WO2011111145A1 - 経路探索装置 - Google Patents
経路探索装置 Download PDFInfo
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- WO2011111145A1 WO2011111145A1 PCT/JP2010/053748 JP2010053748W WO2011111145A1 WO 2011111145 A1 WO2011111145 A1 WO 2011111145A1 JP 2010053748 W JP2010053748 W JP 2010053748W WO 2011111145 A1 WO2011111145 A1 WO 2011111145A1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3469—Fuel consumption; Energy use; Emission aspects
Definitions
- the present invention relates to a route search device, and in particular, energy costs (carbon dioxide emissions, fuel consumption, power consumption) from a start point (for example, a starting point) to an end point (for example, a destination) used in a car navigation system or the like.
- the present invention relates to a route search device that searches for a route that minimizes the above.
- a route search device that searches for a route that minimizes the amount of carbon dioxide emissions, it responds to the road gradient status of each section based on the height difference between both ends of each section (hereinafter referred to as a link) stored in the storage medium.
- the coefficient is calculated, and the coefficient for each section is multiplied by the distance to identify the carbon dioxide emissions that change according to the distance for each section, and the carbon dioxide emissions that change according to the travel time for each section and
- search device see, for example, Patent Document 1.
- JP 2009-79995 A Japanese Patent No. 3223782
- the upper hierarchy road network formed by aggregating a plurality of lower hierarchy road network links (hereinafter referred to as short distance search links).
- the route search in the higher-level road network is performed based on the attribute and link cost set for the link (hereinafter referred to as a long distance search link).
- the long-distance search link in which a plurality of short-distance search links are aggregated is an ascending gradient or descending gradient section (for ascending gradient short-distance search).
- the gradient in the long-distance search link is not always constant. For example, there is a case where an ascending gradient or a descending gradient section repeatedly exists in the long distance search link even though the height difference is 0 at both ends of the long distance search link.
- the link cost that reflects the effect of potential energy during climbing
- the potential energy in climbing is determined to be zero.
- the present invention has been made to solve the above-described problem, and enables a search in consideration of factors that affect energy costs such as a gradient in a link in a route search using an upper hierarchy road network. It is an object of the present invention to provide a route search apparatus capable of performing a search for a route with a minimum energy cost at high speed even when the distance is long.
- a route search device is a route search device that searches for a route connecting a start point and an end point, and includes a short-range search link used for a short-range search.
- a map data section having road data for a long distance search and road data for a long distance search including a long distance search link used for a long distance search, and a plurality of short distance search links corresponding to one long distance search link
- a distance search attribute calculation unit that calculates the sum of the climbing elevation differences of each short distance search link and the sum of the descending elevation differences of each short distance search link as an attribute of one long distance search link; Based on the long-distance search link attribute and vehicle characteristics, a link cost calculation unit that calculates a link cost, which is an energy consumption amount when the vehicle travels in the long-distance search link, and based on the link cost, Processing Nerugi consumption determine the minimum path or, and a route search processing unit that performs processing for calculating the energy consumption for a given route.
- the long-distance search attribute calculation unit that calculates the above as a long-distance search link attribute, and the energy consumption during vehicle travel on the long-distance search link based on the long-distance search link attribute and the vehicle characteristics
- a link cost calculation unit that calculates a link cost that is a quantity
- a route search processing unit that performs a process for obtaining a path with the minimum energy consumption based on the link cost, or a process for calculating the energy consumption in a predetermined path
- FIG. 1 is a block diagram showing a configuration of a route search apparatus 1 according to an embodiment of the present invention.
- the route search device 1 searches for a route connecting a start point and an end point, a long distance search attribute calculation unit 2, map data 3 (map data unit), a route search processing unit. 6, a link cost calculation unit 7, and vehicle data 8.
- the map data 3 includes short-distance search road data 5 including a short-distance search link used for short-distance search, and long-distance search road data 4 including a long-distance search link used for long-distance search. have.
- a single short distance search link may include a plurality of climbing sections (a road section with a positive slope) and a plurality of descending sections (a road section with a negative slope).
- the sum of the difference in climbing elevation of the short distance search link is the sum of the difference in elevation of the climbing road section in the road section corresponding to the short distance search link.
