JP6058756B2 - Image processing apparatus and image processing method - Google Patents

Description

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

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

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

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

  Further, in each of the above-mentioned documents, since all the nodes in the range that the mobile body can reach are searched, it can be pointed out that the search process takes time. In particular, it has been impossible to efficiently perform image processing on the display of the reachable area and display it at high speed in a short time.

  In order to solve the above-described problems and achieve the object, an image processing apparatus according to the invention of claim 1 includes information on a current position of a moving body, information on an amount of energy held by the moving body, and the moving body. Based on information on the amount of energy consumed when traveling in a predetermined section, search means for searching for a reachable point where the mobile body can reach, and the reachable point among a plurality of areas into which map information is divided Display means for displaying on the display means, the search means searches for the reachable point excluding the low section when the information about the importance of the section enters a low section from a low section. It is characterized by doing.

  According to a fourth aspect of the present invention, in the image processing method according to the fourth aspect, the computer consumes information regarding the current position of the moving object, information regarding the amount of energy held by the moving object, and the moving object traveling in a predetermined section. Based on the information on the amount of energy to be searched, the reachable point where the mobile body is reachable is searched, and among the plurality of regions where the map information is divided, the region including the reachable point is displayed on the display means, In the search, when entering information from a high section to a low section with information on the importance of the section, the reachable point is searched except for the low section.

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 flowchart illustrating an example of an image processing procedure performed by the image processing apparatus. FIG. 3 is a block diagram illustrating an example of a hardware configuration of the navigation device. FIG. 4 is a diagram illustrating the relationship between mesh data and reachable nodes. FIG. 5A is an explanatory diagram schematically illustrating an example of reachable point search by the navigation device. FIG. 5-2 is an explanatory diagram schematically illustrating an example of reachable point search by the navigation device. FIG. 5C is an explanatory diagram schematically illustrating an example of reachable point search by the navigation device. FIG. 5-4 is an explanatory diagram schematically illustrating an example of reachable point search by the navigation device. FIG. 6 is an explanatory diagram illustrating an example of a reachable point search by the navigation device. FIG. 7 is an explanatory diagram of an example showing the reachable points by the navigation device as mesh data. FIG. 8 is an explanatory diagram illustrating an example of a closing process performed by the navigation device. FIG. 9 is an explanatory diagram showing an example of the opening process by the navigation device. FIG. 10 is an explanatory diagram schematically illustrating an example of vehicle reachable range extraction by the navigation device. FIG. 11 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. 12 is an explanatory diagram schematically illustrating another example of vehicle reachable range extraction by the navigation device. FIG. 13 is a flowchart illustrating an example of an image processing procedure performed by the navigation device. FIG. 14 is a flowchart illustrating an example of a procedure of estimated power consumption calculation processing by the navigation device. FIG. 15A is a flowchart illustrating an example of a procedure of mesh creation processing by the navigation device. FIG. 15-2 is a diagram for explaining mesh creation processing by the navigation device. FIG. 16A is a flowchart illustrating an example of a procedure of reachable point search processing by the navigation device (part 1). FIG. 16-2 is a flowchart illustrating an example of a procedure of reachable point search processing by the navigation device (part 2). FIG. 16C is a flowchart of an example of a procedure for determining whether to add a focused link to a candidate. FIG. 17A is a flowchart of an example of a procedure of reachable range contour extraction processing by the navigation device (part 1). FIG. 17-2 is a flowchart illustrating an example of a reachable range contour extraction process performed by the navigation device (part 2). FIG. 18 is an explanatory diagram schematically illustrating an example of acceleration applied to a vehicle traveling on a road having a gradient. FIG. 19 is an explanatory diagram illustrating an example of a display example after the reachable point search process by the navigation device. FIG. 20 is an explanatory diagram illustrating an example of a display example after the identification information providing process by the navigation device. FIG. 21 is an explanatory diagram illustrating an example of a display example after the closing process (expansion) by the navigation device. FIG. 22 is an explanatory diagram illustrating an example of a display example after the closing process (reduction) by the navigation device.

  Exemplary embodiments of an image processing apparatus 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. The image processing apparatus 100 includes an acquisition unit 101, an area specifying unit 103, a search unit 104, a change unit 105, and a display control unit 106.

  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 acquires information related to the current location of the moving object on which the image processing apparatus 100 is mounted, and information related to the initial amount of energy held by the moving object at the current location of the moving object. Specifically, the acquisition unit 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, 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.

  Furthermore, the acquisition part 101 acquires the estimated energy consumption which is the energy consumed when a mobile body drive | works a predetermined area. 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 acquisition unit 101 estimates an estimated energy consumption amount in a predetermined section based on a consumption energy estimation formula including first information, second information, and third information. More specifically, the acquisition unit 101 estimates an estimated energy consumption amount in a predetermined section based on information regarding the speed of the moving body and the moving body information. The moving body information is information that causes a change in the amount of energy consumed or recovered during traveling of the moving body, such as the weight of the moving body (including the number of passengers and the weight of the loaded luggage) and the weight of the rotating body. In addition, when the road gradient is clear, the acquisition unit 101 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 area specifying unit 103 determines a data area to be used when performing image processing to be described later in order to display the reachable range, and divides this data into a plurality of areas. Specifically, the map information is divided into a plurality of areas. The display control unit 106 displays a reachable range on the display unit 110 based on the plurality of areas divided by the area specifying unit 103.

  More specifically, the area specifying unit 103 uses the energy consumption rate when the energy consumption rate indicating the energy consumption per unit distance of the vehicle acquired by the acquisition unit 101 is the best, and uses the maximum energy consumption rate. The reachable range that the vehicle can reach is determined based on the value and the accumulated energy amount. Then, square mesh data including the maximum reachable range as a circumscribed circle is set as the maximum range.

  The area specifying unit 103 includes a division number determining unit 103a. The division number determination unit 103a sets the size of one area when the maximum range is divided into a plurality of n equal parts as the size of one area when the map information is divided into a plurality of areas, and sets the map information to m × m. Divide into pixel mesh data. At this time, n = (m / 2) −4 is set in order to make, for example, four pixels around the mesh data blank.

  The search unit 104 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 acquired by the acquisition unit 101. Search for a plurality of reachable points that can be reached from the current point.

  Specifically, the search unit 104, in all routes that can move from the current location of the moving object, in a predetermined section that connects the predetermined points on the route from the moving object, starting from the current location of the moving object. A predetermined point and a predetermined section are searched so that the total of the estimated energy consumption is minimized.

  More specifically, the search unit 104 starts from the current location of the mobile object as a starting point, all links that can be moved from the current location of the mobile object, nodes that are connected to these links, and all that can be moved from these nodes. , And all the nodes and links that can be reached by the moving object. At this time, each time the search unit 104 searches for a new link, the search unit 104 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 104 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. 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.

  Then, in the plurality of routes including the searched nodes and links, the search unit 104 sets all the nodes whose accumulated energy consumption amount is within the range of the initial stored energy amount of the mobile object. The search target is a reachable point.

  Further, the search unit 104 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 to be selected next to one predetermined section among the plurality of predetermined sections is lower than the importance of the one predetermined section, the search unit 104 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.

  The search unit 104 includes a grant unit 104a. The granting unit 104a has identification information for identifying whether or not the mobile body can reach each of the plurality of regions divided by the region specifying unit 103 based on the plurality of reachable points searched by the searching unit 104. Give. Specifically, when the reachable point of the moving object is included in the one area divided by the area specifying unit 103, the granting unit 104a identifies that the moving object can reach the one area. Give possible identification information. After that, when the reachable point of the moving object is not included in the one area divided by the area specifying unit 103, the granting unit 104a identifies that the moving object cannot reach the one area. Give possible identification information.

