WO2014083710A1 - Dispositif, procédé et programme de recherche d'itinéraires - Google Patents

Dispositif, procédé et programme de recherche d'itinéraires Download PDF

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Publication number
WO2014083710A1
WO2014083710A1 PCT/JP2012/081214 JP2012081214W WO2014083710A1 WO 2014083710 A1 WO2014083710 A1 WO 2014083710A1 JP 2012081214 W JP2012081214 W JP 2012081214W WO 2014083710 A1 WO2014083710 A1 WO 2014083710A1
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WIPO (PCT)
Prior art keywords
route
node
route search
cost
charging facility
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PCT/JP2012/081214
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English (en)
Japanese (ja)
Inventor
要一 伊藤
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パイオニア株式会社
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Priority to PCT/JP2012/081214 priority Critical patent/WO2014083710A1/fr
Publication of WO2014083710A1 publication Critical patent/WO2014083710A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
    • G01C21/3469—Fuel consumption; Energy use; Emission aspects
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3697—Output of additional, non-guidance related information, e.g. low fuel level

Definitions

  • the present invention relates to a route search apparatus, a route search method, and a route search program for searching for an energy supply spot to a moving body.
  • utilization of this invention is not restricted to a route search apparatus, a route search method, and a route search program.
  • Patent Document 1 Conventionally, a technique for setting a cost for a link and searching for a route with the lowest cost has been disclosed (for example, see Patent Document 1 below). Further, a technique for searching for a route using a charging facility as a via point when the destination cannot be reached with the remaining energy amount is disclosed (for example, see Patent Document 2 below).
  • Patent Document 1 since the vehicle goes straight to the destination without considering the remaining battery level, there is a possibility that the destination cannot be reached due to the battery running out.
  • Patent Document 2 when the destination can be reached with the remaining energy amount, the transit point is not set. Therefore, when the remaining energy amount is less than expected at the time of unexpected trouble such as traffic congestion, There is a possibility of setting a route where no charging facility exists. In this case, it is conceivable that the charging facility cannot be reached and gets stuck.
  • the route search device includes node data, link data for connecting the nodes, and cost data set for each link.
  • Storage means for storing road data, and route search means for determining a recommended route from the first node to the second node based on the cost data, the storage means for each node
  • the identifier of the node where the nearest charging facility is located is stored in association with each other, and the route search means searches for a route passing through a node close to the node where the charging facility is located as the recommended route.
  • a route search method is the route search method implemented by the route search device, comprising node data, link data for connecting the nodes, and cost data set for each link. Including a route search step using road data to determine a recommended route from the first node to the second node by route search means based on the cost data, wherein the road data is a An identifier of a node where the facility is located is associated with the route, and the route searching step searches for a route passing through a node close to the node where the charging facility is located as the recommended route.
  • a route search program according to the invention of claim 14 causes a computer to execute the route search method according to claim 13.
  • FIG. 1 is a block diagram of an example of a functional configuration of the route search apparatus according to the first embodiment.
  • FIG. 2 is a flowchart of an example of a processing procedure of the route search apparatus according to the first embodiment.
  • FIG. 3 is a block diagram illustrating an example of a hardware configuration of the navigation device.
  • FIG. 4 is a chart showing an example of a road link data table.
  • FIG. 5 is a diagram illustrating an example of a road network corresponding to the road link data table.
  • FIG. 6 is a flowchart illustrating a processing example of assigning the node ID of the nearest charging spot to each node according to the embodiment.
  • FIG. 7 is a flowchart illustrating a processing example of a route search for a recommended route in consideration of passing through the nearest charging spot according to the embodiment.
  • FIG. 8 is a diagram illustrating an example of a road network including a recommended route.
  • the route search device is mounted on an EV (Electric Vehicle) vehicle, charges electric energy with a charging facility, and uses a route search including a recommended route that considers passing through the charging facility when searching for a route.
  • EV Electric Vehicle
  • the present invention is not limited to EV electric energy charging, and can be similarly applied to a gasoline refueling facility in a gasoline vehicle.
  • FIG. 1 is a block diagram of an example of a functional configuration of the route search apparatus according to the first embodiment.
  • the route search device 100 according to the first exemplary embodiment includes a route search unit 101 and a storage unit 102.
  • the storage unit 102 stores a road link data table including node data, link data for connecting nodes, and cost data set for each link.
