JP7483358B2 - Processing Equipment - Google Patents

Description

The present disclosure relates to a processing device .

Patent Document 1 discloses a route search device that uses electronic map data that has multiple route databases that correspond to multiple modes of transportation. The electronic map data includes transfer nodes that are provided in the multiple route databases so that the latitude, longitude, or coordinates are substantially the same. The route search device searches for a route using the multiple route databases in sequence, with the transfer nodes as intermediate points.

Japanese Patent No. 3983034

The present disclosure provides a processing device that is effective in providing more appropriate transfer guidance.

A processing device according to one aspect of the present disclosure includes a transfer area selection unit that selects, based on map data, a transfer area that a vehicle carrying a passenger can reach via a first travel route network, and within which the passenger can move, and an output unit that changes the passenger 's means of transportation within the transfer area by changing the movement mode of the vehicle itself by changing the function of the vehicle while keeping the passenger on the same vehicle , and outputs guidance information to guide the vehicle to a second travel route network corresponding to the changed means of transportation .

The transfer area selection unit selects, based on map data, a first transfer area that is reachable by a travel route network of a first transportation means and in which the passenger can move within the first transfer area, and a second transfer area that is reachable by a travel route network of a second transportation means and in which the passenger can move within the second transfer area, and the output unit may output guidance information to change the passenger 's transportation means from the first transportation means to the second transportation means or from the second transportation means to the first transportation means within the first transfer area, and to cause the passenger to enter or exit the second transfer area by the second transportation means.

The map data may include first network data defining a travel route network for a first means of transportation, second network data defining a travel route network for a second means of transportation, candidate area data associating a plurality of first candidate areas that are candidates for a first transfer area with the first network data and a plurality of second candidate areas that are candidates for a second transfer area with the second network data, and transfer data defining a plurality of combination candidates between any of the plurality of first candidate areas and any of the plurality of second candidate areas, and the transfer area selection unit may select the first transfer area and the second transfer area based on the first network data, the second network data, the candidate area data, and the transfer data.

The map data may further include constraint data that defines constraint conditions for use of each of the multiple combination candidates as the first transfer area and the second transfer area, and the transfer area selection unit may select the first transfer area and the second transfer area further based on the constraint data.

The output unit may output guidance information so as to satisfy constraint conditions corresponding to the first transfer area and the second transfer area selected by the transfer area selection unit.

The constraint condition may be a condition that restricts the use of the combination candidate as the first transfer area and the second transfer area depending on the weather.

FIG. 2 is a block diagram illustrating a functional configuration of the route guidance system. FIG. 1 is a schematic diagram illustrating a network of travel routes. FIG. 2 is a schematic diagram illustrating data defining a network of travel routes. 11 is a table illustrating candidate area data. 11 is a table illustrating example transfer data. FIG. 2 is a block diagram illustrating a hardware configuration of the route guidance system. 1 is a flowchart illustrating a route guidance procedure. 11 is a flowchart illustrating a procedure for searching for a route including a transfer;

The following describes the embodiments in detail with reference to the drawings. In the description, the same elements or elements having the same functions are given the same reference numerals, and duplicate descriptions are omitted.

[Processing System]
The processing system 1 according to this embodiment is configured to select a transfer area within its own area that can be reached by a travel route network, based on map data, and to output guidance information to cause the mobile body to change its mode of transportation within the transfer area.

The processing system 1 may select, based on map data, a first transfer area that is an area reachable by a travel route network of a first means of transportation and in which a mobile object can move within its own area, and a second transfer area that is an area reachable by a travel route network of a second means of transportation and in which a mobile object can move within its own area, change the means of transportation of the mobile object from the first means of transportation to the second means of transportation or from the second means of transportation to the first means of transportation within the first transfer area, and output guidance information to cause the mobile object to enter or exit the second transfer area by the second means of transportation.

A mobile body is an object that moves by various means of transportation. Specific examples of mobile bodies include people who move on foot or by vehicle. Specific examples of changes in means of transportation include changing from walking to moving by various vehicles, changing from moving by various vehicles to walking, and switching from one vehicle to another. A change in the means of transportation of a mobile body also includes a change in the moving mode of the vehicle while the mobile body remains on the same vehicle. For example, the takeoff of an air-land amphibious vehicle corresponds to a change in the means of transportation of the passenger (mobile body) from running on land by the vehicle to flying by the vehicle. Conversely, the landing of an air-land amphibious vehicle corresponds to a change in the means of transportation of the mobile body from flying by the vehicle to running on land by the vehicle.

As shown in FIG. 1, the processing system 1 includes a processing device 100 and a map server 200. The map server 200 provides map data for route search to the processing device 100. The map data includes network data 300 (see FIG. 3), candidate area data 400 (see FIG. 4), and transfer data 500 (see FIG. 5).

The network data 300 defines a travel route network. For example, the network data 300 includes first network data defining a travel route network of a first travel means (hereinafter referred to as the "first travel route network") and second network data defining a travel route network of a second travel means (hereinafter referred to as the "second travel route network"). The area covered by the first travel route network and the area covered by the second travel route network may at least partially overlap.

The second movement route network may be a movement route network through which the first movement means cannot pass and through which the second movement means can pass. For example, the first movement route network may be a movement route network for land travel by a vehicle, and the second movement route network may be a movement route network for flying by a vehicle.

