CN104321621A - Image processing device and image processing method - Google Patents

Abstract

(A) is map information representing reachable ranges for a moving body such as a vehicle. The map information is divided into a plurality of regions. Regions that are filled in represent reachable ranges for the moving body. In (A), there are three linked region groups representing reachable ranges for the moving body. (B) shows a state in which a label number has been assigned to each linked region group. (C) shows a state in which a linked region group having less than a certain area has been deleted from the linked region groups other than the linked region group containing the position of one's own vehicle. (D) shows a state in which a point to avoid is plotted. The point to avoid is a point to which it is not recommended that the moving body move to, for example, a node representing the terminal point of a ferry route or a node representing a traffic congestion point. (E) shows a state in which the linked region group containing the point to avoid has been deleted.

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 the image processing apparatus of coverage area and image processing method.But utilization of the present invention is not limited to image processing apparatus and image processing method.

Background technology

In the past, be known to according to the current location of moving body generate moving body can the treating apparatus (such as with reference to following patent documentation 1) of coverage area.In following patent documentation 1, the whole orientation centered by the current location of moving body radially on segmentation map, obtain and the node of the current location of moving body accessibility point of crossing farthest as cartographic information according to each cut zone.Then, display connect acquired by multiple node and the Bezier that obtains as moving body can coverage area.

Further, be known to according to the battery allowance of moving body and electric power consumption generate in each road light from the current position of moving body can the treating apparatus (such as with reference to following patent documentation 2) of coverage area.In following patent documentation 2, in the multiple roads be connected with the current location of moving body, calculate the electric 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 electric power consumption.Then, obtain moving body current location and with this current location at a distance of driving range moving body multiple can place of arrival as the node of cartographic information, the aggregate of the line segment that display connects multiple node and obtains as moving body can coverage area.

Prior art document

Patent documentation

Patent documentation 1: Japanese Unexamined Patent Publication 11-016094 publication

Patent documentation 2: Japanese Unexamined Patent Publication 07-085397 publication

Summary of the invention

The problem that invention will solve

But, in the technology of above-mentioned patent documentation 1, due to only to obtain centered by the current location of moving body in each orientation with moving body place of arrival farthest, therefore, what can only obtain moving body can the profile of coverage area.Therefore; as an example; following problem points can be enumerated: though moving body current location and and moving body place of arrival farthest between comprise the region that the moving body such as sea or lake cannot travel, what the region that also this moving body cannot cannot be travelled obtained moving body again after removing can coverage area.

Further, in the technology of above-mentioned patent documentation 2, due to only obtain road as moving body can coverage area, therefore, what the scope beyond road cannot be included in moving body can in coverage area.Further, due to utilize along the line segment of the road of moving body wheeled aggregate display moving body can coverage area, therefore, cannot obtain can the profile of coverage area.Therefore, as an example, following problem points can be enumerated: be difficult to easily to observe and not have the mode of omission to show moving body can coverage area.

For solving the means of problem

In order to solve above-mentioned problem and reach object, the feature of the image processing apparatus of the invention of the 1st aspect is, this image processing apparatus has: detecting unit, what it represented moving body respectively from cartographic information in multiple regions group of coverage area, can detect the specific region group be associated with the position of moving body; Changing unit, the region group below the regulation area in all the other the region groups except the specific region group detected by described detecting unit in the group of described multiple regions is altered to by it can not coverage area; And indicative control unit, what it made display unit show the described moving body after being changed by described changing unit can coverage area.

And, the feature of the image processing apparatus of the invention of the 14th aspect is, this image processing apparatus has: detecting unit, and what it represented moving body respectively from cartographic information in multiple regions group of coverage area, can detect the specific region group be associated with the position of moving body; Changing unit, the region group below the regulation area in all the other the region groups except the specific region group detected by described detecting unit in the group of described multiple regions is altered to by it can not coverage area; And transmitting element, its send comprise represent the described moving body after being changed by described changing unit can the cartographic information of region group of coverage area.

And, the feature of the image processing method of the invention of the 15th aspect is, this image processing method comprises following steps: detecting step, and what from cartographic information, represent moving body respectively in multiple regions group of coverage area, can detect the specific region group be associated with the position of moving body; Change step, the region group below the regulation area in all the other the region groups except the specific region group detected in described detecting step in the group of described multiple regions being altered to can not coverage area; And display and control step, make display unit be presented in described change step change after described moving body can coverage area.

Accompanying drawing explanation

Fig. 1 is the key diagram of the image procossing example 1 that embodiment 1 is shown.

Fig. 2 is the key diagram of the image procossing example 2 that embodiment 1 is shown.

Fig. 3 is the block diagram of the hardware configuration that guider is shown.

Fig. 4 is the block diagram of an example of the functional structure of the image processing apparatus that embodiment 1 is shown.

Fig. 5 be schematically illustrate that search section 403 carries out can place of arrival search an example key diagram (one of).

Fig. 6 be schematically illustrate that search section 403 carries out can the key diagram (two) of an example of place of arrival search.

Fig. 7 be schematically illustrate that search section 403 carries out can the key diagram (three) of an example of place of arrival search.

Fig. 8 be schematically illustrate that search section 403 carries out can the key diagram (four) of an example of place of arrival search.

Fig. 9 be illustrate that search section 403 carries out can the key diagram of an example of place of arrival search.

Figure 10 be illustrate that search section 403 carries out can the key diagram of another example of place of arrival search.

Figure 11 be utilize longitude-latitude that cutting part 404 is shown can the key diagram of an example of place of arrival.

Figure 12 be utilize grid that cutting part 404 is shown can the key diagram of an example of place of arrival.

Figure 13 is the key diagram of the example that the closed process that guider carries out is shown.

Figure 14 is the key diagram of the example that the closed process that guider carries out schematically is shown.

Figure 15 is the key diagram of the example that the unlatching process that guider carries out is shown.

Figure 16 is the key diagram that the condition 1 ~ 4 linking the pattern judging subject area is shown.

Figure 17 is the key diagram that the condition 5 linking the pattern judging subject area is shown.

Figure 18 is the key diagram that the condition 6 linking the pattern judging subject area is shown.

Figure 19 is the key diagram that the condition 7 linking the pattern judging subject area is shown.

Figure 20 is the key diagram that the condition 8 linking the pattern judging subject area is shown.

Figure 21 illustrates that tag number gives the key diagram of the cartographic information of front and back.

Figure 22 is the key diagram of the example that complete list is shown.

Figure 23 is the key diagram of the changing content 1 that complete list T is shown.

Figure 24 is the key diagram of the changing content 2 that complete list T is shown.

Figure 25 is the key diagram of the changing content 3 that complete list T is shown.

Figure 26 is the key diagram of the changing content 4 that complete list T is shown.

Figure 27 is the key diagram of the changing content 5 that complete list T is shown.

Figure 28 is the key diagram of the changing content 6 that complete list T is shown.

Figure 29 is the key diagram of the changing content 7 that complete list T is shown.

Figure 30 is the key diagram of the changing content 8 that complete list T is shown.

Figure 31 be the vehicle that display control unit 410 carries out schematically is shown can the key diagram of an example that extracts of coverage area.

Figure 32 be schematically illustrate the vehicle that display control unit 410 carries out can coverage area extract after the key diagram of an example of grid.

Figure 33 be the vehicle that guider carries out schematically is shown can the key diagram of another example that extracts of coverage area.

Figure 34 is the process flow diagram of an example of the order that the image procossing that guider carries out is shown.

Figure 35 is the process flow diagram of an example of the order that estimation power consumption amount computing (step S3402) that guider 300 carries out is shown.

Figure 36 be the order that the search process (step S3403) that guider 300 carries out is shown process flow diagram (one of).

Figure 37 is the process flow diagram (two) of the order that the search process (step S3403) that guider 300 carries out is shown.

Figure 38 illustrates that route candidate that guider 300 carries out judges the process flow diagram of an example of the order processing (step S3607).

Figure 39 is the process flow diagram of an example of the order that the mess generation process (step S3404) that guider 300 carries out is shown.

Figure 40 is the process flow diagram of an example of the order that identifying information change process (step S3406) that guider 300 carries out is shown.

Figure 41 is the process flow diagram of an example of the order that the change process (step S3406) that guider 300 carries out is shown.

Figure 42 be the detailed processing sequence example that connecting area component class process (step S4102) is shown process flow diagram (one of).

Figure 43 is the process flow diagram (two) of the detailed processing sequence example that connecting area component class process (step S4102) is shown.

Figure 44 illustrates that the tag number shown in Figure 43 obtains the process flow diagram of the detailed processing sequence example of process (step S4302).

Figure 45 be the detailed processing sequence example that the complete list generating process (step S4204) shown in Figure 42 is shown process flow diagram (one of).

Figure 46 is the process flow diagram (two) of the detailed processing sequence example that the complete list generating process (step S4204) shown in Figure 42 is shown.

Figure 47 is the process flow diagram (three) of the detailed processing sequence example that the complete list generating process (step S4204) shown in Figure 42 is shown.

Figure 48 is the process flow diagram (four) of the detailed processing sequence example that the complete list generating process (step S4204) shown in Figure 42 is shown.

Figure 49 is the process flow diagram of the detailed processing sequence example that the regional choice process (step S4103) shown in Figure 41 is shown.

Figure 50 be illustrate that guider 300 carries out can the process of coverage area contours extract order an example process flow diagram (one of).

Figure 51 be illustrate that guider 300 carries out can the process flow diagram (two) of an example of order of coverage area contours extract process.

Figure 52 is the key diagram of the example schematically illustrated the acceleration that the vehicle travelled on the acclive road of tool applies.

Figure 53 be illustrate that guider 300 carries out can the key diagram of an example of indication example after place of arrival search process.

Figure 54 illustrates that identifying information that guider 300 carries out gives the key diagram of an example of the indication example after process.

Figure 55 illustrates that the 1st identifying information that guider 300 carries out changes the key diagram of an example of the indication example after process.

Figure 56 is the key diagram of an example of indication example after the closed process (expansion) illustrating that guider 300 carries out.

Figure 57 is the key diagram of an example of indication example after the closed process (reducing) illustrating that guider 300 carries out.

Figure 58 is the block diagram of an example of the functional structure of the image processing apparatus that embodiment 2 is shown.

Figure 59 is the block diagram of an example of the functional structure of the image processing system that embodiment 3 is shown.

Figure 60 is the key diagram of an example of the system architecture that image processing apparatus is shown.

Embodiment

Below, be described in detail with reference to the preferred implementation of accompanying drawing to image processing apparatus of the present invention and image processing method.

(embodiment 1)

First, embodiment 1 is described.In the image procossing relevant with the cartographic information being divided into multiple region, when performing the process filled along the region of road, sometimes cannot concentrate in a connecting area.Such as, because the distance of node and tight front nodal point is long, therefore, cartographic information is sometimes contemplated to far apart and junction nodes is not each other with actual road shape.Further, the category of roads sometimes between node and tight front nodal point is that navigation channel, ferry etc. is unsuitable for linking.Further, sometimes there is not tight front nodal point because search processes the reason that causes or produce mistake and the information of tight front nodal point cannot be obtained, therefore cannot concentrate in a connecting area.Therefore, by means of only the process in the region filled along road, cannot only show suitable connecting area, unwanted region may be remained.

Therefore, in embodiment 1, image processing apparatus is by describe in cartographic information can place of arrival carry out dilation process, and generation can coverage area, but, now to delete the region not needing to show.Specifically, describe in the image of image processing apparatus after dilation to need to separate with the region of deleting in unlatching the whole zonules shown, unwanted region is selected to delete after (have nothing to do with the size in region, all as show candidate) process of labelling applying flexibly.Dilation process and process of labelling will describe later.

In dilation process, describing in the grid obtained cartographic information is divided into multiple region can place of arrival, by closed and after becoming multiple connecting area, remove as the zonule of noise and the very thin line given prominence to from profile by opening process.Dilation number of times in closed according to this, owing to being in the state of still residual a large amount of zonule, therefore, particularly will show multiple connecting area, generate very miscellaneous figure during display in place or mountain area portion etc.

In embodiment 1, image processing apparatus multiple from being divided into can being selected coverage area and delete the region not needing to show, and only display has the region of predetermined number/area/perimeter/shape.Particularly image processing apparatus selects the specific region considering this truck position.Thus, in any accessibility connecting area not making this truck position not be present on road due to the misoperation of GPS (Global Positioning System), this truck position to have generated, also can select the region being judged as comprising this truck position, delete the region not needing to show.

< image procossing example >

Fig. 1 is the key diagram of the image procossing example 1 that embodiment 1 is shown.(A) be the moving bodys such as vehicle are shown can the cartographic information of coverage area.Cartographic information is divided into multiple region.Each region such as corresponds to the pixel of more than 1.In (A), the region representation moving body filled can coverage area.The region formed by making the region that fills interconnected is called connecting area group.In (A), exist represent moving body can 3 connecting area groups of coverage area.

(B) be the NextState of (A), the state each connecting area group being imparted to tag number is shown.Here the tag number described refers to true tag number described later, but the imparting of tag number will describe in detail later.Connecting area group R1 be the moving body imparting tag number 1 can coverage area, connecting area group R2 be the moving body imparting tag number 2 can coverage area, connecting area group R3 be the moving body imparting tag number 3 can coverage area.In the image procossing example 1 of Fig. 1, the position (this truck position) of moving body is present in connecting area group R3.

(C) be the NextState of (B), the state deleting the connecting area group of below regulation area the connecting area group beyond the connecting area group comprising this truck position is shown.The area of connecting area group R1 ~ R3 is the number of regions formed.The area S (R1) of connecting area R1 is S (R1)=5, and the area S (R2) of connecting area R2 is S (R2)=6, and the area S (R3) of connecting area R3 is S (R3)=27.The connecting area group comprising this truck position is connecting area group R3.When set regulation area as 5 time, the area deleted in connecting area group R1, R2 is the connecting area group R1 of less than 5.Deletion refers to and is altered to the color identical with background area.

(D) be the NextState of (C), the state depicting non-moving recommendation place is shown.Non-moving recommendation place is the place of not recommending moving body movement, such as, be that the node of the end points representing navigation channel, ferry or expression are blocked up and produced the node in place.When navigation channel, ferry, owing to being present in cartographic information, therefore, it is possible to extracting directly.Further, block up produce place can be extracted by the existing forecast function that blocks up.In (D), non-moving recommendation place is present in connecting area group R2.In addition, when the shape in region is wire, be considered as the link failure pattern of 1 road, also can as non-moving recommendation place.Further, the place be present in specific regions such as " outside the county " also can as non-moving recommendation place.

(E) be the NextState of (D), the state deleting the connecting area group comprising non-moving recommendation place is shown.In (E), delete and comprise the connecting area group R2 in non-moving recommendation place, connecting area group R3 become final can coverage area.

Fig. 2 is the key diagram of the image procossing example 2 that embodiment 1 is shown.(A) be the moving bodys such as vehicle are shown can the cartographic information of coverage area.(B) be the NextState of (A), the state each connecting area group being imparted to tag number is shown.Here the tag number described refers to true tag number described later, but the imparting of tag number will describe in detail later.Connecting area group R1 be the moving body imparting tag number 1 can coverage area, connecting area group R2 be the moving body imparting tag number 2 can coverage area, connecting area group R3 be the moving body imparting tag number 3 can coverage area, connecting area group R4 be the moving body imparting tag number 4 can coverage area.In the image procossing example 2 of Fig. 2, the position (this truck position) of moving body is present in background.

(C) NextState of (B) is shown, the state connecting area group nearest with this truck position being detected is shown.In (C), the connecting area group nearest with this truck position is connecting area group R1.(D) be the NextState of (C), the state of the connecting area group deleting below regulation area from the connecting area group beyond the connecting area group R1 nearest with this truck position is shown.The area of connecting area group R1 ~ R3 is the number of regions formed.The area S (R1) of connecting area R1 is S (R1)=5, the area S (R2) of connecting area R2 is S (R2)=6, the area S (R3) of connecting area R3 is S (R3)=1, and the area S (R4) of connecting area R4 is S (R4)=27.When set regulation area as 5 time, the area deleted in connecting area group R2 ~ R4 is the connecting area group R3 of less than 5.Deletion refers to and is altered to the color identical with background area.

(E) be the NextState of (D), the state depicting non-moving recommendation place is shown.Non-moving recommendation place is the place of not recommending moving body movement, such as, be that the node of the end points representing navigation channel, ferry or expression are blocked up and produced the node in place.When navigation channel, ferry, owing to being present in cartographic information, therefore, it is possible to extracting directly.Further, block up produce place can be extracted by the existing forecast function that blocks up.In (E), non-moving recommendation place is present in connecting area group R2.

(F) be the NextState of (E), the state deleting the connecting area group comprising non-moving recommendation place is shown.In (F), delete and comprise the connecting area group R2 in non-moving recommendation place, connecting area group R1, R4 become final can coverage area.

Like this, in embodiment 1, owing to seeming miscellaneous unwanted zonule when there is not display, therefore easy understand displaying contents.Further, can only delete comprise ferry through etc. the region group in non-moving recommendation place.Further, make to comprise when classifying to region group by labelling the area of the connecting area group of this truck position very little, also can extract and not delete.Further, if the region comprising this truck position can be selected, then can tackle this truck position and not be present in situation in any region.Further, by only scanning in the rectangular area that there is connecting area group, unwanted connecting area group can efficiently be deleted.

< hardware configuration example >

The image processing apparatus performing the image procossing shown in Fig. 1 and Fig. 2 is used as the guider 300 be equipped in vehicle.Below, the hardware configuration example of the guider of the example as image processing apparatus is described.

Fig. 3 is the block diagram of the hardware configuration that guider is shown.In figure 3, guider 300 has CPU301, ROM302, RAM303, disc driver 304, disk 305, CD drive 306, CD 307, audio interface (I/F) 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 structural portion 301 ~ 317 is connected respectively by bus 320.

The entirety that CPU301 is responsible for guider 300 controls.ROM302 record boot, estimated energy consumption calculation procedure, can place of arrival search utility, identifying information give program, map datum display routine supervisor.RAM303 is used as the workspace of CPU301.That is, CPU301 is by using RAM303 as workspace and performing the various programs recorded in ROM302, and the entirety being responsible for guider 300 controls.

In estimated energy consumption calculation procedure, according to the consumed energy estimator of the estimated energy consumption of calculating vehicle, calculate the estimated energy consumption in the route of connection node and adjacent node.In place of arrival search utility, according to the estimated energy consumption calculated in estimation routine, multiple places (node) that can arrive with the amount of the dump energy of the current location of vehicle can searched for.In identifying information imparting program, according to search in search utility multiple can place of arrival, the multiple regions obtained segmented map information are given for identifying that vehicle can arrive or not accessibility identifying information.In map datum display routine, according to the multiple regions imparting identifying information in identifying information imparting program, what in display 313, show vehicle can coverage area.

