WO2013111342A1 - Appareil de traitement d'image, appareil de traitement/gestion d'image, terminal et procédé de traitement d'image - Google Patents

Appareil de traitement d'image, appareil de traitement/gestion d'image, terminal et procédé de traitement d'image Download PDF

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Publication number
WO2013111342A1
WO2013111342A1 PCT/JP2012/051879 JP2012051879W WO2013111342A1 WO 2013111342 A1 WO2013111342 A1 WO 2013111342A1 JP 2012051879 W JP2012051879 W JP 2012051879W WO 2013111342 A1 WO2013111342 A1 WO 2013111342A1
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WO
WIPO (PCT)
Prior art keywords
reachable range
reachable
information
energy
image processing
Prior art date
Application number
PCT/JP2012/051879
Other languages
English (en)
Japanese (ja)
Inventor
廣瀬　智博
要一 伊藤
安士　光男
福田　達也
進 大沢
Original Assignee
パイオニア株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by パイオニア株式会社 filed Critical パイオニア株式会社
Priority to PCT/JP2012/051879 priority Critical patent/WO2013111342A1/fr
Priority to JP2013555094A priority patent/JP5819445B2/ja
Publication of WO2013111342A1 publication Critical patent/WO2013111342A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
    • G01C21/3469—Fuel consumption; Energy use; Emission aspects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/60—Monitoring or controlling charging stations
    • B60L53/63—Monitoring or controlling charging stations in response to network capacity
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/60—Navigation input
    • B60L2240/62—Vehicle position
    • B60L2240/622—Vehicle position by satellite navigation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/70—Interactions with external data bases, e.g. traffic centres
    • B60L2240/72—Charging station selection relying on external data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2250/00—Driver interactions
    • B60L2250/16—Driver interactions by display
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/40—Control modes
    • B60L2260/50—Control modes by future state prediction
    • B60L2260/52—Control modes by future state prediction drive range estimation, e.g. of estimation of available travel distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/40—Control modes
    • B60L2260/50—Control modes by future state prediction
    • B60L2260/54—Energy consumption estimation
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
    • Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
    • Y04S10/00—Systems supporting electrical power generation, transmission or distribution
    • Y04S10/12—Monitoring or controlling equipment for energy generation units, e.g. distributed energy generation [DER] or load-side generation
    • Y04S10/126—Monitoring or controlling equipment for energy generation units, e.g. distributed energy generation [DER] or load-side generation the energy generation units being or involving electric vehicles [EV] or hybrid vehicles [HEV], i.e. power aggregation of EV or HEV, vehicle to grid arrangements [V2G]

Definitions

  • the present invention relates to an image processing device, an image processing management device, a terminal, and an image processing method that generate a reachable range of a moving body based on a residual energy amount of the moving body.
  • the use of the present invention is not limited to the image processing device, the image processing management device, the terminal, and the image processing method.
  • Patent Document 1 a processing device that generates a reachable range of a mobile object based on the current location of the mobile object is known (for example, see Patent Document 1 below).
  • Patent Document 1 all directions on the map are radially divided around the current location of the moving object, and the reachable intersection that is farthest from the current location of the moving object is obtained as a map information node for each divided region.
  • a beige curve obtained by connecting a plurality of acquired nodes is displayed as the reachable range of the moving object.
  • a processing device that generates a reachable range from the current location of the moving body on each road based on the remaining battery capacity and power consumption of the moving body is known (for example, see Patent Document 2 below).
  • the power consumption of the mobile body is calculated on a plurality of roads connected to the current location of the mobile body, and the travelable distance of the mobile body on each road based on the remaining battery capacity and the power consumption of the mobile body Is calculated.
  • a set of line segments obtained by acquiring the current location of the mobile body and a plurality of reachable locations of the mobile body that are separated from the current location by a travelable distance as nodes of map information and connecting the plurality of nodes Is displayed as the reachable range of the moving object.
  • a processing device that informs the user if the arrival time to the destination is delayed when traffic restrictions or traffic jams occur during the traveling of the mobile body (see, for example, Patent Document 3 below).
  • Patent Document 3 when the business hours of the destination cannot be reached due to road restrictions or traffic jams, a warning is displayed or voiced.
  • the reachable range that the mobile body can reach and the unreachable range that cannot be reached cannot be clearly distinguished and notified to the user by display or the like.
  • the unreachable range is a range where the amount of energy held by the mobile body, that is, a battery remaining capacity is exhausted and cannot be reached. Since the reachable range and the unreachable range cannot be clearly distinguished, conventionally, a route can be set in the unreachable range, but the problem is that the reach is not possible.
  • the unreachable range is a range other than the reachable range
  • the factors that change the reachable range itself were not considered. For example, not only can the reachable range be obtained with the current remaining battery level, but if the energy can be replenished (charged) after the mobile object has reached the obtained reachable range, the reachable range can be made wider. Replenishment of energy can be performed by a replenishment facility such as a charging spot.
  • a replenishment facility such as a charging spot.
  • the presence or absence of energy replenishment after reaching the reachable range is not considered, and a more practical reachable range cannot be notified. At the same time, even if the energy was replenished, the unreachable range that could not be actually reached could not be clearly indicated.
  • an image processing apparatus that processes information relating to a reachable range of a moving body, and is a current position of the moving body.
  • a plurality of reachable areas of the mobile body based on information on the energy amount held by the mobile body, and an estimated energy consumption amount indicating the amount of energy consumed when the mobile body travels in a predetermined section
  • a reachable range calculating means for calculating a reachable range including a replenishment facility search means for searching for a replenishment facility located within the reachable range and capable of replenishing energy to the mobile body, and displaying the reachable range
  • Display control means for displaying on the means, and the reachable range calculation means, when a new supplementary equipment is found by the supplementary equipment search means, And calculates a new reachable range using the energy amount when supplemented by equipment.
  • An image processing management apparatus is an image processing management apparatus for processing information relating to a reachable range of a mobile object, wherein the information relating to the current position of the mobile object and the energy held by the mobile object
  • Receiving means for receiving information relating to the amount, information relating to changes in the operating state of the equipment provided in the moving body, information relating to the current position of the moving body, information relating to the amount of energy held by the moving body, and
  • a reachable range calculating means for calculating a reachable range including a plurality of reachable areas of the mobile body based on an estimated energy consumption amount indicating an energy amount consumed when the mobile body travels in a predetermined section;
  • Replenishment facility search means for searching for a replenishment facility located within the reachable range and capable of replenishing energy to the mobile body; and information on the reachable range.
  • the reachable range calculating means when a new supplementary equipment is found by the supplementary equipment search means, a new reachable using the amount of energy when supplemented by the supplementary
  • a terminal is a terminal that processes information relating to a reachable range of a mobile object, information relating to a current position of the mobile object, information relating to an energy amount possessed by the mobile object, and Transmitting means for transmitting information on changes in the operating state of the equipment provided in the moving body, information on the current position of the moving body transmitted by the transmitting means, and energy amount held by the moving body Calculating a reachable range including a plurality of reachable areas of the mobile body based on the information, an estimated energy consumption amount indicating an energy amount consumed when the mobile body travels in a predetermined section, and within the reachable range If a new replenishment facility is found when a replenishment facility that can replenish energy to the mobile body is found and a new replenishment facility is found, Receiving means for receiving a new reachable range calculated using the amount of energy, and display control means for causing the display means to display the reachable range received by the receiving means. .
