WO2013114579A1

WO2013114579A1 - Image-processing device, method for processing image, and image-processing program

Info

Publication number: WO2013114579A1
Application number: PCT/JP2012/052189
Authority: WO
Inventors: 福田　達也; 安士　光男; 進大沢; 廣瀬　智博; 要一伊藤
Original assignee: パイオニア株式会社
Priority date: 2012-01-31
Filing date: 2012-01-31
Publication date: 2013-08-08

Abstract

An image-processing device (100) provided with: a reachable-point search unit (101, 102, 103) for searching for a plurality of reachable points that a moving vehicle can reach from a current location on the basis of the current location of the moving vehicle, information pertaining to the energy amount retained by the moving vehicle, and an estimated energy-consumption amount that the moving vehicle consumes when traveling a predetermined interval; a fixed-flag assignment unit (103a) for assigning a fixed flag to a specific node when searching using the reachable-point search unit; an unerasable-flag assignment unit (104a) for assigning an unerasable flag related to the fixed flag to a region including the specific node to which the fixed flag was assigned; an assignment unit (105) for performing image processing including expansion processing and/or contraction processing, on the basis of identifying information and the unerasable flag, after identifying information has been assigned to each of a plurality of regions on the basis of the plurality of reachable points; and a display controller (106) for causing the reachable range of the moving vehicle to be displayed on a display unit (110) on the basis of the identifying information.

Description

Image processing apparatus, image processing method, and image processing program

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

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

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

Further, the expansion / contraction process is known as a technique used for removing noise in image processing technology. (For example, see Patent Document 3 below.) In Patent Document 3 below, grouped landmarks that are displayed discretely are drawn as a set of groups.

Japanese Patent Laid-Open No. 11-016094 Japanese Patent Laid-Open No. 07-085397 JP 2007-322370 A

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

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

Furthermore, in the techniques of Patent Documents 1 to 3 described above, the reachable area is displayed by an amoeba display that connects a plurality of nodes. For example, for a continuous thin line segment area such as a bridge or a tunnel, the reachable area is displayed. Even if it is, the problem that it is not connected between nodes and may not be displayed is mentioned as an example. In particular, there is a problem in that thin line segments (links) within the reachable distance range may be erased by performing expansion processing and reduction processing to smooth the image.

In order to solve the above-described problems and achieve the object, an image processing apparatus according to the invention of claim 1 is an image processing apparatus that processes information related to a reachable range of a mobile object, wherein the current location of the mobile object, The mobile body arrives from the current point based on information on the initial stored energy amount indicating the amount of energy held by the mobile body and an estimated energy consumption amount indicating the amount of energy consumed when the mobile body travels in a predetermined section. A reachable point searching means for searching for a plurality of reachable points which are possible points, a fixed flag giving means for giving a fixed flag as specific information to a specific node at the time of searching by the reachable point searching means, and a map Of the plurality of areas related to information, the erasure prohibition related to the fixed flag in one area including the specific node to which the fixed flag is assigned. Based on a plurality of reachable points searched by the reachable point searching means and an erasure prohibition flag giving means for giving a flag, it is identified whether or not the mobile body can reach each of the plurality of areas. And assigning means for executing image processing including at least one of expansion processing and reduction processing based on the identification information and the erasure prohibition flag, and identification information assigned to each of the plurality of regions And a display control means for displaying the reachable range of the moving body on a display means.

An image processing method according to a fifth aspect of the present invention is an image processing method in an image processing apparatus for processing information relating to the reachable range of a mobile object, wherein the current position of the mobile object and the energy held by the mobile object Based on information on the initial stored energy amount indicating the amount and estimated energy consumption indicating the amount of energy consumed when the mobile body travels in a predetermined section, a plurality of points where the mobile body is reachable from the current location A reachable point searching step for searching for a reachable point, a fixed flag giving step for giving a fixed flag as specific information to a specific node at the time of searching by the reachable point searching step, and a plurality of areas related to map information Among them, an erasure prohibition flag related to the fixed flag is assigned to one area including the specific node to which the fixed flag is assigned. Identification information for identifying whether or not the mobile body can reach each of the plurality of areas based on a plurality of reachable points searched by the erasure prohibition flag assigning step and the reachable point searching step. After granting, based on the identification information and the erasure prohibition flag, based on the granting step of performing image processing including at least one of expansion processing and reduction processing, and the identification information given to each of the plurality of regions, And a display control step of displaying the reachable range of the moving body on a display means.

The image processing program according to claim 6 causes a computer to execute the image processing method according to claim 5.

FIG. 1 is a block diagram of an example of a functional configuration of the image processing apparatus according to the first embodiment. FIG. 2 is a flowchart illustrating an example of an image processing procedure performed by the image processing apparatus. FIG. 3 is a block diagram illustrating an example of a hardware configuration of the navigation device. FIG. 4A is an explanatory diagram schematically illustrating an example of reachable point search by the navigation device. FIG. 4B is an explanatory diagram schematically illustrating an example of reachable point search by the navigation device. FIG. 4-3 is an explanatory diagram schematically illustrating an example of reachable point search by the navigation device. FIG. 4-4 is an explanatory diagram schematically showing an example of reachable point search by the navigation device. FIG. 5A is an explanatory diagram of an example of reachable point search by the navigation device. FIG. 5B is an explanatory diagram of another example of the reachable point search by the navigation device. FIG. 6 is an explanatory diagram of an example showing the reachable point by the navigation device in longitude-latitude. FIG. 7 is an explanatory diagram of an example showing the reachable points by the navigation device as mesh data. FIG. 8 is an explanatory diagram illustrating an example of cloning processing by the navigation device. FIG. 9 is an explanatory diagram schematically showing an example of cloning processing by the navigation device. FIG. 10 is an explanatory diagram showing an example of the opening process by the navigation device. FIG. 11A is a diagram illustrating an example of node erasure inhibition by the erasure inhibition flag (part 1). FIG. 11B is a diagram illustrating an example of node erasure inhibition by the erasure inhibition flag (part 2). FIG. 12 is an explanatory diagram schematically showing an example of vehicle reachable range extraction by the navigation device. FIG. 13 is an explanatory diagram schematically showing an example of mesh data after the reachable range of the vehicle is extracted by the navigation device. FIG. 14 is a flowchart illustrating an example of an image processing procedure performed by the navigation device. FIG. 15 is a flowchart illustrating an example of a procedure of estimated power consumption calculation processing by the navigation device. FIG. 16A is a flowchart of an example of a procedure of reachable point search processing by the navigation device (part 1). FIG. 16-2 is a flowchart of an example of a procedure of reachable point search processing by the navigation device (part 2). FIG. 17 is a flowchart illustrating an example of a procedure of link candidate determination processing by the navigation device. FIG. 18 is a flowchart illustrating an example of processing relating to the assignment of a fixed flag and the assignment of an erasure prohibition flag. FIG. 19 is a flowchart illustrating an example of a procedure of identification information addition processing by the navigation device. FIG. 20 is a flowchart illustrating an example of an opening process and a cloning process using an erasure prohibition flag. FIG. 21A is a flowchart of an example of a reachable range contour extraction process performed by the navigation device (part 1). FIG. 21B is a flowchart of an example of the reachable range contour extraction process performed by the navigation device (part 2). FIG. 22 is an explanatory diagram schematically illustrating an example of acceleration applied to a vehicle traveling on a road having a gradient. FIG. 23 is an explanatory diagram illustrating an example of a display example after the reachable point search process by the navigation device. FIG. 24A is an explanatory diagram of an example of a display example after the identification information providing process by the navigation device. FIG. 24-2 is an explanatory diagram illustrating an example of a display example after the first identification information changing process by the navigation device. FIG. 25 is an explanatory diagram illustrating an example of a display example after the cloning process (expansion) by the navigation device. FIG. 26 is an explanatory diagram illustrating an example of a display example after the cloning process (reduction) by the navigation device.

Hereinafter, preferred embodiments of an image processing apparatus, an image processing method, and an image processing program according to the present invention will be described in detail with reference to the accompanying drawings.

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

Then, in the image processing apparatus 100 according to the first embodiment, an erasure prohibition flag is set on a specific pixel of mesh data based on a fixed flag previously assigned to a specific node before the opening process or the cloning process described later. Give. Although details will be described later, isolated pixels in the reachable range of the moving object are removed when the opening process or the cloning process is executed. For this reason, a single node or a line segment node is regarded as an isolated point by the opening process or the cloning process, and a specific pixel including these nodes may be erased by the opening process or the cloning process.

Specified nodes are entrances and exits of tunnels, bridges, and mountain roads among the nodes that are within the reachable range of mobile objects. By assigning a fixed flag to these nodes in advance, tunnels and bridges that consist of links that connect a specific node even if the opening process and / or the cloning process are executed, a mountain road, etc. It becomes possible to prevent erasing of a specific pixel including.

The image processing apparatus 100 includes an acquisition unit 101, a calculation unit 102, a search unit 103, a division unit 104, a grant unit 105, and a display control unit 106. The reachable point search unit includes an acquisition unit 101, a calculation unit 102, and a search unit 103.

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

The acquisition unit 101 acquires information on the current location of the mobile object on which the image processing apparatus 100 is mounted and information on the initial stored energy amount that is the amount of energy held by the mobile object at the current location of the mobile object. Specifically, the acquisition unit 101 acquires information (position information) about the current location by calculating the current position of the device using, for example, GPS information received from a GPS satellite.

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

The acquisition unit 101 may acquire information on the speed of the moving body, traffic jam information, and moving body information. The information regarding the speed of the moving body is the speed and acceleration of the moving body. Moreover, the acquisition part 101 may acquire the information regarding a road from the map information 120 memorize | stored in memory | storage parts, such as an external server, and may acquire a road gradient etc. from an inclination sensor etc., for example. The information on the road is, for example, a running resistance generated in the moving body due to the road type, road gradient, road surface condition, and the like.

In Embodiment 1, it is assumed that the map information 120 acquired by the acquisition unit 101 is not provided with the above-described fixed flag.

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

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

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

The first information is information related to energy consumed by the equipment provided on the moving object. This first information is the amount of energy consumed due to factors not related to the traveling of the moving body, and is the amount of energy consumed by the air conditioner, audio, etc. provided in the moving body. The first information may be substantially zero in the case of an EV vehicle.

