JP2022089850A - Image processing device, image processing method and image processing program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable the display of a range which a movable body can actually reach.

SOLUTION: An image processing device 200 generates a reachable range of a movable body on the basis of a residual energy amount of the movable body to display the reachable range in a display part 210. An acquisition part 201 acquires information on the present point of the movable body and information on an initial retention energy amount at the present point of the movable body. A calculation part 202 calculates an estimated energy consumption amount being energy to be consumed when the movable body travels in a prescribed section. A search part 203 searches a plurality of reachable points which the movable body can reach from the present point. A division part 204 divides map information into a plurality of areas. A provision part 205 provides identification information for identifying whether the movable body can respectively reach the plurality of areas divided by the division part 204. A display control part 206 displays a reachable range of the movable body together with the map information in the display part 210.

SELECTED DRAWING: Figure 1

COPYRIGHT: (C)2022,JPO&INPIT

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 the amount of residual energy of the moving body. However, the use of the present invention is not limited to the image processing device, 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 position of the moving body is known (see, for example, Patent Document 1 below). In Patent Document 1 below, all directions on the map are radially divided around the current position of the moving body, and the farthest reachable intersection from the current position of the moving body is acquired as a node of map information for each divided area. Then, the Beju curve obtained by connecting the acquired plurality of nodes is displayed as the reachable range of the moving body.

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

Further, a device for displaying the travelable range of an electric vehicle is known. (For example, see Patent Document 3 below.). In the following Patent Document 3, the map is divided on the mesh, and the travelable range is displayed in mesh units.

Japanese Unexamined Patent Publication No. 11-016094 Japanese Unexamined Patent Publication No. 07-085397 Japanese Unexamined Patent Publication No. 2011-217509

However, in the technique of Patent Document 1 described above, since only the arrival point farthest from the moving object in each direction is acquired around the current position of the moving object, only the outline of the reachable range of the moving object can be obtained. Therefore, even if there is an area where the moving object cannot travel, such as the sea or a lake, between the current position of the moving object and the arrival point farthest from the moving object, the moving object can travel. One example is the problem that it is not possible to obtain the reachable range of a moving object by excluding areas that cannot be reached.

Further, in the technique of Patent Document 2 described above, since only the road is acquired as the reachable range of the moving body, the range other than the road cannot be included in the reachable range of the moving body. Further, since the reachable range of the moving body is displayed as a set of line segments along the road on which the moving body can travel, the outline of the reachable range cannot be obtained. Therefore, one example is the problem that the reachable range of the moving object is easy to see and it is difficult to display the moving object without omission.

Further, in the technique of Patent Document 3 described above, when the travelable range is displayed in mesh units, the outer circumference cannot be displayed smoothly, and the problem of lacking visibility is given as an example. In addition, as another method of displaying the travelable range, in order to know the travelable range, it is conceivable to divide the map into sections of the mesh and check whether there is a reachable intersection for each mesh on the main road. However, for the purpose of reducing the amount of calculation, the travelable range is not calculated at all intersections, but only on the main roads, so there is a problem that many missing points occur. When neighborhood processing of image processing is performed in order to eliminate such missing points, the outer circumference connecting the isolated points becomes a combination of straight lines, and the display cannot be performed smoothly, resulting in lack of visibility. Further, when drawing by connecting the outer circumferences with a straight line, if the number of outer peripheral points is too large, the drawing process takes time, which is an example.

In order to solve the above-mentioned problems and achieve the object, the image processing apparatus according to the invention of claim 1 is an extraction means for extracting the outline of the reachable range based on the coordinate information defining the reachable range of the moving body. And, based on the result of frequency-converting the deviation angle defined for each vertex of the vertex group included in the extracted contour and removing the frequency component above the predetermined frequency, the contour is deformed and displayed on the display means. It is characterized by comprising a control means.

Further, the image processing apparatus according to the second aspect of the invention is provided with an extraction means for extracting the outline of the reachable range of the moving body and reachable identification information for identifying that the moving body is reachable. The reachable range of the moving object is extracted based on the longitude and latitude information of the region, and the deviation angle defined for each vertex of the vertex group included in the extracted contour is frequency-converted to remove frequency components above a predetermined frequency. Then, it is characterized by comprising a display control means for displaying the reachable range of the moving body, which is a contour from which the frequency component has been removed, on the display means by performing an inverse conversion.

Further, the image processing apparatus according to the invention of claim 3 has information on the amount of initial energy possessed by the moving body and the estimated energy consumption which is the energy consumed when the moving body travels in a predetermined section. An extraction means that extracts the contour of the reachable range based on the amount, and the deviation angle defined for each vertex of the vertex group included in the extracted contour are frequency-converted to remove frequency components above a predetermined frequency. Then, by reverse conversion, the display control means for displaying the reachable range of the moving body, which is the contour from which the frequency component has been removed, on the display means, information on the current position of the moving body, and the initial energy possession. Acquisition means for acquiring information on the amount, calculation means for calculating the estimated energy consumption, map information including a node group indicating a point and a link group indicating a route between the points, the initial energy possession amount and the estimation. Based on the energy consumption, the search means for searching the reachable point from the current point along the link where the current point is located, and the map information are divided into a plurality of areas, and the plurality of areas are divided. Among the regions of the above, there is a means for imparting identification information indicating that the moving body is reachable to the overlapping region overlapping the link from the current point to the reachable point. The extraction means is characterized in that the contour of the reachable range of the moving body is extracted from the map information based on the identification information of the area to which the identification information is given by the granting means.

Further, the image processing apparatus according to the invention of claim 4 has information on an initial possessed energy amount which is an energy amount possessed by a moving body and an estimated energy consumption which is an energy consumed when the moving body travels in a predetermined section. An extraction means for extracting the contour of the reachable range based on the amount, and a frequency conversion of the deviation angle defined for each vertex of the vertex group included in the extracted contour are performed to remove frequency components above a predetermined frequency. The moving body has a display control means for displaying the reachable range of the moving body, which is a contour from which the frequency component has been removed, by performing an inverse conversion. The moving object is based on the positional relationship between one area to which reachable identification information is given to identify reachability and another area to which reachable identification information is given adjacent to the one area. By extracting the contour of the reachable range of the above, frequency-converting the deviation angle defined for each vertex of the vertex group included in the extracted contour, removing the frequency component above the predetermined frequency, and then performing the inverse conversion. It is characterized in that the display means displays the reachable range of the moving body, which is the contour from which the frequency component has been removed.

Further, the image processing apparatus according to the invention of claim 6 has initial energy possession information which is the amount of energy possessed by the moving body and estimated energy consumption which is the energy consumed when the moving body travels in a predetermined section. After removing the frequency component above the predetermined frequency by frequency conversion of the extraction means for extracting the contour of the reachable range and the deviation angle defined for each vertex of the vertex group included in the extracted contour. The display control means has a display control means for displaying the reachable range of the moving body, which is a contour from which the frequency component has been removed, by the reverse conversion, and the display control means has a deviation angle after the reverse conversion. Among them, it is characterized in that a thinning process for thinning out vertices having a deviation angle smaller than a predetermined angle is executed, and the reachable range of the moving body, which is the contour after the thinning process, is displayed on the display means.

Further, the image processing apparatus according to the invention of claim 12 is adjacent to a contour extracting means for extracting the contour of a reachable range of a moving object from map information and a group of vertices constituting the contour extracted by the contour extracting means. Of the complementary means that make each line segment connecting the vertices the same length, the deviation angle defined for each vertex of the vertex group constituting the contour complemented by the complementary means, and the length of the line segment. A conversion means for frequency-converting only the deviation angle, a removing means for removing a frequency component of a predetermined frequency or higher among the frequency components of the deviation angle converted by the conversion means, and a frequency of the deviation angle after removal by the removing means. It is characterized by having an inverse conversion means for inversely converting a component, and displaying the reachable range of the moving body, which is a contour from which the frequency component has been removed by the inverse conversion means, on the display means.

Further, the image processing method according to the invention of claim 13 is an image processing method in an image processing apparatus that processes information regarding a reachable range of a moving body, and is based on coordinate information that defines a reachable range of the moving body. Based on the result of the extraction step of extracting the contour of the reachable range and the result of frequency-converting the deviation angle defined for each vertex of the vertex group included in the extracted contour and removing the frequency component above the predetermined frequency. It is characterized by including a display control step of deforming a contour and displaying it on a display means.

Further, the image processing method according to the invention of claim 14 is an image processing method in an image processing apparatus that processes information regarding a reachable range of a moving body, and is a step of extracting an outline of a reachable range of the moving body. , The reachable range of the moving body is extracted based on the longitude / latitude information of the area to which the reachable identification information is given to identify that the moving body is reachable, and the peak group included in the extracted contour is included. The reachable range of the moving body, which is the contour from which the frequency component is removed, is displayed by frequency-converting the deviation angle defined for each vertex, removing the frequency component above the predetermined frequency, and then performing the inverse conversion. It is characterized by including a display control step of displaying on the means.

Further, the image processing method according to the invention of claim 15 is an image processing method in an image processing apparatus for processing information regarding a reachable range of a moving body, and is related to an initial holding energy amount which is an energy amount held by the moving body. An extraction process for extracting the contour of the reachable range based on the information and the estimated energy consumption, which is the energy consumed when the moving body travels in a predetermined section, and each of the apex groups included in the extracted contour. A means for displaying the reachable range of the moving body, which is a contour from which the frequency component has been removed, by frequency-converting the deviation angle defined at the apex, removing frequency components above a predetermined frequency, and then performing inverse conversion. A display control process to be displayed on the screen, an acquisition process for acquiring information on the current position of the moving object, and information on the initial energy possession amount, a calculation process for calculating the estimated energy consumption amount, and a node group indicating the point. Based on the map information including the link group indicating the route between the point and the point, the initial energy possession amount, and the estimated energy consumption amount, the point where the moving object can reach from the current point along the link where the current point is located. The moving body is divided into a plurality of areas, and the overlapping area overlapping the link from the current point to the reachable point among the plurality of areas. The extraction step includes the movement from the map information based on the identification information of the region to which the identification information is given by the addition step, which includes a granting step of imparting identification information indicating that is reachable. It is characterized by extracting the contour of the reachable range of the body.

Further, the image processing program according to the invention of claim 16 is characterized in that the computer executes the image processing method according to any one of claims 13 to 15.

FIG. 1 is an explanatory diagram showing an example of displaying the outline of the reachable range of the moving body. FIG. 2 is a block diagram showing an example of the functional configuration of the image processing apparatus according to the first embodiment. FIG. 3 is a block diagram showing a detailed functional configuration example of the display control unit 206 shown in FIG. FIG. 4 is a flowchart showing an example of the procedure of image processing by the image processing device. FIG. 5 is a block diagram showing a hardware configuration of the navigation device. FIG. 6 is an explanatory diagram (No. 1) schematically showing an example of a reachable point search by the navigation device 500. FIG. 7 is an explanatory diagram (No. 2) schematically showing an example of a reachable point search by the navigation device 500. FIG. 8 is an explanatory diagram (No. 3) schematically showing an example of a reachable point search by the navigation device 500. FIG. 9 is an explanatory diagram (No. 4) schematically showing an example of a reachable point search by the navigation device 500. FIG. 10 is an explanatory diagram showing an example of a reachable point search by the navigation device 500. FIG. 11 is an explanatory diagram showing another example of the reachable point search by the navigation device 500. FIG. 12 is an explanatory diagram of an example showing the reachable point by the navigation device 500 in longitude-latitude. FIG. 13 is an explanatory diagram of an example showing a reachable point by the navigation device 500 with a mesh. FIG. 14 is an explanatory diagram showing an example of closing processing by the navigation device. FIG. 15 is an explanatory diagram schematically showing an example of the closing process by the navigation device. FIG. 16 is an explanatory diagram showing an example of opening processing by the navigation device. FIG. 17 is an explanatory diagram schematically showing an example of extracting the reachable range of the vehicle by the navigation device. FIG. 18 is an explanatory diagram schematically showing an example of a mesh after extracting the reachable range of the vehicle by the navigation device. FIG. 19 is an explanatory diagram schematically showing another example of extracting the reachable range of the vehicle by the navigation device. FIG. 20-1 is an explanatory diagram showing an example of complement processing of contour data. FIG. 20-2 is an explanatory diagram showing an example of a vector decomposition method in the complement processing shown in FIG. 20-1. FIG. 20-3 is an explanatory diagram schematically showing an example of extracting the reachable range of the vehicle by the navigation device. FIG. 20-4 is a flowchart showing an example of the procedure for calculating the contour orientation by the navigation device. FIG. 21-1 is an explanatory diagram showing the music coordinate representation of the contour data. FIG. 21-2 is a graph showing frequency conversion. FIG. 22 is an explanatory diagram showing an example of thinning out contour data. FIG. 23 is a flowchart showing an example of the procedure of image processing by the navigation device. FIG. 24 is a flowchart showing an example of the procedure for calculating the estimated power consumption by the navigation device. FIG. 25 is a flowchart (No. 1) showing the procedure of the reachable point search process by the navigation device 500. FIG. 26 is a flowchart (No. 2) showing the procedure of the reachable point search process by the navigation device 500. FIG. 27 is a flowchart showing an example of the procedure of the link candidate determination process by the navigation device. FIG. 28 is a flowchart showing an example of the procedure for assigning identification information by the navigation device. FIG. 29 is a flowchart showing an example of the procedure of the first identification information change processing by the navigation device 500. FIG. 30 is a flowchart (No. 1) showing an example of the procedure of the reachable range contour extraction process by the navigation device. FIG. 31 is a flowchart (No. 2) showing an example of the procedure of the reachable range contour extraction process by the navigation device. FIG. 32 is a flowchart showing an example of the procedure of the smoothing process by the navigation device 500. FIG. 33 is an explanatory diagram schematically showing an example of acceleration applied to a vehicle traveling on a sloped road. FIG. 34 is an explanatory diagram showing an example of a display example after the reachable point search process by the navigation device 500. FIG. 35 is an explanatory diagram showing an example of a display example after the identification information addition process by the navigation device 500. FIG. 36 is an explanatory diagram showing an example of a display example after the first identification information change processing by the navigation device. FIG. 37 is an explanatory diagram showing an example of a display example after the closing process (expansion) by the navigation device 500. FIG. 38 is an explanatory diagram showing an example of a display example after the closing process (reduction) by the navigation device 500. FIG. 39 is an explanatory diagram showing an example of a display example after the smoothing process by the navigation device 500. FIG. 40 is a block diagram showing an example of the functional configuration of the image processing system according to the second embodiment. FIG. 41 is a block diagram showing an example of the functional configuration of the image processing system according to the third embodiment. FIG. 42 is an explanatory diagram showing an example of the system configuration of the image processing apparatus according to the second embodiment.

Hereinafter, preferred embodiments of the image processing apparatus, image processing method, and image processing program according to the present invention will be described in detail with reference to the accompanying drawings.

(Embodiment 1)
In the image processing apparatus according to the first embodiment, the contour of the reachable range of the displayed moving object is smoothed to improve the visibility. FIG. 1 is an explanatory diagram showing an example of displaying the outline of the reachable range of the moving body. (A) shows the contour data of a part of the reachable range of the moving body before the smoothing process. (B) is the next state of (A), and shows a state in which the contour shown in (A) is smoothed. Specifically, (B) shows the result of performing a high-speed Fourier transform on the contour data shown in (A), removing high-frequency components, and then performing an inverse fast Fourier transform. The contour data of (B) has a smoother curve than that of (A) because the high frequency component is removed. (C) indicates the next state of (B), and indicates a state in which a part of the outer peripheral points on the contour data is thinned out. The outer peripheral point to be thinned out is, for example, a point where the absolute value of the declination is smaller than a predetermined value. As a result, the contour data of (C) becomes a smooth curve as compared with (B).

In this way, the image processing apparatus according to the first embodiment can improve the visibility of the reachable range of the moving body. Further, since the image processing apparatus according to the first embodiment uses a high-speed Fourier transform or an inverse fast Fourier transform, the smoothing process can be speeded up. Further, since the image processing apparatus according to the first embodiment is thinned out by the absolute value of the declination angle of each outer peripheral point, the smoothing process can be speeded up by a simple process.

FIG. 2 is a block diagram showing an example of the functional configuration of the image processing apparatus according to the first embodiment. The image processing apparatus 200 according to the first embodiment generates a reachable range of the moving body based on the reachable point of the moving body searched based on the residual energy amount of the moving body, and displays the reachable range of the moving body on the display unit 210. Further, the image processing device 200 is composed of an acquisition unit 201, a calculation unit 202, a search unit 203, a division unit 204, an addition unit 205, and a display control unit 206.

Here, the energy is, for example, energy based on electricity in the case of an EV (Electric Vehicle) vehicle, and is used in electricity or the like in the case of an HV (Hybrid Vehicle) vehicle, PHV (Plug-in Hybrid) vehicle, or the like. Energy based and energy based on, for example, gasoline, light oil, gas, etc. Further, the energy is, for example, in the case of a fuel cell vehicle, energy based on electricity or the like, and for example, hydrogen or fossil fuel which is a raw material for hydrogen (hereinafter, EV vehicle, HV vehicle, PHV vehicle, fuel cell vehicle is simply ". "EV car"). Further, the energy is energy based on, for example, gasoline, light oil, gas, etc. in the case of a gasoline vehicle, a diesel vehicle, etc. (hereinafter, simply referred to as "gasoline vehicle"). For example, the residual energy is energy remaining in, for example, a fuel tank of a moving body, a battery, a high-pressure tank, or the like, and is energy that can be used for traveling of the moving body later.

