CN104081159A - Image processing device and image processing method - Google Patents

Abstract

An image processing device (100), provided with: an acquisition unit (101) for acquiring information pertaining to the current position of the moving body, information pertaining to the amount of energy held by the moving body, and information pertaining to the amount of energy consumed when the moving body travels in a predetermined zone; a region specification unit (103) for specifying a plurality of regions using map information on the basis of information acquired by the acquisition unit; a search unit (104) for searching, after the regions have been specified by the region specification unit, whether or not it is possible for the moving body to reach the regions on the basis of the information acquired by the acquisition unit; and a display controller (106) for displaying, on a display (110), the regions searched by the search unit.

Description

Image processing apparatus and image processing method

Technical field

The present invention relates to according to the amount of the dump energy of moving body generate moving body can coverage area image processing apparatus and image processing method.But utilization of the present invention is not limited to image processing apparatus and image processing method.

Background technology

Be known in the past according to the current ground dot generation moving body of moving body can coverage area treating apparatus (for example,, with reference to following patent documentation 1).In following patent documentation 1, centered by the current place of moving body, be the whole orientation on segmentation map radially, obtain and the node of the point of crossing that can arrive farthest, the current place of moving body as cartographic information according to each cut zone.Then, show connect acquired multiple nodes and obtain to discharge curve as moving body can coverage area.

In addition, it is also known for a kind for the treatment of apparatus, this treating apparatus according to the battery allowance of moving body and power consumption generate in each road light from moving body current can coverage area (for example,, with reference to following patent documentation 2).In following patent documentation 2, in many roads that are connected with the current place of moving body, calculate the power consumption of moving body, calculate the driving range of the moving body in each road according to the battery allowance of moving body and power consumption.Then, obtain the current place of moving body and with this current place at a distance of the moving body of driving range multiple can place of arrival as the node of cartographic information, the aggregate that shows the line segment that connects multiple nodes and obtain as moving body can coverage area.

Prior art document

Patent documentation

Patent documentation 1: Japanese kokai publication hei 11-016094 communique

Patent documentation 2: Japanese kokai publication hei 07-085397 communique

Summary of the invention

The problem that invention will solve

But, in the technology of above-mentioned patent documentation 1, owing to only obtaining centered by the current place of moving body in each orientation and moving body place of arrival farthest, thereby can only obtain moving body can coverage area profile.Therefore, can enumerate following problem as an example, that is, suppose the current place of moving body and and moving body place of arrival farthest between while comprising the region that the moving body such as ocean, lake cannot travel, that cannot remove that region that this moving body cannot travel obtains moving body can coverage area.

In addition, in the technology of above-mentioned patent documentation 2, due to only obtain as moving body can coverage area road, thereby the scope beyond road can not be included in moving body can coverage area in.And, can coverage area due to what utilize that the aggregate of line segment of the road that can travel along moving body shows moving body, thus cannot obtain can coverage area profile.Therefore, can enumerate following problem as an example, that is, easily observe and what do not show moving body can coverage area be difficult with omitting.

In addition, in above-mentioned each document, can also enumerate in order to search for interior whole nodes that moving body can coverage area and need such problem points that expends time in search is processed.Especially, can not carry out image processing and show at high speed at short notice arriving the demonstration in region efficiently.

For solving the means of problem

In order to solve above-mentioned problem and to reach object, image processing apparatus in the invention of mode 1 uses multiple regions of being determined by cartographic information to process and can the coverage area relevant information of moving body, it is characterized in that possessing: obtain unit, the relevant information of amount of the information that the amount of the energy that it obtains the information relevant to the current location of above-mentioned moving body, have with above-mentioned moving body is relevant and the energy that consumes while travelling in regulation interval with above-mentioned moving body; Region determining unit, it,, according to obtaining by above-mentioned the information that unit is obtained, utilizes cartographic information to determine above-mentioned multiple region; Search unit, it is utilizing after above-mentioned zone determining unit determines above-mentioned multiple region, according to obtaining by above-mentioned the information that unit is obtained, searches for above-mentioned moving body and whether can arrive above-mentioned multiple region; And indicative control unit, it makes display unit show the multiple regions that utilize above-mentioned search unit to search.

In addition, image processing method in the invention of mode 4 uses multiple regions of being determined by cartographic information to process and can the coverage area relevant information of moving body, it is characterized in that comprising following operation: obtain operation, the relevant information of amount of the information that the amount of the energy that obtain the information relevant to the current location of above-mentioned moving body, has with above-mentioned moving body is relevant and the energy that consumes while travelling in regulation interval with above-mentioned moving body; Operation is determined in region, according to obtaining by above-mentioned the information that operation obtains, utilizes cartographic information to determine above-mentioned multiple region; Search operation, utilizing after above-mentioned zone determines that operation is determined above-mentioned multiple region, according to obtaining by above-mentioned the information that operation obtains, searches for above-mentioned moving body and whether can arrive above-mentioned multiple region; And show control operation, make display unit show the multiple regions that utilize above-mentioned search operation to search.

Brief description of the drawings

Fig. 1 is the block diagram that represents an example of the functional structure of the image processing apparatus of embodiment 1.

Fig. 2 is the process flow diagram of an example of the step of the image processing of presentation video treating apparatus.

Fig. 3 is the block diagram that represents an example of the hardware configuration of guider.

Fig. 4 is explanation grid data and the figure that can arrive the relation of node.

Fig. 5-1st, schematically show undertaken by guider can place of arrival the key diagram of one example of search.

Fig. 5-2nd, schematically show undertaken by guider can place of arrival the key diagram of one example of search.

Fig. 5-3rd, schematically show undertaken by guider can place of arrival the key diagram of one example of search.

Fig. 5-4th, schematically show undertaken by guider can place of arrival the key diagram of one example of search.

Fig. 6 be schematically represent to be undertaken by guider can place of arrival search the key diagram of an example.

Fig. 7 be utilize grid data represent guider can place of arrival the key diagram of an example.

Fig. 8 is the key diagram that represents an example of the sealing processing of being undertaken by guider.

Fig. 9 is the key diagram that represents an example of the open treated of being undertaken by guider.

Figure 10 is the key diagram that schematically represents an example of can coverage area extracting of the vehicle that undertaken by guider.

Figure 11 is the key diagram that schematically represents an example of the grid data after can coverage area the extracting of the vehicle that undertaken by guider.

Figure 12 is another the routine key diagram can coverage area extracting that schematically represents the vehicle that undertaken by guider.

Figure 13 is the process flow diagram that represents an example of the step of the image processing of being undertaken by guider.

Figure 14 is the process flow diagram that represents an example of the step of the estimation power consumption computing of being undertaken by guider.

Figure 15-1st, represents that the grid being undertaken by guider makes the process flow diagram of an example of the order of processing.

Figure 15-2nd, illustrates that the grid being undertaken by guider makes the figure of processing.

Figure 16-1st, the process flow diagram (one) of an example of the step of can place of arrival search processing that represents to be undertaken by guider.

Figure 16-2nd, the process flow diagram (its two) of an example of the step of can place of arrival search processing that represents to be undertaken by guider.

Whether Figure 16-3rd, illustrate adding paid close attention to link to judge the process flow diagram of an example of the order of processing in candidate.

Figure 17-1st, represent to be undertaken by guider can coverage area profile extraction process the process flow diagram (one) of an example of step.

Figure 17-2nd, represent to be undertaken by guider can coverage area profile extraction process the process flow diagram (its two) of an example of step.

Figure 18 is the key diagram that schematically represents an example of the acceleration that imposes on the vehicle travelling on the acclive road of tool.

Figure 19 be represent to be undertaken by guider can search for the key diagram of an example of display case after treatment by place of arrival.

Figure 20 represents that the identifying information being undertaken by guider gives the key diagram of an example of display case after treatment.

Figure 21 is the key diagram of an example of the display case after the sealing processing (expansion) that represents to be undertaken by guider.

Figure 22 is the key diagram of an example of the display case after the sealing processing (dwindling) that represents to be undertaken by guider.

Embodiment

Explain the preferred implementation of image processing apparatus of the present invention and image processing method referring to accompanying drawing.

(embodiment 1)

Fig. 1 is the block diagram that represents an example of the functional structure of the image processing apparatus of embodiment 1.What the image processing apparatus 100 of embodiment 1 was obtained the moving body that searches out according to the amount of the dump energy of moving body can place of arrival, generate moving body can coverage area and be presented on display part 110.In addition, image processing apparatus 100 is made up of obtaining section 101, region determination portion 103, search section 104, changing unit 105, display control unit 106.

Wherein, for such as EV vehicle (Electric Vehicle: electric vehicle) etc., energy refers to the energy based on electric grade, for HV vehicle (Hybrid Vehicle: combination drive automobile), PHV vehicle (Plug-in Hybrid Vehicle plug-in hybrid electric vehicle) etc., energy refers to the energy based on electric grade and the energy based on such as gasoline or light oil, rock gas etc.In addition, for for example fuel-cell vehicle, energy refers to energy and the such as hydrogen based on electric grade or becomes the fossil fuel etc. of hydrogen feed (EV vehicle, HV vehicle, PHV vehicle, fuel-cell vehicle are called for short and make " EV vehicle ") below.In addition, so-called energy for example refers to, at gasoline car, and in the situation of diesel vehicle etc. (following, referred to as " gasoline car "), for example energy based on gasoline, light oil or gas etc.For example, dump energy for example refers in the fuel tank or battery of moving body, residual energy in high-voltaghe compartment etc., is the energy of the middle use of travelling of moving body that can be afterwards.

The amount of the energy that obtaining section 101 obtains the information relevant to the current place of moving body that is equipped with image processing apparatus 100, have in the current place of this moving body with moving body initially has the relevant information of amount of energy.Specifically, obtaining section 101 is for example used the GPS information that receives from gps satellite etc. to calculate the current location of this device, obtains thus the information relevant to current place (positional information).

And, communication network in the car that obtaining section 101 is for example worked according to communication protocol by CAN (Controller Area Network) etc., obtain the amount of the dump energy of the moving body of being managed by electronic control unit (ECU:Electronic Control Unit), as the amount that initially has energy.

Obtaining section 101 also can obtain information, congestion information, the mobile unit information with the velocity correlation of moving body.Refer to speed, the acceleration of moving body with the information of the velocity correlation of moving body.And obtaining section 101 for example also can obtain the information relevant to road from be stored in the cartographic information of storage part (not shown), can also obtain road grade etc. from inclination sensor etc.The information relevant to road for example refers to the running resistance producing in moving body according to category of roads, road grade, pavement behavior etc.

In addition the energy estimated energy consumption consuming when, obtaining section 101 also obtains moving body and travels in regulation interval.Regulation interval for example refers to the place (being called " node " below) of a regulation on linking-up road and the interval (being called " link " below) of other node adjacent with this node.Node can be for example point of crossing or basic point, can be also distance according to the rules and connection place between the link divided.Node and link form the cartographic information being stored in storage part.The vector data that cartographic information for example obtains by point of crossing (point), road (line or curve), region (face) or the color etc. that shows these key elements are quantized forms.