  • An image processing method is an image processing method of an image processing apparatus for processing information relating to a reachable range of a moving object, wherein the information relating to the current position of the moving object is stored in the moving object.
  • a reachable range including a plurality of reachable areas of the mobile body is calculated based on information on the energy amount to be performed and an estimated energy consumption amount indicating an energy amount consumed when the mobile body travels in a predetermined section
  • the reachable range calculation step includes a replenishment facility search step when a new replenishment facility is found, And calculates a new reachable range using the energy amount.
  • FIG. 1 is a block diagram of an example of a functional configuration of the image processing apparatus according to the first embodiment.
  • FIG. 2 is a diagram for explaining the reachable range and the unreachable range of the moving body.
  • FIG. 3 is a diagram for explaining a process for changing the reachable range of the moving object by the replenishment facility search.
  • FIG. 4 is a flowchart illustrating an example of an image processing procedure performed by the image processing apparatus.
  • FIG. 5 is a block diagram illustrating an example of a hardware configuration of the navigation device.
  • FIG. 6A is an explanatory diagram schematically illustrating an example of reachable point search by the navigation device.
  • FIG. 6B is an explanatory diagram schematically illustrating an example of reachable point search by the navigation device.
  • FIG. 6A is an explanatory diagram schematically illustrating an example of reachable point search by the navigation device.
  • FIG. 6C is an explanatory diagram schematically illustrating an example of reachable point search by the navigation device.
  • FIG. 6-4 is an explanatory diagram schematically illustrating an example of reachable point search by the navigation device.
  • FIG. 7 is an explanatory diagram schematically illustrating an example of reachable point search by the navigation device.
  • FIG. 8 is an explanatory diagram of an example showing a reachable point by the navigation device in longitude-latitude.
  • FIG. 9 is an explanatory diagram of an example showing the reachable points by the navigation device as mesh data.
  • FIG. 10 is an explanatory diagram illustrating an example of cloning processing by the navigation device.
  • FIG. 11 is an explanatory diagram showing an example of the opening process by the navigation device.
  • FIG. 12 is an explanatory diagram schematically showing an example of vehicle reachable range extraction by the navigation device.
  • FIG. 13 is an explanatory diagram schematically showing an example of mesh data after the reachable range of the vehicle is extracted by the navigation device.
  • FIG. 14 is an explanatory diagram schematically illustrating another example of vehicle reachable range extraction by the navigation device.
  • FIG. 15A is a flowchart illustrating an example of a processing procedure of a vehicle reachable range by the navigation device.
  • FIG. 15B is a diagram of a supplementary equipment management table.
  • FIG. 16 is a diagram illustrating a display example of the reachable range of the vehicle by the navigation device.
  • FIG. 17 is a diagram illustrating a display example of the unreachable range of the vehicle by the navigation device.
  • FIG. 18 is a diagram illustrating a type condition search screen when searching for charging spots.
  • FIG. 19 is a flowchart illustrating an example of a processing procedure of a vehicle reachable range by the navigation device.
  • FIG. 20 is an explanatory diagram schematically illustrating an example of acceleration applied to a vehicle traveling on a road having a gradient.
  • FIG. 21 is a block diagram of an example of a functional configuration of the image processing system according to the second embodiment.
  • FIG. 22 is a block diagram of an example of a functional configuration of the image processing system according to the third embodiment.
  • FIG. 23 is an explanatory diagram of an example of a system configuration of the image processing apparatus according to the second embodiment.
  • FIG. 1 is a block diagram of an example of a functional configuration of the image processing apparatus according to the first embodiment.
  • the image processing apparatus 100 according to the first embodiment generates a reachable range of the moving object based on the reachable point of the moving object searched based on the remaining energy amount of the moving object and causes the display unit 110 to display the reachable range.
  • the new reachable range of the moving object is displayed on the assumption that energy is replenished (charged) in this replenishment facility. Further, if there is a range in which the mobile body cannot be reached even if the energy is replenished by the replenishment facility, this unreachable range can be generated and displayed on the display unit 110.
  • the image processing apparatus 100 includes an acquisition unit 101, a calculation unit 102, a search unit 103, a division unit 104, a grant unit 105, a supplement equipment search unit 106, and a display control unit 107.
  • the acquisition unit 101, the calculation unit 102, the search unit 103, the division unit 104, and the grant unit 105 constitute a reachable range calculation unit 109 that calculates the reachable range of the moving object.
  • the energy is energy based on electricity in the case of an EV (Electric Vehicle) vehicle, for example, and in the case of HV (Hybrid Vehicle) vehicle, PHV (Plug-in Hybrid Vehicle) vehicle, etc.
  • energy is energy based on electricity and the like, for example, hydrogen or a fossil fuel that becomes a hydrogen raw material (hereinafter, EV vehicle, HV vehicle, PHV vehicle, and fuel cell vehicle are simply “ EV car ").
  • the energy is energy based on, for example, gasoline, light oil, gas, etc., for example, in the case of a gasoline vehicle, a diesel vehicle or the like (hereinafter simply referred to as “gasoline vehicle”).
  • the residual energy is, for example, energy remaining in a fuel tank, a battery, a high-pressure tank, or the like of the moving body, and is energy that can be used for the subsequent traveling of the moving body.
  • the acquisition unit 101 includes information relating to the current location of the moving object on which the image processing apparatus 100 is mounted, information relating to the initial amount of energy held by the moving object at the current location of the moving object, and supplementary equipment such as a charging spot. Get information about Specifically, the acquisition unit 101 acquires information (position information) about the current location by calculating the current position of the device using, for example, GPS information received from a GPS satellite. In addition, information on the location of a replenishment facility such as a charging spot where energy can be replenished, a charge type (rapid charge or normal charge), and the like are acquired.
  • the acquisition unit 101 determines the remaining energy amount of the moving body managed by an electronic control unit (ECU: Electronic Control Unit) via an in-vehicle communication network that operates according to a communication protocol such as CAN (Controller Area Network). , Get the initial amount of energy.
  • ECU Electronic Control Unit
  • CAN Controller Area Network
  • the acquisition unit 101 may acquire information on the speed of the moving body, traffic jam information, and moving body information.
  • the information regarding the speed of the moving body is the speed and acceleration of the moving body.
  • the acquisition part 101 may acquire the information regarding a road from the map information memorize
  • the information on the road is, for example, a running resistance generated in the moving body due to the road type, road gradient, road surface condition, and the like.
  • the calculation unit 102 calculates an estimated energy consumption that is energy consumed when the moving body travels in a predetermined section.
  • the predetermined section is, for example, a section (hereinafter referred to as “link”) connecting one predetermined point on the road (hereinafter referred to as “node”) and another node adjacent to the one node.
  • the node may be, for example, an intersection or a stand, or a connection point between links separated by a predetermined distance.
  • the nodes and links constitute map information stored in the storage unit.
  • the map information includes, for example, vector data in which intersections (points), roads (lines and curves), regions (surfaces), colors for displaying these, and the like are digitized.
  • the calculation unit 102 estimates an estimated energy consumption amount in a predetermined section based on a consumption energy estimation formula including the first information, the second information, and the third information. More specifically, the calculation unit 102 estimates an estimated energy consumption amount in a predetermined section based on information on the speed of the moving body and the moving body information.
  • the moving body information is information that causes a change in the amount of energy consumed or recovered during traveling of the moving body, such as the weight of the moving body (including the number of passengers and the weight of the loaded luggage) and the weight of the rotating body.
