201005266 九、發明說明： 【發明所屬之技術領域】 本發明是關於一種狀態相依速度調節最佳化問題解決與 應用方法、裝置、系統與電腦可讀取媒體，且特別是關於決定 父通路徑效用最佳解而作為駕駛行程參考之一種狀態相依速 度調節最佳化規劃方法、裝置、系統、電腦可讀取媒體與狀態 相依交通效用最佳化規劃方法。 【先前技術】 Ο ❹ 現代人生活步調快速且追求效率，因此各類具有輔助功能 的電子產品應運而生。在交通方面，安裝在駕驶者近端具有導 航功能的電子裝置在軟硬體功能的提供與開發上也日新月 異。一般而言，習知的全球定位系統（Global p〇siti〇ning System， =ps)這種電子裝置’能夠根據駕*者現纽置以輯於預定起’ =點的輸人結果來搜尋地圖㈣，從而靜態或動態地顯示一條 =的最短交通職’並且有麵減語音播報魏以提供駕 亡在仃程上的參考。然而，尤其是在都會區，最短路徑對於 =行程有時會形成—種迷思，因為它雖然能夠提供路線上的 、:曰不代表駕驶者依循此建議的最短交通路徑就會最快到 =拖1為都會區較多紅綠燈的設置，往往導致駕丄: 與重新起步應黃輯料備停車以及紅燈停車等待 ' '境樣…、形中就會增加行程中的時間花費。 車盘mf輸為服務項目的物流業與宅配業，其物流 0^:3=間可謂分秒必爭，因財華民國第 用於貨品輸配送ϋ典理一 ΐ輸配送決策支援系統與裝置，係 配送相關資料計算裝貨 ^圖5又疋應用模組根據客戶與 异衷>點與客戶間以及客戶與客戶間之最短 5 201005266 距，，=車及運程規劃模組可將資料庫中之資料進行自動、人 或插早排車處理以女排送貨先後順序，從而擬出一份訂單運 程網路模擬資料，再將之傳送至電子地圖設定應用模組中，以 顯不，貨物運送路程。然而，此專利如前所述是計算最短路徑 =最短㈣’因此無法滿足前述降低行程時間與快速到達的 ❹ 山在其他習知技術中，例如美國第6,401，027號發明專利「# =通資料收集與智慧型高速公路車⑽統」，包含了交通服 事株^接收並處理車輛位置，錄據特定歷史㈣、路況與 ^與，某特定路_平均可行交通_與交通速 义遠端父通貝料收集子系統’包含設置在多台車輛的車上 報i儀=ίΒ==τ身訊。此專利較偏向交通路況預 ^時間的規劃方法與裝置。再例如美國第6 351期 專利與第20010014849公開專利φ往安「，， 〜發月 輛導舫备站όή. ^ * '^案之具有更新功能之車 Ο =統」所揭露車上導航裝置，具有輸人模 輸入預^目的地，接收模_以接 严娜考 ^ .丧收單輛現在位置，記憶模組 有預存而代表目前狀況的交通建如㊉★㈣淑接收/又 各模电溝诵而Μ _Γ t f 4 #υ ’處理器模組則與前述 、、溝通而產生建曦路線’傳送模 車並告知這台車輛在目脉置·、减給其他 戒，並且未揭露如何找出最佳解 /、異吊狀况的通 或最少紅燈暫停狀態數目為目標函數^ 最短交通時間 節最佳化賴方法1置、系鉢的狀態相依速度調 如，尤其是錢何方絲代以錢取賴健付之闕 求解的狀態相依速度調節最佳化問ϋ而轉換為向量空間 哺相關規劃方法、裝置、系 201005266 統與電腦可讀取媒體實為所冀。 【發明内容】 ' 目的就是在提供—種狀態相依速度調節最佳化 作i行程參i歧純邮之―效时雜，從啸供駕駛者 揚則明的再二目的是提供—種狀態相依速度調節最佳化 你1- u啸供交通路徑之-效用最佳解，從而提供駕驶者 作為彳丁程參考。 ❹201005266 IX. Description of the Invention: [Technical Field] The present invention relates to a state dependent speed adjustment optimization problem solving and application method, apparatus, system and computer readable medium, and in particular to determining a parent path utility The best solution is a state-dependent speed adjustment optimization planning method, device, system, computer readable media and state-dependent traffic utility optimization planning method. [Prior Art] Ο ❹ Modern people's life is fast and efficient, so various types of electronic products with auxiliary functions have emerged. In terms of transportation, electronic devices installed with navigation functions at the driver's near end are also changing in the provision and development of hardware and software functions. In general, the known global positioning system (Global P〇siti〇ning System, = ps) can search for maps based on the results of the input from the driver's current location. (4), thus displaying a = shortest traffic position statically or dynamically' and having a face-reduction voice broadcast to provide a reference for the death of the driver. However, especially in the metropolitan area, the shortest path sometimes forms a myth for =travel, because it can provide the shortest traffic path on the route, which does not mean that the driver follows this recommendation. Drag 1 is the setting of more traffic lights in the metropolitan area, which often leads to driving: and restarting should be yellowed to prepare for parking and red light parking waiting for ''...', the shape will increase the time spent in the journey. The mf of the vehicle disc is the logistics industry and the home delivery industry of the service project. The logistics 0^:3= can be described as the second and the second, because the financial and industrial Republic of China is used for the delivery and distribution of goods, and the distribution and delivery decision support system and device are distributed. Related data to calculate the loading ^ Figure 5 and the application module according to the customer and the difference between the customer and the customer and the customer and the customer between the shortest 5 201005266 distance, = car and fort planning module can be in the database Automated, person or early-discharge processing is carried out in order of delivery of women's volleyball, so that an order network simulation data is prepared and transmitted to the electronic map setting application module to show that the goods are transported. However, this patent is based on the calculation of the shortest path = the shortest (four) 'so that it can not meet the aforementioned reduced travel time and fast arrival. In other conventional technologies, for example, the US Patent No. 6,401,027 "# = General Information Collecting and intelligent highway vehicles (10), including traffic service plants ^ receiving and processing vehicle locations, recording specific history (four), road conditions and ^, a specific road _ average feasible traffic _ and traffic speed remote parent The Tongbei material collection subsystem 'includes the vehicle set on multiple vehicles=iΒ==τ body. This patent is more biased towards the planning method and device of traffic conditions. For example, the US 6 351 patent and the 20010014849 public patent φ 安 安 ",, ~ 月 辆 辆 辆 ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ , with input mode input pre-destination, receiving mode _ to Yan Yan Na test ^. The current location of the funeral receipt, the memory module has pre-existing and represents the current situation of traffic such as ten ★ (four) Shu reception / each mode The electric squad and the Γ Γ tf 4 #υ ' processor module communicate with the aforementioned, and