JP5819445B2 - Image processing apparatus, image processing management apparatus, terminal, and image processing method - Google Patents

Description

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

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

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

  Also, a processing device is known that notifies the user when the arrival time to the destination is delayed when traffic restrictions or traffic jams occur during the travel of the mobile body (see, for example, Patent Document 3 below). In Patent Document 3 below, when the business hours of the destination cannot be reached due to road restrictions or traffic jams, a warning is displayed or voiced.

Japanese Patent Laid-Open No. 11-016094 Japanese Patent Application Laid-Open No. 07-0859797 JP 2000-028377 A

  However, in the techniques of Patent Documents 1 to 3 described above, the reachable range that the mobile body can reach and the unreachable range that cannot be reached cannot be clearly distinguished and notified to the user by display or the like. The unreachable range is a range where the amount of energy held by the mobile body, that is, a battery remaining capacity is exhausted and cannot be reached. Since the reachable range and the unreachable range cannot be clearly distinguished, conventionally, a route can be set in the unreachable range, but the problem is that the reach is not possible.

  Further, although the unreachable range is a range other than the reachable range, a factor for changing the reachable range itself has not been considered. For example, not only can the reachable range be obtained with the current remaining battery level, but if the energy can be replenished (charged) after the mobile object has reached the obtained reachable range, the reachable range can be made wider. Replenishment of energy can be performed by a replenishment facility such as a charging spot. However, conventionally, the presence or absence of energy replenishment after reaching the reachable range is not considered, and a more practical reachable range cannot be notified. At the same time, even if the energy was replenished, the unreachable range that could not be actually reached could not be clearly indicated.

  In order to solve the above-described problems and achieve the object, an image processing apparatus according to a first aspect of the present invention is an image processing apparatus that processes information relating to a reachable range of a moving body, and is a current position of the moving body. Information on the amount of energy held by the mobile body, and an estimated energy consumption amount indicating the amount of energy consumed when the mobile body travels in a predetermined section. A reachable range calculating means for calculating a reachable range, a replenishment facility search means for searching for a replenishment facility located within the reachable range and capable of replenishing energy to the mobile body, and the reachable range as a display means Display control means for displaying, and the reachable range calculation means, when a new supplementary equipment is found by the supplementary equipment search means, The process of calculating a new reachable range using the amount of energy at the time of replenishment is repeated, and when the display control means no longer finds a new replenishment facility in the new reachable range, the reachable range It is characterized in that the display means displays that it cannot reach any other position.

  An image processing management apparatus according to a fifth aspect of the invention is an image processing management apparatus for processing information relating to a reachable range of a mobile object, wherein the information relating to the current position of the mobile object and the energy held by the mobile object Receiving means for receiving information relating to the amount, information relating to changes in the operating state of the equipment provided in the moving body, information relating to the current position of the moving body, information relating to the amount of energy held by the moving body, and A reachable range calculating means for calculating a reachable range including a reachable area of the mobile body based on an estimated energy consumption amount indicating an energy amount consumed when the mobile body travels in a predetermined section; and A replenishment facility search means for searching for a replenishment facility located within a possible range and capable of replenishing energy to the moving body, and information on the reachable range is transmitted. Transmitting means, and when the new supplementary equipment is found by the supplementary equipment search means, the reachable range calculating means determines a new reachable range using the energy amount when supplemented by the supplementary equipment. Repeat the calculation process, transmit by the transmission means, and when the new supplementary equipment is not found in the new reachable range, information indicating that the position other than the reachable range cannot be reached, the transmission means It is characterized by transmitting by.

  A terminal according to the invention of claim 6 is a terminal that processes information relating to a reachable range of a mobile object, information relating to a current position of the mobile object, information relating to an energy amount possessed by the mobile object, and Transmitting means for transmitting information on changes in the operating state of the equipment provided in the moving body, information on the current position of the moving body transmitted by the transmitting means, and energy amount held by the moving body Based on the information, an estimated energy consumption amount indicating the amount of energy consumed when the moving body travels in a predetermined section, a reachable range including a reachable area of the moving body is calculated, and the position is within the reachable range. When a replenishment facility capable of replenishing energy to the mobile body is searched and a new replenishment facility is found, the energy at the time of replenishment by the replenishment facility is found. Information indicating that it is not possible to reach a position other than the reachable range when a new replenishment facility is not found in the new reachable range. Receiving means for receiving, and display control means for displaying on the display means the reachable range or the unreachable received by the receiving means.

  An image processing method according to a seventh aspect of the present invention is an image processing method of an image processing apparatus for processing information relating to a reachable range of a moving object, wherein the information relating to the current position of the moving object is stored in the moving object. The reachable range including the reachable area of the moving body is calculated by the calculation means based on the information on the energy amount to be performed and the estimated energy consumption amount indicating the energy amount consumed when the moving body travels in a predetermined section. A reachable range calculation step, a replenishment facility search step of searching for a replenishment facility located within the reachable range and capable of replenishing energy to the mobile body, and a display control means for displaying the reachable range A display control step to display on the means, and the reachable range calculation step finds a new replenishment facility by the replenishment facility search step If the replenishment facility does not find a new replenishment facility in the new reachable range, the display control process repeats the process of calculating a new reachable range using the energy amount replenished by the replenishment facility. The display means displays that it cannot reach a position outside the reachable range.

FIG. 1 is a block diagram of an example of a functional configuration of the image processing apparatus according to the first embodiment. FIG. 2 is a diagram for explaining the reachable range and the unreachable range of the moving body. FIG. 3 is a diagram for explaining a process for changing the reachable range of the moving object by replenishment facility search. FIG. 4 is a flowchart illustrating an example of an image processing procedure performed by the image processing apparatus. FIG. 5 is a block diagram illustrating an example of a hardware configuration of the navigation device. FIG. 6A is an explanatory diagram schematically illustrating an example of reachable point search by the navigation device. FIG. 6B is an explanatory diagram schematically illustrating an example of reachable point search by the navigation device. FIG. 6-3 is an explanatory diagram schematically illustrating an example of reachable point search by the navigation device. FIG. 6-4 is an explanatory diagram schematically illustrating an example of reachable point search by the navigation device. FIG. 7 is an explanatory diagram schematically illustrating an example of reachable point search by the navigation device. FIG. 8 is an explanatory diagram of an example showing the reachable point by the navigation device in longitude-latitude. FIG. 9 is an explanatory diagram of an example showing the reachable points by the navigation device as mesh data. FIG. 10 is an explanatory diagram illustrating an example of cloning processing by the navigation device. FIG. 11 is an explanatory diagram showing an example of the opening process by the navigation device. FIG. 12 is an explanatory diagram schematically showing an example of vehicle reachable range extraction by the 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 illustrating another example of vehicle reachable range extraction by the navigation device. FIG. 15A is a flowchart illustrating an example of a processing procedure of a vehicle reachable range by the navigation device. FIG. 15-2 is a chart of a management table for supplementary equipment. FIG. 16 is a diagram illustrating a display example of the reachable range of the vehicle by the navigation device. FIG. 17 is a diagram illustrating a display example of the unreachable range of the vehicle by the navigation device. FIG. 18 is a diagram illustrating a type condition search screen when searching for charging spots. FIG. 19 is a flowchart illustrating an example of a processing procedure of a vehicle reachable range by the navigation device. FIG. 20 is an explanatory diagram schematically illustrating an example of acceleration applied to a vehicle traveling on a road having a gradient. FIG. 21 is a block diagram of an example of a functional configuration of the image processing system according to the second embodiment. FIG. 22 is a block diagram of an example of a functional configuration of the image processing system according to the third embodiment. FIG. 23 is an explanatory diagram of an example of a system configuration of the image processing apparatus according to the second embodiment.

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

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

  Further, when there is a replenishment facility such as a charging spot that can replenish energy in this reachable range, the new reachable range of the moving object is displayed on the assumption that the replenishment facility replenishes (charges) energy. Further, if there is a range in which the mobile body cannot be reached even if the energy is replenished by the replenishment facility, 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, a grant unit 105, a supplement 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 grant unit 105 constitute a reachable range calculation unit 109 that calculates the reachable range of the moving object.

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

  The acquisition unit 101 includes information relating to the current location of the moving object on which the image processing apparatus 100 is mounted, information relating to the initial amount of energy held by the moving object at the current location of the moving object, and supplementary equipment such as a charging spot. Get information about Specifically, the acquisition unit 101 acquires information (position information) about the current location by calculating the current position of the device using, for example, GPS information received from a GPS satellite. In addition, information on the location of a replenishment facility such as a charging spot where energy can be replenished, and the type of charge (rapid charge or normal charge) is acquired.

  In addition, the acquisition unit 101 determines the remaining energy amount of the moving body managed by an electronic control unit (ECU) via an in-vehicle communication network that operates according to a communication protocol such as CAN (Controller Area Network). , Get the initial amount of energy.

  The acquisition unit 101 may acquire information regarding the speed of the moving object, traffic jam information, and moving object information. The information regarding the speed of the moving body is the speed and acceleration of the moving body. Moreover, the acquisition part 101 may acquire the information regarding a road from the map information memorize | stored in the memory | storage part (not shown), and may acquire a road gradient etc. from an inclination sensor etc., for example. The information on the road is, for example, a running resistance generated in the moving body due to the road type, road gradient, road surface condition, and the like.