Figure 2 is a schematic diagram illustrating a first movement route network and a second movement route network. The first movement route network 10 shown in Figure 2 is a network of land movement routes 11 that can be traveled by a land vehicle M2. The second movement route network 20 is a network of aerial movement routes 21 that cannot be traveled by a land vehicle M2, but can be traveled by an aerial vehicle M3. Note that an air-land amphibious vehicle M1 can travel both the land movement routes 11 and the aerial movement routes 21.

As shown in FIG. 3, the network data 300 includes first network data 310 that defines the first movement route network 10, and second network data 320 that defines the second movement route network 20. The first network data 310 includes a plurality of nodes 311 that are respectively associated with a plurality of points, and links 312 that indicate movement routes between the plurality of nodes. The links 312 may include at least one constituent point 313 that indicates a waypoint. The second network data 320 includes a plurality of nodes 321 that are respectively associated with a plurality of points, and links 322 that indicate movement routes between the plurality of nodes. The links 322 may include at least one constituent point 323 that indicates a waypoint.

At least the first network data 310 may further include surrounding feature information of the land travel route 11. Specific examples of surrounding features include any object located within the land travel route 11 or in the vicinity of the land travel route 11. For example, specific examples of surrounding features include road signs, curbs, medians, and buildings along the land travel route 11 that are located on the land travel route 11. In addition, the river 13 and parking space 14 in FIG. 2 are also types of surrounding features.

The candidate area data 400 associates a plurality of candidate areas that are candidates for the transfer area with the network data. For example, the candidate area data 400 associates a plurality of first candidate areas that are candidates for the first transfer area with the first network data 310, and associates a plurality of second candidate areas that are candidates for the second transfer area with the second network data 320. The first candidate area is an area that can be reached by the first moving route network, and is an area where a moving body can move within the own area and a change from the first moving means to the second moving means or a change from the second moving means to the first moving means is possible. The second candidate area is an area that can be reached by the second moving route network, and is an area where a moving body can move within the own area. The first candidate area and the second candidate area may be a linear section that includes two or more points, or may be a planar area that includes two or more points. The first candidate area may be an area of the first movement route network itself (e.g., a section of the first movement route network), or an area of a surrounding feature of the first movement route network (e.g., parking space 14). Similarly, the second candidate area may be an area of the second movement route network itself, or an area of a surrounding feature of the second movement route network.

In FIG. 2, candidate areas RT1, RT2, and RT3 are exemplified as first candidate areas, and candidate areas AT1, AT2, and AT3 are exemplified as second candidate areas. Candidate areas RT1 and RT2 are sections that extend linearly along the land travel route 11. Candidate area RT3 is a planar area in the parking space 14, which is a surrounding feature. Candidate areas AT1 and AT2 are sections that extend linearly along the aerial travel route 21. Candidate area AT3 is an area in the sky above candidate area RT3.

The candidate area data 400 defines the range of each candidate area. For example, as illustrated in FIG. 4, the candidate area data 400 defines the "coordinates" of each candidate area. For example, the candidate area data 400 defines the range of the candidate area using coordinates such as latitude, longitude, and altitude. There are no particular limitations on how the candidate areas are defined using coordinates. For example, a linear candidate area may be defined by the coordinates of both ends, or a linear candidate area may be defined by the coordinates of a series of points arranged in a line. A planar candidate area may be defined by the coordinates of the apex of the outer edge, or may be defined by the coordinates of a series of points scattered in a plane. The coordinates of a three-dimensional candidate area may further include a value that defines the height.

The candidate area data 400 may further define a "type" for each candidate area. The type indicates the shape of the candidate area. "Line" indicates that it is an area that extends linearly. "Plane" indicates that it is an area that spreads out in a plane. "Three-dimensional" indicates that it is an area that spreads out in a three-dimensional shape. When the candidate area data 400 defines the type of each candidate area, even if the data format of the coordinates differs depending on the type of candidate area, it becomes possible to appropriately read out the coordinates based on the type of candidate area.

The candidate area data 400 may further define "associated features" for each candidate area. The associated features indicate features for route search to the candidate area. For example, the associated features indicate nodes 311, 321, links 312, 322, constituent points 313, 323, etc., that correspond to the candidate area. If the candidate area is a section of the travel route network itself, the nodes 311, 321, links 312, 322, and constituent points 313, 323 are included in the candidate area. If the candidate area is an area within the surrounding features, the nodes 311, 321, links 312, 322, and constituent points 313, 323 are located outside the candidate area. When the candidate area data 400 defines associated features for each candidate area, route search that includes the candidate area becomes easier.

As an example, "RN1_1" and "RN1_3" associated with candidate area RT1 in FIG. 4 are the IDs of configuration points 313f and 313e in FIG. 3. "RN2_1" and "RN2_3" associated with candidate area RT2 are the IDs of configuration points 313d and 313c. "RN4_0" and "RN3_1" associated with candidate area RT3 are the IDs of configuration points 313a and 313b. "AN1_1" and "AN2_1" associated with candidate area AT1 are the IDs of configuration points 323f and 323e. "AN3_1" and "AN4_1" associated with candidate area AT2 are the IDs of configuration points 323d and 323c. "AN6_0" and "AN5_1" associated with candidate area AT3 are the IDs of configuration points 323a and 323b.

