JP2023016847A - Device, method, and program for computing reachable range - Google Patents

Abstract

PROBLEM TO BE SOLVED: To allow for limiting a search to a specific type of charge spot specified by a user when searching for a charge spot.

SOLUTION: A recharge facility search device includes a computation unit 102 configured to compute a reachable range comprising an area that can be reached by a mobile vehicle with an amount of energy left in the mobile vehicle using a location of the mobile vehicle as a base point. When a supply facility that can supply energy to the mobile vehicle is present within the reachable range, the computation unit 102 computes a new reachable range using the supply facility as a base point based on an amount of energy the mobile vehicle would have if energy was supplied to the mobile vehicle at the supply facility.

SELECTED DRAWING: Figure 1

COPYRIGHT: (C)2023,JPO&INPIT

Description

The present invention relates to a reachable range calculation device, a reachable range calculation method, and a reachable range calculation program for calculating a reachable range of a mobile body based on a remaining energy amount of the mobile body. However, the use of the present invention is not limited to the reachable range calculation device, the reachable range calculation method, and the reachable range calculation program.

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

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

Further, there is known a processing device that notifies a user when traffic restrictions or congestion occurs during travel of a moving object, and when the time to reach the destination is delayed (for example, see Patent Document 3 below). In Japanese Unexamined Patent Application Publication No. 2002-200002, when the vehicle cannot reach its destination within business hours due to road restrictions, traffic congestion, or the like, a warning is displayed or output by voice.

JP-A-11-016094 JP-A-07-085397 JP-A-2000-028377

However, with the techniques of Patent Documents 1 to 3 described above, it is not possible to clearly distinguish between a reachable range and an unreachable range, which a moving body cannot reach, and notify the user of the difference by means of a display or the like. The unreachable range is the amount of energy held by the moving body, that is, the range that cannot be reached due to the remaining battery capacity running out. As an example, there is a problem that since the reachable range and the unreachable range cannot be clearly distinguished, a route can be set in the unreachable range, but the route cannot actually be reached.

In addition, although the unreachable range is a range other than the reachable range, factors that change the reachable range itself have not been considered. For example, if it is possible not only to obtain a reachable range with the current remaining battery capacity, but also to perform energy replenishment (charging) after the mobile body reaches the obtained reachable range, the reachable range can be expanded. Energy replenishment can be performed at a replenishment facility such as a charging spot. However, conventionally, the presence or absence of energy replenishment after reaching the reachable range is not taken into account, and a more practical reachable range cannot be reported. At the same time, it was not possible to clearly inform an unreachable range that could not be reached even if the energy was replenished.

In order to solve the above-described problems and achieve the object, a reachable range calculation device according to claim 1 of the present invention provides an area reachable by the amount of energy possessed by the moving body, with the position of the moving body as a base point. wherein, if a supply facility capable of supplying energy to the mobile body is within the reachable range, the supply facility supplies energy to the mobile body It is characterized by performing calculation processing for calculating a new reachable range with the supply facility as a base point, based on the amount of energy possessed by the mobile object when it is assumed that the

Further, a reachable range calculation method according to the invention of claim 11 is a reachable range calculation method executed by a reachable range calculation device, wherein the position of the mobile body is used as a base point, and the energy possessed by the mobile body is a calculating step of calculating a reachable range including an area reachable by an amount of energy, wherein if a supply facility capable of supplying energy to the moving object is within the reachable range, the supply facility It is characterized by performing a calculation process of calculating a new reachable range with the supply facility as a base point based on the amount of energy possessed by the mobile body when it is assumed that energy has been supplied to the mobile body.

A reachable range calculation program according to the invention of claim 12 causes a computer to execute the reachable range calculation method according to claim 11 .

1 is a block diagram of an example of a functional configuration of an image processing apparatus according to a first embodiment; FIG. FIG. 2 is a diagram for explaining reachable and unreachable ranges of a moving object. FIG. 3 is a diagram for explaining processing for changing the reachable range of a moving object by searching for supplementary equipment. FIG. 4 is a flow chart showing an example of the procedure of image processing by the image processing apparatus. FIG. 5 is a block diagram showing an example of the hardware configuration of the navigation device. FIG. 6-1 is an explanatory diagram schematically showing an example of reachable point search by a navigation device. FIG. 6-2 is an explanatory diagram schematically showing an example of reachable point search by the navigation device. FIG. 6-3 is an explanatory diagram schematically showing an example of reachable point search by the navigation device. FIG. 6-4 is an explanatory diagram schematically showing an example of reachable point search by the navigation device. FIG. 7 is an explanatory diagram schematically showing an example of reachable point search by the navigation device. FIG. 8 is an explanatory diagram showing an example of a point reachable by a navigation device by longitude-latitude. FIG. 9 is an explanatory diagram of an example showing mesh data of points reachable by the navigation device. FIG. 10 is an explanatory diagram showing an example of closing processing by the navigation device. FIG. 11 is an explanatory diagram showing an example of opening processing by the navigation device. FIG. 12 is an explanatory diagram schematically showing an example of extraction of a reachable range of a vehicle by a navigation device. FIG. 13 is an explanatory diagram schematically showing an example of mesh data after the reachable range of the vehicle is extracted by the navigation device. FIG. 14 is an explanatory diagram schematically showing another example of extraction of the reachable range of the vehicle by the navigation device. FIG. 15-1 is a flow chart showing an example of a processing procedure for determining a reachable range of a vehicle by a navigation device. FIG. 15-2 is a chart showing a management table for replenishment equipment. FIG. 16 is a diagram showing a display example of the reachable range of the vehicle by the navigation device. FIG. 17 is a diagram showing a display example of the unreachable range of the vehicle by the navigation device. FIG. 18 is a diagram showing a search screen for type conditions when searching for charging spots. FIG. 19 is a flow chart showing an example of a processing procedure for determining the reachable range of the vehicle by the navigation device. FIG. 20 is an explanatory diagram schematically showing an example of acceleration applied to a vehicle traveling on a sloped road. 21 is a block diagram of an example of a functional configuration of an image processing system according to a second embodiment; FIG. 22 is a block diagram of an example of a functional configuration of an image processing system according to a third embodiment; FIG. FIG. 23 is an explanatory diagram of an example of the system configuration of the image processing apparatus according to the second embodiment;

Exemplary embodiments of a reachable range calculation device, a reachable range calculation method, and a reachable range calculation program according to the present invention will be described below in detail with reference to the accompanying drawings.

(Embodiment 1)
1 is a block diagram of an example of a functional configuration of an image processing apparatus according to a first embodiment; FIG. The image processing apparatus 100 according to the first embodiment generates a reachable range of the mobile body based on the reachable point of the mobile body searched based on the remaining energy amount of the mobile body, and displays it on the display unit 110 .

In addition, if there is a replenishment facility such as a charging spot that can replenish energy in the reachable range, the image processing apparatus 100 displays the new reachable range of the moving object on the assumption that energy is replenished (charged) at this replenishment facility. Let Also, if there is a range that the moving body cannot reach even if energy is replenished by the replenishment equipment, this unreachable range can be generated and displayed on the display unit 110 .

The image processing apparatus 100 includes an acquisition unit 101 , a calculation unit 102 , a search unit 103 , a division unit 104 , an addition unit 105 , a supplementary equipment search unit 106 and a display control unit 107 . The acquisition unit 101, the calculation unit 102, the search unit 103, the division unit 104, and the addition unit 105 constitute a reachable range calculation unit 109 that calculates the reachable range of the moving body.

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

The acquisition unit 101 acquires information about the current location of a moving object equipped with the image processing device 100, information about the initial energy amount that is the amount of energy possessed by the moving object at the current location of the moving object, and supplementary facilities such as charging spots. Get information about Specifically, the acquisition unit 101 acquires information (location information) about the current location by calculating the current location of the device itself using, for example, GPS information received from GPS satellites. It also acquires information such as the location of replenishment facilities such as charging spots where energy can be replenished, and the type of charging (rapid charging or normal charging).

In addition, the acquisition unit 101 acquires the remaining energy amount of the mobile body managed by an electronic control unit (ECU) via an in-vehicle communication network that operates according to a communication protocol such as CAN (controller area network). , is obtained as the initial energy reserve.

The acquisition unit 101 may acquire information about the speed of a moving object, traffic information, and moving object information. The information about the speed of the moving body is the speed and acceleration of the moving body. Further, the acquiring unit 101 may, for example, acquire information about roads from map information stored in a storage unit (not shown), or may acquire road gradients from a tilt sensor or the like. The information about roads is, for example, road type, road gradient, road surface conditions, and the like, which causes running resistance to the moving body.

The calculation unit 102 calculates an estimated energy consumption, which is the energy consumed by the moving object when traveling in a predetermined section. A predetermined section is, for example, a section (hereinafter referred to as a "link") connecting a predetermined point on a road (hereinafter referred to as a "node") and another node adjacent to the one node. A node may be, for example, an intersection or a stand, or a connection point between links separated by a predetermined distance. Nodes and links constitute map information stored in the storage unit. The map information is composed of, for example, vector data that quantifies intersections (points), roads (lines and curves), areas (planes), and colors used to display them.

Specifically, the calculation unit 102 estimates the estimated energy consumption in the 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 102 estimates the estimated energy consumption in the predetermined section based on the information about the speed of the moving body and the moving body information. Mobile object information is information that changes the amount of energy consumed or recovered when the mobile object travels, such as the weight of the mobile object (including the number of passengers and the weight of the load) and the weight of the rotating object. Note that when the road gradient is known, the calculation unit 102 may estimate the estimated energy consumption in the predetermined section based on the energy consumption estimation formula to which the fourth information is added.

The energy consumption estimation formula is an estimation formula for estimating the energy consumption of a moving object in a predetermined section. Specifically, the energy consumption estimation formula is a polynomial that includes first information, second information, and third information that are different factors that increase or decrease energy consumption. In addition, when the road gradient is clear, fourth information is added to the energy consumption estimation formula. A detailed description of the energy consumption estimation formula will be given later.

The first information is information about the energy consumed by the equipment provided on the mobile body. In addition, it is information about the energy consumed when the moving body is running, including when it is accelerating or decelerating, and when it is stopped.

Specifically, the first information is the amount of energy consumed by factors unrelated to running of the moving body. More specifically, the first information is the amount of energy consumed by equipment such as air conditioners, car audio systems, headlights, winkers, and brake pumps installed in the mobile object.

The second information is information about energy consumed and recovered when the mobile body accelerates or decelerates. Acceleration/deceleration of the moving body is a running state in which the speed of the moving body changes with time. Specifically, when the moving object is accelerating or decelerating, it is a running state in which the speed of the moving object changes within a predetermined period of time. The predetermined time is a division of time at regular intervals, for example, per unit time. In the case of an EV vehicle, the recovered energy is, for example, electric power charged in the battery while the mobile body is running. In addition, in the case of a gasoline vehicle, the recovered energy is, for example, fuel that can be saved by reducing fuel consumption (fuel cut).