generate the construction route 'transfer the model car and inform the vehicle to set the target, reduce to other rings, and did not reveal how Find the best solution /, the number of different hanging conditions or the minimum number of red light pause state is the objective function ^ The shortest traffic time section is optimized according to the method 1 set, the state of the system depends on the speed adjustment, especially Qian Hefangsi On behalf of the money-dependent health care solution, the state-dependent speed adjustment optimization problem is converted into a vector space feeding related planning method, device, system 201005266 system and computer readable media. [Summary of the Invention] 'The purpose is to provide a state-dependent speed adjustment optimization for the i-stroke i 歧 歧 纯 纯 纯 纯 纯 纯 , , , , , , , , , , , , , , , , , , 扬 扬 扬 啸 啸 啸 扬 扬 扬 扬 扬Adjust and optimize your 1-u whistling traffic path - the best solution for the utility, thus providing the driver as a reference for the Kenting process. ❹
，發明的又-目的是提供—種狀態相依速度調節最佳化 ，劃系統’啸供交通路#效用最佳解而作為駕驶者之行程參 考。 Α本發明的另一目的是提供一種電腦可讀取媒體，以儲存一 狀相依速度調節最佳化規劃程式而I人遠端饲服系統或使 用者近端具有導航功能之電子裝置。 本么明的另一目的就是在提供一種狀態相依交通效用最 佳=規劃方法’以決定一狀態相依交通速度調節問題之一速度 調節最佳解，從而滿足一交通效用目標函數，其中，交通效用 目標函數至少包含一最小暫停狀態數目。 本發明一較佳實施例之狀態相依速度調節最佳化規劃方 法，包含以下步驟：以一幾何方式呈現根據起訖點擷取之紅綠 燈號誌資訊以描述狀態相依速度調節最佳化問題之内在行為 與具有群集形式之一解集合空間，幾何方式例如一交通號誌狀 態圖模板，以呈現包含紅燈暫停位置與秒差、綠燈通過位置與 秒差以及紅綠燈號誌設置位置之紅綠燈號誌資訊等，接著根據 至少一目標函數及相對應多個限制條件，自解集合空間計算並 輸出效用最佳解。 在本發明的較佳實施例中’上述之狀態相依速度調節最佳 7 201005266 化規劃方法還可以白人 置或是遠端飼服系統計3算效用=近端之^導航功能電子農 =具有導航功能之電子裝置此—步驟地】 限制、線性移動限制以及維是狀態轉換車速維持 是最大駕駛順楊度，尤二速限行敬限制；若目標函數 是速产上τχΓ二 私狀態數目，_條件可以 :下界限制以及_最高速限行驶限制。 ❹ ❹ 置，包含度調節最佳化規劃裝 处里早兀以根據一起訖點以及一紅綠燈號社資 生一交通聽狀態關板，並且丨 捕“貝喊 =:，_最佳解;::= = 取佳解H顯示單元以顯示效用最佳解。 化賴ίιΐΓ的較佳實施例中’上述之狀態相依速度調節最佳 =㈣置之紅綠燈聽資訊可以在出廠前聽設定於記憶 早疋、以軟體更新而儲存於記憶體單元或儲存於一遠端資料 f而傳輸至處理單元或記憶體單元，顯示單元更可顯示效用最 ^解與-地圖資訊之整合畫面供駕驶者作為行程參考，並且更 可包含一無線收發單元以隨時接收更新之效用最佳解而傳送 ^記憶體單元、-駕驶狀態自動侧單元發送—即時駕驶變動 身訊以重新計算並輸出最新之效用最佳解以及一駕駛行程手 動變更單元根據駕駛者動態輸入之行程變更資訊以重新計算 並輸出最新之效用最佳解。 本發明一較佳實施例之狀態相依速度調節最佳化規劃系 統，包含一遠端伺服系統以提供地圖資訊，以及具有導航功能 之電子裝置以根據以幾何方式呈現之交通路徑起訖點、地圖資 訊與紅綠燈说§忽-貝訊以及至少一個目標函數與相對應多個限 制條件計算並輸出效用最佳解。 8 201005266 在本發明的較佳實施例中’上述狀態相依速度調節最佳化 =劃系統之處理單元可設置在具有導航功能之電子裝置 =司服系統’、綠燈號諸資訊包含紅燈暫停位置與秒差、綠燈通 匕立置與秒差以及紅綠職誌、設置位置 =具有導航功能之電子裝置、以軟體更新而儲存於= 〜或儲存於遠r服系統而傳輸至具有導航 Ο "、’且，若目標函數為最小暫停狀態數目，限 界限制與維持最高速限行驶限制；若目標函 移動限制=持:高==態轉換車速維持限制、線性 件計算—效用最佳二圖上莫板:至少一目標函數與相對應限制條 子裝置之顯示單元。出程式段職以輸出效用最佳解至電 段之目標=的為較』圭:=:最二電腦可讀取媒體處理程式 度，並且最大駕凝 最短父通時間或最大駕駛順暢 轉換車速變化、。:更包含最小暫停狀態數目與最小狀態 以是速度上下界^數為最小暫停狀態數目，限制條件可 為最短交通_速限行敬限制；若目標函數 性移動限制以及唯1^可以疋狀態轉換車速維持限制、線 本發明—維持最咼速限行駛限制。 法，用以決定狀例之狀態相依交通效用最佳化規劃方 滿足至少包含通速度調節問題之速度調節最佳解以 、暫v狀恶數目之交通效用目標函數，包含 201005266 以下步驟：首先’根據所設定之起訖點擷取紅綠燈號諸資訊並 建立交通號諸狀態圖模板，以利用幾何方式描 效用最割匕問題之内在行為與具有群集形式之解集 後，根據交通效用目標函數與相對應限制條件自命 算並輸出速度調節最佳解。 ” 口工曰寸 在本發明的較佳實施例中，上述狀態相依速度調節最佳化 規，方法若目標函數為最小暫停狀態數目，限制條件為逮度上 下界限_麟躲冑舰躲_，難 φ ❹ 件自解集合空間計算並輪出速度調節最 =含:以一探測程序獲得一潛在暫停點集合，並且以每一 二=點作為起訖點之—假設終點，自起訖點之起點至每一 j暫停點之首端與尾端分職定—祕絲式㈣得代表 對應斜率，·以-碰撞檢測程序檢驗每—線性方程3 3=或下限以及其他暫停點相矛盾，以作為相對應斜率之 一有效性檢測程序獲得一有效暫停點集合，其令 複m i Ϊ停財端之相關斜率Α於尾端之相關斜率；以及重 、截制程相及有效錄_序’直到假設終 點等於終點，以獲得效用最佳解。 、 系餘本H㈣採錄態相依速i調節最佳化規劃方法、裝置、 此可以1可讀雜她態相依交通效用最佳化_方法，因 3 力問題之_行為與具有群㈣紅—解集合 從而產生效用最佳解以提供駕駛者直觀而視 辦紐能喊缺通時㈣最少暫停狀態數目\ 榷進仃車效率和駕駛順暢度。 求 懂，下m發明之上述和其他目的、特徵和優點能更明顯易 、牛較佳實施例，並配合所附圖式，作詳細說明如下。 201005266 【實施方式】 佳化規劃方2纟係本發明一實施例之狀態相依速度調節最 題-在行為^有。 ==rr，綠燈 ❹ ❹ 佳化問題係具有狀態相依之非線性關係、非; 三項主要特徵的問題，内在行為例如狀態本身二 及狀4之間的仃為。由於狀態相依速度調 傳統的模型存在高階次方的運算複雜二^ 的内在行微’並且能夠發現具有職形式的解集合^類問遞 程建了實務上雜體運雜供—較佳解作為行 ，制條件自解集合空間計算並輸出效用最佳解，其中2二 最佳解可在㈣者近端之—财導航 二 鋼=計算’目標函數可以是交通路徑之-最 數順暢度更可包含-最小暫停二 遵循-狀態轉換車速維持限制、—線性移動限制以及^ 兩速限行祕料限件達成。狀態轉換車鱗持限制= ==、ϊί(Γ狀態)後’仍維持在上一路段區間原： 速度而不减車速’因域務上車輛錢會―:域續 以上的綠燈所代表的車輛通過狀g，@此在兩 之間的速度轉換有時是不必要的，從而可以將以—車; 201005266 .燈(暫停狀態）前可得到最多的車輛通過μ 而利用相同速度前進，再將剩餘 區分為一個群組 態前可得到最多車輛通過狀態者作為 中下一個遇到暫停狀 續處理直到到達終點；線性移動限^個群叙加以處理，持 駛；維持最高速限行驶限制則是n定速(不增加車速)行 種’以最高速限的車速定速移動：▲況車輛外型或車 紅燈而必須暫停等待的次數最少，最小 ft、目是指遇到 φ 指在經過-個綠燈(通過狀態)後儘量=、、速變化則是 駛順暢度可藉由實現最小暫停 數讓車子不會走走停停或猛==二 後於4S130效用最佳解可與 、 導航功能之電子裝置，例如—個_不於具有 置。 』如個裝s又於％駛座附近的GPS裝 步:兒明以一幾何方式描述狀態相依速度調節最 行為與具有群集形式之解集合空間，圖2為本發 施例之交通號誌、狀態圖模板示意圖，而圖3則為本發明 ❹-實2狀整合效用最佳解之交_魏態襲板。 月/閲圖2，仏軸為時間(在此單位例如秒），縱軸為累積 距離(在此單位例如公尺），紅綠燈號誌資訊可以包含紅燈暫停 ，置與移差、綠燈通過位置與秒差以及紅綠燈號誌設置位置。 每丰又水平線段211〜216對應到累積距離2〇〇、400、600、1000、 1200以及14〇〇公尺’代表自起始點起設置的紅綠燈位置，其 線段長度代表駕駛者在此路口所需等待的車輛最長紅燈秒 差’而每個水平線段211〜216兩段之間的空隙221〜226代表駕 敬者可以穿越此路口的最長綠燈秒差。當車輛行駛以一特定車 速行駛而遇到水平線段211〜216時，必須等待此暫停點到線段 尾端相對應的秒差長度才能再通過相鄰的代表綠燈的空隙 12 201005266 221〜226，因此行車時間被累計，但從起點到終點的累積距離 並沒有增加。因此，交通號誌狀態圖模板可以呈現交通號誌限 制系統這類的狀態相依速度調節最佳化問題的内在行為，決定 最佳或較佳速度集合（以斜率表現)與狀態間路徑（以代“表== 的水平線段211〜216表現）’以減少交通時間(橫軸之時間值）、 車速變化(斜率變化總值)以及暫停狀態數目。 日 ❹ Ο 承上實施例，請參閱圖3，其係整合效用最佳解之交通號 誌狀態圖模板之示意圖。此實施例由起點ρ〇 (累積距離…可先 得到潛在暫停點首端Ρ1〜Ρ5’不同的斜率及線性方程式可得到 如圖之線段丽1、涵、_、丽5、@(ΡΤΚ表終點）以及丽， 接著可見潛在暫停點尾端Ρ1，〜Ρ5,而分別獲得 —、—、獅及•接著再二：的 起點分別獲得？Πριι’ρτ、P2iP2mii以及P5iP5mn，然後可再八 別獲得？以及kupmTT，依此類推，從而找到所有& 終點PT的效用最佳解。在此一提，网piprpiipfp構成效用最佳 解之下限(lower bound)，而popsps'psipsi’pmipsii’構成效用最佳解 之上限(upper bound)。 承上實施例，請一倂參閱圖1與圖4,其係本發明一實施 例以最小暫停狀態數目為目標函數之狀態相依速度調節最佳 化規劃方法步驟流程圖。承圖1實施例步驟120，若目標函數 為最小暫停狀態數目，相對應限制條件可以是速度上下界限制 以及維持最高速限行驶限制而輸出一最佳行車速度與路線作 為效用最佳解’其步驟包含實施一探測程序、一碰撞檢測程序 以及一有效性檢測程序並重複至獲得效用最佳解。