Specifically, obtaining section 101, according to the consumed energy estimator that comprises the first information, the second information, the 3rd information, is estimated the estimated energy consumption in regulation interval.More particularly, obtaining section 101 according to information and the mobile unit information of the velocity correlation of moving body, estimate the estimated energy consumption in the interval of regulation.Mobile unit information refers to the information of the essential factor that becomes the quantitative change that makes in the time that moving body travels the energy that consumes or reclaim, as the weight of the weight of moving body (comprising based on number of passengers or the weight of carrying goods), rotary body etc.In addition, in the obvious situation of road grade, obtaining section 101 also can be according to the consumed energy estimator that also appends the 4th information, the estimated energy consumption in the interval of estimating to specify.

Consumed energy estimator refers to the estimator of the energy consumption of the moving body in the interval for estimating regulation.Specifically, consumed energy estimator is the polynomial expression of the first information, the second information and the 3rd information of the different essential factors that comprise consumption of energy amount increase and decrease.And, in the obvious situation of road grade, in consumed energy estimator, also append the 4th information.Describe consumed energy estimator below in detail.

The first information is the information of the energy correlation that consumes with the component that had by moving body.And, this first information be during with travelling when the acceleration and deceleration that comprise moving body and the time of stopping the energy correlation that consumes information.

Specifically, the first information be due to the irrelevant amount of energy of wanting thereby consuming of travelling of moving body.More particularly, the first information is by the air governor having on moving body, car audio, headlight, the amount of the energy that the components such as turn signal, brake pump consume.

The second information is and the information of the energy correlation that consumes when the moving body acceleration and deceleration and reclaim.When moving body acceleration and deceleration, refer to the transport condition of the speed time to time change of moving body.Specifically, refer to the transport condition of the velocity variations of moving body in official hour when the acceleration and deceleration of so-called moving body.Stipulated time refers to the time period of fixed intervals, for example, refer to time per unit etc.For EV vehicle, the energy of recovery for example refers to the electric power to battery charging in the time that moving body travels.And for gasoline vehicle, the energy of recovery for example refers to and can reduce the fuel (fuel saving) being consumed and the fuel of saving.

The 3rd information is and the information of the energy correlation that consumes of resistance owing to producing in the time that moving body travels.So-called moving body refers to the constant airspeed of moving body at the appointed time, the transport condition of acceleration or deceleration while travelling.The resistance producing in the time that moving body travels, refers to the essential factor that makes the transport condition of moving body change in the time that moving body travels.Specifically, the so-called resistance producing in the time that moving body travels refers to the various resistances that produce in moving body due to meteorological condition, condition of road surface, vehicle condition etc.

The so-called resistance producing in moving body due to meteorological condition for example refers to based on the meteorological air resistance producing that changes such as rain, wind.The so-called resistance producing in moving body due to condition of road surface refers to the surface resistance that the water on laying state, the road surface based on road grade, road surface etc. produces.The so-called resistance producing in moving body due to vehicle condition refers to load resistance moving body being applied due to the air pressure of tire, number of passengers, Weight Loaded etc.

Specifically, the 3rd information is to be subject under the state of air resistance or surface resistance, load resistance, the energy consumption while making moving body with fixed speed, acceleration or Reduced Speed Now.More particularly, the 3rd information is to be for example subject to due to the air resistance producing in moving body against the wind or owing to there is no to spread the energy consumption being consumed moving body is travelled under the state of surface resistance that the road repaiied causes etc. during with constant speed, acceleration or deceleration.

The 4th information is and the information of the energy correlation that consumes and reclaim according to the variation of the residing height of moving body.The variation of the residing height of moving body refers to the state of the residing height time to time change of moving body.Specifically, the residing height change of so-called moving body refers at the appointed time along with moving body travels on the acclive road of tool and make the transport condition highly changing.

And the 4th information is the additivity information that can obtain in the obvious situation of road grade, can improve thus the estimated accuracy of energy consumption in the interval of regulation.In addition,, in the unconspicuous situation of sideways inclined or the in the situation that of simplifying calculating, can establish the residing height of moving body and do not change and make road grade θ=0 in consumed energy estimator described later carry out estimated energy consumption.

Region determination portion 103 to determine can coverage area and carry out the region of the data that use when image described later is processed in order showing, and to be multiple regions by this Data Segmentation.Specifically, cartographic information is divided into multiple regions.Display control unit 106 shows on display part 110 according to the multiple regions that are partitioned into by this region determination portion 103 can coverage area.

More particularly, energy expenditure rate when region determination portion 103 adopts the energy expenditure rate of energy consumption of each unit distance of the expression vehicle of being obtained by obtaining section 101 optimum, according to the amount of the maximal value of this energy expenditure rate and the energy of putting aside, that decides that vehicle can arrive can coverage area.Then, the grid data that comprises the square shape of its maximum coverage area as circumscribed circle is made as to maximum magnitude.

Region determination portion 103 has Segmentation Number determination section 103a.Segmentation Number determination section 103a is made as the size of this maximum magnitude being carried out to a region of the timesharing such as multiple n the size in region when cartographic information is divided into multiple region, and cartographic information is divided into the grid data of m × m pixel.Now, for for example 4 pixels that make grid data periphery become blank, and make n=(m/2)-4.

Search section 104 is according to the current place of the moving body that is stored in cartographic information in storage part, obtained by obtaining section 101 and the estimated energy consumption that initially has the amount of energy and obtained by obtaining section 101, the place that search moving body can arrive from current place be multiple can place of arrival.

Specifically, search section 104 is the All Paths that can move from the current place of moving body, respectively using the current place of moving body as initial point, the mode of the accumulative total minimum of the estimated energy consumption in the regulation interval between the place of the regulation the path starting from moving body with connection, the place of search regulation and the interval of regulation.

More particularly, search section 104 is using the current place of moving body as initial point, searches for successively from moving body current and light whole links that can move, whole nodes and the link that can arrive with these link-attached nodes, whole links that can move and moving body respectively from these nodes.Now, search section 104 is in the time searching out a new link, estimated energy consumption to a link-attached path adds up, so that the mode of the accumulative total minimum of estimated energy consumption, and search and this link-attached node and the multilink being connected with this node.

For example, in the situation that this link is connected with same node with other link, search section 104 use in the multilink being connected with this node, from the current place of moving body to the estimated energy consumption of the less link of the accumulative total of the estimated energy consumption of this node, calculate the accumulative total of the estimated energy consumption of this node.By the estimated energy consumption of the less link of such use estimated energy consumption, can calculate the accurate accumulative total of the estimated energy consumption of this node.

Then, search section 104 in multiple paths that the node by searching out and link form as object search, respectively using the accumulative total of estimated energy consumption the whole nodes in the scope that initially has energy in moving body as arrived in the node of moving body.

And, search section 104 also can from for search for moving body can place of arrival the candidate interval of removing the forbidden regulation of movement of moving body search for this can place of arrival.The interval of the forbidden regulation of movement of moving body, for example referring to becomes one-way retrograde link, becomes the link between current exclusion area according to time restriction or season limit.Time restriction for example refers to that no through traffic in certain time period by setting student's road or ceremony etc. for.Season limit for example refers to that no through traffic due to heavy rain or heavy snow etc.

In the time that the interval importance degree of other regulation in the interval of multiple regulations, that select after the interval of a regulation is lower than the interval importance degree of this regulation, search section 104 also can from for search for moving body can place of arrival the candidate interval of removing other regulation search for this can place of arrival.The interval importance degree of regulation for example refers to category of roads etc.Category of roads refers to can be according to the gradient of legal limit or road, road width, the road type that has the difference of the road conditions such as no signal to distinguish.Specifically, category of roads refer to common national highway, super expressway, ordinary road, through the narrow street of Urban Streets etc. etc.Narrow street for example refers to the road being specified by building standard method of 4 meters of wide cut less thaies that are positioned at Urban Streets.

Exploration portion 104 has assigning unit 104a.Assigning unit 104a according to searched out by search section 104 multiple can place of arrival, the multiple regions that are split to form by region determination portion 103 are given respectively to the identifying information that whether can arrive for identifying moving body.Specifically, in the case of moving body can place of arrival be comprised in the region being split to form by region determination portion 103 in, assigning unit 104a gives and can arrive identifying information for what identify that moving body can arrive this region.Then, in the case of moving body can place of arrival be included in the region being split to form by region determination portion 103 in, assigning unit 104a gives and can not arrive identifying information for what identify that moving body can not arrive this region.

More particularly, assigning unit 104a gives and can arrive identifying information " 1 " or can not arrive identifying information " 0 " being divided into each region of grid data of m × m, is transformed into thus the grid data of the two-dimensional matrix data of the capable m row of m.Region determination portion 103 and assigning unit 104a are cut apart cartographic information like this and are transformed into the grid data of the two-dimensional matrix data of the capable m of m row, process as the raster data of binaryzation.

Changing unit 105 has the 1st changing unit 105a and the 2nd changing unit 105b that the change processing of identifying information is carried out in the multiple regions to being split to form by region determination portion 103.Specifically, changing unit 105 is by the 1st changing unit 105a and the 2nd changing unit 105b, the grid data that cartographic information is split to form is processed as the raster data of binaryzation, sealed (crowning) and process (after expansion process, dwindling the processing of processing).And changing unit 105 also can be carried out open treated (dwindling the processing of carrying out expansion process after processing) by the 1st changing unit 105a and the 2nd changing unit 105b.

Specifically, the 1st changing unit a is endowed and can arrives identifying information in other region adjacent with a region that is endowed identifying information, and the 105th changing unit is altered to the identifying information in this region can arrive identifying information (expansion process).More particularly, in the case of with the lower-left in a region of rectangle, under, bottom right, the right side, upper right, on, any one region in adjacent other region in upper left, left these 8 directions is endowed and can arrives identifying information " 1 ", the identifying information in this region is altered to " 1 " by the 1st changing unit 105a.

Changed after identifying information by the 1st changing unit 105a, be endowed and can not arrive identifying information in other region adjacent with a region that is endowed identifying information, the 2nd changing unit 105b is altered to the identifying information in this region can not arrive identifying information (dwindling processing).More particularly, in the case of with the lower-left in a region of rectangle, under, bottom right, the right side, upper right, on, any one region in adjacent other region in upper left, left these 8 directions is endowed and can not arrives identifying information " 0 ", the identifying information in this region is altered to " 0 " by the 2nd changing unit 105b.Identical number of times is respectively carried out in the expansion process of being undertaken by the 1st changing unit 105a and the processing of dwindling of being undertaken by the 2nd changing unit 105b.

Like this, assigning unit 104a in the multiple regions that are split to form by region determination portion 103, comprise the region that place that moving body can arrive from current place can place of arrival, give and can arrive identifying information for what identify that this moving body can arrive, as this moving body can coverage area.Then, changing unit 105 is to arriving adjacent region, the region of identifying information and also give and can arrive identifying information with being endowed, so that the mode that can coverage area produce missing point of moving body changes the identifying information in each region.