  • the calculation unit 102 may estimate the estimated energy consumption amount in the predetermined section based on the consumption energy estimation formula further including the fourth information.
  • the energy consumption estimation formula is an estimation formula for estimating the energy consumption of the moving body in a predetermined section.
  • the energy consumption estimation formula is a polynomial including first information, second information, and third information, which are different factors that increase or decrease the energy consumption. Further, when the road gradient is clear, fourth information is further added to the energy consumption estimation formula. Detailed description of the energy consumption estimation formula will be described later.
  • the first information is information related to energy consumed by the equipment provided on the moving object. Moreover, it is the information regarding the energy consumed at the time of driving
  • the first information is the amount of energy consumed due to factors not related to the traveling of the moving object. More specifically, the first information is the amount of energy consumed by equipment such as an air conditioner, a car audio, a headlight, a winker, and a brake pump provided in the moving body.
  • equipment such as an air conditioner, a car audio, a headlight, a winker, and a brake pump provided in the moving body.
  • the second information is information related to energy consumed and recovered during acceleration / deceleration of the moving body.
  • the time of acceleration / deceleration of the moving body is a traveling state in which the speed of the moving body changes with time.
  • the time of acceleration / deceleration of the moving body is a traveling state in which the speed of the moving body changes within a predetermined time.
  • the predetermined time is a time interval at regular intervals, for example, per unit time.
  • the recovered energy is, for example, electric power charged in a battery when the mobile body is traveling.
  • the recovered energy is, for example, fuel that can be saved by reducing (fuel cut) the consumed fuel.
  • the third information is information related to energy consumed by the resistance generated when the mobile object is traveling.
  • the traveling time of the moving body is a traveling state where the speed of the moving body is constant, accelerated or decelerated within a predetermined time.
  • the resistance generated when the mobile body travels is a factor that changes the travel state of the mobile body when the mobile body travels. Specifically, the resistance generated when the mobile body travels is various resistances generated in the mobile body due to weather conditions, road conditions, vehicle conditions, and the like.
  • the resistance generated in the moving body due to the weather condition is, for example, air resistance due to weather changes such as rain and wind.
  • the resistance generated in the moving body according to the road condition is road resistance due to road gradient, pavement state of road surface, water on the road surface, and the like.
  • the resistance generated in the moving body depending on the vehicle condition is a load resistance applied to the moving body due to tire air pressure, number of passengers, loaded weight, and the like.
  • the third information is energy consumption when the moving body is driven at a constant speed, acceleration or deceleration while receiving air resistance, road resistance, and load resistance. More specifically, the third information is consumed when the moving body travels at a constant speed, acceleration or deceleration, for example, air resistance generated in the moving body due to the head wind or road surface resistance received from a road that is not paved. Energy consumption.
  • the fourth information is information related to energy consumed and recovered by a change in altitude where the moving object is located.
  • the change in altitude at which the moving body is located is a state in which the altitude at which the moving body is located changes over time.
  • the change in altitude at which the moving body is located is a traveling state in which the altitude changes when the moving body travels on a sloped road within a predetermined time.
  • the fourth information is additional information that can be obtained when the road gradient in the predetermined section is clear, thereby improving the estimation accuracy of energy consumption.
  • the search unit 103 is based on the map information stored in the storage unit, the current location and initial stored energy amount of the mobile object acquired by the acquisition unit 101, and the estimated energy consumption calculated by the calculation unit 102. Search for a plurality of reachable points that can be reached from the current point.
  • the search unit 103 starts from the current location of the mobile object, and in a predetermined section that connects predetermined points on the route from the mobile object. A predetermined point and a predetermined section are searched so that the total of the estimated energy consumption is minimized. Then, the search unit 103 moves the mobile unit to a predetermined point where the total estimated energy consumption amount is within the range of the initial stored energy amount of the mobile unit in all routes that can move from the current point of the mobile unit.
  • the search unit 103 starts from the current location of the mobile object as a starting point, all links that can be moved from the current location of the mobile object, nodes that connect to these links, and all that can be moved from these nodes. , And all the nodes and links that can be reached by the moving object.
  • the search unit 103 each time the search unit 103 searches for a new link, the search unit 103 accumulates the estimated energy consumption of the route to which the one link is connected, and the accumulated energy consumption is minimized. Search for a node connected to the link and a plurality of links connected to this node.
  • the search unit 103 estimates the estimated energy consumption from the current location of the mobile body to the node among the plurality of links connected to the node.
  • the estimated energy consumption of the relevant node is calculated using the estimated energy consumption of the link with a small amount of accumulation.
  • the search unit 103 sets all the nodes whose accumulated energy consumption amount is within the range of the initial stored energy amount of the mobile object, respectively. Search as a reachable point.
  • it is possible to calculate the correct total of the estimated energy consumption of the node.
  • the search unit 103 may search for a reachable point by excluding a predetermined section in which movement of the mobile object is prohibited from candidates for searching for a reachable point of the mobile object.
  • the predetermined section in which the movement of the moving body is prohibited is, for example, a link that is one-way reverse running, or a link that is a passage-prohibited section due to time restrictions or seasonal restrictions.
  • the time restriction is, for example, that traffic is prohibited in a certain time zone by being set as a school road or an event.
  • the seasonal restriction is, for example, that traffic is prohibited due to heavy rain or heavy snow.
  • the search unit 103 selects another predetermined section as a mobile object.
  • the reachable point may be searched for by removing it from the candidates for searching for the reachable point.
  • the importance of the predetermined section is, for example, a road type.
  • the road type is a type of road that can be distinguished by differences in road conditions such as legal speed, road gradient, road width, and presence / absence of signals.
  • the road type is a narrow street that passes through a general national road, a highway, a general road, an urban area, or the like.
  • a narrow street is, for example, a road defined in the Building Standard Law with a width of less than 4 meters in an urban area.
  • the search unit 103 moves all the areas constituting one bridge or one tunnel of the map information divided by the dividing unit 104. It is preferable to search for a reachable point of the moving body so as to be included in the reachable range of the body. Specifically, for example, when the entrance of one bridge or one tunnel is a reachable point of the mobile object, the search unit 103 is located on one bridge or one tunnel from the entrance of the one bridge or one tunnel toward the exit. You may search the said reachable point so that several reachable points may be searched.
  • the entrance of one bridge or one tunnel is the starting point of one bridge or one tunnel on the side close to the current position of the moving object.
  • the search unit 103 searches for a reachable point again using the retained energy amount after supplementation.
  • the dividing unit 104 divides the map information into a plurality of areas. Specifically, the dividing unit 104 divides the map information into a plurality of rectangles based on a reachable point farthest from the current point of the mobile object among a plurality of reachable points of the mobile object searched by the search unit 103. It is divided into shape areas and converted into mesh data of m ⁇ m dots, for example.
  • the m ⁇ m dot mesh data is handled as raster data (image data) to which identification information is added by the adding unit 105 described later. Note that each m of m ⁇ m dots may be the same numerical value or a different numerical value.
  • the dividing unit 104 extracts the maximum longitude, the minimum longitude, the maximum latitude, and the minimum latitude, and calculates the distance from the current position of the moving object. Then, the dividing unit 104 divides the map information into a plurality of areas, for example, by dividing the size of one area when the reachable point farthest from the current position of the moving object and the current position of the moving object are equally divided into n.
  • the map information is divided into mesh data of m ⁇ m dots.