- the sum of the descending elevation difference of the short distance search link represents the sum of the elevation difference of the descending road section in the road section corresponding to the short distance search link.
- the long-distance search attribute calculation unit 2 uses a plurality of short-distance search link attributes corresponding to the long-distance search link to determine the long-distance search link necessary for the route search using the long-distance search link.
- the attribute is calculated and stored in the long-distance search road data 4 in the map data 3.
- the processing in the long distance search attribute calculation unit 2 may be performed in advance in the process of creating the map data 3 stored in the hard disk of the car navigation system, or dynamically in the car navigation system. May be implemented. For example, when the map data 3 is updated, only the attribute information of the short distance search link is acquired from outside by communication or the like, and the long distance search attribute in the car navigation is acquired using the acquired attribute information of the short distance search link. If the calculation unit 2 calculates and updates the attributes of the long distance search link, the amount of data acquired for the update can be reduced. In the above example, the long distance search attribute calculation unit 2 is assumed to be provided in the car navigation system. However, the same effect can be obtained even if the map generation system includes the long distance search attribute calculation unit 2. be able to.
- the long-distance search road data 4 and the short-distance search road data 5 include node data related to nodes corresponding to intersections and the like, and link data related to road sections (links) between the nodes.
- the road data is configured to hold connection information between nodes, and by using a search algorithm such as the Dijkstra method, a route that minimizes the cost (link cost) between two specified points can be calculated.
- a search algorithm such as the Dijkstra method
- a route that minimizes the cost (link cost) between two specified points can be calculated.
- the connection information for example, a node number that uniquely identifies a node may be stored in node data, and a link start point node number and end point node number may be stored in link data.
- route search focusing on link costs required to pass each link will be described. However, if the pass cost at a node is different, such as when going straight or turning left and right, the node required to pass through the node A cost may be set.
- the link cost for a link can be, for example, a distance-priority route search if the link length is the link cost, and a time-priority route search if the time required to pass the link is the link cost. it can. Further, when the amount of energy consumed for passing through the link is the link cost, a route search that minimizes the energy cost can be performed.
- the link data holds attributes such as link length, road type, number of lanes, travel speed, regulated speed, shape, and altitude difference necessary for calculating link cost.
- the long-distance search road data 4 is obtained by removing the short-distance search link that is not used in the long-distance search from the lower hierarchy road network (for example, leaving only main roads such as highways). Separately defined to form a hierarchical road network. Further, by omitting nodes that have no branch (that is, two connected links), a long distance search link is defined, for example, by reducing the number of links and the number of nodes in the upper layer road network. .
- the upper hierarchy road network may be configured by leaving only main roads such as expressways using the types of roads, etc., and combinations of various start and end points in the lower hierarchy road network (for example, Japanese Patent No. 2653847). ) And various link cost combinations (link cost combinations that depend on search options such as time priority, distance priority, energy cost priority, etc.) to search the route, and configure the minimum necessary road network. Good. Further, in the present embodiment, a case will be described in which the lower layer road network has one layer and the upper layer road network has two layers in total, but the far distance search link which is the upper layer is the far distance search link. As long as it is composed of a plurality of short-distance search links that are lower layers, a road network consisting of a total of three or more layers may be used according to the size of the road network and the required processing speed.
- the route search processing unit 6 reads the road data included in the route search range from the long-distance search road data 4 or the short-distance search road data 5 of the map data 3, and the link calculated by the link cost calculation unit 7. A route that minimizes the sum of costs is obtained and output to a monitor (not shown). That is, the route search processing unit 6 obtains a route with the minimum energy consumption based on the link cost calculated by the link cost calculation unit 7, or a predetermined route (for example, a route with the shortest travel distance). The process of calculating the energy consumption amount on the route with the shortest travel time is performed.
- the link cost calculation unit 7 calculates the link cost using the attributes acquired from the long-distance search road data 4 or the short-distance search road data 5 of the map data 3, the vehicle characteristics acquired from the vehicle data 8, and the like. The calculated link cost is output to the route search processing unit 6.