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

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

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

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

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

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

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

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

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

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

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

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

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

And in Embodiment 1, the search part 103 has the fixed flag provision part 103a. The fixed flag assigning unit 103a assigns a fixed flag to the map information 120. That is, in Embodiment 1, since the fixed flag is not given to the map information 120 acquired by the acquisition unit 101, the fixed flag assignment unit 103a causes a specific node (the tunnel, the bridge, the mountain road, etc.). ) Is assigned a fixed flag. As a result, it is possible to prevent erasure of a specific pixel of mesh data including a specific node when at least one of an opening process and a cloning process described later is executed.

The fixed flag assigning unit 103a assigns a fixed flag to the single node in which the searched node is included in the reachable range of the moving object by determining the following condition.
1. 1. Is the searched single node a predetermined node (both ends of tunnels, bridge entrances, mountain roads, etc.)? Above 1. Is the path (link) having a single node at both ends (entrance / exit) capable of traveling by the moving body? When the above condition is satisfied, a fixed flag is assigned to a node at both ends of the link or a plurality of nodes of the entire link including nodes at both ends of the link.

The dividing unit 104 divides the map information into a plurality of areas. Specifically, the dividing unit 104 divides the map information into a plurality of rectangles based on a reachable point farthest from the current point of the mobile object among a plurality of reachable points of the mobile object searched by the search unit 103. It is divided into shape regions and converted into mesh data of m × m pixels, for example. The mesh data of m × m pixels is handled as raster data (image data) to which identification information is added by the adding unit 105 described later. In addition, each m of m × m pixels may be the same numerical value, or may be different numerical values.

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

In the first embodiment, the dividing unit 104 includes an erasure prohibition flag assigning unit 104a. The erasure prohibition flag assigning unit 104a assigns an erasure prohibition flag to specific pixels including a specific node to which a fixed flag is assigned among the pixels of the mesh data. At this time, if the fixed flag is added only to the pixels including the nodes at both ends of the link by the fixed flag adding unit 103a, the entire pixel corresponding to one link including both ends of the pixel including the link is prohibited from being erased. Give a flag.

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

More specifically, the assigning unit 105 assigns reachable identification information “1” or unreachable identification information “0” to each pixel or each region of the mesh data divided into m × m. Thus, the data is converted into mesh data of two-dimensional matrix data of m rows and m columns. The dividing unit 104 and the assigning unit 105 divide the map information in this way, convert it into mesh data of 2D matrix data of m rows and m columns, and handle it as binarized raster data.

The assigning unit 105 includes a first changing unit 151 and a second changing unit 152 that perform identification information changing processing on a plurality of areas divided by the dividing unit 104. Specifically, the assigning unit 105 treats mesh data obtained by dividing the map information as binarized raster data by the first changing unit 151 and the second changing unit 152, and performs cloning processing (reduction after expansion processing). Process). Further, the assigning unit 105 may perform an opening process (a process of performing an expansion process after the reduction process) by the first changing unit 151 and the second changing unit 152.

Specifically, the first changing unit 151 can reach the identification information of the one area when the identification information that can reach another area adjacent to the one area to which the identification information is given is given. The identification information is changed (expansion process). More specifically, the first changing unit 151 may be any one of the other regions adjacent to the lower left, lower, lower right, right, upper right, upper, upper left, and left of one rectangular region. If “1”, which is identification information that can reach that area, is assigned, the identification information of the one area is changed to “1”.

After the identification information is changed by the first changing unit 151, the second changing unit 152, when identification information that cannot reach another region adjacent to the one region to which the identification information is given is given. The identification information of the area is changed to unreachable identification information (reduction process). More specifically, the second changing unit 152 may be any one of the other areas adjacent to the lower left, lower, lower right, right, upper right, upper, upper left, and left of one rectangular area. If “0”, which is identification information that cannot be reached, is assigned to the area, the identification information of the one area is changed to “0”. The expansion process by the first change unit 151 and the reduction process by the second change unit 152 are performed the same number of times.

Then, when both the first changing unit 151 and the second changing unit 152 perform the cloning process and the opening process, the opening process is performed for the region to which the erasure prohibition flag is added on the mesh data. Also, it is not a target for contraction and expansion during cloning. However, the present invention is not limited to this, and the identification information may not be changed when the cloning process and the opening process are performed on the region to which the deletion prohibition flag is added on the mesh data. As a result, thin line segments such as tunnels, bridges, and mountain roads that are links that include a specific node within the reachable range of the moving object may be deleted even if the opening process and cloning process are performed. And can be displayed as the reach of the moving object.

As described above, the granting unit 105 can reach the area including the reachable point, which is the point where the moving body can reach from the current point, among the plurality of areas divided by the dividing unit 104. Reachable identification information for identifying this is given to make the movable body reachable. After that, the assigning unit 105 assigns reachable identification information to an area adjacent to the area to which reachable identification information is assigned, and identifies each area so that a missing area does not occur in the reachable range of the moving object. Change information.

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

More specifically, the display control unit 106 is based on the positional relationship between one area to which reachable identification information is assigned and another area to which reachable identification information adjacent to the one area is assigned. The contour of the reachable range of the moving object is extracted and displayed on the display unit 110. More specifically, the display control unit 106 extracts the outline of the reachable range of the moving object using, for example, a Freeman chain code, and causes the display unit 110 to display the reachable range of the moving object.

Further, the display control unit 106 may extract the reachable range of the moving body based on the longitude / latitude information of the region to which the reachable identification information is given, and display the reachable range on the display unit 110. Specifically, for example, the display control unit 106 searches for identification information “1” that is reachable from the first column for each row of two-dimensional matrix data of m rows and m columns. Then, the display control unit 106 searches for continuous areas including the reachable identification information “1” in each row of the two-dimensional matrix data, and first detects the minimum longitude and minimum latitude of the area where “1” is detected (area A rectangular area having a line segment connecting the maximum longitude and maximum latitude (lower right coordinates of the area) of the area where “1” is finally detected as a diagonal line is displayed as the reachable range of the moving object.

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

In the image processing apparatus 100, the calculation unit 102 calculates an estimated energy consumption that is energy consumed when the moving body travels in a predetermined section (step S203). At this time, the image processing apparatus 100 calculates estimated energy consumption amounts in a plurality of predetermined sections connecting predetermined points on the path of the moving body. Next, the image processing apparatus 100 uses the search unit 103 based on the map information stored in the storage unit and the initial stored energy amount and the estimated energy consumption amount acquired in steps S202 and S203. A reachable point is searched (step S204). At this time, a fixed flag is assigned to a specific node by the fixed flag assigning unit 103a.

Next, the image processing apparatus 100 uses the dividing unit 104 to divide the map information made up of vector data into a plurality of regions and convert it into mesh data made up of raster data (step S205). At this time, the erasure prohibition flag assigning unit 104a assigns the erasure prohibition flag to all the areas of the link connecting the nodes to which the fixed flag is assigned. Next, the image processing apparatus 100 assigns the reachable or unreachable identification information to each of the plurality of regions divided in step S205 based on the plurality of reachable points searched in step S204. (Step S206). When the opening process or the cloning process is executed after the identification information is added, the area to which the deletion prohibition flag is added is left without being deleted. After that, the image processing apparatus 100 causes the display control unit 106 to display the reachable range of the moving object on the display unit 110 based on the identification information of the plurality of areas to which the identification information is assigned in step S206 (step S207). The process according to the flowchart ends.

As described above, the image processing apparatus 100 according to the embodiment divides the map information into a plurality of areas, searches for each area to determine whether or not the moving body is reachable, and each area has a moving body. Reachable or unreachable identification information that identifies reachability or unreachability is added. Then, the image processing apparatus 100 generates a reachable range of the moving object based on the region to which reachable identification information is assigned. For this reason, the image processing apparatus 100 can generate the reachable range of the moving object in a state excluding areas where the moving object cannot travel, such as the sea, lakes, and mountain ranges. Therefore, the image processing apparatus 100 can accurately display the reachable range of the moving object.

Also, the image processing apparatus 100 converts a plurality of areas obtained by dividing the map information into image data, and assigns identification information that can be reached or cannot reach each of the plurality of areas, and then performs an expansion process of cloning. For this reason, the image processing apparatus 100 can remove the missing region within the reachable range of the moving object.

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

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

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

And the specific pixel of the mesh data including the specific node to which the fixed flag is given can be left without being erased even if the opening process or the cloning process is executed. This eliminates noise on the display due to specific pixels including isolated nodes by executing the opening process or cloning process, and the outline of the reachable range of the moving object can be displayed smoothly, and the reachable of the moving object Thin line segments such as tunnels, bridges, and mountain roads that are thin lines are not erased, and can be displayed as the reach of a moving object.

Hereinafter, Example 1 of the present invention will be described. In the present embodiment, an example in which the present invention is applied will be described with the navigation apparatus 300 mounted on the vehicle as the image processing apparatus 100.

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

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

In the estimated energy consumption calculation program, an estimated energy consumption in a link connecting one node and an adjacent node is calculated based on an energy consumption estimation formula for calculating an estimated energy consumption of the vehicle. In the reachable point search program, a plurality of points (nodes) that can be reached with the remaining energy amount at the current point of the vehicle are searched based on the estimated energy consumption calculated in the estimation program. In the identification information addition program, identification information for identifying whether the vehicle is reachable or unreachable is assigned to a plurality of areas obtained by dividing the map information based on a plurality of reachable points searched in the search program. The In the map data display program, the reachable range of the vehicle is displayed on the display 313 based on the plurality of areas to which the identification information is given by the identification information giving program.

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

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

Examples of information recorded on the magnetic disk 305 and the optical disk 307 include map data, vehicle information, road information, travel history, and the like. Map data is used when searching for a reachable point of a vehicle in a car navigation system or when displaying a reachable range of a vehicle. Background data representing features (features) such as buildings, rivers, the ground surface, This is vector data including road shape data that expresses the shape of the road by links and nodes.

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

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

The video I / F 312 is connected to the display 313. Specifically, the video I / F 312 is output from, for example, a graphic controller that controls the entire display 313, a buffer memory such as a VRAM (Video RAM) that temporarily records image information that can be displayed immediately, and a graphic controller. And a control IC for controlling the display 313 based on the image data to be processed.

