JP2017227652A - Image processing device, image processing method, and image processing program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable a reachable range of a moving body to be expressed without generating an omission point even when expansion/contraction processing of images is not executed.SOLUTION: As map information 100, (A) indicates a post-retrieved state, in which in the (A), a start end of an arrowhead corresponds to a retrieval source point, and a dead end of the arrowhead corresponds to a retrieval destination point. A mesh where the retrieval source point exists is a retrieval source area, and a mesh where a retrieval destination area exists is the retrieval destination area. (B) indicates a next state of the (A), in which in the (B), the next state is a mesh between the source area and the retrieval destination area, and a mesh where a retrieved link exists is filled. (C) indicates a next state of the (B), in which in the (C), four meshes in an upper and lower of each mesh filled in the (A) and (B) are filled. An area group filled in the (C) becomes a reachable range of a moving body.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an image processing apparatus, an image processing method, and an image processing program that generate a reachable range of a moving body based on a residual energy amount of the moving body. However, the use of the present invention is not limited to the image processing apparatus, the image processing method, and the image processing program.

  Conventionally, a processing device that generates a reachable range of a moving body based on the current location of the moving body is known (see, for example, Patent Document 1 below). In the following Patent Document 1, all directions on the map are radially divided around the current location of the moving object, and the reachable intersection that is farthest from the current location of the moving object is obtained as a map information node for each divided region. A beige curve obtained by connecting a plurality of acquired nodes is displayed as the reachable range of the moving object.

  Also, a processing device is known that generates a reachable range from the current location of a moving body on each road based on the remaining battery capacity and power consumption of the moving body (see, for example, Patent Document 2 below). In the following Patent Document 2, the power consumption of the mobile body is calculated on a plurality of roads connected to the current location of the mobile body, and the travelable distance of the mobile body on each road based on the remaining battery capacity and the power consumption of the mobile body Is calculated. Then, a set of line segments obtained by acquiring the current location of the mobile body and a plurality of reachable locations of the mobile body that are separated from the current location by a travelable distance as nodes of map information and connecting the plurality of nodes Is displayed as the reachable range of the moving object.

Japanese Patent Laid-Open No. 11-016094 Japanese Patent Application Laid-Open No. 07-0859797

  However, in the technique of Patent Document 1 described above, since only the reaching point farthest from the moving body in each azimuth is obtained with the current position of the moving body as the center, only the outline of the reachable range of the moving body can be obtained. For this reason, even if there is an area where the mobile body cannot travel, such as the sea or lake, between the current location of the mobile body and the destination farthest from the mobile body, As an example, a problem that the reachable range of the moving body cannot be obtained by excluding the area that cannot be obtained.

  Moreover, in the technique of patent document 2 mentioned above, since only a road is acquired as the reachable range of a mobile body, ranges other than a road cannot be included in the reachable range of a mobile body. In addition, since the reachable range of the mobile object is displayed as an assembly of line segments along the road on which the mobile object can travel, the outline of the reachable range cannot be acquired. For this reason, the problem that it is easy to see the reachable range of the moving body and it is difficult to display without omission is an example.

  In order to solve the above-described problems and achieve the object, the image processing apparatus according to the first aspect of the present invention provides information on the amount of energy held by the moving body and estimation of energy consumed when the moving body travels. Based on energy consumption, a search means for searching for a reachable point, a search source area including a search source point in the search process of the search means, and a search destination area including a search destination point from the search source point The first area obtained by executing the expansion / contraction process, and the second area obtained based on the search source area, the search destination area, and the overlapping area overlapping the link connecting the search source area and the search destination area And a display control means for causing the display means to display the combined area as a reachable range.

  An image processing method according to a second aspect of the present invention is an image processing method executed by an image processing apparatus, wherein the information relating to the amount of energy held by the moving body and the energy consumed when the moving body travels are estimated. A search step for searching for a reachable point based on energy consumption by a search means, a search source region including a search source point in the processing of the search step, and a search destination region including a search destination point from the search source point On the other hand, the first area obtained by executing the expansion / contraction process, the search source area, the search destination area, and the overlap area overlapping the link connecting the search source area and the search destination area. And a display control step performed by the display control means for displaying the composite area with the two areas on the display means as a reachable range.

  An image processing program according to a third aspect of the present invention causes a computer to execute the image processing method according to the second aspect.

FIG. 1 is an explanatory diagram illustrating an example of image processing by the image processing apparatus and the image processing method according to the present embodiment. FIG. 2 is a block diagram illustrating a hardware configuration of the navigation device. FIG. 3 is a block diagram illustrating a functional configuration example of the image processing apparatus. FIG. 4 is an explanatory diagram (part 1) schematically showing an example of reachable point search by the navigation device 200. FIG. FIG. 5 is an explanatory diagram (part 2) schematically showing an example of a reachable point search by the navigation device 200. FIG. 6 is an explanatory diagram (part 3) schematically illustrating an example of reachable point search by the navigation device 200. FIG. FIG. 7 is an explanatory diagram (part 4) schematically illustrating an example of reachable point search by the navigation device 200. FIG. 8 is an explanatory diagram showing an example of reachable point search by the navigation device 200. FIG. 9 is an explanatory diagram showing another example of the reachable point search by the navigation device 200. FIG. 10 is an explanatory diagram of an example showing a reachable point by the navigation device 200 in longitude-latitude. FIG. 11 is an explanatory diagram of an example in which the reachable points by the navigation device 200 are indicated by meshes. FIG. 12 is an explanatory diagram of a first example of identification information given by the grant unit 305. FIG. 13 is an explanatory diagram illustrating a second example of identification information provision by the provision unit 305. FIG. 14 is an explanatory diagram illustrating an example of direction detection by the detection unit 307. FIG. 15 is an explanatory diagram schematically illustrating an example of vehicle reachable range extraction by the navigation device. FIG. 16 is an explanatory diagram schematically illustrating an example of a mesh after the reachable range of the vehicle is extracted by the navigation device. FIG. 17 is an explanatory diagram schematically showing another example of vehicle reachable range extraction by the navigation device. FIG. 18 is a flowchart illustrating an example of a procedure of image processing by the navigation device. FIG. 19 is a flowchart showing a detailed processing procedure example of the estimated energy consumption calculation processing (step S1802) shown in FIG. FIG. 20 is a flowchart (part 1) illustrating a procedure of reachable point search processing by the navigation device. FIG. 21 is a flowchart (part 2) illustrating a procedure of reachable point search processing by the navigation device. FIG. 22 is a flowchart illustrating an example of the procedure of the link candidate determination process (step S2007) illustrated in FIG. FIG. 23 is a flowchart illustrating an example of the procedure of the mesh generation process (step S1804) illustrated in FIG. FIG. 24 is a flowchart illustrating an example of the procedure of the connection process (step S1805) illustrated in FIG. FIG. 25 is a flowchart illustrating an example of the procedure of the identification information change process (step S1806) illustrated in FIG. FIG. 26 is a flowchart (part 1) illustrating an example of the procedure of the display process (step S1807) illustrated in FIG. FIG. 27 is a flowchart (part 2) illustrating an example of the procedure of the display process (step S1807) illustrated in FIG. FIG. 28 is a flowchart illustrating another example of the procedure of the connection process (step S1805) illustrated in FIG. FIG. 29 is an explanatory diagram schematically illustrating an example of acceleration applied to a vehicle traveling on a road having a gradient. FIG. 30 is an explanatory diagram of an example of image processing by the image processing device 300 and the image processing method according to the second embodiment. FIG. 31 is an explanatory diagram showing an example of the closing process by the navigation device. FIG. 32 is an explanatory diagram schematically illustrating an example of a closing process by the navigation device. FIG. 33 is an explanatory diagram showing an example of the opening process by the navigation device. FIG. 34 is a flowchart illustrating an example of an image processing procedure by the navigation device. FIG. 35 is an explanatory diagram of a connection determination example. FIG. 36 is a block diagram of an example of a functional configuration of the image processing apparatus according to the third embodiment. FIG. 37 is a block diagram of another example of the functional configuration of the image processing system according to the third embodiment. FIG. 38 is an explanatory diagram of an example of a system configuration according to the fourth embodiment.

  An image processing apparatus, an image processing method, and an image processing program according to the present embodiment include an expansion process that expands an area up to an area that can be reached by a moving object, and an area that the moving object cannot reach from an area expanded by the expansion process Image processing is performed to reduce the adverse effects caused by the shrinking process (hereinafter also referred to as expansion / shrinking process).

  Specifically, for example, in map information including a node group indicating a point and a link group indicating a route between the points, if the expansion / contraction process is performed in an area where the reachable node is sparse, the node may disappear. . In particular, since reachable nodes disappear in rural areas and mountainous areas, an image processing apparatus that performs expansion and contraction processing extracts an area that is narrower than the actual reachable range. Further, even in an urban area where the density of nodes is high, the distance between the nodes may be separated depending on the size of the mesh, so that the nodes may not be connected as reachable areas. In addition, the reachable range, which should originally be one area, may be divided into a plurality of areas.

  For this reason, in the present embodiment, it is possible to extract a reachable range regardless of the node density, and an image processing apparatus capable of collecting a reachable range that is divided into a plurality of areas into one region An image processing method is provided. The image processing apparatus and the image processing method according to the present embodiment can be applied regardless of the mesh size. In addition, the image processing apparatus and the image processing method according to the present embodiment can improve accuracy because graphics are drawn along a reachable road.

  Furthermore, since the image processing apparatus and the image processing method according to the present embodiment can apply the extraction operation of the reachable area along the road shape independently from the method shown in the background art section, It is also possible to freely select a method for extracting a reachable range along the shape. For example, in the image processing apparatus and the image processing method according to the present embodiment, it is possible to change the thickness of a line drawn along a road shape, or to perform expansion / contraction after drawing a line.

  Exemplary embodiments of an image processing apparatus, an image processing method, and an image processing program according to the present invention are explained in detail below with reference to the accompanying drawings.

(Embodiment 1)
<Image processing example>
FIG. 1 is an explanatory diagram illustrating an example of image processing by the image processing apparatus and the image processing method according to the present embodiment. FIG. 1 shows map information 100 that is a mesh divided into a plurality of regions. In FIG. 1, the reachable point of the moving object is shown with the current point of the moving object as the starting point S. In FIG. 1, the start and end of the arrows correspond to the searched nodes in the node group in the map information 100. An arrow corresponds to a link connecting the searched nodes in the link group in the map information 100. The image processing apparatus searches for a reachable point of the moving object from the starting point based on the remaining energy amount of the moving object, and further searches for a reachable point using the searched reachable point as a starting point.

  Here, the starting point of the search is referred to as “search source point”, and the searched reachable point is referred to as “search destination point”. If the search source point is the current position of the mobile object, the position on a certain link is indicated. If the search source point is the immediately preceding search destination point, a node corresponding to the immediately preceding search destination point is indicated. By repeating such a search, it is possible to search for a reachable point far from the current point of the moving object. Details of the search will be described later.

  (A) has shown the state after the search mentioned above. In (A), the area where the search source point (corresponding to the start of the arrow) and the area where the search destination point (corresponding to the end of the arrow) exist are filled for convenience, but are not yet plotted in practice. Shall. An area where the search source point exists is called a search source area, and an area where the search destination point exists is called a search destination area.

  (B) shows the next state of (A). In (B), the mesh between the search source region and the search destination region, where the searched link exists, is filled. An area between the search source area and the search destination area (excluding the search source area and the search destination area) where the searched link exists is referred to as an overlapping area. In (B), the overlapping area is filled as an reachable area.

  (C) shows the next state of (B). In (C), four areas above and below each area painted in (A) and (B) are painted. The filled area group in (C) is the reachable range of the moving object. By the processes (A) to (C), the reachable range of the moving object can be expressed without generating a missing point without performing the above-described expansion / contraction process.

<Hardware configuration>
Next, a hardware configuration of an apparatus that executes the above-described (A) to (C) of FIG. 1 will be described. The image processing device is applied to, for example, a navigation device 200 mounted on a moving body such as a vehicle. Hereinafter, a hardware configuration example of the navigation apparatus having the function of the image processing apparatus will be described.

  FIG. 2 is a block diagram illustrating a hardware configuration of the navigation device. 2, the navigation apparatus 200 includes a CPU 201, ROM 202, RAM 203, magnetic disk drive 204, magnetic disk 205, optical disk drive 206, optical disk 207, audio I / F (interface) 208, microphone 209, speaker 210, input device 211, A video I / F 212, a display 213, a camera 214, a communication I / F 215, a GPS unit 216, and various sensors 217 are provided. Each component 201 to 217 is connected by a bus 220.

  The CPU 201 governs overall control of the navigation device 200. The ROM 202 records programs such as a boot program, an estimated energy consumption calculation program, a reachable point search program, an identification information addition program, and a map data display program. The RAM 203 is used as a work area for the CPU 201. That is, the CPU 201 controls the entire navigation device 200 by executing various programs recorded in the ROM 202 while using the RAM 203 as a work area.

  In the estimated energy consumption calculation program, an estimated energy consumption in a link connecting one node and an adjacent node is calculated based on a consumption energy estimation expression for calculating an estimated energy consumption of the vehicle. In the reachable point search program, a plurality of points (nodes) that can be reached with the remaining energy amount at the current point of the vehicle are searched based on the estimated energy consumption calculated in the estimation program. In the identification information addition program, identification information for identifying whether the vehicle is reachable or unreachable is assigned to a plurality of areas obtained by dividing the map information 100 based on a plurality of reachable points searched in the search program. Is done. In the map data display program, the reachable range of the vehicle is displayed on the display 213 based on the plurality of areas to which the identification information is given by the identification information giving program.

  The magnetic disk drive 204 controls the reading / writing of the data with respect to the magnetic disk 205 according to control of CPU201. The magnetic disk 205 records data written under the control of the magnetic disk drive 204. As the magnetic disk 205, for example, an HD (hard disk) or an FD (flexible disk) can be used.

  The optical disk drive 206 controls reading / writing of data with respect to the optical disk 207 according to the control of the CPU 201. The optical disk 207 is a detachable recording medium from which data is read according to the control of the optical disk drive 206. As the optical disk 207, a writable recording medium can be used. In addition to the optical disk 207, an MO, a memory card, or the like can be used as a removable recording medium.