  The calculation unit 102 calculates an estimated energy consumption that is energy consumed when the moving body travels in a predetermined section. The predetermined section is, for example, a section (hereinafter referred to as “link”) connecting one predetermined point on the road (hereinafter referred to as “node”) and another node adjacent to the one node. The node may be, for example, an intersection or a stand, or a connection point between links separated by a predetermined distance. The nodes and links constitute map information stored in the storage unit. The map information includes, for example, vector data in which intersections (points), roads (lines and curves), regions (surfaces), colors for displaying these, and the like are digitized.

  Specifically, the calculation unit 102 estimates the estimated energy consumption amount in a predetermined section based on the consumption energy estimation formula including the first information, the second information, and the third information. More specifically, the calculation unit 102 estimates an estimated energy consumption amount in a predetermined section based on information on the speed of the moving body and the moving body information. The moving body information is information that causes a change in the amount of energy consumed or recovered during traveling of the moving body, such as the weight of the moving body (including the number of passengers and the weight of the loaded luggage) and the weight of the rotating body. When the road gradient is clear, the calculation unit 102 may estimate the estimated energy consumption amount in the predetermined section based on the consumption energy estimation formula further including the fourth information.

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

  The first information is information related to energy consumed by the equipment provided in the moving body. Moreover, it is the information regarding the energy consumed at the time of driving | running | working including the time of acceleration / deceleration of a moving body, and a stop.

  Specifically, the first information is the amount of energy consumed due to a factor not related to the traveling of the moving body. More specifically, the first information is the amount of energy consumed by equipment such as an air conditioner, a car audio, a headlight, a winker, and a brake pump provided in the moving body.

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

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

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

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

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

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

  The search unit 103 is based on the map information stored in the storage unit, the current location and initial stored energy amount of the mobile object acquired by the acquisition unit 101, and the estimated energy consumption calculated by the calculation unit 102. Search for a plurality of reachable points that can be reached from the current point.

  Specifically, in all routes that can move from the current location of the mobile object, the search unit 103 starts from the current location of the mobile object, and in a predetermined section that connects predetermined points on the route from the mobile object. A predetermined point and a predetermined section are searched so that the total of the estimated energy consumption is minimized. Then, the search unit 103 moves the mobile unit to a predetermined point where the total estimated energy consumption amount is within the range of the initial stored energy amount of the mobile unit in all routes that can move from the current point of the mobile unit. The reachable point of

  More specifically, the search unit 103 starts from the current location of the mobile object as a starting point, all links that can be moved from the current location of the mobile object, nodes that connect to these links, and all that can be moved from these nodes. , And all the nodes and links that can be reached by the moving object. At this time, each time the search unit 103 searches for a new link, the search unit 103 accumulates the estimated energy consumption of the route to which the one link is connected, and the accumulated energy consumption is minimized. Search for a node connected to the link and a plurality of links connected to this node.

  For example, when the one link and the other link are connected to the same node, the search unit 103 estimates the estimated energy consumption from the current location of the mobile body to the node among the plurality of links connected to the node. The estimated energy consumption of the relevant node is calculated using the estimated energy consumption of the link with a small amount of accumulation. Then, in the plurality of paths configured by the searched nodes and links, the search unit 103 sets all the nodes whose accumulated energy consumption amount is within the range of the initial stored energy amount of the mobile object, respectively. Search as a reachable point. As described above, by using the estimated energy consumption of the link with the small estimated energy consumption, it is possible to calculate the correct total of the estimated energy consumption of the node.

  Further, the search unit 103 may search for a reachable point by excluding a predetermined section in which the movement of the mobile object is prohibited from candidates for searching for a reachable point of the mobile object. The predetermined section in which the movement of the moving body is prohibited is, for example, a link that is one-way reverse running, or a link that is a passage-prohibited section due to time restrictions or seasonal restrictions. The time restriction is, for example, that traffic is prohibited in a certain time zone by being set as a school road or an event. The seasonal restriction is, for example, that traffic is prohibited due to heavy rain or heavy snow.

  When the importance of another predetermined section selected next to one predetermined section among the plurality of predetermined sections is lower than the importance of the one predetermined section, the search unit 103 selects another predetermined section as a mobile object. The reachable point may be searched for by removing it from the candidates for searching for the reachable point. The importance of the predetermined section is, for example, a road type. The road type is a type of road that can be distinguished by differences in road conditions such as legal speed, road gradient, road width, and presence / absence of signals. Specifically, the road type is a narrow street that passes through a general national road, a highway, a general road, an urban area, or the like. A narrow street is, for example, a road defined in the Building Standard Law with a width of less than 4 meters in an urban area.

  Further, when the entrance and exit of one bridge or one tunnel are reachable points of the moving body, the search unit 103 moves all the areas constituting one bridge or one tunnel of the map information divided by the dividing unit 104. It is preferable to search for a reachable point 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 a reachable point of the mobile object, the search unit 103 is located on one bridge or one tunnel from the entrance of the one bridge or one tunnel toward the exit. You may search the said reachable point so that several reachable points may be searched. The entrance of one bridge or one tunnel is the starting point of one bridge or one tunnel on the side close to the current position of the moving object.

  In addition, when energy is supplemented by a charging spot or the like, the search unit 103 searches for a reachable point again using the retained energy amount after supplementation.

  The 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 a reachable point farthest from the current point of the mobile object among a plurality of reachable points of the mobile object searched by the search unit 103. It is divided into shape areas and converted into mesh data of m × m dots, for example. The m × m dot mesh data is handled as raster data (image data) to which identification information is added by the adding unit 105 described later. Note that each m of m × m dots may be the same numerical value or a different numerical value.

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

  The assigning unit 105 assigns identification information for identifying whether or not the mobile body can reach each of the plurality of areas divided by the dividing unit 104 based on the plurality of reachable points searched by the search unit 103. To do. Specifically, when the reachable point of the moving object is included in one area divided by the dividing unit 104, the granting unit 105 can reach the one area to identify that the moving object is reachable. The identification information is assigned. After that, when the reachable point of the moving object is not included in the one area divided by the dividing unit 104, the assigning unit 105 identifies that the moving object cannot reach the one area. The identification information is assigned.

  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. It is converted into mesh data of two-dimensional matrix data in rows and columns. The dividing unit 104 and the assigning unit 105 divide the map information in this way, convert it into mesh data of 2D matrix data of m rows and m columns, and handle it as binarized raster data.

  The assigning unit 105 includes a first changing unit and a second changing unit that perform identification information change processing on a plurality of areas divided by the dividing unit 104. Specifically, the adding unit 105 treats mesh data obtained by dividing the map information by the first changing unit and the second changing unit as binarized raster data, and performs a cloning process (a reduction process after the expansion process). Process). Further, the granting unit 105 may perform an opening process (a process of performing an expansion process after the reduction process) by the first changing unit and the second changing unit.

  Specifically, the first changing unit can reach the identification information of the one area when the identification information that can reach another area adjacent to the one area to which the identification information is given is given. Change to identification information (expansion process). More specifically, the first change unit is any one of the other areas adjacent to the left, bottom, bottom, bottom right, right, top right, top, top left, and left of one rectangular area. If “1”, which is identification information that can reach the area, is assigned, the identification information of the one area is changed to “1”.

  When the identification information that is not reachable to another region adjacent to the one region to which the identification information is given after the change of the identification information by the first changing unit is given to the second changing unit, the one region Is changed to unreachable identification information (reduction processing). More specifically, the second changing unit is any one of the other regions adjacent to each other in the eight directions of lower left, lower, lower right, right, upper right, upper, upper left, and left of one rectangular region. If “0”, which is identification information that cannot reach the area, is assigned, the identification information of the one area is changed to “0”. The expansion process by the first changing unit and the reduction process by the second changing unit are performed the same number of times.

  As described above, the granting unit 105 can reach the area including the reachable point, which is the point where the moving body can reach from the current point, among the plurality of areas divided by the dividing unit 104. Reachable identification information for identifying this is given to make the movable body reachable. Thereafter, the assigning unit 105 assigns reachable identification information to a region adjacent to the region to which reachable identification information is assigned, and the identification information of each region so that no missing point is generated in the reachable range of the moving object. To change.

  Further, when the reachable identification information for identifying that the reachable unit 105 is reachable is assigned to the divided map information corresponding to the entrance and exit of one bridge or one tunnel of the map information, Reachable identification means is assigned to the divided map information corresponding to all areas constituting one bridge or one tunnel. Specifically, the granting unit 105 corresponds to the entrance of one bridge or one tunnel, for example, when the reachable identification information is given to each area corresponding to the entrance and exit of one bridge or one tunnel, respectively. Identification information that can reach all areas where the moving body can move from the area to the area corresponding to the exit is given.

  More specifically, the assigning unit 105 has identification information “1” that is reachable to each region corresponding to an entrance and an exit of one bridge or one tunnel, for example, before the expansion process by the first changing unit. All areas located on the section connecting the area corresponding to the entrance and the area corresponding to the exit of one bridge or tunnel when there is a defect point on the one bridge or tunnel if it is granted Is changed to “1”. The section connecting the area corresponding to the entrance of one bridge or tunnel and the area corresponding to the exit may be a section corresponding to a road including a plurality of curves, or a single straight road. It may be a section.