- FIG. 2 is a flowchart showing the operation of the route search apparatus 1 according to the embodiment of the present invention, where the distance from the start point (current location) to the end point (destination or waypoint) is long, and the route search using the upper hierarchy road network It is a flowchart of operation
- step S201 the route search processing unit 6 uses the information on the current location and the destination (route point) set by the user to start and end points on the lower hierarchical road network that performs route search. 2 points are determined.
- step S202 necessary road data on the lower hierarchy road network in the vicinity of each of the start point and end point determined in step S201 is read from the short distance search road data 5 of the map data 3, and a link necessary for the route search is read. While acquiring the cost from the link cost calculation unit 7, a route search is performed from each of the start point and the end point, and a point where the transition to the higher-level road network can be made is determined (short distance search). It should be noted that there may be a plurality of candidates that can be transferred to the upper hierarchy road network.
- step S203 the necessary road data on the upper hierarchy road network is read from the long-distance search road data 4 of the map data 3 between the points acquired by the short distance search in step S202, and the link necessary for the route search.
- the route between the points is searched while acquiring the cost from the link cost calculation unit 7, and the route having the minimum link cost between the points is calculated (long-distance search).
- step S204 the search results of the short distance search performed in step S202 and the long distance search performed in step S203 are combined to determine the route that minimizes the sum of the link costs from the start point to the end point. And output.
- the left and right turn guidance such as the intersection using the lower hierarchy road network Etc. can be associated with the upper hierarchy road network.
- FIG. 3 is a conceptual diagram for explaining setting of attributes relating to the distance and altitude of the long distance search link according to the embodiment of the present invention.
- four short-distance search links (two short-distance search links 31 and 33 having an ascending section and two short-distance search links 32 and 34 having a descending section) are combined into one.
- a case where the long distance search links 35 are aggregated is shown as an example. For simplicity, the case where the gradient in the short distance search link is constant is shown.
- the sum (H1 + H3) of the elevation difference of the short distance search links 31, 33 and the sum of the height difference of the descending elevations (H2 + H4) of the short distance search links 32, 34 are used for the short distance search. It is set as an attribute (H_up, H_down) of the long distance search road data 4 of the long distance search link 35 corresponding to the links 31 to 34. That is, the long distance search attribute calculation unit 2 calculates the sum of the climb elevation differences of the short distance search links and the short distance search links for a plurality of short distance search links corresponding to one long distance search link. The sum of the descending altitude differences of the links is calculated as an attribute of one long distance search link.
- the long distance search attribute calculation unit 2 may calculate the sum of the altitude differences only when the sum of the calculated altitude differences is equal to or greater than a certain threshold. In this way, when storing the sum of the altitude differences in the map data, the altitude difference information that has a small effect on the energy consumption can be omitted, and the capacity of the map data can be reduced.
- the sum of the distances of the short distance search links 31 to 34 (D1 + D2 + D3 + D4) is also set as the attribute (D) of the long distance search road data 4 of the long distance search link 35. That is, the long distance search link attribute calculated by the long distance search attribute calculation unit 2 is held in the long distance search road data 4.
- the travel time and the number of stops in each link of the short-distance search links 31 to 34 are similar to the above. May be set as an attribute of the road data 4 for long distance search. That is, the long distance search attribute calculation unit 2 calculates the sum of travel time, the sum of distances, the sum of climbing altitude differences, the descending altitude difference in a plurality of short distance search links corresponding to one long distance search link.
- the sum and the sum of the number of stops are calculated as attributes of the long-distance search link, and the link cost calculation unit 7 converts the attributes of the long-distance search link and the vehicle characteristics in response to a request from the route search processing unit 6. Based on this, the link cost is calculated.
- the link distance (D1 to D4) and the altitude difference (H1 to H4) in each of the short distance search links 31 to 34 are the short distance of the map data 3 as the attributes of the short distance search links 31 to 34, respectively.
- the search road data 5 is set.
- FIG. 4 is a diagram showing an example of calculation of the link cost of the long distance search link according to the embodiment of the present invention.
- the energy consumption per one link is based on the basic consumption (C_1 * q_base * T) related to energy required other than traveling due to idling, air conditioner operation, etc., and road surface friction.