首先，於步 驟S121 ’以一探測(pr〇bing)程序於速度上下界限制之—上限 (upper bound){ub}Rl 與一下限(lower bound){lb}Rl 之間獲得 交通路控之潛在暫停點（potential breakpoint)集合 13 201005266 與{歷，HR即，此探測程序可包含對 車輛之-順向與-逆向通過狀態的探測，並且以每一潛在暫停 點集合之每-潛在暫停點f作為起訖點之_假設終點自起訖 點之-起點至每-潛在暫停點之一首端(head)與一尾端㈣分 別設定-線性方程式而獲得代表速度之相對應斜率VH^ VT ’並進行邊界檢測(b()undary check)，以作為相對應斜率 減逮與ντ加速的調節依據；接著於步驟S122以一碰撞檢測 (collision chfck)程序檢驗每一線性方程式是否與上限或下限 ❺以及其他暫停點相矛盾，例如對於起點至每 與尾端的線性方程式進行—職(exdusive 〇R)邏^算首^ $次作為相對應斜率VH減速與ντ加速的調節依據；然後於 ν驟S123以-有效性檢測(validity如设)程序獲得交通路徑 之-有效暫停點(sufficient breakp〇int)集合，其中有效暫停 $之每了有效暫停點首端相關斜率VH大於尾端相關斜率 之後於步驟S124將有效暫停點之尾端端點設為起點， ，步驟S121〜S123的邊界檢測、碰撞檢測程序以及有效性檢 ❹:程序’直到假設終點等於起乾點之終點，也就找到了一條在 起訖點之間的效用最佳解。 »旁> 閱圖5 ’其係本發明一實施例之狀態相依交通效用最 ，規^方法步驟流程圖。本發明之狀態相依交通效用最佳化 j方法用來蚊—狀態相依交通速度__之速度調節 土解’以滿足至少包含一最小暫停狀態數目的交通效用目標 '二在此實施例包含以下步驟：於步驟S510，根據所設定 起已點操取紅、.柰燈號言志資訊並建立一交通號言志狀態圖模 ^以利用幾何方式描述狀態相依交通效用最佳化問題之内 二為與具有群集形式之解集合空間，降低習知以正規方法求解 ☆類問題的運算_度；接著’於步驟s52G根據交通效用目 201005266 =數與㈣躲賴件自解集合㈣計算 私解，在此實施例中，賴目標 j度調郎 可包含速度上下界限制以及態數目，限制條件 為紅綠燈號对财包’因 ，秒差以及紅綠燈號誌設置位置而呈現號：:2 ❹ ❹ 的裝置提供給駕駛者，因此可^ 佳解於地圖資訊後一起顯示於速度調節最 在建議路财暫停簡示最佳奴，卩如 通時間、駕駛順驗躲客縣舒適料)最佳例如交 齡ίΐί施例，若步驟咖以最小暫停狀態數目為目標函 异速度調節最佳解在此較佳實施例可細分為、J； = 探測程胁速度上下界限制之上限與下限之^ ϋ點白Τ點集合’並且以每個潛在暫停點作為起乾點之假 二起訖點之起點至每個潛在暫停點之首端與尾端分別 測程Ϊ而獲得代表速度之相對應斜率;接著以-碰 广序檢驗母—線性方程式是否與上限或下限以及其他 t Μ ’以作為姆應斜率之_依據；再以—有效性 序财有效暫停轉合’其巾每财效暫停點首端相關 1,.於尾端；然後重複前述探測程序、碰撞檢測程序以及有 if測程序直到假設終點科終點，即可獲得代表速度調節 取佳解之路徑與速度。 4參閱圖6,其係本發明一實施例之狀態相依速度調節最 6〇 =畫塊Ϊ，。狀態相依速度調節最佳化規劃裝置 守航功此，包含一處理單元61以根據起訖點以及紅綠 15 201005266 . 燈號誌貧訊產生交通號誌狀態圖模板’紅綠燈號誌資訊包含紅 燈暫停位置與秒差、綠燈通過位置與秒差以及紅綠燈號誌設置 位置，並且處理單元61根據目標函數與相對應限制條件計算 並輸出效用最佳解611，目標函數可以是交通路徑之最短交通 ，間或最大駕駛順暢度，並且最大駕駛順暢度更可包含最小暫 停狀態數目與最小狀態轉換車速變化，而相對應的限制條件例 如速度上下界限制、維持最高速限行驶限制、狀態轉換車速維 持限制以及線性移動限制等；一記憶體單元65用以儲存效用 © 最佳解611 ;以及一顯示單元66用以顯示效用最佳解6U，也 可用以顯示效用最佳解611與地圖資訊之整合畫面（未示於圖 。其中，紅綠燈號誌資訊可以在出廠前預先設定於記憶體 單元65、以軟體更新而儲存於記憶體單元μ或儲存於一遠端 資料庫而以無線或其他方式傳輸至處理單元61或記憶體單元 65 ° 承上，在其他實施例中，狀態相依速度調節最佳化規劃裝 置60更可包含一無線收發單元62以隨時接收更新之效用最佳 〇 解612後傳送至記憶體單元65。 承上，狀態相依速度調節最佳化規劃裝置更可包含一 駕駛狀態自動偵測單元63以發送一即時駕駛變動資訊631至 處理單兀61，以重新計算並輸出最新效用最佳解614。 〇承上，狀態相依速度調節最佳化規劃裝置60更可包含一 駕駛行程手動變更單元64以接受並發送駕駛者動態輪入之一 行程變更:貞訊641至處理單元61，以供重新計算並輸出最新 之效用最佳解615。 請參閱圖7，其係本發明一實施例之狀態相依速度調節最 佳化規劃系統方塊示意圖。狀態相依速度調節最佳化規劃系統 包含一遠端伺服系統71以提供地圖資訊，以及一駕駛者近端 16 201005266 ❹Invented again - the purpose is to provide a state-dependent speed adjustment optimization, and the system "small traffic road # utility best solution" as a driver's travel reference. Another object of the present invention is to provide a computer readable medium for storing an optimized speed planning algorithm for an I-to-Day feeding system or a user having a navigation function at the proximal end of the user. Another purpose of the present invention is to provide a state-dependent traffic utility optimal = planning method to determine a state-dependent traffic speed adjustment problem, one of the speed adjustment optimal solutions, thereby satisfying a traffic utility objective function, wherein traffic utility The objective function contains at least a minimum number of pause states. A state-dependent speed adjustment optimization planning method according to a preferred embodiment of the present invention includes the following steps: presenting a geometrical information of a traffic light information extracted according to a starting point to describe a state-dependent speed adjustment optimization problem And a solution space with one of the cluster forms, a geometric way such as a traffic signal state diagram template, to present the red light signal information including the red light pause position and the second difference, the green light passing position and the second difference, and the traffic light setting position. Then, according to the at least one objective function and corresponding multiple constraints, the self-solving set space is calculated and the utility optimal solution is output. In the preferred embodiment of the present invention, the above-mentioned state-dependent speed adjustment is optimal. 7 201005266 The planning method can also be used for white or remote feeding system. 3 calculation effect = near-end navigation function electronic agriculture = with navigation Functional electronic device This step-by-step] Limit, linear movement limit and dimension is the state transition speed maintenance is the maximum driving speed, especially the second speed limit; if the objective function is the number of τχΓ two private states on the fast production, _ condition Can: lower bound limit and _ maximum speed limit driving limit. ❹ , , 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 = = Take the best H display unit to show the best solution. In the preferred embodiment of the ίίιΐΓ, the above state-dependent speed adjustment is optimal = (4) The traffic light information can be set in the memory before leaving the factory. The software is stored in the memory unit or stored in a remote data f and transmitted to the processing unit or the memory unit. The display unit can display the integrated image of the best solution and the map information for the driver to use as the travel reference. And further comprising a wireless transceiver unit for receiving the updated utility solution at any time to transmit the memory unit, the driving state automatic side unit transmitting, the instant driving change body to recalculate and output the latest utility best solution and A driving stroke manual change unit recalculates and outputs the latest utility best solution according to the driver change information of the driver dynamic input. The state of a preferred embodiment of the present invention The speed adjustment optimization planning system includes a remote servo system to provide map information, and an electronic device with navigation function to say according to the geometrically presented traffic path, map information and traffic lights, and The at least one objective function calculates and outputs the utility optimal solution corresponding to the plurality of constraints. 