The acquisition unit 201 acquires information on the current position of the moving body equipped with the image processing device 200 and information on the initial energy possession amount which is the energy amount held by the moving body at the current position of the moving body. Specifically, the acquisition unit 201 acquires information (position information) about the current position by calculating the current position of the own device using, for example, GPS information received from a GPS satellite.

Further, the acquisition unit 201 determines the remaining energy amount of the moving body managed by the electronic control unit (ECU) via an in-vehicle communication network operated by a communication protocol such as CAN (Control Area Network). , Obtained as the initial amount of energy possessed.

The acquisition unit 201 may acquire information on the speed of the moving object, traffic congestion information, and moving object information. The information regarding the speed of the moving body is the speed and acceleration of the moving body. Further, the acquisition unit 201 may acquire information about the road from the map information stored in the storage unit (not shown), or may acquire the road gradient or the like from an inclination sensor or the like. The information about the road is, for example, the running resistance generated in the moving body depending on the road type, the road slope, the road surface condition, and the like.

The calculation unit 202 calculates the estimated energy consumption, which is the energy consumed when the moving body travels in a predetermined section. The predetermined section is, for example, a section connecting a predetermined point on the road (hereinafter referred to as “node”) and another node adjacent to the one node (hereinafter referred to as “link”). The node may be, for example, an intersection or a stand, or may be a connection point between links separated by a predetermined distance. The nodes and links constitute the map information stored in the storage unit. Map information is composed of vector data in which, for example, intersections (points), roads (lines and curves), areas (faces), and colors for displaying these are quantified.

Specifically, the calculation unit 202 estimates the estimated energy consumption in a predetermined section based on the energy consumption estimation formula including the first information, the second information, and the third information. More specifically, the calculation unit 202 estimates the estimated energy consumption in a predetermined section based on the information on the speed of the moving body and the moving body information. The moving body information is information that is a factor that changes the amount of energy consumed or recovered when the moving body travels, such as the weight of the moving body (including the number of passengers and the weight due to the loaded luggage) and the weight of the rotating body. When the road gradient is clear, the calculation unit 202 may estimate the estimated energy consumption in a predetermined section based on the energy consumption estimation formula to which the fourth information is further added.

The energy consumption estimation formula is an estimation formula for estimating the energy consumption of a 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 slope is clear, the fourth information is further added to the energy consumption estimation formula. A detailed explanation of the energy consumption estimation formula will be described later.

The first information is information on the energy consumed when the moving body is stopped while the drive source mounted on the moving body is in operation. When the moving body is stopped while the drive source is operating, the engine is idled at a low speed so that the engine of the moving body is not loaded. That is, when the moving body is stopped when the drive source is movable, it is when idling. In the case of an EV vehicle, when the moving body is stopped when the drive source is movable, the moving body is stopped, and when the accelerator is stepped on, the motor, which is the drive source, starts to move.

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

The second information is information on the energy consumed and recovered during acceleration / deceleration of the moving body. The 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 division at regular intervals, for example, per unit time. In the case of an EV vehicle, the recovered energy is, for example, the electric power charged in the battery when the moving body is traveling. Further, the recovered energy is, for example, a fuel that can reduce (fuel cut) and save fuel consumed in the case of a gasoline-powered vehicle.

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

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

Specifically, the third information is the energy consumption when the moving body is driven at a constant speed, acceleration or deceleration under the state of receiving air resistance, road surface resistance, and load resistance. More specifically, the third information consumes, for example, the air resistance generated by the moving body due to the headwind and the road surface resistance received from the unpaved road when the moving body travels at a constant speed, acceleration or deceleration. It is the amount of energy consumed.

The fourth information is information on the energy consumed and recovered by the altitude change in which the moving body is located. The change in the altitude at which the moving body is located is a state in which the altitude at which the moving body is located changes with time. Specifically, the change in altitude at which the moving body is located is a traveling state in which the altitude changes as 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, and thereby the estimation accuracy of the energy consumption can be improved. When the slope of the road is unknown or the calculation is simplified, the energy consumption is estimated by assuming that the altitude at which the moving object is located does not change and the road slope θ = 0 in the energy consumption estimation formula described later. be able to.

The search unit 203 is based on the map information stored in the storage unit, the current position and the initial energy possession amount of the moving object acquired by the acquisition unit 201, and the estimated energy consumption calculated by the calculation unit 202. Searches for multiple reachable points that are reachable from the current location.

Specifically, the search unit 203 starts from the current position of the moving body in all the routes that can be moved from the current position of the moving body, and in a predetermined section connecting predetermined points on the route from the moving body. Search for a predetermined point and a predetermined section so that the cumulative estimated energy consumption is minimized. Then, the search unit 203 moves at a predetermined point where the cumulative estimated energy consumption is within the range of the current initial energy possession of the moving body in all the routes that can be moved from the current position of the moving body. The reachable point of.

More specifically, the search unit 203 starts from the current position of the moving body, all the links that can be moved from the current position of the moving body, the nodes that connect to each of these links, and all that can be moved from these nodes. Search for the link and all reachable nodes and links of the moving object in order. At this time, each time the search unit 203 searches for a new one link, the estimated energy consumption of the path to which the one link is connected is accumulated, and the cumulative estimated energy consumption is minimized. Search for a node that connects to a link and multiple links that connect to this node.

For example, when the one link and the other link are connected to the same node, the search unit 203 consumes estimated energy from the current position of the moving body to the node among the plurality of links connected to this node. Calculate the cumulative estimated energy consumption of the node using the estimated energy consumption of the link with the smaller cumulative amount. Then, the search unit 203 sets all the nodes whose estimated energy consumption is within the range of the initial energy possession of the mobile body in the plurality of paths composed of the searched nodes and the links. Search as a reachable point. By using the estimated energy consumption of the link having a small estimated energy consumption in this way, it is possible to calculate the correct cumulative total of the estimated energy consumption of the node.

Further, the search unit 203 may search for the reachable point by excluding the predetermined section in which the movement of the moving body is prohibited from the candidates for searching the reachable point of the moving body. 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 prohibited section due to time regulation or seasonal regulation. Time regulation means that, for example, by setting a school route or an event, traffic is prohibited in a certain time zone. Seasonal regulation means that traffic is prohibited due to heavy rain or heavy snow, for example.

When the importance of the other predetermined section selected after the one predetermined section is lower than the importance of the one predetermined section among the plurality of predetermined sections, the search unit 203 moves the other predetermined section. You may search for the reachable point by excluding it from the candidates for searching for the reachable point. The importance of a predetermined section is, for example, a road type. The road type is a type of road that can be distinguished by the difference in road conditions such as the legal speed, the slope of the road, the width of the road, and the presence or absence of a signal. Specifically, the road type is a narrow street that passes through a general national highway, an expressway, a general road, an urban area, and the like. A narrow street is, for example, a road in an urban area with a width of less than 4 meters specified by the Building Standards Act.

Further, in the search unit 203, when the entrance and exit of one bridge or one tunnel are reachable points of the moving body, all the areas constituting the one bridge or one tunnel of the map information divided by the division unit 204 move. It is preferable to search for the reachable point of the moving body so that it is included in the reachable range of the body. Specifically, the search unit 203 is on a bridge or a tunnel, for example, from the entrance of the bridge or the tunnel toward the exit when the entrance of the bridge or the tunnel is the reachable point of the moving object. The reachable point may be searched so that a plurality of reachable points are searched. The entrance of a bridge or tunnel is the starting point of the bridge or tunnel on the side closer to the current location of the moving object.

The division unit 204 divides the map information into a plurality of areas. Specifically, the division unit 204 divides the map information into a plurality of rectangles based on the reachable point farthest from the current point of the moving body among the plurality of reachable points of the moving body searched by the search unit 203. It is divided into regions of shape and converted into a mesh of, for example, m × m dots. The mesh of m × m dots is treated as raster data (image data) to which identification information is added by the addition unit 205 described later. It should be noted that each m of m × m dots may be the same numerical value or may be a different numerical value.

More specifically, the division unit 204 extracts the maximum longitude, the minimum longitude, the maximum latitude, and the minimum latitude, and calculates the distance of the moving object from the current position. Then, the division unit 204 divides the map information into a plurality of areas, for example, the size of one area when the reachable point farthest from the current point of the moving body and the current point of the moving body are divided into n equal parts. The map information is divided into m × m dot meshes, assuming that the size of one area is the size of one area. At this time, n = (m / 2) -4 in order to make, for example, 4 dots around the mesh blank.

The granting unit 205 assigns identification information for identifying whether or not the moving body is reachable to the plurality of regions divided by the dividing unit 204 based on the plurality of reachable points searched by the searching unit 203. do. Specifically, the granting unit 205 identifies that the moving body is reachable in the one area divided by the dividing unit 204 when the reachable point of the moving body is included in the one area. The identification information of is given. After that, the granting unit 205 identifies that the moving body is unreachable in the one area when the one area divided by the dividing unit 204 does not include the reachable point of the moving body. The identification information of is given.

More specifically, the granting unit 205 assigns reachable identification information "1" or unreachable identification information "0" to each region of the mesh divided into m × m, thereby providing m rows. Convert to a mesh of m-column two-dimensional matrix data. The division unit 204 and the addition unit 205 divide the map information in this way, convert it into a mesh of two-dimensional matrix data of m rows and m columns, and treat it as binarized raster data.

The granting unit 205 includes a first changing unit 251 and a second changing unit 252 that change the identification information for a plurality of areas divided by the dividing unit 204. Specifically, the granting unit 205 treats the mesh obtained by dividing the map information by the first changing unit 251 and the second changing unit 252 as binarized raster data, and performs closing processing (reduction processing after expansion processing). Processing to perform). Further, the granting unit 205 may perform an opening process (a process of performing an expansion process after the reduction process) by the first change unit 251 and the second change unit 252.

Specifically, when the identification information that can reach another area adjacent to the one area to which the identification information is given is given, the first change unit 251 can reach the identification information of the one area. Change to the identification information of (expansion processing). More specifically, the first change unit 251 is any of the other regions of the rectangular area adjacent to each other in the eight directions of lower left, lower, lower right, right, upper right, upper, upper left, and left. When "1" which is reachable identification information is given to the area, the identification information of the one area is changed to "1".

After the identification information is changed by the first change unit 251, the second change unit 252 is assigned the identification information that cannot reach the other area adjacent to the one area to which the identification information is attached. Change the identification information of the area to unreachable identification information (reduction processing). More specifically, the second change unit 252 is any of the other regions of the rectangular area adjacent to each other in the eight directions of lower left, lower, lower right, right, upper right, upper, upper left, and left. When "0" which is unreachable identification information is given to the area, the identification information of the one area is changed to "0". The expansion process by the first change unit 251 and the reduction process by the second change unit 252 are performed the same number of times.

As described above, the granting unit 205 can reach the area including the reachable point, which is the point where the moving body can reach from the current point, among the plurality of areas divided by the dividing unit 204. Reachable identification information is added to identify that, and the reachable range of the moving body is set. After that, the granting unit 205 also grants reachable identification information to the area adjacent to the area to which the reachable identification information is given, and the identification information of each area so that a defect point does not occur in the reachable range of the moving body. To change.

Further, when the divided map information corresponding to the entrance and the exit of one bridge or one tunnel of the map information is given reachable identification information for identifying that the map information is reachable, the granting unit 205 is concerned. Reachable identification means are provided to the divided map information corresponding to all the areas constituting the one bridge or the one tunnel. Specifically, the granting unit 205 corresponds to, for example, the entrance of one bridge or one tunnel when reachable identification information is given to each area corresponding to the entrance and exit of one bridge or one tunnel. Identification information that can reach the entire area where the moving body can move from the area to the area corresponding to the exit is given.

More specifically, the granting unit 205 is, for example, "1" which is identification information that can reach each region corresponding to the entrance and the exit of one bridge or one tunnel before the expansion process by the first changing unit 251. Is given, and when a defect occurs on one bridge or one tunnel, all located on the section connecting the area corresponding to the entrance and the area corresponding to the exit of one bridge or one tunnel. Change the area identification information to "1". The section connecting the area corresponding to the entrance of one bridge or one tunnel and the area corresponding to the exit may be a section corresponding to a road including a plurality of curves, or corresponds to a straight road. It may be a section to be used.

The display control unit 206 causes the display unit 210 to display the reachable range of the moving object together with the map information based on the identification information of the area to which the identification information is given by the addition unit 205. Specifically, the display control unit 206 converts the mesh, which is a plurality of image data to which the identification information is given by the addition unit 205, into vector data, and causes the display unit 210 to display the mesh together with the map information stored in the storage unit. ..

FIG. 3 is a block diagram showing a detailed functional configuration example of the display control unit 206 shown in FIG. The display control unit 206 includes a contour extraction unit 261, a complement unit 262, a conversion unit 263, a removal unit 264, an inverse conversion unit 265, and a thinning unit 266.

The contour extraction unit 261 is reachable by the moving body based on the positional relationship between one area to which reachable identification information is given and another area to which reachable identification information is given adjacent to the one area. The outline of the range is extracted and displayed on the display unit 210. More specifically, the contour extraction unit 261 extracts contour data indicating the contour of the reachable range of the moving body by using, for example, a Freeman chain code, and causes the display unit 210 to display the reachable range of the moving body. .. Of the line segment data connecting the outer peripheral points on the contour data, the line segment data parallel to either the X-axis and the Y-axis that are orthogonal to each other on the display screen have the same length.

Further, the contour extraction unit 261 may extract the reachable range of the moving body based on the longitude / latitude information of the region to which the reachable identification information is given, and display it on the display unit 210. Specifically, the contour extraction unit 261 searches, for example, the identification information "1" that can be reached from the first column for each row of the two-dimensional matrix data of m rows and m columns. Then, the display control unit 206 searches for a continuous region containing the reachable identification information "1" in each row of the two-dimensional matrix data, and the minimum longitude and minimum latitude (region) of the region where "1" is first detected. The rectangular area whose diagonal is the line segment connecting the maximum longitude and maximum latitude (lower right coordinate of the area) of the area where "1" was finally detected is displayed as the reachable range of the moving object.

The complement unit 262 complements the line segment data connecting the outer peripheral points on the contour data. Specifically, for example, when the line segment data is not parallel to either the X-axis or the Y-axis, the complementary unit 262 uses the line segment data as the line segment data of the X-direction component. , Y-direction component is decomposed into line segment data. As a result, the line segment data constituting the contour data has the same length.

The conversion unit 263 frequency-converts the two-dimensional contour data by using the Fourier transform. Specifically, for example, the conversion unit 263 frequency-converts the contour data by a fast Fourier transform. More specifically, the conversion unit 263 calculates a vector sequence having adjacent vertices (outer peripheral points) on the contour data as start points and end points. Then, when the P-type Fourier descriptor is used, the transform unit 263 decomposes it into the declination angle of each vector and the length of the line segment. As a result, the shape feature amount of the contour can be obtained. Since the length of the line segment is constant, the transforming unit 263 performs a fast Fourier transform on the array of declinations.

The removing unit 264 removes high frequency components from the conversion result converted by the conversion unit 263. Specifically, for example, the removing unit 264 removes a frequency component having a cutoff frequency or higher set in advance from the conversion result. More specifically, the removal unit 264 removes the high frequency component by passing a low-pass filter through the frequency component of the declination obtained by the conversion unit 263. In addition, the user can adjust the smoothness of the contour data by changing the cutoff frequency.

The inverse conversion unit 265 returns the conversion result after removal by the removal unit 264 to the contour data. Specifically, for example, the inverse transform unit 265 returns the conversion result after removal by the removal unit 264 to the contour data by the inverse fast Fourier transform. As a result, it is possible to obtain contour data that is smoother than the contour data before conversion.

When the absolute value of the angle formed by the adjacent line segment data is smaller than the predetermined value among the line segment data groups constituting the contour data obtained by the inverse conversion unit 265, the thinning unit 266 may be used for the adjacent line segment data. Thin out the vertices that connect. After that, the thinning unit 266 corrects the contour data by connecting the vertices on the opposite sides of the adjacent line segment data. As a result, smoother contour data can be obtained by simple processing.

Next, image processing by the image processing apparatus 200 will be described. FIG. 4 is a flowchart showing an example of the procedure of image processing by the image processing device. In the flowchart of FIG. 4, first, the image processing apparatus 200 uses the acquisition unit 201 to provide information on the current position of the moving body and information on the initial energy possessed by the moving body at the current position of the moving body. , Are acquired (steps S401 and S402). At this time, the image processing device 200 may also acquire moving object information.

Then, the image processing device 200 calculates the estimated energy consumption, which is the energy consumed when the moving body travels in the predetermined section, by the calculation unit 202 (step S403). At this time, the image processing device 200 calculates the estimated energy consumption in a plurality of predetermined sections connecting the predetermined points on the path of the moving body. Next, the image processing apparatus 200 uses the search unit 203 to store a plurality of moving objects based on the map information stored in the storage unit and the initial energy possession amount and the estimated energy consumption amount acquired in steps S402 and S403. Search for a reachable point (step S404).