- the link cost calculation unit 7 calculates energy consumption separately for energy consumption factors (energy required for other than traveling, energy due to road friction, positional energy, and speed (acceleration / deceleration) energy). It is possible to calculate a link cost that accurately reflects the energy consumption amount during travel in the distance search link.
- the vehicle type for example, the characteristics of the power source
- the parameters related to the road that do not change depending on the vehicle type, It becomes possible to apply to a wide range of vehicles, including electric vehicles.
- the coefficients C_1 to C_6 related to the vehicle efficiency in the equation shown in FIG. 4 may be calculated in consideration of the engine speed and the traveling speed.
- the coefficient C_4 related to vehicle efficiency related to the position energy of getting down is set to a value close to 0, whereas in a hybrid vehicle or an electric vehicle that has a regenerative mechanism, the coefficient C_4 is large.
- the energy recovered by regeneration may be considered as a value (that is, the amount of consumption due to the potential energy of descending is a negative value).
- it may be calculated by adding a term of recovered energy due to regeneration when descending or decelerating.
- the vehicle The coefficients C_1 to C_6 related to the efficiency may be changed in accordance with the energy consumption to be minimized.
- Patent Document 1 Also in the past (for example, Patent Document 1), mathematical expressions (basic consumption, consumption due to road surface friction, consumption due to potential energy, consumption due to acceleration / deceleration due to a stop) as shown in FIG.
- the energy consumption is divided into the consumption due to the climbing altitude difference and the consumption due to the descending altitude difference.
- Conventional for example, Patent Document 1 does not describe consumption due to air resistance, but in general, there is an influence of consumption due to air resistance. It is known (especially when driving at high speeds)).
- accumulation is performed by using the sum of the climbing elevation difference and the sum of the descending elevation differences that are the attributes of the long-distance search road data 4 of the long-distance search link. It is possible to accurately calculate the energy consumption due to the potential energy determined only by the difference in altitude. In other words, by using the sum of the climbing elevation difference and the sum of the descending elevation differences, a long-distance search that cannot be considered only by the height difference of both ends of the long-distance search link that aggregates multiple short-distance search links. It is possible to calculate the energy consumption considering the influence of climbing up and down in the middle of the link.
- the link cost calculation unit 7 parameters related to road attributes such as a link-related distance, travel speed, altitude difference, and number of stops are acquired from the long-distance search road data 4 or the short-distance search road data 5 of the map data 3.
- parameters related to vehicle characteristics such as basic consumption, friction coefficient, weight, and efficiency are acquired from the vehicle data 8. Then, based on the acquired attribute and vehicle characteristics, the energy consumption per link is calculated as the link cost for the link required by the route search processing unit 6 using the formula shown in FIG.
- the processing in the link cost calculation unit 7 can be calculated by a common calculation formula without distinguishing between the short distance search link and the long distance search link.
- the link cost calculation unit 7 can also calculate a link cost, which is an energy consumption amount when the vehicle travels on the short distance search link, based on the attributes of the short distance search link and the vehicle characteristics.
- a link cost which is an energy consumption amount when the vehicle travels on the short distance search link.
- the number of stops may be set as it is, such as the number of traffic lights or stop signs, or may be set in consideration of the stop probability.
- the energy consumption resulting from acceleration / deceleration due to the stop considering only the case of stopping with a traffic light or the like is taken into account, but the speed on a curve or the like
- the energy consumption resulting from acceleration / deceleration due to the decrease in the speed may be considered separately.
- the decrease in travel speed is v_delta and the number of acceleration / decelerations is N_slow
- FIG. 5 is a conceptual diagram for explaining a route search in consideration of the number of stops in a signal according to an embodiment of the present invention.
- FIG. 5 shows an example in which the number of traffic lights 51 to 55 (or stop signs) is set as an attribute of road data.
- the energy cost (link cost) in the link is considered to fluctuate greatly due to the stoppage due to the signal, etc.
- whether or not the stoppage is caused by the signal is a stochastic event. It is necessary to establish a search method.
- Path 1 A path with the lowest energy cost when stopping at all traffic lights
- Path 2 A path with the lowest energy cost when passing through without stopping at all traffic lights
- the route 1 indicates the route on the upper side of FIG. 5 and is the route searched for with the maximum number of stops (for example, the number of all traffic lights) in the equation of FIG.