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

The camera 314 captures images inside or outside the vehicle. The image may be either a still image or a moving image. For example, the outside of the vehicle is photographed by the camera 314, and the photographed image is analyzed by the CPU 301, or a recording medium such as the magnetic disk 305 or the optical disk 307 via the image I / F 312. Or output to

The communication I / F 315 is connected to a network via wireless and functions as an interface between the navigation device 300 and the CPU 301. Communication networks that function as networks include in-vehicle communication networks such as CAN and LIN (Local Interconnect Network), public line networks and mobile phone networks, DSRC (Dedicated Short Range Communication), LAN, and WAN. The communication I / F 315 is, for example, a public line connection module, an ETC (non-stop automatic fee payment system) unit, an FM tuner, a VICS (Vehicle Information and Communication System) (registered trademark) / beacon receiver, or the like.

The GPS unit 316 receives radio waves from GPS satellites and outputs information indicating the current position of the vehicle. The output information of the GPS unit 316 is used when the CPU 301 calculates the current position of the vehicle together with output values of various sensors 317 described later. The information indicating the current position is information for specifying one point on the map data, such as latitude / longitude and altitude.

Various sensors 317 output information for determining the position and behavior of the vehicle, such as a vehicle speed sensor, an acceleration sensor, an angular velocity sensor, and a tilt sensor. The output values of the various sensors 317 are used by the CPU 301 to calculate the current position of the vehicle and the amount of change in speed and direction.

The acquisition unit 101, the calculation unit 102, the search unit 103, the dividing unit 104, the assigning unit 105, and the display control unit 106 of the image processing apparatus 100 illustrated in FIG. 1 are the ROM 302, the RAM 303, the magnetic disk 305, the navigation device 300 described above. The CPU 301 executes a predetermined program using a program and data recorded on the optical disc 307 and the like, and realizes its function by controlling each unit in the navigation device 300.

(Outline of estimated energy consumption calculation by the navigation device 300)
The navigation device 300 according to the present embodiment calculates the estimated energy consumption of the vehicle on which the device itself is mounted. Specifically, for example, the navigation device 300 is based on speed, acceleration, and vehicle gradient, and includes one or more of energy consumption estimation formulas including first information, second information, and third information. Is used to calculate the estimated energy consumption of the vehicle in a predetermined section. The predetermined section is a link connecting one node (for example, an intersection) on the road and another node adjacent to the one node.

More specifically, the navigation device 300 determines whether the vehicle is linked based on the traffic jam information provided by the probe, the traffic jam prediction data acquired through the server, the link length or road type stored in the storage device, and the like. The travel time required to finish driving is calculated. Then, navigation device 300 calculates an estimated energy consumption amount per unit time using any one of the following energy consumption estimation formulas (1) to (4), and the vehicle travels on the link during the travel time. Calculate the estimated energy consumption when finishing.

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

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

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

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

In the above formulas (3) and (4), the coefficients a1 and a2 are constants set according to the vehicle situation. The coefficients k1, k2, and k3 are variables based on energy consumption during acceleration. Further, the speed V and the acceleration A are set, and other variables are the same as the above formulas (1) and (2). The first term on the right side corresponds to the first term on the right side of the above equations (1) and (2).

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

Also, as described above, the navigation device 300 calculates the travel time required for the vehicle to travel the link, and calculates the average speed and average acceleration when the vehicle travels the link. Then, the navigation device 300 uses the average speed and average acceleration of the vehicle at the link, and the vehicle travels on the link in the travel time based on the consumption energy estimation formula shown in the following equation (5) or (6). You may calculate the estimated energy consumption at the time of finishing.

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

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

The navigation device 300 may calculate the estimated energy consumption amount of the vehicle with the road gradient θ = 0 in the energy consumption estimation formula shown in the above formulas (1) to (6) when the road gradient is not clear.

Next, the recovery rate β used in the above equations (1) to (6) will be described. In the above equation (5), if the second term on the right side is the energy consumption P _acc of the acceleration component in the link, the energy consumption P _acc of the acceleration component is _calculated from the total energy consumption (left side) of the link from the energy at idling. This is a value obtained by subtracting the consumption (first term on the right side) and the energy consumption (fourth term on the right side) due to running resistance, and is expressed by the following equation (7).

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

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

(Outline of reachable point search in the navigation device 300)
The navigation device 300 according to the present embodiment searches for a plurality of nodes that can be reached from the current location of the vehicle on which the device is mounted as reachable locations of the vehicle. Specifically, the navigation apparatus 300 calculates the estimated energy consumption amount in the link using any one or more of the energy consumption estimation expressions shown in the above expressions (1) to (6). Then, the navigation device 300 searches for a reachable node of the vehicle so as to make the reachable point so that the total of the estimated energy consumption in the link is minimized. Below, an example of the reachable point search by the navigation apparatus 300 is demonstrated.

FIGS. 4-1 to 4-4 are explanatory diagrams schematically showing an example of reachable point search by the navigation device 300. FIG. In FIGS. 4-1 to 4-4, nodes (for example, intersections) of map data are indicated by circles, and links (predetermined sections on the road) connecting adjacent nodes are indicated by line segments (FIGS. 5-1, 5). Similarly, nodes and links are shown for 2).

As shown in FIG. 4A, the navigation device 300 first searches for the link L1_1 closest to the current location 400 of the vehicle. Then, navigation device 300 searches for node N1_1 connected to link L1_1 and adds it to a node candidate for searching for a reachable point (hereinafter simply referred to as “node candidate”).

Next, the navigation apparatus 300 calculates the estimated energy consumption in the link L1_1 that connects the current location 400 of the vehicle and the node N1_1 that is the node candidate using the energy consumption estimation formula. Then, the navigation device 300 writes the estimated energy consumption 3wh in the link L1_1 to the storage device (magnetic disk 305 or optical disk 307) in association with the node N1_1, for example.

Next, as shown in FIG. 4B, the navigation apparatus 300 searches for all links L2_1, L2_2, and L2_3 connected to the node N1_1 and searches for reachable points (hereinafter simply referred to as “links”). "Candidate"). Next, the navigation apparatus 300 calculates the estimated energy consumption in the link L2_1 using the consumption energy estimation formula.

The navigation device 300 associates the accumulated energy amount 7wh obtained by accumulating the estimated energy consumption amount 4wh in the link L2_1 and the estimated energy consumption amount 3wh in the link L1_1 with the node N2_1 connected to the link L2_1, and stores the storage device (magnetic disk 305). Or the optical disc 307) (hereinafter referred to as “set cumulative energy amount to node”).

Furthermore, the navigation apparatus 300 calculates the estimated energy consumption in the links L2_2 and L2_3, respectively, using the energy consumption estimation formula as in the case of the link L2_1. Then, the navigation apparatus 300 sets the accumulated energy amount 8wh obtained by accumulating the estimated energy consumption amount 5wh in the link L2_2 and the estimated energy consumption amount 3wh in the link L1_1 to the node N2_2 connected to the link L2_2.

Also, the navigation apparatus 300 sets the accumulated energy amount 6wh obtained by accumulating the estimated energy consumption amount 3wh in the link L2_3 and the estimated energy consumption amount 3wh in the link L1_1 to the node N2_3 connected to the link L2_3. At this time, if the node for which the cumulative energy amount is set is not a node candidate, navigation device 300 adds the node to the node candidate.

Next, as illustrated in FIG. 4C, the navigation device 300 includes all links L3_1 and L3_2_1 connected to the node N2_1, all links L3_2_2, L3_3, L3_4 connected to the node N2_2, and links connected to the node N2_3. L3_5 is searched for as a link candidate. Next, the navigation apparatus 300 calculates the estimated energy consumption in the links L3_1 to L3_5 using the consumption energy estimation formula.

Then, the navigation apparatus 300 accumulates the estimated energy consumption 4wh in the link L3_1 to the accumulated energy amount 7wh set in the node N2_1, and sets the accumulated energy amount 11wh in the node N3_1 connected to the link L3_1. In addition, the navigation apparatus 300 sets the cumulative energy amounts 13wh, 12wh, and 10wh in the nodes N3_3 to N3_5 connected to the links L3_3 to L3_5, respectively, in the links L3_3 to L3_5 as in the case of the link L3_1.

Specifically, the navigation apparatus 300 accumulates the estimated energy consumption 5wh in the link L3_3 to the accumulated energy amount 8wh set in the node N2_2, and sets the accumulated energy amount 13wh in the node N3_3. The navigation device 300 accumulates the estimated energy consumption 4wh in the link L_3_4 to the accumulated energy amount 8wh set in the node N2_2, and sets the accumulated energy amount 12wh in the node N3_4. The navigation device 300 accumulates the estimated energy consumption 4wh in the link L3_5 to the accumulated energy amount 6wh set in the node N2_3, and sets the accumulated energy amount 10wh in the node N3_5.

On the other hand, in the case where a plurality of links L3_2_1 and L3_2_2 are connected to one node like the node N3_2, the navigation device 300 includes a cumulative energy amount in a plurality of routes from the vehicle current point 400 to the one node N3_2. , The minimum accumulated energy amount 10wh is set in the one node N3_2.

Specifically, the navigation apparatus 300 accumulates the estimated energy consumption 4wh in the link L3_2_1 to the accumulated energy amount 7wh set in the node 2_1 (= total energy amount 11wh), and the estimated energy consumption amount 2wh in the link L3_2_2 is set to the node 2_2. Is accumulated in the accumulated energy amount 8wh set to (= total energy amount 10wh). Then, the navigation device 300 compares the cumulative energy amount 11wh of the route from the current point 400 of the vehicle to the link L3_2_1 with the cumulative energy amount 10wh of the route from the current point 400 of the vehicle to the link L3_2_2, and the minimum cumulative energy. The cumulative energy amount 10wh of the path on the link L3_2_2 side that is the amount is set to the node N3_2.

When there are a plurality of nodes of the same hierarchy from the current location 400 of the vehicle, such as the above-described nodes N2_1 to N2_3, the navigation device 300, for example, from a link connected to a node having a low cumulative energy amount among nodes at the same level. The estimated energy consumption and the cumulative energy amount are calculated in order. Specifically, the navigation apparatus 300 calculates the estimated energy consumption amount in the link connected to each node in the order of the node N2_3, the node N2_1, and the node N2_2, and accumulates the accumulated energy amount in each node. Thus, by specifying the order of the nodes for calculating the estimated energy consumption amount and the cumulative energy amount, it is possible to efficiently calculate the reachable range with the remaining energy amount.