  The replenishment facility search unit 106 searches for a replenishment facility such as a charging spot in a range (reachable range) in which the search unit 103 searches for the recognizable information that can be reached by the granting unit 105. To do. If there is a replenishment facility within the reachable range by this search, the acquisition unit 101 is requested to reacquire information about the replenishment facility. Based on this request, the acquisition unit 101 outputs information related to the supplementary equipment to the calculation unit 102, the search unit 103, and the division unit 104. In this case, when the charging of the maximum charging capacity (to be described later) is performed, a reachable range of the moving body centering on the supplementary equipment is newly obtained.

  Said acquisition part 101 acquires the information regarding supplementary equipment from the outside by communication etc. However, the present invention is not limited to this, and the image processing apparatus 100 may be configured to store information relating to supplementary equipment in the storage unit as a database. In this case, the supplementary equipment search unit 106 directly retrieves information relating to supplementary equipment from the storage unit, Information on the supplementary equipment is output to the calculation unit 102 and the means for calculating the reachable range by 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. This makes it possible to display a wider reachable range assuming that the mobile body has replenished energy with the replenishment facility. In addition, it is possible to display an area (range) other than the reachable range as an unreachable range, and it is possible to clearly notify the user of the area (range) that cannot actually be reached even if charging is performed.

  The display control unit 107 causes the display unit 110 to display the reachable range of the mobile object together with the map information based on the identification information of the region to which the identification information is given by the granting unit 105. Specifically, the display control unit 107 converts mesh data, which is a plurality of image data to which identification information has been added by the adding unit 105, into vector data, and displays it on the display unit 110 together with map information stored in the storage unit. Let

(Overview of reachable range and unreachable range of mobile objects)
Next, an overview of the reachable range and the unreachable range of the moving object will be described. FIG. 2 is a diagram for explaining the reachable range and the unreachable range of the moving body. As an example, it is assumed that there is a peninsula 201 protruding into the sea, and the peninsula 201 has a charging spot 202. The reachable range A that can be reached when the mobile object is charged at the charging spot 202 is indicated by hatching in the figure. Since the reachable range A does not reach the tip of the peninsula 201 and there is no other charging spot 202 near the tip, the mobile body can only reach the range of the reachable range A, and includes the tip of the peninsula. The impossible range X cannot be reached. As described above, after the mobile body reaches the charging spot 202, even if charging is performed at the charging spot 202, an unreachable region (unreachable range X) may occur.

(About changing the reachable range of mobile objects by searching for energy supplements)
Next, a process for changing the reachable range of the moving object by searching for an energy supplement facility will be described. FIG. 3 is a diagram for explaining a process for changing the reachable range of the moving object by the replenishment facility search. As shown in FIG. 3A, it is assumed that the reachable range A of the moving body is A = A1 and has a contour a1 with the current point 301 as the center. After the reachable range A1 of the moving object is once obtained in this way, the replenishment facility search unit 106 requests the acquisition unit 101 to search for the charging spot 202 in the reachable range A1.

  Then, as shown in (b), it is assumed that three charging spots 202a to 202c are searched within the reachable range A1. Thereafter, when the mobile unit is charged at each of the charging spots 202a to 202c by the calculation unit 102 to the grant unit 105, a new reachable range of the mobile unit around each of the charging spots 202a to 202c is obtained. Ask. 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 centered on the charging spot 202c. A range A4 is determined. As a result, the reachable range A of the moving body is a range obtained by superimposing the reachable ranges, and is wide as A = A1 + A2 + A3 + A4. Note that the outline a of the reachable range A is the outline of the range A in which the reachable ranges A1 to A4 are overlapped as shown by the thick line in FIG.

  The replenishment facility search is not limited to one time, and each time a new charging spot 202 is found in the expanded range, the same processing is repeated to further increase the reachable range. For example, when three charging spots 202a to 202c are newly searched in (c), a replenishment facility search is newly performed for the corresponding reachable range A2 to A4.

  As a result, as shown in (d), it is assumed that the charging spot 202d is newly searched in the reachable range A2 by the request of the replenishment facility search unit 106. Thereafter, when the mobile body is charged at each charging spot 202d, the calculation unit 102 to the granting unit 105 obtain a new reachable range of the mobile body around 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 body is a range obtained by superimposing the reachable ranges, and becomes A = A1 + A2 + A3 + A4 + A5, which is a wider range.

  The above processing can be performed, for example, by continuing the search until there is no charging spot in the new reachable range, so that the reachable range A that can be reached when the mobile body repeats charging at the charging spot can be obtained. become. In addition, since the reachable range A can be clearly displayed, a range other than the reachable range A can be displayed as the unreachable range X.

  Next, image processing by the image processing apparatus 100 will be described. FIG. 4 is a flowchart illustrating an example of an image processing procedure performed by the image processing apparatus. First, the image processing apparatus 100 acquires, by the acquisition unit 101, information related to the current location of the moving object and information related to the initial amount of energy held by the moving object at the current location of the moving object (step S1). S401, S402). At this time, the image processing apparatus 100 may also acquire moving body information.

  In the image processing apparatus 100, the calculation unit 102 calculates an estimated energy consumption amount that is energy consumed when the moving body travels in a 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 body.

  Next, the image processing apparatus 100 uses the search unit 103 based on the map information stored in the storage unit and the initial stored energy amount and the estimated energy consumption amount acquired in steps S402 and S403. A reachable point is searched (step S404).

  Next, the image processing apparatus 100 uses the dividing unit 104 to divide the map information made up of vector data into a plurality of regions, convert it into mesh data made up of raster data, and based on the plurality of reachable points searched in step S404. Thus, the reachable identification information is assigned to each of the plurality of divided areas by the assigning unit 105 (step S405). After that, the image processing apparatus 100 calculates the reachable range A of the moving object by the display control unit 107 based on the identification information of the plurality of areas to which the identification information is added (Step S406).

  Thereafter, the image processing apparatus 100 requests the replenishment facility search unit 106 to search for the charging spot 202 within the reachable range A (step S407). Acquisition unit 101 searches for charging spot 202 within reachable range A. When there is a charging spot 202 within the reachable range A (step S407: Yes), it is assumed that charging is performed at this charging spot 202 (and the current location of the mobile body is the charging spot 202) (step S408). The processing after the calculation of the estimated energy consumption in step S403 is executed again. When there is no charging spot 202 in 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), and the above processing 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 body and the amount of energy held, and obtains and displays the reachable range of the moving body. Then, a search is made for a replenishment facility (charging spot) that can replenish energy within this reachable range. If there is a replenishment facility, it is assumed that the replenishment facility has replenished energy, and the replenishment facility is set to a new base The reachable range is obtained again. Thereby, when the replenishment facility is within the reachable range, the reachable range of the mobile body becomes wide, and this reachable range can be clearly notified to the user. Further, it becomes possible to clearly notify the user of the unreachable range outside the reachable range.

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

(Hardware configuration of navigation device 500)
Next, a hardware configuration of the navigation device 500 will be described. FIG. 5 is a block diagram illustrating an example of a hardware configuration of the navigation device. In FIG. 5, a navigation apparatus 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. The components 501 to 517 are connected by a bus 520, respectively.

  The CPU 501 governs overall control of the 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. The 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.

  In the estimated energy consumption calculation program, an estimated energy consumption in a link connecting one node and an adjacent node is calculated based on a consumption energy estimation expression for calculating an estimated energy consumption of the vehicle. In the reachable point search program, a plurality of points (nodes) that can be reached with the remaining energy amount at the current point of the vehicle are searched based on the estimated energy consumption calculated in the estimation program. In the identification information providing program, identification information for identifying that the vehicle is reachable is provided to a plurality of areas obtained by dividing the map information based on the plurality of reachable points searched in the search program. In the map data display program, the reachable range of the vehicle is displayed on the display 513 based on the plurality of areas to which the identification information is given by the identification information giving program.

  The magnetic disk drive 504 controls the reading / writing of the data with respect to the magnetic disk 505 according to control of CPU501. 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.

  The optical disk drive 506 controls reading / writing of data with respect to the optical disk 507 according to the control of the CPU 501. The optical disk 507 is a detachable recording medium from which data is read according to the control of the optical disk drive 506. As the optical disc 507, a writable recording medium can be used. In addition to the optical disk 507, an MO, a memory card, or the like can be used as a detachable recording medium.

  Examples of information recorded on the magnetic disk 505 and the optical disk 507 include map data, vehicle information, road information, travel history, and the like. Map data is used when searching for a reachable point of a vehicle in a car navigation system or when displaying a reachable range of a vehicle. This is vector data including road shape data that expresses the shape of the road by links and nodes. In addition, information regarding the charging spot 202 that is an energy replenishment facility may be recorded on the magnetic disk 505 and the optical disk 507, read, and used.

  The audio I / F 508 is connected to a microphone 509 for audio input and a speaker 510 for audio output. The sound received by the microphone 509 is A / D converted in the sound I / F 508. For example, the microphone 509 is installed in a dashboard portion of a vehicle, and the number thereof may be one or more. From the speaker 510, a sound obtained by D / A converting a predetermined sound signal in the sound I / F 508 is output.

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

  The video I / F 512 is connected to the display 513. Specifically, the video I / F 512 is output from, 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 a graphic controller. And a control IC for controlling the display 513 based on the image data to be processed.

  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.