  • Each node stores an identifier (node ID) of a charging facility node indicating a node where the nearest charging facility (charging spot) is located.
  • the route search unit 101 receives information such as route search conditions (destination, required time, required distance, etc.), current position, vehicle speed, traffic jam, etc. from an input unit (not shown), and a search result is displayed on a display unit (not shown). Etc.
  • the route search unit 101 reads road data from the storage unit 102 and determines a recommended route from the first node (for example, current position) to the second node (for example, destination) based on the cost. At this time, the route searching unit 101 searches for a route passing through the node associated with the charging facility node ID.
  • the route search unit 101 includes the first cost ( ⁇ cost1) that is the accumulated cost in the route from the first node to the second node, and the cost between the nodes that are not associated with the charging facility node ID in the route.
  • the recommended route is determined on the basis of the second cost ( ⁇ cost2) that is the accumulated cost.
  • ⁇ cost1 the first cost
  • ⁇ cost2 the second cost
  • predetermined weighting is performed on each of the first cost and the second cost, and the route that minimizes the sum of the weighted first cost and second cost is determined as the recommended route.
  • FIG. 2 is a flowchart of an example of a processing procedure of the route search apparatus according to the first embodiment.
  • the route search unit 101 assigns the node ID of the nearest charging spot to each node in the road link data table of the map data stored in the storage unit 102 (step S201).
  • the processing in step S201 may be performed by the route search unit 101, a processing device such as an external server, or the map data may be shipped with the node ID of the charging spot nearest to each node.
  • the route search unit 101 reads the road link data table of the map data stored in the storage unit 102 and performs route search. At this time, a recommended route in consideration of the route of the charging spot is searched (step S202).
  • the search result can be displayed on the display unit or output as a voice.
  • the road link data table holds the information on whether or not the charging spot can be reached and the node ID information of the nearest charging spot. And at the time of a route search, the recommended route in consideration of the reachability to a charging spot for every link can be guided. Thereby, even when the remaining energy amount becomes smaller than expected at the time of unexpected trouble such as traffic jam, it is possible to stop at the charging spot and charge.
  • FIG. 3 is a block diagram illustrating an example of a hardware configuration of the navigation device.
  • a navigation device 300 includes a CPU 301, ROM 302, RAM 303, magnetic disk drive 304, magnetic disk 305, optical disk drive 306, optical disk 307, audio I / F (interface) 308, microphone 309, speaker 310, input device 311, A video I / F 312, a display 313, a camera 314, a communication I / F 315, a GPS unit 316, and various sensors 317 are provided.
  • Each component 301 to 317 is connected by a bus 320.
  • the CPU 301 governs overall control of navigation device 300.
  • the ROM 302 records a boot program and a route search 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.
  • 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.
  • an HD hard disk
  • FD flexible disk
  • 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.
  • a writable recording medium can be used as the optical disc 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 routes in a car navigation system. Background data that represents features (features) such as buildings, rivers, ground surfaces, and charging facilities, and road shape data that represents road shapes with links and nodes. Vector data including
  • 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.
  • 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.
  • 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.
  • VRAM Video RAM
  • the display 313 displays icons, cursors, menus, windows, or various data such as characters and images.
  • a TFT liquid crystal display, an organic EL display, or the like can be used as the display 313, for example.
  • the camera 314 captures images inside or outside the vehicle.
  • the image may be either a still image or a moving image.
  • 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 video 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) / 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 route search unit 101 of the route search device 100 shown in FIG. 1 uses a program or data recorded in the ROM 302, RAM 303, magnetic disk 305, optical disk 307, etc. in the navigation device 300 described above to allow the CPU 301 to execute a predetermined program. This function is implemented by controlling each part in the navigation device 300.
  • a pre-process for assigning the node ID of the nearest charging facility (charging spot) to each node of the link data table included in the map data is performed. This pre-processing may be performed by the route search unit 101, or when a map data is shipped, a predetermined processing device executes the following processing to give each node a node ID of the nearest charging spot. I can leave.
  • FIG. 4 is a diagram showing an example of a road link data table
  • FIG. 5 is a diagram showing an example of a road network corresponding to the road link data table.