Thereafter, the navigation apparatus 300 continues to accumulate the accumulated energy amount as described above from the nodes N3_1 to N3_5 to the deeper level nodes. Then, the navigation apparatus 300 extracts all nodes set with a cumulative energy amount equal to or less than a preset designated energy amount as reachable points of the vehicle, and obtains longitude / latitude information of the nodes extracted as reachable points. Write to the storage device in association with each node.

Specifically, for example, when the designated energy amount is 10wh, the navigation device 300, as shown by a hatched circle in FIG. 4-4, is a node N1_1 with a cumulative energy amount of 10wh or less set. N2_1, N2_2, N2_3, N3_2, and N3_5 are extracted as reachable points of the vehicle. The designated energy amount set in advance is, for example, the remaining energy amount (initial stored energy amount) at the current point 400 of the vehicle.

The map data 440 composed of the current location 400 of the vehicle and a plurality of nodes and links shown in FIG. 4-4 is an example for explaining the reachable location search. As shown in FIG. 1, more nodes and links are searched in a wider range than the map data 440 shown in FIG. 4-4.

FIG. 5A is an explanatory diagram illustrating an example of a reachable point search by the navigation device 300. As described above, when calculating the cumulative energy amount for all roads (excluding narrow streets), as shown in Fig. 5-1, search the total energy amount in all nodes on each road in detail. can do. However, the estimated energy consumption of about 2 million links in Japan is calculated and accumulated, and the information processing amount of the navigation device 300 becomes enormous. For this reason, the navigation apparatus 300 may narrow down the road which searches for the reachable point of a mobile body based on the importance of a link etc., for example.

FIG. 5-2 is an explanatory diagram showing another example of reachable point search by the navigation device 300. Specifically, for example, the navigation device 300 calculates a cumulative energy amount on all roads (excluding narrow streets) around the current location 400 of the vehicle, and only high-importance roads are within a certain distance away. To calculate the total energy. Accordingly, as shown in FIG. 5B, the number of nodes and the number of links searched by the navigation device 300 can be reduced, and the information processing amount of the navigation device 300 can be reduced. Therefore, the processing speed of the navigation device 300 can be improved.

The fixed flag 103a of the search unit 103 gives a fixed flag to pixels of mesh data including a specific node based on the acquired map information 120 when searching for these reachable points. At this time, the fixed flag assigning unit 103a determines whether the searched single node on the map information 120 is a predetermined specific node (both ends of a tunnel, a bridge entrance, a mountain road, etc.). If the path (link) having the single node at both ends (entrances / exits) can travel, the fixed flag is given to the pixels including the nodes at both ends of the link. Not limited to this, the fixed flag assigning unit 103a may assign a fixed flag to a plurality of pixels including the entire link including nodes at both ends of the link.

(Outline of map data division in navigation device 300)
The navigation device 300 according to the present embodiment divides the map data stored in the storage device based on the reachable point searched as described above. Specifically, the navigation device 300 converts map data composed of vector data into, for example, 64 × 64 pixel mesh data (X, Y), and converts the map data into raster data (image data).

FIG. 6 is an explanatory diagram of an example in which a reachable point by the navigation device 300 is indicated by longitude-latitude. FIG. 7 is an explanatory diagram of an example in which a reachable point by the navigation device 300 is indicated by mesh data. In FIG. 6, for example, longitude / latitude information (x, y) of the reachable point searched as shown in FIGS. 5-1 and 5-2 is illustrated in absolute coordinates. FIG. 7 illustrates the screen data of 64 × 64 pixel mesh data (X, Y) to which identification information is given based on the reachable point.

As shown in FIG. 6, the navigation apparatus 300 first generates longitude / latitude information (x, y) having a point group 600 in absolute coordinates based on the longitude x and latitude y of each of a plurality of reachable points. . The origin (0, 0) of the longitude / latitude information (x, y) is at the lower left of FIG. Then, the navigation apparatus 300 calculates the distances w1 and w2 from the longitude ofx of the current point 400 of the vehicle to the maximum longitude x_max and the minimum longitude x_min of the reachable point farthest in the longitude x direction. Further, the navigation device 300 calculates the distances w3 and w4 from the latitude of the current point 400 of the vehicle to the maximum latitude y_max and the minimum latitude y_min of the reachable point farthest in the direction of the latitude y.

Next, the navigation device 300 has a distance w2 (hereinafter referred to as w5 = max (w1, w2) from the vehicle current point 400 to the minimum longitude x_min, which is the longest distance among the distances w1 to w4 from the vehicle current point 400. , W3, w4)), and map data including a plurality of reachable points so that the length of 1 / n becomes the length of one side of a rectangular element of mesh data (X, Y). For example, it is converted into mesh data (X, Y) of m × m pixels (for example, 64 × 64 pixels).

Specifically, the navigation device 300 sets the ratio of one pixel to the longitude / latitude to a magnification mag = w5 / n, and the longitude / latitude information (x, y) and mesh data (X, Y) are the following ( The longitude / latitude information (x, y) is converted into mesh data (X, Y) so as to satisfy the expressions (9) and (10).

X = (x-ofx) / mag (9)

Y = (y-ofy) / mag (10)

By converting longitude / latitude information (x, y) into mesh data (X, Y), as shown in FIG. 7, the current location 400 of the vehicle is configured by mesh data (X, Y) of m × m pixels. The mesh data (X, Y) of the current point 400 of the vehicle is the same in both the X-axis direction and the Y-axis direction, and X = Y = m / 2 = n + 4. Further, n = (m / 2) −4 is set in order to make, for example, four pixels around the mesh data (X, Y) blank. Then, when the navigation device 300 converts the longitude / latitude information (x, y) into mesh data (X, Y), it gives identification information to each area of the mesh data (X, Y), and m rows m It is converted into mesh data of two-dimensional matrix data (Y, X) of columns.

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

As described above, the navigation device 300 converts the map data into binarized map data of m rows and m columns of two-dimensional matrix data (Y, X) obtained by adding identification information to each area obtained by dividing the map data. Treated as raster data. Each area of the mesh data is represented by a rectangular area within a certain range. Specifically, as shown in FIG. 7, for example, m × m pixel mesh data (X, Y) in which a point group 700 of a plurality of reachable points is drawn in black is generated. The origin (0, 0) of the mesh data (X, Y) is at the upper left.

Then, the erasure prohibition flag assigning unit 104a of the dividing unit 104 assigns an erasure prohibition flag to specific pixels including the node to which the fixed flag is assigned among the pixels of the mesh data. At this time, when the fixed flag is added only to the pixels including the nodes at both ends of the link by the fixed flag adding unit 103a, erasure is prohibited for one or a plurality of pixels including one whole link including both ends of the link. Give a flag.

(Outline of identification information assignment in the navigation device 300, part 1)
The navigation apparatus 300 of the present embodiment changes the identification information given to each area of the m × m pixel mesh data (X, Y) divided as described above. Specifically, the navigation apparatus 300 performs a cloning process (a process of performing a reduction process after the expansion process) on mesh data of m-dimensional data and m-dimensional two-dimensional matrix data (Y, X).

FIG. 8 is an explanatory diagram showing an example of the cloning process by the navigation device. FIGS. 8A to 8C are mesh data of two-dimensional matrix data (Y, X) of m rows and m columns in which identification information is assigned to each region. FIG. 8A shows mesh data 800 to which identification information is given for the first time after map data division processing. That is, the mesh data 800 shown in FIG. 8A is the same as the mesh data shown in FIG.

FIG. 8B shows mesh data 810 after the cloning process (expansion) is performed on the mesh data 800 shown in FIG. 8A. FIG. 8C shows mesh data 820 after the cloning process (reduction) is performed on the mesh data 810 shown in FIG. 8B. In the

mesh data

800, 810, and 820 shown in FIGS. 8A to 8C, the vehicle reachable ranges 801, 811 and 821 generated by a plurality of regions to which reachable identification information is assigned are blackened. Shown in a filled state.

As shown in FIG. 8A, in the mesh data 800 after the identification information is given, a missing point 802 (in the reachable range 801 that is hatched) that is an unreachable area included in the reachable range 801 of the vehicle. White background). For example, as shown in FIG. 5B, the missing point 802 is a node that becomes a reachable point when narrowing down roads to search for nodes and links in order to reduce the load of reachable point search processing by the navigation device 300. This occurs when the number is reduced.

Next, as shown in FIG. 8B, the navigation device 300 performs an expansion process of cloning on the mesh data 800 after the identification information is given. In the expansion process of cloning, the identification information of one area adjacent to the area to which reachable identification information is added in the mesh data 800 after the identification information is added is changed to reachable identification information. As a result, the missing point 802 generated in the reachable range 801 of the vehicle before the expansion process (after the identification information is given) disappears.

Also, the identification information of all the areas adjacent to the outermost area of the reachable range 801 of the vehicle before the expansion process is changed to the reachable identification information. For this reason, the outer periphery of the reachable range 811 of the vehicle after the expansion process is one pixel at a time so as to surround the outer periphery of each outermost region of the reachable range 801 of the vehicle before the expansion process every time the expansion process is performed. spread.

Thereafter, as shown in FIG. 8C, the navigation device 300 performs a cloning reduction process on the mesh data 810. In the reduction process of cloning, the identification information of one area adjacent to the area to which the unreachable identification information is added in the mesh data 810 after the expansion process is changed to the unreachable identification information.

For this reason, each area of the outermost periphery of the reachable range 811 of the vehicle after the expansion process becomes an area that cannot be reached by one pixel every time the reduction process is performed, and the reachable range 811 of the vehicle after the expansion process The outer circumference shrinks. Thereby, the outer periphery of the reachable range 821 of the vehicle after the reduction process is substantially the same as the outer periphery of the reachable range 801 of the vehicle before the expansion process.