  Examples of information recorded on the magnetic disk 205 and the optical disk 207 include map data, vehicle information, road information, and travel history. Map data is used to search for a reachable point of a vehicle in a car navigation system or to display a reachable range of a vehicle. Background data representing features (features) such as buildings, rivers, and the ground surface, This is vector data including road shape data that expresses the shape of the road with links and nodes.

  The audio I / F 208 is connected to an audio input microphone 209 and an audio output speaker 210. The sound received by the microphone 209 is A / D converted in the sound I / F 208. The microphones 209 are installed, for example, in a dashboard portion of a vehicle, and the number thereof may be singular or plural. The speaker 210 outputs a sound obtained by D / A converting a predetermined sound signal in the sound I / F 208.

  Examples of the input device 211 include a remote controller including a plurality of keys for inputting characters, numerical values, various instructions, a keyboard, a touch panel, and the like. The input device 211 may be realized by any one form of a remote control, a keyboard, and a touch panel, but may be realized by a plurality of forms.

  The video I / F 212 is connected to the display 213. Specifically, the video I / F 212 is output from, for example, a graphic controller that controls the entire display 213, a buffer memory such as a VRAM (Video RAM) that temporarily records image information that can be displayed immediately, and a graphic controller. And a control IC for controlling the display 213 based on the image data to be processed.

  The display 213 displays icons, cursors, menus, windows, or various data such as characters and images. As the display 213, for example, a TFT liquid crystal display, an organic EL display, or the like can be used.

  The camera 214 captures images inside or outside the vehicle. The image may be either a still image or a moving image. For example, the outside of the vehicle is photographed by the camera 214, and the photographed image is analyzed by the CPU 201, or a recording medium such as the magnetic disk 205 or the optical disk 207 via the video I / F 212. Or output to

  The communication I / F 215 is connected to the network via wireless and functions as an interface between the navigation device 200 and the CPU 201. Communication networks that function as networks include in-vehicle communication networks such as CAN and LIN (Local Interconnect Network), public line networks and mobile phone networks, DSRC (Dedicated Short Range Communication), LAN, and WAN. The communication I / F 215 is, for example, a public line connection module, an ETC (non-stop automatic fee payment system) unit, an FM tuner, a VICS (Vehicle Information and Communication System) / beacon receiver, or the like.

  The GPS unit 216 receives radio waves from GPS satellites and outputs information indicating the current position of the vehicle. The output information of the GPS unit 216 is used when the current position of the vehicle is calculated by the CPU 201 together with output values of various sensors 217 described later. The information indicating the current position is information for specifying one point on the map data such as latitude / longitude and altitude.

  The various sensors 217 output information for determining the position and behavior of the vehicle, such as a vehicle speed sensor, an acceleration sensor, an angular velocity sensor, and a tilt sensor. The output values of the various sensors 217 are used for the calculation of the current position of the vehicle by the CPU 201 and the amount of change in speed and direction.

<Functional configuration example>
FIG. 3 is a block diagram illustrating a functional configuration example of the image processing apparatus. In FIG. 3, the image processing apparatus 300 includes an acquisition unit 301, a calculation unit 302, a search unit 303, a division unit 304, a grant unit 305, a determination unit 306, a detection unit 307, and a display control unit 308. Have. The acquisition unit 301 to the display control unit 308 use the programs and data recorded in the ROM 202, the RAM 203, the magnetic disk 205, the optical disk 207, and the like in the navigation device 200 described above, and the CPU 201 executes a predetermined program so that the navigation device 200 The function is realized by controlling each part in.

  The image processing apparatus 300 generates a reachable range of the moving object based on the reachable point of the moving object searched based on the remaining energy amount of the moving object and causes the display unit 310 to display the reachable range. Here, the energy is, for example, energy based on electricity when the moving body is an EV (Electric Vehicle) car or the like, and in the case of an HV (Hybrid Vehicle) car or a PHV (Plug-in Hybrid Vehicle) car or the like. Energy based on electricity and energy based on, for example, gasoline, light oil, and gas.

  In addition, when the mobile body is, for example, a fuel cell vehicle, the energy is energy based on electricity and the like, for example, hydrogen or fossil fuel that becomes a hydrogen raw material (hereinafter, EV vehicle, HV vehicle, PHV vehicle, fuel cell vehicle) Is simply called "EV car"). In addition, the energy is energy based on, for example, gasoline, light oil, gas, or the like when the moving body is, for example, a gasoline vehicle, a diesel vehicle, or the like (hereinafter simply referred to as “gasoline vehicle”). The residual energy is, for example, energy remaining in a fuel tank, a battery, a high-pressure tank, or the like of the mobile body, and is energy that can be used for the subsequent travel of the mobile body.

  The acquisition unit 301 acquires information related to the current location of the moving object on which the image processing apparatus 300 is mounted, and information related to the initial amount of energy held by the moving object at the current location of the moving object. Specifically, the acquisition unit 301 acquires information (position information) related to the current location by calculating the current position of the device using, for example, GPS information received from a GPS satellite.

  In addition, the acquisition unit 301 determines the remaining energy amount of the moving body managed by an electronic control unit (ECU) via an in-vehicle communication network that operates according to a communication protocol such as CAN (Controller Area Network). , Get the initial amount of energy.

  The acquisition unit 301 may acquire information on the speed of the moving body, traffic jam information, and moving body information. The information regarding the speed of the moving body is the speed and acceleration of the moving body. Moreover, the acquisition part 301 may acquire the information regarding a road from the map information 100 memorize | stored in the memory | storage part (not shown), and may acquire a road gradient etc. from an inclination sensor etc., for example. The information on the road is, for example, a running resistance generated in the moving body due to the road type, road gradient, road surface condition, and the like.

  The calculation unit 302 calculates an estimated energy consumption that is energy consumed when the moving body travels in a predetermined section. The predetermined section is, for example, a section (hereinafter referred to as “link”) connecting one predetermined point on the road (hereinafter referred to as “node”) and another node adjacent to the one node. The node may be, for example, an intersection or a stand, or a connection point between links separated by a predetermined distance. The nodes and links constitute the map information 100 stored in the storage unit. The map information 100 includes, for example, vector data in which intersections (points), roads (lines and curves), regions (surfaces), and colors for displaying these are digitized.

  Specifically, the calculation unit 302 estimates an estimated energy consumption amount in a predetermined section based on a consumption energy estimation formula including first information, second information, and third information. More specifically, the calculation unit 302 estimates an estimated energy consumption amount in a predetermined section based on information on the speed of the moving body and the moving body information. The moving body information is information that causes a change in the amount of energy consumed or recovered during traveling of the moving body, such as the weight of the moving body (including the number of passengers and the weight of the loaded luggage) and the weight of the rotating body. In addition, when the road gradient is clear, the calculation unit 302 may estimate the estimated energy consumption amount in the predetermined section based on the consumption energy estimation formula further including the fourth information.

  The consumption energy estimation formula is an estimation formula for estimating the energy consumption amount of the moving body in a predetermined section. Specifically, the energy consumption estimation formula is a polynomial composed of first information, second information, and third information, which are different factors that increase or decrease energy consumption. Further, when the road gradient is clear, fourth information is further added to the energy consumption estimation formula. Detailed description of the energy consumption estimation formula will be described later.

  The first information is information related to energy consumed by the equipment provided in the moving body. For example, it is information relating to energy consumed when the moving body is stopped in a state where the drive source mounted on the moving body is in operation. When the moving body is stopped when the drive source is in operation, the engine is idled at a low speed to such an extent that no load is applied to the engine of the moving body. That is, when the moving body is stopped in a state where the drive source is movable, the idling is performed. In the case of an EV vehicle, when the moving body is stopped in a state where the driving source is movable, the moving body is in a stopped state, and when the accelerator is stepped on, the motor as the driving source starts to move.

  Specifically, the first information is, for example, energy consumption consumed when the vehicle is stopped with the engine running or when it is stopped by a signal or the like. That is, the first information is an energy consumption amount consumed due to factors not related to the traveling of the moving body, and is an energy consumption amount due to an air conditioner or an audio provided in the moving body. The first information may be substantially zero in the case of an EV vehicle.

  The second information is information related to energy consumed and recovered during acceleration / deceleration of the moving body. The time of acceleration / deceleration of the moving body is a traveling state in which the speed of the moving body changes with time. Specifically, the time of acceleration / deceleration of the moving body is a traveling state in which the speed of the moving body changes within a predetermined time. The predetermined time is a time interval at regular intervals, for example, per unit time. In the case of an EV vehicle, the recovered energy is, for example, electric power charged in a battery when the mobile body is traveling. In the case of a gasoline vehicle, the recovered energy is, for example, fuel that can be saved by reducing (fuel cut) the consumed fuel.

  The third information is information related to energy consumed by the resistance generated when the mobile object travels. The traveling time of the moving body is a traveling state where the speed of the moving body is constant, accelerated or decelerated within a predetermined time. The resistance generated when the mobile body travels is a factor that changes the travel state of the mobile body when the mobile body travels. Specifically, the resistance generated when the mobile body travels is various resistances generated in the mobile body due to weather conditions, road conditions, vehicle conditions, and the like.

  The resistance generated in the moving body due to the weather condition is, for example, air resistance due to weather changes such as rain and wind. The resistance generated in the moving body according to the road condition is road resistance due to road gradient, pavement state of road surface, water on the road surface, and the like. The resistance generated in the moving body depending on the vehicle condition is a load resistance applied to the moving body due to tire air pressure, number of passengers, loaded weight, and the like.

  Specifically, the third information is energy consumption when the moving body is driven at a constant speed, acceleration or deceleration while receiving air resistance, road surface resistance, and load resistance. More specifically, the third information is consumed when the moving body travels at a constant speed, acceleration or deceleration, for example, air resistance generated in the moving body due to a headwind or road surface resistance received from a road that is not paved. Energy consumption.

  The fourth information is information relating to energy consumed and recovered by a change in altitude at which the mobile object is located. The change in altitude at which the moving body is located is a state in which the altitude at which the moving body is located changes over time. Specifically, the change in altitude at which the moving body is located is a traveling state in which the altitude changes when the moving body travels on a sloped road within a predetermined time.

  Further, the fourth information is additional information that can be obtained when the road gradient in the predetermined section is clear, thereby improving the energy consumption estimation accuracy. When the road slope is unknown or when the calculation is simplified, it is assumed that there is no change in the altitude at which the moving body is located, and the energy consumption is estimated with the road gradient θ = 0 in the energy consumption estimation formula described later. be able to.

  The search unit 303 moves based on the map information 100 stored in the storage unit, the current location and initial stored energy amount of the mobile object acquired by the acquisition unit 301, and the estimated energy consumption amount calculated by the calculation unit 302. Search for a plurality of reachable points where the body is reachable from the current point.

  Specifically, the search unit 303, in all routes that can move from the current location of the moving object, starts from the current location of the moving object, and in a predetermined section connecting predetermined points on the route from the moving object. A predetermined point and a predetermined section are searched so that the total of the estimated energy consumption is minimized. Then, the search unit 303 moves the mobile unit to a predetermined point where the total estimated energy consumption amount is within the range of the initial stored energy amount of the mobile unit at all the routes that can move from the current point of the mobile unit. The reachable point of

  More specifically, the search unit 303 starts from the current location of the mobile object as a starting point, all links that can be moved from the current location of the mobile object, nodes that are connected to these links, and all that can be moved from these nodes. , And all the nodes and links that can be reached by the moving object. At this time, each time the search unit 303 searches for a new link, the search unit 303 accumulates the estimated energy consumption of the route to which the one link is connected, and the one of the one links so that the accumulation of the estimated energy consumption is minimized. Search for a node connected to the link and a plurality of links connected to this node.

  For example, when the one link and the other link are connected to the same node, the search unit 303 estimates the estimated energy consumption from the current location of the moving object to the node among a plurality of links connected to the node. The estimated energy consumption of the relevant node is calculated using the estimated energy consumption of the link with a small amount of accumulation. Then, the search unit 303, in each of the plurality of paths including the searched nodes and links, searches all nodes whose accumulated energy consumption amount is within the range of the initial stored energy amount of the mobile object. Search as a reachable point. As described above, by using the estimated energy consumption of the link with the small estimated energy consumption, it is possible to calculate the correct total of the estimated energy consumption of the node.

  In addition, the search unit 303 may search for a reachable point by excluding a predetermined section in which the movement of the moving object is prohibited from candidates for searching for a reachable point of the moving object. The predetermined section in which the movement of the moving body is prohibited is, for example, a link that is a one-way reverse run, or a link that is a passage-prohibited section due to time restrictions or seasonal restrictions. The time restriction is, for example, that traffic is prohibited in a certain time zone by being set to a school route or an event. The seasonal restriction is, for example, that traffic is prohibited due to heavy rain or heavy snow.

  When the importance of another predetermined section selected next to one predetermined section among the plurality of predetermined sections is lower than the importance of the one predetermined section, the search unit 303 selects another predetermined section as a mobile object. The reachable point may be searched for by removing it from the candidates for searching for the reachable point. The importance of the predetermined section is, for example, a road type. The road type is a type of road that can be distinguished by differences in road conditions such as legal speed, road gradient, road width, and presence / absence of signals. Specifically, the road type is a narrow street that passes through a general national road, a highway, a general road, an urban area, or the like. A narrow street is, for example, a road defined in the Building Standard Law with a width of less than 4 meters in an urban area.

  Further, when the entrance and the exit of one bridge or one tunnel are reachable points of the moving body, the search unit 303 determines that all areas constituting one bridge or one tunnel of the map information 100 divided by the dividing unit 304 are It is preferable to search for a reachable point of the mobile body so as to be included in the reachable range of the mobile body. Specifically, for example, when the entrance of one bridge or one tunnel is a reachable point of the moving body, the search unit 303 moves on the one bridge or one tunnel from the entrance of the one bridge or one tunnel toward the exit. You may search the said reachable point so that several reachable points may be searched. The entrance of one bridge or one tunnel is the starting point of one bridge or one tunnel on the side close to the current position of the moving object. Note that the combination of the search source point and the search destination point obtained by the search unit 303 is stored in the storage unit.