  The camera 514 captures images inside or outside the vehicle. The image may be either a still image or a moving image. For example, the outside of the vehicle is photographed by the camera 514 and the photographed image is analyzed by the CPU 501 or a recording medium such as the magnetic disk 505 or the optical disk 507 via the image I / F 512. Or output to

  The communication I / F 515 is connected to a network via wireless and functions as an interface between the navigation device 500 and the CPU 501. Communication networks that function as networks include in-vehicle communication networks such as CAN and LIN (Local Interconnect Network), public line networks and 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 fee payment system) unit, an FM tuner, a VICS (Vehicle Information and Communication System) (registered trademark) / beacon receiver, or the like.

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

  The various sensors 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 a tilt 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 assigning unit 105, the supplementary equipment search unit 106, and the display control unit 107 of the image processing apparatus 100 illustrated in FIG. The CPU 501 executes a predetermined program using programs and data recorded in the RAM 503, the magnetic disk 505, the optical disk 507, etc., and controls each part in the navigation device 500, thereby realizing its function.

(Overview of calculation of estimated energy consumption by navigation device 500)
The navigation apparatus 500 of the present embodiment calculates the estimated energy consumption of the vehicle on which the own apparatus is mounted. Specifically, the navigation device 500 may be any one or more of energy consumption estimation formulas including first information, second information, and third information based on, for example, speed, acceleration, and vehicle gradient. Is used to calculate the estimated energy consumption of the vehicle in a predetermined section. The predetermined section is a link connecting one node (for example, an intersection) on the road and another node adjacent to the one node.

  More specifically, the navigation device 500 determines whether the vehicle is linked based on traffic jam information provided by the probe, traffic jam prediction data acquired via a server, link length or road type stored in the storage device, and the like. The travel time required to finish driving is calculated. Then, navigation device 500 calculates an estimated energy consumption amount per unit time using any one of the following energy consumption estimation formulas shown in equations (1) to (4), and the vehicle travels the link for travel time. Calculate the estimated energy consumption when finishing.

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

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

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

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

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

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

  Moreover, the navigation apparatus 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, the navigation device 500 uses the average speed and average acceleration of the vehicle at the link, and the vehicle travels the link in the travel time based on the energy consumption estimation formula shown in the following formula (5) or formula (6). You may calculate the estimated energy consumption at the time of finishing.

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

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

  When the road gradient is not clear, the navigation device 500 may calculate the estimated energy consumption amount of the vehicle by setting the road gradient θ = 0 in the energy consumption estimation equations shown in the above equations (1) to (6).

Next, the recovery rate β used in the above equations (1) to (6) will be described. In the above equation (5), if the second term on the right side is the energy consumption amount P _acc of the acceleration component in the link, the energy consumption amount P _acc of the acceleration component is _calculated from the total energy consumption amount (left side) of the link from the energy at idling. This is obtained by subtracting the amount of consumption (first term on the right side) and the amount of energy consumed by the running resistance (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 equation (7) into the above equation (5), the calculation formula for the recovery rate β shown in the following equation (8) can be obtained.

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

(Outline of reachable point search in the navigation device 500)
The navigation device 500 according to the present embodiment searches for a plurality of nodes that can be reached from the current location of the vehicle on which the device is mounted as reachable locations of the vehicle. Specifically, the navigation apparatus 500 calculates the estimated energy consumption in the link using any one or more of the consumption energy estimation formulas shown in the above formulas (1) to (6). Then, the navigation device 500 searches for a reachable node of the vehicle and sets it as a reachable point so that the total of the estimated energy consumption in the link is minimized. An example of reachable point search by the navigation device 500 will be described.

  6A to 6D are explanatory diagrams schematically illustrating an example of reachable point search by the navigation device 500. 6A to 6D, the nodes (for example, intersections) of the map data are indicated by circles, and links (predetermined sections on the road) connecting adjacent nodes are indicated by line segments (same for FIG. 7). Node and link shown).

  As illustrated in FIG. 6A, the navigation device 500 first searches for the link L1_1 that is closest to the current location 301 of the vehicle. Then, navigation device 500 searches for node N1_1 connected to link L1_1, and adds it to a node candidate for searching for a reachable point (hereinafter simply referred to as “node candidate”).

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

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

  Then, the navigation device 500 writes the accumulated energy amount 7wh obtained by accumulating the estimated energy consumption amount 4wh in the link L2_1 and the estimated energy consumption amount 3wh in the link L1_1 to the storage device in association with the node N2_1 connected to the link L2_1 (hereinafter referred to as the storage device). , “Set cumulative energy amount to node”).

  Furthermore, the navigation apparatus 500 calculates the estimated energy consumption in the links L2_2 and L2_3, respectively, using the energy consumption estimation formula as in the case of the link L2_1. Then, the navigation apparatus 500 sets the accumulated energy amount 8wh obtained by accumulating the estimated energy consumption amount 5wh in the link L2_2 and the estimated energy consumption amount 3wh in the link L1_1 to the node N2_2 connected to the link L2_2.

  In addition, the navigation device 500 sets the accumulated energy amount 6wh obtained by accumulating the estimated energy consumption amount 3wh in the link L2_3 and the estimated energy consumption amount 3wh in the link L1_1 to the node N2_3 connected to the link L2_3. At this time, if the node for which the cumulative energy amount is set is not a node candidate, navigation device 500 adds the node to the node candidate.

  Next, as illustrated in FIG. 6C, the navigation apparatus 500 includes all links L3_1, L3_2_1 connected to the node N2_1, all links L3_2_2, L3_3, L3_4 connected to the node N2_2, and links connected to the node N2_3. L3_5 is searched for as a link candidate. Next, the navigation apparatus 500 calculates the estimated energy consumption in the link L3_1 to the link L3_5 using the energy consumption estimation formula.

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

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

  On the other hand, when a plurality of links L3_2_1 and L3_2_2 are connected to one node like the node N3_2, the navigation device 500 includes the cumulative amount of energy in a plurality of routes from the current point 301 of the vehicle to the one node N3_2. , The minimum accumulated energy amount 10wh is set in the one node N3_2.

  Specifically, the navigation apparatus 500 accumulates the estimated energy consumption 4wh in the link L3_2_1 to the accumulated energy amount 7wh set in the node 2_1 (= total energy amount 11wh), and the estimated energy consumption amount 2wh in the link L3_2_2 is set to the node 2_2. Is accumulated in the accumulated energy amount 8wh set to (= total energy amount 10wh). Then, the navigation apparatus 500 compares the cumulative energy amount 11wh of the route from the current point 301 of the vehicle to the link L3_2_1 with the cumulative energy amount 10wh of the route from the current point 301 of the vehicle to the link L3_2_2 to obtain the minimum cumulative energy. The cumulative energy amount 10wh of the path on the link L3_2_2 side that is the amount is set to the node N3_2.

  When there are a plurality of nodes in the same hierarchy from the current location 301 of the vehicle, such as the above-described nodes N2_1 to N2_3, the navigation device 500, for example, from a link connected to a node having a low cumulative energy amount among the nodes at the same level. The estimated energy consumption and the cumulative energy amount are calculated in order. Specifically, the navigation device 500 calculates the estimated energy consumption in the links connected to each node in the order of the node N2_3, the node N2_1, and the node N2_2, and accumulates the accumulated energy amount in each node. Thus, by specifying the order of the nodes for calculating the estimated energy consumption amount and the cumulative energy amount, it is possible to efficiently calculate the reachable range with the remaining energy amount.

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

  Specifically, for example, when the designated energy amount is 10 wh, the navigation device 500, as shown by a hatched circle in FIG. 6-4, includes the node N1_1, for which the accumulated energy amount of 10 wh or less is set. N2_1, N2_2, N2_3, N3_2, and N3_5 are extracted as reachable points of the vehicle. The designated energy amount set in advance is, for example, the remaining energy amount (initial stored energy amount) at the current point 301 of the vehicle.

  The map data 640 composed of the current point 301 of the vehicle and a plurality of nodes and links shown in FIG. 6-4 is an example for explaining the reachable point search, and the navigation device 500 is actually shown in FIG. As shown, more nodes and links are searched in a wider range 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 described above, when the accumulated energy amount is continuously calculated for all roads (excluding narrow streets), as shown in FIG. 7, the accumulated energy amount in all nodes of each road is searched in detail without omission. Can do. However, the estimated energy consumption of about 2 million links is calculated and accumulated throughout Japan, and the information processing amount of the navigation device 500 becomes enormous. For this reason, the navigation apparatus 500 may narrow down the road which searches for the reachable point of a mobile body based on the importance of a link etc., for example.

  Specifically, for example, the navigation device 500 calculates the cumulative energy amount on all roads (excluding narrow streets) around the current point 301 of the vehicle, and only high-importance roads are within a certain distance away. To calculate the total energy. Thereby, the number of nodes and the number of 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 according to the present embodiment divides the map data stored in the storage device based on the reachable point searched as described above. Specifically, the navigation device 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 of an example showing the reachable point by the navigation device 500 in longitude-latitude. FIG. 9 is an explanatory diagram of an example in which a reachable point by the navigation device 500 is indicated by mesh data. FIG. 8 illustrates the longitude / latitude information (x, y) of the searched reachable point in absolute coordinates. FIG. 9 shows screen data of 64 × 64 dot mesh data (X, Y) to which identification information is given based on the reachable point.

  As shown in FIG. 8, the navigation apparatus 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 lower left of FIG. Then, the navigation device 500 calculates the distances w1 and w2 from the longitude ofx of the current point 301 of the vehicle to the maximum longitude x_max and the minimum longitude x_min of the reachable point farthest away in the longitude x direction. Further, the navigation device 500 calculates the distances w3 and w4 from the latitude of the current point 301 of the vehicle to the maximum latitude y_max and the minimum latitude y_min of the reachable point farthest in the direction of the latitude y.

