CN103748432A - Image processing device, image processing management device, terminal, processing device, and image processing method - Google Patents

Abstract

An image processing device (100) generates a range which can be reached by a moving body on the basis of the remaining energy amount of the moving body and displays said range on a display unit (110). An acquiring unit (101) acquires information pertaining to the current location of the moving body and information pertaining to the initial energy amount of the moving body at the current location. A calculating unit (102) calculates the estimated energy consumption amount which is the energy consumed by the moving body when travelling a predetermined zone. A searching unit (103) searches for a plurality of reachable locations which are locations that the moving body can reach from the current location. A separating unit (104) separates a set of map information into a plurality of regions. An imparting unit (105) imparts, to the plurality of regions separated by means of the separating unit (104), a set of discerning information for discerning whether the moving body can reach each of the separated regions. A display control unit (106) displays the range which can be reached by the moving body along with the map information on the display unit (110).

Description

Image processing apparatus, image are processed management devices, terminal, treating apparatus and image processing method

Technical field

The present invention relates to according to the residual amount of energy amount of moving body generate moving body can coverage area image processing apparatus, image process management devices, terminal, treating apparatus and image processing method.But application of the present invention is not limited to image processing apparatus, image is processed management devices, terminal, treating apparatus and image processing method.

Background technology

Be known in the past according to the current ground dot generation moving body of moving body can coverage area treating apparatus (for example,, with reference to following patent documentation 1).In following patent documentation 1, centered by the current place of moving body, be the whole orientation on segmentation map radially, according to each cut zone, obtain and the node of the point of crossing that can arrive farthest, the current place of moving body as cartographic information.Then, show to connect acquired a plurality of nodes and obtain to discharge curve as moving body can coverage area.

In addition, it is also known for a kind for the treatment of apparatus, this treating apparatus according to the battery allowance of moving body and power consumption generate in each road from moving body current, light can coverage area (for example,, with reference to following patent documentation 2).In following patent documentation 2, in many roads that are connected with the current place of moving body, calculate the power consumption of moving body, according to the battery allowance of moving body and power consumption, calculate the driving range of the moving body in each road.Then, obtain moving body current place and with this current place at a distance of the moving body of driving range a plurality of can place of arrival as the node of cartographic information, the aggregate that shows the line segment that connects a plurality of nodes and obtain as moving body can coverage area.

Prior art document

Patent documentation

Patent documentation 1: Japanese kokai publication hei 11-016094 communique

Patent documentation 2: Japanese kokai publication hei 07-085397 communique

Summary of the invention

The problem that invention will solve

But, in the technology of above-mentioned patent documentation 1, owing to only obtaining centered by the current place of moving body in each orientation and moving body place of arrival farthest, thereby can only obtain moving body can coverage area profile.Therefore, as an example, can enumerate following problem, that is, suppose the current place of moving body and and moving body place of arrival farthest between while comprising the region that the moving bodys such as ocean, lake cannot travel, that cannot remove that region that this moving body cannot travel obtains moving body can coverage area.

In addition, in the technology of above-mentioned patent documentation 2, due to only obtain as moving body can coverage area road, thereby the scope beyond road can not be included in moving body can coverage area in.And, can coverage area due to what utilize that the aggregate of the line segment of the road can travel along moving body shows moving body, thus cannot obtain can coverage area profile.Therefore, as an example, can enumerate following problem, that is, be difficult to easily to observe and to omit ground shows moving body can coverage area.

For solving the means of problem

In order to address the above problem and to achieve the goal, can the relevant information of coverage area processing of the image processing apparatus of the invention of claim 1 pair and moving body, it is characterized in that, this image processing apparatus has: obtain unit, it is obtained the information relevant to the current place of described moving body and initially possesses with the energy fluence that described moving body is possessed in the current place of described moving body the information that energy fluence is relevant; Computing unit, it calculates the energy estimated energy consumption consuming when described moving body travels in the interval of regulation; Search unit, it is information, described energy fluence and the described estimated energy consumption initially possessed according to the map, search for place that described moving body can arrive from current place and be a plurality of can place of arrival; Cutting unit, it is divided into a plurality of regions by described cartographic information; Give unit, it can place of arrival according to a plurality of described moving bodys of being searched out by described search unit, a plurality of regions that are split to form is given respectively to the identifying information that whether can arrive for identifying described moving body by described cutting unit; And indicative control unit, it is according to by described this identifying information of giving the region of having given identifying information in unit, and what make that display unit shows described moving body can coverage area.

In addition, the image of the invention of claim 9 is processed can the relevant information of coverage area processing of management devices pair and moving body, it is characterized in that, this image is processed management devices and is had: receiving element, and it receives the information relevant to the current place of described moving body and initially possesses with the energy fluence that described moving body is possessed in the current place of described moving body the information that energy fluence is relevant; Computing unit, it calculates the energy estimated energy consumption consuming when described moving body travels in the interval of regulation; Search unit, it is information, described energy fluence and the described estimated energy consumption initially possessed according to the map, search for place that described moving body can arrive from current place and be a plurality of can place of arrival; Cutting unit, it is divided into a plurality of regions by described cartographic information; Give unit, its according to by described search unit, searched out a plurality of can place of arrival, a plurality of regions that are split to form by described cutting unit are given respectively to the identifying information that whether can arrive for identifying described moving body; And transmitting element, it sends by described and gives the described cartographic information that unit has been given identifying information and has been divided into a plurality of regions.

In addition, can the relevant information of coverage area processing of the terminal of the invention of claim 10 pair and moving body, it is characterized in that, this terminal has: transmitting element, and it sends the information relevant to the current place of described moving body and initially possesses with the energy fluence that described moving body is possessed in the current place of described moving body the information that energy fluence is relevant to management devices; Receiving element, it receives the place can arrive from current place according to described moving body is that a plurality of cartographic informations of can place of arrival and being divided into a plurality of regions are endowed for identifying the described cartographic information of the identifying information whether described moving body can arrive, wherein, described a plurality of can place of arrival information, the described energy consuming when energy fluence and described moving body travel in the interval of regulation of initially possessing search out according to the map; And indicative control unit, it is according to being endowed the described cartographic information of described identifying information, and what make that display unit shows described moving body can coverage area.

In addition, can the relevant information of coverage area processing of the treating apparatus of the invention of claim 11 pair and moving body, it is characterized in that, this treating apparatus has: receiving element, it receives the information relevant to the current place of described moving body, the energy fluence of possessing in the current place of described moving body to described moving body initially possesses the information that energy fluence is relevant, and the described moving body place that can arrive from current place be a plurality of can place of arrival, wherein, described a plurality of can place of arrival be information according to the map, the described energy consuming when energy fluence and described moving body travel in the interval of regulation of initially possessing searches out, cutting unit, it is divided into a plurality of regions by described cartographic information, give unit, its according to by described receiving element, received a plurality of can place of arrival, a plurality of regions that are split to form by described cutting unit are given respectively to the identifying information that whether can arrive for identifying described moving body, and transmitting element, it sends by described and gives the described cartographic information that unit has been given identifying information and has been divided into a plurality of regions.

Can the relevant information of coverage area processing of the image processing method of the image processing apparatus of the invention of claim 12 pair and moving body, it is characterized in that, this image processing method comprises: obtain step, obtain the information relevant to the current place of described moving body and initially possess with the energy fluence that described moving body is possessed in the current place of described moving body the information that energy fluence is relevant; Calculation procedure, calculates the energy estimated energy consumption consuming when described moving body travels in the interval of regulation; Search step, information, described energy fluence and the described estimated energy consumption initially possessed according to the map, search for place that described moving body can arrive from current place and be a plurality of can place of arrival; Segmentation step, is divided into a plurality of regions by described cartographic information; Give step, according to a plurality of described moving bodys that search out by described search step can place of arrival, a plurality of regions that are split to form by described segmentation step are given respectively to the identifying information that whether can arrive for identifying described moving body; And show to control step, according to by described this identifying information of giving the region that step given identifying information, what make that display unit shows described moving body can coverage area.

Accompanying drawing explanation

Fig. 1 means the block diagram of an example of functional structure of the image processing apparatus of embodiment 1.

Fig. 2 means the process flow diagram of an example of the step that the image of image processing apparatus is processed.

Fig. 3 means the block diagram of an example of the hardware configuration of guider.

Fig. 4-1st, schematically represent to be undertaken by guider can place of arrival search the key diagram of an example.

Fig. 4-2nd, schematically represent to be undertaken by guider can place of arrival search the key diagram of an example.

Fig. 4-3rd, schematically represent to be undertaken by guider can place of arrival search the key diagram of an example.

Fig. 4-4th, schematically represent to be undertaken by guider can place of arrival search the key diagram of an example.

Fig. 5-1st, schematically represent to be undertaken by guider can place of arrival search the key diagram of an example.

Fig. 5-2nd, schematically represent to be undertaken by guider can place of arrival search another routine key diagram.

Fig. 6 be utilize longitude-latitude represent guider can place of arrival the key diagram of an example.

Fig. 7 be utilize grid data represent guider can place of arrival the key diagram of an example.

Fig. 8 means the key diagram of an example of the sealing processing of being undertaken by guider.

Fig. 9 is the key diagram of the example that schematically represents that the sealing undertaken by guider is processed.

Figure 10 means the key diagram of an example of the open treated of being undertaken by guider.

Figure 11 is the key diagram that schematically represents an example of can coverage area extracting of the vehicle that undertaken by guider.

Figure 12 is the key diagram that schematically represents an example of the grid data after can coverage area the extracting of the vehicle that undertaken by guider.

Figure 13 is another the routine key diagram can coverage area extracting that schematically represents the vehicle that undertaken by guider.

Figure 14 means the process flow diagram of an example of the step that the image that undertaken by guider is processed.

Figure 15 means the process flow diagram of an example of the step of the estimation power consumption computing of being undertaken by guider.

Figure 16-1 mean by guider, undertaken can place of arrival the step processed of search an example process flow diagram (one of).

Figure 16-2 mean by guider, undertaken can place of arrival the process flow diagram (two) of one example of the step processed of search.

Figure 17 means the process flow diagram of an example of the step of the alternative route determination processing of being undertaken by guider.

Figure 18-1 means that the identifying information being undertaken by guider gives the process flow diagram of an example of the step of processing.

Figure 18-2 mean that the 1st identifying information being undertaken by guider changes the process flow diagram of an example of the step of processing.

Figure 19-1 mean by guider, undertaken can coverage area profile extraction process step an example process flow diagram (one of).

Figure 19-2 mean by guider, undertaken can coverage area profile extraction process the process flow diagram (two) of an example of step.

Figure 20 is the key diagram of an example that schematically represents to impose on the acceleration of the vehicle travelling on the acclive road of tool.

Figure 21 mean by guider, undertaken can place of arrival the key diagram of one example of the display case of search after processing.

Figure 22-1 means that the identifying information being undertaken by guider gives the key diagram of an example of the display case after processing.

Figure 22-2 mean the key diagram of an example of the display case after the 1st identifying information change of being undertaken by guider is processed.

Figure 23 means the key diagram of an example of the display case after the sealing processing (expansion) of being undertaken by guider.

Figure 24 means the key diagram of an example of the display case after the sealing processing (dwindling) of being undertaken by guider.

Figure 25 means the block diagram of an example of functional structure of the image processing apparatus of embodiment 2.

Figure 26 means the block diagram of an example of functional structure of the image processing apparatus of embodiment 3.

Figure 27 means the key diagram of an example of system architecture of the image processing apparatus of embodiment 2.

Embodiment

Below, the image processing apparatus that present invention will be described in detail with reference to the accompanying, image are processed the preferred implementation of management devices, terminal, treating apparatus and image processing method.

(embodiment 1)

Fig. 1 means the block diagram of an example of functional structure of the image processing apparatus of embodiment 1.The moving body that the image processing apparatus 100 of embodiment 1 searches out according to the residual amount of energy amount based on moving body can place of arrival, generate moving body can coverage area and display part 110 is shown.And image processing apparatus 100 consists of obtaining section 101, calculating part 102, search section 103, cutting part 104, assigning unit 105 and display control unit 106.

Wherein, for such as EV(Electric Vehicle) vehicle etc., energy refers to the energy based on electric grade, for HV(Hybrid Vehicle) vehicle, PHV(Plug-in Hybrid Vehicle) vehicle etc., energy refers to energy and the energy based on such as gasoline or light oil, rock gas etc. based on electric grade.In addition, for for example fuel-cell vehicle, energy refers to energy based on electric grade and such as hydrogen or become (EV vehicle, HV vehicle, PHV vehicle, fuel-cell vehicle are called for short and make " EV vehicle ") such as fossil fuels of hydrogen feed below.In addition, for such as gasoline vehicle, diesel vehicle etc. (below, be called for short and make " gasoline vehicle "), energy refers to the energy based on such as gasoline or light oil, rock gas etc.For example, residual amount of energy is residual energy such as referring in the fuel tank or battery of moving body, in high-voltaghe compartment etc., is the energy of the middle use of travelling of moving body that can be afterwards.

The energy fluence that obtaining section 101 obtains the information relevant to the current place of moving body that is equipped with image processing apparatus 100, possess in the current place of this moving body with moving body initially possesses the information that energy fluence is relevant.Specifically, obtaining section 101, such as the current location of using these devices of calculating such as GPS information that receive from gps satellite, obtains the information (positional information) relevant to current place thus.

And, obtaining section 101 is such as by CAN(Controller Area Network) etc. communication network in the car of working according to communication protocol, obtain the residual amount of energy amount by the moving body of electronic control unit (ECU:Electronic Control Unit) management, as initially possessing energy fluence.

Obtaining section 101 also can obtain information, congestion information, the mobile unit information with the velocity correlation of moving body.Refer to speed, the acceleration of moving body with the information of the velocity correlation of moving body.And obtaining section 101 for example also can obtain the information relevant to road from be stored in the cartographic information of storage part (not shown), can also obtain road grade etc. from inclination sensor etc.The running resistance that the information relevant to road produces at moving body such as referring to according to category of roads, road grade, pavement behavior etc.

Calculating part 102 calculates the energy estimated energy consumption consuming when moving body travels in the interval of regulation.The interval of regulation for example refers to the place (being called " node " below) of a regulation on linking-up road and the interval (being called " route " below) of other node adjacent with this node.Node can be for example point of crossing or basic point, can be also distance according to the rules and connection place between the route divided.Node and route formation are stored in the cartographic information in storage part.Cartographic information forms such as the vector data obtaining by point of crossing (point), road (line or curve), region (face) or the color etc. that shows these key elements are quantized.

Specifically, calculating part 102 bases are by the consumed energy estimator of the first information, the second information, the 3rd information structure, the estimated energy consumption in the interval of estimating to stipulate.More particularly, calculating part 102 is according to information and the mobile unit information of the velocity correlation with moving body, estimates the estimated energy consumption in the interval of regulation.Mobile unit information refers to the information that becomes the essential factor that the energy fluence that makes when moving body travels to consume or to reclaim changes, as the weight of the weight of moving body (comprising based on number of passengers or the weight of carrying goods), rotary body etc.In addition, in the obvious situation of road grade, calculating part 102 also can be according to the consumed energy estimator that also appends the 4th information, the estimated energy consumption in the interval of estimating to stipulate.

Consumed energy estimator refers to the estimator of the energy consumption of the moving body in the interval for estimating to stipulate.Specifically, consumed energy estimator is the polynomial expression by the first information, the second information and the 3rd information structure of the different essential factors as the increase and decrease of consumption of energy amount.And, in the obvious situation of road grade, in consumed energy estimator, also append the 4th information.Detailed description about consumed energy estimator will be narrated in the back.

The first information is the information of the energy correlation that consumes when moving body stops under the state of drive source operation that is equipped on moving body.When under the state of drive source operation, moving body stops, the degree the engine of moving body is not applied to load of referring to makes the state of low engine speed idle running.That is while referring to idle running when, moving body stops under the state of drive source operation.For EV vehicle, when moving body stops under the state of drive source operation, refer to the halted state of moving body, be if trample throttle, the state of starting working as the motor of drive source.