Navigation device 300 performs the above-described expansion process and reduction process the same number of times. Specifically, when the expansion process is performed twice, the subsequent reduction process is also performed twice. By equalizing the number of times of the expansion process and the reduction process, the identification information of almost all areas in the outer periphery of the reachable range of the vehicle that has been changed to the identification information that can be reached by the expansion process is restored to the original information by the reduction process. It can be changed to unreachable identification information. In this way, the navigation device 300 can remove the missing point 802 in the reachable range of the vehicle and generate the reachable range 821 of the vehicle that can clearly display the outer periphery.

More specifically, the navigation device 300 performs the cloning process as follows. FIG. 9 is an explanatory diagram schematically showing an example of cloning processing by the navigation device. FIG. 9A to FIG. 9C show mesh data of two-dimensional matrix data (Y, X) of h rows and h columns in which identification information is assigned to each region as an example.

FIG. 9A shows the mesh data 900 after the identification information is given. FIG. 9B shows mesh data 910 after cloning processing (expansion) with respect to FIG. FIG. 9C shows mesh data 920 after cloning processing (reduction) with respect to FIG. 9B. In

mesh data

900, 910, and 920 of FIGS. 9A to 9C,

areas

901 and 902 to which reachable identification information is assigned are illustrated by different hatchings.

As shown in FIG. 9A, identification information that can reach the region 901 in the c-row, f-column, f-row, c-column, and g-row, f column is assigned to the mesh data 900 after the identification information is given. In FIG. 9A, the regions 901 to which reachable identification information is assigned are arranged apart from each other so that the change in the identification information after the expansion process and the reduction process becomes clear.

The navigation device 300 performs an expansion process of cloning on the mesh data 900 having been given such identification information. Specifically, as illustrated in FIG. 9B, the navigation device 300 includes eight regions adjacent to the lower left, lower, lower right, right, upper right, upper, upper left, and left of the region 901 in the c row and the f column. (B row e column to b row g column, c row e column, c row g column and d row e column to d row g column) 902 identification information is changed from unreachable identification information to reachable identification information change.

Further, the navigation device 300 can reach the identification information of the eight adjacent regions 902 in the region 901 of the f row c column and the g row f column similarly to the processing performed for the region 901 of the c row f column. Change to the identification information. For this reason, the reachable range 911 of the vehicle is wider than the reachable range of the vehicle in the mesh data 900 after the identification information is added by the amount that the identification information of the region 902 is changed to the reachable identification information.

Next, the navigation apparatus 300 performs a cloning reduction process on the mesh data 910 after the expansion process. Specifically, as illustrated in FIG. 9C, the navigation device 300 has b rows and e columns adjacent to an area to which unreachable identification information is given (the white background portion of the mesh data 910 after the expansion process). The identification information of the eight areas 902 of the b row g column, the c row e column, the c row g column, and the d row e column to the d row g column is changed to unreachable identification information.

In addition, the navigation device 300 is similar to the processing performed for the eight areas 902 of b row e column to b row g column, c row e column, c row g column, and d row e column to d row g column. E row b column to e row d column, f row b column, f row d column to f row g column, g row b column to g row e column adjacent to the region to which the unreachable identification information is given. , G row g column, h row e column and h row g column 15 902 identification information is changed to unreachable identification information.

As a result, as shown in FIG. 9C, the mesh data 920 after the reduction process is reduced to the three regions 901 to which reachable identification information is added, similarly to the mesh data 900 after the identification information is added. A reachable range 921 of the vehicle composed of one region 902 that remains in the state where the reachable identification information is provided even after the processing is generated. As described above, the region 902 that is provided with the identification information that can be reached during the expansion process and that has been provided with the identification information that can be reached after the reduction process is within the reachable range of the mesh data 900 after the identification information is applied. The missing point that has occurred disappears.

(Outline of identification information addition in the navigation device 300, part 2)
The navigation device 300 performs an opening process (a process of performing an expansion process after the reduction process) on the mesh data of the two-dimensional matrix data (Y, X), and generates a vehicle reachable range in which the outer periphery can be clearly displayed. May be. Specifically, the navigation device 300 performs an opening process as follows.

FIG. 10 is an explanatory diagram showing an example of the opening process by the navigation device. FIGS. 10A to 10C are mesh data of two-dimensional matrix data (Y, X) of m rows and m columns in which identification information is assigned to each region. FIG. 10A shows mesh data 1000 after identification information is given. FIG. 10B shows mesh data 1010 after the opening process (reduction) with respect to FIG. FIG. 10C shows mesh data 1020 after the opening process (expansion) with respect to FIG. In the

mesh data

1000, 1010, and 1020 shown in FIGS. 10A to 10C, the vehicle reachable ranges 1001, 1011 and 1021 generated by a plurality of regions to which reachable identification information is assigned are shown. Shown in black.

As shown in FIG. 10A, when there are many isolated pixels 1002 on the outer periphery of the reachable range 1001 of the vehicle in the mesh data 1000 after the identification information is given, the mesh data 1000 after the identification information is given By performing the opening process, the isolated pixel 1002 can be removed. Specifically, as shown in FIG. 10B, the navigation device 300 performs an opening reduction process on the mesh data 1000 after the identification information is given.

In the reduction process of the opening, the identification information of one area adjacent to the area to which the unreachable identification information is added in the mesh data 1000 after the identification information is added is changed to the unreachable identification information. Thereby, the isolated pixel 1002 that has occurred in the reachable range 1001 of the vehicle before the reduction process (after the identification information is given) is removed.

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

Thereafter, as shown in FIG. 10C, the navigation device 300 performs an opening expansion process on the mesh data 1010. In the opening expansion process, the identification information of one area adjacent to the area to which the unreachable identification information is added in the mesh data 1010 after the reduction process is changed to the reachable identification information. For this reason, the outer periphery of the reachable range 1021 of the vehicle after the expansion process is one pixel at a time so as to surround the outer periphery of each outermost region of the reachable range 1011 of the vehicle after the reduction process every time the expansion process is performed. spread.

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

(Example of node deletion prohibition processing using the deletion prohibition flag: Part 1)
FIG. 11A is a diagram illustrating an example of node erasure inhibition by an erasure inhibition flag. An example will be described in which a specific pixel is left as an erasure prohibition by the above-described contraction process, expansion process and erasure prohibition flag. In these figures, “gray (shaded)” indicates a reachable area (identification information is “1”), and “white” indicates an unreachable area (identification information is “0”). Yes.

As shown in (A), it is assumed that the reachable range indicated by the mesh data 1100 has a predetermined pattern shown in gray. Here, it is assumed that fixed flags are assigned to the nodes included in the pixels 1101 to 1106, respectively. For example, there is a single road in the forest that is connected by a relatively short link. Then, an erasure prohibition flag is assigned to each of the pixels 1101 to 1106 by the erasure prohibition flag portion.

Then, by performing the contraction process, the state shown in (B) is obtained. That is, if even one pixel is white around the target pixel (region) shown in (A), the target pixel is changed to white, but the pixels 1101 to 1106 to which the erasure prohibition flag is assigned are white. It is excluded from the process of changing to.

Thereafter, the state shown in (C) is obtained by performing the expansion process. In (C), if even one pixel is gray around the target pixel (region) shown in (B), the target pixel is changed to gray, but the pixel 1101 to which the erasure prohibition flag is assigned. ˜1106 are excluded from the process of changing to gray.

(Example of node deletion prohibition processing using the deletion prohibition flag: Part 2)
FIG. 11B is a diagram illustrating an example of node erasure inhibition by the erasure inhibition flag. A difference from FIG. 11A is that a node to which a fixed flag included in the pixel 1101 is attached and a node to which a fixed node included in the pixel 1106 is connected via a long link. 1105 does not include a node. For example, there is a bridge through the bay. In this case, as shown in FIG. 11-2 (A1), the erasure prohibition flag unit assigns erasure prohibition flags to the

pixels

1101 and 1106, respectively.

Here, the erasure prohibition flag portion indicates that, when a fixed flag is given to nodes at both ends of one link, a virtual node to which a fixed flag is given exists in the pixel corresponding to the link portion. It is assumed that an erasure prohibition flag may be assigned to the corresponding pixel. That is, as shown in FIG. 11-2 (A2), an erasure prohibition flag may be assigned to the pixels 1102 to 1105.

After that, the state shown in (B) is obtained by performing the contraction process. In this (B), if even one pixel is white around the target pixel (region), the target pixel is changed to white, but the pixels 1101 to 1106 to which the erasure prohibition flag is assigned are changed to white. Not subject to processing.

It should be noted that instead of assigning the erasure prohibition flag to the pixels 1102 to 1105 shown in FIG. 11-2 (A2), after the contraction process and the expansion process, the

pixels

1101 and 1106 to which the erasure prohibition flag is assigned are provided. The reachable range identification information “1” may be assigned to the pixels 1102 to 1105 in between.

By the above shrinking process and dilating process, it is possible to erase isolated pixels with unnecessary noise and to leave pixels to which an erasure prohibition flag is assigned.

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

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

The direction index indicates the direction in which the line segment of the unit length is facing. In the mesh data (X, Y), the coordinates corresponding to the direction index are (X + dx, Y + dy). For example, as shown in FIG. 12A, the direction index in the direction from the region 1200 toward the region 1210 adjacent to the lower left is “0”. The direction index in the direction from the region 1200 toward the adjacent region 1211 is “1”. The direction index in the direction from the region 1200 toward the region 1212 adjacent to the lower right is “2”. Although omitted in the middle, the direction index in the direction from the region 1200 toward the region 1217 adjacent to the left is “7”.

The navigation device 300 searches the area to which the reachable identification information “1” adjacent to the area 1200 is assigned in the counterclockwise direction. In addition, the navigation device 300 determines a search start point of an area to which reachable identification information adjacent to the area 1200 is assigned based on the previous direction index. Specifically, when the direction index from another area toward area 1200 is “0”, navigation device 300 has an area adjacent to the left of area 1200, that is, an area adjacent in the direction of direction index “7”. The search starts at 1217.

Similarly, when the direction index from another region toward the region 1200 is “1” to “7”, the navigation device 300 is adjacent to the lower left, lower, lower right, right, upper right, upper, upper left of the region 1200. The search is started from the matching regions, that is, the regions 1210 to 1216 adjacent in the directions of the direction indices “0”, “1”, “2”, “3”, “4”, “5”, “6”, respectively. When the navigation apparatus 300 detects the reachable identification information “1” from any one of the areas 1210 to 1217 from the area 1200, the areas 1210 to 1217 in which the reachable identification information “1” is detected. The direction indices “0” to “7” corresponding to are written in the storage device in association with the area 1200.