Disc driver 304, according to the control of CPU301, controls the read/write of the data for disk 305.The data that disk 305 writes under being recorded in the control of disc driver 304.Disk 305 such as can use HD (hard disk) or FD (floppy disk).

Further, CD drive 306, according to the control of CPU301, controls the read/write of the data for CD 307.CD 307 is dismounting recording mediums freely of the control sense data according to CD drive 306.CD 307 can utilize writeable recording medium.As removable recording medium, except CD 307, MO, storage card etc. can also be used.

As an example of the information of record in disk 305 and CD 307, enumerate map datum, information of vehicles, road information, running history etc.In onboard navigation system search vehicle can place of arrival time, display vehicle can use map datum during coverage area, this map datum be comprise represent the terrestrial reference (feature) such as buildings, river, ground surface background data, utilize route and node etc. to represent the vector data of the road shape data of road shape etc.

Audio interface 308 and audio frequency input with microphone 309 and audio frequency export with loudspeaker 310 be connected.The audio frequency that microphone 309 receives carries out A/D conversion in audio interface 308.Microphone 309 is such as arranged on the panel board portion etc. of vehicle, and its quantity can be one also can be multiple.Export from loudspeaker 310, in audio interface 308, the audio frequency after D/A conversion is carried out to regulation sound signal.

Input equipment 311 enumerates the telepilot, keyboard, touch panel etc. of the multiple keys had for input characters, numerical value, various instructions etc.Input equipment 311 can be realized by any one form in telepilot, keyboard, touch panel, but, also can be realized by multiple form.

Video interface 312 is connected with display 313.Specifically, such as, video interface 312 by the graphics controller that display 313 entirety is controlled, placeholder record can instant playback image information the buffer memory such as VRAM (VideoRAM), according to the view data exported from graphics controller, the control IC etc. that display 313 controls is formed.

Various data such as display icon, cursor, menu, window or word, image etc. in display 313.Display 313 such as can use TFT LCD, OLED display etc.

The video of vehicle interior or outside taken by video camera 314.Video can be any one party in still image or dynamic image, such as, take outside vehicle by video camera 314, in CPU301, image analysis is carried out to the image photographed, and output to the recording medium such as disk 305 or CD 307 via video interface 312.

Communication interface 315 is connected to the network wirelessly, and the interface as guider 300 and CPU301 plays function.The communication network playing function as network has CAN, LIN (Local Interconnect Network) interior communication network of waiting for bus, concentric line road network, mobile telephone network, DSRC (Dedicated Short Range Communication), LAN, WAN etc.Communication interface 315 is such as common line link block, ETC (not Auto Fare Collection Parking System) unit, FM tuner, VICS (Vehicle Information and Communication System: registered trademark)/beacon receiver etc.

GPS unit 316 receives the electric wave from gps satellite and exports the information of the current location representing vehicle.When CPU301 carries out the calculating of the current location of vehicle, utilize the output information of GPS unit 316 together with the output valve of aftermentioned various sensor 317.Represent that the information of current location is such as the information of any definitely on diagram data such as lat/lon, height.

Various sensor 317 is vehicle speed sensor, acceleration transducer, angular-rate sensor, inclination sensor etc., exports the information for the position and state judging vehicle.The output valve of various sensor 317 is used when CPU301 calculates the variable quantity in the current location of vehicle, computing velocity or orientation.

The structure example > of < function

Fig. 4 is the block diagram of an example of the functional structure of the image processing apparatus that embodiment 1 is shown.The moving body that the image processing apparatus 400 of embodiment 1 searches according to the amount of the dump energy based on moving body can place of arrival generate moving body can coverage area, and to be presented in display part 411.Further, image processing apparatus 400 is made up of obtaining section 401, calculating part 402, search section 403, cutting part 404, assigning unit 405, test section 406, changing unit 407, determination portion 408, update section 409, display control unit 410.

Here, such as, when EV (Electric Vehicle) car etc., energy refers to the energy based on electricity etc., when HV (Hybrid Vehicle) car, PHV (Plug-in Hybrid Vehicle) car etc., energy refers to based on the energy of electricity etc. and such as based on the energy of gasoline, light oil, rock gas etc.Further, such as, when fuel-cell vehicle, energy refers to energy based on electricity etc. and such as hydrogen or become the fossil fuel etc. (following, EV car, HV car, PHV car, fuel-cell vehicle are referred to as " EV car ") of hydrogen feed.Further, such as, when gasoline car, diesel vehicle etc. (hereinafter referred to as " gasoline car "), energy refers to such as based on the energy of gasoline, light oil, rock gas etc.Such as, dump energy refers in the fuel tank of such as moving body or battery, energy residual in high-voltaghe compartment etc., is the energy that can use in the traveling of moving body afterwards.

Obtaining section 401 obtains the information relevant with the current location of the moving body being equipped with image processing apparatus 400 and namely the amount of energy of being possessed by this moving body with the current location at moving body initially possesses the relevant information of the amount of energy.Specifically, obtaining section 401 such as uses the GPS information etc. received from gps satellite, obtains the information (positional information) relevant with current location by the current location calculating this device.

And, communication network in obtaining section 401 such as to carry out action by communication protocol car via CAN (Controller Area Network) etc., obtains the amount of the dump energy of the moving body managed by electronic control unit (ECU:Electronic Control Unit) as the amount of initially possessing energy.

Obtaining section 401 also can obtain the information relevant with the speed of moving body, congestion information, mobile unit information.The information relevant with the speed of moving body refers to speed, the acceleration of moving body.Further, obtain the information relevant with road in the cartographic information that obtaining section 401 such as also can store from storage part (not shown), road grade etc. can also be obtained from inclination sensor etc.The running resistance that the information relevant with road such as refers to category of roads, road grade, produces in moving body due to pavement behavior etc.

Calculating part 402 calculates the energy and estimated energy consumption that consume when moving body travels in regulation interval.The interval interval (being set to below " route ") such as referring to the regulation place (being set to below " node ") on linking-up road and other node adjacent with this node of regulation.Node can be such as point of crossing or basic point, also can be the connection place between the route divided by predetermined distance.Node and route form the cartographic information stored in storage part.Cartographic information is such as made up of the vector data quantizing to point of crossing (point), road (line or curve), region (face) and their color etc. of display and obtain.

Specifically, calculating part 402, according to the consumed energy estimator by the first information, the second information, the 3rd information structure, estimates the estimated energy consumption in regulation interval.More specifically, calculating part 402, according to the information relevant with the speed of moving body and mobile unit information, estimates the estimated energy consumption in regulation interval.The information that mobile unit information refers to the weight (also comprise based on number of passengers and carry the weight of luggage) of moving body, the weight etc. of rotary body becomes the essential factor of the amount of the energy consuming when for a change moving body travels or reclaim.In addition, when road grade is known, calculating part 402 also can estimate the estimated energy consumption in regulation interval according to the consumed energy estimator also having added the 4th information.

Consumed energy estimator is the estimator of the energy consumption of the moving body estimated in regulation interval.Specifically, consumed energy estimator is by the polynomial expression of the first information of the different essential factors increased and decreased as consumption of energy amount, the second information and the 3rd information structure.Further, when road grade is known, also in consumed energy estimator, the 4th information is added.The detailed description of consumed energy estimator will describe later.

The first information is the information relevant with the energy that the component had by moving body consumes.The information that the energy consumed during the stopping of such as, moving body under the state of the drive source work being and carry in moving body is relevant.Refer to the state that loaded degree makes low engine speed idling not to be executed to the engine of moving body during the stopping of the moving body under the state of drive source work.That is, when referring to idling during the stopping of the moving body under the state that drive source is movable.When EV car, refer to the halted state of moving body during the stopping of the moving body under the state that drive source is movable, refer to that, if stepped on the throttle, the motor as drive source starts movable state.

Specifically, the first information energy consumption that is such as when stopping under the state of engine start, consumes when stopping due to signal etc.That is, the first information is the energy consumption that the essential factor had nothing to do by the traveling with moving body consumes, and is the energy consumption of the air-conditioning or sound equipment etc. that moving body has.When EV car, the first information can be roughly zero.

Second information is the information relevant with the energy consuming and reclaim when moving body acceleration and deceleration.The transport condition of the speed time to time change of moving body is referred to during moving body acceleration and deceleration.Specifically, the transport condition of the velocity variations of moving body is at the appointed time referred to during moving body acceleration and deceleration.Stipulated time refers to the division of the time of fixed intervals, such as, be time per unit etc.When EV car, the energy of recovery is such as the electric power charged to battery when the traveling of moving body.Further, in the case of gasoline vehicles, the energy of recovery is such as the fuel that can reduce consumed fuel (conservation of fuel) and save.

3rd information is the relevant information of the energy that consumes with the resistance owing to producing when moving body travels.Moving body refers to that the speed of moving body is at the appointed time fixed, the transport condition of acceleration or deceleration when travelling.The resistance produced when moving body travels is the essential factor of the transport condition changing moving body when moving body travels.Specifically, the resistance produced when moving body travels refers to the various resistances produced in moving body due to meteorological condition, condition of road surface, vehicle condition etc.

The resistance produced in moving body due to meteorological condition such as refers to the air resistance based on the change of the meteorology such as rain, wind.The resistance produced in moving body due to condition of road surface refers to the surface resistance based on the water on the laying state on road grade, road surface, road surface etc.The resistance produced in moving body due to vehicle condition refers to due to the air pressure, number of passengers, lift-launch weight etc. of tire the load resistance that moving body applies.

Specifically, the 3rd information is under the state being subject to air resistance, surface resistance, load resistance, make moving body with energy consumption when fixed speed, acceleration or deceleration traveling.More specifically, the 3rd information is such as by due to the energy consumption that the surface resistance etc. that the air resistance produced in moving body, the road never laid are subject to consumes windward when making moving body travel with fixed speed, acceleration or deceleration.

4th information is the relevant information of the energy that consumes with the change of the height residing for moving body and reclaim.The change of the height residing for moving body refers to the state of the height time to time change residing for moving body.Specifically, the change of the height residing for moving body refers to that moving body travels and makes the transport condition of height change on the acclive road of tool at the appointed time.

Further, the 4th information be the road grade in regulation interval known the additional information that can obtain, the estimated accuracy of energy consumption can be improved thus.In addition, when sideways inclined is failed to understand or simplify calculate when, the height be set to residing for moving body does not change, and road grade θ=0 in aftermentioned consumed energy estimator can be established to carry out estimated energy consumption.

Search section 403 according to the cartographic information stored in storage part, the current location of moving body obtained by obtaining section 401 and the amount of initially possessing energy and the estimated energy consumption calculated by calculating part 402, search moving body light from current position the place that can arrive and multiple can place of arrival.

Specifically, search section 403 is being lighted in the All Paths that can move to from the current position of moving body, set the current location of moving body as starting point respectively, to make the accumulative minimum mode of the estimated energy consumption in regulation interval each other, the regulation place on the path of connection from moving body, search regulation place and regulation interval.Then, search section 403 is being lighted from the current position of moving body in the All Paths that can move to, set respectively estimated energy consumption be accumulated at regulation place in the scope of initially possessing the amount of energy of the current time point of moving body as moving body can place of arrival.

More specifically, search section 403 sets the current location of moving body as starting point, searches for successively and lights whole routes that can move to, the node be connected with these routes respectively, whole routes that can move to from these nodes, the accessibility whole node of moving body and route from the current position of moving body.Now, search section 403 is whenever searching a new route, the estimated energy consumption in the path that a route connects is added up, to make the accumulative minimum mode of estimated energy consumption, searches for the node be connected with this route and the multiple routes be connected with this node.

Such as, when this route is connected with same node with other route, search section 403 uses the estimated energy consumption of the accumulative less route of in the multiple routes be connected with this node, from the current location of moving body to this node estimated energy consumption, calculates the accumulative of the estimated energy consumption of this node.Then, search section 403 by multiple paths that the node searched and route are formed, search for respectively estimated energy consumption be accumulated at whole nodes in the scope of initially possessing the amount of energy of moving body as moving body can place of arrival.Like this, by using the estimated energy consumption of route that estimated energy consumption is less, the correct accumulative of the estimated energy consumption of this node can be calculated.

Further, search section 403 also can by interval for the regulation of forbidden moves body movement can place of arrival from searching for this again after being used for searching for can the removing the candidate of place of arrival of moving body.The regulation interval of forbidden moves body movement such as refers to the retrograde route of single file, route that to become that no through traffic due to time restriction or restriction in season interval.Time restriction such as refers to that no through traffic within certain time period owing to being set as school road or activity etc.Season limiting examples as referred to, due to heavy rain or heavy snow etc., no through traffic.

When importance degree lower than this regulation interval of the importance degree in other regulation interval selected after a regulation interval in multiple regulation interval, search section 403 also can by interval for other regulation can place of arrival from searching for this again after being used for searching for can the removing the candidate of place of arrival of moving body.The importance degree in regulation interval is such as category of roads etc.Category of roads be can according to legal limit, road grade, road width, have the difference of the road conditions such as no signal to carry out the kind of the road distinguished.Specifically, category of roads refers to general national highway, super expressway, Ordinary Rd, path etc. through block, town etc.Path such as refers to the road that the building standard method of the short of width 4 meters being arranged in block, town specifies.

And then, when the entrance and exit in a bridge or a tunnel become moving body can place of arrival, preferred search section 403 with the bridge of cartographic information after formation is split by cutting part 404 or the Zone Full in a tunnel be included in moving body can mode in coverage area, search moving body can place of arrival.Specifically, such as when the entrance in a bridge or a tunnel become moving body can place of arrival, search section 403 also can with from the entrance of a bridge or a tunnel towards outlet a bridge or tunnel search for multiple can the mode of place of arrival, searching for this can place of arrival.The entrance in a bridge or a tunnel refers to the starting point of the side of the current location close to moving body in a bridge or a tunnel.

Cartographic information is divided into multiple region by cutting part 404.Specifically, cutting part 404 according to the moving body searched by search section 403 multiple can in place of arrival with the current location of moving body farthest can place of arrival, cartographic information is divided into multiple rectangular-shaped region, such as, converts the grid of m × m point to.The grid of m × m point processes as the raster data (view data) being imparted identifying information by aftermentioned assigning unit 405.In addition, each m in m × m point can be identical numerical value, also can be different numerical value.

More specifically, cutting part 404 extracts maximum longitude, minimum longitude, maximum latitude, minimum latitude, calculates the distance between the current location of moving body.Then, cutting part 404 such as using to the current location with moving body farthest can the current location of place of arrival and the moving body size of carrying out a region of the timesharing such as n as the size in region when cartographic information being divided into multiple region, cartographic information is divided into the grid of m × m point.Now, in order to make such as 4 points of grid periphery become blank, if n=(m/2)-4.

Assigning unit 405 according to searched by search section 403 multiple can place of arrival, respectively the multiple regions after being split by cutting part 404 are given for identifying the identifying information whether moving body can arrive.Specifically, comprise in the region of after being split by cutting part 404 moving body can place of arrival, assigning unit 405 is given for identifying arrived in the identifying information that moving body can arrive this region.Then, do not comprise in the region of after being split by cutting part 404 moving body can place of arrival, assigning unit 405 is given this region can not arrive identifying information for what identify that moving body can not arrive.

More specifically, assigning unit 405, by maybe arriving identifying information " 0 " to being divided into each region imparting of the grid of m × m can arrive identifying information " 1 ", converts the grid of the two-dimensional matrix data of the capable m row of m to.Cutting part 404 and assigning unit 405 segmented map information convert the grid of the two-dimensional matrix data of the capable m row of m to like this, the raster data as binaryzation processes.

Assigning unit 405 has the 1st changing unit 451 and the 2nd changing unit 452 of the multiple regions after being split by cutting part 404 being carried out to the change process of identifying information.Specifically, the grid that segmented map information consists of the 1st changing unit 451 and the 2nd changing unit 452 by assigning unit 405 processes as the raster data of binaryzation, carries out closed process (carrying out reducing the process of process after expansion process).Further, assigning unit 405 also can be undertaken opening process (carrying out the process of expansion process after reducing process) by the 1st changing unit 451 and the 2nd changing unit 452.

Specifically, when other region adjacent with the region imparting identifying information is imparted can arrive identifying information, the identifying information in this region is altered to by the 1st changing unit 451 can arrive identifying information (expansion process).More specifically, to with the lower-left in rectangular-shaped region, under, bottom right, the right side, upper right, on, any one region in adjacent other region in upper left, these 8 directions, left impart and can arrive identifying information " 1 " when, the identifying information in this region is altered to " 1 " by the 1st changing unit 451.

After the 1st changing unit 451 changes identifying information, when other region adjacent with the region imparting identifying information is imparted can not arrive identifying information, the identifying information in this region is altered to by the 2nd changing unit 452 can not arrive identifying information (reducing process).More specifically, to with the lower-left in rectangular-shaped region, under, bottom right, the right side, upper right, on, any one region in adjacent other region in upper left, these 8 directions, left impart and can not arrive identifying information " 0 " when, the identifying information in this region is altered to " 0 " by the 2nd changing unit 452.The expansion process that 1st changing unit 451 is carried out and the process of reducing that the 2nd changing unit 452 is carried out respectively carry out same number.

Like this, assigning unit 405 in the multiple regions after being split by cutting part 404, comprise moving body and to light the place that can arrive from current position and can the region of place of arrival give for identifying arrived in the identifying information that this moving body can arrive, as this moving body can coverage area.Then, assigning unit 405 is also given can arrive identifying information to the region adjacent with imparting the region that can arrive identifying information, changes with the identifying information of mode to each region that can not produce missing point in coverage area at moving body.

And, when to a bridge of cartographic information or the suitable segmentation of the entrance and exit in a tunnel after cartographic information impart for identifying arrived in the identifying information that can arrive, assigning unit 405 is given can arrive identifying information to the cartographic information after the segmentation suitable with the Zone Full forming this bridge or this tunnel.Specifically, such as when respectively to each region suitable with the entrance and exit of a bridge or a tunnel impart can arrive identifying information, assigning unit 405 from the region suitable with the entrance of a bridge or a tunnel to in the scope in the suitable region of outlet, the Zone Full of movement can be given and can arrive identifying information moving body.