The transfer data 500 defines multiple combination candidates between any one of multiple first candidate areas and any one of multiple second candidate areas. For example, as shown in FIG. 5, the transfer data 500 defines "FROM" and "TO" for each combination candidate. FROM indicates the candidate area from which the moving object will move, and TO indicates the candidate area to which the moving object will move. The "Transfer ID" in FIG. 5 is identification information for the combination candidate.

For example, the transfer data 500 may define multiple combination candidates such that each first candidate area is combined with the second candidate area that is closest to the area (closest when viewed vertically from above). In each combination candidate, the first candidate area and the second candidate area may at least partially overlap. Overlap here means that they substantially overlap when viewed vertically from above. For example, if the first candidate area and the second candidate area are linear sections, and the first candidate area and the second candidate area are along the same road, these areas will overlap even if there is a slight difference in latitude and longitude.

In FIG. 2, candidate area RT1 and candidate area AT1 overlap over their entirety, candidate area RT2 and candidate area AT2 overlap over their entirety, and candidate area RT3 and candidate area AT3 overlap over their entirety. Transfer data 500 combines candidate area RT1 and candidate area AT1, combines candidate area RT2 and candidate area AT2, and combines candidate area RT3 and candidate area AT3. Note that the first candidate area and the second candidate area do not necessarily have to overlap.

As shown in FIG. 5, the map data may further include constraint data 600 that defines constraint conditions for use as the first and second transfer areas for each of the multiple combination candidates. Specific examples of constraint conditions include conditions that restrict use as the first and second transfer areas depending on the time of day, and conditions that restrict use as the first and second transfer areas depending on the mode of transportation. The time conditions illustrated in FIG. 5 define the time periods during which the combination candidates can be used as the first and second transfer areas, and the time periods during which the combination candidates cannot be used as the first and second transfer areas.

For example, the time condition for the combination candidates with transfer IDs "001" and "002" is "All day, all day," so there are no times when these combination candidates cannot be used for transfers. On the other hand, the time condition for the combination candidate with transfer ID "003" is "Weekdays 8:00-23:00," so this combination candidate cannot be used for transfers from 23:00-8:00 on weekdays or all day on holidays.

The mobility conditions illustrated in FIG. 5 define the means of transportation that can be used as the first and second transfer areas for the combination candidates by combining the means of transportation before and after the change. For example, the mobility condition for the combination candidates for transfer IDs "001" and "002" is "fly ⇒ land driving." Specific examples of changing from flying to land driving include switching from an air vehicle to a land vehicle, and landing an air-land vehicle.

For the combination candidates for transfer ID "003", in addition to "fly ⇒ run on land" as in the combination candidates for transfer IDs "001" and "002", "fly ⇒ walk" is defined. A specific example of changing from flying to walking is getting off a landed airborne vehicle or amphibious vehicle and walking.

Note that the constraint conditions are not limited to the time conditions and mobility conditions described above. Any condition that restricts the use of the area as the first and second transfer areas in some way can be a constraint condition. For example, the constraint condition may be a condition that restricts the use of the area as the first and second transfer areas depending on the weather (hereinafter referred to as a "weather condition"). A specific example of a weather condition is a condition that prohibits takeoff and landing of airborne or amphibious vehicles depending on wind speed or rainfall. The fee for using the combination candidate as the first and second transfer areas is also a type of constraint condition.

The constraints may be set partially for the combination candidates. For example, a time condition may be set for a part of the first candidate area, or a time condition may be set for a part of the second candidate area.

The first movement route network is not necessarily limited to a network of movement routes on land, but may be a network of movement routes on water, or a network of movement routes in the air. The second movement route network is not necessarily limited to a network of movement routes in the air, but may be a network of movement routes on water, or a network of movement routes on land. For example, the first movement route network may be a network of land movement routes exclusively for pedestrians, and the second movement route network may be a network of land movement routes exclusively for automobiles.

The processing device 100 executes the following: selecting a transfer area based on the map data of the map server 200; and outputting guidance information so that the moving object changes its means of transportation within the transfer area. For example, the processing device 100 selects, based on the map data, a first transfer area that is reachable by a travel route network of a first moving means and in which a moving object (e.g., a person) can move within its own area, and a second transfer area that is reachable by a travel route network of a second moving means and in which the moving object can move within its own area, and outputs guidance information so that the moving object's means of transportation is changed from the first moving means to the second moving means or from the second moving means to the first moving means within the first transfer area, and the moving object enters the second transfer area or exits the second transfer area by the second moving means.

For example, the processing device 100 has, as functional blocks, a location information acquisition unit 111, a map data acquisition unit 112, a map data storage unit 113, a transfer area selection unit 114, a route search unit 115, and a route output unit 116. Each functional block will be described below. The processing executed by each functional block corresponds to the processing executed by the processing device 100.

The position information acquisition unit 111 acquires position information of the current location and position information of the destination. For example, the position information acquisition unit 111 acquires position information of the current location from the position sensor 700, and acquires position information of the destination from the user interface 800. The position sensor 700 is mounted on a mobile terminal of a vehicle or a pedestrian, and detects the current location, for example, by a Global Positioning System (GPS). The position sensor 700 may detect the current location by auxiliary use of a speed sensor, an acceleration sensor, a gyro sensor, etc.