Next, the image processing apparatus 200 divides the map information composed of vector data into a plurality of regions by the division unit 204 and converts the map information into a mesh composed of raster data (step S405). Next, the image processing apparatus 200 assigns reachable or unreachable identification information to the plurality of regions divided in step S405 based on the plurality of reachable points searched in step S404, respectively. (Step S406). After that, the image processing apparatus 200 causes the display control unit 206 to display the reachable range of the moving body on the display unit 210 based on the identification information of the plurality of regions to which the identification information is given in step S406 (step S407). End the processing by the flowchart.

As described above, the image processing apparatus 200 according to the first embodiment divides the map information into a plurality of areas, searches for whether or not a moving object can be reached in each area, and moves the moving object to each area. Gives reachable or unreachable identification information that identifies that is reachable or unreachable. Then, the image processing device 200 generates a reachable range of the moving body based on the area to which the reachable identification information is given. Therefore, the image processing device 200 can generate the reachable range of the moving body in a state excluding the non-travelable area of the moving body such as the sea, the lake, and the mountain range. Therefore, the image processing device 200 can accurately display the reachable range of the moving body.

Further, the image processing apparatus 200 converts a plurality of regions obtained by dividing the map information into image data, imparts reachable or unreachable identification information to the plurality of regions, and then performs closing expansion processing. Therefore, the image processing device 200 can remove the missing points within the reachable range of the moving body.

Further, the image processing apparatus 200 converts a plurality of areas obtained by dividing the map information into image data, assigns reachable or unreachable identification information to the plurality of areas, and then performs an opening reduction process. Therefore, the image processing device 200 can remove isolated points in the reachable range of the moving body.

In this way, the image processing device 200 can remove missing points and isolated points in the reachable range of the moving body, so that the travelable range of the moving body can be displayed on a two-dimensional smooth surface and in an easy-to-see manner. can. Further, the image processing apparatus 200 extracts the outline of the mesh generated by dividing the map information into a plurality of areas. Therefore, the image processing device 200 can smoothly display the outline of the reachable range of the moving body.

Further, the image processing device 200 narrows down the road for searching for the reachable point of the moving body, and searches for the reachable point of the moving body. Therefore, the image processing device 200 can reduce the amount of processing when searching for a reachable point of the moving body. By narrowing down the roads to search for the reachable points of the moving object, even if the number of reachable points that can be searched decreases, the closing expansion process is performed as described above, so that the reachable points of the moving object are within the reachable range. The resulting defect can be removed. Therefore, the image processing apparatus 200 can reduce the amount of processing for generating the reachable range of the moving body. Further, the image processing device 200 can easily display the travelable range of the moving body on a two-dimensional smooth surface.

Hereinafter, Example 1 of the present invention will be described. In this embodiment, an example in which the present invention is applied by using the navigation device 500 mounted on the vehicle as the image processing device 200 will be described.

(Hardware configuration of navigation device 500)
Next, the hardware configuration of the navigation device 500 will be described. FIG. 5 is a block diagram showing a hardware configuration of the navigation device. In FIG. 5, the navigation device 500 includes a CPU 501, a ROM 502, a RAM 503, a magnetic disk drive 504, a magnetic disk 505, an optical disk drive 506, an optical disk 507, an audio I / F (interface) 508, a microphone 509, a speaker 510, and an input device 511. It is equipped with a video I / F 512, a display 513, a camera 514, a communication I / F 515, a GPS unit 516, and various sensors 517. Each component 501 to 517 is connected by a bus 520.

The CPU 501 controls the entire navigation device 500. The ROM 502 records programs such as a boot program, an estimated energy consumption calculation program, a reachable point search program, an identification information imparting program, and a map data display program. The RAM 503 is used as a work area of the CPU 501. That is, the CPU 501 controls the entire navigation device 500 by executing various programs recorded in the ROM 502 while using the RAM 503 as a work area.

In the estimated energy consumption calculation program, the estimated energy consumption in the link connecting one node and the adjacent node is calculated based on the energy consumption estimation formula for calculating the estimated energy consumption of the vehicle. In the reachable point search program, a plurality of points (nodes) reachable by the remaining energy amount at the current point of the vehicle are searched based on the estimated energy consumption calculated by the estimation program. In the identification information giving program, identification information for identifying whether the vehicle is reachable or unreachable is given to a plurality of areas in which the map information is divided based on the plurality of reachable points searched by the search program. The program. In the map data display program, the reachable range of the vehicle is displayed on the display 513 based on the plurality of areas to which the identification information is given by the identification information giving program.

The magnetic disk drive 504 controls reading / writing of data to the magnetic disk 505 according to the control of the CPU 501. The magnetic disk 505 records the data written under the control of the magnetic disk drive 504. As the magnetic disk 505, for example, an HD (hard disk) or an FD (flexible disk) can be used.

Further, the optical disk drive 506 controls reading / writing of data to the optical disk 507 according to the control of the CPU 501. The optical disc 507 is a detachable recording medium from which data is read out under the control of the optical disc drive 506. The optical disc 507 can also use a writable recording medium. As the removable recording medium, in addition to the optical disk 507, an MO, a memory card, or the like can be used.

Examples of the information recorded on the magnetic disk 505 and the optical disk 507 include map data, vehicle information, road information, travel history, and the like. Map data is used when searching for reachable points of vehicles in a car navigation system and when displaying the reachable range of vehicles, and background data representing features such as buildings, rivers, and the ground surface. It is vector data including road shape data representing the shape of a road with links and nodes.

The voice I / F 508 is connected to a microphone 509 for voice input and a speaker 510 for voice output. The voice received by the microphone 509 is A / D converted in the voice I / F 508. The microphones 509 are installed, for example, in the dashboard section of a vehicle, and the number of microphones 509 may be singular or plural. From the speaker 510, a voice obtained by D / A-converting a predetermined voice signal in the voice I / F 508 is output.

Examples of the input device 511 include a remote controller, a keyboard, and a touch panel having a plurality of keys for inputting characters, numerical values, various instructions, and the like. The input device 511 may be realized by any one form of the remote controller, the keyboard, and the touch panel, but it can also be realized by a plurality of forms.

The video I / F 512 is connected to the display 513. Specifically, the video I / F 512 is output from a graphic controller that controls the entire display 513, a buffer memory such as VRAM (Video RAM) that temporarily records image information that can be displayed immediately, and a graphic controller. It is configured by a control IC or the like that controls the display 513 based on the image data to be generated.

The display 513 displays various data such as icons, cursors, menus, windows, characters and images. As the display 513, for example, a TFT liquid crystal display, an organic EL display, or the like can be used.

The camera 514 captures an image 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 514, the photographed image is image-analyzed by the CPU 501, or a recording medium such as a magnetic disk 505 or an optical disk 507 is analyzed via the image I / F 512. Output to.

The communication I / F 515 is wirelessly connected to the network and functions as an interface for the navigation device 500 and the CPU 501. Communication networks that function as networks include in-vehicle communication networks such as CAN and LIN (Local Interconnect Network), public line networks, mobile phone networks, DSRC (Dedicated Short Range Communication), LAN, WAN, and the like. The communication I / F 515 is, for example, a connection module for a public line, an ETC (non-stop automatic toll collection system) unit, an FM tuner, a VICS (Vehicle Information and Communication System: registered trademark) / beacon receiver, and the like.

The GPS unit 516 receives radio waves from GPS satellites and outputs information indicating the current position of the vehicle. The output information of the GPS unit 516 is used in calculating the current position of the vehicle by the CPU 501 together with the output values of various sensors 517 described later. The information indicating the current position is information that identifies one point on the map data, such as latitude / longitude and altitude.

The various sensors 517 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 an inclination sensor. The output values of the various sensors 517 are used by the CPU 501 to calculate the current position of the vehicle and the amount of change in speed and direction.

The acquisition unit 201, calculation unit 202, search unit 203, division unit 204, addition unit 205, and display control unit 206 of the image processing device 200 shown in FIG. 2 include ROM 502, RAM 503, and magnetic disk 505 in the navigation device 500 described above. Using the program or data recorded on the optical disk 507 or the like, the CPU 501 executes a predetermined program and controls each part of the navigation device 500 to realize the function.

(Outline of calculation of estimated energy consumption by navigation device 500)
The navigation device 500 of this embodiment calculates the estimated energy consumption of the vehicle on which the own device is mounted. Specifically, the navigation device 500 is one or more of an energy consumption estimation formula including first information, second information, and third information based on, for example, speed, acceleration, and vehicle gradient. The estimated energy consumption of the vehicle in a predetermined section is calculated using the formula of. A predetermined section is a link connecting one node (for example, an intersection) on a road and another node adjacent to the one node.

More specifically, in the navigation device 500, the vehicle links based on the traffic jam information provided by the probe, the traffic jam prediction data acquired via the server, the link length stored in the storage device, the road type, and the like. Calculate the travel time required to finish driving. Then, the navigation device 500 calculates the estimated energy consumption per unit time using any of the energy consumption estimation formulas shown in the following formulas (1) to (2), and the vehicle travels on the link in the travel time. Calculate the estimated energy consumption at the end of the process.

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 running. Here, ε is the net thermal efficiency and η is the total transfer efficiency. Assuming that the sum of the acceleration α of the moving body and the acceleration g of gravity 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). To. 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. As described above, the energy consumption estimation formula per unit time during acceleration / deceleration and traveling is expressed by the product of traveling resistance, traveling distance, net motor efficiency, and transmission efficiency.

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

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

The empirical formula for calculating the estimated energy consumption when the combined acceleration | α + g · sinθ | is positive, that is, the empirical formula for calculating the estimated energy consumption per unit time during acceleration and running is as follows (3). It is expressed by an expression. Further, the empirical formula for calculating the estimated energy consumption when the combined acceleration | α + g · sinθ | 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 equations (3) and (4), the coefficients a1 and a2 are constants set according to the vehicle conditions and the like. The coefficients k1, k2, and k3 are variables based on the energy consumption during acceleration. Further, the velocity V is set, and other variables are the same as those in the above equations (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).

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

Further, the navigation device 500 calculates the travel time required for the vehicle to travel on the link as described above, and calculates the average speed and the average acceleration when the vehicle travels on the link. Then, the navigation device 500 uses the average speed and the average acceleration of the vehicle at the link, and the vehicle travels on the link in the travel time based on the energy consumption estimation formula shown in the following equation (5) or (6). Estimated energy consumption at the end may be calculated.

The energy consumption estimation formula shown in the above equation (5) is a theoretical formula for calculating the estimated energy consumption at 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 the case where the vehicle is traveling uphill. The energy consumption estimation formula shown in the above equation (6) is a theoretical formula for calculating the estimated energy consumption at 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 the 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 equations (5) and (6), the first term on the right side is the energy consumption during idling (first information). The second term on the right side is the energy consumption due to the acceleration resistance (second information). The third term on the right side is the amount of energy 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 500 may calculate the estimated energy consumption of the vehicle by setting the road gradient θ = 0 of 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 P _acc of the acceleration component in the link, the energy consumption P _acc of the acceleration component is the energy at idling from the total energy consumption (left side) in the link. It is obtained by subtracting the amount of energy consumed (first item on the right side) and the amount of energy consumed due to running resistance (fourth item on the right side), and is 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 equation of 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 a gasoline-powered vehicle is the ratio of the energy required for acceleration to the energy recovered during deceleration.

(Outline of search for reachable points in the navigation device 500)
The navigation device 500 of this embodiment searches for a plurality of nodes reachable from the current position of the vehicle on which the own device is mounted as reachable points of the vehicle. Specifically, the navigation device 500 calculates the estimated energy consumption in the link by using any one or more of the energy consumption estimation formulas shown in the above equations (1) to (6). Then, the navigation device 500 searches for a reachable node of the vehicle and sets it as a reachable point so that the cumulative total of estimated energy consumption at the link is minimized. An example of searching for a reachable point by the navigation device 500 will be described below.

6 to 9 are explanatory views schematically showing an example of a reachable point search by the navigation device 500. In FIGS. 6 to 9, a node (for example, an intersection) of map data is marked with a circle, and a link (predetermined section on a road) connecting adjacent nodes is indicated by a line segment (the same applies to FIGS. 10 and 11). And links illustrated).

As shown in FIG. 6, the navigation device 500 first searches for the link L1_1 closest to the current position 600 of the vehicle. Then, the navigation device 500 searches for the node N1_1 connected to the link L1-11, and adds the node candidate (hereinafter, simply referred to as "node candidate") for searching for a reachable point.

Next, the navigation device 500 calculates the estimated energy consumption at the link L1_1 connecting the current position 600 of the vehicle and the node N1_1 as the node candidate by using the energy consumption estimation formula. Then, the navigation device 500 writes the estimated energy consumption 3wh at the link L1_1 to the storage device (magnetic disk 505 or optical disk 507) in association with the node N1-11, for example.

Next, as shown in FIG. 7, the navigation device 500 searches for all the links L2_1, L2_2, and L2_3 connected to the node N1-1, and the link candidates for searching the reachable points (hereinafter, simply "link candidates"). ). Next, the navigation device 500 calculates the estimated energy consumption in the link L2_1 by using the energy consumption estimation formula.

Then, the navigation device 500 associates the cumulative energy amount 7wh, which is the sum of the estimated energy consumption 4wh at the link L2_1 and the estimated energy consumption 3wh at the link L1-11, with the node N2_1 connected to the link L2_1, and stores the storage device (magnetic disk 505). And optical disk 507) (hereinafter, "cumulative energy amount is set in the node").

Further, the navigation device 500 calculates the estimated energy consumption in the links L2_2 and L2_3 by using the energy consumption estimation formula as in the case of the link L2_1. Then, the navigation device 500 sets the cumulative energy amount 8wh, which is the sum of the estimated energy consumption 5wh at the link L2_2 and the estimated energy consumption 3wh at the link L1-11, to the node N2_2 connected to the link L2_2.

Further, the navigation device 500 sets the cumulative energy amount 6wh, which is the sum of the estimated energy consumption 3wh at the link L2_3 and the estimated energy consumption 3wh at the link L1-11, 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 500 adds the node to the node candidate.

Next, as shown in FIG. 8, the navigation device 500 connects all the links L3_1 and L3_1 attached to the node N2_1, all the links L3_2_2, L3_3, L3_4 connected to the node N2_1, and the link L3_5 connected to the node N2_1. Search and make it a link candidate. Next, the navigation device 500 calculates the estimated energy consumption in the links L3_1 to L3_1 by using the energy consumption estimation formula.

Then, the navigation device 500 accumulates the estimated energy consumption 4wh in the link L3_1 to the cumulative energy amount 7wh set in the node N2_1, and sets the cumulative energy amount 11wh in the node N3_1 connected to the link L3_1. Further, in the link L3_3 to L3_1, the navigation device 500 sets the cumulative energy amounts of 13wh, 12wh, and 10wh to the nodes N3_3 to N3_5 connected to the respective links L3_3 to L3_1, respectively, as in the case of the link L3_1.

Specifically, the navigation device 500 accumulates the estimated energy consumption 5wh at the link L3_3 in the cumulative energy amount 8wh set in the node N2_2, and sets the cumulative energy amount 13wh in the node N3_3. The navigation device 500 accumulates the estimated energy consumption 4wh in the link L3_4 to the cumulative energy amount 8wh set in the node N2_2, and sets the cumulative energy amount 12wh in the node N3_4. The navigation device 500 accumulates the estimated energy consumption 4wh at the link L3_5 in the cumulative energy amount 6wh set in the node N2_3, and sets the cumulative energy amount 10wh in the node N3_5.

On the other hand, when the navigation device 500 connects a plurality of links L3_2_1 and L3_2 to one node like the node N3_2, the navigation device 500 has a cumulative energy amount in a plurality of routes from the current position 600 of the vehicle to the one node N3_2. , The minimum cumulative energy amount of 10 wh is set in the one node N3_2.

Specifically, the navigation device 500 accumulates the estimated energy consumption 4wh at the link L3_2_1 to the cumulative energy amount 7wh set in the node N2_1 (= cumulative energy amount 11wh), and the estimated energy consumption 2wh at the link L3_2_ is the node N2_2. Accumulate to the cumulative energy amount of 8 wh set in (= cumulative energy amount of 10 wh). Then, the navigation device 500 compares the cumulative energy amount 11wh of the route from the current position 600 of the vehicle to the link L3_2_1 with the cumulative energy amount 10wh of the route from the current position 600 of the vehicle to the link L3_2_1, and compares the cumulative energy amount of the minimum cumulative energy. The cumulative energy amount of 10 wh of the route on the link L3_2_2 side, which is the amount, is set in the node N3_2.

When the navigation device 500 has a plurality of nodes of the same level from the current position 600 of the vehicle like the above-mentioned nodes N2-1 to N2_3, for example, from a link connecting to a node having a small cumulative energy amount among the nodes of the same level. Estimated energy consumption and cumulative energy consumption are calculated in order. Specifically, the navigation device 500 calculates the estimated energy consumption of the link connected to each node in the order of node N2_3, node N2_1, and node N2_1, and accumulates the estimated energy consumption in each node. In this way, by specifying the order of the nodes for calculating the estimated energy consumption amount and the cumulative energy amount, the reachable range of the residual energy amount can be efficiently calculated.

After that, the navigation device 500 continues to accumulate the cumulative energy amount as described above from the nodes N3_1 to N3_5 to the nodes in a deeper layer. Then, the navigation device 500 extracts all the nodes for which the cumulative energy amount equal to or less than the preset designated energy amount is set as the reachable points of the vehicle, and the longitude / latitude information of the nodes extracted as the reachable points is used. Write to the storage device in association with each node.