Specifically, the first information is such as be the energy consumption consuming while stopping while stopping or because of signal etc. under the state of engine operation.That is, the first information be due to the irrelevant energy consumption of wanting thereby consuming of travelling of moving body, be the energy consumption of the air-conditioning that has of moving body or sound equipment etc.For EV vehicle, the first information can be roughly zero.

The second information is the information with the energy correlation that consumes when the moving body acceleration and deceleration and reclaim.During moving body acceleration and deceleration, refer to the transport condition of the speed time to time change of moving body.Specifically, refer to the transport condition of the velocity variations of moving body at the appointed time during moving body acceleration and deceleration.Stipulated time refers to the time period of fixed intervals, such as referring to time per unit etc.For EV vehicle, the energy of recovery for example refers to the electric power to battery charging when moving body travels.And for gasoline vehicle, the energy of recovery for example refers to and can reduce the fuel (fuel saving) being consumed and the fuel of saving.

The 3rd information is the information of the energy correlation that consumes with resistance owing to producing when moving body travels.When travelling, moving body refers to the transport condition that the speed of moving body is fixed, accelerated or slows down at the appointed time.The resistance producing when moving body travels, refers to the essential factor that makes the transport condition of moving body change when moving body travels.Specifically, the resistance producing when moving body travels, refers to according to meteorological condition, condition of road surface, vehicle condition etc. and the various resistances that produce at moving body.

According to meteorological condition and the resistance producing at moving body, such as referring to based on the meteorological air resistance changing such as rain, wind.According to condition of road surface, at the resistance that moving body produces, refer to the surface resistance of the laying state based on road grade, road surface, the water on road surface etc.According to vehicle condition and at the resistance that moving body produces, refer to that air pressure according to tire, number of passengers, lift-launch weight etc. impose on the load resistance of moving body.

Specifically, the 3rd information is to be subject under the state of air resistance or surface resistance, load resistance, the energy consumption while making moving body with fixed speed, acceleration or Reduced Speed Now.More particularly, the 3rd information is such as being the surface resistance that is subject to due to the air resistance producing at moving body because of head-on wind or the road never laid etc., the energy consumption consuming during with fixed speed, acceleration or Reduced Speed Now at moving body.

The 4th information is the information with the energy correlation that consumes and reclaim according to the variation of the residing height of moving body.The variation of the residing height of moving body, refers to the state of the residing height time to time change of moving body.Specifically, the variation of the residing height of moving body, refers to the transport condition that inner height travels and changes on the acclive road of tool due to moving body at the appointed time.

And the 4th information is the additivity information that can obtain in the obvious situation of road grade, can improve thus the estimated accuracy of energy consumption in the interval of regulation.In addition, in the situation that the inclination of road is not clear or simplify calculating, suppose that the residing height of moving body does not change, estimated energy consumption is carried out in road grade θ=0 that can be made as in consumed energy estimator described later.

Search section 103 is according to the current place of the moving body that is stored in cartographic information in storage part, is obtained by obtaining section 101 and the estimated energy consumption of initially possessing energy fluence and being calculated by calculating part 102, the place that search moving body can arrive from current place be a plurality of can place of arrival.

Specifically, search section 103 is the All Paths that can move from the current place of moving body, respectively using the current place of moving body as initial point, so that the mode of the accumulative total minimum of the estimated energy consumption in the interval of the regulation between the place of the regulation of moving body on access path, the place of search regulation and the interval of regulation.Then, search section 103 is the All Paths that can move from the current place of moving body, the place of the regulation in the scope of initially possessing energy fluence of the current time in moving body by the accumulative total of estimated energy consumption respectively, as moving body can place of arrival.

More particularly, search section 103, using the current place of moving body as initial point, is searched for whole nodes and route that whole routes that can move from the current place of moving body, the node being connected with these routes respectively, whole routes that can move from these nodes and moving body can arrive successively.Now, search section 103 is when searching out a new route, the estimated energy consumption in the path that a route is connected adds up, so that the mode of the accumulative total minimum of estimated energy consumption, the node that search is connected with this route and many routes that are connected with this node.

For example, in the situation that this route is connected with same node with other route, search section 103 use in many routes that are connected with this node, from the current place of moving body to the estimated energy consumption of the less route of the accumulative total of the estimated energy consumption of this node, calculate the accumulative total of the estimated energy consumption of this node.Then, search section 103 is in a plurality of paths that the node by searching out and route form, and the whole nodes in the scope of initially possessing energy fluence of the accumulative total of searching for respectively estimated energy consumption in moving body, as arrived in the node of moving body.By the estimated energy consumption of the less route of such use estimated energy consumption, can calculate the accurate accumulative total of the estimated energy consumption of this node.

And, search section 103 also can from for search for moving body can place of arrival the candidate interval of removing the forbidden regulation of movement of moving body search for this can place of arrival.The interval of the forbidden regulation of movement of moving body, for example referring to becomes one-way retrograde route, according to time restriction or season limit, becomes the route between current exclusion area.Time restriction is such as referring to that no through traffic in certain time period by setting student's road or ceremony etc. for.Season limit is such as referring to that no through traffic due to heavy rain or heavy snow etc.

In the interval of a plurality of regulations, in the situation that the interval importance degree of other regulation of selecting after the interval of a regulation is lower than the interval importance degree of this regulation, search section 103 also can from for search for moving body can place of arrival the candidate interval of removing other regulation search for this can place of arrival.The interval importance degree of regulation is such as referring to category of roads etc.Category of roads refers to can be according to the gradient of legal limit or road, road width, the road type that has the difference of the road conditions such as no signal to distinguish.Specifically, category of roads refer to common national highway, super expressway, ordinary road, through the narrow street of Urban Streets etc. etc.Narrow street for example refers to the road of being stipulated by building standard method of 4 meters of wide cut less thaies that are positioned at Urban Streets.

In addition, in the situation that the entrance and exit in a bridge block or a tunnel become moving body can place of arrival, preferably search section 103 so that in the cartographic information of being cut apart by cutting part 104, form the Zone Full in a bridge block or a tunnel be included in moving body can coverage area in mode, search moving body can place of arrival.Specifically, for example in the situation that the entrance in a bridge block or a tunnel become moving body can place of arrival, search section 103 is searched for a plurality of modes that can place of arrival in a bridge block or tunnel towards outlet with the entrance from a bridge block or a tunnel, searching for this can place of arrival.The entrance in one bridge block or a tunnel, refers to the initial point of current place one side of the close moving body in a bridge block or a tunnel.

Cutting part 104 is divided into a plurality of regions by cartographic information.Specifically, cutting part 104 according to the moving body being searched out by search section 103 a plurality of can place of arrival in the current place of moving body farthest can place of arrival, cartographic information is divided into the region of a plurality of rectangles, be transformed into the grid data that for example m * m is ordered.The grid data that m * m is ordered is used as the raster data (view data) of giving identifying information by assigning unit 105 described later and processes.In addition, each m in m * m point can be identical numerical value, can be also different numerical value.

More particularly, cutting part 104 extracts maximum longitude, minimum longitude, maximum latitude, minimum latitude, the distance between calculating and the current place of moving body.Then, cutting part 104 for example by the current place to moving body farthest can place of arrival and the current place of moving body carry out n decile and the size in a region obtaining, the size in a region when cartographic information is divided into a plurality of region, is divided into by cartographic information the grid data that m * m is ordered.Now, for for example 4 points of grid data periphery are made as to blank, establish n=(m/2)-4.

Assigning unit 105 according to by search section 103, searched out a plurality of can place of arrival, a plurality of regions that are split to form by cutting part 104 are given respectively to the identifying information that whether can arrive for identifying moving body.Specifically, in the situation that can being included in the region being split to form by cutting part 104 by place of arrival of moving body, 105 pairs of these regions of assigning unit are given and can be arrived identifying information for what identify that moving body can arrive.Then, in the situation that can not being included in the region being split to form by cutting part 104 by place of arrival of moving body, 105 pairs of these regions of assigning unit are given and can not be arrived identifying information for what identify that moving body can not arrive.

More particularly, each region that 105 pairs of assigning unit are divided into the grid data of m * m is given and can be arrived identifying information " 1 " or can not arrive identifying information " 0 ", is transformed into thus the grid data of the two-dimensional matrix data of the capable m row of m.Cutting part 104 and assigning unit 105 are cut apart cartographic information like this and are transformed into the grid data of the two-dimensional matrix data of the capable m of m row, as the raster data of binaryzation, process.

Assigning unit 105 has the 1st changing unit 151 and the 2nd changing unit 152 that the change processing of identifying information is carried out in a plurality of regions to being split to form by cutting part 104.Specifically, assigning unit 105, by the 1st changing unit 151 and the 2nd changing unit 152, is processed the grid data that cartographic information is split to form as the raster data of binaryzation, seal processing (dwindling the processing of processing after expansion process).And assigning unit 105 also can be carried out open treated (dwindling the processing of carrying out expansion process after processing) by the 1st changing unit 151 and the 2nd changing unit 152.

Specifically, in the situation that other region adjacent with a region that is endowed identifying information is endowed, can arrive identifying information, the 1st changing unit 151 is altered to the identifying information in this region can arrive identifying information (expansion process).More particularly, in the situation that with the lower-left in a region of rectangle, under, bottom right, the right side, upper right, on, any one region in adjacent other region in upper left, left these 8 directions is endowed and can arrives identifying information " 1 ", the 1st changing unit 151 is altered to " 1 " by the identifying information in this region.

After by the 1st changing unit 151 change identifying informations, in the situation that other region adjacent with a region that is endowed identifying information is endowed, can not arrive identifying information, the 2nd changing unit 152 is altered to the identifying information in this region can not arrive identifying information (dwindling processing).More particularly, in the situation that with the lower-left in a region of rectangle, under, bottom right, the right side, upper right, on, any one region in adjacent other region in upper left, left these 8 directions is endowed and can not arrives identifying information " 0 ", the 2nd changing unit 152 is altered to " 0 " by the identifying information in this region.Identical number of times is respectively carried out in the expansion process of being undertaken by the 1st changing unit 151 and the processing of dwindling of being undertaken by the 2nd changing unit 152.

Like this, in 105 pairs of a plurality of regions that are split to form by cutting part 104 of assigning unit, comprise the region that place that moving body can arrive from current place can place of arrival, give and can arrive identifying information for what identify that this moving body can arrive, as this moving body can coverage area.Then, 105 pairs of assigning unit can arrive adjacent region, the region of identifying information and also give and can arrive identifying information with being endowed, so that the mode that can coverage area produce missing point of moving body changes the identifying information in each region.

And, in the situation that in cartographic information, be equivalent to the cartographic information being split to form of the entrance and exit in a bridge block or a tunnel be endowed for identify can arrive can arrive identifying information, the cartographic information being split to form that 105 pairs of assigning unit are equivalent to form the Zone Full in this bridge block or this tunnel is given and can be arrived recognition unit.Specifically, for example, in the situation that be equivalent to each region of the entrance and exit in a bridge block or a tunnel and be endowed respectively and can arrive identifying information, assigning unit 105 is from being equivalent to before the region of the entrance in a bridge block or a tunnel arrives the region be equivalent to outlet, and the Zone Full that can move moving body is given and can be arrived identifying information.

More particularly, for example, before carrying out expansion process by the 1st changing unit 151, each region that is equivalent to the entrance and exit in a bridge block or a tunnel is endowed respectively in the situation that can arrive identifying information " 1 ", while producing missing point on one bridge block or a tunnel, by being positioned at, connection is equivalent to the region of entrance in a bridge block or a tunnel to assigning unit 105 and the identifying information of the Zone Full on the interval in the region that is equivalent to export is altered to " 1 ".The interval in the region that connects the region of the entrance that is equivalent to a bridge block or a tunnel and be equivalent to export, can be the interval that is equivalent to comprise a plurality of roads that turn round, and can be also the interval that is equivalent to the road of straight line shape.

Display control unit 106 has been according to having given the identifying information in the region of identifying information by assigning unit 105, and moving body can coverage area be shown in to display part 110 together with cartographic information.Specifically, display control unit 106 is transformed into vector data using the grid data as given a plurality of view data of identifying information by assigning unit 105, and is shown in display part 110 with together with cartographic information in being stored in storage part.

More particularly, display control unit 106 according to be endowed can arrive identifying information region and and this adjacent being endowed in region can arrive the position relationship between other region of identifying information, extract moving body can coverage area profile and be shown in display part 110.More particularly, display control unit 106 for example use freemans chain code (Freeman Chain code) extract moving body can coverage area profile, what make that display part 110 shows moving bodys can coverage area.

And display control unit 106 also can be according to the latitude, longitude information that is endowed the region that can arrive identifying information, extract moving body can coverage area and be shown in display part 110.Specifically, display control unit 106 for example, for the two-dimensional matrix data of the capable m row of m, can arrive identifying information " 1 " according to every 1 row since the 1st row retrieval.Then, display control unit 106 is retrieved and is comprised the continuum that can arrive identifying information " 1 " respectively in each row of two-dimensional matrix data, the line segment that detects at first the minimum longitude in the region of " 1 ", minimum latitude (top-left coordinates in region) by establishing connection and finally detect the maximum longitude in the region of " 1 ", maximum latitude (the bottom right coordinate in region) is cornerwise rectangular area, as can coverage area showing of moving body.

Below, illustrate that the image of image processing apparatus 100 is processed.Fig. 2 means the process flow diagram of an example of the step that the image of image processing apparatus is processed.In the process flow diagram of Fig. 2, first image processing apparatus 100 is obtained the information relevant to the current place of moving body and is initially possessed the information that energy fluence is relevant (step S201, S202) with the energy fluence that moving body is possessed in the current place of moving body by obtaining section 101.Now, image processing apparatus 100 also can be obtained mobile unit information.

Then, image processing apparatus 100 calculates the energy estimated energy consumption (step S203) consuming when moving body travels in the interval of regulation by calculating part 102.Now, image processing apparatus 100 calculates respectively the estimated energy consumption in the interval of a plurality of regulations between the place of the regulation of moving body on access path.Then, image processing apparatus 100 is by search section 103, according to be stored in cartographic information in storage part, in step S202, S203, obtain initially possess energy fluence and estimated energy consumption, search a plurality of of moving body can place of arrival (step S204).

Then, image processing apparatus 100 is divided into a plurality of regions by cutting part 104 by the cartographic information consisting of vector data, is transformed into the grid data (step S205) consisting of raster data.Then, image processing apparatus 100 is by assigning unit 105, according in step S204, search out a plurality of can place of arrival, to a plurality of regions that are split to form in step S205, give respectively and can arrive identifying information or can not arrive identifying information (step S206).Then, image processing apparatus 100 is by display control unit 106, and according to be endowed the identifying information in a plurality of regions of identifying information in step S206, what make that display part 110 shows moving bodys can coverage area (step S207), and the processing based on this process flow diagram finishes.

As described above, the image processing apparatus 100 of embodiment is divided into a plurality of regions by cartographic information, according to each range searching moving body, whether can arrive, each region is given respectively for identifying moving body can arrive or can not arrive can arrive identifying information or can not arrive identifying information.Then, image processing apparatus 100 can coverage area according to what be endowed that the region that can arrive identifying information generates moving body.What under the state in the region that therefore, image processing apparatus 100 can not travel at moving bodys such as having removed ocean or lake, mountain range, generate moving body can coverage area.What therefore, image processing apparatus 100 can show moving body exactly can coverage area.

And a plurality of regions that image processing apparatus 100 forms segmented map information are transformed into view data, the plurality of region are given respectively and can be arrived identifying information or can not arrive identifying information, the expansion process of then sealing.Therefore, image processing apparatus 100 can remove moving body can coverage area in missing point.

And a plurality of regions that image processing apparatus 100 forms segmented map information are transformed into view data, the plurality of region is given respectively and can be arrived identifying information or can not arrive identifying information, that then opens dwindles processing.Therefore, image processing apparatus 100 can remove moving body can coverage area in isolated point.