The third information is information about the energy consumed by the resistance that occurs when the moving body travels. When the mobile body is running, it means a running state in which the speed of the mobile body is constant, accelerated, or decelerated within a predetermined period of time. The resistance that occurs 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 that occurs when the mobile body travels is various resistances that occur in the mobile body due to weather conditions, road conditions, vehicle conditions, and the like.

The resistance that occurs in a moving object due to weather conditions is, for example, air resistance due to weather changes such as rain and wind. The resistance caused to the moving object due to the road conditions is the road surface resistance caused by the road gradient, the pavement condition of the road surface, the water on the road surface, and the like. The resistance that occurs in a moving body due to vehicle conditions is the load resistance that is applied to the moving body due to tire air pressure, number of passengers, load weight, and the like.

Specifically, the third information is the amount of energy consumed when the moving object is run at a constant speed, accelerated or decelerated, while receiving air resistance, road surface resistance, and load resistance. More specifically, the third information is consumed when the mobile body travels at a constant speed, acceleration or deceleration, such as air resistance generated by the mobile body due to a headwind or road surface resistance received from an unpaved road. energy consumption

The fourth information is information about the energy consumed and recovered due to the change in altitude at which the moving object is located. A change in the altitude at which the mobile object is located is a state in which the altitude at which the mobile object is located changes over time. Specifically, the change in the altitude at which the mobile object is located is a traveling state in which the altitude changes as the mobile object travels on a sloped road within a predetermined period of time.

Further, the fourth information is additional information that can be obtained when the road gradient within the predetermined section is clear, and this can improve the estimation accuracy of the energy consumption. If the slope of the road is unknown, or if the calculation is to be simplified, the energy consumption is estimated with the road slope θ = 0 in the energy consumption estimation formula described later, assuming that the altitude at which the moving object is located does not change. be able to.

The search unit 103 searches the mobile object based on the map information stored in the storage unit, the current location and the initial energy reserve of the mobile object acquired by the acquisition unit 101, and the estimated energy consumption calculated by the calculation unit 102. Search for multiple reachable points where is reachable from the current point.

Specifically, the search unit 103 sets the current point of the moving object as a starting point on all routes that can be moved from the current point of the moving object, and determines the A predetermined point and predetermined section are searched so that the total estimated energy consumption is minimized. Then, the search unit 103 finds a predetermined point whose total estimated energy consumption is within the range of the current initial energy reserve of the mobile object on all routes that can be traveled from the current point of the mobile object. and reachable points.

More specifically, the search unit 103 uses the current location of the mobile object as a starting point, all links that can be moved from the current location of the mobile object, nodes that are connected to these links, and all links that can be moved from these nodes. and all reachable nodes and links of the mobile in order. At this time, each time searching for a new link, the search unit 103 accumulates the estimated energy consumption of the route connected by the one link, Find the node that connects to the link and the multiple links that connect to this node.

For example, if the one link and the other link are connected to the same node, the search unit 103 determines the estimated energy consumption from the current location of the mobile object to the node, among the plurality of links connected to this node. The total estimated energy consumption of the node is calculated using the estimated energy consumption of the link with the smaller accumulated amount. Then, the searching unit 103 finds all the nodes whose total estimated energy consumption is within the range of the initial energy reserve of the mobile object on each of the plurality of routes configured by the searched nodes and links. Explore as a reachable point. By using the estimated energy consumption of a link with 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 103 may search for reachable points by excluding a predetermined section in which movement of the mobile body is prohibited from candidates for searching for reachable points of the mobile body. The predetermined section where the movement of the moving body is prohibited is, for example, a one-way link where the vehicle runs in the reverse direction, or a link where traffic is prohibited due to time restrictions or seasonal restrictions. A time restriction is, for example, a prohibition of traffic during a certain time period by being set for a school route or an event. Seasonal restrictions are, for example, prohibition of passage due to heavy rain or heavy snow.

If the importance of another predetermined section to be selected next to one predetermined section among the plurality of predetermined sections is lower than the importance of the one predetermined section, the search unit 103 selects the other predetermined section from the moving object. , the reachable point may be searched by excluding it from the candidates for searching the reachable point. The degree of importance of the predetermined section is, for example, the type of road. The road type is a type of road that can be distinguished by differences in road conditions such as legal speed, road slope, road width, presence or absence of traffic lights, and the like. Specifically, the road types include general national roads, highways, general roads, narrow streets passing through city areas, and the like. A narrow street is, for example, a road defined by the Building Standards Law with a width of less than 4 meters in an urban area.

Furthermore, if the entrance and exit of one bridge or one tunnel are reachable points for the moving object, the search unit 103 determines that all areas that constitute the one bridge or one tunnel of the map information divided by the division unit 104 move. It is preferable to search for reachable points of the moving body so as to be included in the reachable range of the body. Specifically, for example, when the entrance of one bridge or one tunnel is the reachable point of the moving object, the search unit 103 moves from the entrance of one bridge or one tunnel toward the exit on the one bridge or one tunnel. The reachable points may be searched such that a plurality of reachable points are searched. The entrance of one bridge or one tunnel is the start point of the one bridge or one tunnel on the side closer to the current position of the moving body.

Further, when the energy is replenished at a charging spot or the like, the search unit 103 searches again for a reachable point using the retained energy amount after the replenishment.

A dividing unit 104 divides the map information into a plurality of areas. Specifically, the dividing unit 104 divides the map information into a plurality of rectangles based on the reachable point farthest from the current position of the moving object among the plurality of reachable points of the moving object searched by the searching unit 103 . It is divided into shaped regions and converted into mesh data of m×m dots, for example. The mesh data of m×m dots is handled as raster data (image data) to which identification information is assigned by the assigning unit 105, which will be described later. In addition, each m of m×m dots may be the same numerical value, or may be a different numerical value.

More specifically, the division unit 104 extracts the maximum longitude, minimum longitude, maximum latitude, and minimum latitude, and calculates the distance from the current location of the moving object. Then, the dividing unit 104 divides the map information into a plurality of areas, for example, by dividing the size of one area when the farthest reachable point from the current location of the moving body and the current location of the moving body are divided into n equal areas. Then, the map information is divided into mesh data of m×m dots. At this time, n=(m/2)−4 is set to blank four dots around the mesh data.

The assigning unit 105 assigns identification information for identifying whether or not a moving object can reach each of the plurality of areas divided by the dividing unit 104 based on the plurality of reachable points searched by the searching unit 103. do. Specifically, when one region divided by the dividing unit 104 includes a reachable point for the moving body, the providing unit 105 provides a reachable point identifying that the moving body can reach the one region. of identification information. After that, when the one region divided by the dividing unit 104 does not include a reachable point for the moving object, the providing unit 105 generates an unreachable point for identifying that the moving object cannot reach the one area. of identification information.

More specifically, the assigning unit 105 assigns reachable identification information “1” or unreachable identification information “0” to each area of the mesh data divided into m×m. Convert to mesh data of two-dimensional matrix data of rows and m columns. The dividing unit 104 and adding unit 105 divide the map information in this way, convert it into mesh data of two-dimensional matrix data of m rows and m columns, and handle it as binarized raster data.

The adding unit 105 includes a first changing unit and a second changing unit that change the identification information of the plurality of areas divided by the dividing unit 104 . Specifically, the addition unit 105 treats the mesh data obtained by dividing the map information as binarized raster data by the first change unit and the second change unit, and performs closing processing (reduction processing after expansion processing). processing) is performed. Further, the imparting unit 105 may perform opening processing (processing for performing expansion processing after reduction processing) using the first change unit and the second change unit.

Specifically, when identification information indicating reachability to another area adjacent to one area to which identification information is assigned is assigned, the first changing unit changes the identification information of the one area to reachability. Change to identification information (expansion processing). More specifically, the first change portion is one of the other areas adjacent to one rectangular area in eight directions: lower left, lower, lower right, right, upper right, upper, upper left, and left. When the identification information "1" which is the reachable area is assigned to the area, the identification information of the area is changed to "1".

After the identification information is changed by the first change unit, if identification information that is unreachable to another area adjacent to the one area to which the identification information is assigned is assigned, the one area is changed to unreachable identification information (reduction process). More specifically, the second change portion is one of the other areas adjacent to one rectangular area in eight directions: lower left, lower, lower right, right, upper right, upper, upper left, and left. If the area is given unreachable identification information "0", the identification information of the one area is changed to "0". The dilation processing by the first modification unit and the reduction processing by the second modification unit are performed the same number of times.

In this way, the providing unit 105 determines whether the moving object can reach an area including a reachable point, which is a point reachable by the moving object from the current point, among the plurality of areas divided by the dividing unit 104. The reachable range of the moving object is determined by adding reachable identification information that identifies the moving object. After that, the assigning unit 105 assigns reachable identification information to an area adjacent to the area to which the reachable identification information has been assigned, and assigns the identification information of each area so as not to cause a missing point in the reachable range of the moving object. to change

Further, if the divided map information corresponding to the entrance and exit of one bridge or one tunnel in the map information is provided with reachable identification information for identifying that it is reachable, the providing unit 105 determines whether or not the map information is reachable. A reachable identification means is added to the divided map information corresponding to all areas constituting one bridge or one tunnel. Specifically, for example, when each region corresponding to the entrance and exit of one bridge or one tunnel is given identification information indicating that each region can be reached, the granting unit 105 corresponds to the entrance of one bridge or one tunnel. Identification information is assigned to all areas in which the moving body can move from the area to the area corresponding to the exit.

More specifically, for example, before the dilation processing by the first change unit, the provision unit 105 sets the reachable identification information “1” to each region corresponding to the entrance and exit of one bridge or one tunnel. All areas located on the section that connects the area corresponding to the entrance and the area corresponding to the exit of one bridge or one tunnel when a missing point occurs on one bridge or one tunnel when it is assigned 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 multiple curves, or a section corresponding to a single straight road. It may be a section where

The supplementary facility search unit 106 searches for supplementary facilities such as charging spots in a range (reachable range) searched by the search unit 103 and given identification information indicating that the movable body can reach the area by the grant unit 105. do. As a result of this search, if there is a replenishment facility within the reachable range, the acquisition unit 101 is requested to acquire information on this replenishment facility again. Based on this request, the acquisition unit 101 outputs information on the replenishment equipment to the calculation unit 102, the search unit 103, and the division unit 104, and the calculation unit 102 to the provision unit 105 allow the moving body to replenish energy (strictly) with the replenishment equipment. In the case of charging to the maximum charging capacity described later), the reachable range of the moving body centered on this replenishment facility is newly obtained.

The acquisition unit 101 described above acquires information about replenishment equipment from the outside through communication or the like. Without being limited to this, the image processing apparatus 100 can also be configured to hold information on replenishment equipment as a database in the storage unit. The information on the replenishment equipment is output to means for calculating the reachable range by the calculation unit 102 and the search unit 103 .