More specifically, such as before the 1st changing unit 451 carries out expansion process, when respectively to each region suitable with the entrance and exit of a bridge or a tunnel impart can arrive identifying information " 1 ", when a bridge or a tunnel produce missing point, assigning unit 405 is altered to " 1 " by region suitable for the entrance being positioned at connection and a bridge or a tunnel with the identifying information of the Zone Full exported on the interval in suitable region.The interval connecting the region suitable with the entrance in a bridge or a tunnel and the region suitable with outlet can be the interval suitable with the road comprising multiple turning, also can be the interval suitable with the road of straight line shape.

Test section 406 in multiple regions group of coverage area, can detect the specific region group be associated with the position of moving body from each moving body of expression cartographic information.Specifically, test section 406, from the multiple connecting area groups cartographic information, detects the specific connecting area group be associated with the position of moving body.Specific connecting area group such as refers to the connecting area group comprising this truck position, the connecting area group nearest with this truck position.Further, also can using within predetermined distance and with the nearest connecting area group in this truck position as specific connecting area group.Thereby, it is possible to prevent from deleting the connecting area group more farther than predetermined distance.

Region group below regulation area in all the other region groups except the specific region group detected by test section 406 in the group of multiple regions is altered to by changing unit 407 can not coverage area.Specifically, the connecting area group below the regulation area in all the other the connecting area groups except the specific region group detected by test section 406 in multiple connecting area group be altered to can not coverage area for changing unit 407.Such as, as shown in (C) of Fig. 1, connecting area group R1 is altered to the color identical with background by changing unit 407.Further, as shown in (E) of Fig. 2, connecting area group R3 is altered to the color identical with background by changing unit 407.

Further, changing unit 407 is from all the other region groups, and the region group in the non-moving recommendation place comprised on cartographic information being altered to can not coverage area.Specifically, the connecting area group in the non-moving recommendation place comprised on cartographic information, from all the other connecting area groups, is altered to and can not arrives region by changing unit 407.Such as, as depicted in figs. 1 and 2, the connecting area group R2 in the non-moving recommendation places such as the point of crossing of the end points or predicted congestion that comprise navigation channel, ferry is altered to the color identical with background by changing unit 407.

Determination portion 408 is in the cartographic information imparting the identifying information whether expression moving body can arrive according to each region, to region-of-interest during swept molding method information impart represent identifying information that moving body can arrive when, determine that the link of identifying information that imparting in the adjacent area group of region-of-interest represents that moving body can arrive judges the pattern of subject area.

Specifically, such as, as shown in (A) of Fig. 1 and (A) of Fig. 2, determination portion 408 reads in the cartographic information after the dilation process imparting identifying information in assigning unit 405.Then, determination portion 408 swept molding method information from top left region.Region-of-interest refers to the region in Current Scan.

Then, when imparting identifying information " 1 " that expression moving body can arrive to region-of-interest, determination portion 408 determines the adjacent area imparting identifying information " 1 " in the adjacent area group (such as 8 regions) of region-of-interest.The adjacent area determined is called link and judges subject area.Further, the configuration pattern of the adjacent area determined is called the pattern linking and judge subject area.

The appointed information of the region group of specifying belonging to region-of-interest, according to the pattern determined by determination portion 408, is updated to the appointed information linking and judge subject area by update section 409.Appointed information refers to the information of the connecting area group be used to specify belonging to region-of-interest, such as, be the tag number shown in Fig. 1 and Fig. 2.More specifically, as described later, refer to the cartographic information storing pseudo-tag number and preserve the combination of corresponding etc. complete list of pseudo-tag number and true tag number.That is, update section 409 is according to the tag number linking the pattern registration region-of-interest judging subject area, or upgrades registered tag number.

Further, update section 409, by adding the area of region-of-interest to the area of the region group imparting appointed information, upgrades the area of the region group that the region group identical by appointed information is formed.Specifically, such as, the area of update section 409 to the connecting area group imparting tag number adds the area " 1 " of region-of-interest.Like this, by continuing to add area value for same tag number, the final area of the connecting area group of each tag number can be obtained.Changing unit 407 uses the area of the connecting area group of each tag number obtained like this, and the connecting area group below regulation area being altered to can not coverage area.

Further, by comprising to link, update section 409 judges that the rectangular area of subject area is updated to the rectangular area comprising and link and judge subject area and region-of-interest.Specifically, such as, when region-of-interest and with link judge that the external minimum rectangular area of subject area is adjacent, update section 409 upgrades rectangular area in the mode comprising region-of-interest.Thereby, it is possible to comprise the connecting area group in non-moving recommendation place with the retrieval of rectangular area unit, compared with the Zone Full of retrieving map information, the high speed of retrieval process speed can be realized, the high speed being altered to background can be realized.

Display control unit 410 according to the identifying information in region being imparted identifying information by assigning unit 405, can coverage area be presented at moving body together with cartographic information in display part 411.Specifically, the multiple view data and grid conversion that are imparted identifying information by assigning unit 405 are become vector data by display control unit 410, are presented in display part 411 together with the cartographic information stored in storage part.

More specifically, display control unit 410 according to imparting a region and the position relationship that impart other region that can arrive identifying information adjacent with this region that can arrive identifying information, extract moving body can coverage area profile and be presented in display part 411.More specifically, what display control unit 410 such as used freemans chain code to extract moving body can the profile of coverage area, can coverage area be presented at moving body in display part 411.

Further, display control unit 410 also can according to impart the region that can arrive identifying information latitude, longitude information extraction moving body can coverage area, be presented in display part 411.Specifically, show with connect calculated by cutting part 404 minimum longitude, minimum latitude (top-left coordinates in region) and maximum longitude, maximum latitude (lower right coordinate in region) line segment be cornerwise rectangular area, as moving body can coverage area.

Use program and the data of record in ROM302, the RAM303, disk 305, CD 307 etc. of Fig. 3, CPU301 puts rules into practice program controlling each portion in guider 300, realizes the function of above-mentioned obtaining section 401, calculating part 402, search section 403, cutting part 404, assigning unit 405, test section 406, changing unit 407, determination portion 408, update section 409, display control unit 410 thus.

< estimated energy consumption calculated example >

Above-mentioned calculating part 402 calculates the estimated energy consumption being equipped with the vehicle of this device.Specifically, calculating part 402 is such as according to the gradient of speed, acceleration, vehicle, use by the above formula of any one in the consumed energy estimator of the first information, the second information, the 3rd information structure, the estimated energy consumption of the vehicle in computational rules interval.The interval route referring to a node (such as point of crossing) on linking-up road and other node adjacent with this node of regulation.

More specifically, calculating part 402, according to the length of the route stored in the congestion information provided of popping one's head in, the predicted data of blocking up obtained via server, memory storage and category of roads etc., calculates vehicle and has travelled hourage required for route.Then, calculating part 402 uses any one party in the consumed energy estimator shown in following (1) formula ~ (4) formula, calculate the estimated energy consumption of time per unit, calculate vehicle according to estimated energy consumption when having travelled route hourage.

$P_{t1}=P_{\mathrm{idle}}+\frac{(\mathrm{\&mu;}+\sin \mathrm{\&theta;})}{\mathrm{\&epsiv;\&eta;}}\&CenterDot;V+\frac{\mathrm{\&kappa;}}{\mathrm{\&epsiv;\&eta;}}{V}^3+\frac{M+m}{\mathrm{\&epsiv;\&eta;}}\left|\mathrm{\&alpha;}\right|\&CenterDot;V...\left(1\right)$

Wherein,

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

P _idle: the energy consumption (first information) during idling

μ: resistance to rolling

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

$P_{t2}=P_{\mathrm{idle}}+\frac{(\mathrm{\&mu;}-\mathrm{\&beta;}\&CenterDot;\sin \mathrm{\&theta;})}{\mathrm{\&epsiv;\&eta;}}\&CenterDot;V+\frac{\mathrm{\&kappa;}}{\mathrm{\&epsiv;\&eta;}}{V}^3-\mathrm{\&beta;}\&CenterDot;\frac{M+m}{\mathrm{\&epsiv;\&eta;}}\left|\mathrm{\&alpha;}\right|\&CenterDot;V...\left(2\right)$

Wherein,

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

Consumed energy estimator shown in above-mentioned (1) formula is when estimating acceleration and the catabiotic logical formula of the time per unit in the time of traveling.Here, ε is net thermal efficiency, and η is total transmission efficiency.When establish the acceleration alpha of moving body and from road grade θ gravity acceleration g add up to resultant acceleration | α | time, resultant acceleration | α | for consumed energy estimator when negative is represented by above-mentioned (2) formula.That is, the consumed energy estimator shown in above-mentioned (2) formula is the catabiotic logical formula of the time per unit estimated when slowing down.Like this, the consumed energy estimator of time per unit during acceleration and deceleration and when travelling is by the product representation of running resistance, operating range, clean electric efficiency, transmission efficiency.

In above-mentioned (1) formula and (2) formula, the energy consumption (first information) when the 1st, the right is idling.The 2nd, the right is the energy consumption (the 4th information) based on gradient composition and the energy consumption (the 3rd information) based on resistance to rolling composition.The 3rd, the right is the energy consumption (the 3rd information) based on air resistance composition.Further, the 4th, the right of (1) formula is the energy consumption (the second information) based on accelerating composition.(2) the 4th, the right of formula is the energy consumption (the second information) based on deceleration composition.

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

Calculate resultant acceleration | α+gsin θ | be the checking computations formula of estimated energy consumption when positive, the checking computations formula namely calculating the estimated energy consumption of time per unit when accelerating and when travelling is represented by following (3) formula.Further, resultant acceleration is calculated | α+gsin θ | be the checking computations formula of estimated energy consumption when positive, the checking computations formula namely calculating the estimated energy consumption of time per unit when slowing down is represented by following (4) formula.

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

P ₂＝k ₁-β·k ₂·|α+g·sinθ|×V+k ₃·(V ³+a ₁·V ²+a ₂·V) ...(4)

In above-mentioned (3) formula and (4) formula, coefficient a1, a2 are the constants set according to vehicle condition etc.Coefficient k 1, k2, k3 are the variablees based on energy consumption when accelerating.Further, be set to speed V, other variable is identical with (2) formula with above-mentioned (1) formula.The 1st, the right is equivalent to the 1st, the right of above-mentioned (1) formula and (2) formula.

Further, in above-mentioned (3) formula and (4) formula, the 2nd, the right is equivalent to the energy of grade resistance composition on the 2nd, the right and the energy of the acceleration resistance component on the 4th, the right of above-mentioned (1) formula and (2) formula.The 3rd, the right is equivalent to the energy of resistance to rolling composition on the 2nd, the right and the energy of the air resistance composition on the 3rd, the right of above-mentioned (1) formula and (2) formula.(4) β on the 2nd, the right of formula is the yield (being set to below " recovery ") of potential energy and kinetic energy.

Further, calculating part 402 calculates vehicle as mentioned above on route, travels required hourage, calculates average velocity when vehicle travels on route and average acceleration.Then, guider 300 also can use average velocity and the average acceleration of the vehicle in route, consumed energy estimator according to following (5) formula or (6) formula, calculates vehicle according to estimated energy consumption when having travelled route hourage.

$P=\frac{P_1+P_2}{2}=k_1+(1-\mathrm{\&beta;})\&CenterDot;\frac{k_2}{2}{\&CenterDot;\left|\stackrel{\&OverBar;}{\mathrm{\&alpha;}}\right|\&CenterDot;\stackrel{\&OverBar;}{V}+k}_2\&CenterDot;g\&CenterDot;\mathrm{\&Delta;h}+k_3\&CenterDot;({\stackrel{\&OverBar;}{V}}^3+a_1\&CenterDot;{\stackrel{\&OverBar;}{V}}^2+a_2\&CenterDot;\stackrel{\&OverBar;}{V})...\left(5\right)$

$P=\frac{P_1+P_2}{2}=k_1+(1-\mathrm{\&beta;})\&CenterDot;\frac{k_2}{2}\&CenterDot;\left|\stackrel{\&OverBar;}{\mathrm{\&alpha;}}\right|\&CenterDot;\stackrel{\&OverBar;}{V}+\mathrm{\&beta;}\&CenterDot;k_2\&CenterDot;g\&CenterDot;\mathrm{\&Delta;h}+k_3\&CenterDot;({\stackrel{\&OverBar;}{V}}^3+a_1\&CenterDot;{\stackrel{\&OverBar;}{V}}^2+a_2\&CenterDot;\stackrel{\&OverBar;}{V})...\left(6\right)$

Consumed energy estimator shown in above-mentioned (5) formula is the logical formula of the estimated energy consumption calculated in the route when difference in height Δ h of route that vehicle travels is positive.Difference in height Δ h is that positive situation refers to the situation that vehicle travels on going up a slope.Consumed energy estimator shown in above-mentioned (6) formula is the logical formula of the estimated energy consumption calculated in the route when difference in height Δ h of route that vehicle travels is negative.Difference in height Δ h is that negative situation refers to the situation of vehicle in travel downhill.When there is no difference in height, preferably use the consumed energy estimator shown in above-mentioned (5) formula.

In above-mentioned (5) formula and (6) formula, the energy consumption (first information) when the 1st, the right is idling.The 2nd, the right is the energy consumption (the second information) based on acceleration resistance.The 3rd, the right is as the consumable energy consumption of gesture (the 4th information).The 4th, the right is the energy consumption (the 3rd information) of air resistance and the resistance to rolling (running resistance) be subject to based on per unit area.

When road grade the unknown, guider 300 also can be set to road grade θ=0 of the consumed energy estimator shown in above-mentioned (1) formula ~ (6) formula to calculate the estimated energy consumption of vehicle.

Then, the recovery β used in above-mentioned (1) formula ~ (6) formula is described.In above-mentioned (5) formula, when setting the 2nd the energy consumption P as the acceleration composition in route in the right _acctime, accelerate the energy consumption P of composition _accenergy consumption (the 1st, the right) when deducting idling from the whole energy consumptions (left side) route and obtaining based on the energy consumption (the 4th, the right) of running resistance, is represented by following (7) formula.

$P_{\mathrm{acc}}=P-k_1-k_3\&CenterDot;({\stackrel{\&OverBar;}{V}}^3+a_1\&CenterDot;{\stackrel{\&OverBar;}{V}}^2\&CenterDot;\stackrel{\&OverBar;}{V})...\left(7\right)$

In addition, in above-mentioned (7) formula, be set to the impact (θ=0) that vehicle is not subject to road grade θ.That is, if the 3rd, the right of above-mentioned (5) formula is zero.Then, by above-mentioned (7) formula being substituted in above-mentioned (5) formula, the calculating formula of the following recovery β shown in (8) formula can be obtained.

$\mathrm{\&beta;}=1-\frac{2\&CenterDot;P_{\mathrm{acc}}}{k_2\&CenterDot;\left|\stackrel{\&OverBar;}{\mathrm{\&alpha;}}\right|\&CenterDot;\stackrel{\&OverBar;}{V}}...\left(8\right)$

In EV car, recovery β is about 0.7 ~ 0.9, and in HV car, recovery β is about 0.6 ~ 0.8, and in gasoline car, recovery β is about 0.2 ~ 0.3.In addition, the ratio of energy required when the recovery of gasoline car refers to acceleration and the energy reclaimed when slowing down.

< can search for routine > by place of arrival

Above-mentioned search section 403 search for multiple nodes that can arrive from the current location of the vehicle being equipped with this device as vehicle can place of arrival.Specifically, search section 403 uses more than any one in the consumed energy estimator shown in the formula of above-mentioned (1) ~ (6), the estimated energy consumption in calculated route.Then, guider 300 is to make the accumulative minimum mode of the estimated energy consumption in route, and searching node that plain vehicle can arrive and be set to can place of arrival.Below, to search section 403 carry out can place of arrival search an example be described.

Fig. 5 ~ Fig. 8 be schematically illustrate that search section 403 carries out can the key diagram of an example of place of arrival search.In Fig. 5 ~ Fig. 8, represent the node (such as point of crossing) of map datum with circular mark, represent with line segment and connect adjacent node route each other (regulation on road is interval) (illustrating node and route too in Fig. 9, Figure 10).

As shown in Figure 5, first, search section 403 searches the element route L1_1 nearest with the current location 500 of vehicle.Then, the node N1_1 that search section 403 search is connected with route L1_1, is forereached that be used for searching for can in the node candidate (hereinafter referred to as " node candidate ") of place of arrival.

Then, search section 403 uses consumed energy estimator, calculates the estimated energy consumption in the route L1_1 of the current location 500 connecting vehicle and the node N1_1 being set to node candidate.Then, the estimated energy consumption 3wh in route L1_1 associates with such as node N1_1 and is written out in memory storage (disk 305 or CD 307) by search section 403.

Then, as shown in Figure 6, whole route L2_1, L2_2, L2_3 that search section 403 search is connected with node N1_1, being set to can the route candidate (hereinafter referred to as " route candidate ") of place of arrival for searching for.Then, search section 403 uses the estimated energy consumption in consumed energy estimator calculated route L2_1.

Then, search section 403 by the estimated energy consumption 4wh in route L2_1 and the estimated energy consumption 3wh in route L1_1 are carried out the accumulative and amount 7wh of accumulated energy that obtains with and the node N2_1 that is connected of route L2_1 associate and be written out in memory storage (disk 305 or CD 307) (being set to below " amount setting accumulated energy in node ").

And then same with the situation of route L2_1, search section 403 uses consumed energy estimator, the estimated energy consumption respectively in calculated route L2_2, L2_3.Then, search section 403 sets and carries out the accumulative and amount 8wh of accumulated energy that is that obtain to the estimated energy consumption 5wh in route L2_2 and the estimated energy consumption 3wh in route L1_1 in the node N2_2 be connected with route L2_2.

Further, search section 403 sets and carries out the accumulative and amount 6wh of accumulated energy that is that obtain to the estimated energy consumption 3wh in route L2_3 and the estimated energy consumption 3wh in route L1_1 in the node N2_3 be connected with route L2_3.Now, this node, when the node of the amount setting accumulated energy is not node candidate, is appended in node candidate by search section 403.

Then, as shown in Figure 7, whole route L3_1, L3_2_1 that search section 403 search is connected with node N2_1, whole route L3_2_2, L3_3, L3_4 of being connected with node N2_2 and the route L3_5 be connected with node N2_3, be set to route candidate.Then, search section 403 uses consumed energy estimator, the estimated energy consumption in calculated route L3_1 ~ route L3_5.

Then, the estimated energy consumption 4wh in route L3_1 is accumulated in the amount 7wh of the accumulated energy set in node N2_1 by search section 403, sets the amount 11wh of accumulated energy in the node N3_1 be connected with route L3_1.Further, in route L3_3 ~ L3_5, also same with the situation of route L3_1, search section 403 sets amount 13wh, 12wh, 10wh of accumulated energy in the node N3_3 ~ N3_5 be connected with each route L3_3 ~ L3_5 respectively.