  Next, the navigation apparatus 500 has a distance w2 (hereinafter referred to as w5 = max (w1, w2) from the vehicle current point 301 to the minimum longitude x_min, which is the longest distance among the distances w1 to w4 from the vehicle current point 301. , W3, w4)), and map data including a plurality of reachable points so that the length of 1 / n becomes the length of one side of a rectangular element of mesh data (X, Y). For example, it is converted into mesh data (X, Y) of m × m dots (for example, 64 × 64 dots).

  Specifically, the navigation device 500 sets the ratio of 1 mesh to the longitude / latitude size as the magnification mag = w5 / n, and the longitude / latitude information (x, y) and the mesh data (X, Y) are the following ( The longitude / latitude information (x, y) is converted into mesh data (X, Y) so as to satisfy the expressions (9) and (10).

  X = (x−ofx) / mag (9)

  Y = (y-ofy) / mag (10)

  By converting the longitude / latitude information (x, y) into mesh data (X, Y), as shown in FIG. 9, the current location 301 of the vehicle is composed of mesh data (X, Y) of m × m dots. The mesh data (X, Y) at the current point 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. Further, n = (m / 2) −4 is set in order to make, for example, four dots around the mesh data (X, Y) blank. When the navigation device 500 converts the longitude / latitude information (x, y) into mesh data (X, Y), it gives identification information to each area of the mesh data (X, Y), and m rows m It is converted into mesh data of two-dimensional matrix data (Y, X) of columns.

  Specifically, when the reachable point of the vehicle is included in one area of the mesh data (X, Y), the navigation device 500 can be reached to identify that the vehicle can reach the one area. For example, “1” is given as the identification information (in FIG. 9, one dot is drawn in black, for example). On the other hand, when the reachable point of the vehicle is not included in one area of the mesh data (X, Y), the navigation device 500 identifies that the vehicle cannot reach the one area. For example, “0” is given as the identification information (in FIG. 9, one dot is drawn in white, for example).

  As described above, the navigation device 500 converts the map data into binary data of m-row m-column two-dimensional matrix data (Y, X) obtained by assigning identification information to each area obtained by dividing the map data, 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 the mesh data (X, Y) is at the upper left.

(Outline of identification information assignment in navigation device 500, part 1)
The navigation apparatus 500 of the present embodiment changes the identification information given to each area of the m × m dot mesh data (X, Y) divided as described above. Specifically, the navigation apparatus 500 performs a cloning process (a process of performing a reduction process after the expansion process) on mesh data of m-dimensional data and m-dimensional two-dimensional matrix data (Y, X).

  FIG. 10 is an explanatory diagram illustrating an example of cloning 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 mesh data 1000 to which identification information is given for the first time after the map data division processing. 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 the cloning process (expansion) is performed on the mesh data 1000 shown in (A). (C) shows the mesh data 1020 after the cloning process (reduction) is performed on the mesh data 1010 shown in (B). In the mesh data 1000, 1010, and 1020 shown in (A) to (C), the vehicle reachable ranges 1001, 1011 and 1021 generated by a plurality of regions to which reachable identification information is assigned are blacked out. Show.

  As shown in (A), the mesh data 1000 after the identification information is added includes a missing point 1002 (a white background in the reachable range 1001 that is hatched) that is an unreachable region included in the reachable range 1001 of the vehicle. Part) has occurred. The missing point 1002 is generated, for example, when the number of nodes that are reachable points is reduced when the roads for searching for nodes and links are narrowed down in order to reduce the load of the reachable point search process by the navigation device 500.

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

  Moreover, the identification information of all the areas adjacent to the outermost area of the reachable range 1001 of the vehicle before the expansion process is changed to the reachable identification information. For this reason, the outer periphery of the reachable range 1011 of the vehicle after the expansion process is one dot at a time so as to surround the outer periphery of each outermost region of the reachable range 1001 of the vehicle before the expansion process every time the expansion process is performed. spread.

  Thereafter, as shown in (C), the navigation device 500 performs a cloning reduction process on the mesh data 1010. In the reduction process of cloning, 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.

  For this reason, each area on the outermost periphery of the reachable range 1011 of the vehicle after the expansion process becomes an area that cannot be reached by one dot every time the reduction process is performed, and the reachable range 1011 of the vehicle after the expansion process is reached. The outer circumference shrinks. Thereby, the outer periphery of the reachable range 1021 of the vehicle after the reduction process is substantially the same as the outer periphery of the reachable range 1001 of the vehicle before the expansion process.

  The navigation device 500 performs the expansion process and the reduction process described above the same number of times. Specifically, when the expansion process is performed twice, the subsequent reduction process is also performed twice. By equalizing the number of times of the expansion process and the reduction process, the identification information of almost all areas in the outer periphery of the reachable range of the vehicle that has been changed to the identification information that can be reached by the expansion process is restored to the original information by the reduction process. It can be changed to unreachable identification information. In this way, the navigation device 500 can remove the missing point 1002 within the reachable range of the vehicle and generate the reachable range 1021 of the vehicle that can clearly display the outer periphery.

(Outline of identification information addition in the navigation device 500, part 2)
The navigation device 500 performs an opening process (a process of performing an expansion process after the reduction process) on the mesh data of the two-dimensional matrix data (Y, X), and generates a vehicle reachable range in which the outer periphery can be clearly displayed. May be. Specifically, the navigation apparatus 500 performs an opening process as follows.

  FIG. 11 is an explanatory diagram showing an example of the opening process by the navigation device. 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 the mesh data 1100 after providing the identification information. (B) shows the mesh data 1110 after the opening process (reduction) for (A). Further, (C) shows mesh data 1120 after the opening process (expansion) for (B). In the mesh data 1100, 1110, and 1120 shown in (A) to (C), the vehicle reachable ranges 1101, 1111, and 1121 generated by a plurality of regions to which reachable identification information is assigned are blacked out. Show.

  As shown in (A), when there are many isolated points 1102 on the outer periphery of the reachable range 1101 of the vehicle in the mesh data 1100 after the identification information is added, the opening process 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 apparatus 500 performs an opening reduction process on the mesh data 1100 after the identification information is given.

  In the opening reduction process, the identification information of one area adjacent to the area to which the unreachable identification information 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 in the reachable range 1101 of the vehicle before the reduction process (after the identification information is given) is removed.

  For this reason, each area on the outermost periphery of the reachable range 1101 of the vehicle after the identification information is added becomes an area that cannot be reached by one dot every time the reduction process is performed, and the reachable range of the vehicle after the identification information is given The outer periphery of 1101 shrinks. Further, the isolated point 1102 that has occurred in the reachable range 1101 of the vehicle after the identification information is given is removed.

  Thereafter, as shown in (C), the navigation device 500 performs an opening expansion process on the mesh data 1110. In the opening expansion 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 periphery of the reachable range 1121 of the vehicle after the expansion process is one dot at a time so as to surround the outer periphery of each outermost region of the reachable range 1111 of the vehicle after the reduction process every time the expansion process is performed. 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 cloning process. Thus, by equalizing the number of times of the expansion process and the reduction process, the outer periphery of the reachable range 1111 of the vehicle shrunk by the reduction process is expanded, and the outer periphery of the vehicle reachable range 1121 after the reduction process is expanded before the reduction process. Can be returned to the outer periphery of the reachable range 1101 of the vehicle. In this way, the navigation device 500 can generate the vehicle reachable range 1121 in which the isolated point 1102 does not occur and the outer periphery can be clearly displayed.

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

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

  The direction index indicates the direction in which the unit length line segment 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 in the direction from the region 1200 toward the region 1210 adjacent to the lower left is “0”. The direction index in the direction from the region 1200 toward the adjacent region 1211 is “1”. The direction index in the direction from the region 1200 toward the region 1212 adjacent to the lower right is “2”.

  The direction index in the direction from the region 1200 toward the region 1213 adjacent to the right is “3”. The direction index in the direction from the region 1200 toward the region 1214 adjacent to the upper right is “4”. The direction index in the direction from the region 1200 to the adjacent region 1215 is “5”. The direction index in the direction from the region 1200 toward the region 1216 adjacent to the upper left is “6”. The direction index in the direction from the region 1200 toward the region 1217 adjacent to the left is “7”.

  The navigation device 500 searches the area to which the reachable identification information “1” adjacent to the area 1200 is assigned in the counterclockwise direction. In addition, the navigation device 500 determines a search start point of a region to which reachable identification information adjacent to the region 1200 is assigned based on the previous direction index. Specifically, when the direction index from another area toward area 1200 is “0”, navigation apparatus 500 has an area adjacent to the left of area 1200, that is, an area adjacent in the direction of direction index “7”. The search starts at 1217.

  Similarly, when the direction index from another region to the region 1200 is “1” to “7”, the navigation device 500 is adjacent to the lower left, lower, lower right, right, upper right, upper, upper left of the region 1200. The search is started from the matching regions, that is, the regions 1210 to 1216 adjacent in the directions of the direction indices “0”, “1”, “2”, “3”, “4”, “5”, and “6”, respectively. When the navigation apparatus 500 detects the reachable identification information “1” from any one of the areas 1200 to 1217 from the area 1200, the areas 1210 to 1217 in which the reachable identification information “1” is detected. The direction indices “0” to “7” corresponding to are written in the storage device in association with the area 1200.