8 201005266 In the preferred embodiment of the present invention, the above-described state dependent speed adjustment optimization = processing unit of the stroke system can be set with navigation Functional electronic device = servo system', green light information includes red light pause position and second difference, green light overnight and second difference, red and green job, set position = electronic device with navigation function, software update And stored in = ~ or stored in the remote service system and transferred to the navigation Ο ", 'and, if the objective function is the minimum number of pause states, the limit limits and maintain the maximum speed limit driving; if the target letter movement limit = hold : High == state conversion speed maintenance limit, linear part calculation - utility best two pictures on the board: at least one objective function and corresponding The display unit of the sliver device. The output of the program to the best solution of the output utility to the target of the electric segment = is more than gui: =: the second computer can read the media processing program, and the maximum driving time is the shortest parent time Or the maximum driving smoothly converts the speed of the vehicle. It includes the minimum number of pause states and the minimum state. The upper and lower bounds of the speed are the minimum number of pause states. The limit condition can be the shortest traffic _ speed limit line limit; if the target functional movement limit And only the 1^ can change the state of the vehicle speed to maintain the limit, the line of the present invention - maintaining the maximum speed limit driving limit. The method is used to determine the state of the state dependent traffic utility optimization plan to meet at least the speed of the speed adjustment problem The traffic utility objective function of adjusting the optimal solution to the temporary v-like number includes 201005266. The following steps: Firstly, according to the set point, the information of the traffic lights is collected and the state map templates of the traffic numbers are established to utilize the geometric method. After the intrinsic behavior of the most useful problem and the solution set with the cluster form, according to the traffic utility objective function and the corresponding limit The condition self-deals and outputs the optimal solution for speed regulation. In a preferred embodiment of the present invention, the state-dependent speed adjustment optimization rule is as follows: if the objective function is the minimum number of pause states, the constraint condition is the upper and lower limits of the catch. Difficult φ ❹ piece self-solving set space calculation and turn out speed adjustment most = include: obtain a set of potential pause points by a detection procedure, and use each two = point as a starting point - assuming the end point, from the starting point of the starting point The head end and the tail end of each j pause point are assigned - the secret wire type (4) is representative of the corresponding slope, and the - collision detection program tests each linear equation 3 3 = or lower limit and other pause points to contradict each other. The validity check program of one of the corresponding slopes obtains a set of valid pause points, which causes the correlation slope of the complex mi Ϊ 财 Α to Α to the relevant slope of the tail end; and the weight, the cut process phase and the valid record _ sequence ' until the assumed end point is equal to The end point is to obtain the best solution of utility. The rest of the H (four) adopting the recording state dependent speed i to adjust the optimal planning method and device, which can be used to optimize the traffic utility optimization method _ method, due to the problem of 3 forces _behavior and group (four) red-solution set to produce the best solution to provide the driver with intuitive and visually aware of the lack of time (four) minimum number of pause states \ 仃 仃 效率 efficiency and driving smoothness. The above and other objects, features and advantages of the present invention will become more apparent and preferred, and the preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. 