The newly obtained reachable range is combined with the already searched reachable range on the image and output to the display control unit 107 . As a result, it is possible to display a wider reachable range, assuming that the mobile body is replenished with energy by the replenishment facility. In addition, it is possible to display an area (range) other than the reachable range as an unreachable range, so that the user can be clearly notified of the area (range) that cannot actually be reached even after charging.

The display control unit 107 causes the display unit 110 to display the reachable range of the moving body together with the map information based on the identification information of the area to which the identification information is assigned by the assignment unit 105 . Specifically, the display control unit 107 converts mesh data, which are a plurality of pieces of image data to which identification information has been added by the adding unit 105, into vector data, and displays the vector data on the display unit 110 together with the map information stored in the storage unit. Let

(Overview of reachable range and unreachable range of moving objects)
Next, an outline of the reachable range and unreachable range of the moving body will be described. FIG. 2 is a diagram for explaining reachable and unreachable ranges of a moving object. As an example, suppose that there is a peninsula 201 protruding into the sea, and a charging spot 202 is located on this peninsula 201 . A reachable range A that can be reached when the moving body is charged at the charging spot 202 is indicated by oblique lines in the figure. This reachable range A does not reach the tip of the peninsula 201, and since there are no other charging spots 202 near the tip, the moving body can reach only up to the reachable range A, which includes the tip of the peninsula. The impossibility range X cannot be reached. In this way, even if the moving object is charged at the charging spot 202 after reaching the charging spot 202, an area (unreachable range X) that cannot be reached may occur.

(Regarding changing the reachable range of mobile units by searching for energy replenishment equipment)
Next, the processing for changing the reachable range of the moving object by searching for energy replenishment facilities will be described. FIG. 3 is a diagram for explaining processing for changing the reachable range of a moving object by searching for supplementary equipment. As shown in (a) of FIG. 3, it is assumed that the reachable range of the moving object is A=A1, and that the current point 301 is the center and has an outline a1. After once the reachable range A1 of the moving object is obtained in this way, the supplementary equipment search unit 106 requests the acquisition unit 101 to search for charging spots 202 within the reachable range A1.

Then, as shown in (b), it is assumed that three charging spots 202a to 202c are found within the reachable range A1. After that, when the moving object charges at each of the charging spots 202a to 202c, the calculation unit 102 to the giving unit 105 calculate a new reachable range of the moving object centered on each of the charging spots 202a to 202c. demand. As a result, as shown in (c), a new reachable range A2 centered on the charging spot 202a, a new reachable range A3 centered on the charging spot 202b, and a new reachable range A3 centered on the charging spot 202c. A range A4 is sought. As a result, the reachable range A of the moving body becomes a range obtained by overlapping the reachable ranges, and becomes a wide range of A=A1+A2+A3+A4. Note that the contour a of the reachable range A is the contour of the range A obtained by superimposing the reachable ranges A1 to A4, as indicated by the thick line in FIG. 3(c).

The replenishment equipment search is not limited to one time, and the same process can be repeated each time a new charging spot 202 is found in the expanded range to further widen the reachable range. For example, when three charging spots 202a to 202c are newly searched in the above (c), a new supplementary equipment search is performed for the corresponding reachable ranges A2 to A4.

As a result, as shown in (d), it is assumed that a new charging spot 202d is searched for within reachable range A2 in response to a request from supplementary equipment search unit 106. FIG. After that, when the moving object charges at each charging spot 202d, the calculating unit 102 to the giving unit 105 obtain a new reachable range of the moving object centering on the charging spot 202d. As a result, as shown in (e), a new reachable range A5 centering on the charging spot 202d is obtained. As a result, the reachable range A of the moving object becomes a range obtained by superimposing the reachable ranges, and becomes A=A1+A2+A3+A4+A5, which is a wider range.

In the above process, for example, by continuing the search until there are no more charging spots within the new reachable range, it is possible to obtain reachable range A that can be reached when the moving body repeats charging at charging spots. become. Further, since the reachable range A can be clearly displayed, the range other than the reachable range A can be displayed as the unreachable range X. FIG.

Next, image processing by the image processing apparatus 100 will be described. FIG. 4 is a flow chart showing an example of the procedure of image processing by the image processing apparatus. The image processing apparatus 100 first acquires information about the current location of the moving object and information about the initial energy amount, which is the amount of energy possessed by the moving object at the current location of the moving object, by the acquiring unit 101 (step S401, S402). At this time, the image processing apparatus 100 may also acquire moving body information.

Then, the image processing apparatus 100 uses the calculation unit 102 to calculate an estimated energy consumption amount, which is the energy consumed by the moving object when it travels the predetermined section (step S403). At this time, the image processing apparatus 100 calculates estimated energy consumption amounts in a plurality of predetermined sections connecting predetermined points on the route of the moving object.

Next, the image processing apparatus 100 causes the search unit 103 to search a plurality of moving objects based on the map information stored in the storage unit and the initial energy reserves and estimated energy consumption obtained in steps S402 and S403. A reachable point is searched for (step S404).

Next, the image processing apparatus 100 divides the map information made up of vector data into a plurality of areas by the division unit 104, converts it into mesh data made up of raster data, and divides the map information into mesh data made up of raster data, based on the plurality of reachable points searched in step S404. Then, the assigning unit 105 assigns reachable identification information to each of the plurality of divided areas (step S405). After that, the image processing apparatus 100 uses the display control unit 107 to calculate the reachable range A of the moving object based on the identification information of the plurality of areas to which the identification information has been added (step S406).

Thereafter, the image processing apparatus 100 requests a search for a charging spot 202 within the reachable range A by the supplementary equipment search unit 106 (step S407). Acquisition unit 101 searches for charging spot 202 within reachable range A. FIG. If there is a charging spot 202 within reachable range A (step S407: Yes), assuming that charging has been performed at this charging spot 202 (and the current location of the moving object is charging spot 202) (step S408), The processing after calculating the estimated energy consumption in step S403 is executed again. If there is no charging spot 202 within the reachable range A (step S407: No), the display control unit 107 displays the reachable range A obtained so far on the display unit 110 (step S409). exit.

As described above, the image processing apparatus 100 according to the first embodiment calculates the amount of energy consumed based on the current position of the moving object and the amount of stored energy, and obtains and displays the reachable range of the moving object. Then, within this reachable range, a search is made to see if there is a replenishment facility (charging spot) that can replenish the energy. Re-determine the reachable range. As a result, when there is a replenishment facility within the reachable range, the reachable range of the moving body becomes wider, and the reachable range can be clearly notified to the user. In addition, it becomes possible to clearly inform the user of the unreachable range outside the reachable range.

Embodiment 1 of the present invention will be described below. In this embodiment, an example in which the present invention is applied with a navigation device 500 mounted on a vehicle as an image processing device 100 will be described.

(Hardware configuration of navigation device 500)
Next, the hardware configuration of the navigation device 500 will be explained. FIG. 5 is a block diagram showing an example of the hardware configuration of the navigation device. 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, an input device 511, A video I/F 512 , a display 513 , a camera 514 , a communication I/F 515 , a GPS unit 516 and various sensors 517 are provided. Each component 501 to 517 is connected by a bus 520 respectively.

A CPU 501 controls the entire navigation device 500 . The ROM 502 stores programs such as a boot program, an estimated energy consumption calculation program, a reachable point search program, an identification information addition program, and a map data display program. A RAM 503 is used as a work area for 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.

The estimated energy consumption calculation program calculates the estimated energy consumption in the link connecting one node and the adjacent node based on the energy consumption estimation formula for calculating the estimated energy consumption of the vehicle. The reachable point search program searches for a plurality of points (nodes) that can be reached with the amount of remaining energy at the current point of the vehicle, based on the estimated energy consumption calculated by the estimation program. In the identification information providing program, identification information for identifying that the vehicle can reach a plurality of areas obtained by dividing the map information is provided based on the plurality of reachable points searched by the search program. The map data display program causes the display 513 to display the reachable range of the vehicle based on a plurality of areas to which identification information has been assigned by the identification information attachment program.

The magnetic disk drive 504 controls reading/writing of data to/from the magnetic disk 505 under the control of the CPU 501 . The magnetic disk 505 records 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.

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

Examples of information recorded on magnetic disk 505 and optical disk 507 include map data, vehicle information, road information, and travel history. Map data is used in car navigation systems to search for points that can be reached by a vehicle and to display the reachable range of a vehicle. It is vector data including road shape data that represents the shape of a road with links, nodes, and the like. In addition, it is also possible to record information on the charging spot 202, which is an energy replenishment facility, on the magnetic disk 505 and the optical disk 507, read it out, and use it.

Audio I/F 508 is connected to microphone 509 for audio input and speaker 510 for audio output. Sound received by the microphone 509 is A/D converted within the sound I/F 508 . The microphone 509 is installed, for example, on the dashboard of the vehicle, and the number of microphones 509 may be singular or plural. The speaker 510 outputs audio obtained by D/A converting a predetermined audio signal in the audio I/F 508 .

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

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

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

A 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 camera 514 captures the exterior of the vehicle, the captured image is image-analyzed by the CPU 501, or the recording medium such as the magnetic disk 505 or the optical disk 507 is transmitted via the image I/F 512. output to

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

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 together with the output values of various sensors 517, which will be described later, when the CPU 501 calculates the current position of the vehicle. Information indicating the current position is, for example, information specifying one point on the map data, such as latitude/longitude and altitude.

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 to calculate the amount of change in speed and direction.

The acquisition unit 101, the calculation unit 102, the search unit 103, the division unit 104, the addition unit 105, the supplementary equipment search unit 106, and the display control unit 107 of the image processing apparatus 100 shown in FIG. Using programs and data recorded in the RAM 503, the magnetic disk 505, the optical disk 507, etc., the CPU 501 executes a predetermined program and controls each unit in the navigation device 500 to realize its function.

(Outline of Estimated Energy Consumption Calculation by Navigation Device 500)
The navigation device 500 of this embodiment calculates the estimated energy consumption of the vehicle in which the device is mounted. Specifically, the navigation device 500 is configured to use any one or more of energy consumption estimation formulas including first information, second information, and third information based on, for example, speed, acceleration, and gradient of the vehicle. The estimated energy consumption of the vehicle in the predetermined section is calculated using the following formula. A predetermined section is a link that connects one node (for example, an intersection) on a road with another node adjacent to the one node.

More specifically, the navigation device 500 detects traffic congestion information provided by a probe, congestion prediction data acquired via a server, link lengths and road types stored in a storage device, and the like. Calculate the travel time required to complete the trip. Then, the navigation device 500 calculates the estimated energy consumption per unit time using any one of the following energy consumption estimation formulas (1) to (4), and the vehicle travels the link at the travel time. Calculate the estimated energy expenditure at the end of the exercise.