  Specifically, the navigation apparatus 500 extracts the outline of the reachable range of the vehicle as follows. As shown in FIG. 12 (B), the navigation apparatus 500 first identifies identification that can be reached in units of rows from the region of a row and a column of the mesh data 1220 of the two-dimensional matrix data (Y, X) of h row and h column. Search for an area to which information is assigned.

  Since unreachable identification information is given to all the areas in the a-th row of the mesh data 1220, the navigation device 500 next moves the b-th row from the b-th row in the mesh data 1220 to the b-th row. Search for identification information that can be reached toward the area. The navigation apparatus 500 detects the reachable identification information in the region 1221 of the b row and e column of the mesh data 1220, and then rotates counterclockwise from the region 1221 of the b row and e column of the mesh data 1220. The region having the reachable identification information that becomes the outline of is searched.

  Specifically, since the navigation apparatus 500 has already searched for the region of b rows and d columns adjacent to the left of the region 1221, first, the identification that can be reached counterclockwise from the region 1222 adjacent to the lower left of the region 1221. Search whether there is an area having information. The navigation apparatus 500 detects the reachable identification information of the area 1222 and stores the direction index “0” in the direction from the area 1221 toward the area 1222 in association with the area 1221 in the storage device.

  Next, since the navigation device 500 has the previous direction index “0”, whether or not there is a region having reachable identification information counterclockwise from the region of c rows and c columns adjacent to the left of the region 1222. Search for. Then, navigation apparatus 500 detects reachable identification information of area 1223 adjacent to the lower left of area 1222, and stores direction index “0” in the direction from area 1222 to area 1223 in association with the previous direction index. Store in the device.

  Thereafter, the navigation device 500 determines a search start point based on the previous direction index, and searches for whether there is an area having identification information that can be reached counterclockwise from the search start point. Repeat until the corresponding arrow returns to region 1221. Specifically, navigation device 500 searches whether there is an area having identification information that can be reached counterclockwise from the area adjacent to the left of area 1222, and searches for the area 1224 adjacent to the lower left of area 1223. The reachable identification information is detected, and the direction index “1” is stored in the storage device in association with the previous direction index.

  Similarly, after determining the search start point based on the previous direction index, navigation device 500 searches for an area having identification information that can be reached counterclockwise from the search start point, and has an area that has reachable identification information. 1224 to 1234 are sequentially detected. Then, every time the navigation device 500 acquires the direction index, the navigation device 500 associates it with the previous direction index and stores it in the storage device.

  After that, the navigation apparatus 500 searches the region 1234 for an area having identification information that can be reached in the counterclockwise direction from the region of the b row and f column adjacent to the upper right of the region 1234, and the adjacent region on the region 1234 The reachable identification information 1221 is detected, and the direction index “5” is stored in the storage device in association with the previous direction index. As a result, the direction index “0” → “0” → “1” → “0” → “2” → “3” → “4” → “3” → “2” → “5” → “5” → “6” → “6” → “5” is stored in this order.

  As described above, the navigation device 500 sequentially searches counterclockwise the regions 1222 to 1234 having the reachable identification information adjacent to the region 1221 from the first detected region 1221 to obtain the direction index. Then, the navigation apparatus 500 fills one area in the direction corresponding to the direction index from the area 1221, so that the vehicle reachable range outline 1301 and the portion 1302 surrounded by the outline 1301 are shown in FIG. The mesh data having the vehicle reachable range 1300 is generated.

(Outline 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. For example, the navigation device 500 may extract the contour of the reachable range of the vehicle based on the longitude and latitude information of the mesh data of the two-dimensional matrix data (Y, X) to which reachable identification information is assigned. Specifically, the navigation apparatus 500 extracts the outline of the reachable range of the vehicle as follows.

  FIG. 14 is an explanatory diagram schematically illustrating another example of vehicle reachable range extraction by the navigation device. The mesh data 1400 of the 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 the mesh data 1400 for the region to which the reachable identification information “1” is assigned. Specifically, the navigation apparatus 500 first searches for the identification information “1” that can be reached from the area of a row and a column toward the area of a row and h column.

  Since unreachable identification information “0” is assigned to all the regions in the a-th row of the mesh data 1400, the navigation device 500 next moves the region from the b-th row to the b-th column. A region having identification information “1” that can be reached is searched. Then, the navigation apparatus 500 acquires the minimum longitude px1 and the minimum latitude py1 (upper left coordinates of the area 1401) of the area 1401 in the b row and c column having the reachable identification information “1”.

  Next, navigation apparatus 500 searches for an area having identification information “1” that can be reached from the area of b rows and d columns toward the area of b rows and h columns. The navigation apparatus 500 searches for a boundary between the area having the reachable identification information “1” and the area having the reachable identification information “0”, and b rows having the reachable identification information “1”. The maximum longitude px2 and the maximum latitude py2 (lower right coordinates of the area 1402) of the area 1402 in the f column are acquired.

  Next, the navigation device 500 has a rectangular area whose apex is the upper left coordinates (px1, py1) of the area 1401 of b rows and c columns and the lower right coordinates (px2, py2) of the area 1402 of b rows and f columns. Fill.

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

  Next, the navigation apparatus 500 searches for an area having identification information “1” that can be reached from the area of the c row and the e column to the area of the c row and the h column. Then, navigation device 500 searches for a boundary between an area having reachable identification information “1” and an area having reachable identification information “0”, and row c has reachable identification information “1”. The maximum longitude px4 and the maximum latitude py4 (lower right coordinates of the area 1404) of the area 1404 in the f column are acquired.

  Next, the navigation device 500 has a rectangular area whose apexes are the upper left coordinates (px3, py3) of the area 1403 of c rows and d columns and the lower right coordinates (px4, py4) of the area 1404 of c rows and f columns. Fill.

  After that, the navigation apparatus 500 searches for an area having identification information “1” that can be reached from the area of the c row and the g column to the area of the c row and the h column and further from the d row and the a column to the d row and the h column. . The navigation device 500 ends the process because the unreachable identification information “0” is assigned to all areas from the area of the c row and the g column to the d row and the h column.

  In this manner, the reachable range of the vehicle can be acquired by filling 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 process by charging spot search of navigation device)
FIG. 15A is a flowchart illustrating an example of a processing procedure of the reachable range of the vehicle by the navigation device, and FIG. 15B is a chart illustrating a management table of supplementary equipment. First, the navigation device 500 acquires the current position of the vehicle by the acquisition unit 101 (step S1501), and acquires the charge amount (remaining capacity) of the battery (step S1502). Next, the calculation unit 102 to the granting unit 105 perform a process of estimating the reachable range of the vehicle from the current position to the current charge amount based on the current position and the charge amount of the battery (step S1503). At this time, the replenishment facility search unit 106 performs initialization to empty the contents of the management table (see FIG. 15-2) 1500 (step S1504).

  The supplementary equipment management table 1500 shown in FIG. 15-2 is managed by the supplementary equipment search unit 106 and stored in the RAM 503 or the like of FIG. The management table 1500 includes information on an identifier (ID) of a supplementary facility (charging spot) and a processing identifier (processed Yes or No) for the charging spot. In addition, by execution of 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 previously assigned an individual ID. Alternatively, a unique ID may be given from the name or position of the charging spot.

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

  Next, the replenishment facility search unit 106 searches the management table 1500 for a charging spot ID whose processing identifier is “processed = No” (step S1507). If a charging spot ID with the processing identifier “processed = No” is found in the management table 1500 (step S1508: Yes), the process proceeds to step S1509. 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 whose processing identifier is “processed = No” in the management table 1500 (step S1509), and sets the processing identifier of the selected charging spot ID as “processing”. “Completed = Yes” (see FIG. 15-2, step S1510). Thereafter, the acquisition unit 101 acquires the maximum charging capacity of the vehicle (battery) (step S1511), and acquires the rate at which charging can be performed by rapid charging at the charging spot using the charging spot ID as a key (step S1512). . The rate at which charging can be performed by rapid charging at this charging spot can be set in advance.

  The above rapid charging will be described. According to the quick charge, for example, the battery can be charged to about 80% in 30 minutes. It takes several hours to charge at a regular charging spot that is not fast charging. Step S1512 is performed when quick charging is completed in a short time. Moreover, the ratio which can be charged by quick charge is 80% of battery capacity, for example. In this way, charging at the charging spot can be limited to rapid charging. In this case, a charging spot capable of rapid charging may be searched and acquired. The charging unit 101 can acquire charging spots that can be quickly charged via the Internet or the like.

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

  In step S1508, if no charging spot ID with the processing identifier “processed = No” is found in the management table 1500 (step S1508: No), all reachable ranges A1 to A5 included up to now are displayed. These are synthesized (step S1516). Specifically, the assigning unit 105 adds the identification information “1” of the areas of the reachable ranges A1 to A5 to obtain the combined reachable range A.

  Further, a 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.

(Display example of reachable range by charging spot equipment search)
FIG. 16 is a diagram illustrating 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 so as to be superimposed on the map 1600. Thereby, the user can know clearly the reachable range which a vehicle can reach by charging with a charging spot.