Specifically, for example, when the designated energy amount is 10 wh, as shown by the circles filled with diagonal lines in FIG. 9, the navigation device 500 has nodes N1_1 and N2_1 in which the cumulative energy amount of 10 wh or less is set. N2_2, N2_3, N3_2, N3_5 are extracted as reachable points of the vehicle. The preset designated energy amount is, for example, the residual energy amount (initial possession energy amount) at the current position 600 of the vehicle.

The map data 900 composed of the current position 600 of the vehicle shown in FIG. 9 and a plurality of nodes and links is an example for explaining the reachable point search, and the navigation device 500 is actually as shown in FIG. Search for more nodes and links in a wider range than the map data 900 shown in FIG.

FIG. 10 is an explanatory diagram showing an example of a reachable point search by the navigation device 500. When continuing to calculate the cumulative energy amount for all roads (excluding narrow streets) as described above, as shown in Fig. 10, search for the cumulative energy amount at all nodes of each road in detail without omission. Can be done. However, the estimated energy consumption of about 2 million links in Japan is calculated and accumulated, and the amount of information processing of the navigation device 500 becomes enormous. Therefore, the navigation device 500 may narrow down the roads for searching the reachable points of the moving body based on, for example, the importance of the link.

FIG. 11 is an explanatory diagram showing another example of the reachable point search by the navigation device 500. Specifically, the navigation device 500 calculates the cumulative energy amount for all roads (excluding narrow streets) around the current position 600 of the vehicle, and only the roads of high importance within a certain distance or more. Calculate the cumulative amount of energy with. As a result, as shown in FIG. 11, the number of nodes and the number of links searched by the navigation device 500 can be reduced, and the amount of information processing of the navigation device 500 can be reduced. Therefore, the processing speed of the navigation device 500 can be improved.

(Overview of map data division in the navigation device 500)
The navigation device 500 of this embodiment divides the map data stored in the storage device based on the reachable points searched for as described above. Specifically, the navigation device 500 converts map data composed of vector data into, for example, a mesh (X, Y) of 64 × 64 dots, and converts the map data into raster data (image data).

FIG. 12 is an explanatory diagram of an example showing the reachable point by the navigation device 500 in longitude-latitude. Further, FIG. 13 is an explanatory diagram of an example showing a reachable point by the navigation device 500 with a mesh. In FIG. 12, for example, the longitude / latitude information (x, y) of the reachable point searched as shown in FIGS. 10 and 11 is shown in absolute coordinates. FIG. 13 illustrates a 64 × 64 dot mesh (X, Y) to which identification information is added based on reachable points in screen coordinates.

As shown in FIG. 12, the navigation device 500 first generates longitude / latitude information (x, y) having a point cloud 1200 in absolute coordinates based on the longitude x and latitude y of each of the 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 500 calculates the distances w1 and w2 from the longitude of x of the current point 600 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. Further, the navigation device 500 calculates the distances w3 and w4 from the latitude of of the current position 600 of the vehicle to the maximum latitude y_max and the minimum latitude y_min of the reachable point farthest in the latitude y direction.

Next, the navigation device 500 has a distance w2 (hereinafter, w5 = max (w1, w2)) from the current position 600 of the vehicle to the minimum longitude x_min, which is the longest distance w1 to w4 from the current position 600 of the vehicle. , W3, w4)) so that the length of 1 / n is the length of one side of one rectangular element of the mesh (X, Y), the map data including a plurality of reachable points is displayed. For example, it is converted into a mesh (X, Y) of m × m dots (for example, 64 × 64 dots).

Specifically, in the navigation device 500, the ratio of one mesh to the magnitude of the longitude / latitude is set to a magnification mag = w5 / n, and the longitude / latitude information (x, y) and the mesh (X, Y) are as follows (9). ), The longitude / latitude information (x, y) is converted into a mesh (X, Y) so as to satisfy the equation (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. 13, the current position 600 of the vehicle is composed of a mesh (X, Y) of m × m dots. It is the center of the rectangular image data, and the mesh (X, Y) at the current position 600 of the vehicle is equal in both the X-axis direction and the Y-axis direction, and X = Y = m / 2 = n + 4. Further, n = (m / 2) -4 in order to make, for example, 4 dots around the mesh (X, Y) blank. Then, when the navigation device 500 converts the longitude / latitude information (x, y) into the mesh (X, Y), the navigation device 500 assigns identification information to each area of the mesh (X, Y), and has m rows and m columns. Convert to a mesh of two-dimensional matrix data (Y, X).

Specifically, when the navigation device 500 includes a reachable point of the vehicle in one area of the mesh (X, Y), the reachable identification of identifying that the vehicle is reachable in the one area. For example, "1" is added as information (in FIG. 13, 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 500 is unreachable to identify that the vehicle is unreachable in the one area. For example, "0" is added as the identification information (in FIG. 13, one dot is drawn in white, for example).

In this way, the navigation device 500 converts the map data into a mesh of m rows and m columns of two-dimensional matrix data (Y, X) in which identification information is added to each divided area, and the map data is binarized. Treat as raster data. Each area of the mesh is represented by a certain range of rectangular areas. Specifically, as shown in FIG. 13, for example, a mesh (X, Y) of m × m dots in which the point cloud 1300 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.

(Outline of giving identification information in the navigation device 500, part 1)
The navigation device 500 of this embodiment changes the identification information given to each region of the mesh (X, Y) of m × m dots divided as described above. Specifically, the navigation device 500 performs a closing process (a process of performing a reduction process after the expansion process) on the mesh of the two-dimensional matrix data (Y, X) of m rows and m columns.

FIG. 14 is an explanatory diagram showing an example of closing processing by the navigation device. 14 (A) to 14 (C) are meshes of two-dimensional matrix data (Y, X) of m rows and m columns to which identification information is assigned to each region. FIG. 14A shows a mesh 1400 to which identification information is added for the first time after the map data division processing. That is, the mesh 1400 shown in FIG. 14A is the same as the mesh shown in FIG.

Further, FIG. 14B shows the mesh 1410 after the closing treatment (expansion) of the mesh 1400 shown in FIG. 14A. FIG. 14C shows the mesh 1420 after the closing process (reduction) has been performed on the mesh 1410 shown in FIG. 14B. In the meshes 1400, 1410, 1420 shown in FIGS. 14 (A) to 14 (C), the reachable range 1401, 1411, 1421 of the vehicle generated by the plurality of regions to which the reachable identification information is given is painted in black. Shown in the state of.

As shown in FIG. 14A, the mesh 1400 after the identification information is assigned has a defect point 1402 (within the hatched reachable range 1401) consisting of an unreachable area included in the reachable range 1401 of the vehicle. White background) has occurred. The missing point 1402 has, for example, the number of nodes that become reachable points when the roads for searching nodes and links are narrowed down in order to reduce the load of the reachable point search process by the navigation device 500 as shown in FIG. It is caused by the decrease.

Next, as shown in FIG. 14B, the navigation device 500 performs closing expansion processing on the mesh 1400 after the identification information is added. In the closing expansion process, the identification information of one area adjacent to the area to which the reachable identification information is given is changed to the reachable identification information of the mesh 1400 after the identification information is given. As a result, the defective portion 1402 generated within the reachable range 1401 of the vehicle before the expansion process (after the identification information is given) disappears.

Further, the identification information of all the regions adjacent to the outermost region of the reachable range 1401 of the vehicle before the expansion process is changed to the reachable identification information. Therefore, the outer circumference of the reachable range 1411 of the vehicle after the expansion treatment is one dot at a time so as to surround the outer circumference of each outermost region of the reachable range 1401 of the vehicle before the expansion treatment each time the expansion treatment is performed. spread.

After that, as shown in FIG. 14C, the navigation device 500 performs a closing reduction process on the mesh 1410. In the closing reduction process, the identification information of one area of the mesh 1410 after the expansion process adjacent to the area to which the unreachable identification information is given is changed to the unreachable identification information.

Therefore, each region on the outermost circumference of the reachable range 1411 of the vehicle after the expansion treatment becomes an unreachable region by one dot each time the reduction treatment is performed, and the reachable range 1411 of the vehicle after the expansion treatment is reached. The outer circumference shrinks. As a result, the outer circumference of the reachable range 1421 of the vehicle after the reduction treatment is substantially the same as the outer circumference of the reachable range 1401 of the vehicle before the expansion treatment.

The navigation device 500 performs the above-mentioned expansion processing and reduction processing 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 processes of the expansion process and the reduction process, the identification information of almost all the outer peripheral part of the reachable range of the vehicle changed to the reachable identification information by the expansion process can be obtained by the reduction process. It can be changed to unreachable identification information. In this way, the navigation device 500 can remove the missing points 1402 within the reachable range of the vehicle and generate the reachable range 1421 of the vehicle that can clearly display the outer circumference.

More specifically, the navigation device 500 performs the closing process as follows. FIG. 15 is an explanatory diagram schematically showing an example of the closing process by the navigation device. 15 (A) to 15 (C) show, as an example, a mesh of two-dimensional matrix data (Y, X) in rows and columns to which identification information is assigned to each region.

FIG. 15A is a mesh 1500 after the identification information is added. FIG. 15B is a mesh 1510 after the closing treatment (expansion) with respect to FIG. 15A. FIG. 15C is a mesh 1520 after the closing process (reduction) with respect to FIG. 15B. In the meshes 1500, 1510, and 1520 of FIGS. 15 (A) to 15 (C), the regions 1501 and 1502 to which the reachable identification information is assigned are shown by different hatching.

As shown in FIG. 15A, the mesh 1500 after the identification information is given is given the identification information that can reach the area 1501 of the c row f column, the f row c column, and the g row f column. In FIG. 15A, the regions 1501 to which the reachable identification information is assigned are arranged apart from each other so that the change of the identification information after the expansion process and the reduction process becomes clear.

The navigation device 500 performs closing expansion processing on the mesh 1500 after such identification information is given. Specifically, as shown in FIG. 15B, the navigation device 500 has eight regions adjacent to the lower left, lower, lower right, right, upper right, upper, upper left, and left regions of the region 1501 in row c and column f. (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) The identification information of 1502 is changed from unreachable identification information to reachable identification information. change.

Further, the navigation device 500 can reach the identification information of the eight adjacent regions 1502 in the region 1501 of the f row c column and the g row f column in the same manner as the processing performed on the region 1501 of the c row f column. Change to the identification information of. Therefore, the reachable range 1511 of the vehicle is wider than the reachable range of the vehicle in the mesh 1500 after the identification information is given by the amount that the identification information of the area 1502 is changed to the reachable identification information.

Next, the navigation device 500 performs a closing reduction process on the mesh 1510 after the expansion process. Specifically, as shown in FIG. 15C, in the navigation device 500, the b-row and the e-column adjacent to the region (white background portion of the mesh 1510 after the expansion process) to which the unreachable identification information is given. The identification information of the eight regions 1502 of b row g column, c row e column, c row g column, and d row e column to d row g column is changed to unreachable identification information.

Further, the navigation device 500 is the same as the processing performed on the eight areas 1502 of the b row e column to 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. 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 area to which the unreachable identification information is given. , The identification information of the 15 regions 1502 in the g row g column, the h row e column, and the h row g column is changed to the unreachable identification information.

As a result, as shown in FIG. 15C, the mesh 1520 after the reduction process has the three regions 1501 to which the reachable identification information is added and the mesh 1520 after the reduction process, similarly to the mesh 1500 after the identification information is added. Also in the above, the reachable range 1521 of the vehicle consisting of one region 1502 remaining in the state where the reachable identification information is given is generated. As described above, the region 1502 remaining in the state where the reachable identification information is given during the expansion process and the reachable identification information is given after the reduction process is generated within the reachable range of the mesh 1500 after the identification information is given. The missing points that had been there disappear.

(Outline of giving identification information in the navigation device 500, part 2)
The navigation device 500 performs an opening process (a process of performing an expansion process after a reduction process) on a mesh of two-dimensional matrix data (Y, X) to generate a reachable range of a vehicle that can clearly display the outer circumference. May be good. Specifically, the navigation device 500 performs the opening process as follows.

FIG. 16 is an explanatory diagram showing an example of opening processing by the navigation device. 16 (A) to 16 (C) are meshes of two-dimensional matrix data (Y, X) of m rows and m columns to which identification information is assigned to each region. FIG. 16A shows the mesh 1600 after the identification information is added. FIG. 16B shows the mesh 1610 after the opening process (reduction) with respect to FIG. 16A. Further, FIG. 16C shows the mesh 1620 after the opening process (expansion) with respect to FIG. 16B. In the meshes 1600, 1610, 1620 shown in FIGS. 16A to 16C, the reachable range 1601, 1611, 1621 of the vehicle generated by the plurality of regions to which the reachable identification information is given is painted in black. Shown in the state of.

As shown in FIG. 16A, when many isolated points 1602 occur on the outer periphery of the reachable range 1601 of the vehicle in the mesh 1600 after the identification information is given, the opening process is performed on the mesh 1600 after the identification information is given. By doing so, the isolated point 1602 can be removed. Specifically, as shown in FIG. 16B, the navigation device 500 performs an opening reduction process on the mesh 1600 after the identification information is added.

In the opening reduction process, the identification information of one area of the mesh 1600 after the identification information is given, which is adjacent to the area to which the unreachable identification information is given, is changed to the unreachable identification information. As a result, the isolated points 1602 generated within the reachable range 1601 of the vehicle before the reduction process (after the identification information is given) are removed.

Therefore, each area on the outermost circumference of the reachable range 1601 of the vehicle after the identification information is given becomes an unreachable area by one dot each time the reduction processing is performed, and the reachable range of the vehicle after the identification information is given. The outer circumference of 1601 shrinks. Further, the isolated point 1602 generated in the reachable range 1601 of the vehicle after the identification information is given is removed.

After that, as shown in FIG. 16C, the navigation device 500 performs an opening expansion process on the mesh 1610. In the expansion process of the opening, the identification information of one area adjacent to the area to which the unreachable identification information is given is changed to the reachable identification information of the mesh 1610 after the reduction process. Therefore, the outer circumference of the reachable range 1621 of the vehicle after the expansion treatment is one dot at a time so as to surround the outer circumference of each region of the outermost circumference of the reachable range 1611 of the vehicle after the reduction treatment each time the expansion treatment is performed. spread.

In the navigation device 500, the expansion process and the reduction process are performed the same number of times in the opening process as well as the closing process. By equalizing the number of processes of the expansion process and the reduction process in this way, the outer circumference of the reachable range 1611 of the vehicle reduced by the reduction process is expanded, and the outer circumference of the reachable range 1621 of the vehicle after the reduction process is before the reduction process. It can be returned to the outer circumference of the reachable range 1601 of the vehicle. In this way, the navigation device 500 can generate a reachable range 1621 for a vehicle that does not have isolated points 1602 and can clearly display the outer circumference.

(Outline of contour extraction of reachable range in navigation device 500, part 1)
The navigation device 500 of this embodiment extracts the outline 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 device 500 uses, for example, a Freeman chain code to extract the contour of the reachable range of the vehicle. More specifically, the navigation device 500 extracts the outline of the reachable range of the vehicle as follows.

FIG. 17 is an explanatory diagram schematically showing an example of extracting the reachable range of the vehicle by the navigation device. Further, FIG. 18 is an explanatory diagram schematically showing an example of a mesh after extracting the reachable range of the vehicle by the navigation device. FIG. 17A shows a number indicating the adjacent direction of the regions 1710 to 1717 adjacent to the region 1700 (hereinafter referred to as “direction index (chain code)”) and an arrow in eight directions corresponding to the direction index. .. FIG. 17B shows a mesh 1720 of two-dimensional matrix data (Y, X) of h rows and h columns as an example. Further, in FIG. 17B, the areas 1721 to 1734 to which the reachable identification information is given and the areas to which the reachable identification information is given surrounded by the areas 1721 to 1734 are shown by hatching.

The directional index indicates the direction in which the line segment of the unit length is facing. In the mesh (X, Y), the coordinates corresponding to the directional exponent are (X + dx, Y + dy). Specifically, as shown in FIG. 17A, the direction index in the direction from the region 1700 toward the adjacent region 1710 on the lower left is “0”. The directional index in the direction from the region 1700 toward the adjacent region 1711 below is "1". The direction index in the direction from the region 1700 toward the adjacent region 1712 on the lower right is "2".

Further, the direction index in the direction from the region 1700 toward the region 1713 adjacent to the right is "3". The direction index in the direction from the region 1700 toward the adjacent region 1714 on the upper right is "4". The directional index in the direction from the region 1700 toward the adjacent region 1715 is "5". The direction index in the direction from the region 1700 toward the region 1716 adjacent to the upper left is "6". The directional index in the direction from the region 1700 toward the adjacent region 1717 to the left is "7".

The navigation device 500 searches counterclockwise for the area to which the reachable identification information "1" adjacent to the area 1700 is assigned. Further, the navigation device 500 determines the search start point of the area to which the reachable identification information adjacent to the area 1700 is given, based on the previous direction index. Specifically, when the direction index from the other area toward the area 1700 is "0", the navigation device 500 is adjacent to the left side of the area 1700, that is, the area adjacent to the area 1700 in the direction of the direction index "7". The search starts from 1717.