Display control unit 106 has been according to having given the identifying information in the region of identifying information by changing unit 105, and moving body can coverage area be shown in to display part 110 together with cartographic information.Specifically, display control unit 106 will be transformed into vector data as the grid data of having been given multiple view data of identifying information by changing unit 105, and is shown in display part 110 with together with cartographic information in being stored in storage part.In addition, display control unit 106 can be according to the identifying information of having been given the region of identifying information by assigning unit 104a, and moving body can coverage area be shown in to display part together with cartographic information.

The image processing of image processing apparatus 100 is described below.Fig. 2 is the process flow diagram of an example of the step of the image processing of presentation video treating apparatus.In the process flow diagram of Fig. 2, first image processing apparatus 100 obtains the information relevant to the current place of moving body by obtaining section 101 and the amount of the energy that has in the current place of moving body with moving body initially has the relevant information (step S201, S202) of amount of energy.Now, image processing apparatus 100 also can be obtained mobile unit information.

Then, image processing apparatus 100 is obtained the energy estimated energy consumption (step S203) consuming when moving body travels in the interval of regulation by obtaining section 101.Now, image processing apparatus 100 calculates respectively the estimated energy consumption in the interval of the multiple regulations between the place of the regulation of moving body on access path.

Then, image processing apparatus 100 utilizes region determination portion 103 that the cartographic information being made up of vector data is divided into multiple regions, and be transformed into the grid data being formed by raster data, determine the maximum magnitude of grid data and the Segmentation Number of grid data (step S204).Now, energy expenditure rate when region determination portion 103 adopts the energy expenditure rate of the vehicle of being obtained by obtaining section 101 optimum, the amount according to the maximal value of this energy expenditure rate with the energy of putting aside, the maximum coverage area that decides vehicle to arrive.In addition, utilize Segmentation Number determination section 103a to cut apart grid data with stated number.

Afterwards, by search section 104, according to be stored in the cartographic information in storage part, the amount that initially has energy obtaining and estimated energy consumption in step S202, S203, search the multiple of moving body can place of arrival (step S205).

Then, image processing apparatus 100 is by assigning unit 104a, according in step S205, search out multiple can place of arrival, to the multiple regions that are split to form in step S204, give respectively and can arrive identifying information (step S206).Afterwards, image processing apparatus 100 is by display control unit 106, according to the identifying information that is endowed multiple regions of identifying information in step S206, what make that display part 110 shows moving body can coverage area (step S207), and finishes above processing.

As described above, cartographic information is divided into multiple regions by the image processing apparatus 100 of embodiment 1, whether can arrive according to each range searching moving body, each region is given respectively and can be arrived identifying information for what identify that moving body can arrive.Then, image processing apparatus 100 can coverage area according to what be endowed that the region that can arrive identifying information generates moving body.What therefore, image processing apparatus 100 can generate moving body under the state of having removed the region that the moving body such as ocean or lake, mountain range can not travel can coverage area.What therefore, image processing apparatus 100 can show moving body exactly can coverage area.

And multiple regions that image processing apparatus 100 forms segmented map information are transformed into view data, the plurality of region are given respectively and can be arrived identifying information, the expansion process of then sealing.Therefore, image processing apparatus 100 can remove moving body can coverage area in missing point.

And multiple regions that image processing apparatus 100 forms segmented map information are transformed into view data, and the plurality of region is given respectively and can be arrived identifying information, that then opens dwindles processing.Therefore, image processing apparatus 100 can remove moving body can coverage area isolated point.

Like this, image processing apparatus 100 can remove moving body can coverage area missing point and isolated point, thereby can be on two-dimentional even surface easily observation place show the wheeled scope of moving body.And image processing apparatus 100 extracts the profile of the grid data that cartographic information is divided into multiple regions and generate.Therefore, image processing apparatus 100 can show smoothly moving body can coverage area profile.

And, image processing apparatus 100 delineation for search for moving body can place of arrival road search for moving body can place of arrival.Therefore, image processing apparatus 100 can reduce search moving body can place of arrival time treatment capacity.By delineation search for moving body can place of arrival road, allow to can reducing by place of arrival of search, by the expansion process of sealing as mentioned above, also can remove moving body can coverage area in the missing point that produces.Therefore, image processing apparatus 100 can reduce for generate moving body can coverage area treatment capacity.And, image processing apparatus 100 can be on two-dimentional even surface easily observation place show the wheeled scope of moving body.

In addition, first in region determination portion 103, determine the grid data of maximum coverage area and the processing of Segmentation Number that vehicle can arrive.Then, utilize search section 104 in the processing whether from the current place grid that movably All Paths search has been cut apart in region determination portion 103 of moving body with accessibility node by assigning unit 104a.Thus, can shorten the bulk treatment time, in addition, need in storage part, not get at the whole nodal informations that reach by stored energy,, thus memory space can be reduced.

Maximum consumption memory space is decided by grid number.For example, in the time that m × m pixel is 100 × 100, as long as there is the memory space of 10,000 nodes.On the other hand, when the grid data of the accessibility maximum coverage area of region determination portion 103 determined vehicle and will determine according to accessibility whole nodal informations time, need in storage part, store this accessibility whole nodal informations, and consume pro rata memory space with the amount of calculating in node searching, therefore can coverage area far away, more to increase necessary memory space.Like this, according to embodiment, can significantly reduce memory space required in the time of search, and utilize demonstration output result at short notice.

Embodiment 1

Embodiments of the invention 1 are described below.In the present embodiment, an example of having applied the guider carrying on vehicle 300 as image processing apparatus 100 time of the present invention is described.

(hardware configuration of guider 300)

The hardware configuration of guider 300 is described below.Fig. 3 is the block diagram that an example of the hardware configuration of guider is shown.In Fig. 3, guider 300 has CPU 301, ROM 302, RAM 303, disc driver 304, disk 305, CD drive 306, CD 307, audio interface (interface) 308, microphone 309, loudspeaker 310, input equipment 311, video interface 312, display 313, video camera 314, communication interface 315, GPS unit 316, various sensor 317.Each formation portion 301～317 utilizes bus 320 to connect respectively.

CPU 301 administers the entirety control of guider 300.ROM 302 record boot, estimated energy consumption calculation procedure, can place of arrival search utility, identifying information gives program, map datum display routine supervisor.RAM 303 is used as the workspace of CPU 301.That is, CPU 31 uses RAM 303 as perform region, and carries out the various programs of record in ROM 302, the control of taking on thus guider 300 entirety.

In estimated energy consumption calculation procedure, according to the consumed energy estimator of the estimated energy consumption for calculating vehicle, calculate the estimated energy consumption in the link that connects node and adjacent node.In can place of arrival search utility, according to the estimated energy consumption calculating in estimation routine, multiple places (node) that search can arrive in the amount of the dump energy in current place according to vehicle.Give in program at identifying information, according in search utility, search out multiple can place of arrival, give the identifying information that can arrive for identifying vehicle to multiple regions that cartographic information is split to form.In map datum display routine, according to multiple regions of having been given identifying information by the identifying information program of giving, what make that display 313 shows vehicle can coverage area.

Disc driver 304, according to the control of CPU301, is controlled the data read/write for disk 305.Disk 305 is recorded in the data that write under the control of disc driver 304.For example can use HD (hard disk) or FD (floppy disk) as disk 305.

And CD drive 306, according to the control of CPU301, is controlled the data read/write for CD 307.CD 307 is the recording mediums freely of plug that carry out sense data according to the control of CD drive 306.CD 307 also can use writeable recording medium.As removable recording medium, except CD 307, can also use MO, storage card etc.

About an example that is recorded in the information in disk 305 and CD 307, can enumerate map datum, information of vehicles, road information, travel record etc.Map datum be in onboard navigation system search vehicle can place of arrival time or show vehicle can coverage area time the vector data that uses, the background data that comprises terrestrial references (feature) such as representing buildings, river, ground surface, utilize link and node etc. to represent the road shape data etc. of road shape.

Audio interface 308 is connected with the microphone 309 of audio frequency input use and the loudspeaker 310 of audio frequency output use.The audio frequency that microphone device 309 receives is carried out A/D conversion audio interface 308 is interior.Microphone 309 is for example arranged on mud guard portion of vehicle etc. and locates, and it can be also multiple that its quantity can be one.Export from loudspeaker 310 sound voice signal of regulation having been carried out in sound I/F 308 D/A conversion.

Input equipment 311 can be enumerated to be had for the telepilot of multiple keys of input characters, numerical value, various instructions etc., keyboard, touch-screen etc.Input equipment 311 can be realized by any one mode in telepilot, keyboard, contact panel, but also can realize by multiple modes.

Video interface 312 is connected with display 313.Specifically, image I/F 312 is for example by controlling the memory buffer such as graphics controller, the VRAM (Video RAM: image random access memory) of image information that blotter can show immediately of display 313 entirety and according to the formation such as control IC of controlling display 313 from the view data of graphics controller output.

Show the various data of icon, cursor, menu, window or word, image etc. at display 313.For example can adopt TFT liquid crystal display, OLED display etc. as display 313.

Video camera 314 is taken vehicle interior or outside video.Image can be some in still image or dynamic image, for example, by camera 314, outside vehicle is photographed, in CPU 301, photographed image is carried out to graphical analysis, or export in the recording medium such as disk 305 or CD 307 via food interface 312.

Communication interface 315 is connected to the network wirelessly, plays a role as the interface of guider 300 and CPU 301.The communication network playing a role as network has CAN, LIN (Local Interconnect Network) the interior communication network of waiting for bus, concentric line road network or portable phone net, DSRC (Dedicated Short Range Communication), LAN, WAN etc.Communication I/F 315 is for example link block for public network, ETC (24 hours automatic payment systems) unit, FM tuner, VICS (Vehicle Information and Communication System: Vehicle Information and Communication System (registered trademark)/beacon receiver etc.

GPS unit 316 receives the electric wave from gps satellite, and output represents the information of the current location of vehicle.In the time that CPU 301 calculates the current location of vehicle, together with the output valve of the output information of GPS unit 316 and various sensors 317 described later, use.Represent that the information of current location is for example the information of any on diagram data definitely such as lat/lon, height.

Various sensors 317 export vehicle speed sensor, acceleration transducer, angular-rate sensor, inclination sensor etc. for judging the position of vehicle and the information of state.The output valve of various sensors 317 is used in the calculating of current location of the vehicle based on CPU 301 and the calculating of the variable quantity in speed and orientation.

Use program and the data in ROM 302, RAM 303, disk 305, the CD 307 etc. that is recorded in above-mentioned guider 300 by CPU 301, the program putting rules into practice is also controlled each portion of guider 300, realizes obtaining section 101, region determination portion 103, search section 104, the changing unit 105 of the image processing apparatus 100 shown in Fig. 1, the function of display control unit 106.

(summary that the estimated energy consumption being undertaken by guider 300 calculates)

The guider 300 of the present embodiment calculates the estimated energy consumption of the vehicle that is equipped with this device.Specifically, guider 300 is for example according to the gradient of speed, acceleration, vehicle, use comprises any one the above estimator in the consumed energy estimator of the first information, the second information and the 3rd information, calculates the estimated energy consumption of vehicle in the interval of regulation.The interval of regulation refers to the link of a node (for example point of crossing) on linking-up road and other node adjacent with this node.