  The dividing unit 304 divides the map information 100 into a plurality of areas. Specifically, the dividing unit 304 sets the map information 100 to a plurality of map information 100 based on a reachable point farthest from the current point of the mobile object among a plurality of reachable points of the mobile object searched by the search unit 303. Divided into rectangular regions and converted into, for example, an m × m dot mesh. An m × m dot mesh is handled as raster data (image data) to which identification information is added by an adding unit 305 to be described later. Note that each m of m × m dots may be the same numerical value or a different numerical value.

  More specifically, the dividing unit 304 extracts the maximum longitude, the minimum longitude, the maximum latitude, and the minimum latitude, and calculates the distance from the current location of the moving object. Then, for example, the dividing unit 304 divides the map information 100 into a plurality of regions by dividing the size of one region when the reachable point farthest from the current point of the moving object and the current point of the moving object are equally divided into n. The map information 100 is divided into m × m dot meshes with the size of one area when divided. At this time, n = (m / 2) −4 in order to make, for example, 4 dots around the mesh blank.

  The assigning unit 305 exists between the search source region including the search source point and the search destination region including the search destination point among the plurality of regions for each combination searched by the search unit 303, and the search source Identification information indicating that the mobile body is reachable is added to the overlapping region overlapping the link connecting the point and the search destination point. The assigning unit 305 assigns identification information to the search source area and the search destination area. Specifically, for example, the assigning unit 305 assigns identification information indicating that the moving body is reachable to the overlapping region illustrated in FIG.

  Similarly, the assigning unit 305 assigns identification information (for example, “1”) indicating that the mobile body is reachable to the search source area and the search destination area illustrated in FIG. To do. For the remaining area group to which identification information (for example, “1”) indicating that the moving body is reachable is not added, the assigning unit 305 indicates that the moving body is unreachable. Identification information (for example, “0”) is given. As a result, the assigning unit 305 converts the data into two-dimensional matrix data that is an area group of m rows and m columns. The dividing unit 304 and the assigning unit 305 divide the map information 100 in this way, convert the map information 100 into two-dimensional matrix data that is an area group of m rows and m columns, and handle it as binarized raster data.

  In addition, when the granting unit 305 is provided with reachable identification information that identifies reachability to the divided map information 100 corresponding to one bridge or one tunnel entrance and exit of the map information 100 The reachable identification means is assigned to the divided map information 100 corresponding to all the areas constituting the one bridge or the one tunnel. Specifically, the granting unit 305 corresponds to the entrance of one bridge or one tunnel when, for example, reachable identification information is given to each area corresponding to the entrance and exit of one bridge or one tunnel, respectively. Identification information that can reach all areas where the moving body can move from the area to the area corresponding to the exit is given.

  The determination unit 306 determines whether or not the distance between the search source region and the search destination region is equal to or greater than a predetermined distance. Specifically, for example, the predetermined distance is a value larger than the distance for one mesh. Therefore, when the search source point and the search destination point exist in the same mesh, the distance between the search source region and the search destination region is zero. Further, when the search source point and the search destination point exist in the adjacent mesh, the distance between the search source region and the search destination region is 1. Therefore, in these cases, the distance is less than the predetermined distance, and there is no overlapping area. On the other hand, if the distance is equal to or greater than the predetermined distance, an overlapping area exists, and therefore the assigning unit 305 assigns identification information indicating that the mobile body can reach the overlapping area.

  The detection unit 307 detects the direction from the search source area to the search destination area. Specifically, for example, the detection unit 307 detects the direction from the search source region to the search destination region based on the direction of the link connecting the search source point in the search source region to the search destination point in the search destination region. An example of using the detection result will be described later.

  The display control unit 308 causes the display unit 310 to display the reachable range of the moving object based on the identification information group assigned by the assigning unit 305. Specifically, the display control unit 308 converts the two-dimensional matrix data indicating the plurality of meshes to which the identification information is added by the adding unit 305 into vector data, and displays the display unit 310 together with the map information 100 stored in the storage unit. To display.

  More specifically, the display control unit 308 is based on the positional relationship between one area to which reachable identification information is assigned and another area to which reachable identification information adjacent to the one area is assigned. The contour of the reachable range of the moving object is extracted and displayed on the display unit 310. More specifically, the display control unit 308 extracts the outline of the reachable range of the mobile object using, for example, a Freeman chain code, and causes the display unit 310 to display the reachable range of the mobile object.

  In addition, the display control unit 308 may extract the reachable range of the mobile object based on the longitude / latitude information of the region to which the reachable identification information is given, and display the reachable range on the display unit 310. Specifically, for example, the display control unit 308 searches for identification information “1” that is reachable from the first column for each row of the two-dimensional matrix data of m rows and m columns. Then, the display control unit 308 searches for continuous areas including the reachable identification information “1” in each row of the two-dimensional matrix data, and first detects the minimum longitude and minimum latitude of the area where “1” is detected (area A rectangular area having a line segment connecting the maximum longitude and the maximum latitude (lower right coordinates of the area) of the area where “1” is detected last as a diagonal line is displayed as the reachable range of the moving object.

<Example of Calculation of Estimated Energy Consumption by Calculation Unit 302>
The navigation device 200 according to the present embodiment calculates the estimated energy consumption of the vehicle on which the device itself is mounted. Specifically, for example, the navigation device 200 is based on speed, acceleration, and vehicle gradient, and includes one or more of energy consumption estimation formulas including first information, second information, and third information. Is used to calculate the estimated energy consumption of the vehicle in a predetermined section. The predetermined section is a link that connects one node (for example, an intersection) on the road and another node adjacent to the one node.

  More specifically, the navigation device 200 determines whether the vehicle is linked based on the traffic jam information provided by the probe, the traffic jam prediction data acquired through the server, the link length or the road type stored in the storage device, and the like. The travel time required to finish driving is calculated. And the navigation apparatus 200 calculates the estimated energy consumption per unit time using either of the consumption energy estimation formulas shown in the following formulas (1) to (4), and the vehicle travels the link in the travel time. Calculate the estimated energy consumption when finishing.

  The energy consumption estimation formula shown in the above equation (1) is a theoretical formula for estimating the energy consumption per unit time during acceleration and traveling. Where ε is the net thermal efficiency and η is the total transmission efficiency. Assuming that the sum of the acceleration α of the moving object and the acceleration of gravity g from the road gradient θ is the combined acceleration | α |, the energy consumption estimation formula when the combined acceleration | α | is negative is expressed by the above equation (2). The That is, the energy consumption estimation formula shown in the above equation (2) is a theoretical formula for estimating the energy consumption per unit time during deceleration. Thus, the energy consumption estimation formula per unit time during acceleration / deceleration and travel is expressed by the product of travel resistance, travel distance, net motor efficiency, and transmission efficiency.

  In the above formulas (1) and (2), the first term on the right side is the energy consumption (first information) during idling. The second term on the right side is the energy consumption (fourth information) due to the gradient component and the energy consumption (third information) due to the rolling resistance component. The third term on the right side is energy consumption (third information) due to the air resistance component. Further, the fourth term on the right side of the equation (1) is the energy consumption (second information) by the acceleration component. The fourth term on the right side of equation (2) is the energy consumption (second information) due to the deceleration component.

  In the above formulas (1) and (2), the motor efficiency and the drive efficiency are considered to be constant. However, in practice, the motor efficiency and the driving efficiency vary due to the influence of the motor speed and torque. Therefore, the following equations (3) and (4) show empirical equations for estimating the energy consumption per unit time.

  The empirical formula for calculating the estimated energy consumption when the combined acceleration | α + g · sin θ | is positive, that is, the empirical formula for calculating the estimated energy consumption per unit time during acceleration and traveling is (3) It is expressed by a formula. The empirical formula for calculating the estimated energy consumption when the combined acceleration | α + g · sin θ | is negative, that is, the empirical formula for calculating the estimated energy consumption per unit time during deceleration is the following formula (4): It is represented by

In the above formulas (3) and (4), the coefficients a ₁ and a ₂ are constants set according to the vehicle situation and the like. The coefficients k ₁ , k ₂ , and k ₃ are variables based on energy consumption during acceleration. Further, the speed V is set, and other variables are the same as the above formulas (1) and (2). The first term on the right side corresponds to the first term on the right side of the above equations (1) and (2).

  In the above formulas (3) and (4), the second term on the right side is the energy of the gradient resistance component in the second term on the right side and the acceleration in the fourth term on the right side in the formulas (1) and (2). It corresponds to the energy of the resistance component. The third term on the right side corresponds to the energy of the rolling resistance component in the second term on the right side and the energy of the air resistance component in the third term on the right side in the above equations (1) and (2). Β in the second term on the right side of the equation (4) is the amount of potential energy and kinetic energy recovered (hereinafter referred to as “recovery rate”).

  Further, the navigation device 200 calculates the travel time required for the vehicle to travel the link as described above, and calculates the average speed and average acceleration when the vehicle travels the link. Then, the navigation device 200 uses the average speed and average acceleration of the vehicle at the link, and the vehicle travels the link in the travel time based on the consumption energy estimation formula shown in the following formula (5) or formula (6). You may calculate the estimated energy consumption at the time of finishing.

  The energy consumption estimation formula shown in the above formula (5) is a theoretical formula for calculating the estimated energy consumption amount in the link when the altitude difference Δh of the link on which the vehicle travels is positive. The case where the altitude difference Δh is positive is a case where the vehicle is traveling uphill. The consumption energy estimation formula shown in the above equation (6) is a theoretical formula for calculating the estimated energy consumption amount in the link when the altitude difference Δh of the link on which the vehicle travels is negative. The case where the altitude difference Δh is negative is a case where the vehicle is traveling downhill. When there is no difference in altitude, it is preferable to use the energy consumption estimation formula shown in the above formula (5).

  In the above formulas (5) and (6), the first term on the right side is the energy consumption (first information) during idling. The second term on the right side is the energy consumption (second information) by the acceleration resistance. The third term on the right side is energy consumption consumed as potential energy (fourth information). The fourth term on the right side is the energy consumption (third information) due to the air resistance and rolling resistance (running resistance) received per unit area.

  When the road gradient is not clear, the navigation device 200 may calculate the estimated energy consumption amount of the vehicle by setting the road gradient θ = 0 in the energy consumption estimation equations shown in the above equations (1) to (6).

  Next, the recovery rate β used in the above equations (1) to (6) will be described. In the above equation (5), if the second term on the right side is the energy consumption Pacc of the acceleration component in the link, the energy consumption Pacc of the acceleration component is calculated from the total energy consumption (left side) of the link and the energy consumption during idling. (1st term on the right side) and energy consumption by the running resistance (4th term on the right side) are subtracted and expressed by the following equation (7).

  In the above equation (7), it is assumed that the vehicle is not affected by the road gradient θ (θ = 0). That is, the third term on the right side of the above equation (5) is set to zero. Then, by substituting the above equation (7) into the above equation (5), the calculation formula for the recovery rate β shown in the following equation (8) can be obtained.

  The recovery rate β is about 0.7 to 0.9 for EV vehicles, about 0.6 to 0.8 for HV vehicles, and about 0.2 to 0.3 for gasoline vehicles. The recovery rate of the gasoline vehicle is a ratio of energy required for acceleration and energy recovered for deceleration.

(Outline of reachable point search in the navigation device 200)
The navigation device 200 according to the present embodiment searches for a plurality of nodes that can be reached from the current point of the vehicle on which the device is mounted as reachable points of the vehicle. Specifically, the navigation apparatus 200 calculates the estimated energy consumption amount in the link using any one or more of the consumption energy estimation expressions shown in the above expressions (1) to (6). Then, the navigation device 200 searches for a reachable node of the vehicle so that the total estimated energy consumption in the link is minimized, and sets it as a reachable point. Below, an example of the reachable point search by the navigation apparatus 200 is demonstrated.

  4-7 is explanatory drawing typically shown about an example of the reachable point search by the navigation apparatus 200. FIG. 4-7, the nodes (for example, intersections) of the map data are marked with circles, and the links (predetermined sections on the road) connecting adjacent nodes are indicated by line segments (nodes in the same manner in FIGS. 8 and 9). And links shown).

  As shown in FIG. 4, the navigation device 200 first searches for the link L1_1 that is closest to the current location 400 of the vehicle. Then, the navigation device 200 searches for the node N1_1 connected to the link L1_1 and adds it to a node candidate for searching for a reachable point (hereinafter simply referred to as “node candidate”).

  Next, the navigation apparatus 200 calculates the estimated energy consumption in the link L1_1 that connects the current location 400 of the vehicle and the node N1_1 that is the node candidate using the consumption energy estimation formula. Then, the navigation device 200 writes the estimated energy consumption 3wh in the link L1_1 to the storage device (the magnetic disk 205 or the optical disk 207) in association with the node N1_1, for example.

  Next, as shown in FIG. 5, the navigation apparatus 200 searches for all links L2_1, L2_2, and L2_3 connected to the node N1_1 and searches for reachable points (hereinafter simply “link candidates”). Said). Next, the navigation apparatus 200 calculates the estimated energy consumption in the link L2_1 using the consumption energy estimation formula.

  The navigation device 200 associates the accumulated energy amount 7wh obtained by accumulating the estimated energy consumption amount 4wh in the link L2_1 and the estimated energy consumption amount 3wh in the link L1_1 with the node N2_1 connected to the link L2_1, and stores the storage device (magnetic disk 205). Or the optical disk 207) (hereinafter referred to as “set cumulative energy amount to node”).

  Furthermore, the navigation apparatus 200 calculates the estimated energy consumption in the links L2_2 and L2_3, respectively, using the energy consumption estimation formula, as in the case of the link L2_1. Then, the navigation device 200 sets the accumulated energy amount 8wh obtained by accumulating the estimated energy consumption amount 5wh in the link L2_2 and the estimated energy consumption amount 3wh in the link L1_1 to the node N2_2 connected to the link L2_2.

  In addition, the navigation device 200 sets the accumulated energy amount 6wh obtained by accumulating the estimated energy consumption amount 3wh in the link L2_3 and the estimated energy consumption amount 3wh in the link L1_1 to the node N2_3 connected to the link L2_3. At this time, if the node for which the cumulative energy amount is set is not a node candidate, the navigation device 200 adds the node to the node candidate.

  Next, as illustrated in FIG. 6, the navigation device 200 includes all links L3_1, L3_2_1 connected to the node N2_1, all links L3_2_2, L3_3, L3_4 connected to the node N2_2, and a link L3_5 connected to the node N2_3. Search for link candidates. Next, the navigation apparatus 200 calculates the estimated energy consumption in the link L3_1 to the link L3_5 using the energy consumption estimation formula.