  More specifically, the assigning unit 104a 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 m columns. The area specifying unit 103 and the assigning unit 104a divide the map information in this way, convert it into mesh data of two-dimensional matrix data of m rows and m columns, and handle it as binarized raster data.

  The changing unit 105 includes a first changing unit 105 a and a second changing unit 105 b that perform identification information changing processing on a plurality of areas divided by the area specifying unit 103. Specifically, the changing unit 105 treats mesh data obtained by dividing the map information as binarized raster data by the first changing unit 105a and the second changing unit 105b, and performs a closing process (reducing after the expansion process). Process). The changing unit 105 may perform an opening process (a process of performing an expansion process after the reduction process) by the first changing unit 105a and the second changing unit 105b.

  Specifically, the first changing unit 105a 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. The identification information is changed (expansion process). More specifically, the first changing unit 105a may be any one of the other regions adjacent to the lower left, lower, lower right, right, upper right, upper, upper left, and left of one rectangular region. If “1”, which is identification information that can reach that area, is assigned, the identification information of the one area is changed to “1”.

  After the identification information is changed by the first changing unit 105a, the second changing unit 105b, when identification information that cannot reach another area adjacent to the one area to which the identification information is given is given. The identification information of the area is changed to unreachable identification information (reduction process). More specifically, the second changing unit 105b includes any one of the other areas adjacent to the lower left, lower, lower right, right, upper right, upper, upper left, and left of one rectangular area. If “0”, which is identification information that cannot be reached, is assigned to the area, the identification information of the one area is changed to “0”. The expansion process by the first change unit 105a and the reduction process by the second change unit 105b are performed the same number of times.

  In this way, the granting unit 104a can reach the region including the reachable point that is the point where the moving object can reach from the current location among the plurality of regions divided by the region specifying unit 103. Reachable identification information for identifying a certain thing is given to make the movable body reachable. Thereafter, the changing unit 105 assigns reachable identification information to a region adjacent to the region to which reachable identification information is assigned, and identifies each region so that no missing point is generated in the reachable range of the moving object. To change.

  The display control unit 106 causes the display unit 110 to display the reachable range of the moving object together with the map information based on the identification information of the area to which the identification information is given by the changing unit 105. Specifically, the display control unit 106 converts mesh data, which is a plurality of image data to which identification information has been assigned by the changing unit 105, into vector data, and displays it on the display unit 110 together with the map information stored in the storage unit. Let Further, the display control unit 106 may cause the display unit to display the reachable range of the mobile object together with the map information based on the identification information of the area to which the identification information is given by the granting unit 104a.

  Next, image processing by the image processing apparatus 100 will be described. FIG. 2 is a flowchart illustrating an example of an image processing procedure performed by the image processing apparatus. In the flowchart of FIG. 2, the image processing apparatus 100 first uses the acquisition unit 101 to obtain information on the current location of the moving object and information on the initial amount of energy held by the moving object at the current location of the moving object. Are acquired (steps S201 and S202). At this time, the image processing apparatus 100 may also acquire moving body information.

  Then, the image processing apparatus 100 uses the acquisition unit 101 to acquire an estimated energy consumption that is energy consumed when the moving body travels in a predetermined section (step S203). 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 area specifying unit 103 to divide the map information composed of vector data into a plurality of areas, convert the map information into mesh data composed of raster data, and the maximum range of mesh data and the number of mesh data divisions. (Step S204). At this time, the area specifying unit 103 uses the energy consumption rate when the energy consumption rate of the vehicle acquired by the acquisition unit 101 is the best, and based on the maximum value of the energy consumption rate and the accumulated energy amount. Determine the maximum reachable range that the vehicle can reach. Further, the division number determination unit 103a divides the mesh data into a predetermined number.

  Thereafter, the search unit 104 searches for a plurality of reachable points of the mobile body based on the map information stored in the storage unit and the initial stored energy amount and the estimated energy consumption acquired in steps S202 and S203. (Step S205).

  Next, the image processing apparatus 100 assigns reachable identification information to each of the plurality of regions divided in step S204 based on the plurality of reachable points searched in step S205 (step S206). . After that, the image processing apparatus 100 causes the display control unit 106 to display the reachable range of the moving object on the display unit 110 based on the identification information of the plurality of areas to which the identification information is assigned in step S206 (step S207). Terminate the process.

  As described above, the image processing apparatus 100 according to the first embodiment divides the map information into a plurality of areas, searches whether each moving area can be reached, and moves each moving area to each area. The reachable identification information for identifying that is reachable is given. Then, the image processing apparatus 100 generates a reachable range of the moving object based on the region to which reachable identification information is assigned. For this reason, the image processing apparatus 100 can generate the reachable range of the moving object in a state excluding areas where the moving 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.

  Further, the image processing apparatus 100 converts a plurality of areas obtained by dividing the map information into image data, assigns identification information that can reach each of the plurality of areas, and then performs a closing expansion process. For this reason, the image processing apparatus 100 can remove missing points within the reachable range of the moving object.

  Further, the image processing apparatus 100 converts a plurality of areas obtained by dividing the map information into image data, assigns identification information that can reach each of the plurality of areas, and then performs an opening reduction process. For this reason, the image processing apparatus 100 can remove isolated points in the reachable range of the moving object.

  As described above, the image processing apparatus 100 can remove missing points and isolated points in the reachable range of the moving body, and therefore, the travelable range of the moving body can be displayed on a two-dimensional smooth surface in an easy-to-read manner. it can. The image processing apparatus 100 also extracts the outline of mesh data generated by dividing the map information into a plurality of regions. For this reason, the image processing apparatus 100 can display the outline of the reachable range of the moving object smoothly.

  In addition, the image processing apparatus 100 narrows down the road for searching for the reachable point of the moving object, and searches for the reachable point of the moving object. For this reason, the image processing apparatus 100 can reduce the processing amount at the time of searching the reachable point of a moving body. Even if the number of reachable reachable points is reduced by narrowing down the roads to search for the reachable points of the mobile object, the expansion process of closing is performed as described above, so that the reachable range of the mobile object is within the reachable range. The resulting defect point can be removed. Therefore, the image processing apparatus 100 can reduce the processing amount for generating the reachable range of the moving object. In addition, the image processing apparatus 100 can display the travelable range of the moving object in a two-dimensional smooth manner so that it can be easily seen.

  Further, the area specifying unit 103 first performs processing for determining mesh data of the maximum reachable range that the vehicle can reach and the number of divisions. Then, the search unit 104 performs processing for searching for whether there is a node that can reach the mesh divided by the region specifying unit 103 in all routes that can be moved from the current position of the moving object. Let's do it. As a result, the overall processing time can be shortened, and it is not necessary to store all reachable node information in the storage unit, thereby reducing the amount of memory.

  The maximum memory consumption is determined by the number of meshes. For example, if the m × m pixel is 100 × 100, a memory for 10,000 nodes is sufficient. On the other hand, when the mesh data of the maximum reachable range that the vehicle can reach is determined from all reachable node information without determining by the area specifying unit 103, all the reachable node information is stored in the storage unit. Therefore, since the memory is consumed in proportion to the amount calculated in the node search, the necessary memory amount increases as the reachable range becomes far. As described above, according to the embodiment, it is possible to significantly reduce the amount of memory required for the search, and to display and output the processing result in a short time.