Like this, image processing apparatus 100 can remove moving body can coverage area in missing point and isolated point, thereby can be on two-dimentional even surface easily observation place show moving body can coverage area.And image processing apparatus 100 extracts the profile of the grid data that cartographic information is divided into a plurality of regions and generates.Therefore, image processing apparatus 100 can show smoothly moving body can coverage area profile.

And, image processing apparatus 100 delineation for search for moving body can place of arrival road search for moving body can place of arrival.Therefore, image processing apparatus 100 can reduce search moving body can place of arrival time treatment capacity.By delineation search for moving body can place of arrival road, allow to can reducing by place of arrival of search, by the expansion process of sealing as mentioned above, also can remove moving body can coverage area in the missing point that produces.Therefore, image processing apparatus 100 can reduce for generate moving body can coverage area treatment capacity.And, image processing apparatus 100 can be on two-dimentional even surface easily observation place show the wheeled scope of moving body.

Embodiment 1

The following describes embodiments of the invention 1.In the present embodiment, an example of applying the guider 300 that is equipped on vehicle as image processing apparatus 100 when of the present invention is described.

(hardware configuration of guider 300)

Below, the hardware configuration of guider 300 is described.Fig. 3 means the block diagram of the hardware configuration of guider.In Fig. 3, guider 300 has CPU301, ROM302, RAM303, disc driver 304, disk 305, CD drive 306, CD 307, audio interface (interface) 308, microphone 309, loudspeaker 310, input equipment 311, video interface 312, display 313, video camera 314, communication interface 315, GPS unit 316, various sensor 317.Each formation portion 301～317 connects respectively by bus 320.

CPU301 administers the integral body of guider 300 and controls.ROM302 record boot, estimated energy consumption calculation procedure, can place of arrival search utility, identifying information gives program, map datum display routine supervisor.RAM303 is used as the workspace of CPU301.That is, CPU301 carrys out the various programs of executive logging in ROM302 by RAM303 as workspace, administers thus the integral body of guider 300 and controls.

In estimated energy consumption calculation procedure, according to for calculating the consumed energy estimator of the estimated energy consumption of vehicle, calculate the estimated energy consumption in the route that connects a node and adjacent node.In can place of arrival search utility, according to the estimated energy consumption calculating in estimation routine, search a plurality of places (node) that the residual amount of energy amount in current place can arrive according to vehicle.At identifying information, give in program, according in search utility, search out a plurality of can place of arrival, to a plurality of regions that cartographic information is split to form, give the identifying information that can arrive or can not arrive for identifying vehicle.In map datum display routine, according to given a plurality of regions of identifying information by the identifying information program of giving, what make that display 313 shows vehicles can coverage area.

Disc driver 304, according to the control of CPU301, is controlled the data read/write for disk 305.Disk 305 is recorded in the data that write under the control of disc driver 304.About disk 305, for example, can use HD(hard disk) or FD(floppy disk).

And CD drive 306, according to the control of CPU301, is controlled the data read/write for CD 307.CD 307 is the recording mediums freely of plug that carry out sense data according to the control of CD drive 306.CD 307 also can be used writeable recording medium.About pluggable recording medium, except CD 307, can also use MO, storage card etc.

About being recorded in an example of the information in disk 305 and CD 307, can enumerate map datum, information of vehicles, road information, travel record etc.Map datum in onboard navigation system search vehicle can place of arrival time or show vehicle can coverage area time the vector data that uses, the background data that comprises terrestrial references (feature) such as representing buildings, river, ground surface, utilize route and node etc. to represent the road shape data etc. of road shapes.

Audio interface 308 is connected with the loudspeaker 310 of audio frequency output use with the microphone 309 of audio frequency input use.The audio frequency that microphone device 309 receives is carried out A/D conversion audio interface 308 is interior.Microphone 309 is located such as mud guard portion that is arranged on vehicle etc., and it can be also a plurality of that its quantity can be one.From loudspeaker 310 output, in the interior sound signal to regulation of audio interface 308, carry out D/A conversion and the audio frequency that obtains.

Input equipment 311 can be enumerated the telepilot that has for a plurality of keys of input characters, numerical value, various indications etc., keyboard, touch-screen etc.Input equipment 311 can utilize any one form in telepilot, keyboard, touch-screen to realize, and also can utilize various ways to realize.

Video interface 312 is connected with display 313.Specifically, video interface 312 is such as by controlling the graphics controller of display 313 integral body, the VRAM(Video RAM of image information that placeholder record can show in real time) etc. memory buffer, according to control the formations such as control IC of display 313 from the view data of graphics controller output.

At display 313, show the various data of icon, cursor, menu, window or word, image etc.About display 313, such as using TFT liquid crystal display, OLED display etc.

Video camera 314 is taken vehicle interior or outside video.Video can be still image or dynamic image, for example, by video camera 314, take outside vehicle, in CPU301, the image photographing is carried out to graphical analysis, exports to the recording mediums such as disk 305, CD 307 by video interface 312.

Communication interface 315 is connected to the network wirelessly, as the interface of guider 300 and CPU301, plays a role.The communication network playing a role as network has CAN, LIN(Local Interconnect Network) the interior communication network of waiting for bus, concentric line road network or portable phone net, DSRC(Dedicated Short Range Communication), LAN, WAN etc.Communication interface 315 is such as being link block or ETC(electronic charging system without parking for common line) unit, FM tuner, VICS(Vehicle Information and Communication System)/beacon receiver etc.

The electric wave that GPS unit 316 receives from gps satellite, output represents the information of the current location of vehicle.Together with the output valve of the output information of GPS unit 316 and various sensors 317 described later, when calculating the current location of vehicle, uses CPU301.The information that represents current location is such as being lat/lon, height etc. for any the information on diagram data definitely.

Various sensors 317 output vehicle speed sensor, acceleration transducer, angular-rate sensor, inclination sensor etc. for judging the position of vehicle and the information of state.The output valve of various sensors 317 is used when CPU301 calculates the current location of vehicle, during the variable quantity in computing velocity or orientation.

By CPU301, use program and the data in ROM302, RAM303, disk 305, the CD 307 etc. that is recorded in above-mentioned guider 300, the program putting rules into practice is also controlled each portion of guider 300, realizes obtaining section 101, calculating part 102, search section 103, cutting part 104, the assigning unit 105 of the image processing apparatus 100 shown in Fig. 1, the function of display control unit 106.

(summary that the estimated energy consumption being undertaken by guider 300 calculates)

The guider 300 of the present embodiment calculates the estimated energy consumption of the vehicle that is equipped with this device.Specifically, guider 300 is for example according to the gradient of speed, acceleration, vehicle, the estimator that any one in the consumed energy estimator of the first information, the second information and the 3rd information structure of use is above, calculates the estimated energy consumption of vehicle in the interval of regulation.The interval of regulation refers to the route of a node (for example point of crossing) on linking-up road and other node adjacent with this node.

More particularly, guider 300 is according to congestion information, the predicted data of blocking up obtaining via server, the length that is stored in the route in memory storage and the category of roads etc. that are provided by detecting head, calculates the complete route of Vehicle Driving Cycle needed hourage.Then, guider 300 is used any one in the consumed energy estimator shown in formula (1)～formula (4) below, calculates the estimated energy consumption of time per unit, calculates the estimated energy consumption of vehicle when having travelled route hourage.

${\mathrm{<figure-callout\; id="1"\; label="P\; t"\; filenames="HDA0000468342060000041.png,HDA0000468342060000051.png"\; state="\{\{state\}\}">P</figure-callout>}}_t=P_{\mathrm{idle}}+\frac{(\mathrm{\&mu;}+\sin \mathrm{\&theta;})\mathrm{Mg}}{\mathrm{\&epsiv;\&eta;}}\&CenterDot;V+\frac{\mathrm{\&kappa;}}{\mathrm{\&epsiv;\&eta;}}{\mathrm{<figure-callout\; id="3"\; label="V"\; filenames="HDA0000468342060000051.png,HDA0000468342060000131.png"\; state="\{\{state\}\}">V</figure-callout>}}^3+\frac{M+m}{\mathrm{\&epsiv;\&eta;}}\left|\mathrm{\&alpha;}\right|\&CenterDot;V...\left(1\right)$

Wherein,

P _t1: the energy consumption (kW/sec) of time per unit during acceleration and while travelling

P _idle: energy consumption during idle running (first information)

μ: rotary resistance

θ: road grade

M: the weight of moving body

G: acceleration of gravity

ε η: the efficiency of power dissipation of moving body

K: coefficient of air resistance

V: speed

| α |: resultant acceleration

β: the recovery

M: the weight of the rotary body of mobile devices

${\mathrm{<figure-callout\; id="2"\; label="P\; t"\; filenames="HDA0000468342060000091.png,HDA0000468342060000131.png"\; state="\{\{state\}\}">P</figure-callout>}}_t=P_{\mathrm{idle}}+\frac{(\mathrm{\&mu;}+\mathrm{\&beta;}\&CenterDot;\sin \mathrm{\&theta;})\mathrm{Mg}}{\mathrm{\&epsiv;\&eta;}}\&CenterDot;V+\frac{\mathrm{\&kappa;}}{\mathrm{\&epsiv;\&eta;}}{V}^3-\mathrm{\&beta;}\&CenterDot;\frac{M+m}{\mathrm{\&epsiv;\&eta;}}\left|\mathrm{\&alpha;}\right|\&CenterDot;V...\left(2\right)$

Wherein,

P _t2: the energy consumption of time per unit during deceleration (kW/sec)

Consumed energy estimator shown in above-mentioned formula (1) is when estimating to accelerate and the catabiotic theoretical formula of the time per unit while travelling.Wherein, ε represents net thermal efficiency, and η represents total transmission efficiency.If establish the resultant acceleration that adds up to of the acceleration alpha of moving body and gravity acceleration g based on road grade θ | α |, resultant acceleration | α | above-mentioned formula consumed energy estimator for (2) expression when negative.That is, the consumed energy estimator shown in above-mentioned formula (2) is the catabiotic theoretical formula of the time per unit when estimating to slow down.Like this, utilize running resistance, operating range, clean electric efficiency and transmission efficiency long-pending, the consumed energy estimator of the time per unit while representing acceleration and deceleration and while travelling.

In above-mentioned formula (1) and formula (2), the energy consumption (first information) when the 1st, the right represents idle running.Energy consumption (four information) and the energy consumption based on rotary resistance component (three information) of the 2nd, the right expression based on gradient component.The energy consumption (three information) of the 3rd, the right expression based on air resistance component.In addition, the energy consumption (second information) of the 4th, the right expression of formula (1) based on acceleration component.The energy consumption (second information) of the 4th, the right expression of formula (2) based on deceleration component.

In above-mentioned formula (1) and formula (2), electric efficiency and drive efficiency are considered as fixing.But in fact electric efficiency and drive efficiency change according to the impact of motor speed and torque.Therefore, shown in formula (3) and formula (4) for estimating the catabiotic checking formula of time per unit.

Be used for calculating resultant acceleration | α+gsin θ | be the checking formula of the estimated energy consumption of timing,, for calculating the checking formula of the estimated energy consumption of the time per unit that accelerating while and travelling while, by formula (3) below, represent.And, for calculating resultant acceleration | α+gsin θ | the checking formula of the estimated energy consumption when negative,, for calculating the checking formula of the estimated energy consumption of the time per unit while slowing down, represents by formula (4) below.

P ₁＝k ₁+k ₂·|α+g·sinθ|·V+k ₃·(V ³+a ₁·V ²+a ₂·V) …(3)

P ₂＝k ₁-β·k ₂·|α+g·sinθ|×V+k ₃·(V ³+a ₁·V ²+a ₂·V) …(4)

In above-mentioned formula (3) and formula (4), coefficient a1, a2 are according to the constant of the settings such as vehicle condition.Coefficient k 1, k2, k3 are the variablees of the energy consumption when accelerating.And, about other variablees such as speed V, acceleration A, identical with formula (2) with above-mentioned formula (1).The 1st, the right that the 1st, the right is equivalent to above-mentioned formula (1) and formula (2).

And in above-mentioned formula (3) and formula (4), the 2nd, the right is equivalent to the energy of the acceleration resistance component on the 4th, the energy of grade resistance component on the 2nd, the right in above-mentioned formula (1) and formula (2) and the right.The 3rd, the right is equivalent to the energy of the air resistance component on the 3rd, the energy of rotary resistance component on the 2nd, the right in above-mentioned formula (1) and formula (2) and the right.The β that the right in formula (4) is the 2nd represents the yield (being made as " recovery " below) of potential energy and kinetic energy.

In addition, guider 300 calculates as mentioned above vehicle and in route, travels needed hourage, average velocity and average acceleration when calculating vehicle travels in route.And guider 300 also can be used average velocity and the average acceleration of vehicle in route, according to formula (5) below and the consumed energy estimator shown in formula (6), calculate the estimated energy consumption of vehicle when having travelled route hourage.

$P=\frac{{\mathrm{<figure-callout\; id="1"\; label="P"\; filenames="HDA0000468342060000041.png,HDA0000468342060000051.png"\; state="\{\{state\}\}">P</figure-callout>}}_1+{\mathrm{<figure-callout\; id="2"\; label="P"\; filenames="HDA0000468342060000091.png,HDA0000468342060000131.png"\; state="\{\{state\}\}">P</figure-callout>}}_2}{2}={\mathrm{<figure-callout\; id="1"\; label="k"\; filenames="HDA0000468342060000041.png,HDA0000468342060000051.png"\; state="\{\{state\}\}">k</figure-callout>}}_1+(1-\mathrm{\&beta;})\&CenterDot;\frac{{\mathrm{<figure-callout\; id="2"\; label="k"\; filenames="HDA0000468342060000091.png,HDA0000468342060000131.png"\; state="\{\{state\}\}">k</figure-callout>}}_2}{2}\&CenterDot;\left|\stackrel{\&OverBar;}{\mathrm{\&alpha;}}\right|\&CenterDot;\stackrel{\&OverBar;}{V}+{\mathrm{<figure-callout\; id="2"\; label="k"\; filenames="HDA0000468342060000091.png,HDA0000468342060000131.png"\; state="\{\{state\}\}">k</figure-callout>}}_2\&CenterDot;g\&CenterDot;\mathrm{\&Delta;h}+{\mathrm{<figure-callout\; id="3"\; label="k"\; filenames="HDA0000468342060000051.png,HDA0000468342060000131.png"\; state="\{\{state\}\}">k</figure-callout>}}_3\&CenterDot;({\stackrel{\&OverBar;}{V}}^3+a_1\&CenterDot;{\stackrel{\&OverBar;}{V}}^2+a_2\&CenterDot;\stackrel{\&OverBar;}{V})...\left(5\right)$

$P=\frac{{\mathrm{<figure-callout\; id="1"\; label="P"\; filenames="HDA0000468342060000041.png,HDA0000468342060000051.png"\; state="\{\{state\}\}">P</figure-callout>}}_1+{\mathrm{<figure-callout\; id="2"\; label="P"\; filenames="HDA0000468342060000091.png,HDA0000468342060000131.png"\; state="\{\{state\}\}">P</figure-callout>}}_2}{2}={\mathrm{<figure-callout\; id="1"\; label="k"\; filenames="HDA0000468342060000041.png,HDA0000468342060000051.png"\; state="\{\{state\}\}">k</figure-callout>}}_1+(1-\mathrm{\&beta;})\&CenterDot;\frac{{\mathrm{<figure-callout\; id="2"\; label="k"\; filenames="HDA0000468342060000091.png,HDA0000468342060000131.png"\; state="\{\{state\}\}">k</figure-callout>}}_2}{2}\&CenterDot;\left|\stackrel{\&OverBar;}{\mathrm{\&alpha;}}\right|\&CenterDot;\stackrel{\&OverBar;}{V}+\mathrm{\&beta;}\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="k"\; filenames="HDA0000468342060000091.png,HDA0000468342060000131.png"\; state="\{\{state\}\}">k</figure-callout>}}_2\&CenterDot;g\&CenterDot;\mathrm{\&Delta;h}+{\mathrm{<figure-callout\; id="3"\; label="k"\; filenames="HDA0000468342060000051.png,HDA0000468342060000131.png"\; state="\{\{state\}\}">k</figure-callout>}}_3\&CenterDot;({\stackrel{\&OverBar;}{V}}^3+a_1\&CenterDot;{\stackrel{\&OverBar;}{V}}^2+a_2\&CenterDot;\stackrel{\&OverBar;}{V})...\left(6\right)$

Consumed energy estimator shown in above-mentioned formula (5) is to be that timing is at the theoretical formula of the estimated energy consumption of route for calculating the difference in height Δ h of the route of Vehicle Driving Cycle.Difference in height Δ h is for just referring to the situation that vehicle driving up travels.Consumed energy estimator shown in above-mentioned formula (6) is the difference in height Δ h of route for the calculating Vehicle Driving Cycle theoretical formula at the estimated energy consumption of route when negative.Difference in height Δ h is the negative situation that refers to vehicle descent run.In the situation that there is no difference in height, preferably use the consumed energy estimator shown in above-mentioned formula (5).