201005266 [Embodiment] Jiahua Planning 2 is an implementation of the present invention. The state of the state depends on the speed adjustment of the most problem - in the behavior ^ there. == rr, green light ❹ 佳 The problem of the problem is a state-dependent nonlinear relationship, non-three; the main characteristics of the problem, the intrinsic behavior, such as the state itself The relationship between the four is due to the state-dependent speed adjustment of the traditional model, the existence of high-order powers, the complexity of the internal ^^, and the ability to find the solution set with the job form, the class of the task, the construction of the practical miscellaneous Miscellaneous—the preferred solution is used as a row, and the conditional self-solving set space is calculated and the best solution is output. Among them, the best solution can be in the near-end of the (four)--the navigational two steel=calculation 'the objective function can be the intersection The path - the most smoothness can be included - the minimum pause two follow - state transition speed maintenance limit, - linear movement limit and ^ two speed limit line limit is reached. State transition car scale limit = ==, ϊί (Γ After the state) is still maintained in the previous section of the original: speed without reducing the speed of the vehicle because of the money on the domain -: the vehicle represented by the green light above the domain passes the g, @this speed conversion between the two Sometimes it is unnecessary, so that the most vehicles that can get the most before the lamp (suspended state) can use the same speed to advance, and then divide the remaining into one group to get the most vehicles. The state is treated as a pause in the middle and the next until the end point is reached; the linear movement limit is treated as a group, and the driving is maintained; the maximum speed limit is maintained at n constant speed (no increase in speed). High speed limit speed fixed speed movement: ▲ condition vehicle appearance or vehicle red light and must pause the minimum number of waiting, the minimum ft, the target refers to encounter φ refers to after passing a green light (passing state) try to =, speed Change Driving smoothness can be realized by the minimum number so that the car does not pause or stop and go after two fierce == 4S130 Utility optimal solution with, the navigation function of the electronic device, for example - without having a counter _. 』If you install s and then in the vicinity of the % of the GPS step: Children clearly describe the state-dependent speed to adjust the most behavior and the solution space with cluster form, Figure 2 is the traffic sign of this example, The schematic diagram of the state diagram template, and Figure 3 is the best solution of the ❹-real 2-shaped integrated utility of the present invention. Month/Reading Figure 2, the axis is time (in this unit, for example, seconds), and the vertical axis is the cumulative distance (in this unit, for example, meters). The traffic light information can include red light pause, set and shift, and green light passing position. Set the position with the second difference and the traffic light number. Each abundance and horizontal line segment 211 to 216 corresponds to a cumulative distance of 2 〇〇, 400, 600, 1000, 1200 and 14 〇〇 尺 ' represents the position of the traffic light set from the starting point, and the length of the line segment represents the driver at the intersection. The longest red light difference between the vehicles to be waited for and the gaps 221 to 226 between the two segments of each horizontal line segment 211 to 216 represent the longest green light difference between the driver and the crossing. When the vehicle travels at a specific speed and encounters the horizontal line segments 211 to 216, it must wait for the corresponding difference in the length of the pause point to the end of the line segment to pass the adjacent green light gap 12 201005266 221~226, thus The travel time is accumulated, but the cumulative distance from the start point to the end point does not increase. Therefore, the traffic sign state diagram template can present the intrinsic behavior of the state-dependent speed adjustment optimization problem such as the traffic sign restriction system, and determine the optimal or better speed set (shown by the slope) and the inter-state path (by generation). "Table == horizontal line segments 211 to 216") to reduce traffic time (time value on the horizontal axis), vehicle speed change (total change in slope value), and number of pause states. 日❹ 承 In the example, see Figure 3 It is a schematic diagram of the traffic statistic state diagram template of the best solution of the integrated utility. This embodiment can be obtained from the starting point ρ〇 (accumulated distance... the slope and linear equation of the potential pause point head end Ρ1~Ρ5' can be obtained first. The line of the figure is Li, Han, _, Li 5, @(ΡΤΚ表终点) and Li, and then the potential pause point is Ρ1, ~Ρ5, and the starting point of -, -, lion and then two: Obtain Πριι'ρτ, P2iP2mii, and P5iP5mn, respectively, and then get another eight? and kupmTT, and so on, to find the best solution for all & end point PT. Here, the network piprpiipfp The effect uses the lower bound of the best solution, and popsps 'psipsi'pmipsii' constitutes the upper bound of the best solution. In the above embodiment, please refer to FIG. 1 and FIG. 4, which are the present invention. An embodiment is a flow chart of the state-dependent speed adjustment