More particularly, guider 300 is according to the congestion information being provided by detecting head, the predicted data of blocking up obtaining via server, the length and the category of roads etc. that are stored in the link in memory storage, calculates the complete link of Vehicle Driving Cycle needed hourage.And, guider 300 uses any one in the consumed energy estimator shown in formula (1)～formula (4) below, calculate the estimated energy consumption of time per unit, calculate the estimated energy consumption of vehicle when having travelled link hourage.

[formula 1]

$P_{t1}=P_{\mathrm{idle}}+\frac{(\mathrm{\μ}+\sin \mathrm{\θ})\mathrm{Mg}}{\mathrm{\ϵ\η}}\·V+\frac{\mathrm{\κ}}{\mathrm{\ϵ\η}}{V}^3+\frac{M+m}{\mathrm{\ϵ\η}}\left|\mathrm{\α}\right|\·V...\left(1\right)$

Wherein,

P _t1: the energy consumption (kW/sec) of time per unit when acceleration and while travelling

P _idle: the energy consumption (first information) that the component being had by moving body consumes

μ: rotary resistance

θ: road grade

M: the weight of moving body

G: acceleration of gravity

ε η: the efficiency of power dissipation of moving body

K: coefficient of air resistance

V: speed

| α |: resultant acceleration

M: the weight of the rotary body of mobile devices

[formula 2]

$P_{t2}=P_{\mathrm{idle}}+\frac{(\mathrm{\μ}-\mathrm{\β}\·\sin \mathrm{\θ})\mathrm{Mg}}{\mathrm{\ϵ\η}}\·V+\frac{\mathrm{\κ}}{\mathrm{\ϵ\η}}{V}^3-\mathrm{\β}\·\frac{M+m}{\mathrm{\ϵ\η}}\left|\mathrm{\α}\right|\·V...\left(2\right)$

Wherein,

P _t2: the energy consumption (kW/sec) of time per unit when deceleration

Consumed energy estimator shown in above-mentioned formula (1) is when estimating to accelerate and the catabiotic theoretical formula of time per unit while travelling.Wherein, ε represents net thermal efficiency, and η represents total transmission efficiency.If establish the resultant acceleration that adds up to of the acceleration alpha of moving body and gravity acceleration g based on road grade θ | α |, resultant acceleration | α | above-mentioned formula consumed energy estimator for (2) expression when negative., the consumed energy estimator shown in above-mentioned formula (2) is the catabiotic theoretical formula of the time per unit when estimating to slow down.Like this, utilize running resistance, operating range, clean electric efficiency and transmission efficiency long-pending, the consumed energy estimator of the time per unit while representing acceleration and deceleration and while travelling.

In above-mentioned formula (1) and formula (2), the energy consumption (first information) that the 1st, the right component that expression is had by moving body consumes.Energy consumption (four information) and the energy consumption based on rotary resistance component (three information) of the 2nd, the right expression based on gradient component.The energy consumption (three information) of the 3rd, the right expression based on air resistance component.In addition, the energy consumption (second information) of the 4th, the right expression of formula (1) based on acceleration component.The 4th, the right of formula (2) is the energy consumption (the second information) based on deceleration composition.

In above-mentioned formula (1) and formula (2), electric efficiency and drive efficiency are considered as fixing.But in fact electric efficiency and drive efficiency change according to the impact of motor speed and torque.Therefore, following formula (3) and formula (4) illustrate the catabiotic experimental formula of estimating time per unit.

Be used for calculating resultant acceleration | α+gsin θ | be the checking formula of the estimated energy consumption of timing, i.e. the checking formula of the estimated energy consumption of the time per unit when calculating while accelerating and travel, represents by formula (3) below.And, for calculating resultant acceleration | α+gsin θ | the checking formula of the estimated energy consumption when negative, for calculating the checking formula of estimated energy consumption of the time per unit while slowing down, represents by formula (4) below.

[formula 3]

P ₁＝k ₁+k ₂·|α+g·sinθ|·V+k ₃·(V ³+a ₁·V ²+a ₂·V) …(3)

[formula 4]

P ₁＝k ₁+k ₂·|α+g·sinθ|·V+k ₃·(V ³+a ₁·V ²+a ₂·V) …(3)

In above-mentioned formula (3) and formula (4), coefficient a1, a2 are the constants of setting according to vehicle condition etc.When coefficient k 1 is travelling when comprising acceleration and deceleration and the variable of the energy consumption in the time of stopping.The variable of energy consumption when coefficient k 2, k3 are travelling when comprising acceleration and deceleration.And, about other variablees such as speed V, acceleration A, identical with formula (2) with above-mentioned formula (1).The 1st, the right that the 1st, the right is equivalent to above-mentioned formula (1) and formula (2).Coefficient k 1 is equivalent to above-mentioned combustion expense coefficient k 1.

And, in above-mentioned formula (3) and formula (4), the 2nd, the right is equivalent to the energy of the acceleration resistance component on the 4th, the energy of grade resistance component on the 2nd, the right in above-mentioned formula (1) and formula (2) and the right.The 3rd, the right is equivalent to the energy of the air resistance component on the 3rd, the energy of rotary resistance component on the 2nd, the right in above-mentioned formula (1) and formula (2) and the right.The β that the right in formula (4) is the 2nd represents the yield (being made as " recovery " below) of potential energy and kinetic energy.

In addition, needed hourage when guider 300 calculating vehicle described above travels in link, average velocity and average acceleration when calculating vehicle travels in link.And, guider 300 also can use average velocity and the average acceleration of vehicle in link, according to the consumed energy estimator shown in formula (5) and formula (6) below, calculate the estimated energy consumption of vehicle when having travelled link hourage.

[formula 5]

$P=\frac{P_1+P_2}{2}=k_1+(1-\mathrm{\β})\·\frac{k_2}{2}\·\stackrel{\‾}{\left|\mathrm{\α}\right|}\·\stackrel{\‾}{V}+k_2\·g\·\mathrm{\Δh}+k_3\·({\stackrel{\‾}{V}}^3+a_1\·{\stackrel{\‾}{V}}^2+a_2\·\stackrel{\‾}{V})...\left(5\right)$

[formula 6]

$P=\frac{P_1+P_2}{2}=k_1+(1-\mathrm{\β})\·\frac{k_2}{2}\·\stackrel{\‾}{\left|\mathrm{\α}\right|}\·\stackrel{\‾}{V}+k_2\·g\·\mathrm{\Δh}+k_3\·({\stackrel{\‾}{V}}^3+a_1\·{\stackrel{\‾}{V}}^2+a_2\·\stackrel{\‾}{V})...\left(5\right)$

Consumed energy estimator shown in above-mentioned formula (5) is that the difference in height Δ h of the link for calculating Vehicle Driving Cycle is timing, the theoretical formula of the estimated energy consumption in link.Difference in height Δ h is the situation that is just referring to that vehicle driving up travels.Consumed energy estimator shown in above-mentioned formula (6) is the difference in height Δ h of the link for calculating Vehicle Driving Cycle theoretical formula at the estimated energy consumption of link while being negative.Difference in height Δ h is the negative situation that refers to vehicle descent run.In the situation that there is no difference in height, preferably use the consumed energy estimator shown in above-mentioned formula (5).

In above-mentioned formula (5) and formula (6), the energy consumption (first information) that the 1st, the right component that expression is had by moving body consumes.The energy consumption (second information) of the 2nd, the right expression based on acceleration resistance.The 3rd energy consumption (the 4th information) that expression consumes as potential energy in the right.The energy consumption (the 3rd information) of the 4th, the right air resistance that expression is subject to based on per unit area and rotary resistance (running resistance).

In the unconspicuous situation of road grade, the estimated energy consumption of vehicle is calculated in road grade θ=0 that guider 300 also can be established the consumed energy estimator shown in above-mentioned formula (1)～formula (6).

Below, the recovery β using in above-mentioned formula (1)～formula (6) is described.In above-mentioned formula (5), if the 2nd, the right is the energy consumption Pacc of the acceleration component in link, the energy consumption Pacc of acceleration component represents that the total power consumption amount (left side) from link deducts the energy consumption (the 1st, the right) in when idle running and the energy consumption based on running resistance (the 4th, the right) and the energy consumption that obtains, represents by formula (7) below.

[formula 7]

$P_{\mathrm{acc}}=P-k_1-k_3\·({\stackrel{\‾}{V}}^3+a_1\·{\stackrel{\‾}{V}}^2+a_2\·\stackrel{\‾}{V})...\left(7\right)$

In addition,, in above-mentioned formula (7), vehicle is not subject to the impact (θ=0) of road grade θ., the 3rd, the right of above-mentioned formula (5) is made as to zero.And, can, by by the above-mentioned formula of above-mentioned formula (7) substitution (5), obtain the computing formula of the recovery β shown in following formula (8).

[formula 8]

$\mathrm{\β}=1-\frac{2\·P_{\mathrm{acc}}}{k_2\·\left|\stackrel{\‾}{\mathrm{\α}}\right|\·\stackrel{\‾}{V}}...\left(8\right)$

Recovery β is 0.7～0.9 left and right in EV car, in HV car, is 0.6～0.8 left and right, is 0.2～0.3 left and right in gasoline car.The ratio of the energy reclaiming when in addition, the recovery of gasoline vehicle refers to the energy needing while acceleration with deceleration.

(about scope and the relation that can arrive node of the grid data in guider 300)

Fig. 4 is explanation grid data and the figure that can arrive the relation of node.For example, be made as the region 401 with a grid data of having cut apart.With respect to this region 401, as shown in (a), its Search Results is, having 6, this region 401 is shown as can arrive node time can coverage area.Equally, as shown in (b), its Search Results is, can arrive node even if only have one, and also this region 401 being shown as can coverage area.

Like this, when the region 401Wei unit using a grid be presented on display part 110 as can arrive or can not arrive scope time, it is one that arrived in the nodes in a region 401 needs only minimum, does not also change even multiple.In addition, in having when multiple during region 401 being determined for the processing before can arriving node, multiple information storages that arrive node must be remained in storer, cause memory space to increase, cannot improve treatment effeciency.Therefore, in this embodiment, as long as arrived in nodes in a region 401 is minimum be one just to this region 401 give can coverage area identifying information, although search section 104 after also continue to search for, in storer, do not store the multiple information that arrives node of maintenance.

(undertaken by guider 300 can place of arrival the summary of search)

The guider 300 of the present embodiment search for multiple nodes that the current place of the vehicle from being equipped with this device can arrive as vehicle can place of arrival.Specifically, more than guider 300 uses any one in the consumed energy estimator shown in above-mentioned formula (1)～formula (6), calculate the estimated energy consumption in link.Then, guider 300 is so that arrived in the node of the mode search vehicle of the accumulative total minimum of the estimated energy consumption in link, as can place of arrival.Below, illustrate undertaken by guider 300 can place of arrival one example of search.

Fig. 5-1～Fig. 5-4th, schematically represent to be undertaken by guider 300 can place of arrival search the key diagram of an example.In Fig. 5-1～5-4, represent the node (for example point of crossing) of map datum with circle, represent to connect adjacent node link (interval of the regulation on road) (Fig. 5-1,5-2 illustrate node and link too) to each other with line segment.