  Then, the navigation device 200 accumulates the estimated energy consumption 4wh in the link L3_1 to the accumulated energy amount 7wh set in the node N2_1, and sets the accumulated energy amount 11wh in the node N3_1 connected to the link L3_1. In addition, the navigation apparatus 200 sets the cumulative energy amounts 13wh, 12wh, and 10wh in the nodes N3_3 to N3_5 that are respectively connected to the links L3_3 to L3_5 in the links L3_3 to L3_5 as in the case of the link L3_1.

  Specifically, the navigation apparatus 200 accumulates the estimated energy consumption 5wh in the link L3_3 to the accumulated energy amount 8wh set in the node N2_2, and sets the accumulated energy amount 13wh in the node N3_3. The navigation device 200 accumulates the estimated energy consumption 4wh in the link L3_4 to the accumulated energy amount 8wh set in the node N2_2, and sets the accumulated energy amount 12wh in the node N3_4. The navigation device 200 accumulates the estimated energy consumption 4wh in the link L3_5 to the accumulated energy amount 6wh set in the node N2_3, and sets the accumulated energy amount 10wh in the node N3_5.

  On the other hand, when a plurality of links L3_2_1 and L3_2_2 are connected to one node like the node N3_2, the navigation device 200 includes the cumulative amount of energy in a plurality of routes from the vehicle current point 400 to the one node N3_2. , The minimum accumulated energy amount 10wh is set in the one node N3_2.

  Specifically, the navigation apparatus 200 accumulates the estimated energy consumption 4wh in the link L3_2_1 to the accumulated energy amount 7wh set in the node N2_1 (= total energy amount 11wh), and the estimated energy consumption amount 2wh in the link L3_2_2 is set to the node N2_2. Is accumulated in the accumulated energy amount 8wh set to (= total energy amount 10wh). Then, the navigation device 200 compares the cumulative energy amount 11wh of the route from the current point 400 of the vehicle to the link L3_2_1 with the cumulative energy amount 10wh of the route from the current point 400 of the vehicle to the link L3_2_2 to determine the minimum cumulative energy. The cumulative energy amount 10wh of the path on the link L3_2_2 side that is the amount is set to the node N3_2.

  When there are a plurality of nodes of the same hierarchy from the current location 400 of the vehicle, such as the above-described nodes N2_1 to N2_3, the navigation device 200, for example, from a link connected to a node having a low cumulative energy amount among the nodes at the same level. The estimated energy consumption and the cumulative energy amount are calculated in order. Specifically, the navigation apparatus 200 calculates the estimated energy consumption amount in the link connected to each node in the order of the node N2_3, the node N2_1, and the node N2_2, and accumulates the accumulated energy amount in each node. Thus, by specifying the order of the nodes for calculating the estimated energy consumption amount and the cumulative energy amount, it is possible to efficiently calculate the reachable range with the remaining energy amount.

  After that, the navigation device 200 continues to accumulate the accumulated energy amount as described above from the nodes N3_1 to N3_5 to the deeper level nodes. Then, the navigation device 200 extracts all nodes for which a cumulative energy amount equal to or less than a preset designated energy amount is set as a reachable point of the vehicle, and uses the longitude and latitude information of the nodes extracted as reachable points. Write to the storage device in association with each node.

  Specifically, for example, when the designated energy amount is 10wh, the navigation device 200, as shown by the circles hatched in FIG. 7, indicates the nodes N1_1, N2_1, for which the accumulated energy amount of 10wh or less is set. N2_2, N2_3, N3_2, and N3_5 are extracted as reachable points of the vehicle. The preset designated energy amount is, for example, the remaining energy amount (initial stored energy amount) at the current point 400 of the vehicle.

<Search Example by Search Unit 303>
The map data 440 composed of the current point 400 of the vehicle and a plurality of nodes and links shown in FIG. 7 is an example for explaining the reachable point search, and the navigation device 200 is actually shown in FIG. As described above, more nodes and links are searched in the vicinity 800 of the current position 400 of the vehicle that is wider than the map data 700 shown in FIG.

  FIG. 8 is an explanatory diagram showing an example of reachable point search by the navigation device 200. As described above, when the accumulated energy amount is continuously calculated for all roads (excluding narrow streets), as shown in FIG. 8, the accumulated energy amount in all nodes of each road is searched in detail without omission. Can do. However, the estimated energy consumption of about 2 million links in Japan is calculated and accumulated, and the information processing amount of the navigation device 200 becomes enormous. For this reason, the navigation apparatus 200 may narrow down the road which searches for the reachable point of a mobile body based on the importance of a link etc., for example.

  FIG. 9 is an explanatory diagram showing another example of the reachable point search by the navigation device 200. Specifically, for example, the navigation device 200 calculates the cumulative energy amount on all roads (excluding narrow streets) around the current point 400 of the vehicle, and is highly important in a range that is more than a certain distance away. Calculate the cumulative amount of energy using only roads. As a result, as shown in FIG. 9, the number of nodes and the number of links searched by the navigation device 200 can be reduced, and the information processing amount of the navigation device 200 can be reduced. Therefore, the processing speed of the navigation device 200 can be improved.

<Example of division of map data by division unit 304>
The navigation device 200 of the present embodiment divides the map data stored in the storage device based on the reachable point searched as described above. Specifically, the navigation device 200 converts map data composed of vector data into, for example, a 64 × 64 dot mesh (X, Y), and converts the map data into raster data (image data).

  FIG. 10 is an explanatory diagram of an example showing a reachable point by the navigation device 200 in longitude-latitude. Moreover, FIG. 11 is explanatory drawing of an example which shows the reachable point by the navigation apparatus 200 with a mesh. In FIG. 10, for example, longitude and latitude information (x, y) of reachable points searched as shown in FIGS. 8 and 9 are illustrated in absolute coordinates. In FIG. 11, a 64 × 64 dot mesh (X, Y) to which identification information is given based on the reachable point is illustrated in screen coordinates.

  As shown in FIG. 10, the navigation device 200 first generates longitude / latitude information (x, y) having a point group 1000 in absolute coordinates based on the longitude x and latitude y of each of a plurality of reachable points. . The origin (0, 0) of the longitude / latitude information (x, y) is at the lower left of FIG. Then, the navigation device 200 calculates distances w1 and w2 from the longitude ofx of the current point 400 of the vehicle to the maximum longitude x_max and the minimum longitude x_min of the reachable point farthest in the longitude x direction. In addition, the navigation device 200 calculates the distances w3 and w4 from the latitude of the current point 400 of the vehicle to the maximum latitude y_max and the minimum latitude y_min of the reachable point farthest in the direction of the latitude y.

  Next, the navigation device 200 has a distance w2 (hereinafter referred to as w5 = max (w1, w2) from the vehicle current point 400 to the minimum longitude x_min, which is the longest distance among the distances w1 to w4 from the vehicle current point 400. , W3, w4)) and map data including a plurality of reachable points such that the length of 1 / n becomes the length of one side of one element of the rectangular shape of the mesh (X, Y) For example, it is converted into a mesh (X, Y) of m × m dots (for example, 64 × 64 dots).

  Specifically, the navigation device 200 sets the ratio of 1 mesh to the longitude / latitude size as the magnification mag = w5 / n, and the longitude / latitude information (x, y) and the mesh (X, Y) are the following (9 ) And longitude / latitude information (x, y) is converted into a mesh (X, Y) so as to satisfy the expressions (10) and (10).

  X = (x−ofx) / mag (9)

  Y = (y-ofy) / mag (10)

  By converting the longitude / latitude information (x, y) into a mesh (X, Y), as shown in FIG. 11, the current location 400 of the vehicle is composed of an m × m dot mesh (X, Y). At the center of the rectangular image data, the mesh (X, Y) of the current point 400 of the vehicle is the same in both the X-axis direction and the Y-axis direction, and X = Y = m / 2 = n + 4. Further, n = (m / 2) −4 is set in order to make, for example, 4 dots around the mesh (X, Y) blank. When the navigation device 200 converts the longitude / latitude information (x, y) into the mesh (X, Y), the navigation device 200 assigns identification information to each area of the mesh (X, Y), and the m rows and m columns. Convert to a two-dimensional matrix data (Y, X) mesh.

  Specifically, when the reachable point of the vehicle is included in one area of the mesh (X, Y), the navigation device 200 identifies reachability that identifies that the vehicle can reach the one area. For example, “1” is given as information (in FIG. 11, one dot is drawn in black, for example). On the other hand, when the reachable point of the vehicle is not included in one area of the mesh (X, Y), the navigation device 200 identifies that the vehicle cannot reach the one area. For example, “0” is assigned as the identification information (in FIG. 11, one dot is drawn in white, for example).

  In this way, the navigation device 200 converts the map data into a mesh of two-dimensional matrix data (Y, X) of m rows and m columns in which identification information is given to each area obtained by dividing the map data, and the map data is binarized. Treated as raster data. Each area of the mesh is represented by a rectangular area within a certain range. Specifically, as shown in FIG. 11, for example, an m × m dot mesh (X, Y) in which a point group 1100 of a plurality of reachable points is drawn in black is generated. The origin (0, 0) of the mesh (X, Y) is at the upper left.

<An example of providing identification information by the assigning unit 305>
FIG. 12 is an explanatory diagram of a first example of identification information given by the grant unit 305. (A) is a search filter F. The search filter F is, for example, two-dimensional matrix data that is a square matrix of m rows and m columns (m is an odd number of 3 or more). The search filter F is a filter that assigns identification information “1” to five regions including a central region Cf located at the center and four regions above and below the central region Cf. The filter to which the identification information “1” is given is indicated by filling in the drawing.

  (B) shows a certain search source area M1 and its search destination area M2. In the search source region M1, there is a node N1 that is a search source point, and in the search destination region M2, there is a node N2 that is a search destination point. There is also a link L12 connecting the nodes N1 and N2. (C) shows a state in which the center area Cf of the search filter F is associated with the mesh in which the link L12 is present and scanned from the search source area M1 to the search destination area M2. As a result, sections from the search source area M1 to the search destination area M2 are connected by the identification information group having a width. When scanning from the search source area M1 to the search destination area M2, the Bresenham straight line drawing algorithm is applied to the procedure for specifying each pixel through which the link L12 passes. Instead of drawing each pixel in Bresenham's straight line drawing algorithm, image processing by the search filter F is executed.

  FIG. 13 is an explanatory diagram illustrating a second example of identification information provision by the provision unit 305. (A) shows a state in which the identification information “1” is given only to the mesh that becomes the overlapping region. In (A), the identification information “1” has not yet been assigned to the search source area and the search destination area. (B) shows the next state of (A). In (B), identification information “1” is assigned to the search source region and the search destination region. Since the search destination area is the next search source area, the identification information “1” between the search source area and the search destination area can be duplicated by giving the identification information in the order of (A) → (B). Can be prevented, and the processing speed can be increased.

<Example of Direction Detection by Detection Unit 307>
FIG. 14 is an explanatory diagram illustrating an example of direction detection by the detection unit 307. The detection unit 307 scans by changing the state of the search filter F by detecting the direction of the link from the center region Cf. (A)-(H) have shown the search filter F after the change corresponding to each direction of a link. After the change, the identification information “1” is not given to the upper left region and the left region which are regions opposite to the center region Cf in the detection direction. As a result, it is possible to prevent duplication of an area to which identification information “1” has already been assigned, and to increase the scanning speed of the search filter F.

<Example of contour extraction of reachable range by display control unit 308-Part 1>
The navigation device 200 extracts the contour of the reachable range of the vehicle based on the identification information given to the mesh of the two-dimensional matrix data (Y, X) of m rows and m columns. Specifically, the navigation apparatus 200 extracts the outline of the reachable range of the vehicle using, for example, a Freeman chain code. More specifically, the navigation device 200 extracts the outline of the reachable range of the vehicle as follows.

  FIG. 15 is an explanatory diagram schematically illustrating an example of vehicle reachable range extraction by the navigation device. FIG. 16 is an explanatory diagram schematically illustrating an example of a mesh after the reachable range of the vehicle is extracted by the navigation device. FIG. 15A shows numbers indicating the adjacent directions of the regions 1510 to 1517 adjacent to the region 1500 (hereinafter referred to as “direction index (chain code)”) and arrows in eight directions corresponding to the direction index. . FIG. 15B shows an example of a mesh 1520 of two-dimensional matrix data (Y, X) of h rows and h columns. In FIG. 15B, the regions 1521 to 1534 to which reachable identification information is assigned and the regions to which reachable identification information is enclosed surrounded by the regions 1521 to 1534 are illustrated by hatching.

  The direction index indicates the direction in which the unit length line segment is facing. In the mesh (X, Y), the coordinates corresponding to the direction index are (X + dx, Y + dy). Specifically, as shown in FIG. 15A, the direction index in the direction from the region 1500 toward the region 1510 adjacent to the lower left is “0”. The direction index in the direction from the region 1500 toward the adjacent region 1511 is “1”. The direction index in the direction from the region 1500 toward the region 1512 adjacent to the lower right is “2”.

  The direction index in the direction from the region 1500 toward the region 1513 adjacent to the right is “3”. The direction index in the direction from the region 1500 toward the region 1514 adjacent to the upper right is “4”. The direction index in the direction from the region 1500 to the adjacent region 1515 is “5”. The direction index in the direction from the region 1500 toward the region 1516 adjacent to the upper left is “6”. The direction index in the direction from the region 1500 toward the region 1517 adjacent to the left is “7”.

  The navigation device 200 searches the region 1500 to which the reachable identification information “1” adjacent to the region 1500 is assigned counterclockwise. In addition, the navigation device 200 determines a search start point of an area to which reachable identification information adjacent to the area 1500 is assigned based on the previous direction index. Specifically, the navigation device 200, when the direction index from another area toward the area 1500 is “0”, the area adjacent to the left of the area 1500, that is, the area adjacent in the direction of the direction index “7” The search is started from 1517.