- the route 2 indicates the route on the lower side of FIG. 5 and is a route searched for with the minimum number of stops (for example, 0 times) in the equation of FIG.
- the route 1 and the route 2 thus obtained are presented to the user. That is, the route search device 1 according to the present embodiment is configured to estimate the number of stops in each short distance search link in a plurality of short distance search links corresponding to one long distance search link (see FIG.
- the link cost calculation unit 7 has a minimum link cost when the sum of the stop counts is the maximum and a sum of the stop counts based on the sum of the stop counts that are the attributes of the long distance search link.
- the link search processing unit 6 calculates the link cost in the case of the above, and the route search processing unit 6 determines that the energy consumption is minimum when the sum of the number of stops is the minimum, and the energy consumption is minimum when the sum of the numbers of stops is the minimum. Is calculated.
- the energy cost is calculated by setting the number of stops to the minimum for the route 1, and the energy is calculated by setting the number of stops to the maximum for the route 2.
- each route may be presented with a variation range of the energy cost. That is, the link cost calculation unit 7 is a link cost when the sum of the number of stops is the minimum for the route with the minimum energy consumption when the sum of the number of stops calculated by the route search processing unit 6 is the maximum.
- the link cost is calculated when the sum of the number of stops is the maximum for the route with the minimum energy consumption.
- the node cost for stopping may be determined by the gradients of the ingress link and the outflow link, or may be reflected in the node cost for stopping by learning the red signal time of the traffic light. Further, instead of the route with the minimum energy consumption, the link cost may be calculated in consideration of the number of stops described above for the route with the shortest travel distance or the route with the shortest travel time.
- the sum of link distances corresponding to the sum of climbing elevation differences (that is, the sum of distances of climbing links) and the link distance corresponding to the sum of descending elevation differences may be set as an attribute of the road data.
- the continuity of the section in the long distance search link (the short distance search link corresponding to the long distance search link) (that is, the link in which the climbing and descending sections continue alternately, or the continuous climbing section continues.
- Parameters that affect the energy cost (specifically, the number of slope change points, etc.) such as links where the descending sections to be gathered may be set as road data attributes.
- the short distance search link may be directly set as the attributes of the long distance search link without aggregating these attributes. For example, in calculating the link cost of a long distance search link, when taking into account elevation differences of p short distance search links, all of the p elevation differences are set as attributes of the long distance search link. May be.
- the short-distance search links such as the sum of climbing elevation differences and the sum of descending elevation differences as described above
- the data size of the map data 3 can be reduced (for example, from p to two), and the long distance search link. Since a fixed number of attributes can be stored in the map data 3, the number of attributes can be set as compared with the case where a variable number of attributes (the number of attributes varies depending on the number of short-distance search links) is stored in the map data 3. Since data can be read without consideration, it is possible to reduce the amount of calculation generally required to acquire data.
- the case where the gradient in the long-distance search link is not always constant has been described as an example.
- the climbing elevation is also applied to the short-distance search link in which the gradient in the link is not constant.
- the map data 3 stores road-related parameters such as the altitude difference and the number of stops, and the link cost calculation unit 7 appropriately determines the link cost required for the route search processing performed by the route search processing unit 6 ( For example, since the calculation is done online, the link cost calculation algorithm and parameters such as vehicle characteristics that affect the energy cost can be flexibly changed without changing the offline calculation results (map data). it can. Furthermore, when traffic information or the like is acquired, parameters such as travel speed and travel time on the link can be flexibly changed. For example, when the link is congested, the travel speed parameter may be set low and the travel time may be set large.
- the link cost calculation formula shown in FIG. 4 the sum of the difference in climbing elevation and the sum of the difference in descending elevation are separated.
- C_3 and C_4 that are parameters relating to the vehicle, it is possible to set a link cost that reflects a more accurate energy cost.
- links that reflect more accurate energy costs by setting parameters such as T and C_6 related to travel time according to the characteristics of the vehicle, respectively. Costs can be set. For example, in the case of a vehicle that can recover 30% of the speed energy generated by acceleration, the value of C_6 may be set to a value that is 30% smaller.