As shown in Fig. 5-1, first guider 300 searches for the link L1_1 nearest with the current place 500 of vehicle.Then, guider 300 is searched for the node N1_1 being connected with link L1_1, be appended to for search for can place of arrival both candidate nodes (below, be called for short and make " both candidate nodes ").

Then, guider 300 uses consumed energy estimator, calculates to connect the current place 500 of vehicle and as the estimated energy consumption in the link L1_1 of the node N1_1 of both candidate nodes.Then, guider 500 is written out to the estimated energy consumption 3wh in link L1_1 and for example node N1_1 in memory storage (disk 305 or CD 307) explicitly.

Then, as shown in Fig. 5-2, guider 300 is searched for the whole link L2_1, L2_2, the L2_3 that are connected with node N1_1, as for search for can place of arrival candidate's link (below, be called for short and make candidate's link).Then, guider 300 uses consumed energy estimator to calculate the estimated energy consumption in link L2_1.

Then, guider 300 is by the amount 7wh of the accumulated energy that adds up the estimated energy consumption 4wh in link L2_1 and the estimated energy consumption 3wh in link L1_1 and obtain, be written out to explicitly in memory storage (disk 305 or CD 307) and (be denoted as " amount of node being set to accumulated energy " below) with the node N21 that is connected in link L2_1.

In addition, with the situation of link L2_1 in the same manner, guider 300 uses consumed energy estimator to calculate respectively the estimated energy consumption in link L2_2, L2_3.Then, guider 300 is to the node N2_2 being connected with link L2_2, sets the estimated energy consumption 5wh in accumulative total link L2_2 and the estimated energy consumption 3wh in link L1_1 and the amount 8wh of the accumulated energy that obtains.

And guider 300 is to the node N2_3 being connected with link L2_3, set the estimated energy consumption 3wh in accumulative total link L2_3 and the estimated energy consumption 3wh in link L1_1 and the amount 6wh of the accumulated energy that obtains.Now, not that both candidate nodes, guider 300 appends this node to become both candidate nodes at the node of the amount of setting accumulated energy.

Then,, as shown in Fig. 5-3, guider 300 is searched for whole link L3_1, L3_2_1, the whole link L3_2_2 that are connected with node N2_2, L3_3, the L3_4 being connected with node N2_1 and the link L3_5 being connected with node N2_3, as candidate's link.Then, guider 300 uses consumed energy estimator to calculate the estimated energy consumption in link L3_1～L3_5.

Then, guider 300 adds up the estimated energy consumption 4wh in link L3_1 and the amount 7wh of the accumulated energy that node N2_1 is set, and the node N3_1 being connected is set to the amount 11wh of accumulated energy with link L3_1.And, in link L3_3～L3_5, with the situation of link L3_1 in the same manner, guider 300 is set amount 13wh, 12wh, the 10wh of accumulated energy to the node N3_3 being connected with each link L3_3～L3_5 respectively～N3_5.

Specifically, guider 300 adds up the estimated energy consumption 5wh in link L3_3 and the amount 8wh of the accumulated energy that node N2_3 is set, and node N3_3 is set to the amount 13wh of accumulated energy.Guider 300 adds up the estimated energy consumption 4wh in link L3_4 and the amount 8wh of the accumulated energy that node N2_2 is set, and node N3_4 is set to the amount 12wh of accumulated energy.Guider 300 adds up the estimated energy consumption 4wh in link L3_5 and the amount 6wh of the accumulated energy that node N2_3 is set, and node N3_5 is set to the amount 10wh of accumulated energy.

On the other hand, in the situation that as node N3_2, a node is connected with multilink L3_2_1, L3_2_2, the amount 10wh of guider 300 to this node N3_2 setting minimum accumulated energy from the amount of the accumulated energy of the mulitpath of 500 to the node N3_2 in current place of vehicle.

Specifically, the estimated energy consumption 4wh in link L3_2_1 and the amount 7wh of the accumulated energy that node N2_1 is set are added up (the amount 11wh of=accumulated energy) by guider 300, and the estimated energy consumption 2wh in link L3_2_2 and the amount 8wh of the accumulated energy that node N2_2 is set are added up to (the amount 10wh of=accumulated energy).Then, guider 300 to the current place 500 from vehicle to the amount 11wh of the accumulated energy in the path of link L3_2_1 with compare to the amount 10wh of the accumulated energy in the path of link L3_2_2 from the current place 500 of vehicle, node N3_2 is set to the amount 10wh as the accumulated energy in the path of the link L3_2_2 side of the amount of minimum accumulated energy.

In the case of existing multiple nodes that are same level with respect to the current place 500 of vehicle as above-mentioned node N2_1～N2_3, the link that guider 300 is for example connected from the node less with the amount of the accumulated energy the node of same grade, sequentially calculate the amount of estimated energy consumption and accumulated energy.Specifically, guider 300, according to the order of node N2_3, node N2_1, N2_2, calculates respectively the estimated energy consumption in the link being connected with each node, adds up with the amount of the accumulated energy in each node.Like this, by being identified for the order of node of the amount of calculating estimated energy consumption and accumulated energy, can calculate efficiently the scope that can arrive according to the amount of dump energy.

Then, guider 300 is proceeded the accumulative total of the amount of accumulated energy as above, until with respect to the more node of deep layer level of node N3_1～N3_5.And, whole nodes of the amount of the accumulated energy of guider 300 below being set with the amount of predefined prescribed energy as vehicle can place of arrival.

Specifically, for example establishing prescribed energy be 10wh in the situation that, as shown in being used the circle of oblique line blacking in Fig. 5-4, node N1_1, N2_1, N2_2, N2_3, N3_2, N3_5 that guider 300 extracts the amount that is configured to the accumulated energy below 10wh can place of arrival as vehicle.Predefined prescribed energy for example refers to the amount (initially have the amount of energy) of vehicle in the dump energy in current place 500.

The map datum 540 being formed by the current place 500 of the vehicle shown in Fig. 5-4 and multiple node and link be for illustrate can place of arrival search an example, guider 300 is in fact if Figure 56 be shown in is than searching for a large amount of nodes and link in the scope of map datum 540 broadnesses as shown in Fig. 5-4.

Fig. 6 be represent to be undertaken by guider 300 can place of arrival search the key diagram of an example.In the time that the amount of accumulated energy is continued to calculate for comprised road (except the road of narrow street) in the net region according to different as mentioned above, as shown in Figure 6, can at length search for the amount of the accumulated energy in corresponding node.Now, guider 300 also can according to the delineations such as the importance degree of such as link for search for moving body can place of arrival road.

(summary that the map datum being undertaken by guider 300 is cut apart)

The map datum that the guider 300 of the present embodiment utilizes Segmentation Number determination section 103a to store memory storage is cut apart.Specifically, the map datum being made up of vector data is transformed into for example grid data of 64 × 64 pixels (X, Y) by guider 300, makes map datum become raster data (view data).

Fig. 7 be utilize grid data represent guider 300 can place of arrival the key diagram of an example.In Fig. 7, utilize projection coordinate to illustrate according to the grid data (X, Y) that can place of arrival be endowed 64 × 64 pixels of identifying information.

Then, when in a region that can place of arrival be included in grid data (X, Y) of vehicle, the assigning unit 104a of guider 300 for example gives " 1 " to this region, as arriving identifying information (for example drawing a pixel with black at Fig. 7) for what identify that vehicle can arrive.On the other hand, when in a region that can place of arrival be included in grid data (X, Y) of vehicle, guider 300 is for example given " 0 " to this region, as not arriving identifying information (for example drawing a pixel by white at Fig. 7) for what identify that vehicle can not arrive.

Like this, the grid data of the two-dimensional matrix data (Y, X) of the capable m row of m of identifying information has been given respectively in each region that guider 300 is transformed into map datum to map datum is split to form, and the raster data using map datum as binaryzation is processed.Use respectively each region of the region representation grid data of the rectangle of fixed range.Specifically, as shown in Figure 7, for example, generate the grid data (X, Y) of drawing m × m pixel of multiple some groups that can place of arrival with black.The initial point (0,0) of grid data (X, Y) is the upper left corner.

(one of summary that the identifying information being undertaken by guider 300 is given)

Then, the grid data of the two-dimensional matrix data (Y, X) of the changing unit 105 of guider 300 to the capable m row of m seals processing (dwindling the processing of processing after expansion process).

Fig. 8 is the key diagram that represents an example of the sealing processing of being undertaken by guider.(A)～(C) grid data of the two-dimensional matrix data (Y, X) of the capable m row of m of identifying information has been given respectively in expression to each region.After the dividing processing at map datum shown in (A), just give the grid data 900 of identifying information., the grid data 900 shown in (A) is identical with the grid data shown in Fig. 8.

And, shown in (B), the grid data 900 shown in (A) is being sealed to the grid data 910 after processing (expansion).Shown in (C), the grid data 910 shown in (B) is being sealed to the grid data 920 after processing (dwindling).In the grid data 900,910,920 shown in (A)～(C), will can arrive can coverage area 901,911,921 illustrating with the state of blacking of vehicle that multiple regions of identifying information generate by being endowed.

As shown in (A), give grid data 900 after identifying information produce by be contained in vehicle can coverage area 901 in the missing point 902 that forms of the region that can not arrive (be coated with shade can coverage area 901 in white background part).For example, in the case of for reduce guider 300 can place of arrival the load processed of search and drawing a circle to approve the road for search node and link, due to become can place of arrival number of nodes reduce and produce missing point 902.

Then, as shown in (B), the expansion process that guider 300 seals the grid data 900 of giving after identifying information.In the expansion process of sealing, give in the grid data 900 after identifying information, be endowed the identifying information that can arrive an adjacent region of the region of identifying information, be altered to and can arrive identifying information.Thus, the vehicle of (giving after identifying information) before expansion process can coverage area 901 interior generations disappearance portion 902 disappear.

In addition, with vehicle before expansion process can coverage area 901 the identifying information of the adjacent Zone Full in the region of most peripheral, be altered to and can arrive identifying information.Therefore, in the time carrying out expansion process, the vehicle after expansion process can coverage area 911 periphery successively expand an amount of pixels so that encompasses inflation vehicle before treatment can coverage area 901 the periphery in each region of most peripheral.

Then,, as shown in (C), what guider 300 sealed grid data 910 dwindles processing.Dwindling in processing of sealing, in the grid data 910 after expansion process, be endowed the identifying information that can not arrive an adjacent region of the region of identifying information, be altered to and can not arrive identifying information.

Therefore, whenever dwindling while processing, the vehicle after expansion process can coverage area 911 each region of most peripheral all have the region of an amount of pixels to become the region that can not arrive, the vehicle after expansion process can coverage area 911 periphery dwindle.Thus, dwindle vehicle after treatment can periphery and the expansion process of coverage area 921 before vehicle can coverage area 901 periphery basic identical.

Guider 300 successively carries out the above-mentioned expansion process of same number and dwindles processing.Specifically, in the situation that having carried out twice expansion process, also carry out dwindling processing twice later.By making expansion process identical with the number of times that dwindles processing, can by be altered to by expansion process can arrive identifying information vehicle can coverage area the identifying information of roughly Zone Full of outer peripheral portion, original can not arrive identifying information by dwindling to process to be altered to.Like this, guider 300 can remove vehicle can coverage area in missing point 902, and generate can clearly show periphery vehicle can coverage area 921.