The user interface 800 is mounted on a mobile terminal of a vehicle or a pedestrian, and acquires user input and displays information to the user. For example, the user interface 800 has an input device and a display device. Specific examples of the display device include a liquid crystal monitor or an organic EL (Electro Luminescence) monitor. Specific examples of the input device include a keypad. The input device may be integrated with the display device as a so-called touch panel.

The map data acquisition unit 112 acquires map data for an area including the current location and destination (hereinafter referred to as the "search target area") from the map server 200 based on the information acquired by the position information acquisition unit 111. For example, the map data acquisition unit 112 acquires network data 300, candidate area data 400, transfer data 500, and constraint data 600 for the search target area from the map server 200. The map data storage unit 113 stores the map data acquired by the map data acquisition unit 112.

The transfer area selection unit 114 selects a first transfer area from the first travel route network and selects a second transfer area from the second travel route network based on the map data stored in the map data storage unit 113. The transfer area selection unit 114 may select a second transfer area from the second travel route network that at least partially overlaps with the first transfer area.

For example, the transfer area selection unit 114 selects the first transfer area and the second transfer area based on the network data 300, the candidate area data 400, the transfer data 500, and the constraint data 600. For example, the transfer area selection unit 114 narrows down the first candidate area and the second candidate area based on the network data 300, the candidate area data 400, and the transfer data 500. Furthermore, the transfer area selection unit 114 checks whether the narrowed down first candidate area and the second candidate area are available for transfer based on the constraint data 600. Here, "transfer" includes a change from the first transportation means to the second transportation means or a change from the second transportation means to the first transportation means in the first candidate area, and an entry into the second transportation route network or an exit from the second transportation means in the second candidate area. If the narrowed down first candidate area and the second candidate area are available for transfer, the transfer area selection unit 114 selects them as the first transfer area and the second transfer area.

For example, the transfer area selection unit 114 searches for a candidate area suitable for travel from the current location to the destination based on the network data 300 and the candidate area data 400. If a candidate area suitable for travel from the current location to the destination exists, the transfer area selection unit 114 selects a combination candidate including the candidate area from the transfer data 500, and sets the first candidate area of the combination candidate as the first transfer area, and sets the second candidate area of the combination candidate as the second transfer area.

As an example, the transfer area selection unit 114 searches for a first transfer area and a second transfer area when both the current location and the destination belong to the first moving route network 10 and a transfer from the first moving route network 10 to the second moving route network 20 is required. Specific examples of when a transfer from the first moving route network 10 to the second moving route network 20 is required include a case where the arrival time is shortened by using the second moving route network 20 on the land moving route 11 from the current location to the destination, a case where a traffic obstruction such as traffic congestion, disaster, or accident occurs, or a case where the weather is not suitable for moving on the land moving route 11, etc. For example, as shown in FIG. 2, when traffic congestion occurs on the land moving route 11 that crosses the river 13 between the current location SP and the destination GP, a transfer from the first moving route network 10 to the second moving route network 20 is required.

The transfer area selection unit 114 also searches for the first transfer area and the second transfer area when the current location belongs to the second movement route network 20 and a transfer from the second movement route network 20 to the first movement route network 10 is required. A specific example of a case where a transfer from the second movement route network 20 to the first movement route network 10 is a case where the weather is not suitable for travel on the aerial movement route 21.

For example, the transfer area selection unit 114 searches for combination candidates suitable for transferring out from the first movement route network 10 to the second movement route network 20 (hereinafter referred to as "transfer-out candidates") and combination candidates suitable for transferring in from the second movement route network 20 to the first movement route network 10 (hereinafter referred to as "transfer-in candidates") based on the candidate area data 400 and the transfer data 500. For example, the transfer area selection unit 114 searches for a first candidate area within a specified range from the current location based on the candidate area data 400, and if a first candidate area exists within the specified range, selects a combination candidate with the first candidate area as a FROM from the transfer data 500 as a transfer-out candidate.

Furthermore, the transfer area selection unit 114 searches for a first candidate area within a specified range from the destination based on the candidate area data 400, and if a first candidate area exists within the specified range, selects a combination candidate with the first candidate area as the TO from the transfer data 500 as a candidate for transfer-in.

Based on the constraint data 600, the transfer area selection unit 114 checks whether both the transfer-out candidate and the transfer-in candidate are available for transfer. If both the transfer-out candidate and the transfer-in candidate are available for transfer, the transfer area selection unit 114 selects the first candidate area of the transfer-out candidate as the first transfer area for transfer-out, the second candidate area of the transfer-out candidate as the second transfer area for transfer-out, the first candidate area of the transfer-in candidate as the first transfer area for transfer-in, and the second candidate area for transfer-in as the second transfer area for transfer-in. If the transfer-out candidate cannot be used for transfer, the transfer area selection unit 114 searches for other transfer-out candidates. If the transfer-in candidate cannot be used for transfer, the transfer area selection unit 114 searches for other transfer-in candidates.