  • the assigning unit 105 assigns identification information for identifying whether or not the mobile body can reach each of the plurality of areas divided by the dividing unit 104 based on the plurality of reachable points searched by the search unit 103. To do. Specifically, when the reachable point of the moving object is included in one area divided by the dividing unit 104, the granting unit 105 can reach the one area to identify that the moving object is reachable. The identification information is assigned. After that, when the reachable point of the moving object is not included in the one area divided by the dividing unit 104, the assigning unit 105 identifies that the moving object cannot reach the one area. The identification information is assigned.
  • the assigning unit 105 assigns reachable identification information “1” or unreachable identification information “0” to each area of the mesh data divided into m ⁇ m. It is converted into mesh data of two-dimensional matrix data in rows and m columns.
  • the dividing unit 104 and the assigning unit 105 divide the map information in this way, convert it into mesh data of 2D matrix data of m rows and m columns, and handle it as binarized raster data.
  • the grant unit 105 includes a first change unit and a second change unit that perform identification information change processing on a plurality of areas divided by the division unit 104. Specifically, the adding unit 105 treats mesh data obtained by dividing the map information by the first changing unit and the second changing unit as binarized raster data, and performs a cloning process (a reduction process after the expansion process). Process). Further, the granting unit 105 may perform an opening process (a process of performing an expansion process after the reduction process) by the first changing unit and the second changing unit.
  • the first changing unit can reach the identification information of the one area when the identification information that can reach another area adjacent to the one area to which the identification information is given is given. Change to identification information (expansion process). More specifically, the first changing unit is any one of the other regions adjacent to the left, bottom, bottom, bottom right, right, top right, top, top left, and left of one rectangular region. If “1”, which is identification information that can reach the area, is assigned, the identification information of the one area is changed to “1”.
  • the one region Is changed to unreachable identification information (reduction processing).
  • the second changing unit is any one of the other regions adjacent to each other in the eight directions of lower left, lower, lower right, right, upper right, upper, upper left, and left of one rectangular region. If “0”, which is identification information that cannot reach the area, is assigned, the identification information of the one area is changed to “0”.
  • the expansion process by the first changing unit and the reduction process by the second changing unit are performed the same number of times.
  • the granting unit 105 can reach the area including the reachable point, which is the point where the moving body can reach from the current point, among the plurality of areas divided by the dividing unit 104. Reachable identification information for identifying this is given to make the movable body reachable. Thereafter, the assigning unit 105 assigns reachable identification information to a region adjacent to the region to which reachable identification information is assigned, and the identification information of each region so that no missing point is generated in the reachable range of the moving object. To change.
  • the reachable identification information for identifying that the reachable unit 105 is reachable is assigned to the divided map information corresponding to the entrance and exit of one bridge or one tunnel of the map information
  • Reachable identification means is assigned to the divided map information corresponding to all areas constituting one bridge or one tunnel.
  • the granting unit 105 corresponds to the entrance of one bridge or one tunnel, for example, when the reachable identification information is given to each area corresponding to the entrance and exit of one bridge or one tunnel, respectively. Identification information that can reach all areas where the moving body can move from the area to the area corresponding to the exit is given.
  • the assigning unit 105 has identification information “1” that is reachable to each region corresponding to the entrance and exit of one bridge or one tunnel before the expansion processing by the first changing unit, for example. All areas located on the section connecting the area corresponding to the entrance and exit of one bridge or tunnel when there is a defect point on one bridge or tunnel when given Is changed to “1”.
  • the section connecting the area corresponding to the entrance of one bridge or tunnel and the area corresponding to the exit may be a section corresponding to a road including a plurality of curves, or a single straight road. It may be a section.
  • the replenishment facility search unit 106 searches for a replenishment facility such as a charging spot in a range (reachable range) in which the search unit 103 searches for the recognizable information that can be reached by the granting unit 105. To do. If there is a replenishment facility within the reachable range by this search, the acquisition unit 101 is requested to reacquire information about the replenishment facility. Based on this request, the acquisition unit 101 outputs information about the supplementary equipment to the calculation unit 102, the search unit 103, and the division unit 104, and the calculation unit 102 to the granting unit 105 causes the mobile body to replenish energy in the supplementary equipment (strictly speaking). In this case, when the charging of the maximum charging capacity (to be described later) is performed, the reachable range of the moving body centering on the supplementary equipment is newly obtained.
  • the maximum charging capacity to be described later
  • the acquisition unit 101 described above acquires information on supplementary equipment from the outside through communication or the like.
  • the present invention is not limited to this, and the image processing apparatus 100 may be configured to store information relating to supplementary equipment in the storage unit as a database.
  • the supplementary equipment search unit 106 directly retrieves information relating to supplementary equipment from the storage unit, Information on the supplementary equipment is output to the calculation unit 102 and the means for calculating the reachable range by the search unit 103.
  • the newly obtained reachable range is combined with the already searched reachable range on the image and output to the display control unit 107.
  • This makes it possible to display a wider reachable range assuming that the mobile body has replenished energy with the replenishment facility.
  • the display control unit 107 causes the display unit 110 to display the reachable range of the mobile object together with the map information based on the identification information of the area to which the identification information is given by the granting unit 105. Specifically, the display control unit 107 converts mesh data, which is a plurality of image data to which identification information has been added by the adding unit 105, into vector data, and displays it on the display unit 110 together with map information stored in the storage unit.
  • FIG. 2 is a diagram for explaining the reachable range and the unreachable range of the moving body.
  • the peninsula 201 has a charging spot 202.
  • the reachable range A that can be reached when the mobile object is charged at the charging spot 202 is indicated by hatching in the figure. Since the reachable range A does not reach the tip of the peninsula 201 and there is no other charging spot 202 near the tip, the mobile body can only reach the range of the reachable range A, and includes the tip of the peninsula.
  • the impossible range X cannot be reached. As described above, after the mobile body reaches the charging spot 202, even if charging is performed at the charging spot 202, an unreachable region (unreachable range X) may occur.
  • FIG. 3 is a diagram for explaining a process for changing the reachable range of the moving object by the replenishment facility search.
  • the replenishment facility search unit 106 requests the acquisition unit 101 to search for the charging spot 202 in the reachable range A1.
  • the outline a of the reachable range A is the outline of the range A in which the reachable ranges A1 to A4 are overlapped, as shown by the thick line in FIG.
  • the replenishment facility search is not limited to one time, and each time a new charging spot 202 is found in the expanded range, the same processing is repeated to further widen the reachable range. For example, when three charging spots 202a to 202c are newly searched in (c) above, a replenishment facility search is newly performed for the corresponding reachable ranges A2 to A4.
  • the above processing can be performed, for example, by continuing the search until there is no charging spot in the new reachable range, so that the reachable range A that can be reached when the mobile body repeats charging at the charging spot can be obtained. become.
  • the reachable range A can be clearly displayed, a range other than the reachable range A can be displayed as the unreachable range X.
  • FIG. 4 is a flowchart illustrating an example of an image processing procedure performed by the image processing apparatus.
  • the image processing apparatus 100 acquires, by the acquisition unit 101, information related to the current location of the moving object and information related to the initial amount of energy held by the moving object at the current location of the moving object (step S1). S401, S402). At this time, the image processing apparatus 100 may also acquire moving body information.