In above-mentioned formula (5) and formula (6), the energy consumption (first information) when the 1st, the right represents idle running.The energy consumption (second information) of the 2nd, the right expression based on acceleration resistance.The 3rd energy consumption (the 4th information) that expression consumes as potential energy in the right.The energy consumption (the 3rd information) of the 4th, the right air resistance that expression is subject to based on per unit area and rotary resistance (running resistance).

In the unconspicuous situation of road grade, the estimated energy consumption of vehicle is calculated in road grade θ=0 that guider 300 also can be established the consumed energy estimator shown in above-mentioned formula (1)～formula (6).

Below, the recovery β using in above-mentioned formula (1)～formula (6) is described.In above-mentioned formula (5), establish the energy consumption P of the 2nd, the right for the acceleration component in route _acc, the energy consumption P of acceleration component _accthe total power consumption amount (left side) of expression from route deducts the energy consumption (the 1st, the right) in when idle running and the energy consumption based on running resistance (the 4th, the right) and the energy consumption that obtains, by formula (7) below, represents.

$P_{\mathrm{acc}}=P-k_1-{\mathrm{<figure-callout\; id="3"\; label="k"\; filenames="HDA0000468342060000051.png,HDA0000468342060000131.png"\; state="\{\{state\}\}">k</figure-callout>}}_3\&CenterDot;({\stackrel{\&OverBar;}{V}}^3+a_1\&CenterDot;{\stackrel{\&OverBar;}{V}}^2+a_2\&CenterDot;\stackrel{\&OverBar;}{V})...\left(7\right)$

In addition, in above-mentioned formula (7), suppose that vehicle is not subject to the impact of road grade θ (θ=0).That is the 3rd, the right of, establishing above-mentioned formula (5) is zero.Then, by by the above-mentioned formula of above-mentioned formula (7) substitution (5), can access the calculating formula of the recovery β shown in formula (8) below.

$\mathrm{\&beta;}=1-\frac{2\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="P\; acc\; k"\; filenames="HDA0000468342060000091.png,HDA0000468342060000131.png"\; state="\{\{state\}\}">P</figure-callout>}}_{\mathrm{acc}}}{k_{}}...\left(8\right)$

Recovery β is approximately 0.7～0.9 for EV vehicle, for HV vehicle, is approximately 0.6～0.8, for gasoline vehicle, is approximately 0.2～0.3.The ratio of the energy reclaiming when the energy of needs is with deceleration when in addition, the recovery of gasoline vehicle refers to acceleration.

(by guider 300, undertaken can place of arrival the summary of search)

Guider 300 search of the present embodiment from a plurality of nodes of being equipped with the current place of the vehicle of this device and can arriving as vehicle can place of arrival.Specifically, more than any one in the consumed energy estimator shown in guider 300 use above-mentioned formula (1)～formulas (6), calculate the estimated energy consumption in route.Then, guider 300 is so that arrived in the node of the mode search vehicle of the accumulative total minimum of the estimated energy consumption in route, as can place of arrival.Below, illustrate by guider 300, undertaken can place of arrival one example of search.

Fig. 4-1～4-4 be schematically represent to be undertaken by guider 300 can place of arrival search the key diagram of an example.In Fig. 4-1～4-4, with circle, represent the node (for example point of crossing) of map datum, with line segment, represent to connect adjacent node route (interval of the regulation on road) (Fig. 5-1,5-2 illustrate node and route too) each other.

As shown in Fig. 4-1, first guider 300 searches for the route L1_1 nearest with the current place 400 of vehicle.Then, the node N1_1 that guider 300 search is connected with route L1_1, be appended to for search for can place of arrival both candidate nodes (abbreviation work " both candidate nodes " below).

Then, guider 300 is used consumed energy estimators, calculates to connect the current place 400 of vehicle and as the estimated energy consumption in the route L1_1 of the node N1_1 of both candidate nodes.Then, guider 300 is written out to the estimated energy consumption 3wh in route L1_1 and for example node N1_1 in memory storage (disk 305 or CD 307) explicitly.

Then, as shown in Fig. 4-2, whole route L2_1, L2_2, L2_3 that guider 300 search is connected with node N1_1, as for search for can place of arrival alternative route (below, alternative route made in abbreviation).Then, guider 300 is used the estimated energy consumption in consumed energy estimator calculated route L2_1.

Then, the accumulated energy amount 7wh that guider 300 obtains the estimated energy consumption 4wh in accumulative total route L2_1 and the estimated energy consumption 3wh in route L1_1, be written out to explicitly in memory storage (disk 305 or CD 307) and (be denoted as " node is set to accumulated energy amount " below) with the node N2_1 that is connected in route L2_1.

In addition, with the situation of route L2_1 in the same manner, guider 300 is used the consumed energy estimators estimated energy consumption in calculated route L2_2, L2_3 respectively.Then, 300 couples of node N2_2 that are connected with route L2_2 of guider, set estimated energy consumption 5wh in accumulative total route L2_2 and the estimated energy consumption 3wh in route L1_1 and the accumulated energy amount 8wh that obtains.

And 300 couples of node N2_3 that are connected with route L2_3 of guider, set estimated energy consumption 3wh in accumulative total route L2_3 and the estimated energy consumption 3wh in route L1_1 and the accumulated energy amount 6wh that obtains.Now, in the situation that set the node of accumulated energy amount, not both candidate nodes, guider 300 appends this node to become both candidate nodes.

Then, as shown in Fig. 4-3, whole route L3_1, L3_2_1, the whole route L3_2_2 that are connected with node N2_2, L3_3, the L3_4 that guider 300 search are connected with node N2_1 and the route L3_5 being connected with node N2_3, as alternative route.Then, guider 300 is used the estimated energy consumption in consumed energy estimator calculated route L3_1～L3_5.

Then, guider 300 adds up the estimated energy consumption 4wh in route L3_1 and the accumulated energy amount 7wh that node N2_1 is set, and the node N3_1 being connected with route L3_1 is set to accumulated energy amount 11wh.And, in route L3_3～L3_5, with the situation of route L3_1 in the same manner, 300 couples of node N3_3 that are connected with each route L3_3～L3_5 respectively of guider～N3_5 sets accumulated energy amount 13wh, 12wh, 10wh.

Specifically, guider 300 adds up the estimated energy consumption 5wh in route L3_3 and the accumulated energy amount 8wh that node N2_3 is set, and node N3_3 is set to accumulated energy amount 13wh.Guider 300 adds up the estimated energy consumption 4wh in route L_3_4 and the accumulated energy amount 8wh that node N2_2 is set, and node N3_4 is set to accumulated energy amount 12wh.Guider 300 adds up the estimated energy consumption 4wh in route L3_5 and the accumulated energy amount 6wh that node N2_3 is set, and node N3_5 is set to accumulated energy amount 10wh.

On the other hand, in the situation that as node N3_2, a node is connected with many route L3_2_1, L3_2_2,300 couples of these node N3_2 of guider set minimum accumulated energy amount 10wh from the accumulated energy amount of the mulitpath of 400 to the node N3_2 in current place of vehicle.

More particularly, guider 300 adds up (=accumulated energy amount 11wh) by the estimated energy consumption 4wh in route L3_2_1 and the accumulated energy amount 7wh that node N2_1 is set, and the estimated energy consumption 2wh in route L3_2_2 and the accumulated energy amount 8wh that node N2_2 is set are added up to (=accumulated energy amount 10wh).Then, 300 pairs of current places 400 from vehicle of guider compare to the accumulated energy amount 11wh in the path of route L3_2_1 and current place 400 from the vehicle accumulated energy amount 10wh to the path of route L3_2_2, and node N3_2 is set to the accumulated energy amount 10wh as the path of the route L3_2_2 side of minimum accumulated energy amount.

In the situation that exist a plurality of as above-mentioned node N2_1～N2_3 the current place 400 with respect to vehicle be the node of same level, the route that guider 300 is for example connected from the less node of accumulated energy amount the node with same grade, sequentially calculate estimated energy consumption and accumulated energy amount.Specifically, guider 300, according to the order of node N2_3, node N2_1, N2_2, calculates respectively the estimated energy consumption in the route being connected with each node, adds up with the accumulated energy amount in each node.Like this, by being identified for calculating the order of the node of estimated energy consumption and accumulated energy amount, can calculate efficiently the scope that can arrive according to residual amount of energy amount.

Then, guider 300 is proceeded the accumulative total of accumulated energy amount as above, until with respect to node N3_1～N3_5 node of deep layer level more.Then, guider 300 extracts whole nodes of the accumulated energy amount below predefined prescribed energy that is configured to, as vehicle can place of arrival, latitude, longitude information and each node of the node as can place of arrival extracting are written out in memory storage explicitly.

Specifically, for example establishing prescribed energy be 10wh in the situation that, if quilt in Fig. 4-4 is with as shown in the circle of oblique line blacking, node N1_1, N2_1, N2_2, N2_3, N3_2, N3_5 that guider 300 extracts the accumulated energy amount below 10wh that is configured to can place of arrival as vehicle.Predefined prescribed energy for example refers to that vehicle is in the residual amount of energy amount (initially possessing energy fluence) in current place 400.

The map datum 440 being formed by current place 400 and a plurality of node, the route of the vehicle shown in Fig. 4-4 be for illustrate can place of arrival search an example, guider 300 is in fact if Fig. 5-1 be shown in is than searching for a large amount of nodes, route in the scope of map datum 440 broadnesses as shown in Fig. 4-4.

Fig. 5-1 mean by guider 300, undertaken can place of arrival the key diagram of one example of search.In the situation that as mentioned above whole roads (except narrow street) being continued to calculate accumulated energy amount, as shown in Fig. 5-1, can not omit the accumulated energy amount in whole nodes of at length searching for each road.But, in the Japanese whole nation, to calculate approximately 2,000,000 estimated energy consumptions in route and add up, the information processing capacity of guider 300 is very large.Therefore, guider 300 also can according to the delineations such as importance degree such as route for search for moving body can place of arrival road.

Fig. 5-2 mean by guider 300, undertaken can place of arrival another routine key diagram of search.Specifically, guider 300 for example calculates accumulated energy amount in whole roads (except narrow street) of the current place of vehicle 400 peripheries, in the road that only importance degree is higher in leaving certain scope more than fixed range, calculates accumulated energy amount.Thus, as shown in Fig. 5-2, the number of nodes and the route quantity that by guider 300, are searched out can be reduced, the information processing capacity of guider 300 can be reduced.Therefore, can improve the processing speed of guider 300.

(summary that the map datum being undertaken by guider 300 is cut apart)

The guider 300 of the present embodiment can place of arrival according to what search out as mentioned above, and the map datum being stored in memory storage is cut apart.Specifically, guider 300 is transformed into for example grid data of 64 * 64 (X, Y) by the map datum consisting of vector data, makes map datum become raster data (view data).

Fig. 6 be utilize longitude-latitude represent guider 300 can place of arrival the key diagram of an example.And, Fig. 7 be utilize grid data represent guider 300 can place of arrival the key diagram of an example.In Fig. 6, utilize absolute coordinates for example illustrate according to shown in Fig. 5-1,5-2, search out can place of arrival latitude, longitude information (x, y).In Fig. 7, utilize projection coordinate to illustrate according to the grid data (X, Y) that can place of arrival be endowed 64 of identifying information * 64.

As shown in Figure 6, guider 300 first according to a plurality of can place of arrival longitude x, latitude y separately, be created on and under absolute coordinates, there is a latitude, longitude information (x, y) of group 600.The initial point (0,0) of latitude, longitude information (x, y) is the lower left corner of Fig. 6.Then, guider 300 calculate from the longitude ofx in the current place 400 of vehicle on longitude x direction farthest can place of arrival maximum longitude x_max, distance w1, the w2 of minimum longitude x_min.And, guider 300 calculate from the latitude ofy in the current place 400 of vehicle on latitude y direction farthest can place of arrival maximum latitude y_max, distance w3, the w4 of minimum latitude y_min.

Then, guider 300 so that and the distance in the distance w1～w4 between the current place 400 of vehicle farthest from the current place 400 of vehicle below the distance w2(of minimum longitude x_min, be made as w5=max(w1, w2, w3, w4)) n/mono-length, become the mode of length on a limit of a key element of the rectangle of grid data (X, Y), by comprising a plurality of map datums that can place of arrival, be transformed into for example grid data (X, Y) of m * m point (for example 64 * 64 points).

Specifically, it is multiplying power mag=w5/n with the ratio of the size of latitude, longitude that guider 300 is established 1 grid, so that latitude, longitude information (x, y) and grid data (X, Y) meet formula (9) below, the mode of formula (10), latitude, longitude information (x, y) is transformed into grid data (X, Y).

X=（x-ofx）/mag ……（9）

Y=（y-ofy）/mag ……（10）

By latitude, longitude information (x, y) is transformed into grid data (X, Y), as shown in Figure 7, the current place 400 of vehicle becomes the center of the view data of the rectangle that the grid data (X, Y) of being ordered by m * m forms, and the grid data in the current place 400 of vehicle (X, Y) becomes at the equal equal X=Y=m/2=n+4 of X-direction, Y direction.And, for for example 4 points of grid data (X, Y) periphery are made as to blank, establish n=(m/2) and-4.Then, guider 300, when latitude, longitude information (x, y) is transformed into grid data (X, Y), is given respectively identifying information to each region of grid data (X, Y), is transformed into the grid data of the two-dimensional matrix data (Y, X) of the capable m row of m.

Specifically, in situation in a region that can place of arrival be included in grid data (X, Y) of vehicle, " 1 " is for example given in 300 pairs of these regions of guider, as arriving identifying information (for example drawing a bit with black at Fig. 7) for what identify that vehicle can arrive.On the other hand, in situation in a region that can place of arrival be included in grid data (X, Y) of vehicle, " 0 " is for example given in 300 pairs of these regions of guider, as not arriving identifying information (for example drawing a bit by white at Fig. 7) for what identify that vehicle can not arrive.

Like this, guider 300 is transformed into by map datum the grid data of two-dimensional matrix data (Y, X) that the capable m row of m of identifying information have been given respectively in each region to map datum is split to form, and the raster data using map datum as binaryzation is processed.Use respectively each region of region representation grid data of the rectangle of fixed range.Specifically, as shown in Figure 7, for example, generate with black and draw the grid data (X, Y) that the m * m of a plurality of some groups 700 that can place of arrival is ordered.The initial point (0,0) of grid data (X, Y) is the upper left corner.

(one of summary that the identifying information being undertaken by guider 300 is given)

The identifying information that give in each region of the grid data (X, Y) that guider 300 changes of the present embodiment are ordered to the m * m being split to form as mentioned above.Specifically, the grid data of the two-dimensional matrix data (Y, X) of the capable m row of 300 couples of m of guider seals processing (dwindling the processing of processing after expansion process).

Fig. 8 means the key diagram of an example of the sealing processing of being undertaken by guider.(A)～Fig. 8 of Fig. 8 (C) represents each region to give respectively the grid data of two-dimensional matrix data (Y, X) of the capable m row of m of identifying information.After the dividing processing at map datum shown in (A) of Fig. 8, just given the grid data 800 of identifying information.That is, the grid data 800 shown in Fig. 8 (A) is identical with the grid data shown in Fig. 7.