Similarly, when the direction index from the other area toward the area 1700 is "1" to "7", the navigation device 500 is adjacent to the lower left, lower, lower right, right, upper right, upper, and upper left of the area 1700. The search is started from the matching regions, that is, the regions 1710 to 1716 adjacent to each other in the directions of the direction indexes "0", "1", "2", "3", "4", "5", and "6", respectively. Then, when the navigation device 500 detects the reachable identification information "1" from any one of the areas 1710 to 1717 from the area 1700, the navigation device 500 detects the reachable identification information "1" from the areas 1710 to 1717. The direction indexes "0" to "7" corresponding to are written in the storage device in association with the area 1700.

Specifically, the navigation device 500 extracts the outline of the reachable range of the vehicle as follows. As shown in FIG. 17B, first, the navigation device 500 has identification information that can be reached in units of rows from the region of rows a and a of the mesh 1720 of the two-dimensional matrix data (Y, X) in rows h. Search for the area with.

Since unreachable identification information is given to all the regions of the a-th row of the mesh 1120, the navigation device 500 next changes from the b-row a-column region of the mesh 1720 to the b-row h-column region. Search for reachable identification information. Then, the navigation device 500 detects the reachable identification information in the region 1721 of the mesh 1720 in the b-row and e-column, and then counterclockwise from the region 1721 of the mesh 1720 in the b-row and e-column, the contour of the reachable range of the vehicle. Search for an area with reachable identification information.

Specifically, since the navigation device 500 has already searched for the area of row b and column d adjacent to the left of the area 1721, first, the reachable identification is made counterclockwise from the area 1722 adjacent to the lower left of the area 1721. Search for areas with information. Then, the navigation device 500 detects the reachable identification information of the area 1722, and stores the direction index "0" in the direction from the area 1721 toward the area 1722 in the storage device in association with the area 1721.

Next, since the navigation device 500 has the previous direction index "0", whether or not there is an area having reachable identification information counterclockwise from the area of c rows and columns adjacent to the left of the area 1722. To search for. Then, the navigation device 500 detects the reachable identification information of the area 1723 adjacent to the lower left of the area 1722, and stores the direction index "0" in the direction from the area 1722 to the area 1723 in association with the previous direction index. Store in the device.

After that, the navigation device 500 determines the search start point based on the previous direction index, and performs a process of searching whether or not there is an area having reachable identification information counterclockwise from the search start point in the direction index. Repeat until the corresponding arrow returns to region 1721. Specifically, the navigation device 500 searches counterclockwise from the area adjacent to the left of the area 1722 to see if there is an area having reachable identification information, and the adjacent area 1724 below the area 1723. The reachable identification information is detected, and the direction index "1" is associated with the previous direction index and stored in the storage device.

Similarly, the navigation device 500 searches for a region having reachable identification information counterclockwise from the search start point after determining the search start point based on the previous direction index, and the region having reachable identification information. 1724 to 1734 are sequentially detected. Then, each time the navigation device 500 acquires the direction index, it stores it in the storage device in association with the previous direction index.

After that, the navigation device 500 searches counterclockwise from the area of row b and column f adjacent to the upper right of the area 1734 to see if there is an area having reachable identification information, and searches for an area adjacent to the area 1734. The reachable identification information of 1721 is detected, and the direction index "5" is associated with the previous direction index and stored in the storage device. As a result, the storage device has a direction index "0"-> "0"-> "1"-> "0"-> "2"-> "3"-> "4"-> "3"-> "2"-> "5"-> "5"-> "6"-> "6"-> "5" are stored in this order.

In this way, the navigation device 500 sequentially searches counterclockwise from the first detected region 1721 to the regions 1722 to 1734 having the reachable identification information adjacent to the region 1721 and acquires the direction index. Then, the navigation device 500 fills one area in the direction corresponding to the direction index from the area 1721, and as shown in FIG. 18, the contour 1801 of the reachable range of the vehicle and the portion 1802 surrounded by the contour 1801. Generate a mesh having a reachable range of 1800 for a vehicle consisting of.

(Outline of contour extraction of reachable range in navigation device 500, part 2)
Another example of extracting the reachable range of the vehicle by the navigation device 500 of this embodiment will be described. The navigation device 500 may extract the outline of the reachable range of the vehicle based on the longitude / latitude information of the mesh of the two-dimensional matrix data (Y, X) to which the reachable identification information is added. Specifically, the navigation device 500 extracts the outline of the reachable range of the vehicle as follows.

FIG. 19 is an explanatory diagram schematically showing another example of extracting the reachable range of the vehicle by the navigation device. A mesh 1900 of two-dimensional matrix data (Y, X) of d rows and h columns as shown in FIG. 19 will be described as an example. The navigation device 500 searches the area of the mesh 1900 to which the reachable identification information "1" is assigned. Specifically, the navigation device 500 first searches for the reachable identification information "1" from the area of row a and column a toward the area of column a and h.

Since the unreachable identification information "0" is given to all the areas of the ath row of the mesh 1900, the navigation device 500 next changes from the b-row a-column area to the b-row h-column area. The area having the reachable identification information "1" is searched. Then, the navigation device 500 acquires the minimum longitude px1 and the minimum latitude py1 (upper left coordinates of the area 1901) of the area 1901 of the b-row c column having the reachable identification information "1".

Next, the navigation device 500 searches for an area having reachable identification information "1" from the area of rows b and d to the area of columns b and h. Then, the navigation device 500 searches for a boundary between the area having the reachable identification information "1" and the area having the unreachable identification information "0", and row b having the reachable identification information "1". The maximum longitude px2 and the maximum latitude py2 (lower right coordinates of the area 1902) of the area 1902 in column f are acquired.

Next, the navigation device 500 has a rectangular region whose vertices are the upper left coordinates (px1, py1) of the area 1901 in the b-row c column and the lower right coordinates (px2, py2) in the region 1902 in the b-row f column. Fill in.

Next, the navigation device 500 searches the region of the mesh 1900 from the b row g column to the b row h column, and further searches for the reachable identification information “1” from the c row a column to the c row h column. Then, the navigation device 500 acquires the minimum longitude px3 and the minimum latitude py3 (upper left coordinates of the area 1903) of the area 1903 of the c-row d column having the reachable identification information "1".

Next, the navigation device 500 searches for an area having reachable identification information "1" 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 500 searches for a boundary between the area having the reachable identification information "1" and the area having the unreachable identification information "0", and the line c having the reachable identification information "1". The maximum longitude px4 and the maximum latitude py4 (lower right coordinates of the area 1904) of the area 1904 in column f are acquired.

Next, the navigation device 500 has a rectangular region having the upper left coordinates (px3, py3) of the region 1903 in the c-row d-column and the lower right coordinates (px4, py4) of the region 1904 in the c-row f-column as opposite vertices. Fill in.

After that, the navigation device 500 searches for an area having reachable identification information "1" from the area of c row g column to the area of c row h, and further from d row a column to d row h column. Since the unreachable identification information "0" is given to all the areas from the area of the c-row g-column to the d-row-h column, the navigation device 500 ends the process.

In this way, by filling the area having the reachable identification information "1" for each row of the mesh 1900 of the two-dimensional matrix data (Y, X), the outline of the reachable range of the vehicle and the reachable range of the vehicle is filled. Can be obtained.

(Example of contour data complement processing)
FIG. 20-1 is an explanatory diagram showing an example of complement processing of contour data. (A) shows the contour data before complementation. (A) shows a state in which the vectors 2001 to 2003 are connected. The vector 2001 is a vector parallel to the X-axis direction, and the vector 2003 is also a vector parallel to the X-axis direction. The vectors 2001 and 2003 have the same length. The vector 2002 is a vector that intersects the X-axis and the Y-axis at 45 degrees. The length of the vector 2003 is √2 times the length of the vectors 2001 and 2003.

(B) shows an example of contour data after complementation. (B) shows a state in which the vector 2002 is decomposed into the vector 2004 and the vector 2005. The vector 2004 is the X-axis direction component of the vector 2002, and the vector 2005 is the Y-axis direction component of the vector 2002. The vectors 2001, 2002, 2004 and 2005 have the same length.

(C) shows another example of the contour data after complementation. (C) shows a state in which the vector 2002 is decomposed into the vector 2006 and the vector 2007. Vector 2006 is a Y-axis component of vector 2002, and vector 2007 is an X-axis component of vector 2002. The vectors 2001, 2002, 2006 and 2007 have the same length.

FIG. 20-2 is an explanatory diagram showing an example of a vector decomposition method in the complement processing shown in FIG. 20-1. When decomposing the vector, the chain code shown in FIG. 17 (A) is used. Further, as shown in FIGS. 20-1 (B) and (C), there are two types, but the vector after decomposition is decomposed so as to be included in the reachable range.

For example, in (A) and (B) of FIG. 20-2, the filled area is the reachable range. In FIG. 20-1 (A), referring to FIG. 17 (A), since the chain code of the vector 2101 is “0”, it is decomposed into the vectors 2101a and 2101b corresponding to the chain codes “1” and “7”. Will be done. Similarly, since the chain code of the vector 2102 is "2", it is decomposed into the vectors 2102a and 2102b corresponding to the chain codes "3" and "1". Similarly, since the chain code of the vector 2103 is "4", it is decomposed into the vectors 2103a and 2103b corresponding to the chain codes "5" and "3". Similarly, since the chain code of the vector 2104 is "6", it is decomposed into the vectors 2104a and 2104b corresponding to the chain codes "7" and "5".

Further, in FIG. 20-2 (B), referring to FIG. 17 (A), since the chain code of the vector 2111 is “0”, the vectors 2111a and 2111b corresponding to the chain codes “7” and “1” are used. It is decomposed into. Similarly, since the chain code of the vector 2112 is "2", it is decomposed into the vectors 2112a and 2112b corresponding to the chain codes "1" and "3". Similarly, since the chain code of the vector 2113 is “4”, it is decomposed into the vectors 2113a and 2113b corresponding to the chain codes “3” and “5”. Similarly, since the chain code of the vector 2114 is "6", it is decomposed into the vectors 2114a and 2114b corresponding to the chain codes "5" and "7".

(Judgment of contour orientation)
Here, a method for determining the orientation of the contour will be described. The contour has a contour of the outer circumference (outer contour) as shown in FIG. 20-2 (A) and a contour of the inner circumference (hole) as shown in FIG. 20-2. The orientation of this contour is simply determined by the following procedure.

FIG. 20-3 is an explanatory diagram schematically showing an example of extracting the reachable range of the vehicle by the navigation device. In FIG. 20-3 (A), a number indicating the adjacent direction of the regions 1110 to 1117 adjacent to the region 1100 (hereinafter referred to as “direction index (chain code)”) and an arrow in eight directions corresponding to the direction index are shown. Is shown. FIG. 20-3 (B) shows the mesh data 1120 of the two-dimensional matrix data (Y, X) of i rows and i columns as an example. Further, in FIG. 20-3 (B), the regions 1121 to 1138 to which the reachable identification information is assigned are shown by hatching. Further, inside the areas 1121 to 1138 to which the reachable identification information is given, the areas 1140 to 1142 to which the unreachable identification information is given exist (shown in white).

The directional index indicates the direction in which the line segment of the unit length is facing. In the mesh data (X, Y), the coordinates corresponding to the direction exponent are (X + dx, Y + dy). Specifically, as shown in FIG. 20-3 (A), the direction index in the direction from the region 1100 toward the adjacent region 1110 in the lower left is "0". The directional index in the direction from the region 1100 toward the adjacent region 1111 is "1". The direction index in the direction from the region 1100 toward the adjacent region 1112 on the lower right is "2".

Further, the direction index in the direction from the region 1100 toward the region 1113 adjacent to the right is "3". The direction index in the direction from the region 1100 toward the adjacent region 1114 on the upper right is "4". The directional index in the direction from the region 1100 toward the adjacent region 1115 is "5". The direction index in the direction from the region 1100 toward the region 1116 adjacent to the upper left is "6". The directional index in the direction from the region 1100 toward the adjacent region 1117 to the left is "7".

The navigation device 500 searches counterclockwise for the area to which the reachable identification information "1" adjacent to the area 1100 is assigned. That is, the navigation device 500 searches the area to which the reachable identification information "1" is added, for example, with the area 1110 as the search start point, counterclockwise around the area 1100. Here, the navigation device 500 determines the search start point of the area to which the reachable identification information adjacent to the area 1100 is given, based on the previous direction index. Specifically, in the navigation device 500, when the direction index from another area toward the area 1100 is "0", the area adjacent to the area 1100, that is, the area adjacent to the area 1100 in the direction of the direction index "5". 1115 is determined and the search is started from the area 1115.

Similarly, when the direction index from the other area toward the area 1100 is "1" to "7", the navigation device 500 is adjacent to the upper left, left, lower left, lower, lower right, right, and upper right of the area 1100. Areas that match, that is, areas 1116, area 1117, area 1110, and area 1111 that are adjacent to each other in the directions of the direction indices "6", "7", "0", "1", "2", "3", and "4", respectively. , Region 1112, region 1113, and region 1114 are determined, and the search is started from the determined region. Then, when the navigation device 500 first detects the reachable identification information "1" after starting the search, the direction index "0" corresponding to the areas 1110 to 1117 where the reachable identification information "1" is detected. "7" are written in the storage device in association with the area 1100.

Using such a start area that starts the search counterclockwise around the target area, which is determined based on the direction index to the target area, the navigation device 500 uses the following: Extract the outline of the reachable range of the vehicle. The relationship between the direction index to the target area and the start area where the search is started, which is shown here, is an example, and the outline of the reachable range of the vehicle can be extracted by other relationships. As shown in FIG. 20-3 (B), the navigation device 500 first arrives from the area of row a and column a of the mesh data 1120 of the two-dimensional matrix data (Y, X) of i rows and i columns in row units. The area changed from the area to which the impossible identification information is given to the area to which the reachable identification information is given is detected.

Since unreachable identification information is given to all the regions of the a-th row of the mesh data 1120, the navigation device 500 next, the navigation device 500 is from the b-row a-column region of the mesh data 1120 to the b-row i-column. Search for reachable identification information towards the area. Then, the navigation device 500 detects reachable identification information (first starting point of contour detection) in the region 1121 of the mesh data 1120 in the b row and f column by scanning the b row in the horizontal direction. Then, a region having reachable identification information, which is a contour of the reachable range of the vehicle, is searched in a counterclockwise direction around the region 1121 of row b and column f of the mesh data 1120, which is the first starting point of contour detection. ..

Specifically, the navigation device 500 determines the region 1122 adjacent to the lower left of the region 1121 because the direction index to the region 1121 by scanning in the horizontal direction is "3", and the determined region 1122 to the region 1121 Searches for an area with reachable identification information in a counterclockwise direction centered on. Then, the navigation device 500 detects the reachable identification information of the area 1122, and stores the direction index "0" in the direction from the area 1121 to the area 1122 in the storage device in association with the area 1121.

Next, since the navigation device 500 has the previous direction index "0", the region of adjacent b rows and e columns is determined on the region 1122, and the region 1122 is centered from the determined region of b rows and e columns. As for counterclockwise, it searches whether there is an area having reachable identification information. Then, the navigation device 500 detects the reachable identification information of the area 1123 adjacent to the lower left of the area 1122, and stores the direction index "0" in the direction from the area 1122 to the area 1123 in association with the previous direction index. Store in the device.

After that, the navigation device 500 determines the search start point based on the previous direction index, and performs a process of searching whether or not there is an area having reachable identification information counterclockwise from the search start point in the direction index. Repeat until the corresponding arrow returns to region 1121. Specifically, the navigation device 500 determines adjacent regions on the region 1123, and determines whether or not there is a region having reachable identification information in a counterclockwise direction around the determined region 1123. The search is performed, the reachable identification information of the adjacent area 1124 under the area 1123 is detected, and the direction index "1" is associated with the previous direction index and stored in the storage device.

Similarly, the navigation device 500 searches for a region having reachable identification information counterclockwise from the search start point after determining the search start point based on the previous direction index, and the region having reachable identification information. 1124 to 1134 are sequentially detected. Then, each time the navigation device 500 acquires the direction index, it stores it in the storage device in association with the previous direction index.

After that, the navigation device 500 determines c rows and h columns adjacent to the right of the region 1134, and a region having reachable identification information is determined counterclockwise around the region 1134 from the determined c rows and h columns. The presence or absence is searched, the reachable identification information of the area 1121 adjacent to the upper left of the area 1134 is detected, and the direction index "6" is associated with the previous direction index and stored in the storage device. As a result, the storage device has a direction index "0"-> "0"-> "1"-> "0"-> "2"-> "3"-> "4"-> "3"-> "2"-> "5"-> "5"-> "5"-> "6"-> "6" are stored in this order. The continuous array of directional indices stored in this way represents the contour of the reachable range, as shown in FIG. 20-3 (B). Further, the direction of the contour of the reachable range represented by the direction of the continuous arrow of the direction index is counterclockwise as shown in FIG. 20-3 (B). This means that the area that is the outline of the reachable range is searched counterclockwise.

Next, the navigation device 500 extracts other contours within reach. Specifically, as shown in FIG. 20-3 (B), an area to which unreachable identification information is given by horizontal scanning of the mesh data 1120 from the area 1121 of the b-row f-column to the b-row. Detects other areas that have changed from to the area to which reachable identification information has been added. That is, the second start point of contour detection is detected. At this time, since the region once extracted as the contour of the reachable range is excluded from the detection, the region 1122 and the region 1123 are not detected as the second starting point of the contour detection.