  • the image processing apparatus 100 uses the calculation unit 102 to calculate an estimated energy consumption that is energy consumed when the moving body travels in a predetermined section (step S403). At this time, the image processing apparatus 100 calculates estimated energy consumption amounts in a plurality of predetermined sections connecting predetermined points on the route of the moving body.
  • the image processing apparatus 100 uses the search unit 103 based on the map information stored in the storage unit and the initial stored energy amount and the estimated energy consumption amount acquired in steps S402 and S403. A reachable point is searched (step S404).
  • the image processing apparatus 100 uses the dividing unit 104 to divide the map information made up of vector data into a plurality of regions, convert it into mesh data made up of raster data, and based on the plurality of reachable points searched in step S404.
  • the reachable identification information is assigned to each of the plurality of divided areas by the assigning unit 105 (step S405).
  • the image processing apparatus 100 calculates the reachable range A of the moving object by the display control unit 107 based on the identification information of the plurality of areas to which the identification information is added (Step S406).
  • the image processing apparatus 100 requests the replenishment facility search unit 106 to search for the charging spot 202 within the reachable range A (step S407).
  • Acquisition unit 101 searches for charging spot 202 within reachable range A.
  • step S407: Yes it is assumed that charging is performed at this charging spot 202 (and the current location of the mobile body is the charging spot 202) (step S408).
  • step S403 The processing after the calculation of the estimated energy consumption in step S403 is executed again.
  • the display control unit 107 displays the reachable range A obtained so far on the display unit 110 (step S409), and the above processing Exit.
  • the image processing apparatus 100 calculates the amount of energy consumed based on the current position of the moving body and the amount of energy held, and obtains and displays the reachable range of the moving body. Then, a search is made for a replenishment facility (charging spot) that can replenish energy within this reachable range. If there is a replenishment facility, it is assumed that the replenishment facility has replenished energy, and the replenishment facility is set to a new base point. The reachable range is obtained again. Thereby, when the replenishment facility is within the reachable range, the reachable range of the mobile body becomes wide, and this reachable range can be clearly notified to the user. Further, it becomes possible to clearly notify the user of the unreachable range outside the reachable range.
  • a replenishment facility charging spot
  • Example 1 of the present invention will be described.
  • the navigation apparatus 500 mounted on a vehicle as the image processing apparatus 100 an example in which the present invention is applied will be described using the navigation apparatus 500 mounted on a vehicle as the image processing apparatus 100.
  • FIG. 5 is a block diagram illustrating an example of a hardware configuration of the navigation device.
  • a navigation device 500 includes a CPU 501, ROM 502, RAM 503, magnetic disk drive 504, magnetic disk 505, optical disk drive 506, optical disk 507, audio I / F (interface) 508, microphone 509, speaker 510, input device 511, A video I / F 512, a display 513, a camera 514, a communication I / F 515, a GPS unit 516, and various sensors 517 are provided.
  • the components 501 to 517 are connected by a bus 520, respectively.
  • the CPU 501 governs overall control of the navigation device 500.
  • the ROM 502 stores programs such as a boot program, an estimated energy consumption calculation program, a reachable point search program, an identification information addition program, and a map data display program.
  • the RAM 503 is used as a work area for the CPU 501. That is, the CPU 501 controls the entire navigation device 500 by executing various programs recorded in the ROM 502 while using the RAM 503 as a work area.
  • an estimated energy consumption in a link connecting one node and an adjacent node is calculated based on an energy consumption estimation formula for calculating an estimated energy consumption of the vehicle.
  • the reachable point search program a plurality of points (nodes) that can be reached with the remaining energy amount at the current point of the vehicle are searched based on the estimated energy consumption calculated in the estimation program.
  • identification information providing program identification information for identifying that the vehicle is reachable is provided to a plurality of areas obtained by dividing the map information based on the plurality of reachable points searched in the search program.
  • the reachable range of the vehicle is displayed on the display 513 based on the plurality of areas to which the identification information is given by the identification information giving program.
  • the magnetic disk drive 504 controls the reading / writing of the data with respect to the magnetic disk 505 according to control of CPU501.
  • the magnetic disk 505 records data written under the control of the magnetic disk drive 504.
  • an HD hard disk
  • FD flexible disk
  • the optical disk drive 506 controls reading / writing of data with respect to the optical disk 507 according to the control of the CPU 501.
  • the optical disk 507 is a detachable recording medium from which data is read according to the control of the optical disk drive 506.
  • a writable recording medium can be used as the optical disc 507.
  • an MO, a memory card, or the like can be used as a detachable recording medium.
  • Examples of information recorded on the magnetic disk 505 and the optical disk 507 include map data, vehicle information, road information, travel history, and the like. Map data is used when searching for a reachable point of a vehicle in a car navigation system or when displaying a reachable range of a vehicle. Background data representing features (features) such as buildings, rivers, the ground surface, This is vector data including road shape data that expresses the shape of the road by links and nodes.
  • information regarding the charging spot 202 that is an energy replenishment facility may be recorded on the magnetic disk 505 and the optical disk 507, read, and used.
  • the voice I / F 508 is connected to a microphone 509 for voice input and a speaker 510 for voice output.
  • the sound received by the microphone 509 is A / D converted in the sound I / F 508.
  • the microphone 509 is installed in a dashboard portion of a vehicle, and the number thereof may be one or more. From the speaker 510, a sound obtained by D / A converting a predetermined sound signal in the sound I / F 508 is output.
  • Examples of the input device 511 include a remote controller, a keyboard, and a touch panel that are provided with a plurality of keys for inputting characters, numerical values, various instructions, and the like.
  • the input device 511 may be realized by any one of a remote controller, a keyboard, and a touch panel, but may be realized by a plurality of forms.
  • the video I / F 512 is connected to the display 513.
  • the video I / F 512 is output from, for example, a graphic controller that controls the entire display 513, a buffer memory such as a VRAM (Video RAM) that temporarily records image information that can be displayed immediately, and a graphic controller.
  • a control IC for controlling the display 513 based on the image data to be processed.
  • the display 513 displays icons, cursors, menus, windows, or various data such as characters and images.
  • a TFT liquid crystal display, an organic EL display, or the like can be used as the display 513.
  • the camera 514 captures images inside or outside the vehicle.
  • the video may be either a still image or a moving image.
  • the camera 514 captures the outside of the vehicle, the CPU 501 analyzes the captured image, or the recording medium such as the magnetic disk 505 or the optical disk 507 via the video I / F 512. Or output to
  • the communication I / F 515 is connected to the network via wireless and functions as an interface between the navigation device 500 and the CPU 501.
  • Communication networks that function as networks include in-vehicle communication networks such as CAN and LIN (Local Interconnect Network), public line networks and mobile phone networks, DSRC (Dedicated Short Range Communication), LAN, and WAN.
  • the communication I / F 515 is, for example, a public line connection module, an ETC (non-stop automatic fee payment system) unit, an FM tuner, a VICS (Vehicle Information and Communication System) (registered trademark) / beacon receiver, or the like.
  • the GPS unit 516 receives radio waves from GPS satellites and outputs information indicating the current position of the vehicle.
  • the output information of the GPS unit 516 is used when the current position of the vehicle is calculated by the CPU 501 together with output values of various sensors 517 described later.
  • the information indicating the current position is information for specifying one point on the map data, such as latitude / longitude and altitude.
  • Various sensors 517 output information for judging the position and behavior of the vehicle, such as a vehicle speed sensor, an acceleration sensor, an angular velocity sensor, and a tilt sensor.