And, shown in (B) of Fig. 8, the grid data 800 shown in Fig. 8 (A) is being sealed to the grid data 810 after processing (expansion).Shown in (C) of Fig. 8, the grid data 810 shown in Fig. 8 (B) is being sealed to the grid data 820 after processing (dwindling).In the grid data 800,810,820 shown in (C) of (A)～Fig. 8 of Fig. 8, will can arrive can illustrating under the state of coverage area 801,811,821 blackings of vehicle that a plurality of regions of identifying information generate by being endowed.

As shown in Fig. 8 (A), give grid data after identifying information 800 produce by be contained in vehicle can coverage area 801 in the missing point 802(that forms of the region that can not arrive be coated with shade can coverage area 801 in white background part).For example, as shown in Fig. 5-2, for reduce guider 300 can place of arrival the load processed of search and drawing a circle to approve in the situation for the road of search node and route, due to become can place of arrival number of nodes reduce and produce missing point 802.

Then, as shown in Fig. 8 (B), 300 pairs of guiders are given the expansion process that the grid data 800 after identifying information seals.In the expansion process of sealing, give in the grid data 800 after identifying information, be endowed the identifying information that can arrive an adjacent region of the region of identifying information, be altered to and can arrive identifying information.Thus, the vehicle of (giving after identifying information) before expansion process can coverage area 801 interior generations disappearance portion 802 disappear.

In addition, with vehicle before expansion process can coverage area 801 the identifying information of the adjacent Zone Full in the region of most peripheral, be altered to and can arrive identifying information.Therefore, the vehicle after expansion process can coverage area 811 periphery when carrying out expansion process, successively expand some amount so that the vehicle of encompasses inflation before processing can coverage area 801 the periphery in each region of most peripheral.

Then, as shown in Fig. 8 (C), 300 pairs of grid datas 810 of guider seal dwindles processing.Dwindling in processing of sealing, in the grid data 810 after expansion process, be endowed the identifying information that can not arrive an adjacent region of the region of identifying information, be altered to and can not arrive identifying information.

Therefore, the vehicle after expansion process can coverage area 811 each region of most peripheral whenever dwindling while processing, have some region of amount to become the region that can not arrive at every turn, the vehicle after expansion process can coverage area 811 periphery dwindle.Thus, dwindle vehicle after processing can coverage area 821 periphery and the vehicle before expansion process can coverage area 801 periphery basic identical.

Guider 300 successively carries out the above-mentioned expansion process of same number and dwindles processing.Specifically, in the situation that having carried out twice expansion process, also carry out dwindling processing twice later.By making expansion process identical with the number of times that dwindles processing, can by by expansion process, be altered to can arrive identifying information vehicle can coverage area the identifying information of roughly Zone Full of outer peripheral portion, by dwindling to process to be altered to, original can not arrive identifying information.Like this, guider 300 can remove vehicle can coverage area in missing point 802, and generate can clearly show periphery vehicle can coverage area 821.

More particularly, guider 300 is as described below seals processing.Fig. 9 is the key diagram of the example that schematically represents that the sealing undertaken by guider is processed.In (C) of (A)～Fig. 9 of Fig. 9, as one, exemplify the grid data of two-dimensional matrix data (Y, X) of each region having been given respectively to the capable h row of h of identifying information.

(A) of Fig. 9 represents to give the grid data 900 after identifying information.(B) of Fig. 9 represents to process the grid data 910 after (expansion) with respect to the sealing of (A) of Fig. 9.(C) of Fig. 9 represents to process the grid data 920 after (dwindling) with respect to the sealing of (B) of Fig. 9.In the grid data 900,910,920 of (A)～Fig. 9 of Fig. 9 (C), by different shade diagrams, be endowed the region 901,902 that can arrive identifying information respectively.

As shown in Fig. 9 (A), in the grid data 900 after giving identifying information, the region 901 of the capable f row of c, the capable c row of f and the capable f row of g is endowed and can arrives identifying information.In (A) of Fig. 9, by being endowed each region 901 that can arrive identifying information, be configured to released state, so that after clear and definite expansion process and dwindle the variation of the identifying information after processing.

300 pairs of these kinds of guider are given the expansion process that the grid data 900 after identifying information seals.Specifically, as shown in Fig. 9 (B), guider 300 by the lower-left in the region 901 with the capable f of c row, under, the identifying information of bottom right, the right side, upper right, upper, upper left, left 8 adjacent regions (the capable g row of the capable e row～b of b, the capable e row of c, the capable g row of c and the capable g of the capable e row～d of d are listed as) 902, from not arriving identifying information, be altered to and can arrive identifying information.

And, with the processing that the region 901 of the capable f of c row is carried out in the same manner, in the region 901 that the capable c row of f and the capable f of g are listed as, guider 300 is also altered to the identifying information in 8 adjacent regions 902 can arrive identifying information.Therefore, along with the identifying information in region 902 is altered to, can arrive identifying information, correspondingly vehicle can coverage area 911 can coverage area wide than the vehicle in the grid data 900 of giving after identifying information.

Then, the grid data 910 after 300 pairs of expansion process of guider seals dwindles processing.Specifically, as shown in Fig. 9 (C), guider 300, by not arriving the identifying information that the capable g row of the adjacent capable e row～b of b in the region (the white background part of the grid data 910 after expansion process) of identifying information, the capable e row of c, the capable g row of c and the capable g of the capable e row～d of d are listed as these 8 regions 902 with being endowed, is altered to and can not arrives identifying information.

And, with the capable g of the capable e row～b of b row, the capable e row of c, the capable g row of c and the capable g of the capable e row～d of d are listed as to the processing carried out in these 8 regions 902 in the same manner, guider 300, by not arriving that the capable d row of the adjacent capable b row～e of e in the region of identifying information, the capable b row of f, the capable g row of the capable d row～f of f, the capable e row of the capable b row～g of g, the capable g of g are listed as, the capable e of h is listed as and the capable g of h is listed as the identifying information in these 15 regions 902 with being endowed, is altered to and can not arrives identifying information.

Thus, as shown in Fig. 9 (C), with give grid data 900 after identifying information in the same manner, even dwindle grid data 920 after processing generate by be endowed can arrive 3 regions 901 of identifying information and after dwindling processing, also keep being endowed vehicle that the remaining region 902 of the state that can arrive identifying information forms can coverage area 921.Like this, owing to being endowed when the expansion process after can arriving identifying information and dwindling processing, be endowed remaining region 902 under the state that can arrive identifying information, the grid data 900 after giving identifying information can coverage area in the missing point that produces disappear.

(summary that the identifying information being undertaken by guider 300 is given two)

Guider 300 also can carry out open treated (dwindling the processing of carrying out expansion process after processing) to the grid data of two-dimensional matrix data (Y, X), generation can clearly show periphery vehicle can coverage area.Specifically, guider 300 open treated of carrying out as described below.

Figure 10 means the key diagram of an example of the open treated of being undertaken by guider.(A)～Figure 10 of Figure 10 (C) represents each region to give respectively the grid data of two-dimensional matrix data (Y, X) of the capable m row of m of identifying information.Figure 10 (A) represents to give the grid data 1000 after identifying information.(B) of Figure 10 represents with respect to the grid data 1010 after the open treated (dwindling) of (A) of Figure 10.(C) of Figure 10 represents with respect to the grid data 1020 after the open treated (expansion) of (B) of Figure 10.In the grid data 1000,1010,1020 shown in (C) of (A)～Figure 10 of Figure 10, will can arrive can illustrating under the state of coverage area 1001,1011,1021 blackings of vehicle that a plurality of regions of identifying information generate by being endowed.

As shown in Figure 10 (A), vehicle in grid data 1000 after giving identifying information can coverage area 1001 periphery produce in the situation of many isolated points 1002, by the grid data 1000 of giving after identifying information is carried out to open treated, can remove isolated point 1002.Specifically, as shown in Figure 10 (B), 300 pairs of guiders are given the processing of dwindling that grid data 1000 after identifying information opens.

Open dwindling in processing, give in the grid data 1000 after identifying information be endowed the identifying information that can not arrive an adjacent region of the region of identifying information, be altered to and can not arrive identifying information.Thus, the vehicle of (giving after identifying information) before dwindling processing can coverage area 1001 interior generations isolated point 1002 be removed.

Therefore, give vehicle after identifying information can coverage area 1001 each region of most peripheral whenever dwindling while processing, have some region of amount to become the region that can not arrive at every turn, give vehicle after identifying information can coverage area 1001 periphery dwindle.And, the vehicle after giving identifying information can coverage area 1001 interior generations isolated point 1002 be removed.

Then, as shown in Figure 10 (C), the expansion process that 300 pairs of grid datas 1010 of guider are opened.In open expansion process, dwindle in the grid data 1010 after processing be endowed the identifying information that can not arrive an adjacent region of the region of identifying information, be altered to and can arrive identifying information.Therefore, the vehicle after expansion process can coverage area 1021 periphery when carrying out expansion process, successively expand some amount, so as to surround the vehicle that dwindles after processing can coverage area 1011 the periphery in each region of most peripheral.

Guider 300 is in open treated, and processing with sealing is also successively carry out the expansion process of same number and dwindle processing in the same manner.Like this, by making expansion process identical with the number of processes of dwindling processing, can expand by dwindle process the vehicle dwindle can coverage area 1011 periphery, make to dwindle vehicle after processing can coverage area 1021 periphery revert to the vehicle that dwindles before processing can coverage area 1001 periphery.What like this, guider 300 can generate the vehicle that do not produce isolated point 1002 and can clearly show periphery can coverage area 1021.

(by guider 300, undertaken can coverage area one of the summary extracted of profile)

The guider 300 of the present embodiment is according to the identifying information that the grid data of the two-dimensional matrix data (Y, X) of the capable m row of m is given, extract vehicle can coverage area profile.Specifically, guider 300 for example use freemans chain code (Freeman Chain code) extract vehicle can coverage area profile.More particularly, guider 300 extraction vehicle as described below can coverage area profile.

Figure 11 is the key diagram that schematically represents an example of can coverage area extracting of the vehicle that undertaken by guider.And Figure 12 is the key diagram that schematically represents an example of the grid data after can coverage area the extracting of the vehicle that undertaken by guider.At the arrow that represents the numeral of the adjacent direction in the region 1110～1117 adjacent with region 1100 (below, be called " direction index (Chain code) ") and 8 directions corresponding with direction index shown in (A) of Figure 11.In (B) of Figure 11, as a grid data 1120 that exemplifies the two-dimensional matrix data (Y, X) of the capable h of h row.And, in (B) of Figure 11 with shade diagram be endowed can arrive the region 1121～1134 of identifying information and by this region 1121～1134, surrounded be endowed the region that can arrive identifying information.

The line segment of direction index representation unit length towards direction.In grid data (X, Y), the coordinate corresponding with direction index is (X+dx, Y+dy).Specifically, as shown in Figure 11 (A), from region, 1100 direction indexs towards the direction in the adjacent region 1110 of its lower-left side are " 0 ".From region, 1100 direction indexs towards the direction in the adjacent region 1111 of its downside are " 1 ".From region, the direction index of 1100 directions towards the region 1112 adjacent in its lower right side is " 2 ".

And the direction index of 1100 directions towards the region 1113 adjacent on its right side is " 3 " from region.From region, the direction index of 1100 directions towards the region 1114 adjacent in its upper right side is " 4 ".From region, the direction index of 1100 directions towards the region 1115 that side is adjacent is thereon " 5 ".From region, the direction index of 1100 directions towards the region 1116 adjacent in its upper left side is " 6 ".From region, 1100 direction indexs towards the direction in adjacent region 1117, its left side are " 7 ".

Guider 300 is searched for the be endowed region that can arrive identifying information " 1 " adjacent with region 1100 left rotatably.And guider 300, according to previous direction index, determines the retrieval starting point that be endowed the region that can arrive identifying information adjacent with region 1100.Specifically, in the situation that 1100 direction index is " 0 " from other region towards region, guider 300 is from 1100 the adjacent region, left side in region, and in the direction of direction index " 7 ", adjacent region 1117 starts retrieval.

Equally, in the situation that from other region towards region, 1100 direction index is " 1 "～" 7 ", guider 300 from the lower-left in region 1100,, bottom right, the right side, upper right, on, adjacent region, upper left side, in the direction of direction index " 0 ", " 1 ", " 2 ", " 3 ", " 4 ", " 5 ", " 6 ", adjacent region 1110～1116 starts retrieval respectively.Then, guider 300 can arrive identifying information " 1 " in the situation that any one region from region 1100 to each region 1110～1117 detects, to can arrive direction index " 0 "～" 7 " corresponding to the region 1110～1117 of identifying information " 1 " with detecting, with region 1100 explicitly in write storage device.

Specifically, guider 300 extraction vehicle as described below can coverage area profile.As shown in Figure 11 (B), the region of the capable a row of a of the grid data 1120 of the two-dimensional matrix data (Y, X) that first guider 300 is listed as from the capable h of h, with the retrieval of behavior unit, be endowed the region that can arrive identifying information.

The capable Zone Full of a of grid data 1120 is endowed and can not arrives identifying information, and therefore, guider 300 is followed from the region of the capable a row of b of grid data 1120 can arrive identifying information towards the area reseach of the capable h row of b.Then, guider 300 detects and can arrive after identifying information in the region 1121 of the capable e of the b at grid data 1120 row, from the region 1121 of the capable e row of b of grid data 1120 left rotatably retrieval become vehicle can coverage area profile there is the region that can arrive identifying information.

Specifically, guider 300 is owing to retrieving in region the region of the adjacent capable d row of b in 1121 left side, thus first from 1121 lower-left side is adjacent in region region 1122 left rotatably retrieval whether exist and there is the region that can arrive identifying information.Then, guider 300 surveyed areas 1122 can arrive identifying information, by from region, 1121 towards region, the direction index " 0 " of 1122 direction is stored in memory storage explicitly with region 1121.

Then, guider 300 is because previous direction index is " 0 ", thus from the region of the adjacent capable c row of c in 1122 left side in region left rotatably retrieval whether exist and there is the region that can arrive identifying information.Then, what guider 300 detected in region region 1123 that 1122 lower-left side is adjacent can arrive identifying information, by from region, 1122 towards region, the direction index " 0 " of 1123 direction is stored in memory storage explicitly with previous direction index.

After, guider 300 carries out determining retrieval starting point according to previous direction index repeatedly, from retrieval starting point, retrieve whether there is the processing with the region that can arrive identifying information rotatably left, until the arrow corresponding with direction index turns back to region 1121.Specifically, guider 300 from region adjacent region, 1122 left side left rotatably retrieval whether exist and there is the region that can arrive identifying information, the detection region 1124 that 1123 lower-left side is adjacent in region can arrive identifying information, direction index " 1 " and previous direction index are stored in memory storage explicitly.

Equally, guider 300 is determining according to previous direction index after retrieval starting point, from retrieving starting point, retrieves and has the region that can arrive identifying information rotatably left, detects and has the region 1124～1134 that can arrive identifying information successively.Then, guider 300, when obtaining direction index, is stored in memory storage explicitly with previous direction index.

Then, guider 300 from the region of the adjacent capable f row of b in 1134 upper right side in region left rotatably retrieval whether exist and there is the region that can arrive identifying information, the detection region 1121 that 1134 upside is adjacent in region can arrive identifying information, direction index " 5 " and previous direction index are stored in memory storage explicitly.Thus, the order according to direction index " 0 " → " 0 " → " 1 " → " 0 " → " 2 " → " 3 " → " 4 " → " 3 " → " 2 " → " 5 " → " 5 " → " 6 " → " 6 " → " 5 ", is stored in direction index in memory storage.

Like this, guider 300 is retrieved the have region 1122～1134 that can arrive identifying information adjacent with this region 1121 left rotatably successively from detected region 1121 beginnings at first, obtains direction index.Then, guider 300 is a region blacking to the direction corresponding with direction index by region 1121, thus, as shown in figure 12, generate have by vehicle can coverage area profile 1201 and the vehicle that forms of the part 1202 of being surrounded by this profile 1201 can coverage area 1200 grid data.