The energy consumption estimation formula shown in the above formula (1) is a theoretical formula for estimating the energy consumption per unit time during acceleration and running. where 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 a composite acceleration |α|, the energy consumption estimation formula when the composite acceleration |α| be. That is, the energy consumption estimation formula shown in the above formula (2) is a theoretical formula for estimating the energy consumption per unit time during deceleration. In this way, the energy consumption estimation formula for each unit of time during acceleration/deceleration and running is expressed by the product of running resistance, running distance, net motor efficiency, and transmission efficiency.

In the above equations (1) and (2), the first term on the right side is the amount of energy consumption (first information) consumed by the equipment provided on the moving object. The second term on the right side is the amount of energy consumed by the gradient component (fourth information) and the amount of energy consumed by 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. In addition, the fourth term on the right side of Equation (1) is the amount of energy consumed by the acceleration component (second information). The fourth term on the right side of Equation (2) is the amount of energy consumed by the deceleration component (second information).

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

The empirical formula for calculating the estimated energy consumption when the resultant acceleration |α+g·sin θ| is represented by the formula The empirical formula for calculating the estimated energy consumption when the resultant acceleration |α+g·sin θ| is negative, that is, the empirical formula for calculating the estimated energy consumption per unit time during deceleration is the following formula (4) is represented by

In the above equations (3) and (4), the coefficients a1 and a2 are constants set according to vehicle conditions and the like. The coefficient k1 is a variable based on the amount of energy consumed during running and stopping, including during acceleration and deceleration. The coefficients k2 and k3 are variables based on energy consumption during running including acceleration/deceleration. Velocity V and acceleration A are used, and other variables are the same as those in the above formulas (1) and (2). The first term on the right side corresponds to the first term on the right side of the above formulas (1) and (2). The coefficient k1 corresponds to the fuel efficiency coefficient k1 described above.

In the above equations (3) and (4), the second term on the right side is the energy of the gradient resistance component in the second term on the right side and the acceleration in the fourth term on the right side in the above equations (1) and (2). It corresponds to the energy of the resistance component. The third term on the right side corresponds to the energy of the rolling resistance component 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 amount of recovered 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 average acceleration when the vehicle travels on the link. Then, using the average speed and average acceleration of the vehicle on the link, navigation device 500 determines that the vehicle travels on the link in the travel time based on the energy consumption estimation formula shown in the following formula (5) or (6). An estimated energy expenditure to finish may be calculated.

The energy consumption estimation formula shown in the above formula (5) is a theoretical formula for calculating the estimated energy consumption in the link when the altitude difference Δh of the link on which the vehicle travels is positive. When the altitude difference Δh is positive, the vehicle is traveling uphill. The energy consumption estimation formula shown in the above formula (6) is a theoretical formula for calculating the estimated energy consumption in the link when the altitude difference Δh of the link on which the vehicle travels is negative. When the altitude difference Δh is negative, the vehicle is traveling downhill. If there is no altitude difference, 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 amount of energy consumption (first information) consumed by the equipment provided on the moving object. The second term on the right side is the energy consumption (second information) by the acceleration resistance. The third term on the right side is the amount of energy consumed as potential energy (fourth information). The fourth term on the right side is energy consumption (third information) due to air resistance and rolling resistance (running resistance) 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 in the energy consumption estimation formulas shown in the above formulas (1) to (6).

Next, the recovery rate β used in the above formulas (1) to (6) will be explained. 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 calculated from the total energy consumption (left side) in the link, the energy during idling It is obtained by subtracting the energy consumption (the first term on the right side) from the energy consumption due to running resistance (the fourth term 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 formula (7) into the above formula (5), the following formula (8) for calculating the recovery rate β 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. Note that the recovery rate of a gasoline vehicle is the ratio of the energy required during acceleration and the energy recovered during deceleration.

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

6-1 to 6-4 are explanatory diagrams schematically showing an example of reachable point search by the navigation device 500. FIG. In FIGS. 6-1 to 6-4, map data nodes (for example, intersections) are indicated by circles, and links (predetermined sections on the road) connecting adjacent nodes are indicated by lines (the same applies to FIG. 7). (nodes and links shown).

As shown in FIG. 6-1, the navigation device 500 first searches for the closest link L1_1 from the current position 301 of the vehicle. Then, navigation device 500 searches for node N1_1 connected to link L1_1, and adds it to node candidates (hereinafter simply referred to as "node candidates") for searching for reachable points.

Next, the navigation device 500 calculates the estimated energy consumption in the link L1_1 connecting the current location 301 of the vehicle and the node N1_1 as a node candidate using the energy consumption estimation formula. Then, navigation device 500 writes estimated energy consumption 3wh in link L1_1 to a storage device (magnetic disk 505 or optical disk 507) in association with node N1_1, for example.

Next, as shown in FIG. 6-2, the navigation device 500 searches all links L2_1, L2_2, and L2_3 connected to the node N1_1, and finds link candidates for searching reachable points (hereinafter simply referred to as "links “Candidate”). Next, the navigation device 500 calculates the estimated energy consumption in the link L2_1 using the energy consumption estimation formula.

Then, the navigation device 500 writes a total energy amount 7wh, which is the sum of the estimated energy consumption amount 4wh on the link L2_1 and the estimated energy consumption amount 3wh on the link L1_1, to the storage device in association with the node N2_1 connected to the link L2_1 (hereinafter referred to as , “to set the cumulative amount of energy to the node”).

Further, navigation device 500 calculates the estimated energy consumption amounts for links L2_2 and L2_3 using the energy consumption estimation equations, similarly to link L2_1. Then, the navigation device 500 sets the cumulative energy amount 8wh, which is the sum of the estimated energy consumption amount 5wh on the link L2_2 and the estimated energy consumption amount 3wh on the link L1_1, 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 amount 3wh on the link L2_3 and the estimated energy consumption amount 3wh on the link L1_1, to the node N2_3 connected to the link L2_3. At this time, if the node for which the cumulative energy amount is set is not a node candidate, navigation device 500 adds the node to the node candidates.

Next, as shown in FIG. 6-3, the navigation device 500 detects all the links L3_1 and L3_2_1 connected to the node N2_1, all the links L3_2, L3_3 and L3_4 connected to the node N2_2, and the links connected to the node N2_3. L3_5 is searched for as a link candidate. Next, the navigation device 500 uses the energy consumption estimation formula to calculate the estimated energy consumption for the links L3_1 to L3_5.

Then, the navigation device 500 accumulates the estimated energy consumption amount 4wh at the link L3_1 to the cumulative energy amount 7wh set for the node N2_1, and sets the cumulative energy amount 11wh for the node N3_1 connected to the link L3_1. Navigation device 500 also sets cumulative energy amounts 13wh, 12wh, and 10wh for nodes N3_3 to N3_5 connected to links L3_3 to L3_5, respectively, for links L3_3 to L3_5, as in the case of link L3_1.

Specifically, the navigation device 500 accumulates the estimated energy consumption amount 5wh at the link L3_3 to the accumulated energy amount 8wh set for the node N2_2, and sets the accumulated energy amount 13wh for the node N3_3. The navigation device 500 accumulates the estimated energy consumption 4wh at the link L_3_4 to the total energy amount 8wh set for the node N2_2, and sets the total energy amount 12wh for the node N3_4. The navigation device 500 accumulates the estimated energy consumption amount 4wh at the link L3_5 to the cumulative energy amount 6wh set for the node N2_3, and sets the cumulative energy amount 10wh for the node N3_5.

On the other hand, when a plurality of links L3_2_1 and L3_2_2 are connected to one node like node N3_2, navigation device 500 calculates , the minimum accumulated energy amount 10wh is set to the one node N3_2.

Specifically, the navigation device 500 accumulates the estimated energy consumption amount 4wh at the link L3_2_1 to the accumulated energy amount 7wh set for the node 2_1 (=accumulated energy amount 11wh), and adds the estimated energy consumption amount 2wh at the link L3_2_2 to the node 2_2. (=Total energy amount 10wh). Then, the navigation device 500 compares the cumulative energy amount 11 wh of the route from the current vehicle location 301 to the link L3_2_1 with the cumulative energy amount 10 wh of the route from the vehicle current location 301 to the link L3_2_2, and determines the minimum cumulative energy amount. The cumulative energy amount 10wh of the route on the link L3_2_2 side, which is the amount, is set to the node N3_2.

When there are a plurality of nodes on the same level from the current position 301 of the vehicle, such as the nodes N2_1 to N2_3 described above, the navigation device 500 selects, for example, from a link connected to a node with a small accumulated energy amount among the nodes on the same level. Estimated energy consumption and cumulative energy consumption are calculated in order. Specifically, the navigation device 500 calculates the estimated energy consumption amounts in the links connected to each node in the order of node N2_3, node N2_1, and node N2_2, and adds them up to the total energy amount in each node. By specifying the order of the nodes for which the estimated energy consumption amount and cumulative energy amount are calculated in this way, it is possible to efficiently calculate the reachable range with the remaining energy amount.

After that, the navigation device 500 continues accumulating the accumulated energy amount as described above from the nodes N3_1 to N3_5 to nodes in deeper layers. Then, the navigation device 500 extracts all the nodes for which the cumulative energy amount is set to be equal to or less than a predetermined designated energy amount as points that can be reached by the vehicle, and extracts the longitude and latitude information of the nodes that are extracted as points that can be reached by the vehicle. It is associated with each node and written to the storage device.

Specifically, for example, if the designated energy amount is 10wh, as indicated by the hatched circles in FIG. N2_1, N2_2, N2_3, N3_2, and N3_5 are extracted as reachable points for the vehicle. The preset designated energy amount is, for example, the remaining energy amount (initial retained energy amount) at the vehicle's current location 301 .

The map data 640 shown in FIG. 6-4, which is composed of the vehicle's current position 301 and a plurality of nodes and links, is an example for explaining the reachable point search. As shown, more nodes and links are searched over a wider area than the map data 640 shown in FIG. 6-4.

FIG. 7 is an explanatory diagram showing an example of reachable point search by the navigation device 500. As shown in FIG. When continuing to calculate the cumulative energy amount for all roads (excluding narrow streets) as described above, as shown in FIG. can be done. However, the estimated energy consumption amounts for approximately 2 million links throughout Japan are calculated and totaled, and the information processing amount of the navigation device 500 becomes enormous. For this reason, the navigation device 500 may narrow down the roads for searching for reachable points for the mobile body, based on the degree of importance of the links, for example.

Specifically, for example, the navigation device 500 calculates the cumulative energy amount on all roads (excluding narrow streets) around the vehicle's current position 301, and only the roads with high importance are calculated within a certain distance or more. to calculate the cumulative amount of energy. As a result, the number of nodes and links searched by the navigation device 500 can be reduced, and the information processing amount of the navigation device 500 can be reduced. Therefore, the processing speed of the navigation device 500 can be improved.

(Outline of map data division in 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 as described above. Specifically, the navigation device 500 converts map data composed of vector data into, for example, 64×64-dot mesh data (X, Y), and converts the map data into raster data (image data).