  • the output values of the various sensors 517 are used by the CPU 501 for calculating the current position of the vehicle and for calculating speed and direction change amounts.
  • the CPU 501 executes a predetermined program using programs and data recorded in the RAM 503, the magnetic disk 505, the optical disk 507, etc., and controls each part in the navigation device 500, thereby realizing its function.
  • the navigation apparatus 500 of the present embodiment calculates the estimated energy consumption of the vehicle on which the own apparatus is mounted.
  • the navigation device 500 may be any one or more of energy consumption estimation formulas including first information, second information, and third information based on, for example, speed, acceleration, and vehicle gradient. Is used to calculate the estimated energy consumption of the vehicle in a predetermined section.
  • the predetermined section is a link connecting one node (for example, an intersection) on the road and another node adjacent to the one node.
  • the navigation device 500 determines whether the vehicle is linked based on traffic jam information provided by the probe, traffic jam prediction data acquired via a server, link length or road type stored in the storage device, and the like. The travel time required to finish driving is calculated. Then, navigation device 500 calculates an estimated energy consumption amount per unit time using any one of the following energy consumption estimation formulas (1) to (4), and the vehicle travels on the link for the travel time. Calculate the estimated energy consumption when finishing.
  • the energy consumption estimation formula shown in the above equation (1) is a theoretical formula for estimating the energy consumption per unit time during acceleration and traveling.
  • ⁇ is the net thermal efficiency and ⁇ is the total transmission efficiency.
  • is negative is expressed by the above equation (2).
  • the energy consumption estimation formula shown in the above equation (2) is a theoretical formula for estimating the energy consumption per unit time during deceleration.
  • the energy consumption estimation formula per unit time during acceleration / deceleration and travel is expressed by the product of travel resistance, travel distance, net motor efficiency, and transmission efficiency.
  • the first term on the right side is the energy consumption (first information) consumed by the equipment provided in the moving body.
  • the second term on the right side is the energy consumption (fourth information) due to the gradient component and the energy consumption (third information) due to the rolling resistance component.
  • the third term on the right side is energy consumption (third information) due to the air resistance component.
  • the fourth term on the right side of the equation (1) is the energy consumption (second information) by the acceleration component.
  • the fourth term on the right side of equation (2) is the energy consumption (second information) due to the deceleration component.
  • is positive, that is, the empirical formula for calculating the estimated energy consumption per unit time during acceleration and traveling is (3) It is expressed by a formula.
  • is negative, that is, the empirical formula for calculating the estimated energy consumption per unit time during deceleration is the following formula (4): It is represented by
  • the coefficients a1 and a2 are constants set according to the vehicle situation.
  • the coefficient k1 is a variable based on the amount of energy consumed during traveling and stopping including acceleration / deceleration.
  • the coefficients k2 and k3 are variables based on the energy consumption during traveling including acceleration / deceleration. Further, the speed V and the acceleration A are set, and other variables are the same as the above formulas (1) and (2).
  • the first term on the right side corresponds to the first term on the right side of the above equations (1) and (2).
  • the coefficient k1 corresponds to the fuel efficiency coefficient k1 described above.
  • the second term on the right side is the energy of the gradient resistance component in the second term on the right side and the acceleration in the fourth term on the right side in the formulas (1) and (2). It corresponds to the energy of the resistance component.
  • the third term on the right side corresponds to the energy of the rolling resistance component in the second term on the right side and the energy of the air resistance component in the third term on the right side in the above equations (1) and (2).
  • ⁇ in the second term on the right side of the equation (4) is the amount of potential energy and kinetic energy recovered (hereinafter referred to as “recovery rate”).
  • the navigation device 500 calculates the travel time required for the vehicle to travel the link as described above, and calculates the average speed and average acceleration when the vehicle travels the link. Then, the navigation device 500 uses the average speed and average acceleration of the vehicle at the link, and the vehicle travels the link in the travel time based on the energy consumption estimation formula shown in the following formula (5) or formula (6). You may calculate the estimated energy consumption at the time of finishing.
  • the consumption energy estimation formula shown in the above formula (5) is a theoretical formula for calculating the estimated energy consumption at the link when the altitude difference ⁇ h of the link on which the vehicle travels is positive.
  • the case where the altitude difference ⁇ h is positive is a case where the vehicle is traveling uphill.
  • the energy consumption estimation formula shown in the above equation (6) is a theoretical formula for calculating an estimated energy consumption amount in the link when the altitude difference ⁇ h of the link on which the vehicle travels is negative.
  • the case where the altitude difference ⁇ h is negative is a case where the vehicle is traveling downhill.
  • the first term on the right side is the energy consumption (first information) consumed by the equipment provided in the moving body.
  • the second term on the right side is the energy consumption (second information) by the acceleration resistance.
  • the third term on the right side is energy consumption consumed as potential energy (fourth information).
  • the fourth term on the right side is the energy consumption (third information) due to the air resistance and rolling resistance (running resistance) received per unit area.
  • the recovery rate ⁇ used in the above equations (1) to (6) will be described.
  • the energy consumption amount P acc of the acceleration component is calculated from the total energy consumption amount (left side) of the link from the energy at idling. This is obtained by subtracting the amount of consumption (first term on the right side) and the amount of energy consumed by the running resistance (fourth term on the right side), and is expressed by the following equation (7).
  • the recovery rate ⁇ is about 0.7 to 0.9 for EV vehicles, about 0.6 to 0.8 for HV vehicles, and about 0.2 to 0.3 for gasoline vehicles.
  • the recovery rate of the gasoline vehicle is a ratio of energy required for acceleration and energy recovered for deceleration.
  • the navigation device 500 searches for a plurality of nodes that can be reached from the current location of the vehicle on which the device is mounted as reachable locations of the vehicle. Specifically, the navigation apparatus 500 calculates the estimated energy consumption amount in the link using any one or more of the energy consumption estimation expressions shown in the above expressions (1) to (6). Then, the navigation device 500 searches for a reachable node of the vehicle and sets it as a reachable point so that the total of the estimated energy consumption in the link is minimized. An example of reachable point search by the navigation device 500 will be described.
  • FIGS. 6-1 to 6-4 are explanatory diagrams schematically showing an example of reachable point search by the navigation device 500.
  • FIG. 6A to 6D the nodes of the map data (for example, intersections) are indicated by circles, and links (predetermined sections on the road) connecting adjacent nodes are indicated by line segments (similarly for FIG. 7). Node and link shown).
  • the navigation apparatus 500 first searches for the link L1_1 that is closest to the current location 301 of the vehicle. Then, navigation device 500 searches for node N1_1 connected to link L1_1, and adds it to a node candidate for searching for a reachable point (hereinafter simply referred to as “node candidate”).
  • the navigation apparatus 500 calculates the estimated energy consumption in the link L1_1 that connects the current location 301 of the vehicle and the node N1_1 that is the node candidate using the energy consumption estimation formula. Then, the navigation device 500 writes the estimated energy consumption 3wh in the link L1_1 to the storage device (magnetic disk 505 or optical disk 507) in association with the node N1_1, for example.
  • the storage device magnetic disk 505 or optical disk 507
  • the navigation apparatus 500 searches all the links L2_1, L2_2, and L2_3 connected to the node N1_1 and searches for reachable points (hereinafter simply “links”). "Candidate”).
  • the navigation apparatus 500 calculates the estimated energy consumption amount in the link L2_1 using the energy consumption estimation formula.