  • the link data table 400 in FIG. 4 is in a state after the preprocessing is completed and the node ID of the nearest charging spot is given.
  • N is each node
  • L is a link between the nodes N. 4 and 5
  • the link ID code is a combination of the link start point and end point node IDs.
  • the link ID12 is between the nodes N1 and N2.
  • a charging spot exists at the node N6.
  • the travel cost (first cost) in the road link data table 400 of FIG. 4 is the length of the link (distance between nodes), the time required for passing the link (travel time), and the power consumption required for passing the link ( The amount of energy consumed).
  • first cost the cost varies depending on the vehicle type, average speed, etc. even on the same link, a different table may be created for each vehicle type, travel time zone, travel day (weekdays, holidays, year-end and New Year holidays, etc.).
  • the route search part 101 reads the road link data table 400 shown in FIG. First, “node ID of nearest charging spot” of all road links is set to an invalid value (cannot reach the charging spot). Then, pay attention to a certain charging spot, follow links in all directions, and set the travel cost set for each link as the travel cost at the node at the end of the link, and set the node ID of the travel cost and the starting charging spot to that node. Link and remember. The node ID of the starting charging spot is also stored in the “node ID of the nearest charging spot” column corresponding to the link in the road link data table 400. Similarly, the sum of the travel cost stored in a certain node and the travel cost in the link to the adjacent node is defined as the travel cost in the adjacent node. This is repeated until the power consumption reaches the current remaining battery level.
  • FIG. 6 is a flowchart showing an example of processing for assigning the node ID of the nearest charging spot to each node according to the embodiment. Specifically, referring to FIG. 6, first, the “node ID of the nearest charging spot” of all road links is set to an invalid value (unable to reach the charging spot) (step S601). Further, the “node ID of the nearest charging spot” of all nodes is set to an invalid value (cannot reach the charging spot) (step S602).
  • the route searching unit 101 pays attention to a certain charging spot, and extracts “predetermined charging spot” from the map data in the storage unit 102 (step S603). Then, the extracted charging spot is set as the starting point (step S604), and the cost of the starting point node is set to 0 (step S605).
  • step S606 it is determined whether the cost of the process (1) in step S606 has exceeded the remaining battery level (retained energy amount) at present (step S607). If the determination result is exceeded (step S607: Yes), the process proceeds to step S613. If the determination result is not exceeded (step S607: No), the process proceeds to step S608.
  • step S608 it is determined whether the end node of the selected link has already been reached (step S608). At this time, it does not matter whether the charging spot is currently selected. As a result of the determination, if it has been reached (step S608: Yes), the process proceeds to step S609. If it has not been reached (step S608: No), the process proceeds to step S610.
  • step S609 the cost stored in the end node is compared with the cost of the process (1) in step S606 (step S609). If the cost of the process (1) is larger, the process proceeds to step S613. If the cost of the process (1) is the same or smaller, the process proceeds to step S610.
  • step S610 the cost (1) is stored as the cost at the end node, and the ID of the currently selected charging spot is stored as the “node ID of the nearest charging spot” (step S610).
  • the ID of the currently selected charging spot is stored as the “node ID of the nearest charging spot” in the selected link (step S611). Further, the end point node is stored in the queue (step S612).
  • step S613 it is determined whether all links connected to the origin node have been processed (step S613). If there is an unprocessed portion (step S613: No), the process returns to step S606, and if it has been processed (step S613: Yes), it is determined whether the queue is empty (step S614). If the result of the determination is not empty (step S614: No), a node is selected from the queue to be a starting node (step S615), and the process returns to step S606. If it is empty (step S614: Yes), it is determined whether all “predetermined charging spots” have been processed (step S616). As a result of the determination, if there is an unprocessed portion (step S616: No), the process returns to step S604, and if all have been processed (step S616: Yes), the above preprocessing is terminated.
  • the above-mentioned predetermined charging spot is a charging spot included in a map range where it is considered reasonable to stop at the charging spot even when making a detour when moving from the departure point to the destination.
  • Specific examples of the range on the map include a rhombus with a diagonal line connecting the starting point and the destination, a rectangle centering on the line connecting the starting point and the destination, and a line connecting the starting point and the destination with the major axis.
  • An ellipse, a circle having a diameter connecting a starting point and a destination, etc. are conceivable.
  • the storage unit 102 includes a list of predetermined charging spots, the charging spot selection process can be omitted when the road link data table 400 is updated.
  • the road link data table 400 and the charging spot list are stored in the storage unit 102 built in the navigation device 300, and can be used to search for a route by the navigation device 300.