Specifically, the estimated energy consumption 5wh in route L3_3 is accumulated in the amount 8wh of the accumulated energy set in node N2_2 by search section 403, sets the amount 13wh of accumulated energy in node N3_3.Estimated energy consumption 4wh in route L3_4 is accumulated in the amount 8wh of the accumulated energy set in node N2_2 by search section 403, sets the amount 12wh of accumulated energy in node N3_4.Estimated energy consumption 4wh in route L3_5 is accumulated in the amount 6wh of the accumulated energy set in node N2_3 by search section 403, sets the amount 10wh of accumulated energy in node N3_5.

On the other hand, when connecting multiple route L3_2_1, L3_2_2 as node N3_2 on one node, search section 403 sets the amount 10wh from the minimum accumulated energy in the amount of the accumulated energy multiple paths of current location 500 to one node N3_2 of vehicle in this node N3_2.

Specifically, estimated energy consumption 4wh in route L3_2_1 is accumulated to (the amount 11wh of=accumulated energy) in the amount 7wh of the accumulated energy set in node N2_1 by search section 403, and the estimated energy consumption 2wh in route L3_2_2 is accumulated to (the amount 10wh of=accumulated energy) in the amount 8wh of the accumulated energy set in node N2_2.Then, search section 403 compares to the amount 10wh of the accumulated energy in the path of route L3_2_2 from the amount 11wh of current location 500 to the accumulated energy in the path of route L3_2_1 of vehicle and the current location from vehicle 500, sets the amount 10wh of the accumulated energy in the path of the route L3_2_2 side of the amount as minimum accumulated energy in node N3_2.

When there is the node of multiple same level as above-mentioned node N2_1 ~ N2_3 from the current location 500 of vehicle, search section 403 such as calculates the amount of estimated energy consumption and accumulated energy successively from the route that the node less with the amount of the accumulated energy in the node of same grade is connected.Specifically, search section 403, according to the order of node N2_3, node N2_1, node N2_2, calculates the estimated energy consumption in the route be connected with each node respectively, is accumulated in the amount of the accumulated energy in each node.Like this, by determining the order of the node of the amount calculating estimated energy consumption and accumulated energy, can the efficient calculation scope that can arrive with the amount of dump energy.

Then, search section 403 continues the accumulative of the amount calculating above-mentioned accumulated energy from node N3_1 ~ N3_5 to the node of more deep layer level.Then, search section 403 whole nodes of extracting the amount setting the following accumulated energy of the amount of the prescribed energy preset can place of arrival as vehicle, using as the latitude, longitude information of node that extracts of place of arrival can associating with each node and be written out in memory storage.

Specifically, such as when setting the amount of prescribed energy as 10wh, as fill oblique line in Fig. 8 circular mark shown in, search section 403 extract set the amount of the accumulated energy of below 10wh node N1_1, N2_1, N2_2, N2_3, N3_2, N3_5 as vehicle can place of arrival.The amount of the prescribed energy preset such as refers to the amount (initially possessing the amount of energy) of the dump energy at current location 500 place of vehicle.

The map datum 800 be made up of the current location 500 of vehicle and multiple node and route shown in Fig. 8 is for illustration of can place of arrival one example of searching for, in fact, as shown in Figure 9, search section 403 searches for more nodes and route in the scope wider than the map datum 800 shown in Fig. 8.

Fig. 9 be illustrate that search section 403 carries out can the key diagram of an example of place of arrival search.When continuing to whole road (beyond removing path) amount calculating accumulated energy as mentioned above, as shown in Figure 9, can there is no the amount of the accumulated energy in whole nodes of each road of mode detailed search omitted.But calculate the estimated energy consumption in Japan's about 2,000,000 routes in the whole nation and add up, the information processing capacity of search section 403 is huge.Therefore, search section 403 such as also can according to the importance degree etc. of route, reduce to search for moving body can the scope of road of place of arrival.

Figure 10 be illustrate that search section 403 carries out can the key diagram of another example of place of arrival search.Specifically, search section 403 such as calculates the amount of accumulated energy at current location 500 periphery of vehicle for whole road (beyond removing path), only calculates the amount of accumulated energy in the scope of separating more than certain certain distance for the road that importance degree is higher.Thus, as shown in Figure 10, the nodes and route number that are searched by search section 403 can be reduced, the information processing capacity of search section 403 can be reduced.Therefore, it is possible to improve the processing speed of search section 403.

< map datum split example >

The cutting part 404 of the present embodiment can place of arrival according to what search as mentioned above, splits the map datum stored in memory storage.Specifically, the map datum be made up of vector data is converted to the grid (X, Y) of such as 64 × 64 by cutting part 404, makes map datum become raster data (view data).

Figure 11 be utilize longitude-latitude that cutting part 404 is shown can the key diagram of an example of place of arrival.Further, Figure 12 be utilize grid that cutting part 404 is shown can the key diagram of an example of place of arrival.In fig. 11, what utilize absolute coordinates illustrated example to search as shown in Figure 9 and Figure 10 can the latitude, longitude information (x, y) of place of arrival.In fig. 12, screen coordinate is utilized to illustrate according to imparting the grid (X, Y) of 64 × 64 of identifying information by place of arrival.

As shown in figure 11, first, cutting part 404 according to multiple can place of arrival longitude x separately, latitude y, be created in absolute coordinates and there is a latitude, longitude information of group 1100 (x, y).(x, initial point (0,0) y) are positioned at the lower left of Figure 11 to latitude, longitude information.Then, cutting part 404 calculate from the longitude ofx of the current location 500 of vehicle to along longitude x direction farthest can the maximum longitude x_max of place of arrival, distance w1, the w2 of minimum longitude x_min.Further, cutting part 404 calculate from the latitude ofy of the current location 500 of vehicle to along latitude y direction farthest can the maximum latitude y_max of place of arrival, distance w3, the w4 of minimum latitude y_min.

Then, cutting part 404 becomes the mode of the length on 1 limit of a rectangular-shaped key element of grid (X, Y) with the length of n/mono-making the distance w2 (being set to w5=max (w1, w2, w3, w4) below) from the current location 500 of vehicle to minimum longitude x_min of the maximum distance in the distance w1 between the current location 500 of vehicle ~ w4, multiplely the map datum of place of arrival can convert the grid (X, Y) of such as m × m point (such as 64 × 64 point) to by comprising.

Specifically, 1 grid and the ratio of the size of latitude, longitude are set to multiplying power mag=w5/n by cutting part 404, with make latitude, longitude information (x, y) and grid (X, Y) meet following (9) formula, the mode of (10) formula, (x, y) convert latitude, longitude information to grid (X, Y).

X＝(x-ofx)/mag...(9)

Y＝(y-ofy)/mag...(10)

By (x, y) converting latitude, longitude information to grid (X, Y), as shown in figure 12, the current location 500 of vehicle becomes the center of the rectangular-shaped view data be made up of the grid of m × m point (X, Y), the grid (X, Y) of the current location 500 of vehicle is equal in X-direction, Y direction, becomes X=Y=m/2=n+4.Further, in order to make such as 4 points of the periphery of grid (X, Y) become blank, if n=(m/2)-4.Then, cutting part 404 by latitude, longitude information (x, y) convert grid (X, Y) to time, give identifying information to each region of grid (X, Y) respectively, convert thereof into the grid of the two-dimensional matrix data (Y, X) of the capable m row of m.

Specifically, comprise in a region of grid (X, Y) vehicle can place of arrival, as for identifying that vehicle can arrive arrived in the identifying information in this region, cutting part 404 such as gives " 1 " (such as describing 1 point with black in fig. 12).On the other hand, do not comprise in a region of grid (X, Y) vehicle can place of arrival, as arriving identifying information for what identify that vehicle can not arrive this region, cutting part 404 such as gives " 0 " (such as describing 1 point by white in fig. 12).

Like this, map datum is converted to the grid of the two-dimensional matrix data (Y, X) respectively each region after segmentation being imparted to the capable m row of m of identifying information by cutting part 404, is processed by the raster data of map datum as binaryzation.The rectangular-shaped region representation of certain limit is used in each region of grid respectively.Specifically, as shown in figure 12, such as generation black depict multiple can the grid (X, Y) of m × m point of some group 1200 of place of arrival.The initial point (0,0) of grid (X, Y) is positioned at upper left side.

< identifying information gives one of example >

The identifying information that the regional that above-mentioned assigning unit 405 changes the grid (X, Y) of the m × m point after to segmentation described above is given.Specifically, assigning unit 405 carries out closed process (carrying out reducing the process of process after expansion process) for the grid of the two-dimensional matrix data (Y, X) of m capable m row.

Figure 13 is the key diagram of the example that the closed process that guider carries out is shown.Figure 13 (A) ~ Figure 13 (C) is the grid of the two-dimensional matrix data (Y, X) respectively each region being imparted to the capable m row of m of identifying information.First the grid 1300 of identifying information is imparted after the dividing processing at map datum shown in Figure 13 (A).That is, the grid 1300 shown in Figure 13 (A) is identical with the grid shown in Figure 12.

Further, the grid 1310 after closed process (expansion) having been carried out to the grid 1300 shown in Figure 13 (A) shown in Figure 13 (B).Grid 1320 after closed process (reducing) having been carried out to the grid 1310 shown in Figure 13 (B) shown in Figure 13 (C).In the grid 1300,1310,1320 shown in Figure 13 (A) ~ (C), with the state of blacking illustrate by the vehicle imparting multiple Area generation that can arrive identifying information can coverage area 1301,1311,1321.

As shown in Figure 13 (A), produce in the grid 1300 after identifying information is given by vehicle can comprise in coverage area 1301 can not arrive missing point that region forms 1302 (apply shade can white background part in coverage area 1301).Such as, as shown in Figure 10, when in order to reduce that assigning unit 405 carries out can place of arrival search process load and reduce the scope of the road wanting search node and route, as reducing the nodes of place of arrival, thus generation missing point 1302.

Then, as shown in Figure 13 (B), the expansion process that the grid 1300 after assigning unit 405 pairs of identifying informations impartings closes.In closed expansion process, identifying information give after the identifying information in a region adjacent with imparting the region that can arrive identifying information of grid 1300 be altered to and can arrive identifying information.Thus, before expansion process the disappearance portion 1302 that can produce in coverage area 1301 of the vehicle of (identifying information give after) disappears.

Further, with expansion process before the identifying information of the adjacent Zone Full in the region of most peripheral of coverage area 1301 can being altered to and can arriving identifying information of vehicle.Therefore, whenever carrying out expansion process, the vehicle after expansion process can periphery can the mode of periphery in each region of most peripheral of coverage area 1301 expand bit by bit with the vehicle before surrounding expansion process of coverage area 1311.

Then, as shown in Figure 13 (C), what assigning unit 405 pairs of grids 1310 closed reduces process.Reduce in process at closed, the identifying information in a region adjacent with imparting the region that can not arrive identifying information of the grid 1310 after expansion process is altered to and can not arrives identifying information.

Therefore, whenever carrying out reducing process, each region of most peripheral of coverage area 1311 can becoming bit by bit and can not arrive region of the vehicle after expansion process, can the periphery of coverage area 1311 reducing of the vehicle after expansion process.Thus, reduce the vehicle after process can coverage area 1321 periphery and the vehicle before expansion process can the periphery of coverage area 1301 roughly the same.

Assigning unit 405 is respectively carried out the above-mentioned expansion process of same number and is reduced process.Specifically, when having carried out 2 expansion process, process of reducing after this has also carried out 2 times.Equal by making expansion process and reducing the number of processes of process, can will be altered to the identifying information of roughly Zone Full of outer peripheral portion of coverage area can being altered to and original can not arriving identifying information of the vehicle that can arrive identifying information by expansion process by reducing process.Like this, what assigning unit 405 can remove vehicle can missing point 1302 in coverage area, and generate the vehicle can knowing display periphery can coverage area 1321.

More specifically, assigning unit 405 carries out closed process as follows.Figure 14 is the key diagram of the example that the closed process that guider carries out schematically is shown.In Figure 14 (A) ~ Figure 14 (C), as an example, the grid of the two-dimensional matrix data (Y, X) respectively each region being imparted to the capable h row of h of identifying information is shown.

Figure 14 (A) is the grid 1400 after identifying information is given.Figure 14 (B) be for the closed process (expansion) of Figure 14 (A) after grid 1410.Figure 14 (C) be for the closed process (reducing) of Figure 14 (B) after grid 1420.In the grid 1400,1410,1420 of Figure 14 (A) ~ Figure 14 (C), different shade diagrams is utilized to impart the region 1401,1402 that can arrive identifying information respectively.

As shown in Figure 14 (A), in the grid 1400 after identifying information is given, the capable f of c is arranged, the capable c of f arranges and the region 1401 of the capable f row of g is given and can be arrived identifying information.In Figure 14 (A), impart each region 1401 that can arrive identifying information with the state of separating configuration, with after making expansion process and to reduce the change of the identifying information after process clear and definite.

Assigning unit 405 carries out the expansion process closed for the grid 1400 after this identifying information imparting.Specifically, as shown in Figure 14 (B), assigning unit 405 by the lower-left in the region 1401 arranged with the capable f of c, under, the identifying information of adjacent 8 regions in bottom right, the right side, upper right, upper, upper left, left (the capable e of b arranges ~ the capable g of b arranges, the capable e of c arranges, the capable g of c arranges and the capable e of d arranges ~ the capable g of d arranges) 1402 is altered to can arrives identifying information from arriving identifying information.

Further, same with the process that the region 1401 arranged the capable f of c is carried out, the identifying information in adjacent 8 regions 1402 is also altered to and can arrives identifying information by assigning unit 405 in the region 1401 that the capable c of f arranges and the capable f of g arranges.Therefore, vehicle can coverage area 1411 give than identifying information after grid 1400 in vehicle the identifying information of coverage area enlarged area 1402 can be altered to the amount that can arrive identifying information.

Then, what the grid 1410 after assigning unit 405 pairs of expansion process closed reduces process.Specifically, as shown in Figure 14 (C), the b capable e adjacent with imparting the region (the white background part of the grid 1410 after expansion process) that can not arrive identifying information arrange by assigning unit 405 ~ the capable g of b arranges, the capable e of c arranges, the capable g of c arranges and the capable e of d arranges ~ and the identifying information in 8 regions 1402 that the capable g of d arranges is altered to and can not arrives identifying information.

And, with the capable e of b is arranged ~ the capable g of b arranges, the capable e of c arranges, the capable g of c arranges and the capable e of d arranges ~ process that 8 regions 1402 that the capable g of d arranges are carried out is same, the e capable b adjacent with imparting the region that can not arrive identifying information arrange by assigning unit 405 ~ the capable d of e arranges, the capable b of f arranges, the capable d of f arranges ~ the capable g of f arranges, the capable b of g arranges ~ identifying information in the capable e of g arranges, the capable g of g arranges, the capable e of h arranges and the capable g of h arranges 15 regions 1402 is altered to and can not arrives identifying information.

Thus, as shown in Figure 14 (C), grid 1400 after giving with identifying information is same, reduce the grid after process 1420 generate by impart 3 regions 1401 that can arrive identifying information and impart after reducing process can arrive identifying information state under the vehicle that forms of 1 residual region 1402 can coverage area 1421.Like this, can identifying information be arrived and region 1402 residual under impart the state that can arrive identifying information after reducing process by imparting when expansion process, identifying information give after the missing point that can produce in coverage area of grid 1400 disappear.

< identifying information gives two > of example

Assigning unit 405 also can to the grid of two-dimensional matrix data (Y, X) carry out open process (after reducing process, carrying out the process of expansion process), generate can know display periphery vehicle can coverage area.Specifically, assigning unit 405 carries out unlatching process as follows.

Figure 15 is the key diagram of the example that the unlatching process that guider carries out is shown.Figure 15 (A) ~ Figure 15 (C) is the grid of the two-dimensional matrix data (Y, X) respectively each region being imparted to the capable m row of m of identifying information.Figure 15 (A) illustrates the grid 1500 after identifying information imparting.Figure 15 (B) illustrates the grid 1510 after for the unlatching process (reducing) of Figure 15 (A).Further, Figure 15 (C) illustrates the grid 1520 after for the unlatching process (expansion) of Figure 15 (B).In the grid 1500,1510,1520 shown in Figure 15 (A) ~ Figure 15 (C), with the state of blacking illustrate by the vehicle imparting multiple Area generation that can arrive identifying information can coverage area 1501,1511,1521.

As shown in Figure 15 (A), vehicle in the grid 1500 after identifying information is given can the periphery of coverage area 1501 when producing multiple isolated point 1502, carry out unlatching process by the grid 1500 after giving identifying information, isolated point 1502 can be removed.Specifically, as shown in Figure 15 (B), what the grid 1500 after assigning unit 405 pairs of identifying informations impartings was opened reduces process.

Reduce in process what open, identifying information give after the identifying information in a region adjacent with imparting the region that can not arrive identifying information of grid 1500 be altered to and can not arrive identifying information.Thus, before reducing process, the isolated point 1502 that can produce in coverage area 1501 of the vehicle of (identifying information give after) is removed.

Therefore, whenever carrying out reducing process, identifying information give after each region of most peripheral of coverage area 1501 can the becoming bit by bit and can not arrive region of vehicle, identifying information give after can the periphery of coverage area 1501 the reducing of vehicle.Further, can being removed by the interior isolated point 1502 produced of coverage area 1501 of the vehicle after identifying information imparting.

Then, as shown in Figure 15 (C), the expansion process that assigning unit 405 pairs of grids 1510 are opened.In the expansion process of opening, the identifying information in the region adjacent with imparting the region that can not arrive identifying information reducing the grid after process 1510 is altered to and can arrives identifying information.Therefore, whenever carrying out expansion process, the vehicle after expansion process can the periphery of coverage area 1521 to surround can the mode of periphery in each region of most peripheral of coverage area 1511 expanding bit by bit of the vehicle after reducing process.

In unlatching process, same with closed process, assigning unit 405 is respectively carried out the expansion process of same number and is reduced process.Like this, by making expansion process identical with the number of processes reducing process, can expand can the periphery of coverage area 1511 by what reduce process and the vehicle that reduces, can make the vehicle after reducing process can the periphery of coverage area 1521 return reduce vehicle before treatment can the periphery of coverage area 1501.Like this, assigning unit 405 can generate do not produce isolated point 1502 and can know display periphery vehicle can coverage area 1521.