(by guider 300, undertaken can coverage area the summary extracted of profile two)

Another example of can coverage area extracting of the vehicle that guider 300 by the present embodiment is carried out describes.Guider 300 for example also can be according to the latitude, longitude information that is endowed the grid data of the two-dimensional matrix data (Y, X) that can arrive identifying information, extract vehicle can coverage area profile.Specifically, guider 300 extraction vehicle as described below can coverage area profile.

Figure 13 is another the routine key diagram can coverage area extracting that schematically represents the vehicle that undertaken by guider.The grid data 1300 of the two-dimensional matrix data (Y, X) of the capable h of the d shown in Figure 13 of take row describes as example.Guider 300 is retrieved the region that can arrive identifying information " 1 " that has been endowed of grid datas 1300.Specifically, first guider 300 can arrive identifying information " 1 " from the region of the capable a row of a towards the area reseach of the capable h row of a.

Because the capable Zone Full of a of grid data 1300 is endowed, can not arrive identifying information " 0 ", therefore, guider 300 then has the region that can arrive identifying information " 1 " from the region of the capable a row of b towards the area reseach of the capable h row of b.Then, guider 300 obtain have can arrive the capable c row of the b of identifying information " 1 " the minimum longitude px1 in region 1301, the top-left coordinates in minimum latitude py1(region 1301).

Then, guider 300 has the region that can arrive identifying information " 1 " from the region of the capable d row of b towards the area reseach of the capable h row of b.Then, guider 300 retrieval has the region that can arrive identifying information " 1 " and the border with the region that can arrive identifying information " 0 ", obtain there are the capable f row of b that can arrive identifying information " 1 " the maximum longitude px2 in region 1302, the bottom right coordinate in maximum latitude py2(region 1302).

Then, guider 300 will be take the top-left coordinates (px1, py1) in region 1301 of the capable c row of b and the rectangular area blacking that the bottom right coordinate (px2, py2) in the region 1302 of the capable f row of b is relative summit.

Then, guider 300 is listed as towards the region of the capable h row of b from the capable g of b of grid data 1300, and then is listed as towards the retrieval of the capable h row of c and can arrives identifying information " 1 " from the capable a of c.Then, guider 300 obtain have can arrive the capable d row of the c of identifying information " 1 " the minimum longitude px3 in region 1303, the top-left coordinates in minimum latitude py3(region 1303).

Then, guider 300 has the region that can arrive identifying information " 1 " from the region of the capable e row of c towards the area reseach of the capable h row of c.Then, guider 300 retrieval has the region that can arrive identifying information " 1 " and the border with the region that can arrive identifying information " 0 ", obtain there are the capable f row of c that can arrive identifying information " 1 " the maximum longitude px4 in region 1304, the bottom right coordinate in maximum latitude py4(region 1304).

Then, guider 300 will be take the top-left coordinates (px3, py3) in region 1303 of the capable d row of c and the rectangular area blacking that the bottom right coordinate (px4, py4) in the region 1304 of the capable f row of c is relative summit.

Then, guider 300 from the region of the capable g of c row towards the region of the capable h row of c and then be listed as towards the capable h row of d and retrieve and there is the region that can arrive identifying information " 1 " from the capable a of d.Because guider 300 is given and can not be arrived identifying information " 0 " to the Zone Full of the capable h row of d the region from the capable g row of c, thereby end process.

Like this, by thering is the region blacking that can arrive identifying information " 1 " according to each row of the grid data 1300 of two-dimensional matrix data (Y, X), can obtain vehicle can coverage area and vehicle can coverage area profile.

(image being undertaken by guider 300 is processed)

As mentioned above, the node that the moving body of guider 300 based on retrieving according to the residual amount of energy amount of vehicle can arrive, generate moving body can coverage area and be shown in display 313.Below, the situation that the guider 300 of for example take is equipped on EV vehicle describes as example.

Figure 14 means the process flow diagram of an example of the step that the image that undertaken by guider is processed.In the process flow diagram of Figure 14, first guider 300 obtains the current place (ofx, ofy) (step S1401) of the vehicle that is equipped with this device by for example communication interface 315.Then, guider 300 by for example communication interface 315, obtain vehicle current place (ofx, ofy) vehicle initially possess energy fluence (step S1402).

Then, guider 300 carries out arriving node searching processing (step S1403).Then, guider 300 carries out that grid data generates and identifying information is given processing (step S1404).Then, guider 300 extract vehicles can coverage area profile (step S1405).Then, what guider 300 showed vehicles at display 313 can coverage area (step S1406), finishes the processing based on this process flow diagram.

(the estimation power consumption computing of being undertaken by guider 300)

Below, the estimation power consumption computing of being undertaken by guider 300 is described.Figure 15 means the process flow diagram of an example of the step of the estimation power consumption computing of being undertaken by guider.Process flow diagram shown in Figure 15 is the processing of carrying out in arrived in the node searching of above-mentioned steps S1403 is processed.

In the process flow diagram of Figure 15, first guider 300 obtains the congestion information of detecting head data etc. and the predicted data (step S1501) of blocking up by communication interface 315.Then, guider 300 is obtained the length of route and the category of roads of route (step S1502).

Then, guider 300 is according to the information obtaining in step S1501, S1502, the hourage of calculated route (step S1503).Refer to the needed time of the complete route of Vehicle Driving Cycle the hourage of route.Then, guider 300 is according to the information obtaining in step S1501～S1503, the average velocity of calculated route (step S1504).The average velocity of route refers to the average velocity time of vehicle when route running.

Then, guider 300 is obtained the elevation data (step S1505) of route.Then, guider 300 is obtained the set information (step S1506) of vehicle.Then, guider 300 is according to the information obtaining in step S1501～S1506, use the consumed energy estimator of any one the above formula in above-mentioned formula (1)～formula (6), the estimation power consumption (step S1507) in calculated route, finishes the processing based on this process flow diagram.

(by guider 300, undertaken can place of arrival search process)

Below, can place of arrival search processing of being undertaken by guider 300 is described.Figure 16-1,16-2 mean by guider, undertaken can place of arrival the process flow diagram of the step processed of search.In the process flow diagram of Figure 16-1,16-2, guider 300 is by the route L(i with nearest search initial point) the node N(i that is connected of _ j) _ j appends becomes both candidate nodes (step S1601).Search initial point refers to the current place (ofx, ofy) of the vehicle of obtaining in above-mentioned steps S1401.

Variable i, j are numerical value arbitrarily, for example the route of nearest search initial point and node are made as respectively to route L(1) _ j and node N(1) _ j, and then by with node N(1) route that is connected of _ j is made as route L(2) _ j, by with route L(2) node that is connected of _ j is made as node N(2) _ j(j=1,2 ..., j1).Variable j1 is numerical value arbitrarily, means and in same level, has many routes or a plurality of node.

Then, guider 300 determines whether and has more than one both candidate nodes (step S1602).In the situation that there is more than one both candidate nodes (step S1602: be), guider 300 is selected from the current place of vehicle to the both candidate nodes (step S1603) of the accumulative total power consumption minimum of both candidate nodes.For example, supposing that guider 300 selects node N(i) _ j illustrates later processing as both candidate nodes.

Then, guider 300 is judged from the current place of vehicle to node N(i) whether the accumulative total power consumption of _ j be less than prescribed energy (step S1604).Prescribed energy for example refers to the residual amount of energy amount of vehicle in the current place of vehicle.In the situation that being less than prescribed energy (step S1604: be), guider 300 extracts and node N(i) whole route L(i+1 of being connected of _ j) _ j(step S1605).

Then, guider 300 is chosen in the route L(i+1 extracting in step S1605) a route L(i+1 in _ j) _ j(step S1606).Then, guider 300 determines whether a route L(i+1 who selects in step S1606) _ j is as candidate's determination processing (step S1607, S1608) of alternative route.

Using a route L(i+1) _ j is as alternative route in the situation that (step S1608: be), guider 300 carries out a route L(i+1) the power consumption computing (step S1609) of _ j.Then, guider 300 calculates and a route L(i+1) the node N(i+1 that is connected of _ j) the accumulative total power consumption W(i+1 of _ j) _ j(step S1610).Then, guider 300 determines whether and exists and node N(i+1) processed complete other path (step S1611) of being connected of _ j.

In the situation that has processed other complete path (step S1611: be), guider 300 is judged from the current place of vehicle to node N(i+1) the accumulative total power consumption W(i+1 of _ j) whether _ j be less than the accumulative total power consumption (step S1612) in other path.In the situation that be less than the accumulative total power consumption (step S1612: be) in other path, 300 couples of node N(i+1 of guider) _ j sets from the current place of vehicle to node N(i+1) the accumulative total power consumption W(i+1 of _ j) _ j(step S1613).

On the other hand, in the situation that does not have processed other complete path (step S1611: no), guider 300 enters step S1613.Then, guider 300 predicate node N(i+1) whether _ j is both candidate nodes (step S1614).In the situation that being not both candidate nodes (step S1614: no), guider 300 is by node N(i+1) _ j appends becomes both candidate nodes (step S1615).

And, in the situation that not by a route L(i+1) _ j (step S1608: no) be made as alternative route in the situation that, from the current place of vehicle to node N(i+1) the accumulative total power consumption W(i+1 of _ j) _ j be other path more than accumulative total power consumption (step S1612: no), node N(i+1) _ j is both candidate nodes (step S1614: be), guider 300 enters step S1616.

Then, guider 300 determines whether whole route L(i+1) candidate's determination processing of _ j finishes (step S1616).In the situation that whole route L(i+1) candidate's determination processing of _ j finishes (step S1616: be), by node N(i+1) _ j removes (step S1617) from both candidate nodes, then returns to step S1602.Then, in the situation that has more than one both candidate nodes (step S1602: be), guider 300 is selected from the both candidate nodes (step S1603) of current the accumulative total power consumption minimum of lighting of vehicle from both candidate nodes, the both candidate nodes of selecting in step S1603 is made as to next node N(i) _ j, carries out the processing starting from step S1604.

On the other hand, in the situation that whole route L(i+1) candidate's determination processing of _ j do not finish (step S1616: no), returns to step S1606.Then, guider 300 is selected and node N(i again) other route L(i+1 of being connected of _ j) _ j, repeatedly carry out the processing of step S1607～step S1615, until the whole route L(i+1 that are connected with same both candidate nodes) candidate's determination processing of _ j finishes (step S1616: be).And, in the situation that does not have more than one both candidate nodes (step S1602: no), from the current place of vehicle to node N(i) the accumulative total power consumption of _ j is (step S1604: no) situation more than prescribed energy, the processing that guider 300 finishes based on this process flow diagram.

(the alternative route determination processing of being undertaken by guider 300)

Below, the alternative route determination processing of being undertaken by guider 300 is described.Figure 17 means the process flow diagram of an example of the step of the alternative route determination processing of being undertaken by guider.The process flow diagram of Figure 17 is an example of the processing carried out in above-mentioned steps S1607.

In the process flow diagram of Figure 17, first guider 300 judges a route L(i+1 who selects in step S1606) whether no through traffic (step S1701) for _ j.In the situation that no through traffic (step S1701: no), guider 300 is judged a route L(i+1) whether _ j be one-way drive in the wrong direction (step S1702).Be not one-way retrograde in the situation that (step S1702: no), guider 300 is judged a route L(i+1) whether _ j be implemented time restriction or season limit (step S1703).

In the situation that not being implemented time restriction or season limit (step S1703: no), guider 300 is judged a route L(i+1) importance degree of _ j whether than with a route L(i+1) the node N(i+1 of current place side of vehicle of _ j) the route L(i that is connected) _ j low (step S1704).At importance degree than route L(i) _ j is high in the situation that (step S1704: no), guider 300 determines a route L(i+1) _ j is as alternative route (step S1705), finishes the processing based on this process flow diagram.

On the other hand, in the situation that (step S1701: be) no through traffic in the situation that, be one-way retrograde (step S1702: be), be implemented time restriction or season limit (step S1703: be), importance degree than the route L(i connecting) _ j low (step S1704: be), the processing that guider 300 finishes based on this process flow diagram.

(identifying information being undertaken by guider 300 is given processing)

Below, illustrate that the identifying information being undertaken by guider 300 gives processing.Figure 18-1 means that the identifying information being undertaken by guider gives the process flow diagram of an example of the step of processing.Process flow diagram in Figure 18-1 is the processing of carrying out in above-mentioned steps S1404.

In the process flow diagram of Figure 18-1, first guider 300 obtains the latitude, longitude information (x, y) (step S1801) that can arrive node (can search in).Then, guider 300 is obtained maximum longitude x_max, minimum longitude x_min, maximum latitude y_max, minimum latitude y_min(step S1802).

Then, guider 300 calculates respectively the current place (ofx, ofy) of the vehicle from obtaining among step S1401 to the distance w1 of maximum longitude x_max, to the distance w2 of minimum longitude x_min, to the distance w3 of maximum latitude y_max, to the distance w4(step S1803 of minimum latitude y_min).Then, guider 300 is obtained apart from distance w5=max(w1 the longest in w1～w4, w2, w3, w4) (step S1804).

Then, the multiplying power mag=w5/n(step S1805 that guider 300 calculates for the map datum that is stored in memory storage is converted from absolute coordinate system to projected coordinate system).Then, guider 300 is used the multiplying power mag calculating in step S1805, and map datum is converted to projected coordinate system from absolute coordinate system, generates the grid data (X, Y) (step S1806) that m * m is ordered.

Guider 300 is given and can be arrived identifying information the grid data that comprises the node that can arrive (X, Y) in step S1806, to not comprising the grid data (X, Y) of the node that can arrive, gives and can not arrive identifying information.Then, guider 300 carries out the 1st identifying information change to be processed, and removes thus the missing point (step S1807) of the grid data (X, Y) that is equivalent to bridge or tunnel.

Then, guider 300 carries out the 2nd identifying information change processing (step S1808).Then, guider 300 carries out the 3rd identifying information change and processes (step S1809), finishes the processing based on this process flow diagram.It is the expansion process of sealing that the 2nd identifying information change is processed.It is the processing of dwindling of sealing that the 3rd identifying information change is processed.In addition, in this process flow diagram, at the 1st identifying information, change processing (step S1807) and carry out afterwards the 2nd identifying information change processing (step S1808) and the 3rd identifying information change processing (step S1809), but, can be also in the 2nd identifying information change, to process (step S1808) and the change of the 3rd identifying information to process (step S1809) and carry out afterwards the 1st identifying information change processing (step S1807).

(the 1st identifying information change of being undertaken by guider 300 is processed)

Below, the 1st identifying information change processing of being undertaken by guider 300 is described.Figure 18-2 mean that the 1st identifying information being undertaken by guider changes the process flow diagram of an example of the step of processing.The process flow diagram of Figure 18-2 is examples for the processing carried out in above-mentioned steps S1807.Specifically, in the situation that be equivalent to the identifying information in each region of the entrance and exit in bridge or tunnel, be to arrive identifying information, the missing point that guider 300 will produce in the region that is equivalent to bridge or tunnel is removed.

In the process flow diagram of Figure 18-2, first guider 300 obtains the grid data (step S1811) of the two-dimensional matrix data of the capable m x row of m y.Then, guider 300 is by 1 substitution variable i, j, so that the i of retrieval grid data is capable, the identifying information (step S1812, S1813) in the region of j row.Then, guider 300 judges whether the region of the capable j row of i of grid data is the gateway (step S1814) in bridge or tunnel.

In the situation that the region of the capable j row of i is the gateways (step S1814: be) in bridge or tunnel, guider 300 judges whether the identifying information in the region of the capable j row of the i of grid data is " 1 " (step S1815).In the situation that the identifying information in the region of the capable j of i row is " 1 " (step S1815: be), guider 300 is obtained the position (i1, j1) (step S1816) in the region of another gateway corresponding, bridge or tunnel, region with the capable j row of i of grid data.