  Similarly, when the direction index from another region toward the region 1500 is “1” to “7”, the navigation device 200 is adjacent to the lower left, lower, lower right, right, upper right, upper, upper left of the region 1500. The search is started from the matching areas, that is, the areas 1510 to 1516 adjacent in the directions of the direction indices “0”, “1”, “2”, “3”, “4”, “5”, and “6”, respectively. When the navigation apparatus 200 detects the reachable identification information “1” from any one of the areas 1510 to 1517 from the area 1500, the areas 1510 to 1517 in which the reachable identification information “1” is detected. The direction indices “0” to “7” corresponding to are written in the storage device in association with the area 1500.

  Specifically, the navigation device 200 extracts the outline of the reachable range of the vehicle as follows. As shown in FIG. 15 (B), the navigation device 200 first identifies identification information that can be reached in units of rows from the region of a row and a column of the mesh 1520 of the two-dimensional matrix data (Y, X) of h rows and h columns. Search the area to which is assigned.

  Since the unreachable identification information is given to all the areas in the a line of the mesh 1520, the navigation device 200 next shifts the area from the b line a column to the b line h column area of the mesh 1120. Search for identification information that can be reached. Then, after detecting the reachable identification information in the region 1521 of the b row and e column of the mesh 1520, the navigation device 200 counterclockwise from the region 1521 of the b row and e column of the mesh 1520, the contour of the reachable range of the vehicle A region having reachable identification information is searched.

  Specifically, since the navigation apparatus 200 has already searched for the region of b rows and d columns adjacent to the left of the region 1521, first, the identification is made counterclockwise from the region 1522 adjacent to the lower left of the region 1521. Search whether there is an area having information. The navigation device 200 detects the reachable identification information of the region 1522 and stores the direction index “0” in the direction from the region 1521 toward the region 1522 in association with the region 1521 in the storage device.

  Next, since the navigation device 200 has the previous direction index “0”, whether there is an area having reachable identification information counterclockwise from the area of the c row and the c column adjacent to the left of the area 1522. Search for. Then, the navigation device 200 detects the reachable identification information of the area 1523 adjacent to the lower left of the area 1522, and stores the direction index “0” in the direction from the area 1522 to the area 1523 in association with the previous direction index. Store in the device.

  Thereafter, the navigation device 200 determines a search start point based on the previous direction index, and uses the direction index as a process for searching for whether there is an area having identification information that can be reached counterclockwise from the search start point. Repeat until the corresponding arrow returns to region 1521. Specifically, navigation device 200 searches whether there is an area having identification information that can be reached counterclockwise from an area adjacent to the left of area 1522, and searches for adjacent area 1524 below area 1523. The reachable identification information is detected, and the direction index “1” is stored in the storage device in association with the previous direction index.

  Similarly, after determining the search start point based on the previous direction index, the navigation device 200 searches for an area having identification information that can be reached counterclockwise from the search start point, and an area having reachable identification information 1524 to 1534 are sequentially detected. Then, every time the navigation device 200 acquires the direction index, the navigation device 200 associates it with the previous direction index and stores it in the storage device.

  After that, the navigation device 200 searches whether there is an area having identification information that can be reached counterclockwise from the area of the b row and f column adjacent to the upper right of the area 1534, and the adjacent area on the area 1534 The reachable identification information 1521 is detected, and the direction index “5” is stored in the storage device in association with the previous direction index. As a result, the direction index “0” → “0” → “1” → “0” → “2” → “3” → “4” → “3” → “2” → “5” → “5” → “6” → “6” → “5” is stored in this order.

  In this way, the navigation device 200 sequentially searches the regions 1521 to 1534 having the reachable identification information adjacent to the region 1521 from the first detected region 1521 in the counterclockwise direction, and acquires the direction index. Then, the navigation device 200 fills one area in the direction corresponding to the direction index from the area 1521, and as shown in FIG. 16, the vehicle reachable range outline 1601 and the portion 1602 surrounded by the outline 1601. A mesh having a vehicle reachable range 1600 is generated.

<Example of contour extraction of reachable range by display control unit 308, part 2>
Another example of vehicle reachable range extraction by the display control unit 308 will be described. For example, the navigation device 200 may extract the outline of the reachable range of the vehicle based on the longitude and latitude information of the mesh of the two-dimensional matrix data (Y, X) to which reachable identification information is assigned. Specifically, the navigation device 200 extracts the outline of the reachable range of the vehicle as follows.

  FIG. 17 is an explanatory diagram schematically showing another example of vehicle reachable range extraction by the navigation device. A mesh 1700 of two-dimensional matrix data (Y, X) of d rows and h columns as shown in FIG. 17 will be described as an example. The navigation device 200 searches the mesh 1700 for the region to which the reachable identification information “1” is assigned. Specifically, the navigation device 200 first searches for the identification information “1” that can be reached from the area of the a row and the a column to the area of the a row and the h column.

  Since the unreachable identification information “0” is assigned to all the regions in the a-th row of the mesh 1700, the navigation apparatus 200 next shifts the region from the b-th row to the b-th row. An area having identification information “1” that can be reached is searched. Then, the navigation device 200 acquires the minimum longitude px1 and the minimum latitude py1 (upper left coordinates of the area 1701) of the area 1701 in the b row and c column having the reachable identification information “1”.

  Next, the navigation apparatus 200 searches for an area having identification information “1” that can be reached from the area of b rows and d columns toward the area of b rows and h columns. Then, the navigation device 200 searches for a boundary between the area having the reachable identification information “1” and the area having the unreachable identification information “0”, and b rows having the reachable identification information “1”. The maximum longitude px2 and the maximum latitude py2 (lower right coordinates of the area 1702) of the area 1702 in the f column are acquired.

  Next, the navigation device 200 has a rectangular area whose apexes are the upper left coordinates (px1, py1) of the area 1701 of b row and c column and the lower right coordinates (px2, py2) of the area 1702 of b row and f column. Fill.

  Next, the navigation apparatus 200 searches for identification information “1” that can be reached from the b row g column to the b row h column region of the mesh 1700 and further from the c row a column to the c row h column. The navigation apparatus 200 acquires the minimum longitude px3 and the minimum latitude py3 (upper left coordinates of the area 1703) of the area 1703 in the c row and d column having the reachable identification information “1”.

  Next, the navigation device 200 searches for an area having identification information “1” that can be reached from the area of the c row and the e column toward the area of the c row and the h column. Then, the navigation device 200 searches for a boundary between the area having the reachable identification information “1” and the area having the unreachable identification information “0”, and the c row having the reachable identification information “1”. The maximum longitude px4 and the maximum latitude py4 (lower right coordinates of the region 1704) of the region 1704 in the f column are acquired.

  Next, the navigation device 200 has a rectangular area whose apexes are the upper left coordinates (px3, py3) of the area 1703 of c rows and d columns and the lower right coordinates (px4, py4) of the area 1704 of the c rows and f columns. Fill.

  After that, the navigation apparatus 200 searches for an area having identification information “1” that can be reached from the area of the c row and the g column to the area of the c row and the h column and further from the d row and the a column to the d row and the h column. . The navigation device 200 ends the process because the unreachable identification information “0” is assigned to all areas from the area of the c row and the g column to the d row and the h column.

  As described above, the region having the reachable identification information “1” is filled for each row of the mesh 1700 of the two-dimensional matrix data (Y, X), thereby the vehicle reachable range and the vehicle reachable range outline. Can be obtained.

<Image Processing in Navigation Device 200>
As described above, the navigation device 200 generates the reachable range of the moving object based on the reachable node of the moving object searched based on the remaining energy amount of the vehicle and causes the display 213 to display the reachable range. Hereinafter, for example, a case where the navigation device 200 is mounted on an EV car will be described as an example.

  FIG. 18 is a flowchart illustrating an example of a procedure of image processing by the navigation device. In the flowchart of FIG. 18, the navigation device 200 first acquires the current location (ofx, ofy) of the vehicle on which the device is mounted via, for example, the communication I / F 215 (step S1801), and the current location of the vehicle The initial stored energy amount of the vehicle at (ofx, ofy) is acquired (step S1802).

  Next, the navigation device 200 executes a search process (step S1803) by the search unit 303 and a mesh generation process (step S1804) by the dividing unit 304.

  Thereafter, the navigation device 200 executes a connection process (step S1805) and an identification information change process (step S1806) by the assigning unit 305. Then, the navigation device 200 executes a display process on the display unit by the display control unit 308 (step S1807), and ends the process according to this flowchart.

<Estimated Power Consumption Calculation Processing in Navigation Device 200>
Next, the estimated power consumption calculation process by the navigation device 200 will be described. FIG. 19 is a flowchart illustrating an example of a procedure of estimated power consumption calculation processing by the navigation device 200. In the flowchart shown in FIG. 19, it is the process performed in the reachable node search process of step S1803 described above. First, the navigation apparatus 200 acquires traffic jam information such as probe data and traffic jam prediction data via the communication I / F 215 (step S1901). Next, the navigation device 200 acquires the length of the link and the road type of the link (step S1902).

  Next, the navigation device 200 calculates the travel time of the link based on the information acquired in steps S1901 and S1902 (step S1903). The travel time of the link is the time required for the vehicle to finish traveling on the link. Next, the navigation device 200 calculates the average link speed based on the information acquired in steps S1901 to S1903 (step S1904). The average speed of the link is an average speed when the vehicle travels on the link.

  Next, the navigation device 200 acquires the altitude data of the link (step S1905). Next, the navigation apparatus 200 acquires vehicle setting information (step S1906). Next, the navigation apparatus 200 uses the energy consumption estimation formula of any one of the above-described formulas (1) to (6) based on the information acquired in steps S1901 to S1906 to estimate the consumption at the link. The amount of electric power is calculated (step S1907), and the processing according to this flowchart ends.

<Search process>
20 and 21 are flowcharts showing the procedure of reachable point search processing by the navigation device. The navigation device 200 adds the node N (i) _j connected to the link L (i) _j closest to the search start point to the node candidate (step S2001). The search start point is the current point (ofx, ofy) of the vehicle acquired in step S1801 described above.

  The variables i and j are arbitrary numerical values. For example, a link and a node closest to the search start point are a link L (1) _j and a node N (1) _j, respectively, and are further connected to the node N (1) _j. A node connecting the link to the link L (2) _j and the node connecting to the link L (2) _j may be a node N (2) _j (j = 1, 2,..., J1). The variable j1 is an arbitrary numerical value and means that a plurality of links or nodes exist in the same hierarchy.

  Next, the navigation apparatus 200 determines whether or not there are one or more node candidates (step S2002). If there is one or more node candidates (step S2002: Yes), the navigation device 200 selects a node candidate with the minimum cumulative power consumption from the current point of the vehicle to the node candidate (step S2003). For example, the following processing will be described assuming that the navigation device 200 selects the node N (i) _j as a node candidate.

  Next, the navigation apparatus 200 determines whether or not the cumulative power consumption from the current point of the vehicle to the node N (i) _j is smaller than the specified energy amount (step S2004). The designated energy amount is, for example, the remaining energy amount of the vehicle at the current location of the vehicle. When the amount is smaller than the specified energy amount (step S2004: Yes), the navigation device 200 extracts all the links L (i + 1) _j connected to the node N (i) _j (step S2005).

  Next, the navigation apparatus 200 selects one link L (i + 1) _j among the links L (i + 1) _j extracted in step S2005 (step S2006). Next, the navigation apparatus 200 performs candidate determination processing for determining whether or not the one link L (i + 1) _j selected in step S2006 is a link candidate (steps S2007 and S2008).

  When one link L (i + 1) _j is set as a link candidate (step S2008: Yes), the navigation device 200 performs a power consumption calculation process for the one link L (i + 1) _j (step S2009). Next, the navigation apparatus 200 calculates the cumulative power consumption W (i + 1) _j up to the node N (i + 1) _j connected to the one link L (i + 1) _j (step S2010). Next, the navigation apparatus 200 determines whether there is another processed route connected to the node N (i + 1) _j (step S2011).

  When there is another route that has been processed (step S2011: Yes), the navigation device 200 determines that the cumulative power consumption W (i + 1) _j from the current point of the vehicle to the node N (i + 1) _j is the cumulative amount of the other route. It is determined whether it is smaller than the power consumption (step S2012). When the accumulated power consumption is smaller than the other route (step S2012: Yes), the navigation apparatus 200 determines the accumulated power consumption W from the current point of the vehicle to the node N (i + 1) _j at the node N (i + 1) _j. (I + 1) _j is set (step S2013).

  On the other hand, when there is no other processed route (step S2011: No), the navigation device 200 proceeds to step S2013. Next, the navigation apparatus 200 determines whether or not the node N (i + 1) _j is a node candidate (step S2014). When it is not a node candidate (step S2014: No), the navigation apparatus 200 adds the node N (i + 1) _j to the node candidate (step S2015).

  When one link L (i + 1) _j is not a link candidate (step S2008: No), the accumulated power consumption W (i + 1) _j from the current point of the vehicle to the node N (i + 1) _j is another route. If the node N (i + 1) _j is a node candidate (step S2014: Yes), the navigation device 200 proceeds to step S2016.

  Next, the navigation apparatus 200 determines whether or not the candidate determination process for all links L (i + 1) _j has been completed (step S2016). When the candidate determination process for all links L (i + 1) _j is completed (step S2016: Yes), the node N (i) _j is excluded from the node candidates (step S2017), and the process returns to step S2002. Then, when there are one or more node candidates (step S2002: Yes), the navigation device 200 selects a node candidate having the minimum cumulative power consumption from the current location of the vehicle from the node candidates (step S2003). Then, the node candidate selected in step S2003 is set as the next node N (i) _j, and the processes in and after step S2004 are performed.

  On the other hand, when the candidate determination process for all links L (i + 1) _j is not completed (step S2016: No), the process returns to step S2006. The navigation device 200 selects another link L (i + 1) _j connected to the node N (i) _j again, and performs candidate determination processing for all links L (i + 1) _j connected to the same node candidate. Until the process ends (step S2016: Yes), the processes from step S2007 to step S2015 are repeated.

  If there is no more than one node candidate (step S2002: No), if the cumulative power consumption from the current point of the vehicle to the node N (i) _j is greater than or equal to the specified energy amount (step S2004: No), navigation The apparatus 200 ends the process according to this flowchart. In the search process, a combination of nodes at both ends connecting the searched links is stored in the storage unit. Similarly, when one end of the link is the search start point, the link is stored in the storage unit. That is, the combination of the search source point and the search destination point is stored in the storage unit.