The transfer area selection unit 114 may select the first transfer area from the first movement route network 10 and the second transfer area from the second movement route network 20 based on the network data 300 without referring to the candidate area data 400, the transfer data 500, and the constraint data 600. For example, the transfer area selection unit 114 selects a portion of the first movement route network 10 that is suitable for moving from the current location to the destination as the first transfer area, and selects a portion of the second movement route network 20 that overlaps with the first transfer area as the second transfer area. In this way, when the transfer area selection unit 114 selects the first transfer area and the second transfer area based on the network data 300, the map data does not need to include the candidate area data 400, the transfer data 500, and the constraint data 600.

The route search unit 115 searches for a route from the current location to the destination. When the first transfer area and the second transfer area are selected by the transfer area selection unit 114, the route search unit 115 searches for a route including a first route in the first movement route network 10 that is connected to the first transfer area and a second route in the second movement route network 20 that is connected to the second transfer area. The guidance information is information that guides the moving body to change the means of transportation of the moving body from the first movement means to the second movement means or from the second movement means to the first movement means within the first transfer area, and to cause the moving body to enter the second transfer area or exit the second transfer area by the second movement means.

As an example, as shown in FIG. 2, the route search unit 115 searches for a route MR1 (first route before transfer-out) from the current location SP to the first transfer area for transfer-out (candidate area RT1), and sets the arrival point of the route MR1 as the entry position RT11 into the first transfer area for transfer-out. The route search unit 115 also searches for a route MR2 (second route) from the second transfer area for transfer-out (candidate area AT1) to the second transfer area for transfer-in (candidate area AT2). The route search unit 115 sets the departure point of the route MR2 as the exit position AT11 from the second transfer area for transfer-out, and sets the arrival point of the route MR2 as the entry position AT21 into the second transfer area for transfer-in. Furthermore, the route search unit 115 searches for a route MR3 (first route after transfer-in) from the first transfer area for transfer-in (candidate area RT2) to the destination GP, and sets the starting point of the route MR3 as the exit position RT21 from the first transfer area for transfer-in.

The various route searches described above can be performed using known methods such as the Dijkstra algorithm or the Bellman-Ford algorithm.

The route output unit 116 outputs guidance information from the current location to the destination to the user interface 800 based on the route from the current location to the destination searched by the route search unit 115. When the route search unit 115 derives a route including a transfer from the first movement route network 10 to the second movement route network 20, the route output unit 116 outputs guidance information to move the mobile body according to the first route by the first movement means, change the movement means of the mobile body from the first movement means to the second movement means or from the second movement means to the first movement means in the first transfer area, cause the mobile body to enter or exit the second transfer area by the second movement means, and move the mobile body according to the second route by the second movement means.

For example, the route output unit 116 outputs guidance information to move the mobile body from the current location SP to the entry position RT11 according to route MR1 (first route before transfer-out) by the first moving means, change the moving means of the mobile body from the first moving means to the second moving means in the first transfer area for transfer-out, have the mobile body enter the second transfer area for transfer-out by the second moving means, move the mobile body from the exit position AT11 to the entry position AT21 according to route MR2 (second route) by the second moving means, have the mobile body exit the second transfer area for transfer-in by the second moving means, change the moving means of the mobile body from the second moving means to the first moving means in the first transfer area for transfer-in, and move the mobile body from the exit position RT21 to the destination GP according to route MR3 (first route after transfer-in).

The route output unit 116 may output guidance information to a driving assistance device (e.g., an automatic driving device) of the vehicle. The route output unit 116 may output guidance information so as to satisfy the constraint conditions corresponding to the first transfer area and the second transfer area selected by the transfer area selection unit 114. For example, the route output unit 116 may output guidance information so as to change the means of transportation of the moving object from the first means of transportation to the second means of transportation or from the second means of transportation to the first means of transportation within a portion of the first transfer area that satisfies the constraint conditions. The route output unit 116 may also output guidance information so as to cause the moving object to enter or exit a portion of the second transfer area that satisfies the constraint conditions.

Figure 6 is a block diagram illustrating the hardware configuration of the processing system 1. As shown in Figure 6, the map server 200 has a circuit 290. The circuit 290 has at least one processor 291, a memory 292, a storage 293, and a communication port 294. The storage 293 has a computer-readable storage medium such as a hard disk. The storage 293 stores map data. The memory 292 temporarily stores programs loaded from the storage 293 and calculation results by the processor 291. The processor 291 configures each functional block of the map server 200 by executing the above programs in cooperation with the memory 292. The communication port 294 communicates with the processing device 100 via the communication network NW according to instructions from the processor 291.

The processing device 100 has a circuit 190. The circuit 190 has at least one processor 191, a memory 192, a storage 193, an input/output port 194, and a communication port 195. The storage 193 has a computer-readable storage medium, such as a hard disk. The storage 193 stores a program for causing the processing device 100 to select a transfer area based on the map data of the map server 200, and to output guidance information to change the means of transportation of a mobile object within the transfer area. For example, the storage 193 includes a storage area allocated to the map data storage unit 113, and a storage area allocated to a program for causing the processing device 100 to configure the position information acquisition unit 111, the map data acquisition unit 112, the transfer area selection unit 114, the route search unit 115, and the route output unit 116.