  • the road link data table 400 and the charging spot list may be stored in a storage unit of a server capable of wireless communication with the navigation device, and used when the server searches for a route.
  • the travel cost (second cost) is preferably obtained mainly from the power consumption required for passing through the link from the viewpoint that it is important to arrive at the charging spot, but it is the same as the first cost. It is also possible.
  • the route search unit 101 calculates the amount of energy consumption per unit time using one of the following energy consumption estimation formulas shown in the following equations (1) to (4), and the vehicle finishes traveling on the link in the travel time. The amount of energy consumed at the time is calculated.
  • 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.
  • ⁇ is the net thermal efficiency and ⁇ is the total transmission efficiency.
  • is negative is expressed by the above equation (2).
  • 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.
  • 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.
  • the first term on the right side is the energy consumption (first information) consumed by the equipment provided in the moving body.
  • the second term on the right side is the energy consumption (fourth information) due to the gradient component and the energy consumption (third information) due to the rolling resistance component.
  • the third term on the right side is energy consumption (third information) due to the air resistance component.
  • 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.
  • 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 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 ⁇ are set, and other variables are the same as the above formulas (1) and (2).
  • the first term on the right side corresponds to the first term on the right side of the above equations (1) and (2).
  • the 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).
  • ⁇ 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”).
  • 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 equation shown in the following equation (5) or (6). You may calculate the estimated energy consumption at the time of finishing.
  • the energy consumption estimation formula shown in the above equation (5) is a theoretical formula for calculating the estimated energy consumption at the link when the altitude difference ⁇ h of the link on which the vehicle travels is positive.
  • the case where the altitude difference ⁇ h is positive is a case where the vehicle is traveling uphill.
  • the consumption energy estimation formula shown in the above equation (6) is a theoretical formula for calculating the estimated energy consumption amount in the link when the altitude difference ⁇ h of the link on which the vehicle travels is negative.
  • the case where the altitude difference ⁇ h is negative is a case where the vehicle is traveling downhill.
  • 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.
  • a general route search is realized by a shortest route search algorithm on a network expressed by links and nodes.
  • the route search unit 101 When the user sets the destination, the route search unit 101 generates the “closest charging spot node ID” column in the road link data table 400 and then calculates the total cost from the departure point to the destination by the shortest route search algorithm. Search for the smallest route.
  • Common shortest path search algorithms include the A * (Aster) search algorithm, the Dijkstra method, the Warsal Floyd method, and the like.
  • whether or not the charging spot can be reached in each link at the time of route search is determined using the content of the “node ID of the nearest charging spot” column in the link ID of the road link data table 400. If the value is invalid (NA), it is determined that it cannot be reached.
  • FIG. 7 is a flowchart illustrating an example of a route search process for a recommended route in consideration of passing through the nearest charging spot according to the embodiment.
  • the route search unit 101 first generates a “node ID of nearest charging spot” column in the road link data table 400 (step S701). Next, all nodes are placed in an indeterminate state (step S702), and the cost of all nodes is made infinite (step S703).
  • step S704 the cost of the origin node (departure point) is set to 0 (step S704), the cost of the indeterminate node connected to the origin node is updated (step S705), and the indeterminate node with the lowest cost is selected (processing) 1, Step S706).
  • step S707 the ID of the node selected before the process 1 of step S706 is stored in the selected node (step S707), and the selected node is set in a finalized state (step S708).
  • step S709 the cost of an indeterminate node connected to the selected node is updated (step S709). Then, it is determined whether or not an indeterminate node remains (step S710).
  • step S710 if there is an unconfirmed node remaining (step S710: Yes), the process returns to step S706. If there is no unconfirmed node remaining (step S710: No), the node IDs sequentially stored from the destination node are stored. Is read out (step S711). Thereafter, the read node ID string is reversed (step S712), and the route search process is terminated.
  • FIG. 8 is a diagram showing an example of a road network including a recommended route.
  • the road network in FIG. 8 is the same as that in FIG. Further, in the process of FIG. 7, a column of “node ID of nearest charging spot” shown in FIG. 4 is created.
  • the node ID (N6) of the nearest charging spot is shown in the square of each node in FIG. 8, and NA shows that there is no node of the corresponding nearest charging spot (a node that cannot reach the charging spot).