FIG. 8 is an explanatory diagram showing an example of points reachable by the navigation device 500 by longitude-latitude. Also, FIG. 9 is an explanatory diagram of an example showing mesh data of points reachable by the navigation device 500 . FIG. 8 shows the longitude/latitude information (x, y) of the searched reachable point in absolute coordinates. FIG. 9 shows 64×64-dot mesh data (X, Y) to which identification information is assigned based on reachable points in screen coordinates.

As shown in FIG. 8, the navigation device 500 first generates longitude/latitude information (x, y) having a point group 800 in absolute coordinates based on the longitude x and latitude y of each of a plurality of reachable points. . The origin (0, 0) of the longitude/latitude information (x, y) is at the bottom left of FIG. Then, the navigation device 500 calculates distances w1 and w2 from the longitude ofx of the current position 301 of the vehicle to the maximum longitude x_max and minimum longitude x_min of the farthest reachable point in the longitude x direction. The navigation device 500 also calculates distances w3 and w4 from the latitude ofy of the current position 301 of the vehicle to the maximum latitude y_max and the minimum latitude y_min of the farthest reachable point in the latitude y direction.

Next, the navigation device 500 calculates the distance w2 (w5=max(w1, w2 , w3, w4)) is the length of one side of one rectangular element of the mesh data (X, Y). , for example, into mesh data (X, Y) of m×m dots (for example, 64×64 dots).

Specifically, the navigation device 500 sets the ratio of the size of one mesh to the size of longitude/latitude as magnification mag=w5/n, and the longitude/latitude information (x, y) and the mesh data (X, Y) are as follows ( 9) Convert the longitude/latitude information (x, y) into mesh data (X, Y) so as to satisfy the equations (10).

X=(x−ofx)/mag (9)

Y=(y−ofy)/mag (10)

By converting the longitude/latitude information (x, y) into mesh data (X, Y), the current position 301 of the vehicle is composed of m×m dot mesh data (X, Y), as shown in FIG. The mesh data (X, Y) of the current position 301 of the vehicle is the same in both the X-axis direction and the Y-axis direction, and X=Y=m/2=n+4. Also, n=(m/2)-4 is set to blank four dots, for example, around the mesh data (X, Y). Then, when converting the longitude/latitude information (x, y) into mesh data (X, Y), the navigation device 500 assigns identification information to each region of the mesh data (X, Y), and m rows m Convert to mesh data of two-dimensional matrix data (Y, X) of columns.

Specifically, when a vehicle reachable point is included in one area of the mesh data (X, Y), the navigation device 500 identifies that the vehicle can reach the one area. As identification information, for example, "1" is given (in FIG. 9, one dot is drawn in black, for example). On the other hand, if a region of the mesh data (X, Y) does not include a vehicle reachable point, the navigation device 500 can identify that the vehicle cannot reach the region. As the identification information, for example, "0" is assigned (in FIG. 9, one dot is drawn in white, for example).

In this way, the navigation device 500 converts the map data into mesh data of two-dimensional matrix data (Y, X) of m rows and m columns in which identification information is assigned to each divided region, and binarizes the map data. treated as raster data. Each area of the mesh data is represented by a rectangular area within a certain range. Specifically, as shown in FIG. 9, for example, m×m dot mesh data (X, Y) in which a point group 700 of a plurality of reachable points is drawn in black is generated. The origin (0, 0) of mesh data (X, Y) is the upper left.

(Overview of Assignment of Identification Information in Navigation Device 500 Part 1)
The navigation device 500 of this embodiment changes the identification information given to each area of the divided m×m dot mesh data (X, Y) as described above. Specifically, the navigation device 500 performs a closing process (a process of performing a reduction process after an expansion process) on the mesh data of the two-dimensional matrix data (Y, X) of m rows and m columns.

FIG. 10 is an explanatory diagram showing an example of closing processing by the navigation device. (A) to (C) are mesh data of two-dimensional matrix data (Y, X) of m rows and m columns in which identification information is assigned to each region. (A) shows the mesh data 1000 to which the identification information is added for the first time after the division processing of the map data. That is, the mesh data 1000 shown in (A) is the same as the mesh data shown in FIG.

(B) shows the mesh data 1010 after performing the closing process (dilation) on the mesh data 1000 shown in (A). (C) shows mesh data 1020 after performing the closing process (reduction) on the mesh data 1010 shown in (B). In the mesh data 1000, 1010, 1020 shown in (A) to (C), the vehicle reachable ranges 1001, 1011, 1021 generated by a plurality of areas to which reachable identification information is assigned are blacked out. show.

As shown in (A), the mesh data 1000 to which identification information has been added includes missing points 1002 (white backgrounds in the hatched reachable range 1001) that are unreachable areas included in the reachable range 1001 of the vehicle. part) is occurring. Deficit point 1002 is caused, for example, by a decrease in the number of nodes that are reachable points when the roads for which nodes and links are searched are narrowed down in order to reduce the load of reachable point search processing by navigation device 500 .

Next, as shown in (B), the navigation device 500 performs closing expansion processing on the mesh data 1000 to which identification information has been added. In the expansion process of closing, the identification information of one area adjacent to the area to which the reachable identification information is assigned in the mesh data 1000 after the identification information is assigned is changed to the reachable identification information. As a result, the missing portion 1002 generated within the reachable range 1001 of the vehicle before the expansion processing (after the identification information is added) disappears.

In addition, the identification information of all areas adjacent to the outermost area of the reachable range 1001 of the vehicle before expansion processing is changed to reachable identification information. For this reason, the perimeter of the reachable range 1011 of the vehicle after the expansion process is changed by 1 dot each time the expansion process is performed so as to enclose the perimeter of each outermost region of the reachable range 1001 of the vehicle before the expansion process. spread.

Thereafter, as shown in (C), the navigation device 500 performs closing reduction processing on the mesh data 1010 . In the closing reduction process, the identification information of one area adjacent to the area to which the unreachable identification information is assigned in the mesh data 1010 after the expansion process is changed to the unreachable identification information.

Therefore, each outermost region of the reachable range 1011 of the vehicle after expansion processing becomes an unreachable region by one dot each time the reduction processing is performed, and the reachable range 1011 of the vehicle after expansion processing becomes an unreachable region. circumference is reduced. As a result, the outer circumference of the vehicle reachable range 1021 after the reduction process is substantially the same as the outer circumference of the vehicle reachable range 1001 before the expansion process.

The navigation device 500 performs the expansion process and the reduction process the same number of times. Specifically, when the expansion process is performed twice, the subsequent reduction process is also performed twice. By equalizing the number of times of expansion processing and reduction processing, the identification information of almost all areas of the outer circumference of the reachable range of the vehicle, which has been changed to reachable identification information by expansion processing, is returned to the original identification information by reduction processing. Can be changed to an unreachable identity. In this way, the navigation device 500 can remove the missing points 1002 within the reachable range of the vehicle and generate the reachable range 1021 of the vehicle that can clearly display the outer perimeter.

(Overview of Assignment of Identification Information in Navigation Device 500 Part 2)
The navigation device 500 performs opening processing (processing for performing expansion processing after reduction processing) on the mesh data of the two-dimensional matrix data (Y, X) to generate a reachable range of the vehicle that can clearly display the outer circumference. may Specifically, the navigation device 500 performs opening processing as follows.

FIG. 11 is an explanatory diagram showing an example of opening processing by the navigation device. FIGS. 11A to 11C are mesh data of two-dimensional matrix data (Y, X) of m rows and m columns in which identification information is assigned to each region. (A) shows mesh data 1100 to which identification information has been assigned. (B) shows mesh data 1110 after opening processing (reduction) for (A). (C) shows the mesh data 1120 after opening processing (dilation) for (B). In the mesh data 1100, 1110, 1120 shown in (A) to (C), the vehicle reachable ranges 1101, 1111, 1121 generated by a plurality of areas to which reachable identification information is assigned are blacked out. show.

As shown in (A), when many isolated points 1102 are generated on the outer circumference of the vehicle reachable range 1101 in the mesh data 1100 after the identification information is added, opening processing is performed on the mesh data 1100 after the identification information is added. By doing so, the isolated point 1102 can be removed. Specifically, as shown in (B), the navigation device 500 performs opening reduction processing on the mesh data 1100 to which identification information has been added.

In the reduction processing of the opening, the identification information of one area adjacent to the area to which the unreachable identification information is added in the mesh data 1100 after the identification information is added is changed to the unreachable identification information. As a result, the isolated point 1102 generated within the reachable range 1101 of the vehicle before the reduction processing (after giving the identification information) is removed.

Therefore, each outermost area of the reachable range 1101 of the vehicle after the identification information is assigned becomes an unreachable area by one dot each time the reduction process is performed, and the reachable range of the vehicle after the assignment of the identification information becomes an unreachable area. The circumference of 1101 shrinks. Also, an isolated point 1102 generated in the reachable range 1101 of the vehicle after the addition of identification information is removed.

After that, as shown in (C), the navigation device 500 performs opening expansion processing on the mesh data 1110 . In the opening dilation process, the identification information of one area adjacent to the area to which the unreachable identification information is assigned in the mesh data 1110 after the reduction process is changed to the reachable identification information. For this reason, the outer circumference of the reachable range 1121 of the vehicle after the expansion process is changed by one dot each time the expansion process is performed so as to surround the outermost area of the reachable range 1111 of the vehicle after the reduction process. spread.

In the opening process, the navigation device 500 performs the expansion process and the reduction process the same number of times as in the closing process. By equalizing the number of times of expansion processing and reduction processing in this way, the outer circumference of the reachable range 1111 of the vehicle that has been reduced by the reduction processing is expanded, and the outer circumference of the reachable range 1121 of the vehicle after the reduction processing is changed to that before the reduction processing. can be returned to the outer perimeter of vehicle reachable range 1101 . In this way, the navigation device 500 can generate a reachable range 1121 of the vehicle that does not generate the isolated point 1102 and that can clearly display the outer periphery.

(Overview of Outline 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 data of the two-dimensional matrix data (Y, X) of m rows and m columns. Specifically, the navigation device 500 extracts the outline of the reachable range of the vehicle using, for example, Freeman's chain code. More specifically, the navigation device 500 extracts the outline of the reachable range of the vehicle as follows.

FIG. 12 is an explanatory diagram schematically showing an example of extraction of a reachable range of a vehicle by a navigation device. FIG. 13 is an explanatory diagram schematically showing an example of mesh data after extraction of the reachable range of the vehicle by the navigation device. FIG. 12(A) shows numbers indicating adjacent directions of regions 1210 to 1217 adjacent to region 1200 (hereinafter referred to as “direction indices (chain codes)”) and arrows in eight directions corresponding to the direction indices. . FIG. 12B shows an example of mesh data 1220 of two-dimensional matrix data (Y, X) with h rows and h columns. Also, in FIG. 12B, areas 1221 to 1234 to which reachable identification information is assigned and areas surrounded by the areas 1221 to 1234 to which reachable identification information is assigned are hatched.