Specifically, the navigation device 300 extracts the outline of the reachable range of the vehicle as follows. As shown in FIG. 12 (B), the navigation apparatus 300 first identifies identification that can be reached in units of rows from the region of a row and a column of the mesh data 1220 of the two-dimensional matrix data (Y, X) of h row and h column. Search for an area to which information is assigned.

Since unreachable identification information is given to all the regions in the a-th row of the mesh data 1220, the navigation apparatus 300 next moves the b-row and h-column regions from the b-row and a-column region of the mesh data 1220. Search for identification information that can be reached toward the area. Then, after detecting the reachable identification information in the region 1221 of the b row and e column of the mesh data 1220, the navigation device 300 moves counterclockwise from the region 1221 of the b row and e column of the mesh data 1220, and reaches the reachable range of the vehicle. The region having the reachable identification information that becomes the outline of is searched.

Specifically, the navigation device 300 has already searched for the region of the b row and the d column adjacent to the left of the region 1221. Therefore, the navigation apparatus 300 first identifies the reachable from the region 1222 adjacent to the lower left of the region 1221 counterclockwise. Search whether there is an area having information. The navigation device 300 detects the reachable identification information of the region 1222 and stores the direction index “0” in the direction from the region 1221 toward the region 1122 in association with the region 1221 in the storage device.

Next, since the navigation device 300 has the previous direction index “0”, whether there is an area having reachable identification information counterclockwise from the area of the c row and the c column adjacent to the left of the area 1222. Search for. Then, the navigation device 300 detects the reachable identification information of the region 1223 adjacent to the lower left of the region 1222, and stores the direction index “0” in the direction from the region 1222 to the region 1223 in association with the previous direction index. Store in the device.

Thereafter, the navigation device 300 determines a search start point based on the previous direction index, and uses the direction index as a process for searching whether there is an area having identification information that can be reached counterclockwise from the search start point. Repeat until the corresponding arrow returns to region 1221. Specifically, navigation device 300 searches whether there is a region having identification information that can be reached counterclockwise from the region adjacent to the left of region 1222, and searches for region 1224 adjacent below region 1223. The reachable identification information is detected, and the direction index “1” is stored in the storage device in association with the previous direction index.

Similarly, after determining the search start point based on the previous direction index, the navigation device 300 searches for an area having identification information that can be reached counterclockwise from the search start point, and an area having reachable identification information 1224 to 1234 are sequentially detected. Then, every time the navigation device 300 acquires the direction index, the navigation device 300 associates it with the previous direction index and stores it in the storage device.

After that, the navigation device 300 searches whether there is an area having identification information that can be reached in the counterclockwise direction from the area of the b row and f column adjacent to the upper right of the area 1234, and the adjacent area on the area 1234 The reachable identification information 1221 is detected, and the direction index “5” is stored in the storage device in association with the previous direction index. As a result, the direction index “0” → “0” → “1” → “0” → “2” → “3” → “4” → “3” → “2” → “5” → “5” → “6” → “6” → “5” is stored in this order.

Thus, the navigation device 300 sequentially searches counterclockwise the regions 1222 to 1234 having the reachable identification information adjacent to the region 1221 from the first detected region 1221 to obtain the direction index. Then, the navigation apparatus 300 fills one area in the direction corresponding to the direction index from the area 1221, so that the outline 1301 of the reachable range of the vehicle and the part 1302 surrounded by the outline 1301 are shown in FIG. 13. The mesh data having the vehicle reachable range 1300 is generated.

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

FIG. 14 is a flowchart showing an example of the procedure of image processing by the navigation device. In the flowchart of FIG. 14, the navigation device 300 first acquires the current location (ofx, ofy) of the vehicle on which the device is mounted, for example, via the communication I / F 315 (step S1401). Next, the navigation apparatus 300 acquires the initial stored energy amount of the vehicle at the current location (ofx, ofy) of the vehicle, for example, via the communication I / F 315 (step S1402).

Next, the navigation device 300 performs a reachable node search process (step S1403). At this time, a fixed flag is assigned to a specific node (step S1404). Next, the navigation device 300 performs mesh data generation, deletion prohibition flag assignment, and identification information addition processing (step S1405). Next, the navigation apparatus 300 extracts the outline of the reachable range of the vehicle (step S1407). Thereafter, the navigation device 300 displays the reachable range of the vehicle on the display 313 (step S1408), and ends the processing according to this flowchart.

(Estimated power consumption calculation process in the navigation device 300)
Next, the estimated power consumption calculation process by the navigation device 300 will be described. FIG. 15 is a flowchart illustrating an example of a procedure of estimated power consumption calculation processing by the navigation device. In the flowchart illustrated in FIG. 15, the process is performed in the reachable node search process in step S1403 described above.

In the flowchart of FIG. 15, the navigation apparatus 300 first acquires traffic jam information such as probe data and traffic jam prediction data via the communication I / F 315 (step S1501). Next, the navigation apparatus 300 acquires the length of the link and the road type of the link (step S1502).

Next, the navigation device 300 calculates the travel time of the link based on the information acquired in steps S1501 and S1502 (step S1503). The travel time of the link is the time required for the vehicle to finish traveling on the link. Next, the navigation apparatus 300 calculates the average link speed based on the information acquired in steps S1501 to S1503 (step S1504). The average speed of the link is an average speed when the vehicle travels on the link.

Next, the navigation device 300 acquires the altitude data of the link (step S1505). Next, the navigation apparatus 300 acquires vehicle setting information (step S1506). Next, the navigation apparatus 300 uses the energy consumption estimation formula of any one of the above-described formulas (1) to (6) based on the information acquired in steps S1501 to S1506 to estimate the consumption at the link. The amount of electric power is calculated (step S1507), and the processing according to this flowchart ends.

(Reachable point search process in the navigation device 300)
Next, reachable point search processing by the navigation device 300 will be described. FIGS. 16A and 16B are flowcharts illustrating the procedure of reachable point search processing by the navigation device. In the flowcharts of FIGS. 16A and 16B, the navigation apparatus 300 adds the node N (i) _j connected to the link L (i) _j closest to the search start point to the node candidates (step S1601). The search start point is the current point (ofx, ofy) of the vehicle acquired in step S1401 described above.

The variables i and j are arbitrary numerical values. For example, a link and a node closest to the search start point are a link L (1) _j and a node N (1) _j, respectively, and are further connected to the node N (1) _j. A node connecting the link to the link L (2) _j and the node connecting to the link L (2) _j may be a node N (2) _j (j = 1, 2,..., J1). The variable j1 is an arbitrary numerical value and means that a plurality of links or nodes exist in the same hierarchy.

Next, the navigation apparatus 300 determines whether or not there are one or more node candidates (step S1602). When there is one or more node candidates (step S1602: Yes), the navigation apparatus 300 selects a node candidate having the minimum cumulative power consumption from the current point of the vehicle to the node candidate (step S1603). For example, the following processing will be described assuming that the navigation device 300 selects the node N (i) _j as a node candidate.

Next, the navigation apparatus 300 determines whether or not the cumulative power consumption from the current point of the vehicle to the node N (i) _j is less than or equal to the specified energy amount (step S1604). The designated energy amount is, for example, the remaining energy amount of the vehicle at the current location of the vehicle. When the amount is equal to or less than the specified energy amount (step S1604: Yes), the navigation apparatus 300 extracts all the links L (i + 1) _j connected to the node N (i) _j (step S1605).

Next, the navigation apparatus 300 selects one link L (i + 1) _j among the links L (i + 1) _j extracted in step S1605 (step S1606). Next, the navigation apparatus 300 performs candidate determination processing for determining whether or not the one link L (i + 1) _j selected in step S1606 is a link candidate (steps S1607 and S1608).

When the one link L (i + 1) _j is set as a link candidate (step S1608: Yes), the navigation apparatus 300 performs a power consumption calculation process for the one link L (i + 1) _j (step S1609). Next, the navigation apparatus 300 calculates the cumulative power consumption W (i + 1) _j up to the node N (i + 1) _j connected to one link L (i + 1) _j (step S1610). Next, the navigation apparatus 300 determines whether there is another processed path connected to the node N (i + 1) _j (step S1611).

If there is another route that has been processed (step S1611: Yes), the navigation apparatus 300 determines that the cumulative power consumption W (i + 1) _j from the current point of the vehicle to the node N (i + 1) _j is the cumulative amount of the other route. It is determined whether it is smaller than the power consumption (step S1612). If the accumulated power consumption is smaller than the other route (step S1612: Yes), the navigation device 300 causes the node N (i + 1) _j to accumulate the accumulated power consumption W from the current point of the vehicle to the node N (i + 1) _j. (I + 1) _j is set (step S1613).

On the other hand, when there is no other processed route (step S1611: No), the navigation apparatus 300 proceeds to step S1613. Next, the navigation apparatus 300 determines whether or not the node N (i + 1) _j is a node candidate (step S1614). When it is not a node candidate (step S1614: No), the navigation apparatus 300 adds the node N (i + 1) _j to the node candidate (step S1615).

When one link L (i + 1) _j is not a link candidate (step S1608: No), the accumulated power consumption W (i + 1) _j from the current point of the vehicle to the node N (i + 1) _j is on another route. If the node N (i + 1) _j is a node candidate (step S1614: Yes), the navigation device 300 proceeds to step S1616.

Next, the navigation apparatus 300 determines whether or not the candidate determination process for all links L (i + 1) _j has been completed (step S1616). When the candidate determination process for all links L (i + 1) _j is completed (step S1616: Yes), the node N (i) _j is excluded from the node candidates (step S1617), and the process returns to step S1602. Then, when there are one or more node candidates (step S1602: Yes), the navigation apparatus 300 selects a node candidate having the minimum cumulative power consumption from the current location of the vehicle from the node candidates (step S1603). In step S1603, the node candidate selected in step S1603 is set as the next node N (i) _j, and the processes in and after step S1604 are performed.