  Also, 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 by using or not using the charging spot may be easily identified by the difference in color. Further, in consideration of the type of charging (rapid charging or normal charging) at the charging spot 202 (202a to 202d), by the process of changing the display color as described above, the range where only quick charging can be performed and the range where the charging cannot be performed, The range that can be charged and the range that cannot be charged can be displayed separately.

  FIG. 17 is a diagram illustrating a display example of the unreachable range of the vehicle by the navigation device. As shown in the figure, on the map 1600, a range other than the reachable range A of the vehicle (a range outside the reachable range A, hatched in the figure) is set as the unreachable range X, for example, it can be seen that it cannot be reached. It can also be displayed in red or the like.

  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 1700 cannot actually be reached. In the illustrated example, the warning display screen 1701 displays “The specified position cannot be reached even when charging is performed at the charging spot”. Thereby, when the destination is set at a place that cannot be reached by the operation of the navigation device 500, if the destination is not actually reached even if charging is performed at the charging spot 202, this can be clearly notified to the user. Become.

(Supplementary information for charging spot search)
FIG. 18 is a diagram illustrating a type condition search screen when searching for charging spots. As shown in the figure, the search may be limited to the type of charging spot designated by the user when searching for the charging spot 202. In the illustrated search item screen 1800, the types of charging spots 202 searched by the replenishment facility search unit 106 are checked with check boxes 1801 for various types such as car dealers, public facilities, parking lots, and gas stations. You can search as a condition. Thereby, the reachable range based on the type of charging spot desired by the user can be obtained.

  Further, business hours may be stored as data for each charging spot, and when searching for a charging spot, the search may be limited to the charging spot 202 within the business hours. For example, when the charging spot 202 of business hours from 8:00 to 20:00 is searched at 21:00, it is not enabled. For example, at present, the charging spot 202 has many car dealers and is not open at night. Further, 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 previous charging spot 202 to the charging spot 202, and calculates a required time. Then, the required time is summed 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 required time to 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 the charging spot 202. In addition, when the destination is set in consideration of the charging time at the charging spot 202, it cannot be reached at the current departure time (a set time zone), but another departure time (another set time such as midnight or early morning). If it is possible to reach the destination, a message to that effect may be displayed. In this case, the departure time may be switched by a user 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 flowchart illustrating an example of a processing procedure of a vehicle reachable range by the navigation device. In FIG. 19, the same processing contents as those in FIG. In this processing example, processing for determining the type of charging spot 202 and arrival at the charging spot 202 within business hours is added (the processing of steps S1901 to S1905 is inserted between steps S1510 and S1511). .

  In step S1901, it is determined whether the charging spot selected in step S1509 can be rapidly charged. If it is possible (step S1901: Yes), the process proceeds to step S1902, and if quick charging is not possible (step S1901). : No), it returns to step S1507. In step S1902, the business hours of the selected charging spot 202 are acquired (step S1902). Next, it is determined whether the business hours of the selected charging spot 202 are open for 24 hours (step S1903). If the business hours are open 24 hours (step S1903: Yes), the process proceeds to step S1511. If the business hours are not open 24 hours (step S1903: No), the process proceeds to step S1904.

  In step S1904, the search unit 103 calculates the required time to the selected charging spot 202, and obtains the time to arrive at the charging spot 202 by adding the required time to the current time (step S1904). Thereafter, 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. If the arrival time is outside business hours (step S1905: No), the process returns to step S1507.

  With the above processing, it is possible to search for a charging spot 202 that can arrive within the business hours in consideration of the charging time when charging is performed by the charging spot 202 and the business hours of the charging spot 202. Thereby, even if it is the charging spot 202 where the installation location is limited now, it can charge using the searched charging spot 202, and it can drive | work to the destination, without receiving restrictions of departure time. become able to.

(About road gradient)
Next, the road gradient θ used as a variable on the right side of the equations (1) to (6) will be described. FIG. 20 is an explanatory diagram schematically illustrating an example of acceleration applied to a vehicle traveling on a road having a gradient. As shown in FIG. 20, a vehicle traveling on a slope with a road gradient θ has acceleration A (= dx / dt) accompanying traveling of the vehicle and traveling direction component B (= g · sin θ) of gravitational acceleration g. Take it. For example, taking the above equation (1) as an example, the second term on the right side of the above equation (1) indicates the acceleration A accompanying the traveling of the vehicle and the combined acceleration C of the traveling direction component B of the gravitational acceleration g. Yes. Further, the distance D of the section in which the vehicle travels is defined as the travel time T and the travel speed V.

  When the power consumption is estimated without considering the road gradient θ, the error between the estimated power consumption and the actual power consumption is small in the region where the road gradient θ is small, but the estimation is performed in the region where the road gradient θ is large. An error between the estimated power consumption and the actual power consumption increases. For this reason, in the navigation apparatus 500, estimation accuracy improves by estimating a fuel consumption in consideration of a 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 the navigation device 500. Further, when the inclinometer is not mounted on the navigation device 500, for example, road gradient information included in the map data can be used.

(About running resistance)
Next, traveling resistance generated in the vehicle will be described. The navigation device 500 calculates the running resistance by the following equation (11), for example. Generally, traveling resistance is generated in a moving body during acceleration or traveling due to road type, road gradient, road surface condition, and the like.

  As described above, according to the navigation apparatus 500, the map information is divided into a plurality of areas, and it is searched whether or not each mobile area can reach each area, and each mobile area can reach or reach each area. Reachable or unreachable identification information for identifying the impossibility is given. And the navigation apparatus 500 produces | generates the reachable range of a moving body based on the area | region to which the reachable identification information was provided. For this reason, the navigation apparatus 500 can generate the reachable range of the mobile object in a state excluding areas where the mobile object cannot travel, such as the sea, lakes, and mountain ranges. Therefore, the image processing apparatus 100 can accurately display the reachable range of the moving object.

  And based on the charging spot contained in the reachable range of a mobile body, the new reachable range by the charge in this charging spot can be displayed. Thus, the user can clearly know whether or not the user can travel to the destination from the displayed reachable range without worrying about the remaining capacity of the battery. In addition, since the unreachable range can also be clearly displayed, when the destination is in an unreachable range, it is not possible to set this destination, so that these can be known before actual driving. Become.

  In addition, the navigation device 500 converts a plurality of regions obtained by dividing the map information into image data, assigns identification information that can be reached or cannot reach each of the plurality of regions, and then performs an expansion process of cloning. For this reason, the navigation apparatus 500 can remove the missing point within the reachable range of the moving body. In addition, the navigation device 500 converts a plurality of areas obtained by dividing the map information into image data, and assigns identification information that can be reached or unreachable to each of the plurality of areas, and then performs an opening reduction process. For this reason, the navigation apparatus 500 can remove the isolated points in the reachable range of the moving object. As described above, the navigation device 500 can remove missing points and isolated points from the reachable range of the moving body, and thus can display the travelable range of the moving body on a two-dimensional smooth surface in an easy-to-read manner. .

(Embodiment 2)
FIG. 21 is a block diagram of an example of a functional configuration of the image processing system according to the second embodiment. 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 includes a server 2110 and a terminal 2120. The image processing system 2100 according to the second embodiment includes the function of the image processing apparatus 100 according to the first embodiment in the server 2110 and the terminal 2120.

  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 information related to the reachable range of the moving object and transmits it to the terminal 2120. The terminal 2120 may be mounted on a mobile object, may be used in the mobile object as a mobile terminal, or may be used outside the mobile object as a mobile terminal. Then, the terminal 2120 receives information related to the reachable range of the moving object from the server 2110.

  In FIG. 21, the server 2110 includes a calculation unit 102, a search unit 103, a division unit 104, a grant unit 105, a supplement equipment search unit 106, a server reception unit 2111, and a server transmission unit 2112. The terminal 2120 includes 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 reception unit 2111 receives information about a mobile unit from a terminal 2120 connected to a communication network such as a public line network, a mobile phone network, DSRC, LAN, and WAN via a wireless connection. The information regarding the moving body is information regarding the current position of the moving body and information regarding the initial amount of energy that is the amount of energy held by the moving body at the current position of the moving body. Information received by the server reception unit 2111 is information referred to by the calculation unit 102. Note that the information regarding the supplementary equipment may be acquired by either the terminal 2120 or the server 2110, and may be output to a means for calculating the reachable range by the calculation unit 102 and the search unit 103.

  The server transmission unit 2112 uses the plurality of areas obtained by dividing the map information to which reachable identification information for identifying that the moving body is reachable by the assigning unit 105 as a reachable range of the mobile body as a terminal 2120. Specifically, for example, the server transmission unit 2112 transmits information to a terminal 2120 connected to a communication network such as a public network, a mobile phone network, a DSRC, a LAN, and a WAN via a radio.

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

  In the terminal 2120, the terminal receiving unit 2121 receives information from the server 2110. Specifically, the terminal receiving unit 2121 displays map information that is divided into a plurality of regions and each region is provided with identification information that is reachable or unreachable based on the reachable point of the mobile object. Receive. More specifically, for example, the terminal receiving unit 2121 receives information from a server 2110 connected to a communication network such as a public line network, a mobile phone network, a DSRC, a LAN, and a WAN via a radio.

  The terminal transmission unit 2122 transmits information regarding the moving object acquired by the acquisition unit 101 to the server 2110. Specifically, for example, the terminal transmission unit 2122 transmits information related to the mobile unit to a server 2110 that is connected to a communication network such as a public line network, a mobile phone network, DSRC, LAN, and WAN via a wireless connection.