  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 with the navigation apparatus 300 mounted on the vehicle as the image processing apparatus 100.

(Hardware configuration of navigation device 300)
Next, the hardware configuration of the navigation device 300 will be described. FIG. 3 is a block diagram illustrating an example of a hardware configuration of the navigation device. In FIG. 3, a navigation device 300 includes a CPU 301, ROM 302, RAM 303, magnetic disk drive 304, magnetic disk 305, optical disk drive 306, optical disk 307, audio I / F (interface) 308, microphone 309, speaker 310, input device 311, A video I / F 312, a display 313, a camera 314, a communication I / F 315, a GPS unit 316, and various sensors 317 are provided. Each component 301 to 317 is connected by a bus 320.

  The CPU 301 governs overall control of the navigation device 300. The ROM 302 records programs such as a boot program, an estimated energy consumption calculation program, a reachable point search program, an identification information addition program, and a map data display program. The RAM 303 is used as a work area for the CPU 301. That is, the CPU 31 controls the entire navigation apparatus 300 by executing various programs recorded in the ROM 302 while using the RAM 303 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 313 based on the plurality of areas to which the identification information is given by the identification information giving program.

  The magnetic disk drive 304 controls the reading / writing of the data with respect to the magnetic disk 305 according to control of CPU301. The magnetic disk 305 records data written under the control of the magnetic disk drive 304. As the magnetic disk 305, for example, an HD (hard disk) or an FD (flexible disk) can be used.

  The optical disk drive 306 controls reading / writing of data with respect to the optical disk 307 according to the control of the CPU 301. The optical disk 307 is a detachable recording medium from which data is read according to the control of the optical disk drive 306. As the optical disc 307, a writable recording medium can be used. In addition to the optical disk 307, an MO, a memory card, or the like can be used as a removable recording medium.

  Examples of information recorded on the magnetic disk 305 and the optical disk 307 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. Background data representing features (features) such as buildings, rivers, the ground surface, This is vector data including road shape data that expresses the shape of the road by links and nodes.

  The audio I / F 308 is connected to a microphone 309 for audio input and a speaker 310 for audio output. The sound received by the microphone 309 is A / D converted in the sound I / F 308. For example, the microphone 309 is installed in a dashboard portion of a vehicle, and the number thereof may be one or more. From the speaker 310, a sound obtained by D / A converting a predetermined sound signal in the sound I / F 308 is output.

  Examples of the input device 311 include a remote controller having a plurality of keys for inputting characters, numerical values, various instructions, and the like, a keyboard, and a touch panel. The input device 311 may be realized by any one form of a remote control, a keyboard, and a touch panel, but can also be realized by a plurality of forms.

  The video I / F 312 is connected to the display 313. Specifically, the video I / F 312 is output from, for example, a graphic controller that controls the entire display 313, 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 313 based on the image data to be processed.

  The display 313 displays icons, cursors, menus, windows, or various data such as characters and images. As the display 313, for example, a TFT liquid crystal display, an organic EL display, or the like can be used.

  The camera 314 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 314, and the photographed image is analyzed by the CPU 301, or a recording medium such as the magnetic disk 305 or the optical disk 307 via the image I / F 312. Or output to

  The communication I / F 315 is connected to a network via wireless and functions as an interface between the navigation device 300 and the CPU 301. 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 315 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 316 receives radio waves from GPS satellites and outputs information indicating the current position of the vehicle. The output information of the GPS unit 316 is used when the CPU 301 calculates the current position of the vehicle together with output values of various sensors 317 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 317 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 317 are used by the CPU 301 to calculate the current position of the vehicle and the amount of change in speed and direction.

  The acquisition unit 101, region specifying unit 103, search unit 104, change unit 105, and display control unit 106 of the image processing apparatus 100 shown in FIG. 1 are the ROM 302, RAM 303, magnetic disk 305, optical disk 307, etc. in the navigation device 300 described above. The CPU 301 executes a predetermined program using the program and data recorded in the above, and realizes its function by controlling each part in the navigation device 300.

(Outline of estimated energy consumption calculation by the navigation device 300)
The navigation device 300 according to the present embodiment calculates the estimated energy consumption of the vehicle on which the device itself is mounted. Specifically, the navigation apparatus 300 is 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 300 determines whether the vehicle is linked based on the traffic jam information provided by the probe, the traffic jam prediction data acquired through the server, the link length or road type stored in the storage device, and the like. The travel time required to finish driving is calculated. And the navigation apparatus 300 calculates the estimated energy consumption per unit time using either of the consumption energy estimation formulas shown in the following formulas (1) to (4), and the vehicle travels the link in the travel time. Calculate the estimated energy consumption when finishing.

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

  In the above formulas (1) and (2), the first term on the right side is the energy consumption (first information) 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 300 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 300 uses the average speed and average acceleration of the vehicle at the link, and the vehicle travels on the link in the travel time based on the consumption energy estimation formula shown in the following equation (5) or (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 300 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 Pacc of the acceleration component in the link, the energy consumption amount Pacc of the acceleration component is calculated from the total energy consumption amount (left side) of the link to the energy consumption amount during idling. (1st term on the right side) and energy consumption by the running resistance (4th term on the right side) are subtracted and expressed by the following equation (7).

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

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

(Relationship between mesh data range and reachable nodes in navigation device 300)
FIG. 4 is a diagram illustrating the relationship between mesh data and reachable nodes. For example, it is assumed that there is one divided mesh data area 401. If there are six reachable nodes as a result of the search for this area 401 as shown in (a), this area 401 is displayed as a reachable range. Similarly, as shown in (b), even if there is only one reachable node as a result of the search, this area 401 is displayed as a reachable range.

  As described above, when displaying on the display unit 110 as a reachable or impossible range in units of one mesh area 401, it is sufficient that the number of reachable nodes in one area 401 is at least one. Even if there is, it does not change. If there are a plurality of nodes, information about the plurality of reachable nodes must be stored in the memory during the processing period until the area 401 is determined as a reachable node, which increases the amount of memory and improves the processing efficiency. Can not. For this reason, in this embodiment, if there is at least one reachable node in one area 401, the reachable range identification information is given to this area 401, and the search unit 104 continues the search thereafter. The information of a plurality of reachable nodes is not stored in the memory.

(Outline of reachable point search in the navigation device 300)
The navigation device 300 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 300 calculates the estimated energy consumption in a link using any one or more of the consumption energy estimation formulas shown in the above formulas (1) to (6). Then, the navigation device 300 searches for a reachable node of the vehicle so as to make the reachable point so that the total of the estimated energy consumption in the link is minimized. Below, an example of the reachable point search by the navigation apparatus 300 is demonstrated.

  FIGS. 5-1 to 5-4 are explanatory diagrams schematically illustrating an example of reachable point search by the navigation device 300. In FIGS. 5-1 to 5-4, 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 (FIGS. 5-1 and 5). Similarly, nodes and links are shown for -2.

  As illustrated in FIG. 5A, the navigation device 300 first searches for the link L1_1 that is closest to the current location 500 of the vehicle. Then, navigation device 300 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 300 calculates the estimated energy consumption in the link L1_1 that connects the current location 500 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 305 or optical disk 307) in association with the node N1_1, for example.

  Next, as illustrated in FIG. 5B, the navigation apparatus 300 searches for all the 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 300 calculates the estimated energy consumption in the link L2_1 using the consumption energy estimation formula.