  • the navigation device 500 writes the accumulated energy amount 7wh obtained by accumulating the estimated energy consumption amount 4wh in the link L2_1 and the estimated energy consumption amount 3wh in the link L1_1 to the storage device in association with the node N2_1 connected to the link L2_1 (hereinafter referred to as the storage device). , “Set cumulative energy amount to node”).
  • the navigation apparatus 500 calculates the estimated energy consumption in the links L2_2 and L2_3, respectively, using the energy consumption estimation formula as in the case of the link L2_1. Then, the navigation apparatus 500 sets the accumulated energy amount 8wh obtained by accumulating the estimated energy consumption amount 5wh in the link L2_2 and the estimated energy consumption amount 3wh in the link L1_1 to the node N2_2 connected to the link L2_2.
  • the navigation apparatus 500 sets the accumulated energy amount 6wh obtained by accumulating the estimated energy consumption amount 3wh in the link L2_3 and the estimated energy consumption amount 3wh in the link L1_1 to the node N2_3 connected to the link L2_3. At this time, if the node for which the cumulative energy amount is set is not a node candidate, navigation device 500 adds the node to the node candidate.
  • the navigation device 500 includes all links L3_1 and L3_2_1 connected to the node N2_1, all links L3_2_2, L3_3 and L3_4 connected to the node N2_2, and links connected to the node N2_3.
  • L3_5 is searched for as a link candidate.
  • the navigation apparatus 500 calculates the estimated energy consumption in the links L3_1 to L3_5 using the consumption energy estimation formula.
  • the navigation apparatus 500 accumulates the estimated energy consumption 4wh in the link L3_1 to the accumulated energy amount 7wh set in the node N2_1, and sets the accumulated energy amount 11wh in the node N3_1 connected to the link L3_1. Also, the navigation apparatus 500 sets the cumulative energy amounts 13wh, 12wh, and 10wh in the nodes N3_3 to N3_5 that are connected to the links L3_3 to L3_5, respectively, in the links L3_3 to L3_5 as well as the link L3_1.
  • the navigation apparatus 500 accumulates the estimated energy consumption 5wh in the link L3_3 to the accumulated energy amount 8wh set in the node N2_2, and sets the accumulated energy amount 13wh in the node N3_3.
  • the navigation device 500 accumulates the estimated energy consumption 4wh in the link L_3_4 to the accumulated energy amount 8wh set in the node N2_2, and sets the accumulated energy amount 12wh in the node N3_4.
  • the navigation device 500 accumulates the estimated energy consumption 4wh in the link L3_5 to the accumulated energy amount 6wh set in the node N2_3, and sets the accumulated energy amount 10wh in the node N3_5.
  • the navigation device 500 includes the cumulative amount of energy in a plurality of routes from the current point 301 of the vehicle to the one node N3_2.
  • the minimum accumulated energy amount 10wh is set in the one node N3_2.
  • the navigation device 500 When there are a plurality of nodes in the same hierarchy from the current location 301 of the vehicle, such as the above-described nodes N2_1 to N2_3, the navigation device 500, for example, from a link connected to a node having a low cumulative energy amount among the nodes at the same level.
  • the estimated energy consumption and the cumulative energy amount are calculated in order.
  • navigation device 500 calculates an estimated energy consumption amount for each link connected to each node in the order of node N2_3, node N2_1, and node N2_2, and accumulates the accumulated energy amount for each node.
  • the navigation apparatus 500 continues to accumulate the accumulated energy amount as described above from the nodes N3_1 to N3_5 to the deeper level nodes. Then, the navigation device 500 extracts all nodes set with a cumulative energy amount equal to or less than a preset designated energy amount as reachable points of the vehicle, and obtains longitude / latitude information of the nodes extracted as reachable points. Write to the storage device in association with each node.
  • the navigation device 500 when the designated energy amount is 10wh, the navigation device 500, as shown by a hatched circle in FIG. 6-4, is a node N1_1 to which a cumulative energy amount of 10wh or less is set. N2_1, N2_2, N2_3, N3_2, and N3_5 are extracted as reachable points of the vehicle.
  • the designated energy amount set in advance is, for example, the remaining energy amount (initial stored energy amount) at the current point 301 of the vehicle.
  • the map data 640 composed of the current location 301 of the vehicle and a plurality of nodes and links shown in FIG. 6-4 is an example for explaining the reachable location search, and the navigation device 500 is actually shown in FIG. As shown, more nodes and links are searched in a wider range than the map data 640 shown in FIG. 6-4.
  • FIG. 7 is an explanatory diagram showing an example of reachable point search by the navigation device 500.
  • the accumulated energy amount is continuously calculated for all roads (excluding narrow streets), as shown in FIG. 7, the accumulated energy amount in all nodes of each road is searched in detail without omission. Can do.
  • the estimated energy consumption of about 2 million links is calculated and accumulated throughout Japan, and the information processing amount of the navigation device 500 becomes enormous. For this reason, the navigation apparatus 500 may narrow down the road which searches for the reachable point of a mobile body based on the importance of a link etc., for example.
  • the navigation device 500 calculates the cumulative energy amount on all roads (excluding narrow streets) around the current point 301 of the vehicle, and only high-importance roads are within a certain distance away. To calculate the total energy. Thereby, the number of nodes and the number of links searched by the navigation device 500 can be reduced, and the information processing amount of the navigation device 500 can be reduced. Therefore, the processing speed of the navigation device 500 can be improved.
  • the navigation device 500 divides the map data stored in the storage device based on the reachable point searched as described above. Specifically, the navigation device 500 converts map data composed of vector data into, for example, 64 ⁇ 64 dot mesh data (X, Y), and converts the map data into raster data (image data).
  • FIG. 8 is an explanatory diagram of an example in which a reachable point by the navigation device 500 is indicated by longitude-latitude.
  • FIG. 9 is an explanatory diagram of an example in which a reachable point by the navigation device 500 is indicated by mesh data.
  • FIG. 8 illustrates the longitude / latitude information (x, y) of the searched reachable point in absolute coordinates.
  • FIG. 9 shows screen data of 64 ⁇ 64 dot mesh data (X, Y) to which identification information is given based on the reachable point.
  • the navigation apparatus 500 first generates longitude / latitude information (x, y) having a point group 800 in absolute coordinates based on the longitude x and latitude y of each of a plurality of reachable points. .
  • the origin (0, 0) of the longitude / latitude information (x, y) is at the lower left of FIG.
  • the navigation device 500 calculates the distances w1 and w2 from the longitude ofx of the current point 301 of the vehicle to the maximum longitude x_max and the minimum longitude x_min of the reachable point farthest away in the longitude x direction.
  • the navigation device 500 calculates the distances w3 and w4 from the latitude of the current point 301 of the vehicle to the maximum latitude y_max and the minimum latitude y_min of the reachable point farthest in the direction of the latitude y.
  • the current location 301 of the vehicle is composed of mesh data (X, Y) of m ⁇ m dots.
  • the navigation device 500 converts the longitude / latitude information (x, y) into mesh data (X, Y), it gives identification information to each area of the mesh data (X, Y), and m rows m It is converted into mesh data of two-dimensional matrix data (Y, X) of columns.
  • the navigation device 500 can be reached to identify that the vehicle can reach the one area. For example, “1” is given as the identification information (in FIG. 9, one dot is drawn in black, for example).