optimization planning method with the minimum number of pause states as the objective function. In step 120 of the embodiment of FIG. 1, if the objective function is the minimum number of pause states, the corresponding constraint condition may be the speed up and down. Limiting the limit and maintaining the maximum speed limit and outputting an optimal driving speed and route as the best solution for the utility'. The steps include implementing a detection procedure, a collision detection procedure, and a validity detection procedure and repeating to obtain the best solution of the utility. First, in step S121, a traffic control is obtained between a upper bound {ub}Rl and a lower bound {lb}Rl by a pr〇bing program. Potential breakpoint set 13 201005266 with {calendar, HR ie, this probing procedure may include detection of the vehicle's - forward and - reverse pass states, and each Each of the pause point set - the potential pause point f as the starting point _ assuming the end point from the starting point - the starting point to each of the - potential latent point one of the head (head) and one end (four) respectively set the linear equation to obtain the representative The corresponding slope of the velocity VH^ VT 'and the boundary detection (b()undary check) is used as the adjustment basis for the corresponding slope reduction and ντ acceleration; then in step S122, a collision detection (collision chfck) procedure is used to check each Whether a linear equation contradicts the upper or lower limit ❺ and other pause points, for example, for the linear equation from the starting point to the end and the end, the exdusive 〇R is the first ^ ^ times as the corresponding slope VH deceleration and ντ acceleration The adjustment basis is then; in the step S123, the validity check (sufficient breakp〇int) set of the traffic path is obtained by the -validity detection (validity) process, wherein the effective pause pauses the correlation slope of each of the effective pause points. After VH is greater than the tail-end correlation slope, the end point of the effective pause point is set as the starting point in step S124, and the boundary detection, collision detection procedure, and validity of steps S121-S123 ❹: Programs' until the end of the assumption equal starting point of the dry end, they found a utility between the start and end points of the optimal solution. »Parallel> FIG. 5 is a flow chart showing the state of the traffic-dependent method and the method steps of an embodiment of the present invention. The state-dependent traffic utility optimization method of the present invention is used to adjust the soil solution 'to meet the traffic utility target of at least one minimum pause state number' for the mosquito-state-dependent traffic speed __. In this embodiment, the following steps are included. : In step S510, according to the set point, the red, the semaphore message information is established, and a traffic number speech state mode is established to describe the state-dependent traffic utility optimization problem by geometric means. And with the solution set space in the form of a cluster, reduce the conventional operation to solve the problem of the ☆ class problem in a regular way; then, in step s52G, calculate the private solution according to the traffic utility item 201005266 = number and (4) the self-solving set (4). In this embodiment, the target j degree adjustment may include the speed upper and lower bounds and the number of states, and the restriction condition is that the traffic light indicates the location of the financial package 'cause, the second difference, and the traffic light number setting position: 2 ❹ ❹ Provided to the driver, so it can be displayed on the map information and displayed together in the speed adjustment, the most recommended in the road money pause, the best slaves, such as the time, driving and hiding The best comfort level of the county is the example of the age, if the step coffee is the target of the minimum pause state, the optimal solution can be subdivided into J, and the upper and lower limits of the speed The upper and lower limits of the limit are 集合 Τ Τ 集合 ' 并且 并且 并且 并且 并且 并且 并且 并且 并且 并且 并且 并且 并且 并且 并且 并且 并且 并且 并且 并且 并且 并且 并且 并且 并且 并且 并且 并且 并且 并且 并且 并且 并且 并且 并且 并且 并且 并且 并且 并且 并且Representing the corresponding slope of the velocity; then testing the mother--linear equation with the upper or lower limit and other t Μ ' as the basis of the slope of the m-slope; The first end of the financial effect pause point is related to 1, at the end; then repeat the aforementioned detection procedure, collision detection procedure and if test procedure until the end point of the hypothesis is determined, the path and speed representing the speed adjustment can be obtained. 