  Then, the navigation device 300 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, similarly to the case of the link L2_1, the navigation device 300 calculates the estimated energy consumption in the links L2_2 and L2_3 using the energy consumption estimation formula. Then, the navigation apparatus 300 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 300 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 300 adds the node to the node candidate.

  Next, as illustrated in FIG. 5C, the navigation device 300 includes all links L3_1 and L3_2_1 connected to the node N2_1, all links L3_2_2, L3_3 and 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 300 calculates the estimated energy consumption in link L3_1-link L3_5 using a consumption energy estimation formula.

  Then, the navigation apparatus 300 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. Also, the navigation apparatus 300 sets the cumulative energy amounts 13wh, 12wh, and 10wh for the nodes N3_3 to N3_5 that are respectively connected to the links L3_3 to L3_5 in the links L3_3 to L3_5 as in the case of the link L3_1.

  Specifically, the navigation apparatus 300 accumulates the estimated energy consumption 5wh in the link L3_3 to the accumulated energy amount 8wh set in the node N2_2, and sets the accumulated energy amount 13wh in the node N3_3. The navigation device 300 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 300 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, in the case where a plurality of links L3_2_1 and L3_2_2 are connected to one node like the node N3_2, the navigation device 300 includes a cumulative energy amount in a plurality of routes from the vehicle current point 500 to the one node N3_2. , The minimum accumulated energy amount 10wh is set in the one node N3_2.

  Specifically, the navigation apparatus 300 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 300 compares the cumulative energy amount 11wh of the route from the current point 500 of the vehicle to the link L3_2_1 with the cumulative energy amount 10wh of the route from the current point 500 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 of the same hierarchy from the current location 500 of the vehicle, such as the above-described nodes N2_1 to N2_3, the navigation device 300, for example, from a link connected to a node having a low cumulative energy amount among the nodes at the same level. The estimated energy consumption and the cumulative energy amount are calculated in order. Specifically, the navigation apparatus 300 calculates the estimated energy consumption amount in the link connected to each node in the order of the node N2_3, the node N2_1, and the node N2_2, and accumulates the accumulated energy amount in each node. Thus, by specifying the order of the nodes for calculating the estimated energy consumption amount and the cumulative energy amount, it is possible to efficiently calculate the reachable range with the remaining energy amount.

  Thereafter, the navigation apparatus 300 continues to accumulate the accumulated energy amount as described above from the nodes N3_1 to N3_5 to the deeper level nodes. And the navigation apparatus 300 makes all the nodes in which the cumulative energy amount below the preset designated energy amount was set as the reachable point of a vehicle.

  Specifically, for example, when the designated energy amount is 10wh, the navigation device 300, as shown by a hatched circle in FIG. 5-4, is a node N1_1, for which a cumulative energy amount of 10wh or less is set. Let N2_1, N2_2, N2_3, N3_2, and N3_5 be reachable points of the vehicle. The preset designated energy amount is, for example, the remaining energy amount (initial stored energy amount) at the current point 500 of the vehicle.

  The map data 540 including the current location 500 of the vehicle and a plurality of nodes and links shown in FIG. 5-4 is an example for explaining the reachable location search, and the navigation device 300 is actually shown in FIG. As shown, more nodes and links are searched in a wider range than the map data 540 shown in FIG. 5-4.

  FIG. 6 is an explanatory diagram showing an example of a reachable point search by the navigation device 300. As described above, when the cumulative energy amount is continuously calculated for the included roads (excluding narrow streets) for each region of different meshes, as shown in FIG. 6, the cumulative energy amount at the corresponding node is searched in detail. can do. At this time, the navigation device 300 may narrow down the road for searching for the reachable point of the moving body based on, for example, the importance of the link.

(Outline of map data division in navigation device 300)
In the navigation device 300 of this embodiment, the division number determination unit 103a divides the map data stored in the storage device. Specifically, the navigation device 300 converts map data composed of vector data into, for example, 64 × 64 pixel mesh data (X, Y), and converts the map data into raster data (image data).

  FIG. 7 is an explanatory diagram of an example showing the reachable points by the navigation device 300 as mesh data. FIG. 7 illustrates the screen data of 64 × 64 pixel mesh data (X, Y) to which identification information is given based on the reachable point.

  Next, when the reachable point of the vehicle is included in one area of the mesh data (X, Y), the assigning unit 104a of the navigation device 300 identifies that the vehicle can reach the one area. For example, “1” is given as possible identification information (in FIG. 7, one pixel is drawn in black, for example). On the other hand, when the reachable point of the vehicle is not included in one region of the mesh data (X, Y), the navigation device 300 cannot reach that vehicle that cannot reach the one region. For example, “0” is given as the identification information (in FIG. 7, one pixel is drawn in white, for example).

  As described above, the navigation device 300 converts the map data into binarized map data of m rows and m columns of two-dimensional matrix data (Y, X) obtained by adding identification information to each area obtained by dividing 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. 7, for example, m × m pixel mesh data (X, Y) in which point groups of a plurality of reachable points are 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 the navigation device 300, part 1)
Next, the changing unit 105 of the navigation device 300 performs a closing process (a process of performing a reduction process after the expansion process) on the mesh data of the two-dimensional matrix data (Y, X) of m rows and m columns.

  FIG. 8 is an explanatory diagram illustrating an example of a closing process performed by the navigation device. (A) to (C) are mesh data of two-dimensional matrix data (Y, X) of m rows and m columns in which identification information is assigned to each region. (A) shows the mesh data 900 to which the identification information is given for the first time after the map data division processing. That is, the mesh data 900 shown in (A) is the same as the mesh data shown in FIG.

  Further, (B) shows mesh data 910 after the closing process (expansion) is performed on the mesh data 900 shown in (A). (C) shows the mesh data 920 after the closing process (reduction) is performed on the mesh data 910 shown in (B). In the mesh data 900, 910, and 920 shown in (A) to (C), the vehicle reachable ranges 901, 911, and 921 generated by a plurality of regions to which reachable identification information is assigned are blacked out. Show.

  As shown in (A), in the mesh data 900 after the identification information is given, a missing point 902 (a white background in the reachable range 901 that is hatched) that is an unreachable region included in the reachable range 901 of the vehicle. Part) has occurred. The missing point 902 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 300.

  Next, as shown in (B), the navigation device 300 performs a closing expansion process on the mesh data 900 after the identification information is given. In the closing expansion process, the identification information of one area adjacent to the area to which reachable identification information is assigned in the mesh data 900 after the identification information is given is changed to reachable identification information. As a result, the missing portion 902 generated in the reachable range 901 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 901 of the vehicle before the expansion process is changed to the reachable identification information. For this reason, the outer periphery of the reachable range 911 of the vehicle after the expansion process is one pixel at a time so as to surround the outer periphery of each outermost area of the reachable range 901 of the vehicle before the expansion process every time the expansion process is performed. spread.

  Thereafter, as shown in (C), the navigation apparatus 300 performs a closing reduction process on the mesh data 910. In the closing reduction process, the identification information of one area adjacent to the area to which the unreachable identification information is assigned in the mesh data 910 after the expansion process is changed to the unreachable identification information.

  For this reason, each area on the outermost periphery of the reachable range 911 of the vehicle after the expansion process becomes an area that cannot be reached by one pixel every time the reduction process is performed, and the reachable range 911 of the vehicle after the expansion process The outer circumference shrinks. Thereby, the outer periphery of the reachable range 921 of the vehicle after the reduction process is substantially the same as the outer periphery of the reachable range 901 of the vehicle before the expansion process.