<Link candidate determination process>
FIG. 22 is a flowchart illustrating an example of the procedure of the link candidate determination process (step S2007) illustrated in FIG. In FIG. 22, the navigation device 200 first determines whether or not the one link L (i + 1) _j selected in step S2006 is prohibited from passing (step S2201). If the passage is not prohibited (step S2201: No), the navigation device 200 determines whether one link L (i + 1) _j is a one-way reverse run (step S2202). When it is not one-way reverse running (step S2202: No), the navigation apparatus 200 determines whether one link L (i + 1) _j is time-regulated or seasonally regulated (step S2203).

  When time regulation and season regulation are not carried out (step S2203: No), the navigation apparatus 200 determines that the node N (i + 1) on the current point side of the vehicle with one link L (i + 1) _j being one link L (i + 1) _j. It is determined whether or not the degree of importance is lower than the link L (i) _j connected to (Step S2204). When the importance is higher than that of the link L (i) _j (step S2204: No), the navigation device 200 determines one link L (i + 1) _j as a link candidate (step S2205), and ends the processing according to this flowchart. To do.

  On the other hand, when it is prohibited to pass (step S2201: Yes), when it is one-way reverse running (step S2202: Yes), when time regulation or season regulation (step S2203: Yes), the link L ( i) When the importance is lower than _j (step S2204: Yes), the navigation device 200 ends the process according to this flowchart.

<Mesh generation process>
FIG. 23 is a flowchart illustrating an example of the procedure of the mesh generation process (step S1804) illustrated in FIG. In FIG. 23, the navigation apparatus 200 first acquires longitude / latitude information (x, y) of reachable nodes (searchable points) (step S2301). Next, the navigation apparatus 200 acquires the maximum longitude x_max, the minimum longitude x_min, the maximum latitude y_max, and the minimum latitude y_min (step S2302).

  Next, the navigation device 200 determines the distance w1 from the current vehicle location (ofx, ofy) acquired in step S1801 to the maximum longitude x_max, the distance w2 to the minimum longitude x_min, the distance w3 to the maximum latitude y_max, and the minimum latitude. A distance w4 to y_min is calculated (step S2303). Next, the navigation apparatus 200 acquires the longest distance w5 = max (w1, w2, w3, w4) among the distances w1 to w4 (step S2304).

  Next, the navigation device 200 calculates the magnification mag = w5 / n for converting the map data stored in the storage device from the absolute coordinate system to the screen coordinate system (step S2305). Next, the navigation apparatus 200 converts the map data from the absolute coordinate system to the screen coordinate system using the magnification mag calculated in step S2305, and generates a mesh (X, Y) of m × m dots (step S2306). Then, the process according to this flowchart is terminated.

<Consolidation process>
FIG. 24 is a flowchart illustrating an example of the procedure of the connection process (step S1805) illustrated in FIG. In FIG. 24, the navigation apparatus 200 determines whether or not there is an unselected combination in the combination group of the search source point and the search destination point stored in the storage unit by the search process (step S2401). If there is an unselected combination (step S2401: Yes), the navigation device 200 selects one unselected combination (step S2402).

  Next, the navigation device 200 uses the detection unit 307 to identify a link for the selected combination and detects the link direction (step S2403). Then, the navigation device 200 changes the search filter F as shown in FIG. 14 according to the detected link direction (step S2404). Note that steps S2403 and S2404 are optional processes and may be omitted.

  Then, the navigation device 200 sets a search source area including the search source point, and scans the search filter F along the link as shown in FIG. 12 (step S2405). Thereby, a search destination area is specified. Then, the navigation device 200 determines whether or not the distance between the search source region and the search destination region is equal to or greater than a predetermined distance by the determination unit 306 (step S2406).

  If the distance is equal to or greater than the predetermined distance (step S2406: YES), the navigation apparatus 200 attaches identification information “1” to the search source area, the search destination area, and the overlapping area with the link (step S2407), and step S2401. Return to. On the other hand, if the distance is not greater than the predetermined distance (step S2406: NO), the navigation device 200 adds the identification information “1” to the search source area and the search destination area because there is no overlapping area with the link (step S2408). ), The process returns to step S2401. In step S2401, when there is no unselected combination (step S2401: No), the navigation apparatus 200 gives the identification information “0” to the remaining mesh to which the identification information “1” is not given (step S2409). The process according to this flowchart ends.

<Identification information change process>
FIG. 25 is a flowchart illustrating an example of the procedure of the identification information change process (step S1806) illustrated in FIG. In the flowchart of FIG. 25, the navigation device 200 has a defect point generated in an area corresponding to a bridge or tunnel when the identification information of each area corresponding to the entrance and exit of the bridge or tunnel is reachable identification information. Remove.

  In FIG. 25, the navigation apparatus 200 first acquires a mesh of two-dimensional matrix data of my rows and mx columns (step S2501). Next, the navigation device 200 assigns 1 to the variables i and j in order to search the identification information of the i-row and j-column area of the mesh (steps S2502 and S2503). Next, the navigation apparatus 200 determines whether or not the region of the i row and j column of the mesh is a bridge or a tunnel entrance (step S2504).

  If the i-th row and j-th column region is the entrance of a bridge or tunnel (step S2504: Yes), the navigation apparatus 200 determines whether the identification information of the i-th row and j-th column region of the mesh is “1”. (Step S2505). When the identification information of the area of i row and j column is “1” (step S2505: Yes), the navigation device 200 corresponds to the area of the other entrance / exit of the bridge or tunnel corresponding to the area of i row and j column of the mesh. Position information (i1, j1) and identification information are acquired (step S2506).

  Next, the navigation apparatus 200 determines whether or not the identification information of the area in the i1 row and j1 column of the mesh is “1” (step S2507). When the identification information of the area of i1 row j1 column is “1” (step S2507: Yes), the navigation apparatus 200 determines that all the areas on the section connecting the i row j column area and the i1 row j1 column area are present. The position information of the area is acquired (step S2508).

  Next, the navigation apparatus 200 changes the identification information of each area acquired in step S2508 to “1” (step S2509). As a result, the missing point generated in the region corresponding to the bridge or tunnel connecting the region of i row and j column and the region of i1 row and j1 column is removed. The navigation apparatus 200 may proceed to step S2510 without performing the process of step S2509 when the identification information of each area acquired in step S2508 is all “1”.

  Further, when the region of i row and j column is not the entrance of the bridge or tunnel (step S2504: No), when the identification information of the region of i row and j column is not “1” (step S2505: No), and i1 row j1 If the identification information of the row area is not “1” (step S2507: NO), the navigation device 200 proceeds to step S2510.

  Next, the navigation apparatus 200 adds 1 to the variable j (step S2510), and determines whether or not the variable j exceeds the mx column (step S2511). If the variable j does not exceed the mx column (step S2511: NO), the navigation device 200 returns to step S2504 and repeats the subsequent processing. On the other hand, when the variable j exceeds the mx column (step S2511: Yes), the navigation apparatus 200 adds 1 to the variable i (step S2512), and determines whether the variable i exceeds the my row. (Step S2513).

  If the variable i does not exceed the my line (step S2513: NO), the navigation device 200 returns to step S2503, substitutes 1 for the variable j, and then repeats the subsequent processing. On the other hand, when the variable i exceeds the my line (step S2513: Yes), the navigation device 200 ends the process according to this flowchart. Thereby, the navigation apparatus 200 can remove all the missing points on the bridge or tunnel included in the mesh of the two-dimensional matrix data of my rows and mx columns.

  In addition, the navigation device 200 determines again whether or not the region of column i1 and j1 acquired as the other entrance / exit of the bridge or tunnel in step S2506 is the other entrance / exit of the bridge or tunnel (processing in step S2504). ) Is not necessary. Thereby, the navigation apparatus 200 can reduce the processing amount of an identification information change process.

<Display processing>
26 and 27 are flowcharts showing an example of the procedure of the display process (step S1807) shown in FIG. 26 and 27, the navigation apparatus 200 first obtains a mesh of two-dimensional matrix data of my rows and mx columns (step S2601). Next, the navigation apparatus 200 acquires longitude / latitude information of each area of the mesh acquired in step S2601 (step S2602).

  Next, the navigation device 200 initializes the variable i and adds 1 to the variable i in order to search for the identification information of the region of the i row and j column of the mesh (steps S2603 and S2604). Next, the navigation apparatus 200 determines whether or not the variable i exceeds the my row (step S2605).

  When the variable i does not exceed the my line (step S2605: No), the navigation device 200 initializes the variable j and adds 1 to the variable j (steps S2606 and S2607). Next, the navigation apparatus 200 determines whether or not the variable j exceeds the mx column (step S2608).

  When the variable j does not exceed the mx column (step S2608: No), the navigation apparatus 200 determines whether the identification information of the area of the i-th row and j-th column of the mesh is “1” (step S2609). When the identification information of the i-th row and j-th column region is “1” (step S2609: Yes), the navigation device 200 acquires the upper left coordinates (px1, py1) of the i-th row and j-th column region of the mesh (step S2610). ). The upper left coordinates (px1, py1) of the region of i row and j column are the minimum longitude px1 and the minimum latitude py1 of the region of i row and j column.

  Next, the navigation apparatus 200 determines whether or not the variable j exceeds the mx column (step S2611). When the variable j exceeds the mx column (step S2611: No), the navigation apparatus 200 acquires the lower right coordinates (px2, py2) of the region of the i row and j column of the mesh (step S2612). The lower right coordinates (px2, py2) of the area of i row and j column are the maximum longitude px2 and the maximum latitude py2 of the area of i row and j column.

  Next, the navigation apparatus 200 sets the upper left coordinates (px1, py1) acquired in step S2610 and the lower right coordinates (px2, py2) acquired in step S2612 as map data (step S2616). Then, the navigation device 200 fills a rectangular area having the upper left coordinates (px1, py1) and the lower right coordinates (px2, py2) as opposed vertices (step S2617), returns to step S2604, and repeats the subsequent processing. Do it.

  On the other hand, when the variable j does not exceed the mx column (step S2611: Yes), the navigation apparatus 200 adds 1 to the variable j (step S2613), and the identification information of the region in the i row and j column of the mesh is “1”. "Is determined (step S2614). If the identification information of the i-th row and j-th column region is not “1” (step S2614: No), the navigation device 200 acquires the lower right coordinates (px2, py2) of the i-th row and j-1th column region of the mesh ( Steps S2615) and S2616 and subsequent steps are performed.

  If the identification information of the i-th row and j-th column region is “1” (step S2614: YES), the process returns to step S2611, and the subsequent processing is repeated. If the variable i exceeds the my line (step S2605: Yes), the navigation device 200 ends the process according to this flowchart. When the variable j exceeds the mx column (step S2608: Yes), the process returns to step S2604 and the subsequent processing is repeated.

<Other examples of consolidation processing>
Another example of the connection process will be described. Another example of the connection process is a process example in which identification information “1” is finally given to the search source area and the search destination area, as illustrated in FIG. 13.

  FIG. 28 is a flowchart illustrating another example of the procedure of the connection process (step S1805) illustrated in FIG. In FIG. 28, the navigation apparatus 200 determines whether or not there is an unselected combination in the combination group of the search source point and the search destination point stored in the storage unit by the search process (step S2801). If there is an unselected combination (step S2801: YES), the navigation device 200 selects one unselected combination (step S2802).

  Next, the navigation device 200 uses the detection unit 307 to specify a link for the selected combination and detects the link direction (step S2803). Then, the navigation device 200 changes the search filter F as shown in FIG. 14 according to the detected link direction (step S2804). Note that steps S2803 and S2804 are optional processes and may be omitted.

  Then, the navigation device 200 sets a search source area including the search source point, and scans the search filter F along the link as shown in FIG. 12 (step S2805). Thereby, a search destination area is specified. The navigation apparatus 200 determines whether the distance between the search source area and the search destination area is equal to or greater than a predetermined distance by the determination unit 306 (step S2806).

  If the distance is equal to or greater than the predetermined distance (step S2806: YES), the navigation apparatus 200 adds identification information “1” to the overlapping area with the link (step S2807), and proceeds to step S2808. On the other hand, if the distance is not greater than the predetermined distance (step S2806: NO), the navigation device 200 moves to step S2808 because there is no overlapping area with the link.

  In step S2808, navigation device 200 stores the position information of the search source area and the search destination area (step S2808), and returns to step S2801. In step S2801, if there is no unselected combination (step S2801: No), the navigation apparatus 200 assigns identification information “1” to the search source area and the search destination area in which the position information is stored (step S2809), and the identification is performed. Identification information “0” is assigned to the remaining mesh to which information “1” is not assigned (step S2810), and the processing according to this flowchart is terminated.

<About road gradient>
Next, the road gradient θ used as a variable on the right side of the equations (1) to (6) will be described. FIG. 29 is an explanatory diagram schematically illustrating an example of acceleration applied to a vehicle traveling on a road having a gradient. As shown in FIG. 29, a vehicle traveling on a slope having a road gradient θ has acceleration A (= dx / dt) accompanying traveling of the vehicle and a traveling direction component B (= g · sin θ) of gravitational acceleration g. Take it. For example, taking the above equation (1) as an example, the second term on the right side of the above equation (1) shows the acceleration A accompanying the traveling of the vehicle and the resultant acceleration C of the traveling direction component B of the gravitational acceleration g. Yes. Further, the distance D of the section in which the vehicle travels is defined as the travel time T and the travel speed V.

  When the power consumption is estimated without considering the road gradient θ, the error between the estimated power consumption and the actual power consumption is small in the region where the road gradient θ is small, but is estimated in the region where the road gradient θ is large. An error between the estimated power consumption and the actual power consumption increases. For this reason, in the navigation apparatus 200, estimation accuracy improves by estimating the fuel consumption in consideration of the road gradient, that is, the fourth information.

  The gradient of the road on which the vehicle travels can be known using, for example, an inclinometer mounted on the navigation device 200. Further, when the inclinometer is not mounted on the navigation device 200, for example, road gradient information included in the map data can be used.

<About running resistance>
Next, traveling resistance generated in the vehicle will be described. For example, the navigation device 200 calculates the running resistance by the following equation (11). Generally, traveling resistance is generated in a moving body during acceleration or traveling due to road type, road gradient, road surface condition, and the like.