Then, guider 300 judges whether the identifying information in the region that the capable j1 of i1 of grid data is listed as is " 1 " (step S1817).In the situation that the identifying information in the region of the capable j1 row of i1 is " 1 " (step S1817: be), guider 300 is obtained the positional information (step S1818) that is positioned at the Zone Full on the interval that connects the region of the capable j row of i and the region of the capable j1 row of i1.

Then, guider 300 is altered to " 1 " (step S1819) by the identifying information in each region of obtaining in step S1818.Thus, be removed being equivalent to connect the region of the capable j row of i and the bridge in region of the capable j1 row of i1 or missing point that the region in tunnel produces.When in the situation that the identifying information in each region of obtaining in step S1818 is all " 1 ", guider 300 also can not carry out the processing of step S1819 and enter step S1820.

In addition, in the situation that the identifying information that the identifying information in the region that the capable j of gateway (step S1814: no), i that the region of the capable j row of i is not bridge or tunnel is listed as is not the region of the capable j1 row of " 1 " (step S1815: no) and i1 is not " 1 " (step S1817: no), guider 300 enters step S1820.

Then, 300 couples of variable j of guider add 1(step S1820), whether decision variable j surpasses mx row (step S1821).In the situation that variable j does not surpass mx row (step S1821: no), guider 300 returns to step S1814, repeatedly carries out later processing.On the other hand, in the situation that variable j surpasses mx row (step S1821: be), 300 pairs of variable i of guider add 1(step S1822), whether decision variable i surpasses my capable (step S1823).

In the situation that variable i is capable over my (step S1823: no), guider 300 returns to step S1813, by 1 substitution variable j, then repeatedly carries out later processing.On the other hand, in the situation that variable i is capable over my (step S1823: be), the processing that guider 300 finishes based on this process flow diagram.Thus, guider 300 can be removed the bridge comprising in the grid data of the two-dimensional matrix data of the capable mx row of my or the whole missing points on tunnel.

In addition, for the region of the capable j1 row of the i1 obtaining as bridge or another gateway, tunnel in step S1816, whether guider 300 can be not also the judgement (processing of step S1814) of bridge or another gateway, tunnel again.Thus, guider 300 can reduce the treatment capacity that the 1st identifying information change is processed.

(by guider 300, undertaken can coverage area profile extraction process)

Below, illustrate that the identifying information being undertaken by guider 300 gives processing.Figure 19-1,19-2 mean by guider, undertaken can coverage area profile extraction process the process flow diagram of an example of step.The process flow diagram of Figure 19-1,19-2 is an example of the processing carried out in above-mentioned steps S1405, be by above-mentioned guider 300, undertaken can coverage area the summary extracted of profile two shown in can coverage area profile extraction process.

In the process flow diagram of Figure 19-1,19-2, first guider 300 obtains the grid data (step S1901) of the two-dimensional matrix data of the capable mx row of my.Then, guider 300 is obtained the latitude, longitude information (step S1902) in each region of the grid data of obtaining in step S1901.

Then, guider 300 is by variable i initialization and variable i is added to 1, so that the identifying information (step S1903, S1904) in the region of the capable j row of the i of retrieval grid data.Then, whether guider 300 decision variable i surpass my capable (step S1905).

In the situation that variable i is capable over my (step S1905: no), guider 300 adds 1(step S1906, S1907 by variable j initialization and to variable j).Then, whether guider 300 decision variable j surpass mx row (step S1908).

In the situation that variable j does not surpass mx row (step S1908: no), guider 300 judges whether the identifying information in the region of the capable j row of the i of grid data is " 1 " (step S1909).In the situation that the identifying information in the region of the capable j of i row is " 1 " (step S1909: be), guider 300 is obtained the top-left coordinates (px1, py1) (step S1910) in region of the capable j row of i of grid data.The top-left coordinates (px1, py1) in the region of the capable j row of i refers to minimum longitude px1, the minimum latitude py1 in the region of the capable j row of i.

Then, whether guider 300 decision variable j do not surpass mx row (step S1911).In the situation that variable j surpasses mx row (step S1911: no), guider 300 is obtained the bottom right coordinate (px2, py2) (step S1912) in region of the capable j row of i of grid data.The bottom right coordinate (px2, py2) in the region of the capable j row of i refers to maximum longitude px2, the maximum latitude py2 in the region of the capable j row of i.

Then, guider 300 is set in the top-left coordinates (px1, py1) obtaining in step S1910 and the bottom right coordinate (px2, py2) (step S1916) of obtaining in step S1912 in map datum.Then, guider 300 will be take top-left coordinates (px1, py1) and the rectangular area blacking (step S1917) that bottom right coordinate (px2, py2) is relative summit, return to step S1904, repeatedly carry out later processing.

On the other hand, in the situation that variable j does not surpass mx row (step S1911: be), 300 couples of variable j of guider add 1(step S1913), whether the identifying information in the region of the capable j row of i of judgement grid data is " 1 " (step S1914).In the situation that the identifying information in the region of the capable j of i row is not " 1 " (step S1914), guider 300 is obtained the bottom right coordinate (px2, py2) (step S1915) in region of the capable j-1 row of i of grid data, carries out the processing starting from step S1916.

And, in the situation that the identifying information in the region of the capable j row of i is " 1 " (step S1914: be), return to step S1911, repeatedly carry out later processing.Then, in the situation that variable i is capable over my (step S1905: be), the processing that guider 300 finishes based on this process flow diagram.In the situation that variable j surpasses mx row (step S1908: be), return to step S1904, repeatedly carry out later processing.

(about road grade)

Below, the road grade θ to the right in above-mentioned formula (1)～formula (6) as variable describes.Figure 20 is the key diagram of an example that schematically represents to impose on the acceleration of the vehicle travelling on the acclive road of tool.As shown in figure 20, the vehicle travelling on the ramp that is θ in road grade, is applied in the acceleration A (=dx/dt) that forms along with Vehicle Driving Cycle and the direct of travel component B(=gsin θ of gravity acceleration g).For example, the above-mentioned formula (1) of take describes as example, the resultant acceleration C of the 2nd, the right acceleration A that expression forms along with this Vehicle Driving Cycle of above-mentioned formula (1) and the direct of travel component B of gravity acceleration g.And the interval distance of establishing Vehicle Driving Cycle is D, establishing running time is T, and establishing travel speed is V.

In the situation that do not consider that road grade θ carries out the estimation of power consumption, in the less region of road grade θ, estimate that the error of power consumption and actual power consumption is smaller; In the larger region of road grade θ, the error of the estimation power consumption estimating and actual power consumption increases.Therefore,, in guider 300, by considering that road grade is that the 4th information is carried out the estimation of fuel cost, estimated accuracy is improved.

For example, can use the gradient meter carrying in guider 300 to learn the gradient of the road of Vehicle Driving Cycle.And, in the situation that guider 300 does not carry gradient meter, for example, can use the grade information of the road comprising in map datum.

(about running resistance)

The following describes the running resistance producing at vehicle.Guider 300 for example calculates running resistance according to formula (11) below.Conventionally, according to category of roads, road grade, pavement behavior etc., when accelerating or while travelling, at moving body, produce running resistance.

Rt＝μMg+kv ²+Mgsinθ+(M+m)α …(11）

Wherein,

Rt: running resistance

V: speed

α: acceleration

μ: rotary resistance

θ: road grade

M: the weight of moving body

G: acceleration of gravity

K: coefficient of air resistance

M: the weight of the rotary body of mobile devices

(display case after the sealing of being undertaken by guider is processed)

Below, the display case after the sealing of being undertaken by guider is processed is described.Figure 21 mean by guider, undertaken can place of arrival the key diagram of one example of the display case of search after processing.Figure 22-1 means that the identifying information being undertaken by guider gives the key diagram of an example of the display case after processing.Figure 22-2 mean the key diagram of an example of the display case after the 1st identifying information change of being undertaken by guider is processed.And Figure 23 means the key diagram of an example of the display case after the sealing processing (expansion) of being undertaken by guider.Figure 24 means the key diagram of an example of the display case after the sealing processing (dwindling) of being undertaken by guider.

As shown in figure 21, for example can place of arrival in display 313 display map data and a plurality of of vehicle of being searched out by guider 300.The state of the display 313 shown in Figure 21 be by guider 300 carry out can place of arrival search be shown in an example of the information of display after processing.Specifically, be the state carrying out after the processing of step S1403 of Figure 14.

Then, by guider 300, map datum is divided into a plurality of regions, according to can place of arrival being given and can arrive identifying information or can not arrive identifying information by each region, thus, as shown in Figure 22-1, display 313 show based on can arrive identifying information vehicle can coverage area 2200.In this stage, in the missing point can the interior generation of coverage area 2200 being formed by the region that can not arrive of vehicle.

And, at vehicle, can in coverage area 2200, comprise Tokyo Bay highway over strait (the Tokyo Bay ア Network ア ラ イ Application: the registered trademark) region of 2210 two gateways that is for example equivalent to cross Tokyo Bay.But, at vehicle, can in coverage area 2200, only comprise a region 2211 in the Zone Full on the highway 2210 over strait of Tokyo Bay.Then, by guider 300, carry out the 1st identifying information change and process, thus, as Figure 22-2, missing point on the highway over strait of Tokyo Bay is removed, and what at display 313, show the Zone Full 2221 that comprises on the highway 2210 over strait of Tokyo Bay can coverage area 2220.

Then, the expansion process of being sealed by guider 300, thus, as shown in figure 23, what generate the removed vehicle of missing point can coverage area 2300.And, due to by the 1st identifying information change process the Zone Full 2221 making on the highway over strait of Tokyo Bay be included in can coverage area 2220 in, thereby after the expansion process of sealing, what the Zone Full 2310 on the highway over strait of Tokyo Bay became vehicle can coverage area 2300.Then, that by guider 300, is sealed dwindles processing, thus, as shown in figure 24, vehicle can coverage area 2400 periphery size with seal before vehicle can coverage area 2200 periphery roughly the same.In addition, each border of Zone Full 2410 on the border of Zone Full 2310 and the Tokyo Bay of Figure 24 highway over strait on the Tokyo Bay highway over strait of Figure 23 is shown as the border according to grid data, but, in this case easy understanding and be shown as the border of oblique line.

Then, by guider 300 extract vehicles can coverage area 2400 profile 2401, thus, can show smoothly vehicle can coverage area 2400 profile.And, owing to by sealing, missing point being removed, thus can on two-dimentional even surface 2402, show vehicle can coverage area 2400.And, in sealing, dwindle after processing, the Zone Full 2410 on the highway over strait of Tokyo Bay also as vehicle can coverage area 2400 or its profile 2401 show.

As described above, according to guider 300, cartographic information is divided into a plurality of regions, according to each range searching moving body, whether can arrive, each region is given respectively for identifying moving body can arrive or can not arrive can arrive identifying information or can not arrive identifying information.Then, guider 300 is according to being endowed the region that can arrive identifying information, and what generate moving body can coverage area.What under the state in the region that therefore, guider 300 can not travel at moving bodys such as removing ocean or lake, mountain range, generate moving body can coverage area.What therefore, image processing apparatus 100 can accurately show moving body can coverage area.

In addition, guider 300 is transformed into view data a plurality of regions that cartographic information is split to form, and the plurality of region is given respectively and can be arrived identifying information or can not arrive identifying information, the expansion process of then sealing.Therefore, guider 300 can remove moving body can coverage area in missing point.

In addition, guider 300 is transformed into view data a plurality of regions that cartographic information is split to form, and the plurality of region is given respectively and can be arrived identifying information or can not arrive identifying information, and that then seals dwindles processing.Therefore, guider 300 can remove moving body can coverage area isolated point.

Like this, guider 300 can remove moving body can coverage area missing point and isolated point, thereby can be on two-dimentional even surface easily observation place show the wheeled scope of moving body.And guider 300 extracts the profile of the grid data that cartographic information is divided into a plurality of regions and generates.Therefore, guider 300 can show smoothly moving body can coverage area profile.

And, guider 300 delineation for search for moving body can place of arrival road search for moving body can place of arrival.Therefore, guider 300 can reduce search moving body can place of arrival time treatment capacity.By delineation be used for searching for moving body can place of arrival road, allow to can reducing by place of arrival of search, by the expansion process of sealing as mentioned above, also can remove moving body can coverage area in the missing point that produces.Therefore, guider 300 can reduce for detection of moving body can coverage area treatment capacity.And, guider 300 can be on two-dimentional even surface easily observation place show the wheeled scope of moving body.

(embodiment 2)

Figure 25 means the block diagram of an example of functional structure of the image processing apparatus of embodiment 2.Functional structure to the image processing system 2500 of embodiment 2 describes.The image processing system 2500 of embodiment 2 consists of server 2510 and terminal 2520.The image processing system 2500 of embodiment 2 possesses the function of the image processing apparatus 100 of embodiment 1 in server 2510 and terminal 2520.

Server 2510 generates the information that display part 110 is shown by the terminal 2520 that is equipped on moving body.Specifically, server 2510 detects to can the coverage area relevant information of moving body and sends to terminal 2520.Terminal 2520 can be equipped on moving body, also can be used as portable terminal device and uses in moving body, can also in the outside of moving body, use as portable terminal device.And terminal 2520 receives can the coverage area relevant information to moving body from server 2510.

In Figure 25, server 2510 consists of calculating part 102, search section 103, cutting part 104, assigning unit 105, server acceptance division 2511, server sending part 2512.Terminal 2520 consists of obtaining section 101, display control unit 106, terminal acceptance division 2521, terminal sending part 2522.In addition, in the image processing system 2500 shown in Figure 25, the identical formation standard laid down by the ministries or commissions of the Central Government of the image processing apparatus 100 with shown in Fig. 1 is noted to identical label, and also description thereof is omitted.

In server 2510, server acceptance division 2511 receives the information sending from terminal 2520.Specifically, for example server acceptance division 2511 receives the information relevant with moving body of self terminal 2520, and this terminal 2520 is connected with the communication network such as concentric line road network or mobile telephone network, DSRC, LAN, WAN wirelessly.The information relevant with moving body, refers to the information relevant to the current place of moving body and initially possesses with the energy fluence that moving body is possessed in the current place of moving body the information that energy fluence is relevant.The information being received by server acceptance division 2511 is the information of reference of carrying out in calculating part 102.

Server sending part 2512 a plurality of regions that cartographic information is split to form as moving body can coverage area send to terminal 2520, this cartographic information has been given and can have been arrived identifying information for what identify that moving body can arrive by assigning unit 105.Specifically, for example server sending part 2512 is to terminal 2520 transmission information, and this terminal 2520 is connected with communication networks such as concentric line road network or mobile telephone network, DSRC, LAN, WAN wirelessly.

The state that terminal 2520 for example communicates with the Department of Communication Force (not shown) that can have by information communication network or this device of portable terminal device, is connected with server 2510.

In terminal 2520, the information that terminal acceptance division 2521 receives from server 2510.Specifically, terminal acceptance division 2521 receives cartographic informations, and this cartographic information is divided into a plurality of regions, and this region can arrive identifying information or can not arrive identifying information according to can place of arrival being endowed of moving body respectively.More particularly, for example terminal acceptance division 2521 is from server 2510 reception information, and this server 2510 is connected with communication networks such as concentric line road network or mobile telephone network, DSRC, LAN, WAN wirelessly.

Terminal sending part 2522 sends by obtaining section 101 information relevant with moving body that obtain to server 2510.Specifically, for example terminal sending part 2522 sends the information relevant with moving body to server 2510, and this server 2510 is connected with the communication network such as concentric line road network or mobile telephone network, DSRC, LAN, WAN wirelessly.

Below, illustrate that the image of the image processing system 2500 of embodiment 2 is processed.The image of image processing system 2500 is processed substantially identical with the image processing apparatus 100 of embodiment 1, thereby utilizes the process flow diagram of Fig. 2 that the difference with embodiment 1 is described.

It is estimated energy consumption computing during the image that carries out the image processing apparatus 100 of embodiment 1 by server 2510 is processed that the image of image processing system 2500 is processed, can place of arrival search process, identifying information is given processing.Specifically, in the process flow diagram of Fig. 2, terminal 2520 is carried out the processing of step S201, is sent in the information obtaining in step S201 to server 2510.