  The navigation device 300 performs the expansion process and the reduction process described above by the same number of times. Specifically, when the expansion process is performed twice, the subsequent reduction process is also performed twice. By equalizing the number of times of the expansion process and the reduction process, the identification information of almost all areas in the outer periphery of the reachable range of the vehicle that has been changed to the identification information that can be reached by the expansion process is restored to the original information by the reduction process. It can be changed to unreachable identification information. In this way, the navigation device 300 can remove the missing point 902 within the reachable range of the vehicle and generate the reachable range 921 of the vehicle that can clearly display the outer periphery.

(Outline of identification information addition in the navigation device 300, part 2)
The navigation device 300 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 device 300 performs an opening process as follows.

  FIG. 9 is an explanatory diagram showing an example of the opening process by the navigation device. (A) to (C) are mesh data of two-dimensional matrix data (Y, X) of m rows and m columns in which identification information is assigned to each region. (A) shows the mesh data 1000 after the identification information is given. (B) shows the mesh data 1010 after the opening process (reduction) for (A). Further, (C) shows mesh data 1020 after the opening process (expansion) for (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), when there are many isolated points 1002 on the outer periphery of the reachable range 1001 of the vehicle in the mesh data 1000 after the identification information is given, the opening process is performed on the mesh data 1000 after the identification information is given. By doing so, the isolated point 1002 can be removed. Specifically, as shown in (B), the navigation device 300 performs an opening reduction process on the mesh data 1000 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 1000 after the identification information is added is changed to the unreachable identification information. As a result, the isolated point 1002 generated in the reachable range 1001 of the vehicle before the reduction process (after the identification information is given) is removed.

  For this reason, each area of the outermost circumference of the reachable range 1001 of the vehicle after the identification information is added becomes an area that cannot be reached by one pixel every time the reduction process is performed, and the reachable range of the vehicle after the identification information is given The outer periphery of 1001 shrinks. Further, the isolated point 1002 generated in the reachable range 1001 of the vehicle after the identification information is given is removed.

  Thereafter, as shown in (C), the navigation device 300 performs an opening expansion process on the mesh data 1010. In the opening expansion process, the identification information of one area adjacent to the area to which the unreachable identification information is added in the mesh data 1010 after the reduction process is changed to the reachable identification information. For this reason, the outer periphery of the reachable range 1021 of the vehicle after the expansion process is one pixel at a time so as to surround the outer periphery of each outermost region of the reachable range 1011 of the vehicle after the reduction process every time the expansion process is performed. spread.

  In the opening process, the navigation apparatus 300 performs the expansion process and the reduction process the same number of times as in the closing process. Thus, by equalizing the number of times of the expansion process and the reduction process, the outer periphery of the reachable range 1011 of the vehicle shrunk by the reduction process is expanded, and the outer periphery of the vehicle reachable range 1021 after the reduction process is expanded before the reduction process. Can be returned to the outer periphery of the reachable range 1001 of the vehicle. In this way, the navigation apparatus 300 can generate the vehicle reachable range 1021 in which the isolated point 1002 does not occur and the outer periphery can be clearly displayed.

(Outline of outline extraction of reachable range in navigation device 300, part 1)
The navigation device 300 according to the present embodiment extracts the outline of the reachable range of the vehicle based on the identification information given to the mesh data of the two-dimensional matrix data (Y, X) of m rows and m columns. Specifically, the navigation apparatus 300 extracts the outline of the reachable range of the vehicle using, for example, a Freeman chain code. More specifically, the navigation device 300 extracts the outline of the reachable range of the vehicle as follows.

  FIG. 10 is an explanatory diagram schematically illustrating an example of vehicle reachable range extraction by the navigation device. Moreover, FIG. 11 is explanatory drawing which shows typically an example of the mesh data after vehicle reachable range extraction by a navigation apparatus. FIG. 10A shows numbers indicating the adjacent directions of the areas 1110 to 1117 adjacent to the area 1100 (hereinafter referred to as “direction index (chain code)”) and arrows in eight directions corresponding to the direction index. . FIG. 10B shows mesh data 1120 of two-dimensional matrix data (Y, X) of h rows and h columns as an example. In FIG. 10B, the areas 1121 to 1134 to which reachable identification information is assigned and the areas to which reachable identification information is enclosed surrounded by the areas 1121 to 1134 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. 10A, the direction index in the direction from the region 1100 toward the region 1110 adjacent to the lower left is “0”. The direction index in the direction from the region 1100 to the adjacent region 1111 is “1”. The direction index in the direction from the region 1100 toward the region 1112 adjacent to the lower right is “2”.

  The direction index in the direction from the region 1100 to the region 1113 adjacent to the right is “3”. The direction index in the direction from the region 1100 toward the region 1114 adjacent to the upper right is “4”. The direction index in the direction from the region 1100 toward the adjacent region 1115 is “5”. The direction index in the direction from the region 1100 toward the region 1116 adjacent to the upper left is “6”. The direction index in the direction from the region 1100 toward the region 1117 adjacent to the left is “7”.

  The navigation device 300 searches the area 1100 adjacent to the area 1100 and provided with the reachable identification information “1” counterclockwise. In addition, the navigation device 300 determines the search start point of the area to which the reachable identification information adjacent to the area 1100 is assigned based on the previous direction index. Specifically, when the direction index from another area toward area 1100 is “0”, navigation apparatus 300 has an area adjacent to the left of area 1100, that is, an area adjacent in the direction of direction index “7”. The search starts from 1117.

  Similarly, when the direction index from another region toward the region 1100 is “1” to “7”, the navigation device 300 is adjacent to the lower left, lower, lower right, right, upper right, upper, upper left of the region 1100. The search is started from the matching regions, that is, the regions 1110 to 1116 adjacent to each other in the direction of the direction index “0”, “1”, “2”, “3”, “4”, “5”, “6”, respectively. When the navigation apparatus 300 detects the reachable identification information “1” from any one of the areas 1100 to 1117 from the area 1100, the areas 1101 to 1117 that have detected the reachable identification information “1”. The direction indices “0” to “7” corresponding to are written in the storage device in association with the area 1100.

  Specifically, the navigation apparatus 300 extracts the outline of the reachable range of the vehicle as follows. As shown in FIG. 10 (B), the navigation apparatus 300 first identifies identification that can be reached in units of rows from the region of the a row and the a column of the mesh data 1120 of the two-dimensional matrix data (Y, X) of the h row and the h column. Search for an area to which information is assigned.

  Since unreachable identification information is given to all the regions in the a-th row of the mesh data 1120, the navigation device 300 next moves from the region in the b-th row to the b-th column in the mesh data 1120. Search for identification information that can be reached toward the area. Then, after detecting the reachable identification information in the area 1121 in the b row and e column of the mesh data 1120, the navigation apparatus 300 moves counterclockwise from the area 1121 in the b row and e column of the mesh data 1120, and reaches the reachable range of the vehicle. The region having the reachable identification information that becomes the outline of is searched.

  Specifically, the navigation device 300 has already searched for the region of b rows and d columns adjacent to the left of the region 1121, so first, the identification that can be reached counterclockwise from the region 1122 adjacent to the lower left of the region 1121. Search whether there is an area having information. Then, the navigation apparatus 300 detects the reachable identification information of the area 1122 and stores the direction index “0” in the direction from the area 1121 to the area 1122 in the storage device in association with the area 1121.

  Next, since the navigation device 300 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 1122. Search for. The navigation apparatus 300 detects the reachable identification information of the area 1123 adjacent to the lower left of the area 1122 and stores the direction index “0” in the direction from the area 1122 to the area 1123 in association with the previous direction index. Store in the device.