The memory 192 temporarily stores the programs loaded from the storage 193 and the results of calculations by the processor 191. The processor 191 configures each functional block of the processing device 100 by executing the above programs in cooperation with the memory 192. The input/output port 194 inputs and outputs information between the position sensor 700 and the user interface 800 in accordance with instructions from the processor 191. The communication port 195 communicates with the map server 200 via the communication network NW in accordance with instructions from the processor 191.

Note that the circuits 190 and 290 are not necessarily limited to those that configure each function by a program. For example, the circuits 190 and 290 may configure at least some of their functions by a dedicated logic circuit or an ASIC (Application Specific Integrated Circuit) that integrates the dedicated logic circuit.

[Route Guidance Procedure]
Next, as an example of a route guidance method, a route guidance procedure executed by the processing device 100 will be illustrated. This procedure includes selecting a first transfer area from a first moving route network, selecting a second transfer area from a second moving route network, and outputting a route including a first route leading to the first transfer area in the first moving route network, a transition between the first transfer area and the second transfer area, and a second route leading to the second transfer area in the second moving route network.

Figure 7 illustrates an example of a route guidance procedure when both the current location and the destination belong to the first travel route network 10. As shown in Figure 7, the processing device 100 first executes steps S01, S02, S03, and S04. In step S01, the location information acquisition unit 111 acquires location information of the destination from the user interface 800. In step S02, the location information acquisition unit 111 acquires location information of the current location from the position sensor 700. In step S03, the map data acquisition unit 112 acquires map data of the area including the current location and the destination (the above-mentioned search target area) from the map server 200, and stores it in the map data storage unit 113.

In step S04, the transfer area selection unit 114 searches for a first candidate area suitable for transferring out from the first movement route network 10 to the second movement route network 20 (hereinafter referred to as a "first candidate area for transferring out") based on the map data stored in the map data storage unit 113. For example, the transfer area selection unit 114 searches for a first candidate area within a specified range from the current location based on the candidate area data 400, and confirms whether a first candidate area exists within the specified range.

If it is determined in step S04 that the first candidate area exists within the specified range, the processing device 100 executes step S05. In step S05, the transfer area selection unit 114 checks whether it is possible to transfer from the first movement route network 10 to the second movement route network 20 in the first candidate area for transfer out. For example, the transfer area selection unit 114 selects a combination candidate (the above-mentioned transfer out candidate) from the transfer data 500 with the first candidate area for transfer out as the FROM, and checks whether the transfer out candidate is available for transfer based on the constraint conditions of the constraint data 600.

If it is determined in step S05 that the outgoing candidate is available for transfer, the processing device 100 executes step S06. In step S06, the transfer area selection unit 114 searches for a first candidate area suitable for transfer from the second movement route network 20 to the first movement route network 10 (hereinafter referred to as a "first candidate area for transfer") based on the map data stored in the map data storage unit 113. For example, the transfer area selection unit 114 searches for a first candidate area within a specified range from the destination based on the candidate area data 400, and confirms whether a first candidate area exists within the specified range.

If it is determined in step S06 that the first candidate area exists within the specified range, the processing device 100 executes step S07. In step S07, the transfer area selection unit 114 checks whether it is possible to transfer from the second movement route network 20 to the first movement route network 10 in the first candidate area for transfer-in. For example, the transfer area selection unit 114 selects a combination candidate (the above-mentioned transfer-in candidate) with the first candidate area for transfer-in as the TO from the transfer data 500, and checks whether the transfer-in candidate is available for transfer based on the constraint conditions of the constraint data 600.

If it is determined in step S07 that the candidate for transfer-in is available for transfer, the processing device 100 executes steps S08 and S09. In step S08, the transfer area selection unit 114 selects the first candidate area of the candidate for transfer-out as the first transfer area for transfer-out, selects the second candidate area of the candidate for transfer-out as the second transfer area for transfer-out, selects the first candidate area of the candidate for transfer-in as the first transfer area for transfer-in, and selects the second candidate area for transfer-in as the second transfer area for transfer-in.

In step S09, the route search unit 115 searches for a route including a first transfer area for outgoing transfer, a second transfer area for outgoing transfer, a first transfer area for incoming transfer, and a second transfer area for incoming transfer. This search procedure will be described later.

If it is determined in step S04 that the first candidate area does not exist within the specified range, if it is determined in step S05 that the outgoing candidate is not available for transfer, if it is determined in step S06 that the first candidate area does not exist within the specified range, or if it is determined in step S07 that the incoming candidate is not available for transfer, the processing device 100 executes step S11 instead of steps S08 and S09. In step S11, the route search unit 115 searches for a route from the current location to the destination within the first movement route network 10 without transferring from the first movement route network 10 to the second movement route network 20.

After steps S09 and S11, the processing device 100 executes step S12. In step S12, the route output unit 116 outputs guidance information from the current location to the destination to the user interface 800 based on the route from the current location to the destination searched by the route search unit 115. When the route search unit 115 derives a route including a transfer from the first movement route network 10 to the second movement route network 20, the route output unit 116 outputs guidance information to move the mobile body according to the first route by the first movement means, change the movement means of the mobile body from the first movement means to the second movement means or from the second movement means to the first movement means in the first transfer area, cause the mobile body to enter or exit the second transfer area by the second movement means, and move the mobile body according to the second route by the second movement means.