(identifying information being undertaken by guider 300 summary of giving two)

Guider 300 also can carry out open treated (dwindling the processing of carrying out expansion process after processing) to the grid data of two-dimensional matrix data (Y, X), generation can clearly show periphery vehicle can coverage area.Specifically, guider 300 open treated of carrying out as described below.

Fig. 9 is the key diagram that represents an example of the open treated of being undertaken by guider.(A)～(C) grid data of the two-dimensional matrix data (Y, X) of the capable m row of m of identifying information has been given respectively in expression to each region.(A) represent to give the grid data 1000 after identifying information.(B) represent with respect to the grid data 1010 after the open treated (dwindling) of (A).(C) represent with respect to the grid data 1020 after the open treated (expansion) of (B).In the grid data 1000,1010,1020 shown in (A)～(C), will can arrive can coverage area 1001,1011,1021 illustrating with the state of blacking of vehicle that multiple regions of identifying information generate by being endowed.

As shown in (A), when the vehicle in the grid data 1000 of giving after identifying information can coverage area 1001 periphery produce in the situation of many isolated points 1002, by the grid data 1000 of giving after identifying information is carried out to open treated, can remove isolated point 1002.Specifically, as shown in (B), guider 300 is to giving the processing of dwindling that grid data 1000 after identifying information opens.

Open dwindling in processing, give in the grid data 1000 after identifying information be endowed the identifying information that can not arrive an adjacent region of the region of identifying information, be altered to and can not arrive identifying information.Thus, dwindle the vehicle (given after identifying information) before processing can coverage area 1001 interior generations isolated point 1002 be removed.

Therefore, in the time dwindling processing, give vehicle after identifying information can coverage area 1001 each region of most peripheral, have the region of an amount of pixels to become the region that can not arrive at every turn, give vehicle after identifying information can coverage area 1001 periphery dwindle.And, give vehicle after identifying information can coverage area 1001 interior generations isolated point 1002 be removed.

Then, as shown in (C), the expansion process that guider 300 is opened grid data 1010.In open expansion process, dwindle in grid data 1010 after treatment be endowed the identifying information that can not arrive an adjacent region of the region of identifying information, be altered to and can arrive identifying information.Therefore, in the time carrying out expansion process, the vehicle after expansion process can coverage area 1021 periphery successively expand an amount of pixels so that surround dwindle vehicle after treatment can coverage area 1011 the periphery in each region of most peripheral.

Guider 300 is in open treated, and processing with sealing is also successively carry out the expansion process of same number and dwindle processing in the same manner.Like this, by making expansion process identical with the number of processes of dwindling processing, can expand by dwindle process the vehicle that dwindles can coverage area 1011 periphery, make to dwindle vehicle after treatment can coverage area 1021 periphery revert to dwindle vehicle before treatment can coverage area 1001 periphery.What like this, guider 300 can generate the vehicle that do not produce isolated point 1002 and can clearly show periphery can coverage area 1021.

(undertaken by guider 300 can coverage area one of the summary extracted of profile)

The identifying information that the guider 300 of the present embodiment is given according to the grid data of the two-dimensional matrix data (Y, X) to the capable m row of m, extract vehicle can coverage area profile.Specifically, guider 300 for example use freemans chain code (Freeman Chain code) extract vehicle can coverage area profile.More particularly, guider 300 extract as described below vehicle can coverage area profile.

Figure 10 is the key diagram that schematically represents an example of can coverage area extracting of the vehicle that undertaken by guider.And Figure 11 is the key diagram that schematically represents an example of the grid data after can coverage area the extracting of the vehicle that undertaken by guider.At the arrow that represents the numeral of the adjacent direction in the region 1110～1117 adjacent with region 1100 (below, be called " direction index (Chain code) ") and 8 directions corresponding with direction index shown in (A) of Figure 10.In Figure 10 (B), as a grid data 1120 that exemplifies the two-dimensional matrix data (Y, X) of the capable h of h row.In addition, in Figure 10 (B), utilize shade to illustrate to give can arrive the region 1121～1134 of identifying information and surrounded by this region 1121～1134 give the region that can arrive identifying information.

The line segment of direction index representation unit length towards direction.In grid data (X, Y), the coordinate corresponding with direction index is (X+dx, Y+dy).Specifically, as shown in Figure 10 (A), be " 0 " from region 1100 towards the direction index of the direction in the adjacent region 1110 of its lower-left side.Be " 1 " from region 1100 towards the direction index of the direction in the adjacent region 1111 of its downside.Be " 2 " from region 1100 towards the direction index of the direction in the region 1112 adjacent in its lower right side.

And, be " 3 " from region 1100 towards the direction index of the direction in the region 1113 adjacent on its right side.Be " 4 " from region 1100 towards the direction index of the direction in the region 1114 adjacent in its upper right side.Be " 5 " from region 1100 towards the direction index of the direction in the region 1115 that side is adjacent thereon.Be " 6 " from region 1100 towards the direction index of the direction in the region 1116 adjacent in its upper left side.Be " 7 " from region 1100 towards the direction index of the direction in adjacent region 1117, its left side.

Guider 300 is searched for the be endowed region that can arrive identifying information " 1 " adjacent with region 1100 left rotatably.In addition, guider 300, according to previous direction index, determines the retrieval starting point that be endowed the region that can arrive identifying information adjacent with region 1100.Specifically, in the case of being " 0 " from other region towards the direction index in region 1100, the direction that guider 300 is " 7 " in direction index from adjacent region, the left side in region 1100, adjacent region 1117 starts retrieval.

Equally, be " 1 "～" 7 " in the direction index from other region to region 1100, guider 300 from the lower-left in region 1100,, bottom right, the right side, upper right, the region that upper, upper left is adjacent respectively in the direction of direction index " 0 ", " 1 ", " 2 ", " 3 ", " 4 ", " 5 ", " 6 " adjacent region 1110～1116 start retrieval.Then, guider 300 detects and can arrive identifying information " 1 " in any one region from region 1100 to each region 1110～1117, to can arrive direction index " 0 "～" 7 " corresponding to the region 1110～1117 of identifying information " 1 " with detecting, with region 1100 explicitly in write storage device.

Specifically, guider 300 extract as described below vehicle can coverage area profile.As shown in Figure 10 (B), the region of the capable a row of a of the grid data 1120 of the two-dimensional matrix data (Y, X) that first guider 300 is listed as from the capable h of h, give the region that can arrive identifying information with the retrieval of behavior unit.

The capable Zone Full of a of grid data 1120 is endowed and can not arrives identifying information, and therefore, the region that guider 300 is then listed as from the capable a of b of grid data 1120 can arrive identifying information towards the area reseach of the capable h row of b.And, after guider 300 detects and can arrive identifying information in the region 1121 of the capable e row of the b of grid data 1120, from the region 1121 of the capable e row of b of grid data 1120 left rotatably retrieval become vehicle can coverage area profile there is the region that can arrive identifying information.

Specifically, complete because guider 300 has been retrieved the region of the capable d of the b adjacent with the left side in region 1121 row, thus first from the lower-left in region 1121 adjacent region 1122 left rotatably retrieval whether possess and there is the region that can arrive identifying information.Then, guider 300 detects the identifying information that can arrive in region 1122, will be stored in explicitly memory storage with region 1121 from region 1121 towards the direction index " 0 " of the direction in region 1122.

Then,, because the direction index of last time is " 0 ", so retrieving whether to possess from the region of the capable c row of the c adjacent with the left side in region 1122 rotatably, guider 300 there is the region that can arrive identifying information left.And, what guider 300 detected the region 1123 adjacent in the lower-left in region 1122 side can arrive identifying information, will be stored in explicitly memory storage with previous direction index from region 1122 towards the direction index " 0 " of the direction in region 1123.

After, guider 300 carries out determining retrieval starting point according to previous direction index repeatedly, retrieve whether there is the processing with the region that can arrive identifying information rotatably left from retrieval starting point, until the arrow corresponding with direction index turns back to region 1121.Specifically, whether guider 300 is retrieved to exist left from the region adjacent with the left side in region 1122 rotatably has the region that can arrive identifying information, that detects the region 1124 adjacent with the downside in region 1123 can arrive identifying information, and direction index " 1 " and the direction index of last time are stored in memory storage explicitly.

Equally, guider 300 is determining, after retrieval starting point, retrieve and have the region that can arrive identifying information rotatably, and detection to have the region 1124～1134 that can arrive identifying information successively from retrieval starting point left according to previous direction index.Then, guider 300, in the time obtaining direction index, is stored in memory storage explicitly with previous direction index.

Then, whether guider 300 is retrieved to exist left from the region of the capable f row of the b adjacent with the upper right side in region 1134 rotatably has the region that can arrive identifying information, that detects the region 1121 adjacent with the upside in region 1134 can arrive identifying information, and direction index " 5 " and the direction index of last time are stored in memory storage explicitly.Thus, according to the order of direction index " 0 " → " 0 " → " 1 " → " 0 " → " 2 " → " 3 " → " 4 " → " 3 " → " 2 " → " 5 " → " 5 " → " 6 " → " 6 " → " 5 ", direction index is stored in memory storage.

Like this, guider 300 from the region 1121 that detects at first left rotatably successively have adjacent with this region 1121 of retrieval can arrive the region 1122～1134 of identifying information and obtain direction index.Then, guider 300 is by a region blacking from region 1121 to the direction corresponding with direction index, thus, as shown in figure 11, generate by vehicle can coverage area profile 1201 and the part 1202 of being surrounded by this profile 1201 form have vehicle can coverage area 1200 grid data.

(undertaken by guider 300 can coverage area the summary extracted of profile two)

Another example of can coverage area extracting of the vehicle that guider 300 by the present embodiment is carried out describes.Guider 300 for example also can be according to the latitude, longitude information of grid data that is endowed the two-dimensional matrix data (Y, X) that can arrive identifying information, extract vehicle can coverage area profile.Specifically, guider 300 extract as described below vehicle can coverage area profile.

Figure 12 is another the routine key diagram can coverage area extracting that schematically represents the vehicle that undertaken by guider.Describe as an example of the grid data 1300 of the two-dimensional matrix data (Y, X) of the capable h of the d shown in Figure 12 row example.Guider 300 has been retrieved being endowed of grid data 1300 can arrive the region of identifying information " 1 ".Specifically, first guider 300 can arrive identifying information " 1 " from the region of the capable a row of a towards the area reseach of the capable h row of a.

Can not arrive identifying information " 0 " because the capable Zone Full of a of grid data 1300 is endowed, therefore, guider 300 then has the region that can arrive identifying information " 1 " from the region of the capable a row of b towards the area reseach of the capable h row of b.Then, guider 300 is obtained minimum longitude px1, the minimum latitude py1 (top-left coordinates in region 1301) in the region 1301 with the capable c row of b that can arrive identifying information " 1 ".