  Thereafter, the navigation device 300 determines a search start point based on the previous direction index, and uses the direction index as a process for searching whether there is an area having identification information that can be reached counterclockwise from the search start point. The process is repeated until the corresponding arrow returns to the area 1121. Specifically, navigation device 300 searches whether there is an area having identification information that can be reached counterclockwise from an area adjacent to the left of area 1122, and searches for adjacent area 1124 below area 1123. The reachable identification information is detected, and the direction index “1” is stored in the storage device in association with the previous direction index.

  Similarly, after determining the search start point based on the previous direction index, the navigation device 300 searches for an area having identification information that can be reached counterclockwise from the search start point, and an area having reachable identification information 1124 to 1134 are sequentially detected. Then, every time the navigation device 300 acquires the direction index, the navigation device 300 associates it with the previous direction index and stores it in the storage device.

  Thereafter, navigation device 300 searches counterclockwise from the region of row b and column f adjacent to the upper right of region 1134 to determine whether there is a region having reachable identification information, and adjacent to region 1134. The reachable identification information 1121 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 apparatus 300 sequentially searches the areas 1122 to 1134 having the reachable identification information adjacent to the area 1121 in the counterclockwise direction, and acquires the direction index. Then, the navigation apparatus 300 fills one area in the direction corresponding to the direction index from the area 1121, thereby, as shown in FIG. 11, the outline 1201 of the reachable range of the vehicle and the portion 1202 surrounded by the outline 1201 The mesh data having the reachable range 1200 of the vehicle is generated.

(Outline of outline extraction of reachable range in navigation device 300, part 2)
Another example of vehicle reachable range extraction by the navigation device 300 of the present embodiment will be described. For example, the navigation device 300 may extract the outline 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 300 extracts the outline of the reachable range of the vehicle as follows.

  FIG. 12 is an explanatory diagram schematically illustrating another example of vehicle reachable range extraction by the navigation device. The mesh data 1300 of the two-dimensional matrix data (Y, X) of d rows and h columns as shown in FIG. 12 will be described as an example. The navigation device 300 searches the mesh data 1300 for the region to which the reachable identification information “1” is assigned. Specifically, the navigation apparatus 300 first searches for identification information “1” that can be reached from the area of the a row and the a column to the area of the a row and the h column.

  Since unreachable identification information “0” is assigned to all the regions in the a-th row of the mesh data 1300, the navigation device 300 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 300 acquires the minimum longitude px1 and the minimum latitude py1 (upper left coordinates of the area 1301) of the area 1301 in the b row and c column having the reachable identification information “1”.

  Next, the navigation apparatus 300 searches for an area having identification information “1” that can be reached from the area of b rows and d columns toward the area of b rows and h columns. Then, the navigation device 300 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 region 1302) of the region 1302 in the f column are acquired.

  Next, the navigation device 300 has a rectangular area whose apexes are the upper left coordinates (px1, py1) of the area 1301 of b rows and c columns and the lower right coordinates (px2, py2) of the area 1302 of b rows and f columns. Fill.

  Next, the navigation apparatus 300 searches the mesh data 1300 for 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 300 acquires the minimum longitude px3 and the minimum latitude py3 (upper left coordinates of the area 1303) of the area 1303 in the c row and d column having the reachable identification information “1”.

  Next, the navigation apparatus 300 searches for an area having identification information “1” that can be reached from the area of the c row and the e column toward the area of the c row and the h column. Then, the navigation apparatus 300 searches for a boundary between the area having the reachable identification information “1” and the area having the reachable identification information “0”, and row c having the reachable identification information “1”. The maximum longitude px4 and the maximum latitude py4 (lower right coordinates of the region 1304) of the region 1304 in the f column are acquired.

  Next, the navigation device 300 has a rectangular area whose apexes are the upper left coordinates (px3, py3) of the area 1303 of c row and d column and the lower right coordinates (px4, py4) of the area 1304 of c row and f column. Fill.

  After that, the navigation apparatus 300 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 300 ends the process because the unreachable identification information “0” is assigned to all the areas from the c row and g column areas to the d row and 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).

(Image processing in the navigation device 300)
As described above, the navigation device 300 generates a reachable range of the moving object based on the reachable node of the moving object searched based on the remaining energy amount of the vehicle, and causes the display 313 to display the reachable range. Hereinafter, for example, a case where the navigation device 300 is mounted on an EV car will be described as an example.

  FIG. 13 is a flowchart illustrating an example of an image processing procedure performed by the navigation device. In the flowchart of FIG. 13, the navigation device 300 first acquires the current location (ofx, ofy) of the vehicle on which the device is mounted, for example, via the communication I / F 315 (step S1301). Next, the navigation apparatus 300 acquires the initial stored energy amount of the vehicle at the current location (ofx, ofy) of the vehicle, for example, via the communication I / F 315 (step S1302).

  Next, the navigation apparatus 300 performs mesh data generation. At this time, the maximum range of mesh data and the number of divisions are determined (step S1303). Thereafter, the navigation device 300 performs a reachable node search process (step S1304). Next, the navigation apparatus 300 performs identification information provision processing on the mesh area including the reachable node (step S1305). Next, the navigation apparatus 300 extracts the outline of the reachable range of the vehicle (step S1306). Thereafter, the navigation device 300 displays the reachable range of the vehicle on the display 313 (step S1307), and ends the process.

(Estimated power consumption calculation process in the navigation device 300)
Next, the estimated power consumption calculation process by the navigation device 300 will be described. FIG. 14 is a flowchart illustrating an example of a procedure of estimated power consumption calculation processing by the navigation device. In the flowchart shown in FIG. 14, it is the process performed in step S1304 described above.

  In the flowchart of FIG. 14, the navigation apparatus 300 first acquires traffic jam information and traffic jam prediction data obtained by processing probe data and the like via the communication I / F 315 (step S1401). Next, the navigation apparatus 300 acquires the length of the link and the road type of the link (step S1402).

  Next, the navigation device 300 calculates the travel time of the link based on the information acquired in steps S1401 and S1402 (step S1403). The travel time of the link is the time required for the vehicle to finish traveling on the link. Next, the navigation device 300 calculates the average link speed based on the information acquired in steps S1401 to S1403 (step S1404). The average speed of the link is an average speed time when the vehicle travels on the link.

  Next, the navigation apparatus 300 acquires the altitude data of the link (step S1405). Next, the navigation apparatus 300 acquires vehicle setting information (step S1406). Next, based on the information acquired in steps S1401 to S1406, the navigation device 300 uses the energy consumption estimation formula of any one of the above-described formulas (1) to (6) to estimate the consumption at the link. The amount of electric power is calculated (step S1407), and the processing according to this flowchart ends.

(Mesh creation process in navigation device 300)
Next, the mesh creation process in the navigation device 300 will be described. FIG. 15A is a flowchart illustrating an example of the procedure of the mesh creation process by the navigation device, and corresponds to the process of step S1303 in FIG. FIG. 15B is a diagram for explaining mesh creation processing by the navigation device.

  First, the navigation apparatus 300 calculates | requires the best energy consumption rate (maximum energy consumption rate) using the energy estimation formula mentioned above (step S1501). For example, the energy consumption rate [km / kWh] at the best speed when the vehicle on which the navigation device 300 is mounted is varied at an average speed of 1 km / h to 150 km / h and traveled is obtained. A value measured in advance may be used as the energy consumption rate.