The direction index indicates the direction in which a line segment of unit length is facing. In the mesh data (X, Y), the coordinates corresponding to the direction index are (X+dx, Y+dy). Specifically, as shown in FIG. 12A, the direction index of the direction from region 1200 to region 1210 adjacent to the lower left is "0". The direction index in the direction from the area 1200 to the adjacent area 1211 is "1". The direction index of the direction from the area 1200 to the adjacent area 1212 on the lower right is "2".

Also, the direction index of the direction from the area 1200 to the area 1213 adjacent to the right is "3". The direction index of the direction from the area 1200 to the adjacent area 1214 on the upper right is "4". The direction index for the direction from region 1200 upward to adjacent region 1215 is "5". The direction index of the direction from the area 1200 to the adjacent area 1216 on the upper left is "6". The direction index for the direction from the area 1200 to the adjacent area 1217 to the left is "7".

The navigation device 500 searches counterclockwise for a reachable area adjacent to the area 1200 and to which the identification information "1" is assigned. Further, the navigation device 500 determines a search start point of a reachable area adjacent to the area 1200 and assigned identification information based on the previous direction index. Specifically, when the direction index toward the region 1200 from another region is "0", the navigation device 500 moves the region adjacent to the left of the region 1200, that is, the region adjacent in the direction of the direction index "7". Search starts at 1217 .

Similarly, the navigation device 500 is adjacent to the lower left, lower, lower right, right, upper right, upper, and upper left of the area 1200 when the direction index toward the area 1200 from other areas is "1" to "7". The search starts from matching regions, ie regions 1210-1216 that are adjacent in the direction of directional indices '0', '1', '2', '3', '4', '5' and '6' respectively. When the navigation device 500 detects the reachable identification information "1" from any one of the areas 1210 to 1217 from the area 1200, the area 1210 to 1217 where the reachable identification information "1" is detected. The direction indices "0" to "7" corresponding to are associated with the area 1200 and written in the storage device.

Specifically, the navigation device 500 extracts the outline of the reachable range of the vehicle as follows. As shown in FIG. 12(B), the navigation device 500 first identifies reachable row by row from the area of a row and a column of the mesh data 1220 of the two-dimensional matrix data (Y, X) of h rows and h columns. Search for an area with information.

Since all areas of the a-th row of the mesh data 1220 are given unreachable identification information, next, the navigation device 500 moves from the area of b-th row, a-th column of the mesh data 1220 to b-th row, h-th column. Search for identities reachable towards the region. Then, after detecting the reachable identification information in the region 1221 of the b row and e column of the mesh data 1220, the navigation device 500 moves counterclockwise from the region 1221 of the b row and e column of the mesh data 1220 to the reachable range of the vehicle. Search for regions with reachable identities outlining .

Specifically, since the navigation device 500 has already searched the area of b row and d column adjacent to the left of the area 1221, first, the area 1222 adjacent to the lower left of the area 1221 is identified as reachable in a counterclockwise direction. Search to see if there is an area with information. Then, the navigation device 500 detects the reachable identification information of the area 1222 and stores the direction index “0” of the direction from the area 1221 to the area 1222 in the storage device in association with the area 1221 .

Next, since the previous direction index is "0", the navigation device 500 determines whether there is an area having reachable identification information counterclockwise from the area of c row and c column adjacent to the left of the area 1222. Search for Then, the navigation device 500 detects the reachable identification information of the area 1223 adjacent to the lower left of the area 1222, and stores the direction index "0" in the direction from the area 1222 to the area 1223 in association with the previous direction index. Store in the device.

Thereafter, the navigation device 500 determines the search start point based on the previous direction index, and performs the process of searching for an area having identification information that can be reached counterclockwise from the search start point using the direction index. Repeat until the corresponding arrow returns to area 1221 . Specifically, the navigation device 500 searches counterclockwise from the area adjacent to the left of the area 1222 to see if there is an area having reachable identification information. A reachable identification is detected and stored in a storage device with a direction index of "1" associated with the previous direction index.

Similarly, after determining the search start point based on the previous direction index, the navigation device 500 searches counterclockwise from the search start point for an area having the reachable identification information, and searches for an area having the reachable identification information. 1224 to 1234 are detected sequentially. Each time the navigation device 500 acquires a 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 b row and f column adjacent to the upper right of area 1234 to see if there is an area having reachable identification information, and searches for an area having reachable identification information. 1221 reachable identification information is detected and the direction index "5" is associated with the previous direction index and stored in storage. As a result, the storage device stores direction indices "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 for areas 1222 to 1234 having identification information that can be reached adjacent to the area 1221 from the area 1221 detected first, and acquires the direction index. Then, the navigation device 500 fills in one region from the region 1221 in the direction corresponding to the direction index, thereby forming an outline 1301 of the reachable range of the vehicle and a portion 1302 surrounded by the outline 1301, as shown in FIG. Generate mesh data with a vehicle reachable range 1300 consisting of:

(Overview of Outline Extraction of Reachable Range in Navigation Device 500 Part 2)
Another example of vehicle reachable range extraction by the navigation device 500 of the present embodiment will be described. The navigation device 500 may extract the outline of the reachable range of the vehicle, for example, based on the longitude and latitude information of the mesh data of the two-dimensional matrix data (Y, X) to which the reachable identification information is assigned. Specifically, the navigation device 500 extracts the outline of the reachable range of the vehicle as follows.

FIG. 14 is an explanatory diagram schematically showing another example of extraction of the reachable range of the vehicle by the navigation device. A mesh data 1400 of two-dimensional matrix data (Y, X) of d rows and h columns as shown in FIG. 13 will be described as an example. The navigation device 500 searches for an area of the mesh data 1400 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, column a toward the area of row a, column h.

Since the unreachable identification information "0" is assigned to all areas of the a-th row of the mesh data 1400, the navigation device 500 next moves the area from the b-row, a-column area to the b-row, h-column area. Search for a region with identity '1' that is reachable to . Then, the navigation device 500 acquires the minimum longitude px1 and minimum latitude py1 (upper left coordinates of the area 1401) of the area 1401 of row b, column c having reachable identification information "1".

Next, the navigation device 500 searches for a reachable area having identification information “1” from the area of b row, d column to the area of b row, h column. The navigation device 500 then searches for the boundary between the area having the reachable identification information "1" and the area having the reachable identification information "0", and searches for the line b having the reachable identification information "1". Obtain the maximum longitude px2 and maximum latitude py2 of the area 1402 in column f (the lower right coordinates of the area 1402).

Next, the navigation device 500 creates a rectangular area whose vertices are the upper left coordinates (px1, py1) of the area 1401 of b row, c column and the lower right coordinates (px2, py2) of the area 1402 of b row, f column. to fill.

Next, the navigation device 500 searches for the reachable identification information “1” from row b, column g to row b, column h of the mesh data 1400 and from row c, column a to row c, column h. Then, the navigation device 500 acquires the minimum longitude px3 and the minimum latitude py3 (upper left coordinates of the area 1303) of the area 1403 in row c, column d having reachable identification information "1".

Next, the navigation device 500 searches for a reachable area having identification information “1” from the area of c row and e column to the area of c row and h column. Then, the navigation device 500 searches for the boundary between the area having the reachable identification information "1" and the area having the reachable identification information "0", and finds the line c having the reachable identification information "1". Obtain the maximum longitude px4 and maximum latitude py4 of the area 1404 in the f column (lower right coordinates of the area 1404).

Next, the navigation device 500 creates a rectangular area whose vertices are the upper left coordinates (px3, py3) of the area 1403 in row c, column d and the lower right coordinates (px4, py4) in area 1404 in row c, column f. to fill.

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

In this way, the reachable range of the vehicle can be obtained by filling in the area having the reachable identification information "1" for each row of the mesh data 1300 of the two-dimensional matrix data (Y, X).

(Reachable range display processing by searching charging spots of the navigation device)
FIG. 15-1 is a flow chart showing an example of a vehicle reachable range processing procedure by a navigation device, and FIG. 15-2 is a chart showing a supplementary equipment management table. First, the navigation device 500 acquires the current position of the vehicle through the acquisition unit 101 (step S1501), and acquires the amount of charge (remaining capacity) of the battery (step S1502). Next, the calculation unit 102 to provision unit 105 perform estimation processing of the reachable range of the vehicle from the current position with the current charge level based on the current position and the charge level of the battery (step S1503). At this time, the supplementary equipment search unit 106 initializes the contents of the management table (see FIG. 15-2) 1500 to be empty (step S1504).

The supplementary facility management table 1500 shown in FIG. 15-2 is managed by the supplementary facility search unit 106, and data is stored in the RAM 503 or the like in FIG. This management table 1500 consists of information of an identifier (ID) of a replenishment facility (charging spot) and a processing identifier (processed Yes or No) for the charging spot. By executing step S1504, the management table 1500 is in a state where the charging spot ID and the processed information are deleted. Each charging spot is given an individual ID in advance. Alternatively, a unique ID may be assigned based on the name or position of the charging spot.

Next, the supplementary equipment search unit 106 searches for charging spots within the reachable range (corresponding to A1 in FIG. 3) estimated in step S1503 (step S1505). Specifically, the supplementary facility search unit 106 requests the acquisition unit 101 to search for charging spots within the reachable range. As a result, if the acquisition unit 101 can find a charging spot within the reachable range, the replenishment facility search unit 106 processes the found charging spot with an ID that is not in the replenishment facility management table 1500. The identifier is added to the management table 1500 as "processed=No" (step S1506).

Next, the supplementary equipment search unit 106 searches the management table 1500 for a charging spot ID whose process identifier is "processed=No" (step S1507). If a charging spot ID whose process identifier is "processed=No" is found in the management table 1500 (step S1508: Yes), the process proceeds to step S1509, and if not found (step S1508: No), the process proceeds to step S1516. Transition.

In step S1509, the replenishment facility search unit 106 selects one charging spot with the process identifier of "processed=No" in the management table 1500 (step S1509), and sets the process identifier of the selected charging spot ID to "processed." completed=Yes” (see FIG. 15-2, step S1510). After that, the acquiring unit 101 acquires the maximum charging capacity of the vehicle (battery) (step S1511), and acquires the rate of rapid charging at the charging spot using the charging spot ID as a key (step S1512). . It is possible to set in advance the rate at which the battery can be charged by rapid charging at the charging spot.

Let's talk about fast charging. According to rapid charging, the battery can be charged to about 80% in 30 minutes, for example. It takes several hours to charge at a charging spot for normal charging, not quick charging. Step S1512 is performed when quick charging is completed in a short time. Also, the rate that can be charged by quick charging is, for example, 80% of the battery capacity. In this way, charging at the charging spot can be limited to rapid charging. In this case, it is sufficient to search for and acquire a charging spot capable of rapid charging. The acquisition unit 101 can acquire charging spots that allow quick charging via the Internet or the like.