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

  Image processing by the image processing system 2100 includes estimated energy consumption calculation processing, reachable point search processing, energy supplement equipment search processing, and identification information addition processing among the image processing performed by the image processing apparatus 100 according to the first embodiment. The server 2110 performs.

  Specifically, in the flowchart of FIG. 4, the terminal 2120 performs the process of step S <b> 401 and transmits the information acquired in steps S <b> 401 and S <b> 402 to the server 2110. Next, the server 2110 receives information from the terminal 2120. Next, the server 2110 performs the processing of 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. Next, the terminal 2120 receives information from the 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 effects as the image processing apparatus 100 and the image processing method according to the first embodiment.

(Embodiment 3)
FIG. 22 is a block diagram of an example of a functional configuration of the image processing system according to the third embodiment. A functional configuration of the image processing system 2200 according to the third embodiment will be described. An image processing system 2200 according to the third embodiment includes a first server 2210, a second server 2220, a third server 2230, and a terminal 2240. 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. The third server 2230 has the functions of the dividing unit 104, the assigning unit 105, and the replenishment facility searching unit 106 of the image processing apparatus 100 according to the first embodiment, and the acquisition unit 101 and the display of the image processing apparatus 100 according to the first embodiment. The terminal 2240 has the function of the control unit 107.

  In FIG. 22, terminal 2240 has the same configuration as terminal 2120 of the second embodiment. Specifically, the terminal 2240 includes 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 includes a calculation unit 102, a first server reception unit 2211, and a first server transmission unit 2212.

  The second server 2220 includes a search unit 103, a second server reception unit 2221, and a second server transmission unit 2222. The third server 2230 includes a dividing unit 104, a granting unit 105, a supplementary facility searching unit 106, a third server receiving unit 2231, and a 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 reception unit 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 that is connected to a communication network such as a public line network, a mobile phone network, DSRC, LAN, WAN, or the like wirelessly. Receive. Information received by the first server reception unit 2211 is information referred to by the calculation unit 102.

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

  In the second server 2220, the second server reception unit 2221 receives the information transmitted by the terminal transmission unit 2242 and the first server transmission unit 2212. Specifically, for example, the second server reception unit 2221 includes a first server transmission unit 2212 and a terminal transmission unit that are wirelessly connected to a communication network such as a public line network, a mobile phone network, DSRC, LAN, and WAN. 2242 information is received. 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.

  The second server transmission unit 2222 transmits the information searched by the search unit 103 to the third server reception unit 2231. Specifically, for example, the second server transmission unit 2222 transmits information to a third server reception unit 2231 connected wirelessly to a communication network such as a public network, a mobile phone network, DSRC, LAN, WAN, or the like. 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 unit 2231 receives information transmitted by the terminal transmission unit 2242 and the second server transmission unit 2222. Specifically, for example, the third server reception unit 2231 includes a second server transmission unit 2222 and a terminal transmission unit that are wirelessly connected to a communication network such as a public line network, a mobile phone network, DSRC, LAN, and WAN. Information from 2242 may be received. The third server reception unit 2231 may receive information from the second server transmission unit 2222 connected by wire. Information received by the third server reception unit 2231 is information referred to by the division unit 104.

  The third server transmission unit 2232 transmits information on the reachable range generated by the grant unit 105 and searched by the supplement facility search unit 106 to the terminal reception unit 2241. Specifically, for example, the third server transmission unit 2232 transmits information to a terminal reception unit 2241 that is connected to a communication network such as a public network, a mobile phone network, DSRC, LAN, and WAN via a wireless connection. Note that the information regarding the energy replenishment facility may be acquired 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. To do.

  Next, image processing by the image processing system 2200 according to the third embodiment will be described. Since the image processing by the image processing system 2200 is almost 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, of the image processing by the image processing apparatus 100 according to the first embodiment, the first server 2210 performs the estimated energy consumption calculation processing, and the second server 2220 performs the reachable point search processing. The third server 2230 performs the identification information addition process. 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.

  Next, the first server 2210 receives information from the terminal 2240. Next, the first server 2210 performs the process 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. Next, the second server 2220 receives information from the first server 2210. Next, the second server 2220 performs the process 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.

  Next, the third server 2230 receives information from the second server 2220. Next, the third server 2230 performs the processing in 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. Next, the terminal 2240 receives information from the 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 effects as those of the image processing apparatus 100 and the image processing method according to the first embodiment.

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

  The navigation device 2310 is mounted on the vehicle 2330. The navigation device 2310 transmits information on the current location of the vehicle and information on the initial stored energy amount to the server 2320. In addition, the navigation device 2310 displays the information received from the server 2320 on the display and notifies the user. Server 2320 receives information on the current location of the vehicle and information on the initial stored energy amount from navigation device 2310. Server 2320 generates information related to the reachable range of vehicle 2330 based on the received vehicle information. In addition, the replenishment facility is searched and a new reachable range is obtained.

  The hardware configuration of the server 2320 and the navigation device 2310 is the same as the hardware configuration of the navigation device 500 of the first embodiment. In addition, 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 is configured such that the navigation device 2310 mounted on the vehicle is 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. It is good.

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

DESCRIPTION OF SYMBOLS 100 Image processing apparatus 101 Acquisition part 102 Calculation part 103 Search part 104 Dividing part 105 Assignment part 106 Supplementary equipment search part 107 Display control part 109 Reachable range calculation part 110 Display part

Claims (7)

An image processing apparatus for processing information relating to a reachable range of a moving object,
Based on information on the current position of the mobile body, information on the amount of energy held by the mobile body, and an estimated energy consumption amount indicating the amount of energy consumed when the mobile body travels in a predetermined section, the mobile body Reachable range calculating means for calculating a reachable range including a reachable area;
Replenishment facility search means for searching for a replenishment facility located within the reachable range and capable of replenishing energy to the moving body;
Display control means for displaying the reachable range on a display means;
With
The reachable range calculating means includes
When a new replenishment facility is found by the replenishment facility search means, the process of calculating a new reachable range using the amount of energy when replenished by the replenishment facility is repeated,
The display control means displays on the display means that a position other than the reachable range cannot be reached when no new supplementary equipment is found in the new reachable range.
An image processing apparatus.   The image processing apparatus according to claim 1, wherein the display control unit performs display for identifying the reachable range and a range other than the reachable range. The replenishment facility search means retrieves the business hours of the replenishment facility,
The reachable range calculation means determines whether the replenishment facility can be reached within the business hours based on the current position of the mobile body and the required time to the replenishment facility, and calculates the reachable range. The image processing apparatus according to claim 1.   The image processing apparatus according to claim 1, wherein the reachable range calculation unit calculates the reachable range including a time required for replenishing energy in the replenishment facility. An image processing management apparatus for processing information related to a reachable range of a moving object,
Receiving means for receiving information relating to the current position of the moving object, information relating to the amount of energy held by the moving object, and information relating to changes in the operating state of the equipment provided in the moving object;
Based on information on the current position of the mobile body, information on the amount of energy held by the mobile body, and an estimated energy consumption amount indicating the amount of energy consumed when the mobile body travels in a predetermined section, the mobile body Reachable range calculating means for calculating a reachable range including a reachable area;
Replenishment facility search means for searching for a replenishment facility located within the reachable range and capable of replenishing energy to the moving body;
Transmitting means for transmitting information on the reachable range;
With
The reachable range calculation means repeats the process of calculating a new reachable range using the amount of energy when supplemented by the supplementary equipment when a new supplementary equipment is found by the supplementary equipment search means, and the transmission Send by means,
When a new supplementary facility is not found in the new reachable range, information indicating that a position other than the reachable range cannot be reached is transmitted by the transmission unit.
An image processing management device. A terminal that processes information about the reachable range of a mobile object,
Transmitting means for transmitting information relating to the current position of the moving object, information relating to the amount of energy held by the moving object, and information relating to changes in the operating state of the equipment provided in the moving object;
Information on the current position of the moving body transmitted by the transmitting means, information on the amount of energy held by the moving body, and estimated energy consumption indicating the amount of energy consumed when the moving body travels in a predetermined section Based on the above, the reachable range including the reachable area of the moving body is calculated, and a replenishment facility located within the reachable range and capable of replenishing energy to the moving body is searched, and a new replenishment facility is found. The new reachable range calculated using the amount of energy when replenished by the replenishment facility is received, and the new reachable facility is not found in the new reachable range, the reachable range A receiving means for receiving information indicating that a position other than can not be reached;
Display control means for displaying on the display means the reachable range or the unreachable received by the receiving means;
A terminal comprising: An image processing method of an image processing apparatus for processing information relating to a reachable range of a moving object,
Based on information on the current position of the mobile body, information on the amount of energy held by the mobile body, and an estimated energy consumption amount indicating the amount of energy consumed when the mobile body travels in a predetermined section, the mobile body A reachable range calculating step of calculating a reachable range including a reachable area by a calculation means ;
A replenishment facility search step of searching for a replenishment facility located within the reachable range and capable of replenishing energy to the mobile body by a search means ;
A display control step of causing the display control means to display the reachable range on the display means ,
In the reachable range calculation step, when a new replenishment facility is found by the replenishment facility search step, the process of calculating a new reachable range using the amount of energy when replenished by the replenishment facility is repeated,
The display control step displays on the display means that a position other than the reachable range cannot be reached when a new replenishment facility is not found in the new reachable range.
An image processing method.

Images