4, which is a state dependent speed adjustment of the most 〇 = picture block 一 according to an embodiment of the present invention. The state-dependent speed adjustment optimization planning device saves the power, and includes a processing unit 61 to generate a traffic signal state diagram template according to the starting point and the red and green 15 201005266. The traffic light information includes a red light pause. The position and the second difference, the green light passing position and the second difference, and the traffic light number setting position, and the processing unit 61 calculates and outputs the utility optimal solution 611 according to the objective function and the corresponding constraint condition, and the objective function may be the shortest traffic of the traffic path, Or maximum driving smoothness, and the maximum driving smoothness may further include the minimum number of pause states and the minimum state transition vehicle speed change, and the corresponding limiting conditions such as speed upper and lower limit, maintaining the maximum speed limit, state transition speed maintenance limit, and Linear movement limit, etc.; a memory unit 65 for storing utility © optimal solution 611; and a display unit 66 for displaying the utility best solution 6U, and can also be used to display an integrated picture of the utility best solution 611 and map information ( Not shown in the figure. Among them, the traffic light information can be preset in the factory before leaving the factory. The body unit 65 is stored in the memory unit μ as a software update or stored in a remote database and wirelessly or otherwise transmitted to the processing unit 61 or the memory unit 65°. In other embodiments, the state is dependent. The speed adjustment optimization planning device 60 may further include a wireless transceiver unit 62 to receive the updated utility best solution 612 and transmit to the memory unit 65 at any time. The state dependent speed adjustment optimization planning device may further include A driving state automatic detecting unit 63 sends an immediate driving change information 631 to the processing unit 61 to recalculate and output the latest utility optimal solution 614. The state dependent speed adjustment optimization planning device 60 can be further A driving stroke manual changing unit 64 is included to accept and transmit one of the driver dynamic wheeling stroke changes: 641 to processing unit 61 for recalculating and outputting the latest utility best solution 615. Referring to FIG. 7, A block diagram of a state dependent speed adjustment optimization planning system according to an embodiment of the present invention. The state dependent speed adjustment optimization planning system includes a far The servo system 71 to provide map information, and a driver proximal 16 201005266 ❹
G 之具有導航功能之電子裝置72以根據以幾何方式呈現之交通 路徑起訖點、地圖資訊與紅綠燈號誌資訊以及至少一目標函數 與相對應限制條件計算並輸出效用最佳解。在此實施例中，效 用最佳解可以透過具有導航功能之電子裝置72(例如設置在車 亡的GPS裝置)之處理單元或遠端伺服系統乃之處理單元來計 算，兩者之間可以透過無線通訊網路或衛星進行溝通；包含紅 燈暫分位置與秒差、綠燈通過位置與秒差以及紅綠燈號諸設置 位置的紅綠賴資訊可以在㈣前預先設定或以軟體更新 而儲存在電子裝置72，或是儲存在遠端伺服祕71而傳輸至 電子裝置:2’目標函數可以是交通路徑之最短交通時間或包 二，小暫停狀態數目與最小狀態轉換車速變化之最大駕驶順 ―又’相對應的限制條件例如速度上下界限制、維持最高速限 行駛狀％、轉換車速維持限制以及線性移動限制等。 能如，其係本發明—實施例之電腦可讀取媒體之狀 Ϊ狀最ΐ化規劃程式内容示意圖。本發明一實施例 體劃程式81儲存在電腦可讀取媒 如且有;^⑽？、有項卡1之主機裝置讀取，此主機裝置例 :服GPS裝置、行動電話、可攜式電腦或遠端 統，而電腦可讀取媒體80例如隨身硬碟< SD等各種 種類的讀卡或可攜式電子資料儲存裝置。 -處狀態相依速度調節最佳化規劃程式81包含 訊所產以根據交通路徑之起訖點與紅綠燈號言志資 制條件計算效二:二圖綠模燈板二=數與相對應限 置與秒差以= 與最小= _通時間或包含最小暫停狀態數目 狀祕換車速變化之最大驗順暢度，相對應的限制條 17 201005266The navigation function electronic device 72 calculates and outputs the utility optimal solution according to the geometrically presented traffic path starting point, the map information and the traffic signal information, and the at least one objective function and the corresponding constraint condition. In this embodiment, the utility optimal solution can be calculated by the processing unit of the navigation device electronic device 72 (for example, the GPS device installed in the car) or the processing unit of the remote servo system. Communication via wireless communication network or satellite; red and green information including red light temporary position and second difference, green light passing position and second difference, and traffic light setting position can be pre-set (4) or stored in electronic device before software update 72, or stored in the remote server secret 71 and transmitted to the electronic device: 2' objective function can be the shortest traffic time of the traffic path or package 2, the number of small pause states and the minimum state transition speed change the maximum driving smooth - and ' Corresponding constraints such as speed upper and lower limit limits, maintenance of the highest speed limit travel mode %, conversion vehicle speed maintenance limit, and linear movement limit. For example, it can be a schematic diagram of the content of the computer readable medium of the present invention-embodiment. An embodiment of the present invention is stored in a computer readable medium such as; ^(10)? The host device of the item card 1 is read. The host device example is a GPS device, a mobile phone, a portable computer or a remote system, and the computer readable medium 80 such as a portable hard disk < SD and the like. Card reader or portable electronic data storage device. - The state-dependent speed adjustment optimization planning program 81 contains the results of the calculation according to the starting point of the traffic route and the traffic light conditions: the two green light board two = number and corresponding limit The difference between the second difference is = and the minimum = _ pass time or the maximum check smoothness of the number of secret speed changes including the minimum pause state, the corresponding limit bar 17 201005266