Next, the calculation unit 102 calculates the obtained maximum charge capacity×chargeable ratio to determine the maximum chargeable amount for the vehicle (step S1513). Using the charging spot ID as a key, the acquiring unit 101 also acquires the position of the charging spot from the charging spot DB (step S1514). Then, the calculation unit 102 to the provision unit 105 perform estimation processing of the reachable range (corresponding to one of A2 to A4 in FIG. 3) with the determined maximum chargeable amount using the charging spot ID as a base point (step S1515). ), and the process returns to step S1505. By repeating this process, new reachable ranges A2 to A5 that can be reached when charging at the charging spot 202 in the processed reachable range A1 can be newly obtained. can be synthesized and displayed.

Also, in step S1508, if no charging spot ID with a process identifier of "processed=No" is found in the management table 1500 (step S1508: No), all reachable ranges A1 to A5 including up to now are Combine (step S1516). Specifically, the adding unit 105 adds up the identification information “1” of each of the reachable ranges A1 to A5, and obtains a synthesized reachable range A. FIG.

Also, the range that is not the reachable range A is set as the unreachable range X (step S1517). Then, the display control unit 107 superimposes the reachable range A and the unreachable range X on the map and displays them on the display unit 110 (step S1518), and ends the process.

(Example of display of reachable range by searching for charging spot facilities)
FIG. 16 is a diagram showing a display example of the reachable range of the vehicle by the navigation device. By the above processing, the reachable range A of the vehicle is displayed on the display screen of the display unit 110 superimposed on the map 1600 . As a result, the user can clearly know the reachable range that the vehicle can reach by charging at the charging spot.

In addition, the display color of the reachable range A1 that can be reached with the current remaining battery capacity is displayed in yellow, and the display color of the reachable range A2 to A5 that can be reached by charging at the charging spot 202 (202a to 202d) is displayed in green. For example, the reachable range that can be reached depending on whether or not the charging spot is used may be easily identified by the difference in color. In addition, considering the type of charging (rapid charging or normal charging) at the charging spot 202 (202a to 202d), the display colors are changed as described above to determine the range that can be reached and the range that cannot be reached only by quick charging and the normal charging range. It will be possible to separately display the range that can be reached by charging and the range that cannot be reached.

FIG. 17 is a diagram showing a display example of the unreachable range of the vehicle by the navigation device. As shown in the figure, on the map 1600, the range other than the reachable range A of the vehicle (the range outside the reachable range A, shaded in the drawing) is defined as the unreachable range X. It can also be displayed in red, which is easy to understand.

Furthermore, when the destination 1700 is set in the unreachable range X by the user's operation, the navigation device 500 may display a warning display screen 1701 because the destination cannot actually be reached. In the illustrated example, the warning display screen 1701 displays "You cannot reach the designated position even if you charge at the charging spot." As a result, when the destination is set to a place that cannot be reached by operating the navigation device 500, and the destination cannot actually be reached even if the vehicle is charged at the charging spot 202, this can be clearly notified to the user. Become.

(Supplementary information obtained when searching for charging spots)
FIG. 18 is a diagram showing a search screen for type conditions when searching for charging spots. As shown in the figure, when searching for charging spots 202, the search may be limited to charging spots of the type specified by the user. On the illustrated search item screen 1800, check boxes 1801 are used to select the types of charging spots 202 to be searched by the replenishment equipment search unit 106, such as automobile dealers, public facilities, parking lots, and gasoline stations. Can be searched as a condition. This makes it possible to obtain the reachable range based on the type of charging spot desired by the user.

Alternatively, the business hours may be stored as data for each charging spot, and when searching for charging spots, the search may be limited to charging spots 202 within business hours. For example, if a charging spot 202 that is open from 8:00 to 20:00 is found at 21:00, it is not enabled. For example, at present, many of the charging spots 202 are car dealers, and they are not open at night. Also, when determining the business hours, the arrival time from the current position to the charging spot 202 may be considered. In that case, the search unit 103 searches for a route from the current position or the charging spot 202 one before to the charging spot 202 and calculates the required time. Then, the required time is added up from the current time to obtain the arrival time.

Furthermore, when traveling via a plurality of charging spots 202, the time required for charging may be included in the time required to reach the destination. For example, if the charging spot 202 can be charged in 30 minutes by rapid charging, 30 minutes is added as the charging time at this charging spot 202 . In addition, when the destination is set in consideration of the charging time at the charging spot 202, if the destination cannot be reached at the current departure time (a certain set time period), it can be reached at another departure time (another set time such as late at night or early in the morning). If it is possible to reach the destination if it is a belt), it may be displayed to that effect. In this case, the departure time may be switched by the user's operation, and the reachable range A (and the unreachable range X) for each departure time may be displayed.

(Another example of display processing of reachable range by searching charging spot of navigation device)
FIG. 19 is a flow chart showing an example of a processing procedure for determining the reachable range of the vehicle by the navigation device. In FIG. 19, the same step numbers are assigned to the same processing contents as in FIG. 15-1, and the description thereof is omitted. In this processing example, processing for determining the type of charging spot 202 and whether or not the vehicle has arrived at charging spot 202 during business hours is added (steps S1901 to S1905 are inserted between steps S1510 and S1511). .

In step S1901, it is determined whether or not the charging spot selected in step S1509 is capable of rapid charging. : No), and the process returns to step S1507. In step S1902, the business hours of the selected charging spot 202 are obtained (step S1902). Next, it is determined whether the business hours of the selected charging spot 202 are 24 hours (step S1903). If it is open 24 hours a day with no restrictions on business hours (step S1903: Yes), the process proceeds to step S1511, and if it is not open 24 hours (step S1903: No), the process proceeds to step S1904.

In step S1904, the searching unit 103 calculates the required time to the selected charging spot 202, and adds the required time to the current time to obtain the arrival time at the charging spot 202 (step S1904). After that, it is determined whether the arrival time at the charging spot 202 is within business hours (step S1905). If the arrival time is within business hours (step S1905: Yes), the process proceeds to step S1511, and if the arrival time is outside business hours (step S1905: No), the process returns to step S1507.

By the above processing, the charging time for charging at the charging spot 202 and the business hours of the charging spot 202 are considered, and the charging spot 202 that can be reached within the business hours can be searched. As a result, charging can be performed using the searched charging spots 202 even at charging spots 202 that are currently limited in installation locations, and traveling to the destination is possible without restrictions on departure time. become able to.

(About road gradient)
Next, the road gradient θ used as a variable on the right side of the above formulas (1) to (6) will be explained. FIG. 20 is an explanatory diagram schematically showing an example of acceleration applied to a vehicle traveling on a sloped road. As shown in FIG. 20, a vehicle traveling on a slope with a road gradient of θ has an acceleration A (=dx/dt) accompanying the vehicle traveling and a traveling direction component B (=g·sin θ) of the gravitational acceleration g. It takes. For example, taking the above equation (1) as an example, the second term on the right side of the above equation (1) indicates the resultant acceleration C of the acceleration A accompanying the running of the vehicle and the traveling direction component B of the gravitational acceleration g. there is In addition, let D be the distance of the section in which the vehicle travels, T be the travel time, and V be the travel speed.

When the power consumption is estimated without considering the road gradient θ, the error between the estimated power consumption and the actual power consumption is small in areas where the road gradient θ is small, but the estimated power consumption is small in areas where the road gradient θ is large. The difference between the estimated power consumption and the actual power consumption becomes large. Therefore, in the navigation device 500, 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 using, for example, an inclinometer mounted on navigation device 500 . If the navigation device 500 is not equipped with an inclinometer, for example, road gradient information included in the map data can be used.

(About running resistance)
Next, the running resistance generated in the vehicle will be explained. Navigation device 500, for example, calculates the running resistance using the following equation (11). In general, running resistance is generated in a moving object during acceleration or running depending on road type, road gradient, road surface conditions, and the like.

As described above, according to the navigation device 500, the map information is divided into a plurality of areas, each area is searched for whether or not the moving object can reach, and each area is reached or not. Give a reachable or unreachable identification that identifies unreachability. Then, the navigation device 500 generates the reachable range of the mobile object based on the area to which the reachable identification information is assigned. Therefore, the navigation device 500 can generate the reachable range of the mobile body while excluding areas where the mobile body cannot travel, such as seas, lakes, and mountains. Therefore, the image processing apparatus 100 can accurately display the reachable range of the moving object.

Then, based on the charging spot included in the reachable range of the moving object, it becomes possible to display a new reachable range by charging at the charging spot. As a result, the user can clearly know whether or not the displayed reachable range allows the vehicle to travel to the destination without worrying about the remaining battery capacity. In addition, since the unreachable range can also be clearly displayed, if the destination is in the unreachable range, it is possible to disable the setting of this destination, so that these can be known before the actual driving. Become.

In addition, 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 each of the plurality of areas, and then performs expansion processing for closing. Therefore, the navigation device 500 can remove missing points within the reachable range of the moving object. In addition, the navigation device 500 converts a plurality of divided areas of the map information into image data, assigns reachable or unreachable identification information to each of the plurality of areas, and then performs an opening reduction process. Therefore, the navigation device 500 can remove isolated points in the reachable range of the moving object. In this way, the navigation device 500 can remove missing points and isolated points in the reachable range of the moving object, so that the traveling range of the moving object can be displayed on a two-dimensional smooth surface in an easy-to-see manner. .

(Embodiment 2)
21 is a block diagram of an example of a functional configuration of an image processing system according to a second embodiment; FIG. A functional configuration of the image processing system 2100 according to the second embodiment will be described. An image processing system 2100 according to the second embodiment is composed of a server 2110 and a terminal 2120 . An image processing system 2100 according to the second embodiment includes a server 2110 and a terminal 2120 that have the functions of the image processing apparatus 100 according to the first embodiment.

The server 2110 generates information to be displayed on the display unit 110 by the terminal 2120 mounted on the mobile object. Specifically, the server 2110 detects and transmits to the terminal 2120 information about the reachable range of the mobile object. The terminal 2120 may be installed in a mobile body, used as a mobile terminal inside the mobile body, or used as a mobile terminal outside the mobile body. The terminal 2120 then receives information about the reachable range of the mobile object from the server 2110 .

In FIG. 21, the server 2110 is composed of a calculation unit 102 , a search unit 103 , a division unit 104 , a provision unit 105 , a supplementary equipment search unit 106 , a server reception unit 2111 and a server transmission unit 2112 . The terminal 2120 is composed of an acquisition unit 101 , a display control unit 107 , a terminal reception unit 2121 and a terminal transmission unit 2122 . In the image processing system 2100 shown in FIG. 21, the same components as those of the image processing apparatus 100 shown in FIG.

In the server 2110 , the server reception unit 2111 receives information transmitted from the terminal 2120 . Specifically, for example, the server receiving unit 2111 receives information about mobile units from a terminal 2120 wirelessly connected to a communication network such as a public line network, mobile phone network, DSRC, LAN, or WAN. The information about the moving object includes information about the current location of the moving object and information about the initial energy amount, which is the amount of energy that the moving object has at the current location of the moving object. The information received by the server reception unit 2111 is information referred to by the calculation unit 102 . The information about the replenishment equipment may be obtained by either the terminal 2120 or the server 2110, and may be output to means for calculating the reachable range by the calculation unit 102 and the search unit 103. FIG.