(Embodiment 2)
In the second embodiment, similarly to the first embodiment, a connection process is executed from a search result, and an expansion / contraction process is performed on the search result. Then, by obtaining a logical product of both processing results, a mesh with identification information “1” is obtained. The reachable range of the moving object can be expressed without generating a missing point. In the second embodiment, only differences from the first embodiment will be described, and description of points common to the first embodiment will be omitted.

  FIG. 30 is an explanatory diagram of an example of image processing by the image processing device 300 and the image processing method according to the second embodiment. (A) shows the state after the search. In (A), the mesh where the search source point (corresponding to the start of the arrow) and the mesh where the search destination point (corresponding to the end of the arrow) exists are filled for convenience, but they are not yet plotted in practice. Shall. In addition, a mesh in which a search source point exists is referred to as a search source region, and a mesh in which a search destination point exists is referred to as a search destination region.

  (B) is one of the next states of (A), and shows the execution result of executing the expansion / contraction process for the search result of (A). In (B), the mesh corresponding to the result of the expansion / contraction process is painted as an reachable area.

  (C) shows one of the following states of (A). In (C), the mesh between the search source region and the search destination region and filled with the searched link is filled. A mesh between the search source region and the search destination region (excluding the search source region and the search destination region) in which the searched link exists is referred to as an overlapping region. In (C), the overlapping area is filled as an reachable area.

  (D) shows the next state of (C). (D) shows the result of executing the expansion / contraction process for (C). The expansion / contraction process (D) may be omitted. (E) shows the logical product of the expansion / contraction result of (B) and the expansion / contraction result of (D). In this way, by combining the result of the expansion / contraction process with the image processing according to the first embodiment, the reachable range of the moving object can be expressed without generating a missing point.

<Example of expansion / contraction treatment>
FIG. 31 is an explanatory diagram showing an example of the closing process by the navigation device. FIG. 31A to FIG. 31C are meshes of two-dimensional matrix data (Y, X) of m rows and m columns in which identification information is assigned to each region. FIG. 31A shows a mesh 3100 to which identification information is given for the first time after the map data division processing. That is, the mesh 3100 shown in FIG. 31A is the same as the mesh shown in FIG.

  FIG. 31B shows a mesh 3110 after the closing process (expansion) is performed on the mesh 3100 shown in FIG. FIG. 31C illustrates the mesh 3120 after the closing process (reduction) is performed on the mesh 3110 illustrated in FIG. In the meshes 3100, 3110, and 3120 shown in FIGS. 31A to 31C, the vehicle reachable ranges 3101, 3111, and 3121 generated by a plurality of regions to which reachable identification information is assigned are blacked out It shows with.

  As shown in FIG. 31A, in the mesh 3100 after the identification information is given, the missing point 3102 (the hatched reachable range 3101 within the reachable range 3101) that is included in the reachable range 3101 of the vehicle is included. A white background) has occurred. For example, as shown in FIG. 32, the missing point 3102 has the number of nodes that can be reached when narrowing down roads for searching for nodes and links in order to reduce the load of the reachable point search process by the navigation device 200. It is caused by being reduced.

  Next, as shown in FIG. 31B, the navigation device 200 performs a closing expansion process on the mesh 3100 after the identification information is given. In the closing expansion process, the identification information of one area adjacent to the area to which the reachable identification information is assigned in the mesh 3100 after the identification information is given is changed to the reachable identification information. Thereby, the missing part 3102 that has occurred in the reachable range 3101 of the vehicle before the expansion process (after the identification information is given) disappears.

  Moreover, the identification information of all the areas adjacent to the outermost area of the reachable range 3101 of the vehicle before the expansion process is changed to the reachable identification information. For this reason, the outer periphery of the reachable range 3111 of the vehicle after the expansion process is one dot at a time so as to surround the outer periphery of each outermost region of the reachable range 3101 of the vehicle before the expansion process every time the expansion process is performed. spread.

  Thereafter, as illustrated in FIG. 31C, the navigation device 200 performs a closing reduction process on the mesh 3110. In the closing reduction process, the identification information of one area adjacent to the area to which the unreachable identification information of the mesh 3110 after the expansion process is assigned is changed to the unreachable identification information.

  For this reason, each area on the outermost periphery of the reachable range 3111 of the vehicle after the expansion process becomes an area that cannot be reached by one dot every time the reduction process is performed, and the reachable range 3111 of the vehicle after the expansion process The outer circumference shrinks. Thereby, the outer periphery of the reachable range 3121 of the vehicle after the reduction process is substantially the same as the outer periphery of the reachable range 3101 of the vehicle before the expansion process.

  The navigation device 200 performs the expansion process and the reduction process described above by the same number of times. Specifically, when the expansion process is performed twice, the subsequent reduction process is also performed twice. By equalizing the number of times of the expansion process and the reduction process, the identification information of almost all areas in the outer periphery of the reachable range of the vehicle that has been changed to the identification information that can be reached by the expansion process is restored to the original information by the reduction process. It can be changed to unreachable identification information. In this way, the navigation device 200 can remove the missing point 3102 in the reachable range of the vehicle and generate the reachable range 3121 of the vehicle that can clearly display the outer periphery.

  More specifically, the navigation device 200 performs the closing process as follows. FIG. 32 is an explanatory diagram schematically illustrating an example of a closing process by the navigation device. 32A to 32C show an example of a mesh of two-dimensional matrix data (Y, X) of h rows and h columns in which identification information is assigned to each region.

  FIG. 32A shows a mesh 3200 after identification information is given. FIG. 32B shows a mesh 3210 after the closing process (expansion) with respect to FIG. FIG. 32C shows a mesh 3220 after the closing process (reduction) with respect to FIG. In meshes 3200, 3210, and 3220 in FIGS. 32A to 32C, regions 3201 and 3202 to which reachable identification information is assigned are illustrated by different hatchings.

  As shown in FIG. 32A, the identification information that can reach the region 3201 of the c-row, f-column, f-row, c-column, and g-row, f-column is given to the mesh 3200 after the identification information is given. In FIG. 32A, the regions 3201 to which reachable identification information is assigned are arranged apart from each other so that the change in the identification information after the expansion process and the reduction process becomes clear.

  The navigation device 200 performs a closing expansion process on the mesh 3200 to which such identification information is applied. Specifically, as illustrated in FIG. 32B, the navigation device 200 includes eight areas adjacent to the lower left, lower, lower right, right, upper right, upper, upper left, and left of the area 3201 in the c row and the f column. (B row e column to b row g column, c row e column, c row g column and d row e column to d row g column) 3202 is changed from unreachable identification information to reachable identification information. change.

  In addition, the navigation device 200 can reach the identification information of the eight adjacent regions 3202 in the region 3201 of the f row c column and the g row f column similarly to the processing performed for the region 3201 of the c row f column. Change to the identification information. For this reason, the reachable range 3211 of the vehicle is wider than the reachable range of the vehicle in the mesh 3200 after the identification information is added by the amount that the identification information of the area 3202 is changed to the reachable identification information.

  Next, the navigation apparatus 200 performs a closing reduction process on the mesh 3210 after the expansion process. Specifically, as illustrated in FIG. 32C, the navigation device 200 includes the b row and e columns adjacent to the region to which the unreachable identification information is given (the white background portion of the mesh 3210 after the expansion process). The identification information of the eight areas 3202 of the b row g column, the c row e column, the c row g column, and the d row e column to the d row g column is changed to unreachable identification information.

  Further, the navigation device 200 is similar to the processing performed for the eight areas 902 from b row e column to b row g column, c row e column, c row g column, and d row e column to d row g column. E row b column to e row d column, f row b column, f row d column to f row g column, g row b column to g row e column adjacent to the region to which unreachable identification information is assigned , G row g column, h row e column, and h row g column 15 area 3202 identification information is changed to unreachable identification information.

  Thus, as shown in FIG. 32C, the mesh 3220 after the reduction process is similar to the three areas 3201 to which reachable identification information is assigned, and the mesh after the reduction process is the same as the mesh 3200 after the addition of the identification information. The reachable range 3221 of the vehicle composed of one region 3202 that remains with the reachable identification information still attached is generated. As described above, the region 3202 that is provided with the identification information that can be reached during the expansion process and that has been provided with the identification information that can be reached after the reduction process is generated in the reachable range of the mesh 3200 after the identification information is applied. The missing point disappears.

<Example of Identification Information Assignment in Navigation Device 200-Part 2>
The navigation device 200 performs an opening process (a process of performing an expansion process after the reduction process) on the mesh of the two-dimensional matrix data (Y, X) to generate a vehicle reachable range that can clearly display the outer periphery. Also good. Specifically, the navigation device 200 performs an opening process as follows.

  FIG. 33 is an explanatory diagram showing an example of the opening process by the navigation device. 33A to 33C are meshes of two-dimensional matrix data (Y, X) of m rows and m columns in which identification information is given to each region. FIG. 33A shows a mesh 3300 after identification information is given. FIG. 33B shows the mesh 1010 after the opening process (reduction) with respect to FIG. FIG. 33C shows a mesh 3320 after the opening process (expansion) with respect to FIG. In the meshes 3300, 3310, and 3320 shown in FIGS. 33A to 33C, the vehicle reachable ranges 3301, 3311, and 3321 generated by a plurality of regions to which reachable identification information is assigned are blackened. Shown in a filled state.

  As shown in FIG. 33A, when many isolated points 3302 are generated on the outer periphery of the reachable range 3301 of the vehicle in the mesh 3300 after the identification information is added, the opening process is performed on the mesh 3300 after the identification information is added. By doing so, the isolated point 3302 can be removed. Specifically, as shown in FIG. 33B, the navigation apparatus 200 performs an opening reduction process on the mesh 3300 after the identification information is given.

  In the opening reduction process, the identification information of one area adjacent to the area to which the unreachable identification information of the mesh 3300 after the identification information is added is changed to the unreachable identification information. Thereby, the isolated point 3302 that has occurred in the vicinity of the reachable range 3301 of the vehicle before the reduction process (after the identification information is given) is removed.

  For this reason, each area on the outermost periphery of the reachable range 3301 of the vehicle after the identification information is added becomes an area that cannot be reached by one dot every time the reduction process is performed, and the reachable range of the vehicle after the identification information is given The outer periphery of 3301 shrinks. Further, the isolated point 3302 that has occurred in the reachable range 3301 of the vehicle after the identification information is given is removed.

  Thereafter, as shown in FIG. 33C, the navigation device 200 performs an opening expansion process on the mesh 3310. In the opening expansion process, the identification information of one area adjacent to the area to which the unreachable identification information of the mesh 3310 after the reduction process is assigned is changed to the reachable identification information. For this reason, the outer periphery of the reachable range 3321 of the vehicle after the expansion process is one dot at a time so as to surround the outer periphery of each outermost region of the reachable range 3311 of the vehicle after the reduction process every time the expansion process is performed. spread.

  In the opening process, the navigation device 200 performs the expansion process and the reduction process the same number of times as in the closing process. Thus, by equalizing the number of times of the expansion process and the reduction process, the outer periphery of the reachable range 3311 of the vehicle contracted by the reduction process is expanded, and the outer periphery of the reachable range 3321 of the vehicle after the reduction process is expanded before the reduction process. Can be returned to the outer periphery of the reachable range 3301 of the vehicle. In this way, the navigation device 200 can generate the vehicle reachable range 3321 in which the isolated point 3302 does not occur and the outer periphery can be clearly displayed.

<Image Processing in Navigation Device 200>
FIG. 34 is a flowchart illustrating an example of an image processing procedure performed by the navigation apparatus 200. The same steps as those in FIG. 18 are denoted by the same step numbers, and the description thereof is omitted.

  After the area group is generated in the mesh generation process (step S1804), the generated area group is copied and branched to two processes. One is the same as in the first embodiment, and executes the connection process (step S1805) and the identification information change process (step S1806). Thereafter, as shown in FIG. 30D, the navigation device 200 executes an expansion / contraction process (step S3407), and proceeds to step S3410. As described above, the expansion / contraction process (step S3407) may be omitted.

  In the other branch, navigation device 200 assigns identification information “1” to the search source region and the search destination region, and assigns identification information “0” to the remaining meshes (step S3408). And the navigation apparatus 200 performs an expansion / contraction process with respect to the area | region group to which identification information was provided in step S3408 (step S3409), and transfers to step S3410.

  In step S3410, the navigation device 200 executes a synthesis process of the region group that is the processing result of the expansion / contraction process (step S3407) and the region group that is the processing result of the expansion / contraction process (step S3409) (step S3410). . In the synthesizing process (step S3410), the navigation device 200 performs a logical product of identification information between meshes at the same position. Thereby, the excess area | region which generate | occur | produced by the expansion / contraction process can be removed. Thereafter, the navigation device 200 ends the processing according to this flowchart by executing display processing (step S1807).

<An example of connection determination by the determination unit 306>
In the second embodiment, since the expansion / contraction process is executed, the connection determination is executed after assuming the expansion / contraction range. Specifically, in the first embodiment, when the search source point and the search destination point exist in the same region, or when the search source point exists in one adjacent region and the search destination point exists in the other region. Has been treated as a region in which the search source region and the search destination region are linked (region overlapping the link) does not exist.

  FIG. 35 is an explanatory diagram of a connection determination example. (A) has shown the expansion | swelling range for 1 time. The expansion range by one expansion is eight regions adjacent to the central region. (B) shows the expansion range for two times. The expansion range due to the first expansion is the adjacent 8 regions of the central region, and the expansion range due to the second expansion is the adjacent 16 regions adjacent to the adjacent 8 regions due to the first expansion.

  For example, if expansion and contraction are repeated N times, assuming that the size of the region is 1, regions within √ (2 × (2N + 1)) are always connected by expansion and contraction. Therefore, it is not necessary to connect within √ (2 × (2N + 1)). Accordingly, when the one expansion range is the adjacent eight regions, the predetermined distance of S2406 and S2806 in the connection process (step S1805) shown in FIGS. 24 and 28 may be set to √ (2 × (2N + 1)). . Therefore, in the case of (A), N = 1 because it indicates the expansion range for one time, and in the case of (B), N = 2 because it indicates the expansion range for two times.

(Embodiment 3)
The third embodiment is an example in which the image processing apparatus 300 described in the first and second embodiments is an image processing system.