  Next, the travel distance at the maximum energy consumption rate is calculated from the amount of energy stored in the vehicle battery or the like (step S1502). As shown in FIG. 15-2 (a), the maximum reachable range 500a according to the travel distance at the maximum energy consumption rate around the current point 500 of the vehicle is circular. Next, as shown in FIG. 15B, a square connecting the upper end, the lower end, the right end, and the left end of the maximum reachable range 500a is set as an effective range (the maximum range) 400 of mesh data (step S1503). Then, as shown in FIG. 15-2 (c), the effective range of the mesh data is equally divided by the number of vertical and horizontal meshes to create a plurality of mesh regions 401 (step S1504), and the above processing ends. .

(Reachable point search process in the navigation device 300)
Next, reachable point search processing by the navigation device 300 will be described. FIGS. 16A and 16B are flowcharts illustrating an example of a procedure of reachable point search processing by the navigation device. First, the “not-reached” state is set for all the mesh areas 401 (see FIG. 15B) created above (step S1601). For example, unreachable identification information “0” is given.

  Next, a node connected to the link closest to the search start point is added as a candidate (step S1602). Next, if there is even one node candidate (step S1603: Yes), the process proceeds to step S1604. If there is no node candidate (step S1603: No), the process is terminated. This node candidate is an uncalculated node and is a candidate to be calculated next.

  In step S1604, the node N with the smallest accumulated energy consumption is selected from the current candidates (step S1604). If the node N is larger than the designated energy amount (step S1605: Yes), the process proceeds to step S1606. If the node N is smaller than the designated energy amount (step S1605: No), the process is terminated. To do. In other words, the fact that the node with the smallest energy is larger than the specified energy amount is a node that cannot be reached even if it is calculated any more, so the processing ends.

  In step S1606, attention is paid to one of the links connected to the node N (step S1606), and it is determined whether to add this noticed link to the candidate (step S1607). Details of this processing will be described later. If it is determined in step S1607 that the candidate is to be added (step S1608: Yes), the process proceeds to step S1609. If not added to the candidate (step S1608: No), the process proceeds to step S1620. To do.

  In step S1609, the node ahead of the noticed link is set as the node N2, and the mesh 401 to which the node N2 corresponds is calculated (step S1609). Next, if the mesh 401 is in the “arrival” state (step S1610: Yes), all meshes adjacent to the mesh 401 are checked for the “arrival” state (step S1611), and the process proceeds to step S1613. On the other hand, if it is not in the reached state (step S1610: No), the mesh 401 is set in the “reached” state (step S1612), and the process proceeds to step S1616.

  In step S1613, if all the meshes adjacent to the mesh have reached the state (step S1613: Yes), the process proceeds to step S1614, and if a part of the mesh adjacent to the mesh has not reached (step S1613: No), the process proceeds to step S1616. In step S1614, if the link attribute is a narrow street (step S1614: Yes), the process proceeds to step S1620. If the link attribute is not a narrow street (step S1614: No), the process proceeds to step S1615. Here, if all the surrounding meshes are in a reachable state, it is not necessary to search for a low-grade road such as a narrow street because the same road continues to a distant mesh only on roads such as national roads and prefectural roads. Therefore, it is possible to speed up the processing by canceling the search for the links on the narrow streets or suppressing the narrow streets from entering the narrow streets. This rating is the importance of the road. For example, highways, toll roads, national roads, prefectural roads, and main local roads are high and other roads are defined as low.

  In step S1615, the attribute of this link is compared with the previous link, and it is determined whether or not the road with the lower grade is entered from the higher grade road (step S1615). As a result of the comparison, when entering a low-grade road from a high-grade road (step S1615: Yes), the process proceeds to step S1620, and if not entering a low-grade road from a high-grade road (step S1615: No), the energy consumption of the noticed link is calculated (step S1616).

  Next, the integrated energy amount to the node N2 ahead of the noticed link is calculated (step S1617). The integrated energy amount up to N2 = the integrated energy amount up to the node N + the energy amount of the focused link. If there is no node that has already reached the node N2 or there is another route that has already reached the node N2, but the current accumulated energy amount (calculated in step S1617) is smaller (step S1618: Yes), The process proceeds to step S1619, and if there is a node that has reached the node N2 or another path that has already reached the node N2, but the current accumulated energy amount is larger (step S1618: No), the process proceeds to step S1620. To do.

  In step S1619, the obtained integrated energy amount is set to the node N2, and when the node N2 is not a candidate, the node N2 is added to the candidate (step S1619). In step S1620, if there is another link connected to the link L (step S1620: Yes), the process returns to step S1606. If there is no other link connected to the link L (step S1620: No), the node N is changed. It removes from a candidate (step S1621) and returns to step S1603. This is excluded from the candidates because the calculation for node N has been completed. This candidate is an uncalculated node, and indicates a candidate to be calculated next.

  FIG. 16C is a flowchart of an example of a procedure for determining whether to add a focused link to a candidate. The following process is a detailed example of the process of step S1607. As shown in the figure, when the noticed link is a road that is prohibited to pass (step S1622: Yes), when it is one-way reverse running (step S1623: Yes), when it corresponds to time regulation or seasonal regulation (step S1624: Yes). In any case, the focused link is not added as a candidate (step S1625), and the process is terminated. On the other hand, when the noticed link is not a road that is not allowed to pass (step S1622: No), is not a one-way reverse run (step S1623: No), and further, does not fall under the time regulation or seasonal regulation (step S1624: No) The noticed link is added as a candidate (step S1626), and the process is terminated.

(Area reachable range extraction process in navigation device 300)
Next, the identification information giving process by the navigation device 300 will be described. FIGS. 17A and 17B are flowcharts illustrating an example of the reachable range contour extraction process performed by the navigation device. The flowcharts of FIGS. 17A and 17B are an example of the process performed in step S1306 described above. The outline of reachable range outline extraction in the navigation apparatus 300 described above is the reachable range outline extraction process shown in Part 2. is there.

  In the flowcharts of FIGS. 17A and 17B, the navigation apparatus 300 first acquires mesh data of two-dimensional matrix data of my rows and mx columns (step S1901). Next, the navigation apparatus 300 acquires the longitude / latitude information of each area | region of the mesh data acquired by step S1901 (step S1902).

  Next, the navigation device 300 initializes the variable i and adds 1 to the variable i in order to search for the identification information of the region of i row and j column of the mesh data (steps S1903 and S1904). Next, the navigation apparatus 300 determines whether or not the variable i exceeds the my row (step S1905).

  When the variable i does not exceed the my line (step S1905: No), the navigation apparatus 300 initializes the variable j and adds 1 to the variable j (steps S1906 and S1907). Next, the navigation apparatus 300 determines whether or not the variable j exceeds the mx column (step S1908).

  When the variable j does not exceed the mx column (step S1908: No), the navigation apparatus 300 determines whether or not the identification information of the area of the i-th row and j-th column of the mesh data is “1” (step S1909). . If the identification information of the i-th row and j-th column region is “1” (step S1909: Yes), the navigation device 300 acquires the upper left coordinates (px1, py1) of the i-th row and j-th column region of the mesh data (step S1909). S1910). The upper left coordinates (px1, py1) of the region of i row and j column are the minimum longitude px1 and the minimum latitude py1 of the region of i row and j column. When the identification information of the area of i row and j column is not “1” (step S1909: No), the process returns to step S1907.