- the higher-level road network needs to satisfy the general condition that “the link cost of the long-distance search link is always equal to the sum of the link costs of the corresponding short-distance search links”.
- This condition is a condition necessary to ensure that the search result using the upper hierarchy road network and the search result using the lower hierarchy road network are the same. If the route search result in the upper hierarchy road network is different from the route search result in the lower hierarchy road network, the optimality of the search result using the upper hierarchy road network cannot be guaranteed.
- the sum of the elevation difference and the descending elevation difference of the short-distance search link is set as an attribute related to the elevation difference of the long-distance search link, and is different from the elevation difference of the short-distance search link.
- a link cost related to a long distance search link formed by aggregating n short distance search links is represented by the following equation (1).
- each of T_i, D_i, H_up_i, H_down_i, and N_stop_i is a travel time, a link distance, a sum of climbing altitude differences, a sum of descending altitude differences, and the number of stops in the i-th short distance search link.
- equation (1) assuming that a variable other than the variable with the subscript i (for example, traveling speed v) is a constant, it can be expressed as the following equation (2).
- each sum of T_i, D_i, H_up_i, H_down_i, and N_stop_i is a value set as an attribute of the long-distance search link. Accordingly, the link cost of the long-distance search link using the sum of the travel time, link distance, climbing altitude difference, descending altitude difference, and number of stops set as the attributes of the long-distance search link. Is calculated, the link cost of the long distance search link can always be made equal to the sum of the link costs of the short distance search links corresponding to the long distance search link.
- the link cost is calculated in advance when creating the map data offline, and the attribute of the road data You may store as.
- the attribute of the road data of the upper layer road network is used to determine
- the number of links required for the calculation is reduced compared to the case where the link cost is calculated using only road data of the lower layer road network (pure Since not only the calculation time but also the number of accesses to the map data is reduced, the energy consumption of each route can be calculated at high speed.
- FIG. 6 is a diagram showing an example of presentation of the energy reduction effect and the fluctuation range to the user using the energy consumption index according to the embodiment of the present invention.
- the energy of the route with the lowest energy cost is calculated.
- An improvement rate of energy consumption (another route, for example, how much the consumption has improved with respect to the energy consumption of another route (for example, a route prioritizing time or a route prioritizing distance as shown in FIG. 6). The improvement rate with respect to the energy consumption amount of the route by the search can be calculated.
- the calculated improvement rate is, for example, presented to the user in an easy-to-understand manner by using a bar graph or the like as an energy consumption index for the ratio of the energy consumption normalized by the energy consumption of the route with the largest energy consumption. It is possible to raise awareness of the environment and to select a route with less energy consumption.
- an energy consumption index of a route (time priority route) having the largest energy consumption is 100, and an energy consumption index of a route (distance priority route) having 10% less energy consumption than the time priority route. Is set to 90, and the energy consumption index of a route (energy priority route) whose energy consumption is 20% less than that of the time priority route is set to 80 so that the user can easily see the route.
- the fluctuation range in consideration of the influence due to uncertain factors such as stoppage by the above-described signal may be shown on the graph as shown in FIG. By doing in this way, the user can select a route comprehensively in a state in which a fluctuation range (risk) is taken into consideration.
- 1 route search device 2 long distance search attribute calculation section, 3 map data, 4 long distance search road data, 5 short distance search road data, 6 route search processing section, 7 link cost calculation section, 8 vehicle data, 31-34 Short distance search link, 35 Long distance search link, 51-55 traffic light.