< tag number gives routine >

Then, the imparting example of Figure 16 ~ Figure 30 to the tag number that determination portion 408 is carried out is used to be described.Tag number refers to the identifying information that each connecting area for classifying to connecting area group is intrinsic.Cartographic information is given to the pseudo-tag number representing whether each pixel and the pixel adjacent with them link, meanwhile, generate each pseudo-tag number and be used for determining the complete list that the tag number (being referred to as true tag number) of intrinsic connecting area group is mapped.By generating this appointed information, the pseudo-label preserved in cartographic information is obtained from the specific pixel of cartographic information, the content of this pseudo-tag number and complete list is compared and obtains true tag number, can judge which connecting area group is specific pixel belong to thus.

Figure 16 ~ Figure 20 illustrates the key diagram linking the pattern judging subject area.In Figure 16 ~ Figure 20, the central area (numbering " 0 ") in the region group of 3 × 3 is region-of-interest.The region, left of central area is the region imparting condition number " 1 ", the region, upper left side of central area is the region imparting condition number " 2 ", the upper area of central area is the region imparting condition number " 3 ", and the region, upper right side of central area is the region imparting condition number " 4 ".The region group imparting condition number " 1 " ~ " 4 " possible become the region linking and judge subject area, and what impart the region group of condition number " 1 " ~ " 4 " is combined into the pattern linking and judge subject area.Number of regions due to region group is 4, therefore there are 16 kinds of patterns.Specifically, by all the other regions beyond the region being judged to not fill in adjacent area " 1 " ~ " 4 " of central area, the region that becomes the judgement object whether linked with central area is called to link and judges subject area.Further, be called to link judge non-object region by linking irrelevant region with whether with central area.

Figure 16 is the key diagram that the condition 1 ~ 4 linking the pattern judging subject area is shown.(A) condition 1 is shown.Condition 1 illustrates the situation that any region in the region of condition number " 1 " ~ " 4 " does not all fill.(B) condition 2 is shown.Condition 2 illustrates that only condition number 4 judges subject area, the situation that all the other regions all do not fill for linking.(C) condition 3 is shown.Condition 3 illustrates that only condition number 2 judges subject area, the situation that all the other regions all do not fill for linking.(D) condition 4 is shown.Condition 4 illustrates that condition number 2,4 is to link and judges subject area, the situation that all the other regions all do not fill.

Figure 17 is the key diagram that the condition 5 linking the pattern judging subject area is shown.Condition 5 illustrates that condition number 1 judges subject area for linking, and condition number 2 judges non-object region, the situation that all the other regions all do not fill for linking.In condition 5, judge 2 patterns of (a), (b) of right.

Figure 18 is the key diagram that the condition 6 linking the pattern judging subject area is shown.Condition 6 illustrates that condition number 3 judges subject area for linking, and condition number 2,4 judges non-object region, the situation that all the other regions do not fill for linking.In condition 6, judge 4 patterns of (c) ~ (f) of right.

Figure 19 is the key diagram that the condition 7 linking the pattern judging subject area is shown.Condition 7 illustrates that condition number 1,3 judges subject area for linking, and condition number 2,4 is link the situation judging non-object region.In condition 7, judge 4 patterns of (g) ~ (j) of right.

Figure 20 is the key diagram that the condition 8 linking the pattern judging subject area is shown.Condition 8 illustrates that condition number 1,4 judges subject area for linking, and condition number 2,3 is link the situation judging non-object region.In condition 8, judge 4 patterns of (k) ~ (n) of right.Wherein, (m), (n) are identical with (i), (j) of Figure 19.Therefore, in Figure 16 ~ Figure 20, obtain total 16 kinds of patterns.

Then, the generation of complete list is described.Complete list is the table of area generating pseudo-tag number, rectangular area, connecting area group in each connecting area group of cartographic information.Complete list is made up of the 1st complete list and the 2nd complete list.Generate complete list during cartographic information before scanning pseudo-tag number and giving, thus, export the cartographic information imparting pseudo-tag number.

Figure 21 illustrates that pseudo-tag number gives the key diagram of the cartographic information of front and back.(A) be pseudo-tag number give before cartographic information, (B) be pseudo-tag number give after cartographic information.In (A), (B), the position filled is that become can the region of coverage area.In addition, in (A), (B), give " 0 " as pseudo-tag number and true tag number to the region do not filled.

Figure 22 is the key diagram of the example that complete list is shown.The complete list T of Figure 22 corresponds to the cartographic information of (B) of Figure 21.(A) the 1st complete list T1 is shown.The key element of epimere is the pseudo-tag number of each connecting area group, and the key element of hypomere is the pseudo-tag number of the connecting area group linked with the connecting area group shown in the key element of epimere.Such as, the pseudo-tag number of the connecting area group linked with the connecting area group of pseudo-tag number 5 (epimere) is 4 (hypomeres).When scanning region-of-interest, the 1st complete list T1 adds the key element of epimere and the key element of hypomere.The key element of epimere and the key element of hypomere be combined into 1 record.

(B) be the 2nd complete list T2.Left end is pseudo-tag number, corresponding to the key element of the epimere of the 1st complete list T1.Middle is the information representing rectangular area, by the coordinate in region, upper left side and the coordinate performance rectangular area in region, lower right.Right-hand member is the area of the connecting area group of the pseudo-tag number imparting left end.The area of connecting area group represents by number of regions.Such as, represent left end to be the record of " 4 " be the connecting area group of pseudo-tag number 4, the connecting area group of pseudo-tag number 4 is included in that upper left side is (3,2), lower right is in the rectangular area of (8,5), and the area of the connecting area group of pseudo-tag number 4 is " 8 ".

The 1st complete list T1 is scanned successively from the puppet of the key element of epimere, true tag number " 0 ".When the pseudo-tag number of the key element of epimere is identical with the pseudo-tag number of hypomere, the tag number of the link key element group shown in the key element of epimere becomes true tag number.Below, the changing content of Figure 23 ~ Figure 30 to complete list T is used to be described.

Figure 23 is the key diagram of the changing content 1 that complete list T is shown.Changing content 1 illustrates that the pseudo-tag number of upper-lower section is the changing content of the record of (1,1).Because the pseudo-tag number of epimere is identical with the pseudo-tag number of hypomere, therefore do not change.That is, in the 1st complete list T1, represent that the connecting area group of pseudo-tag number 1 belongs to the rectangular area of the connecting area group comprising true tag number 1.

Figure 24 is the key diagram of the changing content 2 that complete list T is shown.Changing content 2 illustrates that the pseudo-tag number of upper-lower section is the changing content of the record of (2,2).Because the pseudo-tag number of epimere is identical with the pseudo-tag number of hypomere, therefore do not change.That is, in the 1st complete list T1, represent that the connecting area group of pseudo-tag number 2 belongs to the rectangular area of the connecting area group comprising true tag number 2.

Figure 25 is the key diagram of the changing content 3 that complete list T is shown.Changing content 3 illustrates that the pseudo-tag number of upper-lower section is the changing content of the record of (3,2).Because the pseudo-tag number of epimere is different with the pseudo-tag number of hypomere, therefore, by the record addition of the pseudo-tag number 3 of the 2nd complete list T2 in the record of pseudo-tag number 2.Equal the logic sum of the rectangular area of getting the rectangular area of the connecting area group of surrounding pseudo-tag number 2 and the connecting area group of the pseudo-tag number 3 of encirclement.Thus, in the rectangular area of pseudo-tag number 2, add the rectangular area of pseudo-tag number 3.That is, in the 1st complete list T1, represent that the connecting area group of pseudo-tag number 3 belongs to the rectangular area of the connecting area group comprising true tag number 2.

Figure 26 is the key diagram of the changing content 4 that complete list T is shown.Changing content 4 illustrates that the pseudo-tag number of upper-lower section is the changing content of the record of (4,2).Because the pseudo-tag number of epimere is different with the pseudo-tag number of hypomere, therefore, by the record addition of the pseudo-tag number 4 of the 2nd complete list T2 in the record of pseudo-tag number 2.Thus, the logic of the rectangular area of the rectangular area of getting the connecting area group of surrounding pseudo-tag number 2 and the connecting area group of surrounding pseudo-tag number 3 and and the rectangular area that obtains becomes the new rectangular area of pseudo-tag number 2.That is, in the 1st complete list T1, represent that the connecting area group of pseudo-tag number 4 belongs to the rectangular area of the connecting area group comprising true tag number 2.

Figure 27 is the key diagram of the changing content 5 that complete list T is shown.Changing content 5 illustrates that the pseudo-tag number of upper-lower section is the changing content of the record of (5,4).Because the pseudo-tag number of epimere is different with the pseudo-tag number of hypomere, therefore, by the record addition of the pseudo-tag number 5 of the 2nd complete list T2 in the record of pseudo-tag number 4.Thus, the logic of the rectangular area of the rectangular area of getting the connecting area group of surrounding pseudo-tag number 2 and the connecting area group of surrounding pseudo-tag number 5 and and the rectangular area that obtains becomes the new rectangular area of pseudo-tag number 2.Then, the pseudo-tag number of the key element of corresponding with the pseudo-tag number 5 i.e. key element of epimere of the 1st complete list T1 hypomere rewrites the tag number that comes true " 2 " from pseudo-tag number " 4 ".That is, in the 1st complete list T1, represent that the connecting area group of pseudo-tag number 5 belongs to the rectangular area of the connecting area group comprising true tag number 2.

Figure 28 is the key diagram of the changing content 6 that complete list T is shown.Changing content 6 illustrates that the pseudo-tag number of upper-lower section is the changing content of the record of (6,6).Because the pseudo-tag number of epimere is identical with the pseudo-tag number of hypomere, therefore do not change.That is, in the 1st complete list T1, represent that the connecting area group of pseudo-tag number 6 belongs to the rectangular area of the connecting area group comprising true tag number 6.

Figure 29 is the key diagram of the changing content 7 that complete list T is shown.Changing content 7 illustrates that the pseudo-tag number of upper-lower section is the changing content of the record of (7,6).Because the pseudo-tag number of epimere is different with the tag number of hypomere, therefore, by the record addition of the pseudo-tag number 7 of the 2nd complete list T2 in the record of pseudo-tag number 6.Thus, the logic of the rectangular area of the rectangular area of getting the connecting area group of surrounding pseudo-tag number 6 and the connecting area group of surrounding pseudo-tag number 7 and and the rectangular area that obtains becomes the new rectangular area of pseudo-tag number 6.That is, in the 1st complete list T1, represent that the connecting area group of pseudo-tag number 7 belongs to the rectangular area of the connecting area group comprising true tag number 6.

Figure 30 is the key diagram of the changing content 8 that complete list T is shown.Changing content 8 illustrates net result.Thus, the tag number of hypomere becomes the numbering of the rectangular area belonging to connecting area for identifying the tag number imparting epimere.In this net result, when epimere is identical with the tag number of hypomere, this tag number is called " true tag number ".

< can coverage area contours extract example one of >

The identifying information that above-mentioned display control unit 410 is given according to the grid of the two-dimensional matrix data (Y, X) to m capable m row, that extracts vehicle can the profile of coverage area.Specifically, what display control unit 410 such as used freemans chain code to extract vehicle can the profile of coverage area.More specifically, what display control unit 410 extracted as follows vehicle can the profile of coverage area.

Figure 31 be the vehicle that display control unit 410 carries out schematically is shown can the key diagram of an example that extracts of coverage area.Further, Figure 32 be schematically illustrate the vehicle that display control unit 410 carries out can coverage area extract after the key diagram of an example of grid.In Figure 31 (A), the numeral (hereinafter referred to as " direction index (chain code) ") in adjacent direction and the arrow in 8 directions corresponding with direction index in the region 3110 ~ 3117 representing adjacent with region 3100 is shown.In Figure 31 (B), as an example, the grid 3120 of the two-dimensional matrix data (Y, X) of the capable h row of h is shown.Further, in Figure 31 (B), what the region 3121 ~ 3134 utilizing shade to illustrate to impart and can arrive identifying information and this region 3121 ~ 3134 surrounded imparts the region that can arrive identifying information.

The line segment of direction index representation unit length towards direction.In grid (X, Y), the coordinate corresponding with direction index becomes (X+dx, Y+dy).Specifically, as shown in Figure 31 (A), from region 3100 towards the direction index in the direction in the region 3110 adjacent in lower left be " 0 ".From region 3100 towards the direction index in the direction in the region 3111 adjacent in below be " 1 ".From region 3100 towards the direction index in the direction in the region 3112 adjacent in lower right be " 2 ".

Further, from region 3100 towards the direction index in the direction in the region 3113 adjacent in right be " 3 ".From region 3100 towards the direction index in the direction in the region 3114 adjacent in upper right side be " 4 ".From region 3100 towards the direction index in the direction in region 3115 adjacent be up " 5 ".From region 3100 towards the direction index in the direction in the region 3116 adjacent on upper left side be " 6 ".From region 3100 towards the direction index in the direction in the region 3117 adjacent in left be " 7 ".

Display control unit 410 is retrieved to anticlockwise and adjacent with region 3100 is imparted the region that can arrive identifying information " 1 ".Further, display control unit 410 decides the retrieval starting point that impart the region that can arrive identifying information adjacent with region 3100 according to the direction index of last time.Specifically, when being " 0 " from other region towards the direction index in region 3100, display control unit 410, from the region adjacent in the left in region 3100, namely starts retrieval in the region 3117 that the direction of direction index " 7 " is adjacent.

Equally, when being " 1 " ~ " 7 " from other region towards the direction index in region 3100, display control unit 410 from region 3100 lower-left, bottom right, the right side, upper right, on, adjacent region, upper left side, namely start retrieval respectively in the region 3110 ~ 3116 that the direction of direction index " 0 ", " 1 ", " 2 ", " 3 ", " 4 ", " 5 ", " 6 " is adjacent.Then, display control unit 410 when detect from any one region each region 3110 ~ 3117 from region 3100 can arrive identifying information " 1 ", direction index " 0 " ~ " 7 " corresponding with the region 3110 ~ 3117 that can arrive identifying information " 1 " being detected and region 3100 are associated in write storage device.

Specifically, what display control unit 410 extracted as follows vehicle can the profile of coverage area.As shown in Figure 31 (B), first, the region Qi Yihang unit retrieval of the capable a row of a of the grid 3120 of two-dimensional matrix data (Y, X) that display control unit 410 arranges from the capable h of h imparts the region that can arrive identifying information.

Can not arrive identifying information because the Zone Full capable to a of grid 3120 imparts, therefore, then, display control unit 410 can arrive identifying information from the region that the capable a of the b of grid 3120 arranges towards the area reseach of the capable h row of b.Then, display control unit 410 detects and can arrive identifying information in the region 3121 of the capable e row of the b of grid 3120, to anticlockwise from the region 3121 of the b of grid 3120 capable e row, retrieval become vehicle can coverage area profile there is the region that can arrive identifying information.

Specifically, owing to retrieved in the region of the capable d row of the b that the left in region 3121 is adjacent, therefore, first, display control unit 410 from adjacent region 3122, the lower left in region 3121 to anticlockwise, whether retrieval exists the region having and can arrive identifying information.Then, arrived in the identifying information of display control unit 410 surveyed area 3122, associates storage in the storage device by from region 3121 towards the direction index " 0 " in the direction in region 3122 with region 3121.

Then, the direction index due to last time is " 0 ", and therefore, display control unit 410 is to anticlockwise from the region of the capable c row of the c adjacent in the left in region 3122, and whether retrieval exists the region having and can arrive identifying information.Then, display control unit 410 detects arrived in the identifying information in the region 3123 adjacent in the lower left in region 3122, associates storage in the storage device by from region 3122 towards the direction index " 0 " in the direction in region 3123 with the direction index of last time.

After, display control unit 410 carries out determining retrieval starting point and light from retrieval to rotate to retrieve whether there is the process with the region that can arrive identifying information, until the arrow return area 3121 corresponding with direction index left according to the direction index of last time repeatedly.Specifically, display control unit 410 from adjacent region, the left in region 3122 to anticlockwise, whether retrieval exists the region having and can arrive identifying information, detect arrived in the identifying information in the region 3124 adjacent in the below in region 3123, direction index " 1 " is associated storage in the storage device with the direction index of last time.

Equally, after display control unit 410 determines retrieval starting point according to the direction index of last time, from retrieval, light rotation retrieval left there is the region that can arrive identifying information, detect successively and there is the region 3124 ~ 3134 that can arrive identifying information.Then, it, whenever obtaining direction index, is associated storage in the storage device with the direction index of last time by display control unit 410.

Then, display control unit 410 from the region of the b adjacent in the upper right side in region 3134 capable f row to anticlockwise, whether retrieval exists the region having and can arrive identifying information, detect arrived in the identifying information in region 3121 adjacent above region 3134, direction index " 5 " is associated storage in the storage device with the direction index of last time.Thus, storage direction index " 0 " → " 0 " → " 1 " → " 0 " → " 2 " → " 3 " → " 4 " → " 3 " → " 2 " → " 5 " → " 5 " → " 6 " → " 6 " → " 5 " in order in the storage device.

Like this, display control unit 410 is to anticlockwise from the region 3121 detected at first, and what retrieval was adjacent with this region 3121 successively has the region 3122 ~ 3134 that can arrive identifying information, obtains direction index.Then, display control unit 410 by filling a region in the direction corresponding with direction index from region 3121, as shown in figure 32, generate have by vehicle can the vehicle that forms of the profile 3201 of coverage area and this profile 3201 part 3202 of surrounding can the grid of coverage area 3200.

< can two > of contours extract example of coverage area

To the vehicle that display control unit 410 carries out can coverage area extract another example be described.Display control unit 410 such as also can according to the latitude, longitude information of the grid imparting the two-dimensional matrix data (Y, X) that can arrive identifying information extract vehicle can the profile of coverage area.Specifically, what display control unit 410 extracted as follows vehicle can the profile of coverage area.

Figure 33 be the vehicle that guider carries out schematically is shown can the key diagram of another example that extracts of coverage area.Be described for the grid 3300 of the two-dimensional matrix data (Y, X) of the capable h row of the d shown in Figure 33.What display control unit 410 retrieved grid 3300 imparts the region that can arrive identifying information " 1 ".Specifically, first, display control unit 410 can arrive identifying information " 1 " from the region that the capable a of a arranges towards the area reseach of the capable h row of a.

Can not arrive identifying information " 0 " because the Zone Full capable to a of grid 3300 imparts, therefore, then, display control unit 410 has the region that can arrive identifying information " 1 " from the region that the capable a of b arranges towards the area reseach of the capable h row of b.Then, display control unit 410 obtains minimum longitude px1, the minimum latitude py1 (top-left coordinates in region 3301) in the region 3301 with the b capable c row that can arrive identifying information " 1 ".