Then, guider 300 has the region that can arrive identifying information " 1 " from the region of the capable d row of b towards the area reseach of the capable h row of b.Then, guider 300 retrievals have the region that can arrive identifying information " 1 " and the border with the region that can arrive identifying information " 0 ", obtain maximum longitude px2, the maximum latitude py2 (the bottom right coordinate in region 1302) in the region 1302 with the capable f row of b that can arrive identifying information " 1 ".

Then, guider 300 rectangular area blacking as relative summit by the bottom right coordinate (px2, py2) in the top-left coordinates (px1, py1) in the region 1301 taking the capable c row of b and the region 1302 of the capable f row of b.

Then, guider 300 is listed as towards the region of the capable h row of b from the capable g of b of grid data 1300, and is listed as towards the retrieval of the capable h row of c and can arrives identifying information " 1 " from the capable a of c.Then, guider 300 is obtained minimum longitude px3, the minimum latitude py3 (top-left coordinates in region 1303) in the region 1303 with the capable d row of c that can arrive identifying information " 1 ".

Then, guider 300 has the region that can arrive identifying information " 1 " from the region of the capable e row of c towards the area reseach of the capable h row of c.Then, guider 300 retrievals have the region that can arrive identifying information " 1 " and the border with the region that can arrive identifying information " 0 ", obtain maximum longitude px4, the maximum latitude py4 (the bottom right coordinate in region 1304) in the region 1304 with the capable f row of c that can arrive identifying information " 1 ".

Then, guider 300 rectangular area blacking as relative summit by the bottom right coordinate (px4, py4) in the top-left coordinates (px3, py3) in the region 1303 taking the capable d row of c and the region 1304 of the capable f row of c.

Then, guider 300 is listed as towards the retrieval of the capable h row of d and has the region that can arrive identifying information " 1 " towards the region of the capable h row of c and from the capable a of d from the region of the capable g row of c.Because guider 300 is given and can not be arrived identifying information " 0 " to the Zone Full of the capable h row of d the region from the capable g row of c, thereby end process.

Like this, by having the region blacking that can arrive identifying information " 1 " according to each row of the grid data 1300 of two-dimensional matrix data (Y, X), that can obtain vehicle can coverage area.

(the image processing of being undertaken by guider 300)

As mentioned above, the node that the moving body of guider 300 based on retrieving according to the amount of the dump energy of vehicle can arrive, generate moving body can coverage area and be shown in display 313.The situation that is for example equipped on EV vehicle taking guider 300 below, describes as example.

Figure 13 is the process flow diagram that represents an example of the step of the image processing of being undertaken by guider.In the process flow diagram of Figure 13, first guider 300 obtains the current place (ofx, ofy) (step S1301) of the vehicle that is equipped with this device by for example communication interface 315.Then, guider 300 is obtained the amount that initially has energy (step S1302) of the vehicle in the current place (ofx, ofy) of vehicle by for example communication interface 315.

Then, guider 300 carries out grid data generation.Now, determine maximum magnitude and the Segmentation Number (step S1303) of grid data.Then, guider 300 carries out arriving node searching processing (step S1304).Then the net region that, guider 300 can arrive node to comprising is carried out identifying information and is given processing (step S1305).Then, guider 300 extract vehicle can coverage area profile (step S1306).Then, what guider 300 showed vehicle on display 313 can coverage area (step S1307), end process.

(the estimation power consumption computing of being undertaken by guider 300)

The estimation power consumption computing of being undertaken by guider 300 is described below.Figure 14 is the process flow diagram that represents an example of the step of the estimation power consumption computing of being undertaken by guider.Process flow diagram shown in Figure 14 is the processing of carrying out in above-mentioned steps S1304.

In the process flow diagram of Figure 14, first guider 300 obtains the congestion information that detecting head data etc. are processed and the predicted data (step S1401) of blocking up by communication interface 315.Then, guider 300 is obtained the length of link and the category of roads of link (step S1402).

Then, guider 300, according to the information obtaining in step S1401, S1402, calculates the hourage (step S1403) of link.Refer to the needed time of the complete link of Vehicle Driving Cycle the hourage of link.Then, guider 300, according to the information obtaining in step S1401～S1403, calculates the average velocity (step S1404) of link.The average velocity of link refers to the average velocity time of vehicle in the time that link travels.

Then, guider 300 is obtained the elevation data (step S1405) of link.Then, guider 300 is obtained the set information (step S1406) of vehicle.Then, guider 300 is according to the information obtaining in step S1401～S1406, use the consumed energy estimator of any one the above formula in above-mentioned formula (1)～formula (6), calculate the estimation power consumption (step S1407) in link, finish the processing based on this process flow diagram.

(grid in guider 300 makes processing)

Then, illustrate that the grid in guider 300 makes processing.Figure 15-1st, represents that the grid being undertaken by guider makes the process flow diagram of an example for the treatment of step, is equivalent to the processing of the step S1303 of Figure 13.In addition, Figure 15-2nd, illustrates that the grid being undertaken by guider makes the figure of processing.

First, guider 300 uses above-mentioned energy estimate inequality, obtains optimum energy expenditure rate (ceiling capacity consumption rate) (step S1501).Energy expenditure rate [km/kWh] in for example, optimal velocity when, obtaining the vehicle that is equipped with this guider 300 and travel changeably with average velocity 1km/h～150km/h.This energy expenditure rate can use the value of measuring in advance.

Then, calculate the displacement (step S1502) of highest energy consumption rate according to the amount of the energy of savings in the battery of vehicle etc.As shown in Figure 15-2 (a), the maximum coverage area 500a of the displacement based on highest energy consumption rate centered by the current place 500 of vehicle is as circular.Then, as shown in Figure 15-2 (b), effective range (above-mentioned maximum magnitude) 400 (the step S1503) using the square of the upper end of the maximum coverage area 500a of link, lower end, right-hand member, left end as grid data.And as shown in Figure 15-2 (c), the effective range of grid data is carried out to decile with grid number in length and breadth, make the region 401 (step S1504) of multiple grids, and finish above processing.

(undertaken by guider 300 can place of arrival search process)

Can place of arrival search processing of being undertaken by guider 300 is described below.Figure 16-1, Figure 16-2nd, the process flow diagram of an example of the step of can place of arrival search processing that represents to be undertaken by guider.First, become " not arriving " state (step S1601) for the region 401 (with reference to Figure 15-2) of the above-mentioned total-grid making.For example, give the identifying information " 0 " not arriving.

Then, in candidate, add the link-attached node (step S1602) nearest with initial search point.Then, as long as node candidate is one (step S1603: be), be just transferred to step S1604, if but node candidate no one (step S1603: no), end process.So-called this node candidate refers to the candidate who then becomes calculating object in computing node not.

In step S1604, in current candidate, select to multiply each other the node N (step S1604) of consumed energy minimum.Then, in the time that this node N is greater than the amount of prescribed energy, (step S1605: be), is transferred to step S1606, but in the time that this node N is less than the amount of prescribed energy (step S1605: no), end process., even because the node of energy minimum is to calculate the node that amount that its above energy is greater than prescribed energy also cannot all arrive, so end process.

In step S1606, pay close attention to one of the link being connected with node N (step S1606), judge in candidate, whether to add the link (step S1607) of having paid close attention to.Describe this processing below in detail.Then, the judged result of step S1607 is when in the time adding candidate (step S1608: be), to be transferred to step S1609, but in the time not adding candidate (step S1608: no), to be transferred to step S1620.

In step S1609, the node of the link destination in paid close attention to is made as to node N2, computing node N2 corresponding with which grid 401 (step S1609).Then, in the time that this grid 401 is " arrival " state (step S1610: be), to the total-grid investigation of corresponding grid 401 adjacency whether be " arrival " state (step S1611), and be transferred to step S1613.On the other hand, in the time not being arrival state (step S1610: no), make this grid 401 become " arrival " state (step S1612), be transferred to step S1616.

In step S1613, in the time being arrival state with the total-grid of this grid adjacency (step S1613: be), be transferred to step S1614, in the time not arriving with a part for the grid of this grid adjacency (step S1613: no), be transferred to step S1616.In step S1614, if the attribute of this link is narrow street road (step S1614: be), be transferred to step S1620, if the attribute of this link is not narrow street road (step S1614: no), be transferred to step S1615.Here,, if near grid is the state that all arrives, what same link was far away is limited to the road such as national highway or county road to the road of grid continuously, so do not need to search for the low roads of lattice such as narrow street road.Therefore, can, by ending the link search on narrow street road or suppressing the situation that enters arrow path from street, make to process high speed.So-called these lattice refer to the importance degree of road, for example, and by super expressway, toll road, national highway, county road, that main local road is defined as lattice is high, the road beyond it is defined as to lattice low.

In step S1615, the link before and the attribute of this link are compared, judge whether to enter the road that lattice are low (step S1615) from the high road of lattice.Result is relatively, when enter the low road of lattice from the high road of lattice (step S1615: be), be transferred to step S1620, when enter the low road of lattice from the high road of lattice (step S1615: no), calculate the energy consumption (step S1616) of the link of paying close attention to.

Then, calculate the amount (step S1617) of the energy that multiplies each other that arrives the node N2 in paid close attention to link destination.Arrive the amount of the energy of the link of the amount+pay close attention to of the energy that multiplies each other of amount=arrival node N of the energy that multiplies each other of N2.Then, although arrive other path of node N2 but this amount hour (step S1618: be) of (calculating) energy that multiplies each other when not arrived the node of node N2 or having had in step S1617, be transferred to step S1619, although arrive other path of node N2 but this amount of the energy that multiplies each other when large (step S1618: no) when having to arrive the node of node N2 or have, be transferred to step S1620.

In step S1619, node N2 is set to the amount of the energy that multiplies each other of having obtained, in the time that node N2 is not candidate, in candidate, add ingress N2 (step S1619).Then, in step S1620, in the time thering is the link that other is connected with link L (step S1620: be), be back to step S1606, when do not have other to be connected with link L link time (step S1620: no), from candidate, remove node N (step S1621), and return to step S1603.This is because finished to calculate about node N, so remove from candidate.This candidate refers to the candidate who then becomes calculating object as computing node not.

Figure 16-3rd, represents the process flow diagram of an example of the step of the judgement processing to whether add paid close attention to link in candidate.Following processing is the detailed example of the processing of step S1607.As shown in the figure, in the time that paid close attention to link is the current road of forbidding (step S1622: be), in the time running into one-way trip retrograde (step S1623: be), in the time running into time restriction or season limit (step S1624: be), in candidate, all do not add paid close attention to link (step S1625), and end process.On the other hand, paid close attention to link be not the current road (step S1622: no) of forbidding, be not one-way trip drive in the wrong direction (step S1623: no) but also with time restriction or season limit when not corresponding (step S1624: no), in candidate, add paid close attention to link (step S1626), and end process.

(undertaken by guider 300 can coverage area profile extraction process)

Illustrate that the identifying information being undertaken by guider 300 gives processing below.Figure 17-1,17-2 be represent to be undertaken by guider can coverage area profile extraction process the process flow diagram of an example of step.The process flow diagram of Figure 17-1,17-2 is an example of the processing carried out in above-mentioned steps S1306, be in above-mentioned guider 300 can coverage area the summary extracted of profile two shown in can coverage area profile extraction process.