For example, the route output unit 116 outputs guidance information to move the mobile body from the current location to the first transfer area for transfer-out by the first moving means according to the first route before transfer-out, change the moving means of the mobile body from the first moving means to the second moving means in the first transfer area for transfer-out, have the mobile body enter the second transfer area for transfer-out by the second moving means, move the mobile body according to the second route by the second moving means, have the mobile body exit the second transfer area for transfer-in by the second moving means, change the moving means of the mobile body from the second moving means to the first moving means in the first transfer area for transfer-in, and move the mobile body from the first transfer area for transfer-in to the destination according to the first route after transfer-in by the first moving means.

Figure 8 is a flowchart illustrating the route search procedure in step S09. As shown in Figure 8, the processing device 100 executes steps S21, S22, S23, S24, S25, S26, S27, and S28. In step S21, the route search unit 115 searches for a route MR1 (first route before transferring out) from the current location SP to the first transfer area for transferring out (candidate area RT1). In step S22, the route search unit 115 sets the arrival point of the route MR1 as the entry position RT11 to the first transfer area for transferring out.

In step S23, the route search unit 115 searches for a route MR2 (second route) from the second transfer area for transfer-out (candidate area AT1) to the second transfer area for transfer-in (candidate area AT2). In step S24, the route search unit 115 sets the starting point of the route MR2 as the exit position AT11 from the second transfer area for transfer-out. In step S25, the route search unit 115 sets the arrival point of the route MR2 as the entry position AT21 to the second transfer area for transfer-in.

In step S26, the route search unit 115 searches for a route MR3 (first route after transfer-in) from the first transfer area for transfer-in (candidate area RT2) to the destination GP. In step S27, the route search unit 115 sets the starting point of route MR3 to the exit position RT21 from the first transfer area for transfer-in. This completes the route search procedure in step S09.

[Effects of this embodiment]
As described above, the processing device 100 includes a transfer area selection unit 114 that selects a transfer area in which a mobile object can move within its own area, which is an area reachable by the processing device movement route network, based on map data, and a route output unit 116 that outputs guidance information to cause the mobile object to change its means of transportation within the transfer area.

The guidance information output by the processing device 100 allows for flexible adjustment of the position at which the means of transportation is changed. For example, when the air-land vehicle M1 changes the means of transportation of a moving body (e.g., a person) from running on land to flying (i.e., taking off), the takeoff position of the air-land vehicle M1 can be flexibly adjusted within the first transfer area based on the traffic conditions of other moving bodies. For example, while moving within the first transfer area, the takeoff run can be started when sufficient runway space is secured between the moving body in front. Also, when the air-land vehicle M1 changes the means of transportation of the moving body from flying to running on land (i.e., landing), the landing position of the air-land vehicle M1 can be flexibly adjusted within the first transfer area based on the traffic conditions of other moving bodies. For example, the air-land vehicle M1 can be landed at a position where sufficient runway space can be secured between the moving body in front.

In addition, when a moving body transfers from a land vehicle M2 to an aerial vehicle M3, and when a moving body transfers from an aerial vehicle M3 to a land vehicle M2, the transfer waiting position of the aerial vehicle M3 can be flexibly adjusted within the transfer area based on the traffic conditions of other moving bodies. For example, the aerial vehicle M3 can be made to wait in a position where there are no other moving bodies, or in a position where it is unlikely to obstruct the traffic of other moving bodies.

In addition, when a pedestrian boards a land vehicle M2, the pickup position by the land vehicle M2 can be flexibly adjusted within the transfer area according to the mobility of the pedestrian. For example, for a pedestrian with high mobility (e.g., a healthy adult), a pickup position can be selected from a wide range starting from the pedestrian's current location, and for a pedestrian with low mobility (e.g., an elderly person), a pickup position can be selected from a narrow range starting from the pedestrian's current location.

The transfer area selection unit 114 selects a first transfer area that is an area reachable by the movement route network of the first moving means (the above-mentioned first movement route network 10) and in which the moving body can move within its own area, and a second transfer area that is an area reachable by the movement route network of the second moving means (the above-mentioned second movement route network 20) and in which the moving body can move within its own area, based on map data, and the route output unit 116 may output guidance information to change the moving body's moving means from the first moving means to the second moving means or from the second moving means to the first moving means within the first transfer area, and to cause the moving body to enter the second transfer area or exit the second transfer area by the second moving means. In this case, in addition to the position for changing the moving body's moving means from the first moving means to the second moving means or from the second moving means to the first moving means, the position for the moving body to enter the second moving route network 20 or exit the second moving route network 20 by the second moving means can also be flexibly adjusted.

For example, when the air-land amphibious vehicle M1 or the airborne vehicle M3 enters the second movement route network 20, the entry position into the second transfer area can be adjusted to avoid collision with other moving bodies located above. Also, when the air-land amphibious vehicle M1 or the airborne vehicle M3 exits the second movement route network 20, the exit position from the second transfer area can be adjusted to avoid collision with other moving bodies located below.