Then, display control unit 410 has the region that can arrive identifying information " 1 " from the region that the capable d of b arranges towards the area reseach of the capable h row of b.Then, display control unit 410 retrieval has the region that can arrive identifying information " 1 " and the border with the region that can not arrive identifying information " 0 ", obtains maximum longitude px2, the maximum latitude py2 (lower right coordinate in region 3302) in the region 3302 with the b capable f row that can arrive identifying information " 1 ".

Then, display control unit 410 fills the rectangular area of lower right coordinate (px2, py2) as opposed summit in the region 3302 top-left coordinates (px1, py1) in the region 3301 of capable for b c row and the capable f of b arranged.

Then, display control unit 410 arranges from the capable g of the b of grid 3300 region that arranges towards the capable h of b and then arranges from the capable a of c and can arrive identifying information " 1 " towards the retrieval of c capable h row.Then, display control unit 410 obtains minimum longitude px3, the minimum latitude py3 (top-left coordinates in region 3303) in the region 3303 with the c capable d row that can arrive identifying information " 1 ".

Then, display control unit 410 has the region that can arrive identifying information " 1 " from the region that the capable e of c arranges towards the area reseach of the capable h row of c.Then, display control unit 410 retrieval has the region that can arrive identifying information " 1 " and the border with the region that can not arrive identifying information " 0 ", obtains maximum longitude px4, the maximum latitude py4 (lower right coordinate in region 3304) in the region 3304 with the c capable f row that can arrive identifying information " 1 ".

Then, display control unit 410 fills the rectangular area of lower right coordinate (px4, py4) as opposed summit in the region 3304 top-left coordinates (px3, py3) in the region 3303 of capable for c d row and the capable f of c arranged.

Then, the region that arranges from the region that the capable g of c arranges towards the capable h of c of display control unit 410 and then arrange from the capable a of d, towards the retrieval of d capable h row, there is the region that can arrive identifying information " 1 ".Can not arrive identifying information " 0 " owing to impart to the Zone Full of d capable h row the region arranged from the capable g of c, therefore display control unit 410 ends process.

Like this, fill by each row of the grid 3300 according to two-dimensional matrix data (Y, X) region having and can arrive identifying information " 1 ", can obtain vehicle can coverage area and vehicle can the profile of coverage area.

Image procossing > in < guider 300

As mentioned above, the node that the moving body that guider 300 searches according to the amount of the dump energy based on vehicle can arrive, what generate moving body can coverage area being presented in display 313.Below, situation about being such as equipped in EV car for guider 300 is described.

Figure 34 is the process flow diagram of an example of the order that the image procossing that guider carries out is shown.In the process flow diagram of Figure 34, first, guider 300 such as obtains via communication interface 315 current location (ofx, ofy) (the step S3401) of the vehicle being equipped with this device, obtains the amount (step S3402) of initially possessing energy of the vehicle at current location (ofx, ofy) place of vehicle.

Then, guider 300 performs search process (step S3403), mess generation process (step S3404), and extraction can coverage area (step S3405).Then, guider 300 carries out change process (step S3406).Then, what guider 300 carried out vehicle can the contours extract process (step S3407) of coverage area, then, what guider 300 showed vehicle in display 313 can coverage area (step S3408), the process of process ends figure.

Estimation power consumption amount computing > in < guider 300

Then, the estimation power consumption amount computing that guider 300 carries out is described.Figure 35 is the process flow diagram of an example of the order that the estimation power consumption amount computing that guider 300 carries out is shown.In the process flow diagram shown in Figure 19, it is the process carried out in arrived in the node searching process of above-mentioned steps S3403.

In the process flow diagram of Figure 35, first, guider 300 obtains the congestion informations such as probe data and predicted data (step S3501) of blocking up via communication interface 315.Then, guider 300 obtains the length of route, the category of roads (step S3502) of route.

Then, guider 300 is according to the hourage (step S3503) of the information calculated route obtained in step S3501, S3502.The hourage of route refers to that vehicle has travelled the time required for route.Then, guider 300 is according to the average velocity (step S3504) of the information calculated route obtained in step S3501 ~ S3503.The average velocity when average velocity of route refers to that vehicle travels in route.

Then, guider 300 obtains the elevation data (step S3505) of route.Then, guider 300 obtains the set information (step S3506) of vehicle.Then, guider 300 is according to the information obtained in step S3501 ~ S3506, use the estimation power consumption amount (step S3507) in any one the above consumed energy estimator calculated route in above-mentioned (1) formula ~ (6) formula, the process of process ends figure.

Search process > in < guider 300

Then, the search process (step S3403) that guider 300 carries out is described.Figure 36 and Figure 37 is the process flow diagram of the order that the search process (step S3403) that guider 300 carries out is shown.In the process flow diagram of Figure 36 and Figure 37, node N (the i) _ j be connected with route L (i) nearest with search starting point _ j is appended to (step S3601) in node candidate by guider 300.Search starting point refers to the current location (ofx, ofy) of the vehicle obtained in above-mentioned steps S3401.

Variable i, j are any number, such as, the route nearest with search starting point and node are set to respectively route L (1) _ j and node N (1) _ j, and then, be set to route L (2) _ j by with the route that node N (1) _ j is connected, be set to node N (2) _ j with the node that route L (2) _ j is connected and get final product (j=1,2 ..., j1).Variable j1 is any number, means to there is multiple route or node in same level.

Then, whether guider 300 decision node candidate is more than one (step S3602).Under node candidate is more than one situation (step S3602: yes), the node candidate (step S3603) that guider 300 selects the accumulative power consumption amount from the current location of vehicle to node candidate minimum.Such as, if guider 300 selects node N (i) _ j as node candidate so that later process to be described.

Then, guider 300 judge from the current location of vehicle to node N (i) _ whether the accumulative power consumption amount of j be less than the amount (step S3604) of prescribed energy.The amount of prescribed energy such as refers to the amount of the dump energy of the vehicle at the current location place of vehicle.When being less than the amount of prescribed energy (step S3604: yes), guider 300 extracts whole route L (the i+1) _ j (step S3605) be connected with node N (i) _ j.

Then, guider 300 selects a route L (the i+1) _ j (step S3606) in route L (the i+1) _ j extracted in step S3605.Then, guider 300 carries out judging whether select in step S3606 route L (i+1) _ j to judge to process (step S3607, S3608) as the candidate of route candidate.

When using route L (i+1) _ j as (step S3608: yes) when route candidate, guider 300 carries out the power consumption amount computing (step S3609) in route L (i+1) _ j.Then, guider 300 calculates accumulative power consumption amount W (the i+1) _ j (step S3610) till node N (the i+1) _ j be connected with route L (i+1) _ j.Then, guider 300 judges whether to there is processed other path (step S3611) be connected with node N (i+1) _ j.

When there is other processed path (step S3611: yes), guider 300 judges whether accumulative power consumption amount W (the i+1) _ j from the current location of vehicle to node N (i+1) _ j is less than the accumulative power consumption amount (step S3612) other path.When being less than the accumulative power consumption amount in other path (step S3612: yes), guider 300 sets accumulative power consumption amount W (the i+1) _ j (step S3613) from the current location of vehicle to node N (i+1) _ j in node N (i+1) _ j.

On the other hand, when there is not other processed path (step S3611: no), guider 300 enters step S3613.Then, whether guider 300 decision node N (i+1) _ j is node candidate (step S3614).When not being node candidate (step S3614: no), node N (i+1) _ j is appended to (step S3615) in node candidate by guider 300.

And, when when being not more than the accumulative power consumption amount other path using route L (i+1) _ j as (step S3608: no) when route candidate, accumulative power consumption amount W (i+1) _ j from the current location of vehicle to node N (i+1) _ j, (step S3612: no), node N (i+1) _ j are node candidate (step S3614: yes), guider 300 enters step S3616.

Then, guider 300 judges that the candidate of whole route L (i+1) _ j judges whether process terminates (step S3616).When the candidate of whole route L (i+1) _ j judges that process terminates (step S3616: yes), after being removed from node candidate by node N (i) _ j (step S3617), return step S3602.Then, guider 300 is (step S3602: yes) under node candidate is more than one situation, from node candidate, select the node candidate (step S3603) that the accumulative power consumption amount lighted from the current position of vehicle is minimum, the node candidate selected in step S3603 is carried out the later process of step S3604 as next node N (i) _ j.

On the other hand, under the candidate of whole route L (i+1) _ j judges to process unclosed situation (step S3616: no), step S3606 is returned.Then, guider 300 selects other route L (the i+1) _ j be connected with node N (i) _ j again, repeatedly carry out the process of step S3607 ~ step S3615, until the candidate of whole route L (the i+1) _ j be connected with same node candidate judges that process terminates (step S3616: yes).And, under node candidate is not more than one situation (step S3602: no), from the current location of vehicle to node N (i) _ the accumulative power consumption amount of j be the amount of prescribed energy above (step S3604: no), the process of guider 300 process ends figure.

Route candidate in < guider 300 judges to process >

Then, the route candidate carried out guider 300 judges that process (step S3607) is described.Figure 38 illustrates that route candidate that guider 300 carries out judges the process flow diagram of an example of the order processing (step S3607).

In the process flow diagram of Figure 38, first, whether no through traffic (step S3801) for route L (the i+1) _ j selected in guider 300 determining step S3606.When not being (step S3801: no) no through traffic, guider 300 judge route L (i+1) _ j be whether single file drive in the wrong direction (step S3802).When not being single file retrograde (step S3802: no), guider 300 judges whether route L (i+1) _ j is subject to time restriction or restriction in season (step S3803).

When not by (step S3803: no) when time restriction or restriction in season, the importance degree (step S3804) of route L (the i) _ the j whether importance degree that guider 300 judges route L (i+1) _ j is connected lower than the node N (i+1) of the current location side of the vehicle with route L (i+1) _ j.When the importance degree of importance degree higher than route L (i) _ j (step S3804: no), a route L (i+1) _ j determines as route candidate (step S3805) by guider 300, the process of process ends figure.

On the other hand, when no through traffic (step S3801: yes), single file retrograde when (step S3802: yes), when being subject to time restriction or restriction in season when importance degree lower than route L (i) that will connect _ j of (step S3803: yes), importance degree (step S3804: yes), the process of guider 300 process ends figure.

Mess generation process > in < guider 300

Then, the mess generation process (step S3404) that guider 300 carries out is described.Figure 39 is the process flow diagram of an example of the order that the mess generation process (step S3404) that guider 300 carries out is shown.

In the process flow diagram of Figure 39, first, guider 300 obtains latitude, longitude information (x, y) (step S3901) that can arrive node (can search in).Then, guider 300 obtains maximum longitude x_max, minimum longitude x_min, maximum latitude y_max, minimum latitude y_min (step S3902).

Then, guider 300 calculates the distance w1 of current location (ofx, ofy) to maximum longitude x_max, the distance w2 to minimum longitude x_min of the vehicle obtained from step S3401, the distance w3 to maximum latitude y_max, distance w4 (step S3903) to minimum latitude y_min respectively.Then, guider 300 obtains the longest distance w5=max (w1, w2, w3, w4) (the step S3904) in distance w1 ~ w4.

Then, guider 300 calculates the multiplying power mag=w5/n (step S3905) being used for the map datum stored in memory storage being converted to screen coordinate system from absolute coordinate system.Then, guider 300 uses the multiplying power mag calculated in step S3905 to convert map datum to screen coordinate system from absolute coordinate system, generates grid (X, Y) (the step S3906) of m × m point.

In step S3906, guider 300 can arrive node grid (X, Y) to comprising is given and can be arrived identifying information, gives can not arrive identifying information to not comprising the grid (X, Y) that can arrive node.Then, guider 300 changes process by carrying out identifying information, removes the missing point (step S3907) with the suitable grid (X, Y) of bridge or tunnel.

Identifying information in < guider 300 changes process >

Then, the identifying information carried out guider 300 changes process (step S3907) and is described.Figure 40 is the process flow diagram of an example of the order that identifying information change process (step S3907) that guider 300 carries out is shown.Specifically, be when can arrive identifying information at the identifying information in each region suitable with the entrance and exit of bridge or tunnel, guider 300 remove with the missing point that produces in the suitable region of bridge or tunnel.

In the process flow diagram of Figure 40, first, guider 300 obtains the grid (step S3911) of the two-dimensional matrix data of the capable mx row of my.Then, the identifying information in the region that guider 300 arranges in order to the capable j of i retrieving grid, substitutes into 1 (step S3912, S3913) in variable i, j.Then, guider 300 judges that whether the region of the i of grid capable j row is the gateway (step S3914) in bridge or tunnel.

When the region of the capable j row of i is the gateways in bridge or tunnel (step S3914: yes), guider 300 judges whether the identifying information in the region of the capable j row of the i of grid is " 1 " (step S3915).When the identifying information in the region of the capable j row of i is " 1 " (step S3915: yes), guider 300 obtains the positional information (i1, j 1) (step S3916) in the region of another gateway in the bridge corresponding with the region that the capable j of the i of grid arranges or tunnel.

Then, guider 300 judges whether the identifying information in the region that the capable j 1 of the i1 of grid arranges is " 1 " (step S3917).When the identifying information in the region that the capable j 1 of i1 arranges is " 1 " (step S3917: yes), guider 300 obtains the positional information (step S3918) of the Zone Full on the interval in the region of region and capable j 1 row of i1 being positioned at and connecting i capable j row.

Then, the identifying information in each region obtained in step S3918 is altered to " 1 " (step S3919) by guider 300.Thus, remove connect region that i capable j arranges and the region that the capable j1 of i1 arranges with the missing point that produces in the suitable region of bridge or tunnel.The identifying information in each region obtained in step S3918 is all " 1 ", guider 300 also can not carry out the process of step S3919 and enter step S3920.

And, when when the region that the capable j of i arranges is not the gateway in bridge or tunnel, the identifying information in the region that (step S3914: no), the capable j of i arrange is not " 1 ", the identifying information in the region that (step S3915: no) and the capable j 1 of i1 arrange not is (step S3917: no) when " 1 ", and guider 300 enters step S3920.

Then, guider 300 adds 1 (step S3920) in variable j, and whether judgment variable j is more than mx row (step S3921).When variable j arranges more than mx (step S3921: no), guider 300 returns step S3914, repeatedly carries out later process.On the other hand, when variable j exceeds mx row (step S3921: yes), guider 300 adds 1 (step S3922) in variable i, judgment variable i whether capable more than my (step S3923).

When variable i is capable more than my (step S3923: no), guider 300 returns step S3913, after substituting into 1, repeatedly carries out later process in variable j.On the other hand, when variable i is capable more than my (step S3923: yes), the process of guider 300 process ends figure.Thus, guider 300 can remove the whole missing points on the bridge that comprises in the grid of the two-dimensional matrix data that the capable mx of my arranges or tunnel.

Further, whether guider 300 region that also can not again arrange for the capable j 1 of the i1 obtained as another gateway in bridge or tunnel in step S3916 is the judgement (process of step S3914) of another gateway in bridge or tunnel.Thus, guider 300 can reduce the treatment capacity that identifying information changes process.

Change process > in < guider 300

Then, the change process (step S3406) that guider 300 carries out is described.Figure 41 is the process flow diagram of an example of the order that the change process (step S3406) that guider 300 carries out is shown.

First, guider 300 describes the region R0 (step S4101) centered by this truck position of moving body.Region R0 is the cartographic information as rendered object.Then, guider 300 performs connecting area component class process (step S4102), regional choice process (step S4103).Then, the connecting area group below regulation area, except selected zone, is altered to background color (step S4104) by guider 300.

Then, guider 300 determines the region comprising non-moving recommendation place, with reference to the cartographic information after the pseudo-tag number imparting of Figure 21 (B), determines the pseudo-tag number of the connecting area group comprising this region and the tag number of rectangular area.Then, guider 300, with reference to the 1st complete list T1, is determined corresponding connecting area group according to corresponding true tag number and corresponding rectangular area, the connecting area group determined is altered to background color (step S4105).Thus, do not need to search for Zone Full, the high speed changing process can be realized.

Figure 42 and Figure 43 is the process flow diagram of the detailed processing sequence example that connecting area component class process (step S4102) is shown.First, guider 300 couples of complete list T carry out initialization (step S4201), are set as x=0, y=0 (step S4202) by specifying x, y coordinate figure of region-of-interest.Then, guider 300 judges whether the pseudo-tag number of region-of-interest x, y is " 0 " (step S4203).

When " 0 " (step S4203: yes), transfer to step S4205.On the other hand, when not being " 0 " (step S4203: no), guider 300 performs complete list generating process (step S4204), transfers to step 4205.In step S4205, guider 300 judges whether it is x=xmax (step S4205).Xmax is the maximal value of x.That is, when x=xmax, region-of-interest is positioned at any one region of the right-hand member of cartographic information.

When not being x=xmax (step S4205: no), 1 (step S4206) being added to x, returns step S4203.On the other hand, when x=xmax (step S4205: yes), guider 300 is set as x=0 (step S4207).Then, guider 300 judges whether it is y=ymax (step S4208).Ymax is the maximal value of y.That is, when x=xmax, region-of-interest is positioned at any one region of the lower end of cartographic information.

When not being y=ymax (step S4208: no), 1 (step S4209) being added to y, returns step S4203.On the other hand, when y=ymax (step S4208: yes), the step S4301 of Figure 43 is transferred to.

In Figure 43, guider 300 is set as the key element i=0 (step S4301) of the epimere of complete list T, performs true tag number and obtains process (step S4302).After true tag number obtains process (step S4302), guider 300 judges key element i whether equal with the true tag number L of key element i (step S4303).When equal (step S4303: yes), transfer to step S4306.

On the other hand, in unequal situation (step S4303: no), the tag number of key element i is rewritten the tag number L (step S4304) that comes true by guider 300.Then, guider 300 pairs of rectangular areas and area upgrade (step S4305).That is, the rectangular area of tag number before rewriting and the rectangular area of area and true tag number and area merge by guider 300 in the 2nd complete list T2.Then, judge whether it is i=n (step S4306), when not being i=n (step S4306: no), 1 (step S4307) being added to i, transfers to step S4302.On the other hand, when i=n (step S4306: yes), the process of guider 300 process ends figure.

Figure 44 illustrates that the true tag number shown in Figure 43 obtains the process flow diagram of the detailed processing sequence example of process (step S4302).Guider 300 obtains the tag number k (step S4401) of key element i from the 1st complete list T1.Then, guider 300 judges whether it is i=k (step S4402).When not being i=k (step S4402: no), again making the value of i become k (step S4403), returning step S4402.On the other hand, when i=k (step S4402: yes), the process of process ends figure.