Then, server 2510 receives the information of self terminal 2520.Then, server 2510 carries out the processing of step S202～S206 according to the information receiving from terminal 2520, is sent in the information obtaining in step S206 to terminal 2520.Then, the information that terminal 2520 receives from server 2510.Then, terminal 2520, according to the information and executing step S207 receiving from server 2510, finishes the processing based on this process flow diagram.

As described above, the image processing system 2500 of embodiment 2 can access the effect identical with image processing method with the image processing apparatus 100 of embodiment 1 with image processing method.

(embodiment 3)

Figure 26 means the block diagram of an example of functional structure of the image processing system of embodiment 3.Functional structure to the image processing system 2600 of embodiment 3 describes.The image processing system 2600 of embodiment 3 consists of the 1st server the 2610, the 2nd server the 2620, the 3rd server 2630 and terminal 2640.The 1st server 2610 of image processing system 2600 possesses the function of calculating part 102 of the image processing apparatus 100 of embodiment 1, the 2nd server 2620 possesses the function of search section 103 of the image processing apparatus 100 of embodiment 1, the 3rd server 2630 possesses the cutting part 104 of image processing apparatus 100 and the function of assigning unit 105 of embodiment 1, and terminal 2640 possesses the obtaining section 101 of image processing apparatus 100 and the function of display control unit 106 of embodiment 1.

In Figure 26, terminal 2640 has the structure identical with the terminal 2520 of embodiment 2.Specifically, terminal 2640 consists of obtaining section 101, display control unit 106, terminal acceptance division 2641, terminal sending part 2642.Terminal acceptance division 2641 has the structure identical with the terminal acceptance division 2521 of embodiment 2.Terminal sending part 2642 has the structure identical with the terminal sending part 2522 of embodiment 2.The 1st server 2610 consists of calculating part 102, the 1st server acceptance division the 2611, the 1st server sending part 2612.

The 2nd server 2620 consists of search section 103, the 2nd server acceptance division the 2621, the 2nd server sending part 2622.The 3rd server 2630 consists of cutting part 104, assigning unit 105, the 3rd server acceptance division the 2631, the 3rd server sending part 2632.In the image processing system 2600 shown in Figure 26, the formation standard laid down by the ministries or commissions of the Central Government identical with the image processing system 2500 shown in Figure 25 of the image processing apparatus 100 with shown in Fig. 1 noted to identical label, and also description thereof is omitted.

In the 1st server 2610, the 1st server acceptance division 2611 receives the information sending from terminal 2640.Specifically, for example the 1st server acceptance division 2611 receives the information of the terminal sending part 2642 of self terminal 2640, and this terminal 2640 is connected with the communication network such as concentric line road network or mobile telephone network, DSRC, LAN, WAN wirelessly.The information being received by the 1st server acceptance division 2611 is the information of reference of carrying out in calculating part 102.

The 1st server sending part 2612 sends to the 2nd server acceptance division 2621 information being calculated by calculating part 102.Specifically, the 1st server sending part 2612 can be to the 2nd server acceptance division 2621 transmission information that are connected with communication networks such as concentric line road network or mobile telephone network, DSRC, LAN, WAN wirelessly, the 2nd server acceptance division 2621 transmission information that also can connect to the mode with wired.

In the 2nd server 2620, the 2nd server acceptance division 2621 receives the information being sent by terminal sending part 2642 and the 1st server sending part 2612.Specifically, for example the 2nd server acceptance division 2621 receives the information from the 1st server sending part 2612 and terminal sending part 2642, and the 1st server sending part 2612 and terminal sending part 2642 are connected with the communication network such as concentric line road network or mobile telephone network, DSRC, LAN, WAN wirelessly.The 2nd server acceptance division 2621 also can receive the information of the 1st server sending part 2612 connecting from the mode with wired.The information being received by the 2nd server acceptance division 2621 is the information of reference of carrying out in search section 103.

The 2nd server sending part 2622 sends to the 3rd server acceptance division 2631 information being searched out by search section 103.Specifically, can be to the 3rd server acceptance division 2631 transmission information that are connected with communication networks such as concentric line road network or mobile telephone network, DSRC, LAN, WAN wirelessly, the 3rd server acceptance division 2631 transmission information that also can connect to the mode with wired such as the 2nd server sending part 2622.

In the 3rd server 2630, the 3rd server acceptance division 2631 receives the information being sent by terminal sending part 2642 and the 2nd server sending part 2622.Specifically, for example the 3rd server acceptance division 2631 receives the information from the 2nd server sending part 2622 and terminal sending part 2642, and the 2nd server sending part 2622 and terminal sending part 2642 are connected with the communication network such as concentric line road network or mobile telephone network, DSRC, LAN, WAN wirelessly.The 3rd server acceptance division 2631 also can receive the information of the 2nd server sending part 2622 connecting from the mode with wired.The information being received by the 2nd server acceptance division 2621 is the information of reference of carrying out in cutting part 104.

The 3rd server sending part 2632 sends to terminal acceptance division 2641 information being generated by assigning unit 105.Specifically, for example the 3rd server sending part 2632 is to terminal acceptance division 2641 transmission information, and this terminal acceptance division 2641 is connected with communication networks such as concentric line road network or mobile telephone network, DSRC, LAN, WAN wirelessly.

Below, illustrate that the image of the image processing system 2600 of embodiment 3 is processed.The image of image processing system 2600 is processed substantially identical with the image processing apparatus 100 of embodiment 1, thereby utilizes the process flow diagram of Fig. 2 that the difference with embodiment 1 is described.

It is the estimated energy consumption computing during the image that carries out the image processing apparatus 100 of embodiment 1 by the 1st server 2610 is processed that the image of image processing system 2600 is processed, by the 2nd server 2620, undertaken place of arrival search processing, by the 3rd server 2630, carry out identifying information and give processing.In the process flow diagram of Fig. 2, terminal 2640 is carried out the processing of step S201, to the 1st server 2610, is sent in the information obtaining in step S201.

Then, the 1st server 2610 receives the information of self terminal 2640.Then, the 1st server 2610 carries out the processing of step S202, S203 according to the information receiving from terminal 2640, to the 2nd server 2620, is sent in the information calculating in step S203.Then, the information that the 2nd server 2620 receives from the 1st server 2610.Then, the 2nd server 2620 carries out the processing of step S204 according to the information receiving from the 1st server 2610, to the 3rd server 2630, is sent in the information searching out in step S204.

Then, the information that the 3rd server 2630 receives from the 2nd server 2620.Then, the 3rd server 2630, according to carrying out the processing of step S205, S206 from the information of the 2nd server 2620, is sent in the information generating in step S206 to terminal 2640.Then, the information that terminal 2640 receives from the 3rd server 2630.Then, terminal 2640, according to the information and executing step S207 receiving from the 3rd server 2630, finishes the processing based on this process flow diagram.

As described above, the image processing system 2600 of embodiment 3 can access the effect identical with image processing method with the image processing apparatus 100 of embodiment 1 with image processing method.

Embodiment 2

Below, embodiments of the invention 2 are described.Figure 27 means the key diagram of an example of system architecture of the image processing apparatus of embodiment 2.In the present embodiment 2, the example while applying the present invention to obtain system 2700 is described, this obtain system 2700 using the guider 2720 that is equipped on vehicle as terminal 2520, using server 2720 as server 2510.Image processing system 2700 consists of the guider 2710, server 2720, the network 2740 that are equipped on vehicle 2730.

Guider 2710 is equipped on vehicle 2730.Guider 2710 sends the information and the information relevant with initially possessing energy fluence in the current place of vehicle to server 2720.And guider 2710 is shown in display the information receiving from server 2720 to notify user.Server 2720 receives the information and the information relevant with initially possessing energy fluence in the current place of vehicle from guider 2710.Server 2720 is according to the information of vehicles receiving, and generates can the coverage area relevant information to vehicle 2730.

The hardware configuration of server 2720 and guider 2710 is identical with the hardware configuration of the guider 300 of embodiment 1.And, as long as guider 2710 possesses and sends the function of information of vehicles to server 2720 and receive from the information of server 2720 to notify the hardware configuration that user's function is suitable.

And, obtain system 2700 and also can be configured to and will be equipped on the terminal 2640 of the guider 2710 of vehicle as embodiment 3, the functional structure of server 2720 is distributed in the 1st server 2610～3rd server 2630 of embodiment 3.

In addition, by carrying out pre-prepd program in the computing machine at personal computer or workstation etc., can realize the image processing method of explanation in the present embodiment.This program is recorded in the recording medium of the embodied on computer readable such as hard disk, floppy disk, CD-ROM, MO, DVD, by read out this program of carrying out from recording medium by computing machine.And this program can be also the transmission medium that can issue by networks such as the Internets.

Label declaration

100 image processing apparatus; 101 obtaining sections; 102 calculating parts; 103 search section; 104 cutting parts; 105 assigning unit; 106 display control units; 110 display parts.

Claims (12)

1. an image processing apparatus, it,, to processing to can the coverage area relevant information of moving body, is characterized in that, this image processing apparatus has:

Obtain unit, it is obtained the information relevant to the current place of described moving body and initially possesses with the energy fluence that described moving body is possessed in the current place of described moving body the information that energy fluence is relevant;

Computing unit, it calculates the energy estimated energy consumption consuming when described moving body travels in the interval of regulation;

Search unit, it is information, described energy fluence and the described estimated energy consumption initially possessed according to the map, search for place that described moving body can arrive from current place and be a plurality of can place of arrival;

Cutting unit, it is divided into a plurality of regions by described cartographic information;

Give unit, its according to by described search unit, searched out a plurality of can place of arrival, a plurality of regions that are split to form by described cutting unit are given respectively to the identifying information that whether can arrive for identifying described moving body; And

Indicative control unit, it is according to by described this identifying information of giving the region of having given identifying information in unit, and what make that display unit shows described moving body can coverage area.

2. image processing apparatus according to claim 1, is characterized in that,

Described computing unit is according to the consumed energy estimator by the first information, the second information and the 3rd information structure, described estimated energy consumption when calculating described moving body and travelling in the interval of described regulation, wherein, the energy correlation that the described first information consumes when described moving body stops under the state of drive source operation that is equipped on described moving body, described the second information and the energy correlation that consumes when described moving body acceleration and deceleration and reclaim, the energy correlation that described the 3rd information and resistance owing to producing when described moving body travels consume.

3. image processing apparatus according to claim 1, is characterized in that,

The described unit of giving has:

The 1st changing unit, in the situation that other region adjacent with a region that is endowed described identifying information is endowed, for what identify that described moving body can arrive, can arrive identifying information, the 1st changing unit is altered to the identifying information in this region can arrive identifying information;

The 2nd changing unit, after by described the 1st changing unit change identifying information, other region adjacent with a region that is endowed described identifying information is endowed for identifying in the situation that can not arrive identifying information that described moving body can not arrive, and the 2nd changing unit is altered to the identifying information in this region can not arrive identifying information.

4. image processing apparatus according to claim 1, it is characterized in that, described search unit is the All Paths that can move from the current place of described moving body, so that connect the mode of the accumulative total minimum of the described estimated energy consumption in the interval of the described regulation between the place of the regulation on this path, searching for the described of described moving body can place of arrival respectively.

5. image processing apparatus according to claim 1, it is characterized in that, in the interval of a plurality of described regulations, in the situation that the interval importance degree of other regulation of selecting after the interval of a regulation is lower than the interval importance degree of this regulation, described search unit from for search for described moving body can place of arrival the candidate interval of removing this other regulation search for this can place of arrival.

6. image processing apparatus according to claim 1, it is characterized in that, in the situation that the suitable described cartographic information being split to form of the entrance and exit with a bridge block or a tunnel of described cartographic information is endowed, for what identify that described moving body can arrive, can arrive recognition unit, described in give the unit pair described cartographic information that be split to form suitable with the Zone Full that forms this bridge block or this tunnel and give and can arrive recognition unit.

7. image processing apparatus according to claim 1, it is characterized in that, described indicative control unit according to be endowed region that can arrive identifying information for identifying that described moving body can arrive and and this adjacent being endowed in region can arrive the position relationship between other region of identifying information, extract described moving body can coverage area profile and be shown in described display unit.

8. image processing apparatus according to claim 1, it is characterized in that, described indicative control unit is according to being endowed for identifying the latitude, longitude information in the region that can arrive identifying information that described moving body can arrive, extract described moving body can coverage area and be shown in described display unit.

9. image is processed a management devices, and it,, to processing to can the coverage area relevant information of moving body, is characterized in that, this image is processed management devices and had:

Receiving element, it receives the information relevant to the current place of described moving body and initially possesses with the energy fluence that described moving body is possessed in the current place of described moving body the information that energy fluence is relevant;

Computing unit, it calculates the energy estimated energy consumption consuming when described moving body travels in the interval of regulation;

Search unit, it is information, described energy fluence and the described estimated energy consumption initially possessed according to the map, search for place that described moving body can arrive from current place and be a plurality of can place of arrival;

Cutting unit, it is divided into a plurality of regions by described cartographic information;

Give unit, its according to by described search unit, searched out a plurality of can place of arrival, a plurality of regions that are split to form by described cutting unit are given respectively to the identifying information that whether can arrive for identifying described moving body; And

Transmitting element, it sends by described and gives the described cartographic information that unit has been given identifying information and has been divided into a plurality of regions.

10. a terminal, it,, to processing to can the coverage area relevant information of moving body, is characterized in that, this terminal has:

Transmitting element, it sends the information relevant to the current place of described moving body and initially possesses with the energy fluence that described moving body is possessed in the current place of described moving body the information that energy fluence is relevant to management devices;

Receiving element, it receives the place can arrive from current place according to described moving body is that a plurality of cartographic informations of can place of arrival and being divided into a plurality of regions are endowed for identifying the described cartographic information of the identifying information whether described moving body can arrive, wherein, described a plurality of can place of arrival information, the described energy consuming when energy fluence and described moving body travel in the interval of regulation of initially possessing search out according to the map; And

Indicative control unit, it is according to being endowed the described cartographic information of described identifying information, and what make that display unit shows described moving body can coverage area.

11. 1 kinds for the treatment of apparatus, it,, to processing to can the coverage area relevant information of moving body, is characterized in that, this treating apparatus has:

Receiving element, its receive the information relevant to the current place of described moving body, and the energy fluence possessed in the current place of described moving body of described moving body initially possess place that information that energy fluence is relevant and described moving body can arrive from current place be a plurality of can place of arrival, wherein, described a plurality of can place of arrival information, the described energy consuming when energy fluence and described moving body travel in the interval of regulation of initially possessing search out according to the map;

Cutting unit, it is divided into a plurality of regions by described cartographic information;

Give unit, its according to by described receiving element, received a plurality of can place of arrival, a plurality of regions that are split to form by described cutting unit are given respectively to the identifying information that whether can arrive for identifying described moving body; And

Transmitting element, it sends by described and gives the described cartographic information that unit has been given identifying information and has been divided into a plurality of regions.

The image processing method of 12. 1 kinds of image processing apparatus, it,, to processing to can the coverage area relevant information of moving body, is characterized in that, this image processing method comprises:

Obtain step, obtain the information relevant to the current place of described moving body and initially possess with the energy fluence that described moving body is possessed in the current place of described moving body the information that energy fluence is relevant;

Calculation procedure, calculates the energy estimated energy consumption consuming when described moving body travels in the interval of regulation;

Search step, information, described energy fluence and the described estimated energy consumption initially possessed according to the map, search for place that described moving body can arrive from current place and be a plurality of can place of arrival;

Segmentation step, is divided into a plurality of regions by described cartographic information;

Give step, according to by described search step, search out a plurality of can place of arrival, a plurality of regions that are split to form by described segmentation step are given respectively to the identifying information that whether can arrive for identifying described moving body; And

Show to control step, according to by described this identifying information of giving the region that step given identifying information, what make that display unit shows described moving body can coverage area.

Images