On the other hand, when the candidate determination process for all links L (i + 1) _j is not completed (step S1616: No), the process returns to step S1606. The navigation device 300 selects another link L (i + 1) _j connected to the node N (i) _j again, and performs candidate determination processing for all the links L (i + 1) _j connected to the same node candidate. Until the process ends (step S1616: Yes), the processes from step S1607 to step S1615 are repeated. If there is no one or more node candidates (step S1602: No), the cumulative power consumption from the current point of the vehicle to the node N (i) _j is larger than the specified energy amount (step S1604: No), the navigation device 300 terminates the processing according to this flowchart.

(Link candidate determination process in the navigation device 300)
Next, link candidate determination processing by the navigation device 300 will be described. FIG. 17 is a flowchart illustrating an example of a procedure of link candidate determination processing by the navigation device. The flowchart in FIG. 17 is an example of the process performed in step S1607 described above.

In the flowchart of FIG. 17, the navigation apparatus 300 first determines whether or not the one link L (i + 1) _j selected in step S1606 is prohibited from passing (step S1701). If the passage is not prohibited (step S1701: No), the navigation apparatus 300 determines whether one link L (i + 1) _j is a one-way reverse run (step S1702). When it is not one-way reverse running (step S1702: No), the navigation apparatus 300 determines whether one link L (i + 1) _j is time-regulated or seasonally regulated (step S1703).

When time regulation and season regulation are not performed (step S1703: No), the navigation apparatus 300 uses the node N (i + 1) on the current point side of the vehicle in which the one link L (i + 1) _j is the one link L (i + 1) _j. It is determined whether or not the importance is lower than the link L (i) _j connected to (Step S1704). If the importance level is higher than that of the link L (i) _j (step S1704: No), the navigation apparatus 300 determines one link L (i + 1) _j as a link candidate (step S1705), and ends the processing according to this flowchart. To do.

On the other hand, when it is prohibited to pass (step S1701: Yes), when it is one-way reverse running (step S1702: Yes), when time regulation or seasonal regulation is imposed (step S1703: Yes), the link L ( i) When the importance is lower than _j (step S1704: Yes), the navigation apparatus 300 ends the process according to this flowchart.

(Processing related to erasure prohibition flag in navigation device 300)
Next, processing related to the erasure prohibition flag will be described. FIG. 18 is a flowchart illustrating an example of processing relating to the assignment of a fixed flag and the assignment of an erasure prohibition flag. This process includes a process (step S1404) performed by the fixed flag assigning unit 103a of the search unit 103 and a process (step S1405) performed by the erasure prohibition flag assigning unit 104a of the dividing unit 104.

First, the search unit 103 reads a reachable node by the above process (step S1801). Next, the dividing unit 104 meshes the map information 120 (step S1802). Thereafter, the fixed flag assigning unit 103a determines whether this node is a node to which a fixed flag that is unique information is assigned (step S1803). As described above, the node to which the fixed flag is assigned is a specific node such as a tunnel, a bridge, or a mountain road. If the read node is a node to which the fixed flag is assigned (step S1803: Yes), the erasure prohibition flag assigning unit 104a assigns an erasure prohibition flag to the pixel including the node to which the fixed flag is assigned (step S1804). ), And the process proceeds to step S1805. If the read node is not a node given a fixed flag (step S1803: No), the process proceeds to step S1805. In step S1805, reachable range identification information is assigned to each pixel.

(Identification information adding process in the navigation device 300)
Next, the identification information giving process by the navigation device 300 will be described. FIG. 19 is a flowchart illustrating an example of a procedure of identification information addition processing by the navigation device. The flowchart in FIG. 19 is the processing performed in step S1405 described above.

In the flowchart of FIG. 19, the navigation apparatus 300 first acquires longitude / latitude information (x, y) of reachable nodes (searchable points) (step S1901). Next, the navigation apparatus 300 acquires the maximum longitude x_max, the minimum longitude x_min, the maximum latitude y_max, and the minimum latitude y_min (step S1902).

Next, the navigation apparatus 300 determines the distance w1 from the current vehicle location (ofx, ofy) acquired in step S1401 to the maximum longitude x_max, the distance w2 to the minimum longitude x_min, the distance w3 to the maximum latitude y_max, and the minimum latitude. The distances w4 to y_min are respectively calculated (step S1903). Next, the navigation apparatus 300 acquires the longest distance w5 = max (w1, w2, w3, w4) among the distances w1 to w4 (step S1904).

Next, the navigation device 300 calculates a magnification mag = w5 / n for converting the map data stored in the storage device from the absolute coordinate system to the screen coordinate system (step S1905). Next, the navigation apparatus 300 converts the map data from the absolute coordinate system to the screen coordinate system using the magnification mag calculated in step S1905, and generates mesh data (X, Y) of m × m pixels (step S1906). ).

In step S1806, the navigation device 300 gives reachable identification information to the mesh data (X, Y) including the reachable node, and cannot reach the mesh data (X, Y) that does not include the reachable node. The identification information is assigned. And the navigation apparatus 300 removes the missing point of the mesh data (X, Y) corresponding to a bridge or a tunnel by performing the 1st identification information change process (step S1907).

Next, the navigation apparatus 300 performs a second identification information change process (step S1908). Next, the navigation apparatus 300 performs a third identification information change process (step S1909), and ends the process according to this flowchart. The second identification information changing process is a cloning expansion process. The third identification information change process is a cloning reduction process. In this flowchart, the second identification information change process (step S1908) and the third identification information change process (step S1909) are performed after the first identification information change process (step S1907). After the change process (step S1908) and the third identification information change process (step S1909), the first identification information change process (step S1907) may be performed.

(First Identification Information Changing Process in Navigation Device 300)
Next, the first identification information changing process by the navigation device 300 will be described. FIG. 20 is a flowchart illustrating an example of an opening process and a cloning process using an erasure prohibition flag. This process is performed by the assigning unit 105. The flowchart in FIG. 20 is an example of processing performed in steps S1907 to S1909 described above.

First, the assigning unit 105 reads mesh data that is the output of the dividing unit 104 (step S2001). Next, it is determined whether or not an erase prohibition flag is assigned to the area (pixel) of the read mesh data (step S2002). If the erasure prohibition flag is not assigned to the area (step S2002: No), first, an opening process is performed for this area (step S2003), and then a cloning process is performed for this area (step S2004), and the process is terminated. . However, if the erasure prohibition flag is given to the area (step S2002: Yes), the opening process is not performed on this area, only the cloning process is performed (step S2004), and the process is terminated.

In addition to the above processing, if an erasure prohibition flag is assigned to the area (step S2002: Yes), neither the opening process nor the cloning process may be performed on this area.

(Area reachable range extraction process in navigation device 300)
Next, reachable range contour extraction processing by the navigation device 300 will be described. FIGS. 21-1 and 21-2 are flowcharts illustrating an example of the procedure of the reachable range contour extraction process by the navigation device. The flowcharts of FIGS. 21-1 and 21-2 are an example of the process performed in step S1407 described above.

21-1 and 21-2, the navigation apparatus 300 first acquires mesh data of two-dimensional matrix data of my rows and mx columns (step S2101). Next, the navigation apparatus 300 acquires longitude / latitude information of each area of the mesh data acquired in step S2101 (step S2102).

Next, the navigation device 300 initializes the variable i and adds 1 to the variable i in order to search for the identification information of the i-row and j-column area of the mesh data (steps S2103 and S2104). Next, the navigation apparatus 300 determines whether or not the variable i exceeds the my row (step S2105).

When the variable i does not exceed the my line (step S2105: No), the navigation apparatus 300 initializes the variable j and adds 1 to the variable j (steps S2106 and S2107). Next, the navigation apparatus 300 determines whether or not the variable j exceeds the mx column (step S2108).

When the variable j does not exceed the mx column (step S2108: No), the navigation apparatus 300 determines whether or not the identification information of the i-row / j-column region of the mesh data is “1” (step S2109). . When the identification information of the i-th row and j-th column region is “1” (step S2109: Yes), the navigation apparatus 300 acquires the upper left coordinates (px1, py1) of the i-th row and j-th column region of the mesh data (step S2109). S2110). The upper left coordinates (px1, py1) of the region of i row and j column are the minimum longitude px1 and the minimum latitude py1 of the region of i row and j column.

Next, the navigation apparatus 300 determines whether or not the variable j exceeds the mx column (step S2111). When the variable j exceeds the mx column (step S2111: No), the navigation apparatus 300 acquires the lower right coordinates (px2, py2) of the i row and j column region of the mesh data (step S2112). The lower right coordinates (px2, py2) of the area of i row and j column are the maximum longitude px2 and the maximum latitude py2 of the area of i row and j column.

Next, the navigation device 300 sets the upper left coordinates (px1, py1) acquired in step S2110 and the lower right coordinates (px2, py2) acquired in step S2112 as map data (step S2116). Then, the navigation apparatus 300 fills a rectangular area having the upper left coordinates (px1, py1) and the lower right coordinates (px2, py2) as opposed vertices (step S2117), returns to step S2104, and repeats the subsequent processing. Do it.

On the other hand, when the variable j does not exceed the mx column (step S2111: Yes), the navigation apparatus 300 adds 1 to the variable j (step S2113), and the identification information of the area of the i-th row and j-th column of the mesh data is “ It is determined whether or not “1” (step S2114). If the identification information of the i-th row and j-th column area is not “1” (step S2114: No), the navigation apparatus 300 acquires the lower right coordinates (px2, py2) of the i-th row and j-1th column area of the mesh data. (Step S2115), the processing after step S2116 is performed.

If the identification information of the area of i row and j column is “1” (step S2114: Yes), the process returns to step S2111 and the subsequent processing is repeated. If the variable i exceeds the my line (step S2105: Yes), the navigation device 300 ends the process according to the flowchart. If the variable j exceeds the mx column (step S2108: YES), the process returns to step S2104 to repeat the subsequent processing.

(About road gradient)
Next, the road gradient θ used as a variable on the right side of the equations (1) to (6) will be described. FIG. 22 is an explanatory diagram schematically illustrating an example of acceleration applied to a vehicle traveling on a road having a gradient. As shown in FIG. 22, a vehicle traveling on a slope with a road gradient θ has acceleration A (= dx / dt) accompanying traveling of the vehicle and traveling direction component B (= g · sin θ) of gravitational acceleration g. Take it. For example, taking the above equation (1) as an example, the second term on the right side of the above equation (1) indicates the acceleration A accompanying the traveling of the vehicle and the combined acceleration C of the traveling direction component B of the gravitational acceleration g. Yes. Further, the distance D of the section in which the vehicle travels is defined as the travel time T and the travel speed V.