件例如速度上下農UP 速維持限制以及線^移動=^高=3限制、狀態轉換車 度調節最佳化_程=_ ’狀態相依速 用純駐電子裝置之顯輸程切812以輪出效 法、裝ΐ所二狀態相依速度調節 劃方法，因此可關#H體與狀_依交通效用最佳化規For example, speed up and down agricultural UP speed maintenance limit and line ^ movement = ^ high = 3 limit, state transition car degree adjustment optimization _ cheng = _ ' state dependent speed with pure resident electronic device display cut 812 to turn out The method of emphasizing and adjusting the state of the two states depends on the speed adjustment method. Therefore, the #H body and shape can be turned off.
QQ
者直觀的行程覺化顯雜用最鱗而提供駕駛 ^ r 夕 從而保證駕駛者能以最短交通時間戋^、 暫停狀態數目增進行車效率和駕駛順暢度。 戈最乂 本施== 内，當可料敎更動麵飾，因此本剌之倾 附之申請專職®所界定者鱗。 ㈣田視後 【圖式簡單說明】 圖1繪不為本發明一實施例之狀態相依速度調節最佳化 規劃方法步驟流程圖。 圖2繪示為本發明一實施例之交通號誌狀態圖模板示音 圖。 ' 圖3繪示為本發明一實施例之整合效用最佳解之交通號 誌狀態圖模板示意圖。 圖4繪示為本發明一實施例之以最小暫停狀態數目為目 標函數之狀態相依速度調節最佳化規劃方法步驟流程圖。 圖5繪示為本發明一實施例之狀態相依交通效用最佳化 規劃方法步驟流程圖。 圖6繪示為本發明一實施例之狀態相依速度調節最佳化 規劃裝置方塊示意圖。 圖7繪示為本發明一實施例之狀態相依速度調節最佳化 18 201005266 • 規劃系統方塊示意圖。 圖8繪示為本發明一實施例之電腦可讀取媒體之狀態相 依速度調節最佳化規劃程式内容示意圖。 【主要元件符號說明】 S110、S120、S130 :本發明一實施例之狀態相依速度調節最佳 化規劃方法各步驟。 211、212、213、214、215、216 :紅燈位置及秒差長度 221、222、223、224、225、226 :綠燈紅燈秒差及秒差長度 φ P0 :起點 P卜 P2、P3、P4、P5、Pll ' P2卜 P5卜 P211、P511 :潛在暫 停點首端 ΡΓ、P2’、P3,、P4,、P5,、P11，、Ρ2Γ、Ρ5Γ、Ρ21Γ、Ρ51Γ : 潛在暫停點尾端 PT :終點 S121、S122、S123、S124 :本發明一實施例以最小暫停狀態 數目為目標函數之狀態相依速度調節最佳化規劃方法各步驟。 {ub}R1 :速度上下界限制之上限 ❿{lb}R1 :速度上下界限制之下限 {f^，…fK}R1、{fiR，f2R，…:潛在暫停點集合 f:潛在暫停點 VH、VT :斜率、速度 S510、S520、S530 :本發明一實施例之狀態相依交通效用最佳 化規劃方法各步驟。 60 :狀態相依速度調節最佳化規劃裝置 61 :處理單元 61卜612、614、615 :效用最佳解 62 :無線收發單元 19 201005266 . 63 :駕駛狀態自動偵測單元 631 ··即時駕駛變動資訊 64 :駕駛行程手動變更單元 641 :行程變更資訊 65 :記憶體單元 66 :顯示單元 71 :遠端伺服系統 72 :具有導航功能之電子裝置 φ 80:電腦可讀取媒體 81 :狀態相依速度調節最佳化規劃程式 811 :處理程式段 812 :輸出程式段The intuitive traveler's sense of use and the most scales provide driving. It ensures that the driver can improve the efficiency and driving comfort with the shortest traffic time and the number of pauses.戈 乂 乂 乂 = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = (4) After the field view [Simplified description of the drawings] Fig. 1 is a flow chart showing the steps of the state-dependent speed adjustment optimization planning method according to an embodiment of the present invention. 2 is a block diagram of a traffic statistic state diagram of an embodiment of the present invention. FIG. 3 is a schematic diagram of a traffic state diagram of an integrated utility solution according to an embodiment of the present invention. 4 is a flow chart showing the steps of a state dependent speed adjustment optimization planning method with a minimum number of pause states as a target function according to an embodiment of the invention. FIG. 5 is a flow chart showing the steps of a state-dependent traffic utility optimization planning method according to an embodiment of the invention. 6 is a block diagram showing an apparatus for optimizing state-dependent speed adjustment according to an embodiment of the present invention. FIG. 7 illustrates an optimization of state dependent speed adjustment according to an embodiment of the invention. 18 201005266 • Schematic diagram of a planning system block. FIG. 8 is a schematic diagram showing the content of a state-adjusted speed adjustment optimization planning program for a computer readable medium according to an embodiment of the invention. [Description of Main Element Symbols] S110, S120, and S130: steps of the state-dependent speed adjustment optimization planning method according to an embodiment of the present invention. 211, 212, 213, 214, 215, 216: red light position and second difference length 221, 222, 223, 224, 225, 226: green light red light second difference and second difference length φ P0: starting point P P2, P3, P4, P5, Pll 'P2, P5, P211, P511: potential pause point head end ΡΓ, P2', P3, P4, P5, P11, Ρ2Γ, Ρ5Γ, Ρ21Γ, Ρ51Γ: potential pause point tail PT : End points S121, S122, S123, S124: Each step of the state-dependent speed adjustment optimization planning method with the minimum number of pause states as the objective function according to an embodiment of the present invention. {ub}R1 : upper limit of speed upper and lower bound limit lb{lb}R1 : lower limit of speed upper and lower bound limit {f^,...fK}R1,{fiR,f2R,...: potential pause point set f: potential pause point VH, VT: slope, speed S510, S520, S530: steps of the state-dependent traffic utility optimization planning method according to an embodiment of the present invention. 60: state dependent speed adjustment optimization planning device 61: processing unit 61 612, 614, 615: utility best solution 62: wireless transceiver unit 19 201005266 . 63 : driving state automatic detection unit 631 · · instant driving change information 64: Driving stroke manual changing unit 641: Stroke change information 65: Memory unit 66: Display unit 71: Remote servo system 72: Electronic device with navigation function φ 80: Computer readable medium 81: State dependent speed adjustment most Planning Program 811: Processing Block 812: Output Block
2020