  Next, the navigation apparatus 300 determines whether or not the variable j exceeds the mx column (step S1911). When the variable j exceeds the mx column (step S1911: No), the navigation apparatus 300 acquires the lower right coordinates (px2, py2) of the area of the i row and j column of the mesh data (step S1912). The lower right coordinates (px2, py2) of the area of i row and j column are the maximum longitude px2 and the maximum latitude py2 of the area of i row and j column.

  Next, the navigation apparatus 300 sets the upper left coordinates (px1, py1) acquired in step S1910 and the lower right coordinates (px2, py2) acquired in step S1912 in the map data (step S1916). Then, the navigation device 300 fills a rectangular area having the vertexes facing the upper left coordinates (px1, py1) and the lower right coordinates (px2, py2) (step S1917), returns to step S1904, and repeats the subsequent processing. Do it.

  On the other hand, when the variable j does not exceed the mx column (step S1911: Yes), the navigation apparatus 300 adds 1 to the variable j (step S1913), and the identification information of the region of the i-th row and j-th column of the mesh data is “ It is determined whether it is “1” (step S1914). If the identification information of the i-th row and j-th column region is not “1” (step S1914: No), the navigation device 300 acquires the lower right coordinates (px2, py2) of the i-th row and j−1th column region of the mesh data. (Step S1915), the process after step S1916 is performed.

  If the identification information of the i-th row and j-th column area is “1” (step S1914: YES), the process returns to step S1911 and the subsequent processing is repeated. If the variable i exceeds the my line (step S1905: YES), the navigation device 300 ends the process according to this flowchart. When the variable j exceeds the mx column (step S1908: Yes), the process returns to step S1904, and the subsequent processing is repeated.

(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. 18 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. 18, a vehicle traveling on a slope with a road gradient θ has acceleration A (= dx / dt) accompanying traveling of the vehicle and a traveling direction component B (= g · sin θ) of gravitational acceleration g. Take it. For example, taking the above equation (1) as an example, the second term on the right side of the above equation (1) 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 300, the estimation accuracy is improved by estimating the fuel consumption in consideration of the road gradient, that is, the fourth information.

  The slope of the road on which the vehicle travels can be known using, for example, an inclinometer mounted on the navigation device 300. Further, when the inclinometer is not mounted on the navigation device 300, 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 300 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.

(Display example after closing with navigation device)
Next, a display example after the closing process by the navigation device will be described. FIG. 19 is an explanatory diagram illustrating an example of a display example after the reachable point search process by the navigation device. FIG. 20 is an explanatory diagram illustrating an example of a display example after the identification information providing process by the navigation device. FIG. 21 is an explanatory diagram illustrating an example of a display example after the closing process (expansion) by the navigation device. FIG. 22 is an explanatory diagram illustrating an example of a display example after the closing process (reduction) by the navigation device.

  As shown in FIG. 19, for example, the display 313 displays reachable points of a plurality of vehicles searched by the navigation device 300 together with the map data. The state of the display 313 illustrated in FIG. 19 is an example of information displayed on the display when the reachable point search process is performed by the navigation device 300. Specifically, this is a state in which the process of step S1304 of FIG. 13 has been performed.

  Next, the map data is divided into a plurality of areas by the navigation device 300, and identification information indicating that each area is reachable or unreachable is given based on the reachable point, thereby displaying the display as shown in FIG. In 313, a reachable range 2200 of the vehicle based on the reachable identification information is displayed. At this stage, there is a missing point that is an unreachable region within the reachable range 2200 of the vehicle.

  Next, a closing expansion process is performed by the navigation device 300, thereby generating a reachable range 2300 of the vehicle from which missing points are removed, as shown in FIG. Thereafter, the closing reduction process is performed by the navigation device 300, so that the outer periphery of the vehicle reachable range 2400 is substantially the same as the outer periphery of the vehicle reachable range 2200 before the closing is performed, as shown in FIG. It becomes the size of.

  Then, by extracting the outline 2401 of the reachable range 2400 of the vehicle by the navigation device 300, the outline of the reachable range 2400 of the vehicle can be displayed smoothly. In addition, since the missing point is removed by closing, the reachable range 2400 of the vehicle is displayed with a two-dimensional smooth surface 2402.

  As described above, according to the navigation device 300, 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 300 produces | generates the reachable range of a mobile body based on the area | region to which the reachable identification information was provided. For this reason, the navigation apparatus 300 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.

  In addition, the navigation device 300 converts the plurality of areas into which the map information is divided into image data, assigns identification information that can be reached or cannot reach each of the plurality of areas, and then performs an expansion process of closing. For this reason, the navigation apparatus 300 can remove the missing point within the reachable range of the moving body.

  In addition, the navigation device 300 converts the plurality of areas obtained by dividing the map information into image data, and assigns identification information indicating whether the plurality of areas are reachable or unreachable, and then performs an opening reduction process. For this reason, the navigation apparatus 300 can remove the isolated points in the reachable range of the moving object.

  As described above, the navigation device 300 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. . Further, the navigation device 300 extracts the outline of mesh data generated by dividing the map information into a plurality of regions. For this reason, the navigation apparatus 300 can display the outline of the reachable range of a moving body smoothly.

  In addition, the navigation apparatus 300 narrows down the road for searching for the reachable point of the mobile object, and searches for the reachable point of the mobile object. For this reason, the navigation apparatus 300 can reduce the processing amount at the time of searching the reachable point of a mobile body. Even if the number of reachable reachable points is reduced by narrowing down the roads to search for the reachable points of the mobile object, the expansion process of closing is performed as described above, so that the reachable range of the mobile object is within the reachable range. The resulting defect point can be removed. Therefore, the navigation apparatus 300 can reduce the processing amount for detecting the reachable range of the moving body. In addition, the navigation device 300 can display the travelable range of the mobile object in a two-dimensional smooth manner in an easy-to-see manner.

  And the navigation apparatus 300 searches after determining the maximum range and division number of the mesh data displayed based on a reachable point. Thereby, since the information of all reachable points is not memorize | stored in a memory | storage part, the whole processing amount can be reduced and memory capacity can be reduced.

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

DESCRIPTION OF SYMBOLS 100 Image processing apparatus 101 Acquisition part 103 Area | region specific | specification part 103a Division number determination part 104 Search part 104a Giving part 105 Change part 106 Display control part 110 Display part

Claims (4)

Based on information on the current position of the moving body, information on the amount of energy held by the moving body, and information on the amount of energy consumed when the moving body travels in a predetermined section, the reaching that the moving body can reach Search means for searching for possible points;
Display control means for displaying on a display means an area including the reachable point among a plurality of areas obtained by dividing map information ;
With
Before Symbol search means, when the information about the importance of the section enters a high section to a lower section, an image processing apparatus characterized by searching the reachable points except the lower section. The image processing apparatus according to claim 1, wherein the display control unit specifies the plurality of regions based on a maximum value of an energy consumption rate of the moving body and an energy amount held by the moving body. A storage unit that holds information on reachable points searched by the search unit;
The storage unit, when there are a plurality of the reachable points in one of the plurality of regions, does not hold a part of the information of the reachable point included in the one region,
The image processing apparatus according to claim 1, wherein the image processing apparatus is an image processing apparatus. Computer
Based on information on the current position of the moving body, information on the amount of energy held by the moving body, and information on the amount of energy consumed when the moving body travels in a predetermined section, the reaching that the moving body can reach Explore possible points,
Of the plurality of areas where the map information is divided , display the area including the reachable point on the display means,
Prior Symbol search, if information on the importance of the section enters a high section to a lower section, an image processing method characterized by searching the said except lower section reachable point.

Images