In this way, the region 1135 in row d and column g is detected as the start point of another contour in the reachable range, that is, as the second start point of contour detection. Then, a region having reachable identification information that is a contour of the reachable range of the vehicle is searched in a counterclockwise direction around the region 1135 of the d row and g column of the mesh data 1120, which is the second start point of the contour detection. ..

Specifically, the navigation device 500 determines the region 1142 adjacent to the lower left of the region 1135 because the direction index to the region 1135 is "3" by scanning in the horizontal direction, and the determined region 1135 is the center. Search counterclockwise to see if there is an area with reachable identification information. Then, the navigation device 500 detects the reachable identification information of the area 1132, and stores the direction index "2" in the direction from the area 1135 to the area 1132 in the storage device in association with the area 1135.

Next, since the navigation device 500 has the previous direction index "2", the region of e rows and g columns adjacent to the left of the region 1132 is determined, and the region 1132 is centered from the determined region of e rows and g columns. As a result of searching whether or not there is an area having reachable identification information in the counterclockwise direction, the reachable identification information of the area 1129 is detected, and the direction index "0" in the direction from the area 1132 to the area 1129 is set. , Stored in the storage device in association with the previous direction index.

After that, the navigation device 500 determines the search start point based on the previous direction index, and performs a process of searching whether or not there is an area having reachable identification information counterclockwise from the search start point in the direction index. Repeat until the corresponding arrow returns to region 1135. As a result, as the outline of the reachable range starting from the area 1135 of the second starting point, the storage device has a direction index "2"-> "0"-> "7"-> "6"-> "5"-> "4". "→" 2 "is stored in this order. The continuous array of directional indices stored in this way represents the second contour of the reachable range, as shown in FIG. 20-3 (B). Further, the direction of the second contour of the reachable range represented by the direction of the continuous arrow of the direction index is clockwise as shown in FIG. 20-3 (B). This means that the area that is the outline of the reachable range is searched clockwise.

In addition, the navigation device 500 extracts other contours within reach. Specifically, as shown in FIG. 20-3 (B), a region to which unreachable identification information is given by horizontal scanning of the d-row g-column region 1135 to the d-row of the mesh data 1120. Detects other areas that have changed from to the area to which reachable identification information has been added. That is, the third and subsequent start points of contour detection are detected. At this time, the area once searched as the contour of the reachable range is excluded from the detection. This scan continues up to i rows and i columns.

As described above, the navigation device 500 determines the search start point from the first detected area 1121 based on the previous direction index, and whether or not there is an area having identification information that can be reached counterclockwise from the search start point. By repeating the search process until the arrow corresponding to the direction index returns to the area 1121, the areas 1122 to 1134 are searched and the direction index is acquired. Further, from the next detected area 1135, the search start point is similarly determined based on the previous direction index, and it is searched whether or not there is an area having reachable identification information counterclockwise from the search start point. By repeating the process until the arrow corresponding to the direction index returns to the area 1135, the area 1132, the area 1129, the area 1128, the area 1136, the area 1137, and the area 1138 are searched and the direction index is acquired. Then, the navigation device 500 is surrounded by the outer contour and the inner contour of the reachable range of the vehicle and these outer contours and the inner contour by filling a series of regions in the direction corresponding to the direction index from the region 1121 and the region 1135. Generate mesh data that the part can reach.

Further, the navigation device 500 determines the search start point based on the previous direction index, and corresponds to the direction index in the process of searching whether or not there is an area having reachable identification information counterclockwise from the search start point. As shown in FIG. 20-3 (B), the continuous trajectory of the directional index obtained by repeating the process until the arrow is returned to the original region is counterclockwise (counterclockwise) in the outer contour of the reachable range of the vehicle. Clockwise). If there is an unreachable range inside the reachable range of the vehicle, the direction index of the inner contour of the reachable range in contact with the unreachable range is clockwise (clockwise). In other words, by investigating whether the direction of the continuous arrow of the directional index is clockwise or counterclockwise, whether the contour indicated by the direction of the continuous arrow of the directional index is the outer contour of the reachable range. It is possible to determine whether the contour is inside the reachable range when there is an unreachable range inside the reachable range.

As shown in FIG. 20-3 (C), the direction of the obtained contour (clockwise or counterclockwise) is the chain code (direction) for each coordinate of the contour data in the reachable range. Index) 1150 and additional information 1160 indicating the direction of the contour are added and output to the display control unit 206. As a result, the display control unit 206 can display the reachable range of the vehicle by the counterclockwise outer contour 1130, and if there is a clockwise inner contour 1140, the unreachable range of the vehicle is displayed inside the outer contour 1130. You will be able to.

(Calculation process of contour orientation)
FIG. 20-4 is a flowchart showing an example of the procedure for calculating the contour orientation by the navigation device. The navigation device 500 sequentially scans the chain code sequence output by the contour detection (step S2201).

When the absolute value of the amount of change in the approach direction to the reference pixel due to the pixel operation is half or more of the number of adjacent pixels (for example, 4 or more or -4 or less), the number of adjacent pixels is added or subtracted once. The absolute value of the amount of change in the approach direction is corrected to be smaller than half the number of adjacent pixels (for example, -3 or more and 3 or less) (step S2202). Then, the product of the corrected amount of change in the approach direction and the unit rotation angle (2π / number of adjacent pixels) is calculated, and the cumulative rotation angle due to the transition in the approach direction is calculated (step S2203).

After that, it is determined whether the lines in all the approach directions have been scanned (step S2204), and if the scanning has not been completed (step S2204: No), the process returns to step S2201 and if the scanning has been completed (step S2204: Yes). ), Next, it is determined whether the cumulative rotation angle due to the transition in the approach direction is 2π or 0 (step S2205). As a result of the determination, when the cumulative rotation angle is 2π or 0 (step S2205: Yes), it is found that the direction in which the transition in the approach direction orbits is counterclockwise (step S2206), and the above processing is terminated. .. Here, when the cumulative value is 0, it is a special case of counterclockwise rotation. On the other hand, when the cumulative rotation angle is -2π (step S2205: No), it is found that the direction in which the transition in the approach direction circulates is clockwise (step S2207), and the above processing is terminated.

The processing of the orientation of the contour will be specifically described using the contour (outer contour and inner contour) shown in FIG. 20-3 (B) described above. For the outer contour, the value of the direction index until one round is "0"-> "0"-> "1"-> "0"-> "2"-> "3"-> "4"-> "3"-> "2". → "5" → "5" → "5" → "6" → "6" → "0". The amount of change (difference) between each value is "0", "1", "-1", "2", "1", "1", "-1", "-1", "3", respectively. , "0", "0", "1", "0", "-6". Here, regarding the change in the directional index, the value of "-6" indicated by the last "6" → "0" is corrected because it is a change of only two adjacent pixels as seen in FIG. 20-3 (A). Add "+8" as the value, and assume that the direction index is "+2" instead of "-6". Then, the cumulative value of the total is set to "8" (8 × 45 ° = 360 °), and in this case, it is determined to be counterclockwise (outer contour).

As for the inner contour, the value of the direction index until one round changes from "2" → "0" → "7" → "6" → "5" → "4" → "2" → "2". do. The amount of change (difference) between each value is "-2", "7", "-1", "-1", "-1", "-2", and "0", respectively. Here, regarding the change in the directional index, the value of "7" indicated by "0" → "7" is a change of only one adjacent pixel as seen in FIG. 20-3 (A), and therefore, as a correction value, " Add -8 "and set the directional index to" -1 "instead of" 7 ". The cumulative value of the total is set to "-8" (-8 x 45 ° = -360 °), and in this case, it is determined to be clockwise (inner contour).

In this way, the direction of the contour (clockwise or counterclockwise) is obtained, and the contour data calculation unit 106 (direction calculation unit 107) obtains the contour data in the reachable range as shown in FIG. 20-3 (C). A chain code (direction index) 1150 for each coordinate and additional information 1160 indicating the direction of the contour are added to the data and output to the display control unit 206. As a result, the display control unit 206 can display the reachable range of the vehicle by the counterclockwise outer contour 1130, and if there is a clockwise inner contour 1140, the unreachable range of the vehicle is displayed inside the outer contour 1130. You will be able to.

After determining the orientation of the contour in this way, if the contour is the outer circumference (outer contour), the method shown in FIG. 20-2 (A), and if the contour is the inner circumference (hole), the method shown in FIG. 20-2 (the outer contour). The method B) may be selected and a new code may be inserted between the chain codes.

(Example of removing high frequency components)
Next, an example of removing high frequency components by the conversion unit 263, the removal unit 264, and the inverse conversion unit 265 will be described.

First, the conversion unit 263 calculates the contour polygon (latitude / longitude, real number coordinate system) from the line segment group constituting the contour data. The latitude / longitude calculated as a contour polygon is, for example, X_i = (x_i, y_i) (where i = 0,1, ..., N-1). When converted by the music coordinate value, z_i = x_i + j · y_i = | A_i | exp (j × φ_i). Further, the lengths of the line segments are the same length U by the complement processing. Therefore, each vertex on the contour data is expressed as z_i = x_i + j × y_i = U ・ exp (j × φ_i). After that, the conversion unit 263 calculates a vector sequence having adjacent vertices of the contour as the start point and the end point. When using the P-type Fourier descriptor, the transforming unit 263 decomposes each vector into the argument φ of each vector and the length U of the line segment.

FIG. 21-1 is an explanatory diagram showing the music coordinate representation of the contour data. The conversion unit 263 calculates the line segment w_i formed by each vertex z_i from each vertex z_i as shown in the following equation (11).
w_i = (z_i + 1-z_i) / U = (x_i + 1-x_i) / U + j (y_i + 1-y_i) / U ... (11)

Since the length U of the line segment is constant due to the complement processing, the conversion unit 263 performs a fast Fourier transform on the argument w_N. Specifically, for example, the transform unit 263 performs a fast Fourier transform on the complex number array w_i representing the line segment sequence. Here, in order to make the number of samples a power of 2, the conversion unit 263 calculates the smallest power value M of 2 that exceeds the number N of w_i. That is, M = 2 ^ m satisfying 2 ^ (m-1) <N ≦ 2 ^ m is obtained. Further, when N <M, if there is a surplus component w_i satisfying N ≦ i <M, it is set to “0”. Then, the conversion unit 263 performs a fast Fourier transform on w_i with the number of M samples. As a result, the argument component w_k of the following equation (12) can be obtained. However, k = 0, 1, ..., M-1.

Then, the removing unit 264 removes the high frequency component by passing a low-pass filter through the frequency component w_k of the declination angle. FIG. 21-2 is a graph showing frequency conversion. Here, assuming that the cutoff rate is c, hc = (1-c) × M / 2, and the removing unit 264 uses “0” for all the components of w_k in which M / 2-hc <k <M / 2 + hc. To remove high frequency components.

After that, the inverse transform unit 265 performs an inverse fast Fourier transform to calculate an array w_N of the declination from which the high frequency component is removed. Specifically, the inverse transform unit 265 performs an inverse fast Fourier transform on the line segment sequence w'_k from which the high frequency component is removed, as shown in the following equation (13).

Then, the inverse conversion unit 265 obtains a reproduction curve which is a contour polygon after smoothing from the argument w_N and the length U of the line segment. That is, the inverse conversion unit 265 obtains the reproduction curve z'_i from the line segment sequence w'_i from which the high frequency component is removed, and obtains the final result.

Specifically, the inverse conversion unit 265 performs the inverse calculation of the above equation (11) as shown in the following equation (14).

z_i = z_i-1 + U × w_i-1
z'_0 = z_0
z'_i = z'_i-1 + U × w'_i-1
However, i = 1, ..., N-1 ... (14)

In this way, the smoothed curve z'_i is calculated from the original curve z_i. Further, the strength of smoothing can be adjusted by adjusting the cutoff rate c.

(Example of thinning out contour data)
FIG. 22 is an explanatory diagram showing an example of thinning out contour data. In FIG. 22, the vectors u and v are vectors on the contour data. A to C are vertices on the contour data. Vertex B is an outer peripheral point to be deleted. When the absolute value of the angle θ formed by the vectors u and v is larger than the predetermined value θth and close to 180 degrees, the thinning unit 266 thins out the vertices connecting the adjacent line segment data. In the calculation, the cosine of θ is calculated from the inner product of the vector u and the vector v, and compared with the predetermined threshold value cosθth. Specifically, when the vertex B satisfies the following equation (15), it is deleted. When the vertices B are thinned out, the vertices A and C are connected, and the gentle curve is converted into a straight line. By applying this thinning process to each vertex on the outer circumference in order, a curve with a reduced number of vertices can be generated.

(Image processing in the navigation device 500)
As described above, the navigation device 500 generates the reachable range of the moving body based on the reachable node of the moving body searched based on the remaining energy amount of the vehicle and displays it on the display 513. Hereinafter, for example, a case where the navigation device 500 is mounted on an EV vehicle will be described as an example.

FIG. 23 is a flowchart showing an example of the procedure of image processing by the navigation device. In the flowchart of FIG. 23, the navigation device 500 first acquires the current position (ofx, ofy) of the vehicle on which the own device is mounted (step S2301), for example, via the communication I / F 515. Next, the navigation device 500 acquires the initial energy possession amount of the vehicle at the current position (ofx, ofy) of the vehicle, for example, via the communication I / F515 (step S2302).

Next, the navigation device 500 performs a reachable node search process (step S2303). Next, the navigation device 500 performs mesh generation and identification information addition processing (step S2304). Next, the navigation device 500 extracts the outline of the reachable range of the vehicle (step S2305). Then, the navigation device 500 executes a smoothing process including a complement process, a high-speed Fourier transform process, a high-frequency component removal process, an inverse fast Fourier transform process, and a thinning process on the contour data indicating the extracted contour (step). S2306). After that, the navigation device 500 displays the reachable range of the vehicle on the display 513 based on the smoothed contour data (step S2307), and ends the process according to this flowchart.

(Estimated power consumption calculation process in the navigation device 500)
Next, the estimated power consumption calculation process by the navigation device 500 will be described. FIG. 24 is a flowchart showing an example of the procedure for calculating the estimated power consumption by the navigation device. In the flowchart shown in FIG. 24, it is a process performed in the reachable node search process in step S2303 described above.

In the flowchart of FIG. 24, the navigation device 500 first acquires congestion information such as probe data and congestion prediction data via the communication I / F 515 (step S2401). Next, the navigation device 500 acquires the length of the link and the road type of the link (step S2402).

Next, the navigation device 500 calculates the travel time of the link based on the information acquired in steps S2401 and S2402 (step S2403). The travel time of the link is the time required for the vehicle to finish traveling on the link. Next, the navigation device 500 calculates the average speed of the link based on the information acquired in steps S2401 to S2403 (step S2404). The average speed of the link is the average speed at which the vehicle travels on the link.

Next, the navigation device 500 acquires the elevation data of the link (step S2405). Next, the navigation device 500 acquires the vehicle setting information (step S2406). Next, the navigation device 500 uses the energy consumption estimation formula of any one of the above equations (1) to (6) based on the information acquired in steps S2401 to S2406 to estimate the consumption at the link. The electric energy is calculated (step S2407), and the process according to this flowchart is terminated.

(Reachable point search process in the navigation device 500)
Next, the reachable point search process by the navigation device 500 will be described. 25 and 26 are flowcharts showing the procedure of the reachable point search process by the navigation device 500. In the flowcharts of FIGS. 25 and 26, the navigation device 500 adds the node N (i) _j connected to the link L (i) _j closest to the search start point to the node candidates (step S2501). The search start point is the current position (ofx, ofy) of the vehicle acquired in step S2501 described above.

The variables i and j are arbitrary numerical values, and for example, the link and the node closest to the search start point are the link L (1) _j and the node N (1) _j, respectively, and are further connected to the node N (1) _j. The node connecting the link to the link L (2) _j and the link L (2) _j may be the 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 device 500 determines whether or not there is one or more node candidates (step S2502). When there is one or more node candidates (step S2502: Yes), the navigation device 500 selects the node candidate having the minimum cumulative power consumption from the current position of the vehicle to the node candidate (step S2503). For example, assuming that the navigation device 500 selects the node N (i) _j as the node candidate, the subsequent processing will be described.

Next, the navigation device 500 determines whether or not the cumulative power consumption from the current position of the vehicle to the node N (i) _j is smaller than the designated energy amount (step S2504). The designated energy amount is, for example, the residual energy amount of the vehicle at the current position of the vehicle. If it is smaller than the designated energy amount (step S2504: Yes), the navigation device 500 extracts all the links L (i + 1) _j connected to the node N (i) _j (step S2505).

Next, the navigation device 500 selects one link L (i + 1) _j from the links L (i + 1) _j extracted in step S2505 (step S2506). Next, the navigation device 500 performs a candidate determination process for determining whether or not one link L (i + 1) _j selected in step S2506 is used as a link candidate (steps S2507 and S2508).

When one link L (i + 1) _j is used as a link candidate (step S2508: Yes), the navigation device 500 performs a power consumption calculation process on one link L (i + 1) _j (step S2509). Next, the navigation device 500 calculates the cumulative power consumption W (i + 1) _j up to the node N (i + 1) _j connected to one link L (i + 1) _j (step S2510). Next, the navigation device 500 determines whether or not there is another processed route connected to the node N (i + 1) _j (step S2511).