  • the bold link is a link that can reach the charging spot
  • the dotted link is a link that cannot reach the charging spot.
  • the shortest route search is performed using the total cost of the link as the following equation.
  • Total cost a ⁇ ⁇ cost1 + b ⁇ ⁇ cost2
  • ⁇ cost1 Sum of first costs of all links on the route
  • ⁇ cost2 Second cost (sum of first costs of links that cannot reach a charging spot on the route)
  • a route that minimizes the sum of the first cost and the second cost is set as a recommended route.
  • an upper limit is set on the cost at which the charging spot can reach the node (for example, 15).
  • the nodes N1 ⁇ N2 ⁇ N4 ⁇ N7 ⁇ N9 are selected.
  • the travel cost is higher than that of a general conventional route search, a route closer to the charging spot N6 can be selected.
  • the route search unit 101 Since the battery remaining amount decreases as the vehicle travels, the route search unit 101 updates the route link data table 400 and the route every time a certain amount of time elapses, a certain distance travels, or a certain amount of battery remaining amount decreases. A re-search may be performed. At this time, the range in which the vehicle can travel may be narrowed according to the remaining battery level and re-searched. Further, by increasing the value of the coefficient b multiplied by the second cost, it is possible to further prevent selection of a node that cannot reach the charging spot.
  • the cost of the link is used in the route search, and the reachability information on the charging spot in each link is used in addition to the cost of the link, as in the past. Further, for the second cost calculation, the reachable range is calculated starting from the charging spot on the map. Moreover, the range in which the own vehicle can reach the charging spot is calculated, and whether or not the charging spot can be reached can be determined for each link during the route search. As a result, in this embodiment, a route that is not too far from the charging spot can be selected, and a route that can stop at the charging spot even when an unexpected failure occurs can be guided as a recommended route.
  • the route search unit 101 may perform a search by excluding the links (L13, L37, L24, L34, L47) including these nodes N3 and N4 from the route (referred to as a first search).
  • the recommended route is selected from the nodes N1, N2, N5, N8, and N9. If there is no route as a result of the first search, a route search (second search) similar to that in the first embodiment may be performed again. This makes it possible to guide a recommended route that can always drop in at a charging spot even when an unexpected failure such as a traffic jam occurs.
  • the route search unit 101 outputs these warnings and notifications using a display screen of the navigation device and a speaker (the display 313 and the speaker 310 in FIG. 3).
  • the route search unit 101 refers to the node ID of the nearest charging spot corresponding to the link ID (current position) on which the vehicle is traveling in the road link data table 400 when the battery remaining amount has fallen below a certain amount. Then, the node ID of the charging spot may be set as a destination to search for a route, and the user may be prompted to drop in to the nearest charging spot.
  • the user can drive without worrying about the remaining battery level, and by charging toward the nearest charging spot that is guided as the destination when the remaining battery level is low, You will be able to continue running. Further, it is possible to save the trouble of searching for a charging spot when it becomes necessary.
  • the route search unit 101 may color the range that can be reached around the charging spot on the display map after generating the node ID column of the nearest charging spot in the road link data table 400. If there are a plurality of charging spots, the range of colors that can be reached for each charging spot may be changed. Also, a symbol indicating the departure place, a symbol indicating the destination, and the selected route may be displayed in an overlapping manner. As a result, the positional relationship between the area where the charging spot can be reached and the guide route can be displayed in an easy-to-understand manner.
  • the route search unit 101 excludes a route that goes straight to the destination as a guide route and a link that cannot reach the charging spot, and a route obtained by searching (the first search). Then, all or a part of the route (second search) obtained by searching for a link that cannot reach the charging spot may be displayed at the same time. As a result, the user can select and compare search results based on a plurality of conditions.
  • the display control may be performed using an information terminal such as another smartphone.
  • a single device navigation device is used as the route search device.
  • the terminal includes a communication unit that communicates the current position and destination to the server through wireless communication, a display unit, and an audio output unit.
  • the server includes the route search unit 101 and the storage unit 102 illustrated in FIG. 1, performs the recommended route guidance processing illustrated in Embodiment 1, and wirelessly transmits recommended route information to the terminal.
  • the terminal displays and outputs the recommended route output from the server on the display unit.
  • the above-described smartphone or navigation device can be used.
  • the route search 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Navigation (AREA)