The server transmission unit 2112 assigns a plurality of areas obtained by dividing the map information to which reachable identification information for identifying reachability of the mobile object by the assignment unit 105 is assigned as a reachable range of the mobile object. 2120. Specifically, for example, the server transmission unit 2112 transmits information to a terminal 2120 wirelessly connected to a communication network such as a public line network, mobile phone network, DSRC, LAN, or WAN.

The terminal 2120 is connected to the server 2110 in a communicable state via an information communication network of the mobile terminal or a communication unit (not shown) provided in the terminal 2120, for example.

In terminal 2120 , terminal receiving section 2121 receives information from server 2110 . Specifically, the terminal receiving unit 2121 receives map information that is divided into a plurality of areas, and that each area is given identification information indicating reachable or unreachable based on the reachable points of the moving body. receive. More specifically, for example, terminal receiver 2121 receives information from server 2110 wirelessly connected to a communication network such as a public line network, mobile phone network, DSRC, LAN, or WAN.

The terminal transmission unit 2122 transmits the information on the moving object acquired by the acquisition unit 101 to the server 2110 . Specifically, for example, the terminal transmission unit 2122 transmits information about the mobile unit to the server 2110 wirelessly connected to a communication network such as a public line network, mobile phone network, DSRC, LAN, or WAN.

Next, image processing by the image processing system 2100 according to the second embodiment will be described. Image processing by the image processing system 2100 is substantially the same as that of the image processing apparatus 100 according to the first embodiment, so differences from the first embodiment will be described using the flowchart of FIG.

The image processing by the image processing system 2100 includes the estimated energy consumption calculation processing, the reachable point search processing, the energy replenishment equipment search processing, and the identification information addition processing among the image processing by the image processing apparatus 100 according to the first embodiment. Server 2110 does.

Specifically, in the flowchart of FIG. 4, the terminal 2120 performs the process of step S401 and transmits the information acquired in steps S401 and S402 to the server 2110. FIG. Server 2110 then receives information from terminal 2120 . Next, the server 2110 performs steps S403 to S407 based on the information received from the terminal 2120, and transmits the information acquired in step S207 to the terminal 2120. FIG. Terminal 2120 then receives information from server 2110 . Then, the terminal 2120 performs step S408 based on the information received from the server 2110, and ends the processing according to this flowchart.

As described above, the image processing system 2100 and the image processing method according to the second embodiment can obtain the same effect as the image processing apparatus 100 and the image processing method according to the first embodiment.

(Embodiment 3)
22 is a block diagram of an example of a functional configuration of an image processing system according to a third embodiment; FIG. A functional configuration of an image processing system 2200 according to the third embodiment will be described. An image processing system 2200 according to the third embodiment is composed of a first server 2210, a second server 2220, a third server 2230, and a terminal 2240. FIG. In the image processing system 2200, the first server 2210 has the function of the calculation unit 102 of the image processing apparatus 100 of the first embodiment, and the second server 2220 has the function of the search unit 103 of the image processing apparatus 100 of the first embodiment. In addition, the third server 2230 has the functions of the division unit 104, the addition unit 105, and the supplementary equipment search unit 106 of the image processing apparatus 100 of the first embodiment, and the acquisition unit 101 and the display unit of the image processing apparatus 100 of the first embodiment are provided. A terminal 2240 has the function of the control unit 107 .

In FIG. 22, terminal 2240 has the same configuration as terminal 2120 in the second embodiment. Specifically, the terminal 2240 is composed of an acquisition unit 101 , a display control unit 107 , a terminal reception unit 2241 and a terminal transmission unit 2242 . Terminal receiving section 2241 has the same configuration as terminal receiving section 2121 of the second embodiment. Terminal transmission section 2242 has the same configuration as terminal transmission section 2122 of the second embodiment. The first server 2210 is composed of the calculator 102 , the first server receiver 2211 and the first server transmitter 2212 .

The second server 2220 is composed of the searching unit 103 , the second server receiving unit 2221 and the second server transmitting unit 2222 . The third server 2230 is composed of the dividing unit 104 , the adding unit 105 , the supplementary equipment searching unit 106 , the third server receiving unit 2231 and the third server transmitting unit 2232 . In the image processing system 2200 shown in FIG. 22, the same components as those of the image processing apparatus 100 shown in FIG. 1 and the image processing system 2100 shown in FIG.

In the first server 2210 , the first server receiving section 2211 receives information transmitted from the terminal 2240 . Specifically, for example, the first server reception unit 2211 receives information from the terminal transmission unit 2242 of the terminal 2240 wirelessly connected to a communication network such as a public line network, a mobile phone network, DSRC, LAN, or WAN. to receive The information received by the first server reception unit 2211 is information referred to by the calculation unit 102 .

The first server transmission section 2212 transmits the information calculated by the calculation section 102 to the second server reception section 2221 . Specifically, the first server transmission unit 2212 transmits information to the second server reception unit 2221 that is wirelessly connected to a communication network such as a public line network, mobile phone network, DSRC, LAN, or WAN. Alternatively, the information may be transmitted to the second server reception unit 2221 connected by wire.

In the second server 2220 , the second server reception section 2221 receives information transmitted by the terminal transmission section 2242 and the first server transmission section 2212 . Specifically, for example, the second server reception unit 2221 connects the first server transmission unit 2212 and the terminal transmission unit wirelessly connected to a communication network such as a public line network, a mobile phone network, DSRC, LAN, and WAN. receive information from H.2242; The second server reception unit 2221 may receive information from the first server transmission unit 2212 connected by wire. The information received by the second server reception unit 2221 is information referred to by the search unit 103 .

Second server transmission section 2222 transmits information searched by search section 103 to third server reception section 2231 . Specifically, for example, the second server transmission unit 2222 transmits information to the third server reception unit 2231 wirelessly connected to a communication network such as a public line network, mobile phone network, DSRC, LAN, or WAN. Alternatively, the information may be transmitted to the third server reception unit 2231 connected by wire.

In the third server 2230 , the third server reception section 2231 receives information transmitted by the terminal transmission section 2242 and the second server transmission section 2222 . Specifically, for example, the third server reception unit 2231 connects the second server transmission unit 2222 and the terminal transmission unit wirelessly connected to a communication network such as a public line network, a mobile phone network, DSRC, LAN, and WAN. 2242 may receive information. The third server reception unit 2231 may receive information from the second server transmission unit 2222 connected by wire. The information received by the third server reception unit 2231 is information referred to by the dividing unit 104 .

The third server transmission unit 2232 transmits to the terminal reception unit 2241 the reachable range information generated by the provision unit 105 and searched by the supplementary equipment search unit 106 . Specifically, for example, the third server transmission unit 2232 transmits information to the terminal reception unit 2241 wirelessly connected to a communication network such as a public line network, mobile phone network, DSRC, LAN, or WAN. The information on the energy replenishment equipment may be obtained by either the terminal 2240 or the first server 2210 to the third server 2230, and is output as information for calculating the reachable range by the calculation unit 102 and the search unit 103. do.

Next, image processing by the image processing system 2200 according to the third embodiment will be described. Since image processing by the image processing system 2200 is substantially the same as that of the image processing apparatus 100 according to the first embodiment, differences from the first embodiment will be described using the flowchart of FIG.

In the image processing by the image processing system 2200, among the image processing by the image processing apparatus 100 according to the first embodiment, the estimated energy consumption calculation processing is performed by the first server 2210, and the reachable point search processing is performed by the second server 2220. Then, the third server 2230 performs identification information addition processing. In the flowchart of FIG. 4, the terminal 2240 performs the process of step S201 and transmits the information acquired in steps S401 and S402 to the first server 2210. FIG.

The first server 2210 then receives information from the terminal 2240 . Next, the first server 2210 performs the processing of step S403 based on the information received from the terminal 2240, and transmits the information calculated in step S403 to the second server 2220. FIG. The second server 2220 then receives information from the first server 2210 . Next, the second server 2220 performs the processing of step S404 based on the information received from the first server 2210, and transmits the information searched in step S404 to the third server 2230. FIG.

The third server 2230 then receives information from the second server 2220 . Next, the third server 2230 performs steps S405 to S408 based on the information from the second server 2220, and transmits the information generated in step S406 to the terminal 2240. FIG. Terminal 2240 then receives information from third server 2230 . Then, the terminal 2240 performs step S409 based on the information received from the third server 2230, and ends the processing according to this flowchart.

As described above, the image processing system 2200 and the image processing method according to the third embodiment can obtain the same effect as the image processing apparatus 100 and the image processing method according to the first embodiment.

A second embodiment of the present invention will be described below. FIG. 23 is an explanatory diagram of 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 to an image processing system 2300 having a navigation device 2310 mounted on a vehicle as a terminal 2120 and a server 2320 as a server 2110 will be described. The image processing system 2300 is composed of a navigation device 2310 mounted on a vehicle 2330, a server 2320, and a network 2340. FIG.

Navigation device 2310 is mounted on vehicle 2330 . The navigation device 2310 transmits to the server 2320 information about the current location of the vehicle and information about the initial energy reserve. Also, the navigation device 2310 displays the information received from the server 2320 on the display to notify the user. The server 2320 receives information on the current location of the vehicle and information on the initial energy reserve from the navigation device 2310 . Server 2320 generates information about the reachable range of vehicle 2330 based on the received vehicle information. It also searches for supplementary equipment and obtains a new reachable range.

The hardware configurations of the server 2320 and the navigation device 2310 are the same as the hardware configuration of the navigation device 500 of the first embodiment. Further, the navigation device 2310 only needs to have a hardware configuration corresponding to a function of transmitting vehicle information to the server 2320 and a function of receiving information from the server 2320 and notifying the user.

Further, the image processing system 2300 uses the navigation device 2310 mounted on the vehicle as the terminal 2240 of the third embodiment, and the functional configuration of the server 2320 is distributed to the first to third servers 2210 to 2230 of the third embodiment. may be

The image processing method described in this embodiment can be realized by executing a prepared program 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, DVD, etc., and is executed by being read from the recording medium by a computer. Also, this program may be a transmission medium that can be distributed via a network such as the Internet.

100 Image processing device 101 Acquisition unit 102 Calculation unit 103 Search unit 104 Division unit 105 Addition unit 106 Replenishment equipment search unit 107 Display control unit 109 Reachable range calculation unit 110 Display unit

Claims (1)

A calculation means for calculating a reachable range including an area reachable by the amount of energy possessed by the moving body, with the position of the moving body as a base point;
When a supply facility capable of supplying energy to the mobile body is within the reachable range, the calculation means calculates, when it is assumed that the supply facility supplies energy to the mobile body, an amount of energy possessed by the mobile body. A reachable range calculation device, characterized by performing calculation processing for calculating a new reachable range with the supply facility as a base point based on.

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