Figure 45 ~ Figure 48 is the process flow diagram of the detailed processing sequence example that the complete list generating process (step S4204) shown in Figure 42 is shown.To condition 8, guider 300 judges whether region-of-interest meets each condition from condition 1 successively.Specifically, guider 300, when region-of-interest meets shown in (A) of Figure 16 condition 1 (step S4501: yes), transfers to the step S4601 of Figure 46.When do not satisfy condition 1 (step S4501: no), guider 300 judges whether region-of-interest satisfies condition 2 (step S4502).

When satisfy condition 2 (step S4502: yes), transfer to the step S4701 of Figure 47.On the other hand, when do not satisfy condition 2 (step S4502: no), guider 300 judges whether region-of-interest satisfies condition 3 (step S4503).

When satisfy condition 3 (step S4503: yes), transfer to the step S4701 of Figure 47.On the other hand, when do not satisfy condition 3 (step S4503: no), guider 300 judges whether region-of-interest satisfies condition 4 (step S4504).

When satisfy condition 4 (step S4504: yes), transfer to the step S4801 of Figure 48.On the other hand, when do not satisfy condition 4 (step S4504: no), guider 300 judges whether region-of-interest satisfies condition 5 (step S4505).

When satisfy condition 5 (step S4505: yes), transfer to the step S4701 of Figure 47.On the other hand, when do not satisfy condition 5 (step S4505: no), guider 300 judges whether region-of-interest satisfies condition 6 (step S4506).

When satisfy condition 6 (step S4506: yes), transfer to the step S4701 of Figure 47.On the other hand, when do not satisfy condition 6 (step S4506: no), guider 300 judges whether region-of-interest satisfies condition 7 (step S4507).

When satisfy condition 7 (step S4507: yes), transfer to the step S4801 of Figure 48.On the other hand, when do not satisfy condition 7 (step S4507: no), guider 300 judges whether region-of-interest satisfies condition 8 (step S4508).

When satisfy condition 8 (step S4508: yes), transfer to the step S4801 of Figure 48.On the other hand, when do not satisfy condition 8 (step S4508: no), the process of guider 300 process ends figure.

And, when region-of-interest satisfy condition 1 (step S4501: yes), in figures 4-6 can, guider 300 will add 1 and the numbering that obtains (is set to and n) is given to region-of-interest (step S4601) as new pseudo-tag number to the end of the 1st complete list T1 numbering.Then, guider 300, in the 2nd complete list T2, utilizes 1 pair of area to carry out initialization (step S4602), the process of guider 300 process ends figure in the region of the center pixel of the rectangular area of encirclement key element n.

Further, when region-of-interest satisfy condition 2,3,5,6 (step S4502: be; Step S4503: be; Step S4505: be; Step S4506: yes), the pseudo-tag number of the key element i corresponding with region-of-interest is rewritten into and links the pseudo-tag number (step S4701) judging that the pseudo-tag number of subject area is identical by guider 300 in the 1st complete list T1.Then, guider 300 upgrades (step S4702) the rectangular area of key element i and area in the 2nd complete list T2.In addition, in step 4702, in complete list T2, carry out the rectangular area of key element i and the update process of area as follows.About rectangular area, by with link judge the upper left of the rectangular area that the pseudo-tag number of subject area is corresponding, rectangular area that bottom right vertex coordinate renew becomes to comprise central area.Further, to judging that area corresponding to the pseudo-tag number of subject area adds the area 1 of central area with linking.Thus, the process of guider 300 process ends figure.

Further, when region-of-interest satisfy condition 4,7,8 (step S4504: be; Step S4507: be; Step S4508: yes), the tag number of the key element i corresponding with region-of-interest is rewritten into the identical pseudo-tag number (step S4801) in the region less with linking the zone number judged in subject area by guider 300 in the 1st complete list T1.

Specifically, such as, when condition 4, as shown in (D) of Figure 16, judge the region of subject area as zone number 2,4 owing to linking, therefore, guider 300 is rewritten into the pseudo-tag number identical with the region of less zone number 2.

Return Figure 48, as shown in step S4702, guider 300 upgrades (step S4802) the rectangular area of key element i and area in the 2nd complete list T2.Due to the process that step S4802 is identical with step S4702, therefore detailed.Then, about the pseudo-tag number of the key element i corresponding with region-of-interest, guider 300 performs the true tag number shown in Figure 44 for the region that the zone number linked in judgement subject area is larger and obtains process (step S4803).Specifically, such as when condition 4, as shown in (D) of Figure 16, the region of subject area as zone number 2,4 is judged owing to linking, therefore, guider 300 performs true tag number for the region of larger zone number 4 and obtains process (step S4803).Further, be the process identical with Figure 44, therefore detailed because true tag number obtains process (step S4803).

Then, the tag number Llarge of the Llarge key element of the 1st complete list T1 is rewritten into Lsmall (step S4804) by guider 300.Link and judge that the true tag number of current time point in larger region in subject area and the larger side in the true tag number of the current time point of region-of-interest are as Llarge, a less side is Lsmall.Then, the process of guider 300 process ends figure.

Figure 49 is the process flow diagram of the detailed processing sequence example that the regional choice process (step S4103) shown in Figure 41 is shown.First, guider 300 judges whether to exist connecting area group (being set to RN) (the step S4901) that comprise this truck position.When there is not connecting area group RN (step S4901: no), transfer to step S4903.On the other hand, when there is connecting area group RN (step S4901: yes), guider 300 judges whether the area S (RN) of connecting area group RN is less than the minimum area Smin (step S4902) required for display.When the area S (RN) of connecting area group RN is not less than the minimum area Smin required for display (step S4902: no), transfer to step S4905.On the other hand, when the area S (RN) of connecting area group RN is less than the minimum area Smin required for display (step S4902: yes), guider 300 is retrieved connecting area group (being set to RN) (step S4903) nearest with this truck position.

Then, guider 300 judges whether to retrieve connecting area group RN (step S4904).When retrieving connecting area group RN (step S4904: yes), transfer to step S4905.In step S4905, guider 300 determines connecting area group RN (step S4905).Thus, the process of guider 300 process ends figure.On the other hand, when not retrieving connecting area group RN in step S4904 (step S4904: no), region R0 is determined the process for connecting area group RN (step S4906), process ends figure by guider 300.

In < guider 300 can coverage area contours extract process >

Then, the identifying information carried out guider 300 is given process and is described.Figure 50 and Figure 51 be illustrate that guider 300 carries out can the process flow diagram of an example of order of coverage area contours extract process.The process flow diagram of Figure 50 and Figure 51 is an example of the process carried out in above-mentioned steps S3407, be in above-mentioned guider 300 can coverage area contours extract example two shown in can the process of coverage area contours extract.

In the process flow diagram of Figure 50 and Figure 51, first, guider 300 obtains the grid (step S5001) of the two-dimensional matrix data of the capable mx row of my.Then, guider 300 obtains the latitude, longitude information (step S5002) in each region of the grid obtained in step S5001.

Then, the identifying information in the region that guider 300 arranges in order to the capable j of i retrieving grid, carries out initialization to variable i, adds 1 (step S5003, S5004) to variable i.Then, guider 300 judgment variable i whether capable more than my (step S5005).

When variable i is capable more than my (step S5005: no), guider 300 couples of variable j carry out initialization, add 1 (step S5006, S5007) to variable j.Then, whether guider 300 judgment variable j is more than mx row (step S5008).

When variable j arranges more than mx (step S5008: no), guider 300 judges whether the identifying information in the region of the capable j row of the i of grid is " 1 " (step S5009).When the identifying information in the region of the capable j row of i is " 1 " (step S5009: yes), guider 300 obtains top-left coordinates (px1, py1) (the step S5010) in the region of the capable j row of i of grid.The top-left coordinates (px1, py1) in the region that the capable j of i arranges is minimum longitude px1, the minimum latitude py1 in the region that the capable j of i arranges.

Then, whether guider 300 judgment variable j is more than mx row (step S5011).When variable j arranges more than mx (step S5011: no), guider 300 obtains lower right coordinate (px2, py2) (the step S5012) in the region of the capable j row of i of grid.The lower right coordinate (px2, py2) in the region that the capable j of i arranges is maximum longitude px2, the maximum latitude py2 in the region that the capable j of i arranges.

Then, lower right coordinate (px2, py2) (the step S5016) that obtain in the top-left coordinates (px1, py1) that obtains in setting procedure S5010 in map datum of guider 300 and step S5012.Then, guider 300 to fill top-left coordinates (px1, py1) and lower right coordinate (px2, py2) as the rectangular area (step S5017) on opposed summit, returns step S5004, repeatedly carries out later process.

On the other hand, when variable j arranges more than mx (step S5011: yes), guider 300 couples of variable j add 1 (step S5013), judge whether the identifying information in the region of the capable j row of the i of grid is " 1 " (step S5014).When the identifying information in the region that the capable j of i arranges is not " 1 " (step S5014: no), guider 300 obtains lower right coordinate (px2, py2) (the step S5015) in the region of the capable j-1 row of i of grid, carries out the process that step S5016 is later.

Further, be (step S5014: yes) " 1 " at the identifying information in the region of the capable j row of i, return step S5011, repeatedly carry out later process.Then, when variable i is capable more than my (step S5005: yes), the process of guider 300 process ends figure.When variable j arranges more than mx (step S5008: yes), return step S5004, repeatedly carry out later process.

< is about road grade >

Then, the road grade θ being used as variable on the right of above-mentioned (1) formula ~ (6) formula is described.Figure 52 is the key diagram of the example schematically illustrated the acceleration that the vehicle travelled on the acclive road of tool applies.As in figure 52, in road grade being the acceleration A (=dx/dt) of vehicle applying escort vehicle traveling and the direct of travel composition B (=gsin θ) of gravity acceleration g that the ramp of θ travels.Such as, when being described for above-mentioned (1) formula, the 2nd, the right of above-mentioned (1) formula is not the resultant acceleration C with the acceleration A of this vehicle traveling and the direct of travel composition B of gravity acceleration g.Further, if the distance in interval that vehicle travels be D, running time is T, travel speed is V.

When not considering road grade θ to estimate electric power consumption, in the region that road grade θ is less, estimate that power consumption amount is less with the error of actual power consumption amount, but, in the region that road grade θ is larger, the estimation power consumption amount estimated is larger with the error of actual power consumption amount.Therefore, in guider 300, by considering that road grade i.e. the 4th information estimates fuel cost, estimated accuracy improves.

The inclinometer carried in guider 300 such as can be used to learn the gradient of the road that vehicle travels.Further, when not carrying inclinometer in guider 300, such as, the grade information of the road comprised in map datum can be used.

< is about running resistance >

Then, the running resistance produced in vehicle is described.Guider 300 such as calculates running resistance by following (11) formula.Generally speaking, according to category of roads, road grade, pavement behavior etc., when accelerating and when travelling, in moving body, produce running resistance.

Rt＝μMg+kv ²+Mgsinθ+(M+m)α ...(11)

Wherein,

Rt: running resistance

V: speed

α: acceleration

μ: resistance to rolling

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

Indication example > after the closed process that < guider 300 carries out

Then, the indication example after the closed process carried out guider 300 is described.Figure 53 be illustrate that guider 300 carries out can the key diagram of an example of indication example after place of arrival search process.Figure 54 illustrates that identifying information that guider 300 carries out gives the key diagram of an example of the indication example after process.Figure 55 illustrates that the 1st identifying information that guider 300 carries out changes the key diagram of an example of the indication example after process.Further, Figure 56 is the key diagram of an example of indication example after the closed process (expansion) illustrating that guider 300 carries out.Figure 57 is the key diagram of an example of indication example after the closed process (reducing) illustrating that guider 300 carries out.

As shown in Figure 53, such as, in display 313, what show the multiple vehicles searched by guider 300 together with map datum can place of arrival.The state of the display 313 shown in Figure 53 be by guider 300 carry out can place of arrival search for process time display in the example of information that shows.Specifically, be the state of process of the step S3403 having carried out Figure 34.

Then, by guider 300, map datum is divided into multiple region, according to can giving each region and can arrive identifying information and maybe identifying information can not be arrived by place of arrival, thus, as shown in Figure 54, show in display 313 based on the vehicle that can arrive identifying information can coverage area 5400.In this stage, can produce in coverage area 5400 by the missing point that can not arrive region and form at vehicle.

Further, at vehicle can in coverage area 5400, such as comprise the region that two gateways of crossing road (Tokyo Bay AUQA-LINE: registered trademark) 5410 with the Tokyo Bay of crossing Tokyo Bay are suitable.But, at vehicle can in coverage area 5400, only comprise a region 5411 in the Zone Full crossing on road 5410 in Tokyo Bay.Then, carry out the 1st identifying information by guider 300 and change process, thus, as shown in fig. 55, remove Tokyo Bay and cross missing point on road, what in display 313, display comprised that Tokyo Bay crosses Zone Full 5421 on road 5410 can coverage area 5500.

Then, carried out the expansion process closed by guider 300, thus, as shown by the circuit diagram of figure 56, generate remove the vehicle after missing point can coverage area 5600.And, due to by the 1st identifying information change process by Tokyo Bay the Zone Full 5421 crossed on road be included in can in coverage area 5500, therefore, after closed expansion process, what the Tokyo Bay Zone Full 5610 crossed on road became vehicle can coverage area 5600.Then, that is undertaken closing by guider 300 reduces process, thus, as shown in Figure 57, vehicle can the periphery of coverage area 5700 become with carry out closed before vehicle can the roughly the same size in the periphery of coverage area 5400.In addition, each border that the Zone Full 5710 that the border of Zone Full 5610 on road and the Tokyo Bay of Figure 57 are crossed on road is crossed in Tokyo Bay of Figure 56 becomes the display on the border depending on grid, but, utilize the border of oblique line to carry out showing with easy to understand here.

Then, by guider 300 extract vehicle can the profile 5701 of coverage area 5700, thereby, it is possible to show vehicle smoothly can the profile of coverage area 5700.Further, due to by closed and eliminate missing point, therefore, what utilize the even surface 5702 of two dimension to show vehicle can coverage area 2400.Further, closed reduce process after, what the Tokyo Bay Zone Full 5710 crossed on road was shown as vehicle can coverage area 5700 or its profile 5701.

As described above, according to guider 300, cartographic information being divided into multiple region and whether can arriving according to each range searching moving body, respectively each region being given for identifying that moving body can arrive arrived in the identifying information that maybe can not arrive and maybe can not arrive identifying information.Then, guider 300 can coverage area according to what impart the Area generation moving body that can arrive identifying information.Therefore, what generate moving body under the state beyond guider 300 region that cannot be able to travel at moving body such as removing sea, lake, mountain range etc. can coverage area.Therefore, what image processing apparatus 400 can show moving body exactly can coverage area.

Further, multiple regions that segmented map information obtains by guider 300 convert view data to, give respectively and can arrive after identifying information maybe can not arrive identifying information, carry out the expansion process closed to the plurality of region.Therefore, what guider 300 can remove moving body can missing point in coverage area.

Further, multiple regions that segmented map information obtains by guider 300 convert view data to, give respectively can arrive after identifying information maybe can not arrive identifying information to the plurality of region, and that carries out opening reduces process.Therefore, what guider 300 can remove moving body can the isolated point of coverage area.

Like this, what guider 300 can remove moving body can the missing point of coverage area and isolated point, therefore, it is possible to utilize the even surface of two dimension to show the wheeled scope of moving body in the mode of easily observing.Further, guider 300 extracts and cartographic information is divided into multiple region and the profile of the grid generated.Therefore, what guider 300 can show moving body smoothly can the profile of coverage area.

Further, what guider 300 reduced search moving body can the scope of road of place of arrival, search moving body can place of arrival.Therefore, guider 300 can reduce search moving body can place of arrival time treatment capacity.Can the scope of road of place of arrival by what reduce search moving body, though can search for can place of arrival less, by carrying out the expansion process closed as mentioned above, also can remove the missing point that can produce in coverage area of moving body.Therefore, can reduce can the treatment capacity of coverage area for what detect moving body for guider 300.Further, guider 300 can utilize the even surface of two dimension to show the wheeled scope of moving body in the mode of easily observing.

(embodiment 2)

Figure 58 is the block diagram of an example of the functional structure of the image processing apparatus that embodiment 2 is shown.The functional structure of the image processing system 5800 of embodiment 2 is described.The image processing system 5800 of embodiment 2 is made up of server 5810 and terminal 5820.The image processing system 5800 of embodiment 2 has the function of the image processing apparatus 400 of embodiment 1 in server 5810 and terminal 5820.

Server 5810 generates the information of display in display part 411 by the terminal 5820 of carrying in moving body.Specifically, server 5810 detect with moving body can the relevant information of coverage area send it to terminal 5820.Terminal 5820 can be equipped in moving body, also can utilize in moving body as portable terminal device, can also utilize as portable terminal device outside moving body.And, terminal 5820 from server 5810 receive with moving body can the relevant information of coverage area.

In Figure 58, server 5810 is made up of calculating part 402, search section 403, cutting part 404, assigning unit 405, test section 406, changing unit 407, determination portion 408, update section 409, server acceptance division 5811, server sending part 5812.Terminal 5820 is made up of obtaining section 401, display control unit 410, terminal acceptance division 5821, terminal sending part 5822.In addition, in the image processing system 5800 shown in Figure 58, the structural portion identical with the image processing apparatus 400 shown in Fig. 1 is marked identical label and omitted the description.

In server 5810, server acceptance division 5811 receives the information sent from terminal 5820.Specifically, such as, server acceptance division 5811 receives the information relevant with moving body from the terminal 5820 wirelessly connected with the communication network such as concentric line road network, mobile telephone network, DSRC, LAN, WAN.The information relevant with moving body refers to the information relevant with the current location of moving body and namely the amount of energy of being possessed by moving body with the current location at moving body initially possesses the relevant information of the amount of energy.The information received by server acceptance division 5811 is the information of calculating part 402 reference.

Server sending part 5812 using to imparted by assigning unit 405 multiple regions of obtaining for identifying the cartographic information of arrived in the identifying information that moving body can arrive to split as moving body can coverage area, be sent to terminal 5820.Specifically, such as, server sending part 5812 sends information to the terminal 5820 be wirelessly connected with the communication network such as concentric line road network, mobile telephone network, DSRC, LAN, WAN.

Terminal 5820 is such as connected with server 5810 under the Department of Communication Force (not shown) that can have via the information communication network of portable terminal device or this device carries out the state communicated.

In terminal 5820, terminal acceptance division 5821 receives the information from server 5810.Specifically, terminal acceptance division 5821 receives and is divided into multiple region and can impart this region respectively and can arrive the cartographic information that identifying information maybe can not arrive identifying information by place of arrival according to moving body.More specifically, such as, terminal acceptance division 5821 receives information from the server 5810 be wirelessly connected with the communication network such as concentric line road network, mobile telephone network, DSRC, LAN, WAN.