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Abstract
Description
経路1:全ての信号機で停止する場合にエネルギコストが最小となる経路
経路2:全ての信号機で停止せずに通過できる場合にエネルギコストが最小となる経路
Claims (12)
- 始点と終点とを結ぶ経路を探索する経路探索装置であって、
近距離探索に用いられる近距離探索用リンクを含む近距離探索用道路データと、遠距離探索に用いられる遠距離探索用リンクを含む遠距離探索用道路データとを有する地図データ部と、
一の前記遠距離探索用リンクに対応する複数の前記近距離探索用リンクについて、各前記近距離探索用リンクの登り標高差の和と、各前記近距離探索用リンクの降り標高差の和とを前記一の遠距離探索用リンクの属性として算出する遠距離探索用属性算出部と、
前記遠距離探索用リンクの前記属性と車両特性とに基づいて、前記遠距離探索用リンクにおける車両走行時のエネルギ消費量であるリンクコストを算出するリンクコスト算出部と、
前記リンクコストに基づいて、エネルギ消費量が最小の経路を求める処理、または、所定の経路におけるエネルギ消費量を算出する処理を行う経路探索処理部と、
を備える、経路探索装置。 - 前記遠距離探索用属性算出部にて算出された前記遠距離探索用リンクの前記属性は、前記遠距離探索用道路データに保持されることを特徴とする、請求項1に記載の経路探索装置。
- 前記所定の経路は、前記経路の走行距離が最短の経路、または前記経路の走行時間が最短の経路のうちのいずれかであることを特徴とする、請求項1または2に記載の経路探索装置。
- 前記リンクコスト算出部は、走行に必要な消費量以外の基本消費量、路面摩擦に起因する消費量、位置エネルギに起因する消費量、空気抵抗に起因する消費量、または加減速に起因する消費量を前記リンクコストとして算出することを特徴とする、請求項1ないし3のいずれかに記載の経路探索装置。
- 前記リンクコスト算出部は、二酸化炭素排出量、燃料消費量、または電力消費量を前記リンクコストとして算出することを特徴とする、請求項1ないし3のいずれかに記載の経路探索装置。
- 前記リンクコスト算出部は、前記近距離探索用リンクの属性と前記車両特性とに基づいて、前記近距離探索用リンクにおける車両走行時のエネルギ消費量であるリンクコストをも算出することを特徴とする、請求項1ないし5のいずれかに記載の経路探索装置。
- 前記遠距離探索用属性算出部は、一の前記遠距離探索用リンクに対応する複数の前記近距離探索用リンク内における走行時間の和、距離の和、前記登り標高差の和、前記降り標高差の和、および停止回数の和を前記遠距離探索用リンクの属性として算出し、
前記リンクコスト算出部は、前記経路探索処理部からの要求に応じて、前記遠距離探索用リンクの前記属性と前記車両特性とに基づいて前記リンクコストを算出することを特徴とする、請求項1ないし5のいずれかに記載の経路探索装置。 - 一の前記遠距離探索用リンクに対応する複数の前記近距離探索用リンクにおける各前記近距離探索用リンク内での停止回数を推定する停止回数推定部をさらに備え、
前記リンクコスト算出部は、前記遠距離探索用リンクの属性である前記停止回数の和に基づいて、前記停止回数の和が最大の場合における前記リンクコスト、および前記停止回数の和が最小の場合における前記リンクコストを算出し、
前記経路探索処理部は、前記停止回数の和が最大の場合に前記エネルギ消費量が最小となる経路と、前記停止回数の和が最小の場合に前記エネルギ消費量が最小となる経路とを算出することを特徴とする、請求項1ないし5のいずれかに記載の経路探索装置。 - 前記リンクコスト算出部は、前記経路探索処理部にて算出された前記停止回数の和が最大の場合に前記エネルギ消費量が最小の経路に対して前記停止回数の和が最小の場合における前記リンクコスト、および前記停止回数の和が最小の場合に前記エネルギ消費量が最小の経路に対して前記停止回数の和が最大の場合における前記リンクコストを算出することを特徴とする、請求項8に記載の経路探索装置。
- 前記エネルギ消費量が最小の経路に替えて、前記経路の走行距離が最短の経路または前記経路の走行時間が最短の経路であることを特徴とする、請求項8または9に記載の経路探索装置。
- 前記経路探索処理部は、前記エネルギ消費量が最小の経路、前記経路の走行距離が最短の経路、および前記経路の走行時間が最短の経路を含む複数の経路の各々に対する前記エネルギ消費量を算出し、各経路における前記エネルギ消費量の比較を提示することを特徴とする、請求項3または10に記載の経路探索装置。
- 前記遠距離探索用属性算出部は、地図作成システムまたはカーナビゲーションシステムに備えられることを特徴とする、請求項1ないし11のいずれかに記載の経路探索装置。
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