  FIG. 36 is a block diagram of an example of a functional configuration of the image processing apparatus 300 according to the third embodiment. In FIG. 36, an image processing system 3600 includes a server 3610 and a terminal 3620. The image processing system 3600 according to the third embodiment includes the function of the image processing apparatus 300 according to the first embodiment in the server 3610 and the terminal 3620.

  The server 3610 generates information to be displayed on the display unit 310 by the terminal 3620 mounted on the mobile object. Specifically, the server 3610 detects information related to the reachable range of the moving object and transmits the information to the terminal 3620. The terminal 3620 may be mounted on a mobile object, may be used in the mobile object as a mobile terminal, or may be used outside the mobile object as a mobile terminal. Terminal 3620 receives information related to the reachable range of the moving object from server 3610.

  36, the server 3610 includes a calculation unit 302, a search unit 303, a division unit 304, a grant unit 305, a determination unit 306, a detection unit 307, a server reception unit 3611, and a server transmission unit 3612. The terminal 3620 includes an acquisition unit 301, a display control unit 308308, a terminal reception unit 3621, and a terminal transmission unit 3622. In the image processing system 3600 shown in FIG. 36, the same components as those of the image processing apparatus 300 shown in FIG.

  In server 3610, server reception unit 3611 receives information transmitted from terminal 3620. Specifically, for example, the server reception unit 3611 receives information on a mobile unit from a terminal 3620 connected to a communication network such as a public line network, a mobile phone network, DSRC, LAN, and WAN via a radio. The information regarding the moving body is information regarding the current position of the moving body and information regarding the initial amount of energy that is the amount of energy held by the moving body at the current position of the moving body. Information received by the server reception unit 3611 is information referred to by the calculation unit 302.

  The server transmission unit 3612 uses a plurality of areas obtained by dividing the map information 100 to which reachable identification information for identifying that the mobile body is reachable by the assigning unit 305 as a reachable range of the mobile body, Transmit to terminal 3620. Specifically, for example, the server transmission unit 3612 transmits information to a terminal 3620 that is connected to a communication network such as a public line network, a mobile phone network, DSRC, LAN, and WAN via a wireless connection.

  The terminal 3620 is connected to the server 3610 in a communicable state via, for example, an information communication network of a mobile terminal or a communication unit (not shown) provided in the own device.

  In terminal 3620, terminal reception unit 3621 receives information from server 3610. Specifically, the terminal receiving unit 3621 is divided into a plurality of areas, and map information 100 in which each area is provided with identification information that is reachable or unreachable based on the reachable point of the mobile object. Receive. More specifically, for example, the terminal reception unit 3621 receives information from a server 3610 that is connected to a communication network such as a public line network, a mobile phone network, DSRC, LAN, and WAN via a wireless connection.

  The terminal transmission unit 3622 transmits information regarding the moving object acquired by the acquisition unit 301 to the server 3610. Specifically, for example, the terminal transmission unit 3622 transmits information related to the mobile unit to a server 3610 connected to a communication network such as a public line network, a mobile phone network, DSRC, LAN, WAN, or the like wirelessly.

  Next, image processing by the image processing system 3600 according to the third embodiment will be described. Since the image processing by the image processing system 3600 is almost the same as the image processing apparatus 300 according to the first embodiment, the difference from the first embodiment will be described.

  In the image processing by the image processing system 3600, the server 3610 performs estimated energy consumption calculation processing, reachable point search processing, and identification information addition processing in the image processing by the image processing apparatus 300 according to the first embodiment. Specifically, the terminal 3620 performs an information acquisition process by the acquisition unit 301 and transmits the acquired information to the server 3610.

  Next, the server 3610 receives information from the terminal 3620. Next, the server 3610 performs the processing of the calculation unit 302 to the detection unit 307 based on the information received from the terminal 3620 and transmits the information acquired from the assigning unit 305 to the terminal 3620. Next, the terminal 3620 receives information from the server 3610. The terminal 3620 performs display control processing by the display control unit 308 based on the information received from the server 3610, and ends the processing according to this flowchart.

  FIG. 37 is a block diagram of another example of the functional configuration of the image processing system according to the third embodiment. In FIG. 37, the image processing system 3700 includes a first server 3710, a second server 3720, a third server 3730, and a terminal 3740. In the image processing system 3700, the first server 3710 has the function of the calculation unit 302 of the image processing apparatus 300 of the first embodiment, and the second server 3720 has the function of the search unit 303 of the image processing apparatus 300 of the first embodiment. The third server 3730 includes the functions of the dividing unit 304, the adding unit 305, the determining unit 306, and the detecting unit 307 of the image processing apparatus 300 according to the first embodiment, and the acquiring unit 301 of the image processing apparatus 300 according to the first embodiment. The terminal 3740 includes the functions of the display control unit 308.

  In FIG. 37, terminal 3740 has the same configuration as terminal 2520 of the second embodiment. Specifically, the terminal 3740 includes an acquisition unit 301, a display control unit 308, a terminal reception unit 3741, and a terminal transmission unit 3742. Terminal receiver 3741 has the same configuration as terminal receiver 2521 of the second embodiment. Terminal transmission unit 3742 has the same configuration as terminal transmission unit 2522 of the second embodiment. The first server 3710 includes a calculation unit 302, a first server reception unit 3711, and a first server transmission unit 3712.

  The second server 3720 includes a search unit 303, a second server reception unit 3721, and a second server transmission unit 3722. The third server 3730 includes a dividing unit 304, a granting unit 305, a determining unit 306, a detecting unit 307, a third server receiving unit 3731, and a third server transmitting unit 3732. In the image processing system 3700 shown in FIG. 37, the same components as those of the image processing apparatus 300 shown in FIG. 1 and the image processing system 3600 shown in FIG.

  In the first server 3710, the first server reception unit 3711 receives information transmitted from the terminal 3740. Specifically, for example, the first server reception unit 3711 receives information from the terminal transmission unit 3742 of the terminal 3740 connected wirelessly to a communication network such as a public network, a mobile phone network, DSRC, LAN, WAN, or the like. Receive. Information received by the first server reception unit 3711 is information referred to by the calculation unit 302.

  The first server transmission unit 3712 transmits the information calculated by the calculation unit 302 to the second server reception unit 3721. Specifically, the first server transmission unit 3712 transmits information to a second server reception unit 3721 connected wirelessly to a communication network such as a public network, a mobile phone network, DSRC, LAN, WAN, etc. Alternatively, the information may be transmitted to the second server receiving unit 3721 connected by wire.

  In second server 3720, second server reception unit 3721 receives information transmitted by terminal transmission unit 3742 and first server transmission unit 3712. Specifically, for example, the second server reception unit 3721 includes a first server transmission unit 3712 and a terminal transmission unit that are wirelessly connected to a communication network such as a public network, a mobile phone network, DSRC, LAN, WAN, and the like. Information from 3742 is received. The second server reception unit 3721 may receive information from the first server transmission unit 3712 connected by wire. The information received by the second server reception unit 3721 is information referred to by the search unit 303.

  The second server transmission unit 3722 transmits the information searched by the search unit 303 to the third server reception unit 3731. Specifically, for example, the second server transmission unit 3722 transmits information to a third server reception unit 3731 that is connected to a communication network such as a public line network, a mobile phone network, DSRC, LAN, WAN, or the like wirelessly. Alternatively, the information may be transmitted to the third server reception unit 3731 connected by wire.

  In third server 3730, third server reception unit 3731 receives information transmitted by terminal transmission unit 3742 and second server transmission unit 3722. Specifically, for example, the third server reception unit 3731 includes a second server transmission unit 3722 and a terminal transmission unit that are wirelessly connected to a communication network such as a public line network, a mobile phone network, DSRC, LAN, and WAN. Information from 3742 may be received. The third server reception unit 3731 may receive information from the second server transmission unit 3722 connected by wire. Information received by the third server reception unit 3731 is information referred to by the division unit 304.

  The third server transmission unit 3732 transmits the information generated by the grant unit 305 to the terminal reception unit 3741. Specifically, for example, the third server transmission unit 3732 transmits information to a terminal reception unit 3741 that is connected to a communication network such as a public line network, a mobile phone network, DSRC, LAN, and WAN via a wireless connection.

  Next, image processing by the image processing system 3700 according to the third embodiment will be described. Since the image processing by the image processing system 3700 is almost the same as that of the image processing apparatus 300 according to the first embodiment, differences from the first embodiment will be described using the flowchart of FIG.

  In the image processing by the image processing system 3700, of the image processing by the image processing apparatus 300 according to the first embodiment, the first server 3710 performs estimated energy consumption calculation processing, and the second server 3720 performs reachable point search processing. The third server 3730 performs the identification information adding process. In the flowchart of FIG. 18, the terminal 3740 performs the process of step S1801 and transmits the information acquired in step S1801 to the first server 3710.

  Next, the first server 3710 receives information from the terminal 3740. Next, the first server 3710 performs the processing of steps S1802 and S1803 based on the information received from the terminal 3740, and transmits the information calculated in step S1803 to the second server 3720. Next, the second server 3720 receives information from the first server 3710. Next, the second server 3720 performs the process of step S1804 based on the information received from the first server 3710, and transmits the information searched in step S1804 to the third server 3730.

  Next, the third server 3730 receives information from the second server 3720. Next, the third server 3730 performs the processes in steps S1805 and S1806 based on the information from the second server 3720, and transmits the information generated in step S1806 to the terminal 3740. Next, the terminal 3740 receives information from the third server 3730. Then, the terminal 3740 performs step S1807 based on the information received from the third server 3730, and ends the processing according to this flowchart.

  As described above, the image processing systems 3600 and 3700 and the image processing method according to the third embodiment can obtain the same effects as the image processing apparatus 300 and the image processing method according to the first embodiment.

(Embodiment 4)
The fourth embodiment shows an example of a system configuration in the first to third embodiments. FIG. 38 is an explanatory diagram of an example of a system configuration according to the fourth embodiment. In Embodiment 4, an example in which the present invention is applied to an image processing system 3800 in which a navigation device 3810 mounted on a vehicle is the terminal 3620 and the server 3820 is the server 3610 will be described. The image processing system 3800 includes a navigation device 3810, a server 3820, and a network 3840 mounted on the vehicle 3830.

  The navigation device 3810 is mounted on the vehicle 3830. The navigation device 3810 transmits to the server 3820 information on the current location of the vehicle and information on the initial stored energy amount. In addition, the navigation device 3810 displays the information received from the server 3820 on the display to notify the user. Server 3820 receives information on the current location of the vehicle and information on the initial stored energy amount from navigation device 3810. Server 3820 generates information related to the reachable range of vehicle 3830 based on the received vehicle information.

  The hardware configuration of the server 3820 and the navigation device 3810 is the same as the hardware configuration of the navigation device 200 of the first embodiment. The navigation device 3810 only needs to have a hardware configuration corresponding to a function of transmitting vehicle information to the server 3820 and a function of receiving information from the server 3820 and notifying the user.

  Further, the image processing system 3800 uses the navigation device 3810 mounted on the vehicle as the terminal 3740 of the third embodiment, and the functional configuration of the server 3820 is distributed to the first to third servers 3710 to 3730 of the third embodiment. May be.

  As described above, in the image processing apparatus and the image processing method according to the present embodiment, the expansion process for expanding the area to the area where the mobile object can reach, and the mobile object cannot reach from the area expanded by the expansion process. It is possible to reduce the adverse effects caused by the shrinking process (hereinafter referred to as “expansion / shrinking process”) that excludes a region. Specifically, it is possible to suppress the disappearance of the node, the narrowing of the reachable range, and the dispersion of the reachable range due to the expansion / contraction process. In addition, as shown in the second embodiment, by using the expansion / contraction process in a complementary manner, loss of nodes, narrowing of the reachable range, and dispersion of the reachable range accompanying the expansion / contraction process can be suppressed with high accuracy. can do.

  In addition, the image processing apparatus and the image processing method according to the present embodiment can apply the extraction operation of the reachable area along the road shape independently from the method shown in the background section. It is also possible to freely select a method for extracting a reachable range along the shape. For example, in the image processing apparatus and the image processing method according to the present embodiment, it is possible to change the thickness of a line drawn along a road shape, or to perform expansion / contraction after drawing a line.

  In addition, according to the present embodiment, it is possible to generate the reachable range of the moving object in a state excluding the area where the moving object cannot travel, such as the sea, the lake, and the mountain range. Can be displayed.

  In addition, by executing the connection determination between the search source region and the search destination region, it is possible to suppress unnecessary identification information from being added, and to speed up image processing. In addition, by detecting the direction of the link between the search source point and the search destination point and changing the search filter F, it is possible to suppress duplication of identification information and to speed up image processing. Can do.

  Note that the image processing method described in this embodiment can be realized by executing a program prepared in advance on a computer such as a personal computer or a workstation. This program is recorded on a computer-readable recording medium such as a hard disk, a flexible disk, a CD-ROM, an MO, and a DVD, and is executed by being read from the recording medium by the computer. The program may be a transmission medium that can be distributed via a network such as the Internet.

DESCRIPTION OF SYMBOLS 300 Image processing apparatus 301 Acquisition part 302 Calculation part 303 Search part 304 Dividing part 305 Giving part 306 Judgment part 307 Detection part 308 Display control part 310 Display part

Claims (3)

Search means for searching for a reachable point based on information on the amount of energy held by the mobile body and an estimated energy consumption amount that is energy consumed when the mobile body travels;
A first region obtained by executing expansion and contraction processing on a search source region including a search source point in the search processing of the search means and a search destination region including the search destination point from the search source point; and the search source Display control means for causing the display means to display a composite area with the second area obtained based on the overlapping area overlapping the area, the search destination area, and the link connecting the search source area and the search destination area as a reachable range An image processing apparatus comprising: In the image processing method executed by the image processing apparatus,
A search step of searching for a reachable point by search means based on information on the amount of energy held by the mobile body and an estimated energy consumption amount that is energy consumed when the mobile body travels;
A first area obtained by executing expansion and contraction processing on a search source area including a search source point in the process of the search step and a search destination area including a search destination point from the search source point, and the search source area And a display control unit that causes the display unit to display a combined region with the second region obtained based on the search destination region and an overlapping region overlapping the link connecting the search source region and the search destination region as a reachable range. A display control process;
An image processing method comprising:   An image processing program for causing a computer to execute the image processing method according to claim 2.

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