When the power consumption is estimated without considering the road gradient θ, the error between the estimated power consumption and the actual power consumption is small in the region where the road gradient θ is small, but the estimation is performed in the region where the road gradient θ is large. An error between the estimated power consumption and the actual power consumption increases. For this reason, in the navigation apparatus 300, the estimation accuracy is improved by estimating the fuel consumption in consideration of the road gradient, that is, the fourth information.

The slope of the road on which the vehicle travels can be known using, for example, an inclinometer mounted on the navigation device 300. Further, when the inclinometer is not mounted on the navigation device 300, for example, road gradient information included in the map data can be used.

(About running resistance)
Next, traveling resistance generated in the vehicle will be described. The navigation device 300 calculates the running resistance by the following equation (11), for example. Generally, traveling resistance is generated in a moving body during acceleration or traveling due to road type, road gradient, road surface condition, and the like.

(Display example after cloning processing by the navigation device)
Next, a display example after the cloning process by the navigation device will be described. FIG. 23 is an explanatory diagram illustrating an example of a display example after the reachable point search process by the navigation device. FIG. 24A is an explanatory diagram of an example of a display example after the identification information providing process by the navigation device. FIG. 24-2 is an explanatory diagram illustrating an example of a display example after the first identification information changing process by the navigation device. FIG. 25 is an explanatory diagram showing an example of a display example after the cloning process (expansion) by the navigation device. FIG. 26 is an explanatory diagram illustrating an example of a display example after the cloning process (reduction) by the navigation device.

23, for example, the display 313 displays reachable points of a plurality of vehicles searched by the navigation device 300 together with map data. The state of the display 313 illustrated in FIG. 23 is an example of information displayed on the display when the reachable point search process is performed by the navigation device 300. Specifically, this is a state in which the process of step S1403 of FIG. 14 has been performed.

Next, the map data is divided into a plurality of areas by the navigation device 300, and identification information indicating whether each area is reachable or unreachable is given based on the reachable point, as shown in FIG. 24-1. The display 313 displays a reachable range 2400 of the vehicle based on reachable identification information. At this stage, there is a missing point that is an unreachable region within the reachable range 2400 of the vehicle.

Also, the vehicle reachable range 2400 includes, for example, areas corresponding to both entrances and exits of the Tokyo Bay Crossing Road (Tokyo Bay Aqualine: registered trademark) 2410 that crosses Tokyo Bay as a specific node. However, the vehicle reachable range 2400 includes only one region 2411 out of all the regions on the Tokyo Bay crossing road 2410. Next, the navigation device 300 performs the process of assigning the fixed flag and assigning the erasure prohibition flag, so that the entire area 2421 on the Tokyo Bay crossing road 2410 is displayed on the display 313 as shown in FIG. The reachable range 2420 that is included and from which the missing points on the Tokyo Bay crossing road 2410 are removed is displayed.

Next, the expansion processing of cloning is performed by the navigation device 300, thereby generating the reachable range 2500 of the vehicle from which the missing points are removed, as shown in FIG. In addition, since the entire area 2510 on the Tokyo Bay crossing road is already included in the reachable range 2500 by the processing of the erasure prohibition flag, the entire area 2500 on the Tokyo Bay crossing road is The vehicle reachable range 2500 is obtained. Thereafter, the reduction processing of the cloning is performed by the navigation device 300, so that the outer periphery of the vehicle reachable range 2600 is substantially the same as the outer periphery of the vehicle reachable range 2500 before the cloning is performed, as shown in FIG. It becomes the size of. The boundary of all areas 2510 on the Tokyo Bay crossing road in FIG. 25 and the boundary of all areas 2610 on the Tokyo Bay crossing road in FIG. 26 are displayed as boundaries depending on the mesh data. It is displayed at the boundary of diagonal lines for easy.

Then, by extracting the outline 2601 of the reachable range 2600 of the vehicle by the navigation device 300, the outline of the reachable range 2600 of the vehicle can be displayed smoothly. Further, since the missing points are removed by cloning, the reachable range 2600 of the vehicle is displayed with a two-dimensional smooth surface 2602. Even after the cloning reduction process, the entire area 2610 on the Tokyo Bay crossing road is displayed as the vehicle reachable range 2600 or its outline 2601.

As described above, according to the navigation device 300, the map information is divided into a plurality of areas, and it is searched whether or not each mobile area can reach each area, and each mobile area can reach or reach each area. Reachable or unreachable identification information for identifying the impossibility is given. And the navigation apparatus 300 produces | generates the reachable range of a mobile body based on the area | region to which the reachable identification information was provided. For this reason, the navigation apparatus 300 can generate the reachable range of the mobile object in a state excluding areas where the mobile object cannot travel, such as the sea, lakes, and mountain ranges. Therefore, the image processing apparatus 100 can accurately display the reachable range of the moving object.

Also, the navigation device 300 converts a plurality of areas obtained by dividing the map information into image data, and assigns identification information indicating that each of the plurality of areas is reachable or unreachable, and then performs an expansion process of cloning. For this reason, the navigation apparatus 300 can remove the missing point within the reachable range of the moving body.

Further, the navigation device 300 converts the plurality of areas obtained by dividing the map information into image data, and assigns identification information indicating that each of the plurality of areas is reachable or unreachable, and then performs an opening reduction process. For this reason, the navigation apparatus 300 can remove the isolated area | region of the reachable range of a mobile body.

As described above, the navigation device 300 can remove a missing region or an isolated region of the reachable range of the moving body, and therefore, the travelable range of the moving body can be displayed on a two-dimensional smooth surface in an easy-to-read manner. Can do. Further, the navigation device 300 extracts the outline of mesh data generated by dividing the map information into a plurality of regions. For this reason, the navigation apparatus 300 can display the outline of the reachable range of a moving body smoothly.

Further, the navigation device 300 assigns an erasure prohibition flag to a specific node, so that even if the opening process and the cloning process (expansion process and reduction process) are performed, the thin line segment (within the reachable distance range) ( Link) can be prevented from being erased, and can be displayed as a travelable range of the moving body.

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

(Embodiment 2)
In the second embodiment, the map information 120 uses information to which a fixed flag is assigned in advance for a node included in a specific pixel to be excluded from an erasure target of at least one of the above-described opening process and cloning process. In this case, the fixed flag assignment unit 103a described in the first embodiment can be omitted. As described above, if a fixed flag is assigned to the map information 120 in advance, the image processing apparatus 100 can omit the determination of whether or not to assign the fixed flag when searching for a node. Can be reduced.

(Embodiment 3)
In the third embodiment, a specific pixel of mesh data to which an erasure prohibition flag has been assigned in advance is used for a specific pixel that is excluded from an erasure target of at least one of the above-described opening process and cloning process. In such a case, the fixed flag assignment unit 103a and the erasure prohibition flag 104a described in the first embodiment can be made unnecessary. As described above, if an erasure prohibition flag is assigned to a specific pixel of mesh data in advance, the image processing 100 side can omit determination as to whether or not to assign a fixed flag when searching for a node, based on the fixed flag. The provision of the erasure prohibition flag can be omitted, and the processing load corresponding to that can be reduced.

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

DESCRIPTION OF SYMBOLS 100 Image processing apparatus 101 Acquisition part 102 Calculation part 103 Search part 103a Fixed flag provision part 104 Dividing part 104a Erase prohibition flag provision part 105 Giving part 106 Display control part 110 Display part

Claims

An image processing apparatus for processing information relating to a reachable range of a moving object,
Based on the current location of the mobile body, information on the initial stored energy amount indicating the amount of energy held by the mobile body, and the estimated energy consumption amount indicating the amount of energy consumed when the mobile body travels in a predetermined section, A reachable point search means for searching for a plurality of reachable points that are points that the mobile body can reach from the current point;
A fixed flag giving means for giving a fixed flag, which is unique information, to a specific node at the time of searching by the reachable point searching means;
An erasure prohibition flag giving means for giving an erasure prohibition flag related to the fixed flag to one area including the specific node to which the fixed flag is given among a plurality of areas related to map information;
Based on a plurality of reachable points searched by the reachable point search means, after giving identification information for identifying whether or not the mobile body is reachable to each of the plurality of areas, the identification information And applying means for executing image processing including at least one of expansion processing and reduction processing based on the erasure prohibition flag;
Display control means for displaying on the display means the reachable range of the mobile body based on the identification information given to each of the plurality of areas;
An image processing apparatus comprising:
The assigning means excludes a specific region to which the erasure prohibition flag is assigned from the image processing target when executing the image processing of at least one of the expansion processing and the reduction processing based on the identification information. The image processing apparatus according to claim 1, wherein:
The assigning means assigns reachable identification information to each of a plurality of areas between the pair of the one areas based on the erasure prohibition flag assigned to the pair of the one areas. The image processing apparatus according to claim 2.
The said fixed flag provision means uses the said fixed flag, when the said fixed flag is previously provided to the said specific node in the information used for the said search. Image processing apparatus.
An image processing method in an image processing apparatus for processing information relating to a reachable range of a mobile object,
Based on the current location of the mobile body, information on the initial stored energy amount indicating the amount of energy held by the mobile body, and the estimated energy consumption amount indicating the amount of energy consumed when the mobile body travels in a predetermined section, A reachable point search step for searching for a plurality of reachable points that are points that the mobile body can reach from the current point;
At the time of searching by the reachable point searching step, a fixed flag giving step for giving a fixed flag that is unique information to a specific node;
An erasure prohibition flag assigning step of assigning an erasure prohibition flag related to the fixed flag to one area including the specific node to which the fixed flag is assigned among a plurality of areas related to map information;
Based on a plurality of reachable points searched in the reachable point search step, after adding identification information for identifying whether or not the mobile body is reachable to each of the plurality of areas, the identification information And an applying step for executing image processing including at least one of expansion processing and reduction processing based on the erasure prohibition flag;
Based on the identification information given to each of the plurality of regions, a display control step of displaying on the display means the reachable range of the moving body,
An image processing method comprising:
An image processing program causing a computer to execute the image processing method according to claim 5.