If there is another route that has been processed (step S2511: Yes), the navigation device 500 has the cumulative power consumption W (i + 1) _j from the current position of the vehicle to the node N (i + 1) _j, which is the cumulative total of the other routes. It is determined whether or not it is smaller than the power consumption (step S2512). When it is smaller than the cumulative power consumption on other routes (step S2512: Yes), the navigation device 500 tells node N (i + 1) _j the cumulative power consumption W from the current position of the vehicle to node N (i + 1) _j. (I + 1) _j is set (step S2513).

On the other hand, when there is no other processed route (step S2511: No), the navigation device 500 proceeds to step S2513. Next, the navigation device 500 determines whether or not the node N (i + 1) _j is a node candidate (step S2514). If it is not a node candidate (step S2514: No), the navigation device 500 adds the node N (i + 1) _j to the node candidate (step S2515).

When one link L (i + 1) _j is not a link candidate (step S2508: No), the cumulative power consumption W (i + 1) _j from the current position of the vehicle to the node N (i + 1) _j is on another route. When the cumulative power consumption is equal to or greater than the cumulative power consumption of (step S2512: No), and when the node N (i + 1) _j is a node candidate (step S2514: Yes), the navigation device 500 proceeds to step S2516.

Next, the navigation device 500 determines whether or not the candidate determination processing for all the links L (i + 1) _j has been completed (step S2516). When the candidate determination processing of all the links L (i + 1) _j is completed (step S2516: Yes), after removing the node N (i) _j from the node candidates (step S2517), the process returns to step S2502. Then, when there is one or more node candidates (step S2502: Yes), the navigation device 500 selects the node candidate having the smallest cumulative power consumption from the current position of the vehicle from the node candidates (step S2503). , The node candidate selected in step S2503 is set as the next node N (i) _j, and the processing after step S2504 is performed.

On the other hand, when the candidate determination processing of all the links L (i + 1) _j is not completed (step S2516: No), the process returns to step S2506. Then, the navigation device 500 selects another link L (i + 1) _j connected to the node N (i) _j again, and the candidate determination process of all the links L (i + 1) _j connected to the same node candidate is performed. Until the end (step S2516: Yes), the processes from step S2507 to step S2515 are repeated. If there is no one or more node candidates (step S2502: No), or if the cumulative power consumption from the current position of the vehicle to the node N (i) _j is equal to or greater than the specified energy amount (step S2504: No), navigation. The device 500 ends the process according to this flowchart.

(Link candidate determination processing in the navigation device 500)
Next, the link candidate determination process by the navigation device 500 will be described. FIG. 27 is a flowchart showing an example of the procedure of the link candidate determination process by the navigation device. The flowchart of FIG. 27 is an example of the process performed in step S2507 described above.

In the flowchart of FIG. 27, the navigation device 500 first determines whether or not one link L (i + 1) _j selected in step S2506 is prohibited from passing (step S2701). When it is not prohibited to pass (step S2701: No), the navigation device 500 determines whether or not one link L (i + 1) _j is a one-way reverse run (step S2702). When it is not a one-way reverse run (step S2702: No), the navigation device 500 determines whether or not one link L (i + 1) _j is time-regulated or seasonally regulated (step S2703).

When time regulation or seasonal regulation is not performed (step S2703: No), the navigation device 500 has a node N (i + 1) on the current position side of the vehicle in which one link L (i + 1) _j is one link L (i + 1) _j. It is determined whether or not the importance is lower than that of the link L (i) _j connected to (step S2704). When the importance is higher than the link L (i) _j (step S2704: No), the navigation device 500 determines one link L (i + 1) _j as a link candidate (step S2705), and ends the process according to this flowchart. do.

On the other hand, when traffic is prohibited (step S2701: Yes), one-way reverse driving (step S2702: Yes), time regulation or seasonal regulation (step S2703: Yes), the link L to connect (step S2703: Yes). i) When the importance is lower than _j (step S2704: Yes), the navigation device 500 ends the process according to this flowchart.

(Identification information imparting process in the navigation device 500)
Next, the identification information imparting process by the navigation device 500 will be described. FIG. 28 is a flowchart showing an example of the procedure for assigning identification information by the navigation device. The flowchart of FIG. 28 is the process performed in step S2304 described above.

In the flowchart of FIG. 28, the navigation device 500 first acquires the longitude / latitude information (x, y) of the reachable node (searchable point) (step S2801). Next, the navigation device 500 acquires the maximum longitude x_max, the minimum longitude x_min, the maximum latitude y_max, and the minimum latitude y_min (step S2802).

Next, the navigation device 500 has a distance w1 from the current position (ofx, ofy) of the vehicle acquired in step S2801 to the maximum longitude x_max, a distance w2 to the minimum longitude x_min, a distance w3 to the maximum latitude y_max, and a minimum latitude. The distance w4 to y_min is calculated (step S2803). Next, the navigation device 500 acquires the longest distance w5 = max (w1, w2, w3, w4) among the distances w1 to w4 (step S2804).

Next, the navigation device 500 calculates a 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 S2805). Next, the navigation device 500 converts the map data from the absolute coordinate system to the screen coordinate system using the magnification mag calculated in step S2805, and generates a mesh (X, Y) of m × m dots (step S2806). ..

In step S2806, the navigation device 500 assigns reachable identification information to the mesh (X, Y) including the reachable node, and identifies the unreachable mesh (X, Y) not including the reachable node. Give information. Then, the navigation device 500 removes the missing points of the mesh (X, Y) corresponding to the bridge or the tunnel by performing the first identification information change process (step S2807).

Next, the navigation device 500 performs a second identification information change process (step S2808). Next, the navigation device 500 performs a third identification information change process (step S2809), and ends the process according to this flowchart. The second identification information change process is a closing expansion process. The third identification information change process is a closing reduction process. In this flowchart, the second identification information change process (step S2808) and the third identification information change process (step S2809) are performed after the first identification information change process (step S2807). The first identification information change process (step S2807) may be performed after the change process (step S2808) and the third identification information change process (step S2809).

(First identification information change process in the navigation device 500)
Next, the first identification information change process by the navigation device 500 will be described. FIG. 29 is a flowchart showing an example of the procedure of the first identification information change processing by the navigation device 500. The flowchart of FIG. 29 is an example of the process performed in step S2807 described above. Specifically, the navigation device 500 determines a defect point occurring in the area corresponding to the 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 the flowchart of FIG. 29, the navigation device 500 first acquires a mesh of two-dimensional matrix data of my rows and mx columns (step S2911). Next, the navigation device 500 assigns 1 to the variables i and j in order to search for the identification information of the region of i-by and j-column of the mesh (steps S2912 and S2913). Next, the navigation device 500 determines whether or not the region of the mesh i-by-j is the entrance / exit of a bridge or a tunnel (step S2914).

When the region of i-row j is the entrance / exit of a bridge or a tunnel (step S2914: Yes), the navigation device 500 determines whether or not the identification information of the i-row j-column region of the mesh is "1". (Step S2915). When the identification information of the region of i-row and j-column is "1" (step S2915: Yes), the navigation device 500 is a region of the other entrance / exit of the bridge or tunnel corresponding to the region of i-row and j-column of the mesh. The position information (i1, j1) is acquired (step S2916).

Next, the navigation device 500 determines whether or not the identification information of the region of i1 row j1 column of the mesh is "1" (step S2917). When the identification information of the area of i1 row j1 column is "1" (step S2917: Yes), the navigation device 500 is all on the section connecting the area of i row j column and the area of i1 row j1 column. Acquire the position information of the area (step S2918).

Next, the navigation device 500 changes the identification information of each area acquired in step S2918 to "1" (step S2919). As a result, the defect points generated in the region corresponding to the bridge or tunnel connecting the region of i-row and j-column and the region of i1 and j1 are removed. When the identification information of each area acquired in step S2918 is all "1", the navigation device 500 may proceed to step S2920 without performing the process of step S2919.

Further, when the area of i-row j column is not the entrance / exit of a bridge or a tunnel (step S2914: No), when the identification information of the area of i-row j column is not "1" (step S2915: No), and i1 row j1. If the identification information of the area of the column is not "1" (step S2917: No), the navigation device 500 proceeds to step S2920.

Next, the navigation device 500 adds 1 to the variable j (step S2920) and determines whether or not the variable j exceeds the mx column (step S2921). When the variable j does not exceed the mx column (step S2921: No), the navigation device 500 returns to step S2914 and repeats the subsequent processing. On the other hand, when the variable j exceeds the mx column (step S2921: Yes), the navigation device 500 adds 1 to the variable i (step S2922), and determines whether or not the variable i exceeds the my row. (Step S2923).

When the variable i does not exceed the my line (step S2923: No), the navigation device 500 returns to step S2913, assigns 1 to the variable j, and then repeats the subsequent processing. On the other hand, when the variable i exceeds the my line (step S2923: Yes), the navigation device 500 ends the process according to this flowchart. Thereby, the navigation device 500 can remove all the missing points on the bridge or tunnel contained in the mesh of the two-dimensional matrix data of my rows and mx columns.

Further, the navigation device 500 again determines whether or not the area of i1 row j1 column acquired as the other entrance / exit of the bridge or tunnel in step S2916 is the other entrance / exit of the bridge or tunnel (process of step S2914). ) Does not have to be performed. As a result, the navigation device 500 can reduce the amount of processing for the first identification information change processing.

(Reachable range contour extraction process in the navigation device 500)
Next, the identification information imparting process by the navigation device 500 will be described. 30 and 31 are flowcharts showing an example of the procedure of the reachable range contour extraction process by the navigation device. The flowcharts of FIGS. 30 and 31 are examples of the processes performed in step S2305 described above, and are the outline of the contour extraction of the reachable range in the navigation device 500 described above and the reachable range contour extraction process shown in Part 2.

In the flowcharts of FIGS. 30 and 31, the navigation device 500 first acquires a mesh of two-dimensional matrix data of my rows and mx columns (step S3001). Next, the navigation device 500 acquires the longitude / latitude information of each region of the mesh acquired in step S3001 (step S3002).

Next, the navigation device 500 initializes the variable i and adds 1 to the variable i in order to search for the identification information of the region of i rows and j columns of the mesh (steps S3003 and S3004). Next, the navigation device 500 determines whether or not the variable i exceeds the my line (step S3005).

When the variable i does not exceed the my line (step S3005: No), the navigation device 500 initializes the variable j and adds 1 to the variable j (steps S3006 and S3007). Next, the navigation device 500 determines whether or not the variable j exceeds the mx column (step S3008).

When the variable j does not exceed the mx column (step S3008: No), the navigation device 500 determines whether or not the identification information of the area of the i-by-j column of the mesh is "1" (step S3009). When the identification information of the area of i-row and j-column is "1" (step S3009: Yes), the navigation device 500 acquires the upper left coordinates (px1, py1) of the area of i-row and j-column of the mesh (step S3010). ). The upper left coordinates (px1, py1) of the area of i-row and j-column are the minimum longitude px1 and the minimum latitude py1 of the area of i-row and j-column.

Next, the navigation device 500 determines whether or not the variable j is smaller than the mx column (step S3011). When the variable j is the mx column or more (step S3011: No), the navigation device 500 acquires the lower right coordinates (px2, py2) of the region of the i-row j-column of the mesh (step S3012). 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 i-row and j-column area.

Next, the navigation device 500 sets the upper left coordinates (px1, py1) acquired in step S3010 and the lower right coordinates (px2, py2) acquired in step S3012 in the map data (step S3016). Then, the navigation device 500 fills a rectangular area having the upper left coordinates (px1, py1) and the lower right coordinates (px2, py2) as opposite vertices (step S3017), returns to step S3004, and repeats the subsequent processing. Do it.

On the other hand, when the variable j is smaller than the mx column (step S3011: Yes), the navigation device 500 adds 1 to the variable j (step S3013), and the identification information of the area of the i-row j column of the mesh is "1". It is determined whether or not there is (step S3014). When the identification information of the area of i-row j is not "1" (step S3014: No), the navigation device 500 acquires the lower right coordinates (px2, py2) of the area of i-row j-1 of the mesh (step S3014: No). Step S3015), the processing after step S3016 is performed.

Further, when the identification information of the area of i-row and j-column is "1" (step S3014: Yes), the process returns to step S3011 and the subsequent processing is repeated. Then, when the variable i exceeds the my line (step S3005: Yes), the navigation device 500 ends the process according to this flowchart. When the variable j exceeds the mx column (step S3008: Yes), the process returns to step S3004, and the subsequent processing is repeated.

(Smoothing processing in the navigation device 500)
Next, the smoothing process by the navigation device 500 will be described. FIG. 32 is a flowchart showing an example of the procedure of the smoothing process by the navigation device 500. The flowchart of FIG. 32 is an example of the process performed in step S2306 described above.

First, the navigation device 500 executes the complement processing of the contour data indicating the contour of the reachable range of the moving body by the complement unit 262 (step S3201). Next, the navigation device 500 executes a fast Fourier transform (FFT process) on the argument array obtained from the contour data after the complement process by the conversion unit 263 (step S3202). Then, the navigation device 500 removes the high frequency component by passing the low pass filter through the frequency component of the declination obtained by the frequency conversion by the removing unit 264 (step S3203). Next, the navigation device 500 reproduces the contour data by performing an inverse fast Fourier transform (inverse FFT process) on the frequency component of the declination from which the high frequency component has been removed by the inverse transform unit 265 (step S3204). Then, the navigation device 500 executes the thinning process of thinning out the vertices by the thinning unit 266 (step S3205). This smoothes the contour data.

(About road slope)
Next, the road gradient θ used as a variable on the right side of the above equations (1) to (6) will be described. FIG. 33 is an explanatory diagram schematically showing an example of acceleration applied to a vehicle traveling on a sloped road. As shown in FIG. 33, for a vehicle traveling on a slope having a road gradient of θ, the acceleration A (= dx / dt) accompanying the traveling of the vehicle and the traveling direction component B (= g · sinθ) of the gravitational acceleration g are present. It takes. For example, when the above equation (1) is explained as an example, the second term on the right side of the above equation (1) shows the acceleration A accompanying the running of the vehicle and the combined acceleration C of the traveling direction component B of the gravitational acceleration g. There is. Further, the distance D of the section in which the vehicle travels, the traveling time T, and the traveling speed V.

When the power consumption is estimated without considering the road slope θ, the error between the estimated power consumption and the actual power consumption is small in the region where the road slope θ is small, but it is estimated in the region where the road slope θ is large. The error between the estimated power consumption and the actual power consumption becomes large. Therefore, in the navigation device 500, the estimation accuracy is improved by estimating the fuel consumption in consideration of the road gradient, that is, the fourth information.

The slope of the road on which the vehicle travels can be known, for example, by using an inclinometer mounted on the navigation device 500. When the navigation device 500 is not equipped with a slope meter, for example, road slope information included in the map data can be used.

(About running resistance)
Next, the running resistance generated in the vehicle will be described. The navigation device 500 calculates the running resistance by, for example, the following equation (16). In general, running resistance is generated in a moving body during acceleration or running depending on the road type, road slope, road surface condition, and the like.

(Display example after closing process by navigation device)
Next, a display example after the closing process by the navigation device 500 will be described. FIG. 34 is an explanatory diagram showing an example of a display example after the reachable point search process by the navigation device 500. FIG. 35 is an explanatory diagram showing an example of a display example after the identification information addition process by the navigation device 500. FIG. 36 is an explanatory diagram showing an example of a display example after the first identification information change processing by the navigation device. Further, FIG. 37 is an explanatory diagram showing an example of a display example after the closing process (expansion) by the navigation device 500. FIG. 38 is an explanatory diagram showing an example of a display example after the closing process (reduction) by the navigation device 500.

As shown in FIG. 34, for example, the display 513 displays the reachable points of a plurality of vehicles searched by the navigation device 500 together with the map data. The state of the display 513 shown in FIG. 34 is an example of the information displayed on the display when the reachable point search process is performed by the navigation device 500. Specifically, it is a state in which the process of step S2303 of FIG. 23 has been performed.

Next, the navigation device 500 divides the map data into a plurality of areas, and the identification information of reachable or unreachable to each area is given based on the reachable point, so that the display is shown as shown in FIG. 35. In 513, the reachable range 3500 of the vehicle based on the reachable identification information is displayed. At this stage, a defect point consisting of an unreachable area is generated within the reachable range 3500 of the vehicle.

Further, the reachable range 3500 of the vehicle includes, for example, an area corresponding to both entrances and exits of the Tokyo Bay Crossing Road (Tokyo Bay Aqua Line: registered trademark) 3510 that crosses Tokyo Bay. However, the reachable range 3500 of the vehicle includes only one area 3511 out of all the areas on the Tokyo Bay crossing road 3510. Next, the navigation device 500 performs the first identification information change process, so that the missing points on the Tokyo Bay crossing road are removed as shown in FIG. 36, and the display 513 shows all the defects on the Tokyo Bay crossing road 3510. The reachable range 3620 including the area 3621 is displayed.

