explanatory diagram for explaining an operation in a recording process of the navigation device in FIG.

[Explanation of symbols]

203a-1 reading means 203a-2 Position detecting means 203a-3 registration means 203a-31 Judgment means 203a-32 recording means 203a-33 removing means 204 Map information recording medium 206 display means

Claims (6)

[Claims] 1. A reading means for reading map information including road information recorded on a map information recording medium, and a displaying means for displaying a map image corresponding to the read map information, and intermittently on the earth. Position detecting means for detecting coordinate data representing the current position of the vehicle, new road not included in the map information recording medium, and registration means for registering coordinate data detected during traveling as a new road. In the provided navigation device, the registration means is the coordinate data detected while the vehicle is traveling on the new road, and among the three or more continuously detected coordinate data existing on a straight line, A navigation device, characterized in that the registration is performed except for at least one other than the last detected coordinate data. 2. The navigation device according to claim 1, wherein the registration unit is coordinate data detected during traveling on the new road, and is detected first and last of three coordinate data. Further on the straight line connecting the coordinate data, further has a determining means for determining whether or not the coordinate data detected in the middle, except for the intermediate coordinate data determined to exist by the judging means, A navigation device characterized by performing the registration. 3. The navigation device according to claim 1, wherein the registration unit temporarily records the coordinate data each time the coordinate data is detected, and the three recorded units. Of the coordinate data, the determination means for determining whether or not the coordinate data detected in the middle exists on the straight line connecting the first and last detected coordinate data, and the judgment means determines that the coordinate data exists. Removing the coordinate data from the record, the coordinate data detected during the traveling on the new road among the coordinate data recorded by the recording unit is registered as a new road. Navigation device. 4. The navigation device according to claim 3, wherein the determination unit makes the determination each time the coordinate data is detected, and the removal unit is determined to be present by the determination unit. The navigation device is characterized in that the coordinate data is excluded from the record every time the cursor is moved. 5. The navigation device according to claim 2, 3 or 4, wherein the determination unit is configured such that the coordinate data detected in the middle is
A navigation device, characterized in that if it is within a predetermined range with respect to a straight line connecting the first and last detected coordinate data, it is judged to exist on the straight line. 6. The navigation device according to claim 5, wherein the coordinate data detected first among the three coordinate data continuously detected is (x ₁ , y ₁ ), the intermediate data. When the coordinate data detected at (x ₂ , y ₂ ) and the coordinate data detected at the end are (x ₃ , y ₃ ), the judging means calculates When, the coordinate data detected in the middle, with respect to the straight line connecting the coordinate data detected at the earliest and last,
A navigation device, characterized in that it is within a predetermined range and is judged to exist on the straight line.