In Figure 17-1, in the process flow diagram of 17-2, first guider 300 obtains the grid data (step S1901) of the two-dimensional matrix data of the capable mx row of my.Then, guider 300 is obtained the latitude, longitude information (step S1902) in each region of the grid data of obtaining in step S1901.

Then, guider 300 is in order to retrieve the identifying information in region of the capable j row of the i of grid data, and makes variable i initialization, and makes variable i and 1 addition (step S1903, S1904).Then, whether guider 300 judgment variable i exceed my capable (step S1905).

Do not exceed my when capable (step S1905: no) in variable i, guider 300 makes variable j initialization, and makes variable j and 1 be added (step S1906, S1907).Then, whether guider 300 judgment variable j exceed mx row (step S1908).

In the time that variable j does not exceed mx row (step S1908: no), guider 300 judges whether the identifying information in the region of the capable j row of the i of grid data is " 1 " (step S1909).When the identifying information in the region being listed as at the capable j of i is " 1 " (step S1909: be), guider 300 is obtained the upper left coordinate (px1, py1) (step S1910) in the region of the capable j row of i of grid data.The upper left coordinate (px1, py1) in the region of the capable j row of so-called i refers to minimum longitude px1, the minimum latitude py1 in the region of the capable j row of i.When the identifying information in the region being listed as at the capable j of i is not " 1 " (step S1909: no), be back to step S1907.

Then, whether guider 300 judgment variable j do not exceed mx row (step S1911).In the situation that variable j exceedes mx row (step S1911: no), guider 300 is obtained the bottom right coordinate (px2, py2) (step S1912) in the region of the capable j row of i of grid data.The bottom right coordinate (px2, py2) in the region of the capable j row of so-called i refers to maximum longitude px2, the maximum latitude py2 in the region of the capable j row of i.

Then, guider 300 is set in the upper left coordinate (px1, py1) of obtaining in step S1910 and the bottom right coordinate (px2, py2) (step S1916) of obtaining in step S1912 to map datum.Then, guider 300 will be taking upper left coordinate (px1, py1) and the rectangular area blacking (step S1917) of bottom right coordinate (px2, py2) as relative summit, and be back to step S1904, repeatedly carry out later processing.

On the other hand, in the time that variable j does not exceed mx row (step S1911: be), guider 300 makes variable j and 1 be added (step S1913), judges whether the identifying information in the region of the capable j row of i of grid data is " 1 " (step S1914).The identifying information in the region being listed as at the capable j of i is not (step S1914: no) " 1 ", guider 300 is obtained the bottom right coordinate (px2, py2) (step S1915) in the region of the capable j-1 row of i of grid data, and carries out the later processing of step S1916.

In addition, the identifying information in the region being listed as at the capable j of i is (step S1914: be) " 1 ", is back to step S1911, repeatedly carries out later processing.Then, when variable i exceedes my when capable (step S1905: be), the processing of guider 300 process ends figure.In the time that variable j exceedes mx row, (step S1908: be), is back to step S1904, repeatedly carries out later processing.

(about road grade)

Then, to using and describe for the road grade θ of variable in the right of above-mentioned formula formula (1)～formula (6).Figure 18 is the key diagram that schematically shows an example of the acceleration to applying at the vehicle of the acclive road driving of tool.As shown in figure 18, the vehicle of the ramp driving that is θ in road grade is implemented to acceleration A (=dx/dt) that escort vehicle travels and the direct of travel composition B (=gsin θ) of gravity acceleration g.For example, when taking above-mentioned formula (1) when example describes, the resultant acceleration C of the acceleration A of this Vehicle Driving Cycle and the direct of travel composition B of gravity acceleration g is followed in the 2nd, the right expression of above-mentioned formula (1).In addition, the interval distance of Vehicle Driving Cycle is made as to D, will travels and be made as T time, travel speed is made as to V.

In the case of not considering that road grade θ carries out the estimation of power consumption, in the less region of road grade θ, estimate that power consumption is smaller with the error of actual power consumption, and in the larger region of road grade θ, the error increase of the estimation power consumption estimating and actual power consumption.Therefore, in guider 300, consider road grade, i.e. the 4th information and fire the estimation of expense, improve thus estimated accuracy.

For example, can use the gradient meter being mounted in guider 300 to learn the gradient of the road of Vehicle Driving Cycle.In addition, when do not carry gradient timing on guider 300, for example, can use the grade information of the road comprising in map datum.

(about running resistance)

Then, the running resistance producing in vehicle is described.Guider 300 for example calculates running resistance according to formula (11) below.Generally, running resistance due to road category, road grade, pavement behavior etc. accelerate time and the time of travelling in moving body, produce.

[formula 9]

Rt＝μMg+kv ²+Mg sinθ+(M+m)α …(11)

Wherein,

Rt: running resistance

V: speed

α: acceleration

μ: rotary resistance

θ: road grade

M: the weight of moving body

G: acceleration of gravity

K: coefficient of air resistance

M: the weight of the rotary body of mobile devices

(the sealing display case after treatment of being undertaken by guider)

The sealing of being undertaken by guider display case after treatment is described below.Figure 19 be represent to be undertaken by guider can search for the key diagram of an example of display case after treatment by place of arrival.Figure 20 represents that the identifying information being undertaken by guider gives the key diagram of an example of display case after treatment.And Figure 21 is the key diagram of an example of the display case after the sealing processing (expansion) that represents to be undertaken by guider.Figure 22 is the key diagram of an example of the display case after the sealing processing (dwindling) that represents to be undertaken by guider.

As shown in figure 19, for example can place of arrival in display 313 display map data and the multiple of vehicle that searched out by guider 300.The state of the display 313 shown in Figure 19 be by guider 300 carry out can place of arrival search be shown in an example of the information of display after processing.Specifically, be the state after treatment that carries out the step S1304 of Figure 13.

Then, by guider 300, map datum is divided into multiple regions, according to can place of arrival being given and can arrive identifying information or can not arrive identifying information by each region, thus, as shown in figure 20, display 313 show based on can arrive identifying information vehicle can coverage area 2200.In this stage, vehicle can the interior generation of coverage area 2200 by not arriving the missing point that region forms.

Then, the expansion process of being sealed by guider 300, thus, as shown in figure 21, what generate missing point removed vehicle can coverage area 2300.Then, that is sealed by guider 300 dwindles processing, thus, as shown in figure 22, vehicle can coverage area 2400 periphery size with seal before vehicle can coverage area 2200 periphery roughly the same.

Then, utilize guider 300 extract vehicle can coverage area 2400 profile 2401, can show smoothly thus vehicle can coverage area 2400 profile.And, owing to by sealing, missing point being removed, thus can on two-dimentional even surface 2402, show vehicle can coverage area 2400.

As described above, according to guider 300, cartographic information is divided into multiple regions, whether can arrive according to each range searching moving body, each region is given respectively for identifying moving body can arrive or can not arrive can arrive identifying information or can not arrive identifying information.Then, guider 300 is according to being endowed the region that can arrive identifying information, and what generate moving body can coverage area.What therefore, guider 300 can generate moving body under the state of having removed the region that the moving body such as ocean or lake, mountain range can not travel can coverage area.What therefore, image processing apparatus 100 can show moving body exactly can coverage area.

In addition, guider 300 is transformed into view data multiple regions that cartographic information is split to form, and the plurality of region is given respectively and can be arrived identifying information or can not arrive identifying information, the expansion process of then sealing.Therefore, guider 300 can remove moving body can coverage area in missing point.

In addition, guider 300 is transformed into view data multiple regions that cartographic information is split to form, and the plurality of region is given respectively and can be arrived identifying information or can not arrive identifying information, and that then seals dwindles processing.Therefore, guider 300 can remove moving body can coverage area isolated point.

Like this, guider 300 can remove moving body can coverage area missing point and isolated point, thereby can be on two-dimentional even surface easily observation place show the wheeled scope of moving body.And guider 300 extracts the profile of the grid data that cartographic information is divided into multiple regions and generate.Therefore, guider 300 can show smoothly moving body can coverage area profile.

And, guider 300 delineation for search for moving body can place of arrival road search for moving body can place of arrival.Therefore, guider 300 can reduce search moving body can place of arrival time treatment capacity.By delineation search for moving body can place of arrival road, allow to can reducing by place of arrival of search, by the expansion process of sealing as mentioned above, also can remove moving body can coverage area in the missing point that produces.Therefore, guider 300 can reduce for detection of moving body can coverage area treatment capacity.And, guider 300 can be on two-dimentional even surface easily observation place show the wheeled scope of moving body.

And guider 300 is searched for after determining according to the maximum magnitude of the grid data can place of arrival showing and Segmentation Number.Thus, the information that not storage all can place of arrival in storage part, so can cut down overall treatment capacity, can cut down memory capacity.

In addition, can carry out pre-prepd program by the computing machine such as personal computer or workstation and realize the image processing method that present embodiment has illustrated.This program is by being recorded in the recording medium of the embodied on computer readable such as hard disk, floppy disk, CD-ROM, MO, DVD and being read and be performed from recording medium by computing machine.In addition, this program can be also can be via the transmission medium of the network allocation such as internet.

Label declaration

100 image processing apparatus

101 obtaining sections

103 region determination portions

103a Segmentation Number determination section

104 search section

104a assigning unit

105 changing units

106 display control units

110 display parts

Claims (4)

1. an image processing apparatus, this image processing apparatus uses multiple regions of being determined by cartographic information to process and can the coverage area relevant information of moving body, it is characterized in that possessing:

Obtain unit, the relevant information of amount of the information that the amount of the energy that it obtains the information relevant to the current location of described moving body, have with described moving body is relevant and the energy that consumes while travelling in regulation interval with described moving body;

Region determining unit, it,, according to obtaining by described the information that unit is obtained, utilizes cartographic information to determine described multiple region;

Search unit, it is utilizing after described region determining unit determines described multiple region, according to obtaining by described the information that unit is obtained, searches for described moving body and whether can arrive described multiple region; And

Indicative control unit, it makes display unit show the multiple regions that utilize described search unit to search.

2. image processing apparatus according to claim 1, is characterized in that,

The amount of the energy that described region determining unit has according to the maximal value of the energy expenditure rate of described moving body and described moving body is determined described multiple region.

3. image processing apparatus according to claim 2, is characterized in that,

Described region determining unit changes the speed of described moving body while obtains the information relevant by the amount of the described energy consuming when travelling in regulation interval that obtain that unit obtains, and obtains the maximal value of described energy expenditure rate.

4. an image processing method, this image processing method uses multiple regions of being determined by cartographic information to process and can the coverage area relevant information of moving body, it is characterized in that, comprises following operation:

Obtain operation, the relevant information of amount of the information that the amount of the energy that obtain the information relevant to the current location of described moving body, has with described moving body is relevant and the energy that consumes while travelling in regulation interval with described moving body;

Operation is determined in region, according to obtaining by described the information that operation obtains, utilizes cartographic information to determine described multiple region;

Search operation, utilizing after described region determines that operation is determined described multiple region, according to obtaining by described the information that operation obtains, searches for described moving body and whether can arrive described multiple region; And

Show and control operation, make display unit show the multiple regions that utilize described search operation to search.