The information relevant with moving body obtained by obtaining section 401 is sent to server 5810 by terminal sending part 5822.Specifically, such as, terminal sending part 5822 is to the information that server 5810 sends and moving body is relevant wirelessly connected with the communication network such as concentric line road network, mobile telephone network, DSRC, LAN, WAN.

Then, the image procossing that the image processing system 5800 of embodiment 2 carries out is described.The image procossing that image processing system 5800 carries out is roughly the same with the image processing apparatus 400 of embodiment 1.About the image procossing that image processing system 5800 carries out, the process of the calculating part 402 ~ update section 409 in the image procossing that the image processing apparatus 400 that server 5810 carries out embodiment 1 carries out.Specifically, the information obtained by obtaining section 401 is sent to server 5810 by terminal 5820.

Then, server 5810 receives the information of self terminal 5820.Then, server 5810 carries out the process of calculating part 402 ~ update section 409 according to the information received from terminal 5820, sends it to terminal 5820.Then, terminal 5820 receives the information from server 5810.Then, terminal 5820 carries out according to the information received from server 5810 process that display control unit 410 carries out, the process of process ends figure.

As described above, the image processing system 5800 of embodiment 2 can obtain the effect identical with image processing method with the image processing apparatus 400 of embodiment 1 with image processing method.

(embodiment 3)

Figure 59 is the block diagram of an example of the functional structure of the image processing system that embodiment 3 is shown.The functional structure of the image processing system 5900 of embodiment 3 is described.The image processing system 5900 of embodiment 3 is made up of the 1st server 5910, the 2nd server 5920, the 3rd server 5930, terminal 5940.About image processing system 5900,1st server 5910 has the function of the calculating part 402 of the image processing apparatus 400 of embodiment 1,2nd server 5920 has the function of the search section 403 of the image processing apparatus 400 of embodiment 1,3rd server 5930 has the function of the cutting part 404 of the image processing apparatus 400 of embodiment 1, assigning unit 405, test section 406, changing unit 407, determination portion 408 and update section 409, and terminal 5940 has the obtaining section 401 of the image processing apparatus 400 of embodiment 1 and the function of display control unit 410.

In Figure 59, terminal 5940 has the structure identical with the terminal 5820 of embodiment 2.Specifically, terminal 5940 is made up of obtaining section 401, display control unit 410, terminal acceptance division 5941, terminal sending part 5942.Terminal acceptance division 5941 has the structure identical with the terminal acceptance division 5821 of embodiment 2.Terminal sending part 5942 has the structure identical with the terminal sending part 5822 of embodiment 2.1st server 5910 is made up of calculating part 402, the 1st server acceptance division 5911, the 1st server sending part 5912.

2nd server 5920 is made up of search section 403, the 2nd server acceptance division 5921, the 2nd server sending part 5922.3rd server 5930 is made up of cutting part 404, assigning unit 405, test section 406, changing unit 407, determination portion 408, update section 409, the 3rd server acceptance division 5931, the 3rd server sending part 5932.In the image processing system 5900 shown in Figure 59, the structural portion identical with the image processing system 5800 shown in Figure 58 with image processing apparatus 400 is marked identical label and omitted the description.

In the 1st server 5910, the 1st server acceptance division 5911 receives the information sent from terminal 5940.Specifically, such as, the 1st server acceptance division 5911 receives information from the terminal sending part 5942 of the terminal 5940 be wirelessly connected with the communication network such as concentric line road network, mobile telephone network, DSRC, LAN, WAN.The information received by the 1st server acceptance division 5911 is the information of calculating part 402 reference.

The information calculated by calculating part 402 is sent to the 2nd server acceptance division 5921 by the 1st server sending part 5912.Specifically, 1st server sending part 5912 can send information to the 2nd server acceptance division 5921 be wirelessly connected with the communication network such as concentric line road network, mobile telephone network, DSRC, LAN, WAN, also can send information to the 2nd server acceptance division 5921 connected in a wired fashion.

In the 2nd server 5920, the 2nd server acceptance division 5921 receives the information sent by terminal sending part 5942 and the 1st server sending part 5912.Specifically, such as, the 2nd server acceptance division 5921 receives information from the 1st server sending part 5912 be wirelessly connected with the communication network such as concentric line road network, mobile telephone network, DSRC, LAN, WAN and terminal sending part 5942.2nd server acceptance division 5921 also can receive information from the 1st server sending part 5912 connected in a wired fashion.The information received by the 2nd server acceptance division 5921 is the information of search section 403 reference.

The information searched by search section 403 is sent to the 3rd server acceptance division 5931 by the 2nd server sending part 5922.Specifically, such as, 2nd server sending part 5922 can send information to the 3rd server acceptance division 5931 be wirelessly connected with the communication network such as concentric line road network, mobile telephone network, DSRC, LAN, WAN, also can send information to the 3rd server acceptance division 5931 connected in a wired fashion.

In the 3rd server 5930, the 3rd server acceptance division 5931 receives the information sent by terminal sending part 5942 and the 2nd server sending part 5922.Specifically, such as, the 3rd server acceptance division 5931 can receive information from the 2nd server sending part 5922 be wirelessly connected with the communication network such as concentric line road network, mobile telephone network, DSRC, LAN, WAN and terminal sending part 5942.3rd server acceptance division 5931 also can receive information from the 2nd server sending part 5922 connected in a wired fashion.The information received by the 3rd server acceptance division 5931 is the information of cutting part 404 reference.

The information be generated to by assigning unit 405 is sent to terminal acceptance division 5941 by the 3rd server sending part 5932.Specifically, such as, the 3rd server sending part 5932 sends information to the terminal acceptance division 5941 be wirelessly connected with the communication network such as concentric line road network, mobile telephone network, DSRC, LAN, WAN.

Then, the image procossing that the image processing system 5900 of embodiment 3 carries out is described.The image procossing that image processing system 5900 carries out is roughly the same with the image processing apparatus 400 of embodiment 1.

About the image procossing that image processing system 5900 carries out, the computing that calculating part 402 in the image procossing that the image processing apparatus 400 that 1st server 5910 carries out embodiment 1 carries out carries out, 2nd server 5920 carries out the search process that search section 403 is carried out, and the 3rd server 5930 carries out the process of cutting part 404 ~ update section 409.The information obtained by obtaining section 401 is sent to the 1st server 5910 by terminal 5940.

Then, the 1st server 5910 receives the information of self terminal 5940.Then, the 1st server 5910 carries out according to the information received from terminal 5940 process that calculating part 402 carries out, and the information calculated is sent to the 2nd server 5920.Then, the 2nd server 5920 receives the information from the 1st server 5910.Then, the 2nd server 5920 carries out according to the information received from the 1st server 5910 process that search section 403 carries out, and the information searched is sent to the 3rd server 5930.

Then, the 3rd server 5930 receives the information from the 2nd server 5920.Then, the 3rd server 5930 carries out the process of cutting part 404 ~ update section 409 according to the information from the 2nd server 5920, and the information obtained is sent to terminal 5940.Then, terminal 5940 receives the information from the 3rd server 5930.Then, terminal 5940 carries out according to the information received from the 3rd server 5930 process that display control unit 410 carries out.

As described above, the image processing system 5900 of embodiment 3 can obtain the effect identical with image processing method with the image processing apparatus 400 of embodiment 1 with image processing method.

Figure 60 is the key diagram of an example of the system architecture that image processing apparatus is shown.In the present embodiment 2, to the guider carried in vehicle 6010 is being described as terminal 5820, an example of server 6020 being applied in the image processing system 6000 of server 5810 situation of the present invention.Image processing system 6000 is made up of the guider 6010 carried in vehicle 6030, server 6020, network 6040.

Guider 6010 is equipped in vehicle 6030.Guider 6010 pairs of servers 6020 send the information of the current location of vehicle and the information relevant with the amount of initially possessing energy.Further, guider 6010 shows the information received from server 6020 in the display and reports user.Server 6020 receives the information of the current location of vehicle and the information relevant with the amount of initially possessing energy from guider 6010.Server 6020 according to the information of vehicles that receives generate with vehicle 6030 can the relevant information of coverage area.

Server 6020 is identical with the hardware configuration of the guider 300 of embodiment 1 with the hardware configuration of guider 6010.Further, guider 6010 only has the suitable hardware configuration of the function reported user with the function and the information from server 6020 that receives that information of vehicles are sent to server 6020.

Further, image processing system 6000 also can be configured to, and using the guider 6010 that carries in vehicle as the terminal 5940 of embodiment 3, the functional structure of server 6020 is distributed in 1st ~ 3 servers 5910 ~ 5930 of embodiment 3.

As described above, whether cartographic information is divided into multiple region and can arrives according to each range searching moving body by the image processing apparatus 400 of embodiment, gives respectively identify that moving body can arrive arrived in the identifying information that maybe can not arrive and maybe can not arrive identifying information to each region.Then, image processing apparatus 400 can coverage area according to what impart the Area generation moving body that can arrive identifying information.Therefore, what generate moving body under the state beyond image processing apparatus 400 region that cannot be able to travel at moving body such as removing sea, lake, mountain range etc. can coverage area.Therefore, what image processing apparatus 400 accurately can show moving body can coverage area.Further, multiple regions that segmented map information obtains by image processing apparatus 400 convert view data to, give respectively and can arrive after identifying information maybe can not arrive identifying information, carry out the expansion process closed to the plurality of region.Therefore, what image processing apparatus 400 can remove moving body can missing point in coverage area.

Further, multiple regions that segmented map information obtains by image processing apparatus 400 convert view data to, give respectively can arrive after identifying information maybe can not arrive identifying information to the plurality of region, and that carries out opening reduces process.Therefore, what image processing apparatus 400 can remove moving body can the isolated point of coverage area.

Like this, what image processing apparatus 400 can remove moving body can the missing point of coverage area and isolated point, therefore, it is possible to utilize the even surface of two dimension to show the wheeled scope of moving body in the mode of easily observing.Further, image processing apparatus 400 extracts and cartographic information is divided into multiple region and the profile of the grid generated.Therefore, what image processing apparatus 400 can show moving body smoothly can the profile of coverage area.

Further, what image processing apparatus 400 reduced search moving body can the scope of road of place of arrival, search moving body can place of arrival.Therefore, image processing apparatus 400 can reduce search moving body can place of arrival time treatment capacity.Can the scope of road of place of arrival by what reduce search moving body, though can search for can place of arrival less, by carrying out the expansion process closed as mentioned above, also can remove the missing point that can produce in coverage area of moving body.Therefore, can reduce can the treatment capacity of coverage area for what generate moving body for image processing apparatus 400.Further, image processing apparatus 400 can utilize the even surface of two dimension to show the wheeled scope of moving body in the mode of easily observing.

Further, according to the present embodiment, owing to seeming miscellaneous unwanted zonule when there is not display, therefore easy understand displaying contents.Further, can only delete comprise ferry through etc. the region group in non-moving recommendation place.Further, make to comprise when classifying to region group by labelling the area of the connecting area group of this truck position very little, also can extract and not delete.Further, if the region comprising this truck position can be selected, then can tackle this truck position and not be present in situation in any region.Further, by only scanning in the rectangular area that there is connecting area group, unwanted connecting area group can efficiently be deleted.

In addition, by performing pre-prepd program in the computing machine such as personal computer or workstation, the image processing method illustrated in present embodiment can be realized.This program is recorded in the recording medium of the embodied on computer readable such as hard disk, floppy disk, CD-ROM, MO, DVD, is read out perform this program by computing machine from recording medium.Further, this program also can be can via the transmission medium of the Web Publishing such as the Internet.

Label declaration

400: image processing apparatus; 401: obtaining section; 402: calculating part; 403: search section; 404: cutting part; 405: assigning unit; 406: test section; 407: changing unit; 408: determination portion; 409: update section; 410: display control unit; 411: display part.

Claims (15)

1. an image processing apparatus, is characterized in that, this image processing apparatus has:

Detecting unit, what it represented moving body respectively from cartographic information in multiple regions group of coverage area, can detect the specific region group be associated with the position of moving body;

Changing unit, the region group below the regulation area in all the other the region groups except the specific region group detected by described detecting unit in the group of described multiple regions is altered to by it can not coverage area; And

Indicative control unit, what it made display unit show the described moving body after being changed by described changing unit can coverage area.

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

Described detecting unit detection comprises the region group of the position of described moving body as described specific region group.

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

The region group nearest with the position of described moving body in the group of described detecting unit detection described multiple regions is as described specific region group.

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

Described detecting unit detect the position apart from described moving body in the group of described multiple regions within predetermined distance and nearest region group as described specific region group.

5. the image processing apparatus according to any one in Claims 1 to 4, is characterized in that,

Described changing unit, can not coverage area described in the region group in the non-moving recommendation place comprised on described cartographic information being altered to also from all the other region groups described.

6. the image processing apparatus according to any one in Claims 1 to 4, is characterized in that,

Described image processing apparatus has:

Determining unit, it is in the described cartographic information imparting the identifying information whether described moving body of expression can arrive according to each region, to region-of-interest during the described cartographic information of scanning impart represent identifying information that described moving body can arrive when, determine that the link being endowed the identifying information that the described moving body of expression can arrive in the adjacent area group of described region-of-interest judges the pattern of subject area; And

Updating block, it is according to the pattern determined by described determining unit, the appointed information of the region group of specifying belonging to described region-of-interest is updated to the described appointed information linking judgement subject area, and, by adding to the area of the region group being endowed described appointed information the area that described region-of-interest is so large, the area of the region group that the region group identical by described appointed information is formed is upgraded

Each area of described multiple regions group that described changing unit is formed according to the region group identical by described appointed information obtained by described updating block, the region group below the described regulation area in all the other region groups described being altered to can not coverage area.

7. image processing apparatus according to claim 5, is characterized in that,

Described image processing apparatus has:

Determining unit, it is in the described cartographic information imparting the identifying information whether described moving body of expression can arrive according to each region, to region-of-interest during the described cartographic information of scanning impart represent identifying information that described moving body can arrive when, determine that the link being endowed the identifying information that the described moving body of expression can arrive in the adjacent area group of described region-of-interest judges the pattern of subject area; And

Updating block, it is according to the pattern determined by described determining unit, the appointed information of the region group of specifying belonging to described region-of-interest is updated to the described appointed information linking judgement subject area, and, judge that the rectangular area of subject area is updated to the rectangular area comprising described link judgement subject area and described region-of-interest by comprising described link

Described changing unit selects the rectangular area comprising described non-moving recommendation place from the rectangular area group obtained by described updating block, from the rectangular area selected, by the region group that the region group by the appointed information identical with the appointed information of giving the region at place, described non-moving recommendation place is determined, can not coverage area described in being altered to.

8. the image processing apparatus according to claim 6 or 7, is characterized in that,

Described image processing apparatus has:

Acquisition unit, it obtains the information relevant with the current location of moving body and namely the amount of energy of being possessed by described moving body with the current location at described moving body initially possesses the relevant information of the amount of energy;

Computing unit, it calculates the energy and estimated energy consumption that consume when described moving body travels in regulation interval;

Search unit, its according to the map information, describedly initially possess the amount of energy and described estimated energy consumption, search for described moving body light from current position the place that can arrive and multiple can place of arrival;

Cutting unit, described cartographic information is divided into multiple region by it; And

Give unit, its according to searched by described search unit multiple can place of arrival, give described identifying information to the multiple regions be partitioned into by described cutting unit respectively,

Described determining unit is imparting in the described cartographic information of described identifying information by described imparting unit according to each region, to region-of-interest during the described cartographic information of scanning impart represent identifying information that described moving body can arrive when, determine that the link being endowed the identifying information that the described moving body of expression can arrive in the adjacent area group of described region-of-interest judges the pattern of subject area.

9. image processing apparatus according to claim 8, is characterized in that,

Described computing unit, according to the consumed energy estimator by the first information, the second information, the 3rd information structure, calculates described estimated energy consumption when described moving body travels in described regulation interval,

The described first information is relevant with the energy consumed when described moving body stops under the state of drive source work being equipped on described moving body,

The energy consumed when described second information and described moving body acceleration and deceleration and reclaim is relevant,

The energy that described 3rd information consumes with the resistance owing to producing when described moving body travels is relevant.

10. image processing apparatus according to claim 8, is characterized in that,

Described imparting unit has:

1st changing unit, the identifying information in this region, when other region adjacent with the region being endowed described identifying information being endowed for identifying arrived in identifying information that described moving body can arrive, being altered to and can arriving identifying information by it; And

2nd changing unit, it is after changing identifying information by described 1st changing unit, other region adjacent with the region being endowed described identifying information be endowed for identify that described moving body can not arrive can not arrive identifying information when, the identifying information in this region is altered to and can not arrives identifying information.

11. image processing apparatus according to claim 8, is characterized in that,

Described search unit to be lighted the All Paths that can move to from current position at described moving body, respectively to make the accumulative minimum mode of the described estimated energy consumption in described regulation interval each other, the regulation place on this path of connection, searching for the described of described moving body can place of arrival.

12. image processing apparatus according to claim 8, is characterized in that,

When importance degree lower than this regulation interval of the importance degree in other regulation interval selected after a regulation interval in multiple described regulation interval, described search unit by interval for this other regulation can place of arrival from searching for this again after being used for searching for can the removing the candidate of place of arrival of described moving body.

13. image processing apparatus according to claim 8, is characterized in that,

In described cartographic information suitable with the entrance and exit in a bridge block or a tunnel divided after described cartographic information when being endowed for identifying arrived in recognition unit that described moving body can arrive, the described cartographic information after pair suitable with the Zone Full forming this bridge block or this tunnel divided of described imparting unit is given and can be arrived recognition unit.

14. 1 kinds of image processing apparatus, is characterized in that, this image processing apparatus has:

Detecting unit, what it represented moving body respectively from cartographic information in multiple regions group of coverage area, can detect the specific region group be associated with the position of moving body;

Changing unit, the region group below the regulation area in all the other the region groups except the specific region group detected by described detecting unit in the group of described multiple regions is altered to by it can not coverage area; And

Transmitting element, its send comprise represent the described moving body after being changed by described changing unit can the cartographic information of region group of coverage area.

15. 1 kinds of image processing methods, is characterized in that, this image processing method comprises following steps:

Detecting step, what from cartographic information, represent moving body respectively in multiple regions group of coverage area, can detect the specific region group be associated with the position of moving body;

Change step, the region group below the regulation area in all the other the region groups except the specific region group detected in described detecting step in the group of described multiple regions being altered to can not coverage area; And

Display and control step, make display unit be presented in described change step change after described moving body can coverage area.