Abstract

L'invention concerne un dispositif (100) de recherche d'itinéraires comprenant: une unité (102) de mémorisation qui mémorise des données de rue comportant des données de nœuds, des données d'arcs reliant les nœuds et des données de coût qui sont spécifiées pour chaque arc; et une unité (101) de recherche d'itinéraires qui détermine, sur la base du coût, un itinéraire recommandé d'un premier nœud à un deuxième nœud. L'unité (102) de mémorisation associe chaque nœud à un identifiant relatif à un nœud où est située l'installation de charge la plus proche et mémorise l'identifiant. L'unité (101) de recherche d'itinéraires détermine, en tant qu'itinéraire recommandé, un itinéraire qui passe par un nœud proche d'un nœud où se situe une installation de charge.
PCT/JP2012/081214 2012-11-30 2012-11-30 Dispositif, procédé et programme de recherche d'itinéraires WO2014083710A1 (fr)

Priority Applications (1)

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PCT/JP2012/081214 WO2014083710A1 (fr) 2012-11-30 2012-11-30 Dispositif, procédé et programme de recherche d'itinéraires

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PCT/JP2012/081214 WO2014083710A1 (fr) 2012-11-30 2012-11-30 Dispositif, procédé et programme de recherche d'itinéraires

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112987743A (zh) * 2021-03-02 2021-06-18 珠海市一微半导体有限公司 一种机器人快速找座方法、芯片和机器人
JP2022023573A (ja) * 2020-07-27 2022-02-08 いすゞ自動車株式会社 運転支援装置

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011147283A (ja) * 2010-01-15 2011-07-28 Alpine Electronics Inc 充電支援システム
JP2011174711A (ja) * 2010-02-23 2011-09-08 Alpine Electronics Inc 車載ナビゲーション装置
JP2012047479A (ja) * 2010-08-24 2012-03-08 Sanyo Electric Co Ltd ナビゲーション装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011147283A (ja) * 2010-01-15 2011-07-28 Alpine Electronics Inc 充電支援システム
JP2011174711A (ja) * 2010-02-23 2011-09-08 Alpine Electronics Inc 車載ナビゲーション装置
JP2012047479A (ja) * 2010-08-24 2012-03-08 Sanyo Electric Co Ltd ナビゲーション装置

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2022023573A (ja) * 2020-07-27 2022-02-08 いすゞ自動車株式会社 運転支援装置
JP7302542B2 (ja) 2020-07-27 2023-07-04 いすゞ自動車株式会社 運転支援装置
CN112987743A (zh) * 2021-03-02 2021-06-18 珠海市一微半导体有限公司 一种机器人快速找座方法、芯片和机器人
CN112987743B (zh) * 2021-03-02 2024-02-23 珠海一微半导体股份有限公司 一种机器人快速找座方法、芯片和机器人

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