The map data may include first network data that defines a travel route network for a first means of transportation, second network data that defines a travel route network for a second means of transportation, candidate area data that associates a plurality of first candidate areas that are candidates for a first transfer area with the first network data and a plurality of second candidate areas that are candidates for a second transfer area with the second network data, and transfer data that defines a plurality of combination candidates between any of the plurality of first candidate areas and any of the plurality of second candidate areas, and the transfer area selection unit may select the first transfer area and the second transfer area based on the first network data, the second network data, the candidate area data, and the transfer data. In this case, the map data includes information indicating a combination of the first candidate area and the second candidate area that can be selected as the first transfer area and the second transfer area, making it possible to more quickly select a more appropriate first transfer area and a second transfer area.

The map data may further include constraint data that defines constraint conditions for use as the first and second transfer areas for each of the multiple combination candidates, and the transfer area selection unit may select the first and second transfer areas based on the constraint data. In this case, it becomes possible to select the first and second transfer areas that are flexibly adapted to various constraint conditions, such as conditions that restrict use as the first and second transfer areas depending on the time of day, conditions that restrict use as the first and second transfer areas depending on the means of transportation, conditions that restrict use as the first and second transfer areas depending on the weather, and fees for use as the first and second transfer areas.

The route output unit 116 may output guidance information so as to satisfy the constraint conditions corresponding to the first and second transfer areas selected by the transfer area selection unit 114. In this case, even if the first and second transfer areas that are available under the constraint conditions are selected, it is possible to output guidance information that flexibly adapts to the constraint conditions.

Although the embodiment has been described above, the present invention is not necessarily limited to the above-mentioned embodiment, and various modifications are possible within the scope of the gist of the present invention. For example, it is not necessary to associate separate travel route networks with the pre-change travel means (e.g., the above-mentioned first travel means) and the post-change travel means (e.g., the above-mentioned second travel means). For example, if the first travel means and the second travel means are both land travel means (e.g., if the first travel means is walking and the second travel means is land travel by vehicle), the travel route network of the first travel means and the travel route network of the second travel means may be common. In this case, since there is no distinction between the first candidate area and the second candidate area, the transfer data 500 is not necessary, and the constraint data 600 may simply define constraint conditions for each candidate area.

In the above, the processing device 100 that outputs guidance information from the current location to the destination has been exemplified, but the processing device may be one that outputs guidance information (hereinafter referred to as "guidance information for transfer") to at least cause the mobile object to change its mode of transportation within a transfer area. A specific example of a device that simply outputs guidance information for transfer is a device that presents transfer areas that can be traveled to according to the mode of transportation before and after the change.

The aspects described in all or part of the above embodiments solve any one of the following problems: providing a processing device that enables flexible adjustment of transfer positions on a route that includes transfers; improving processing speed, improving processing accuracy, improving usability, improving functions using data or providing appropriate functions, other improving functions or providing appropriate functions, reducing the capacity of data and/or programs, miniaturizing devices and/or systems, and providing appropriate data, programs, recording media, devices and/or systems; and optimizing the production and manufacturing of data, programs, devices and/or systems, such as reducing the production and manufacturing costs of data, programs, devices or systems, facilitating production and manufacturing, and shortening production and manufacturing times.

10...first travel route network, 20...second travel route network, 100...processing device, 114...transfer area selection unit, 116...route output unit, 300...network data, 400...candidate area data, 500...transfer data.

Claims (6)

a transfer area selection unit that selects, based on map data, a transfer area that is reachable by a vehicle carrying a passenger via a first travel route network and within which the passenger can move;
A processing device comprising: an output unit that changes the passenger 's means of transportation within the transfer area by changing the movement mode of the vehicle itself by changing the function of the vehicle while keeping the passenger on the same vehicle , and outputs guidance information to guide the vehicle to a second movement route network corresponding to the changed means of transportation . the transfer area selection unit selects, based on the map data, a first transfer area that is reachable by a travel route network of a first transportation means and in which the passenger can move within the first transfer area, and a second transfer area that is reachable by a travel route network of a second transportation means and in which the passenger can move within the second transfer area,
The processing device according to claim 1, wherein the output unit outputs the guidance information to change the passenger 's means of transportation from the first transportation means to the second transportation means or from the second transportation means to the first transportation means within the first transfer area, and to cause the passenger to enter or exit the second transfer area using the second transportation means. The map data is
First network data defining a travel route network of the first travel means;
Second network data defining a travel route network of the second travel means;
candidate area data that associates a plurality of first candidate areas that are candidates for the first transfer area with the first network data and associates a plurality of second candidate areas that are candidates for the second transfer area with the second network data;
and transfer data defining a plurality of combination candidates between any one of the plurality of first candidate areas and any one of the plurality of second candidate areas,
The processing device according to claim 2 , wherein the transfer area selection unit selects the first transfer area and the second transfer area based on the first network data, the second network data, the candidate area data, and the transfer data. The map data is
Further, the method includes the step of: providing constraint data for determining constraint conditions for use of each of the plurality of combination candidates as the first transfer area and the second transfer area;
The processing device according to claim 3 , wherein the transfer area selection unit selects the first transfer area and the second transfer area further based on the restriction data. The processing device according to claim 4, wherein the output unit outputs the guidance information so as to satisfy the constraint conditions corresponding to the first transfer area and the second transfer area selected by the transfer area selection unit. The processing device according to claim 4 or 5, wherein the constraint condition is a condition that limits the use of the combination candidate as the first transfer area and the second transfer area depending on the weather.

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