Next, the closing expansion process is performed by the navigation device 500 to generate a reachable range 3700 of the vehicle from which the defect point has been removed, as shown in FIG. 37. Further, since the entire area 3621 on the Tokyo Bay crossing road is already included in the reachable range 3620 by the first identification information change processing, the entire area 3710 on the Tokyo Bay crossing road is already included in the reachable range 3620 even after the closing expansion process. , The reachable range of the vehicle is 3700. After that, the closing reduction process is performed by the navigation device 500, and as shown in FIG. 38, the outer circumference of the reachable range 3800 of the vehicle is substantially the same as the outer circumference of the reachable range 3500 of the vehicle before the closing. It becomes the size of. The boundary of the entire area 3810 on the Tokyo Bay crossing road in FIG. 38 and the boundary of each of the entire areas 3810 on the Tokyo Bay crossing road in FIG. 38 are displayed as boundaries depending on the mesh, but it is easy to understand here. It is displayed at the boundary of the diagonal line as shown.

Then, by extracting the contour 3801 of the reachable range 3800 of the vehicle by the navigation device 500, the contour of the reachable range 3800 of the vehicle can be smoothly displayed. Further, since the missing points are removed by closing, the reachable range 3800 of the vehicle is displayed on a two-dimensional smooth surface 3802. Further, even after the closing reduction process, the entire area 3810 on the Tokyo Bay crossing road is displayed as the reachable range 3800 of the vehicle or its contour 3801.

FIG. 39 is an explanatory diagram showing an example of a display example after the smoothing process by the navigation device 500. Since the contour 3901 of the vehicle reachable range 3900 is smoothed from the state of FIG. 38 (contour 3801) by the navigation device 500, the vehicle reachable range 3900 is displayed on a two-dimensional smoother surface 3902. ..

As described above, according to the navigation device 500, the map information is divided into a plurality of areas, and it is searched for whether or not the moving body can reach each area, and the moving body can reach or reach each area. Gives reachable or unreachable identification information that identifies it as unreachable. Then, the navigation device 500 generates a reachable range of the moving body based on the area to which the reachable identification information is given. Therefore, the navigation device 500 can generate the reachable range of the moving body in a state excluding the non-travelable area of the moving body such as the sea, the lake, and the mountain range. Therefore, the image processing device 200 can accurately display the reachable range of the moving body.

Further, the navigation device 500 converts a plurality of regions obtained by dividing the map information into image data, assigns reachable or unreachable identification information to the plurality of regions, and then performs closing expansion processing. Therefore, the navigation device 500 can remove the missing points within the reachable range of the moving body.

Further, the navigation device 500 converts a plurality of areas obtained by dividing the map information into image data, assigns reachable or unreachable identification information to the plurality of areas, and then performs an opening reduction process. Therefore, the navigation device 500 can remove isolated points within the reachable range of the moving body.

In this way, the navigation device 500 can remove missing points and isolated points in the reachable range of the moving body, so that the travelable range of the moving body can be displayed on a two-dimensional smooth surface and in an easy-to-see manner. .. Further, the navigation device 500 extracts the contour of the mesh generated by dividing the map information into a plurality of areas. Therefore, the navigation device 500 can smoothly display the outline of the reachable range of the moving body.

Further, the navigation device 500 narrows down the road for searching the reachable point of the moving body, and searches for the reachable point of the moving body. Therefore, the navigation device 500 can reduce the amount of processing when searching for a reachable point of the moving body. By narrowing down the roads to search for the reachable points of the moving object, even if the number of reachable points that can be searched decreases, the closing expansion process is performed as described above, so that the reachable points of the moving object are within the reachable range. The resulting defect can be removed. Therefore, the navigation device 500 can reduce the amount of processing for detecting the reachable range of the moving body. Further, the navigation device 500 can easily display the travelable range of the moving body on a two-dimensional smooth surface.

Further, the navigation device 500 decomposes the line segment data constituting the contour data into an X-axis component and a Y-axis component as a preprocessing of the fast Fourier transform, and makes the length of each line segment data uniform. As a result, among the declinations and lengths for each vertex obtained from the contour data, the fast Fourier transform only needs to be performed on the declinations, so that the smoothing process can be speeded up. Further, in the complement processing, since the line segment data is decomposed so as to be included in the reachable range, a sense of discomfort is suppressed and the visibility is improved as compared with the case where the line segment data is divided so as not to be included in the reachable range. be able to. Further, when thinning out unnecessary vertices of contour data, it is determined based on the size of the declination angle, so that the smoothing process can be speeded up by a simple thinning process. As described above, in the image processing apparatus according to the first embodiment, it is possible to perform smoothing of the contour of the reachable range of the displayed moving object at high speed to improve the visibility. Furthermore, since the value of the frequency component can be directly manipulated by this method, the degree of freedom of smoothing is high as compared with other smoothing filters. Further, since the error is smaller when the FFT is used as compared with the smoothing by the moving average, a more accurate reachable range can be displayed at high speed even when compared with other smoothing filters.

Therefore, for example, in a plurality of reachable ranges for residual fuels of different sizes, even if one of the reachable ranges before smoothing includes the reachable range of the other, the reachable range after smoothing of one is within the reachable range. Since it is possible to display another smoothed reachable range in a state of being included in the display, it is possible to improve visibility even when displaying a plurality of reachable ranges at the same time. In this way, a specific frequency component can be freely changed like an equalizer in speech processing, and the degree of freedom is higher than that of other filters. In addition, the error is smaller when the low pass is applied by DFT than when the moving average is applied. At the same time, when drawing a plurality of reachable ranges, the error is small, so that a large figure can be displayed as a state including a small figure regardless of the mesh size.

(Embodiment 2)
FIG. 40 is a block diagram showing an example of the functional configuration of the image processing system according to the second embodiment. The functional configuration of the image processing system 4000 according to the second embodiment will be described. The image processing system 4000 according to the second embodiment is composed of a server 4010 and a terminal 4020. The image processing system 4000 according to the second embodiment includes the functions of the image processing device 200 of the first embodiment in the server 4010 and the terminal 4020.

The server 4010 generates information to be displayed on the display unit 210 by the terminal 4020 mounted on the mobile body. Specifically, the server 4010 detects information about the reachable range of the mobile body and transmits it to the terminal 4020. The terminal 4020 may be mounted on a mobile body, may be used inside the mobile body as a mobile terminal, or may be used outside the mobile body as a mobile terminal. Then, the terminal 4020 receives information about the reachable range of the mobile body from the server 4010.

In FIG. 40, the server 4010 is composed of a calculation unit 202, a search unit 203, a division unit 204, a grant unit 205, a server reception unit 4011, and a server transmission unit 4012. The terminal 4020 is composed of an acquisition unit 201, a display control unit 206, a terminal reception unit 4021, and a terminal transmission unit 4022. In the image processing system 4000 shown in FIG. 40, the same components as those of the image processing device 200 shown in FIG. 2 are designated by the same reference numerals, and the description thereof will be omitted.

In the server 4010, the server receiving unit 4011 receives the information transmitted from the terminal 4020. Specifically, for example, the server receiving unit 4011 receives information about a mobile body from a terminal 4020 wirelessly connected to a communication network such as a public line network, a mobile phone network, DSRC, LAN, and WAN. The information about the moving body is information about the current position of the moving body and information about the amount of initial energy possessed by the moving body at the current position of the moving body. The information received by the server receiving unit 4011 is the information referred to by the calculation unit 202.

The server transmission unit 4012 sets a plurality of areas in which map information to which reachable identification information for identifying that the moving object is reachable by the granting unit 205 is divided as a reachable range of the moving body as a terminal. Send to 4020. Specifically, for example, the server transmission unit 4012 transmits information to a terminal 4020 wirelessly connected to a communication network such as a public line network, a mobile phone network, DSRC, LAN, and WAN.

The terminal 4020 is connected to the server 4010, for example, in a state where communication is possible via the information communication network of the mobile terminal or a communication unit (not shown) provided in the own device.

In the terminal 4020, the terminal receiving unit 4021 receives the information from the server 4010. Specifically, the terminal receiving unit 4021 divides the map information into a plurality of areas, and assigns reachable or unreachable identification information to each of the areas based on the reachable point of the moving body. Receive. More specifically, for example, the terminal receiving unit 4021 receives information from a server 4010 wirelessly connected to a communication network such as a public line network, a mobile phone network, DSRC, LAN, and WAN.

The terminal transmission unit 4022 transmits information about the mobile body acquired by the acquisition unit 201 to the server 4010. Specifically, for example, the terminal transmission unit 4022 transmits information about the mobile body to the server 4010 wirelessly connected to a communication network such as a public line network, a mobile phone network, DSRC, LAN, and WAN.

Next, the image processing by the image processing system 4000 according to the second embodiment will be described. Since the image processing by the image processing system 4000 is substantially the same as the image processing apparatus 200 according to the first embodiment, the difference from the first embodiment will be described with reference to the flowchart of FIG.

In the image processing by the image processing system 4000, the server 4010 performs the estimated energy consumption calculation processing, the reachable point search processing, and the identification information imparting processing among the image processing by the image processing apparatus 200 according to the first embodiment. Specifically, in the flowchart of FIG. 4, the terminal 4020 performs the process of step S401 and transmits the information acquired in step S401 to the server 4010.

Next, the server 4010 receives the information from the terminal 4020. Next, the server 4010 performs the processes of steps S402 to S406 based on the information received from the terminal 4020, and transmits the information acquired in the step S406 to the terminal 4020. Next, the terminal 4020 receives the information from the server 4010. Then, the terminal 4020 performs step S407 based on the information received from the server 4010, and ends the process according to this flowchart.

As described above, the image processing system 4000 and the image processing method according to the second embodiment can obtain the same effects as the image processing device 200 and the image processing method according to the first embodiment.

(Embodiment 3)
FIG. 41 is a block diagram showing an example of the functional configuration of the image processing system according to the third embodiment. The functional configuration of the image processing system 4100 according to the third embodiment will be described. The image processing system 4100 according to the third embodiment is composed of a first server 4110, a second server 4120, a third server 4130, and a terminal 4140. In the image processing system 4100, the first server 4110 has the function of the calculation unit 202 of the image processing device 200 of the first embodiment, and the second server 4120 has the function of the search unit 203 of the image processing device 200 of the first embodiment. The third server 4130 has the functions of the division unit 204 and the addition unit 205 of the image processing device 200 of the first embodiment, and has the functions of the acquisition unit 201 and the display control unit 206 of the image processing device 200 of the first embodiment. The terminal 4140 is provided.

In FIG. 41, the terminal 4140 has the same configuration as the terminal 4020 of the second embodiment. Specifically, the terminal 4140 is composed of an acquisition unit 201, a display control unit 206, a terminal reception unit 4141, and a terminal transmission unit 4142. The terminal receiving unit 4141 has the same configuration as the terminal receiving unit 4021 of the second embodiment. The terminal transmission unit 4142 has the same configuration as the terminal transmission unit 4022 of the second embodiment. The first server 4110 is composed of a calculation unit 202, a first server reception unit 4111, and a first server transmission unit 4112.

The second server 4120 is composed of a search unit 203, a second server receiving unit 4121, and a second server transmitting unit 4122. The third server 4130 is composed of a division unit 204, a grant unit 205, a third server reception unit 4131, and a third server transmission unit 4132. In the image processing system 4100 shown in FIG. 40, the same components as those of the image processing device 200 shown in FIG. 2 and the image processing system 4000 shown in FIG. 40 are designated by the same reference numerals, and the description thereof will be omitted.

In the first server 4110, the first server receiving unit 4111 receives the information transmitted from the terminal 4140. Specifically, for example, the first server receiving unit 4111 is the information from the terminal transmitting unit 4142 of the terminal 4140 connected wirelessly to a communication network such as a public line network, a mobile phone network, DSRC, LAN, and WAN. To receive. The information received by the first server receiving unit 4111 is the information referred to by the calculation unit 202.

The first server transmission unit 4112 transmits the information calculated by the calculation unit 202 to the second server reception unit 4121. Specifically, the first server transmission unit 4112 transmits information to the second server reception unit 4121 wirelessly connected to a communication network such as a public line network, a mobile phone network, DSRC, LAN, and WAN. Alternatively, the information may be transmitted to the second server receiving unit 4121 connected by wire.

In the second server 4120, the second server receiving unit 4121 receives the information transmitted by the terminal transmitting unit 4142 and the first server transmitting unit 4112. Specifically, for example, the second server receiving unit 4121 is a first server transmitting unit 4112 and a terminal transmitting unit connected wirelessly to a communication network such as a public line network, a mobile phone network, DSRC, LAN, or WAN. Receive information from 4142. The second server receiving unit 4121 may receive information from the first server transmitting unit 4112 connected by wire. The information received by the second server receiving unit 4121 is the information referred to by the search unit 203.

The second server transmission unit 4122 transmits the information searched by the search unit 203 to the third server reception unit 4131. Specifically, for example, the second server transmission unit 4122 transmits information to the third server reception unit 4131 wirelessly connected to a communication network such as a public line network, a mobile phone network, DSRC, LAN, or WAN. Alternatively, the information may be transmitted to the third server receiving unit 4131 connected by wire.

In the third server 4130, the third server receiving unit 4131 receives the information transmitted by the terminal transmitting unit 4142 and the second server transmitting unit 4122. Specifically, for example, the third server receiving unit 4131 is a second server transmitting unit 4122 and a terminal transmitting unit connected wirelessly to a communication network such as a public line network, a mobile phone network, DSRC, LAN, or WAN. Information from 4142 may be received. The third server receiving unit 4131 may receive information from the second server transmitting unit 4122 connected by wire. The information received by the third server receiving unit 4131 is the information referred to by the dividing unit 204.

The third server transmission unit 4132 transmits the information generated by the grant unit 205 to the terminal reception unit 4141. Specifically, for example, the third server transmission unit 4132 transmits information to the terminal reception unit 4141 wirelessly connected to a communication network such as a public line network, a mobile phone network, DSRC, LAN, or WAN.

Next, the image processing by the image processing system 4100 according to the third embodiment will be described. Since the image processing by the image processing system 4100 is substantially the same as the image processing apparatus 200 according to the first embodiment, the difference from the first embodiment will be described with reference to the flowchart of FIG.

In the image processing by the image processing system 4100, among the image processing by the image processing apparatus 200 according to the first embodiment, the first server 4110 performs the estimated energy consumption calculation processing, and the second server 4120 performs the reachable point search processing. The third server 4130 performs the identification information addition process. In the flowchart of FIG. 4, the terminal 4140 performs the process of step S401 and transmits the information acquired in step S401 to the first server 4110.

Next, the first server 4110 receives the information from the terminal 4140. Next, the first server 4110 performs the processes of steps S402 and S403 based on the information received from the terminal 4140, and transmits the information calculated in step S403 to the second server 4120. Next, the second server 4120 receives the information from the first server 4110. Next, the second server 4120 performs the process of step S404 based on the information received from the first server 4110, and transmits the information searched in step S404 to the third server 4130.

Next, the third server 4130 receives the information from the second server 4120. Next, the third server 4130 performs the processes of steps S405 and S406 based on the information from the second server 4120, and transmits the information generated in step S406 to the terminal 4140. Next, the terminal 4140 receives the information from the third server 4130. Then, the terminal 4140 performs step S407 based on the information received from the third server 4130, and ends the process according to this flowchart.

As described above, the image processing system 4100 and the image processing method according to the third embodiment can obtain the same effects as the image processing device 200 and the image processing method according to the first embodiment.

Hereinafter, Example 2 of the present invention will be described. FIG. 42 is an explanatory diagram showing an example of the system configuration of the image processing apparatus according to the second embodiment. In the second embodiment, an example in which the present invention is applied in the acquisition system 4200 in which the navigation device 4210 mounted on the vehicle is the terminal 4020 and the server 4220 is the server 4010 will be described. The image processing system 4200 is composed of a navigation device 4210 mounted on the vehicle 4230, a server 4220, and a network 4240.

The navigation device 4210 is mounted on the vehicle 4230. The navigation device 4210 transmits information on the current position of the vehicle and information on the amount of initial energy possessed to the server 4220. Further, the navigation device 4210 displays the information received from the server 4220 on the display and notifies the user. The server 4220 receives information on the current position of the vehicle and information on the initial amount of energy possessed from the navigation device 4210. The server 4220 generates information about the reachable range of the vehicle 4230 based on the received vehicle information.

The hardware configuration of the server 4220 and the navigation device 4210 is the same as the hardware configuration of the navigation device 500 of the first embodiment. Further, the navigation device 4210 need only have a hardware configuration corresponding to a function of transmitting vehicle information to the server 4220 and a function of receiving information from the server 4220 and notifying the user.

Further, in the acquisition system 4200, the navigation device 4210 mounted on the vehicle is used as the terminal 4140 of the third embodiment, and the functional configuration of the server 4220 is distributed among the first to third servers 4110 to 4130 of the third embodiment. May be good.

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, flexible disk, CD-ROM, MO, or DVD, and is executed by being read from the recording medium by the computer. Further, this program may be a transmission medium that can be distributed via a network such as the Internet.

200 Image processing device 201 Acquisition unit 202 Calculation unit 203 Search unit 204 Division unit 205 Grant unit 206 Display control unit 210 Display unit

Claims (1)

An extraction means that extracts the outline of the reachable range based on the coordinate information that defines the reachable range of the moving object, and
A display control means that transforms the contour and displays it on the display means based on the result of frequency-converting the declination defined for each vertex of the vertex group included in the extracted contour and removing frequency components above a predetermined frequency. When,
An image processing device characterized by comprising.

Images