  • the navigation device 500 identifies that the vehicle cannot reach the one area. For example, “0” is given as the identification information (in FIG. 9, one dot is drawn in white, for example).
  • the navigation device 500 converts the map data into binary data of m-row m-column two-dimensional matrix data (Y, X) obtained by assigning identification information to each area obtained by dividing the map data, and binarizes the map data. Treated as raster data.
  • Each area of the mesh data is represented by a rectangular area within a certain range.
  • m ⁇ m dot mesh data (X, Y) in which a point group 700 of a plurality of reachable points is drawn in black is generated.
  • the origin (0, 0) of the mesh data (X, Y) is at the upper left.
  • the navigation apparatus 500 of the present embodiment changes the identification information given to each area of the m ⁇ m dot mesh data (X, Y) divided as described above. Specifically, the navigation apparatus 500 performs a cloning process (a process of performing a reduction process after the expansion process) on mesh data of m-dimensional data and m-dimensional two-dimensional matrix data (Y, X).
  • a cloning process a process of performing a reduction process after the expansion process
  • FIG. 10 is an explanatory diagram showing an example of the cloning process by the navigation device.
  • (A) to (C) are mesh data of two-dimensional matrix data (Y, X) of m rows and m columns in which identification information is assigned to each region.
  • (A) shows mesh data 1000 to which identification information is given for the first time after the map data division processing. That is, the mesh data 1000 shown in (A) is the same as the mesh data shown in FIG.
  • (B) shows mesh data 1010 after the cloning process (expansion) is performed on the mesh data 1000 shown in (A).
  • (C) shows the mesh data 1020 after the cloning process (reduction) is performed on the mesh data 1010 shown in (B).
  • the vehicle reachable ranges 1001, 1011 and 1021 generated by a plurality of regions to which reachable identification information is assigned are blacked out. Show.
  • the mesh data 1000 after the identification information is added includes a missing point 1002 (a white background in the reachable range 1001 that is hatched) that is an unreachable region included in the reachable range 1001 of the vehicle. Part) has occurred.
  • the missing point 1002 is generated, for example, when the number of nodes that are reachable points is reduced when the roads for searching for nodes and links are narrowed down in order to reduce the load of the reachable point search process by the navigation device 500.
  • the navigation apparatus 500 performs an expansion process of cloning on the mesh data 1000 after the identification information is given.
  • the identification information of one area adjacent to the area to which reachable identification information is assigned in the mesh data 1000 after the identification information is given is changed to reachable identification information.
  • the missing portion 1002 generated in the reachable range 1001 of the vehicle before the expansion process (after the identification information is given) disappears.
  • the identification information of all areas adjacent to the outermost area of the reachable range 1001 of the vehicle before the expansion process is changed to reachable identification information.
  • the outer periphery of the reachable range 1011 of the vehicle after the expansion process is one dot at a time so as to surround the outer periphery of each outermost region of the reachable range 1001 of the vehicle before the expansion process every time the expansion process is performed. spread.
  • the navigation apparatus 500 performs a cloning reduction process on the mesh data 1010.
  • the identification information of one area adjacent to the area to which the unreachable identification information is assigned in the mesh data 1010 after the expansion process is changed to the unreachable identification information.
  • each area on the outermost periphery of the reachable range 1011 of the vehicle after the expansion process becomes an area that cannot be reached by one dot every time the reduction process is performed, and the reachable range 1011 of the vehicle after the expansion process is reached.
  • the outer circumference shrinks.
  • the outer periphery of the reachable range 1021 of the vehicle after the reduction process is substantially the same as the outer periphery of the reachable range 1001 of the vehicle before the expansion process.
  • Navigation device 500 performs the above-described expansion processing and reduction processing the same number of times. Specifically, when the expansion process is performed twice, the subsequent reduction process is also performed twice. By equalizing the number of times of the expansion process and the reduction process, the identification information of almost all areas in the outer periphery of the reachable range of the vehicle that has been changed to the identification information that can be reached by the expansion process is restored to the original information by the reduction process. It can be changed to unreachable identification information. In this way, the navigation device 500 can remove the missing point 1002 within the reachable range of the vehicle and generate the reachable range 1021 of the vehicle that can clearly display the outer periphery.
  • the navigation device 500 performs an opening process (a process of performing an expansion process after the reduction process) on the mesh data of the two-dimensional matrix data (Y, X), and generates a vehicle reachable range in which the outer periphery can be clearly displayed. May be.
  • the navigation apparatus 500 performs an opening process as follows.
  • FIG. 11 is an explanatory diagram showing an example of the opening process by the navigation device.
  • 11A to 11C show mesh data of two-dimensional matrix data (Y, X) of m rows and m columns in which identification information is assigned to each region.
  • (A) shows the mesh data 1100 after providing the identification information.
  • (B) shows the mesh data 1110 after the opening process (reduction) for (A).
  • (C) shows mesh data 1120 after the opening process (expansion) for (B).
  • the vehicle reachable ranges 1101, 1111, and 1121 generated by a plurality of regions to which reachable identification information is assigned are blacked out. Show.
  • the opening process is performed on the mesh data 1100 after the identification information is added. By doing so, the isolated point 1102 can be removed.
  • the navigation apparatus 500 performs an opening reduction process on the mesh data 1100 after the identification information is given.
  • the identification information of one area adjacent to the area to which the unreachable identification information is added in the mesh data 1100 after the identification information is added is changed to the unreachable identification information.
  • the isolated point 1102 generated in the reachable range 1101 of the vehicle before the reduction process (after the identification information is given) is removed.
  • each area on the outermost periphery of the reachable range 1101 of the vehicle after the identification information is added becomes an area that cannot be reached by one dot every time the reduction process is performed, and the reachable range of the vehicle after the identification information is given
  • the outer periphery of 1101 shrinks. Further, the isolated point 1102 that has occurred in the reachable range 1101 of the vehicle after the identification information is given is removed.
  • the navigation apparatus 500 performs an opening expansion process on the mesh data 1110.
  • the identification information of one area adjacent to the area to which the unreachable identification information is assigned in the mesh data 1110 after the reduction process is changed to the reachable identification information.
  • the outer periphery of the reachable range 1121 of the vehicle after the expansion process is one dot at a time so as to surround the outer periphery of each outermost region of the reachable range 1111 of the vehicle after the reduction process every time the expansion process is performed. spread.
  • the navigation device 500 performs the expansion process and the reduction process the same number of times as in the cloning process.
  • the outer periphery of the reachable range 1111 of the vehicle shrunk by the reduction process is expanded, and the outer periphery of the vehicle reachable range 1121 after the reduction process is expanded before the reduction process. Can be returned to the outer periphery of the reachable range 1101 of the vehicle.
  • the navigation device 500 can generate the vehicle reachable range 1121 in which the isolated point 1102 does not occur and the outer periphery can be clearly displayed.
  • the navigation device 500 of this embodiment extracts the contour of the reachable range of the vehicle based on the identification information given to the mesh data of the two-dimensional matrix data (Y, X) of m rows and m columns. Specifically, the navigation apparatus 500 extracts the outline of the reachable range of the vehicle using, for example, a Freeman chain code. More specifically, the navigation apparatus 500 extracts the outline of the reachable range of the vehicle as follows.
  • FIG. 12 is an explanatory view schematically showing an example of vehicle reachable range extraction by the navigation device.
  • FIG. 13 is explanatory drawing which shows typically an example of the mesh data after the reachable range of the vehicle is extracted by the navigation device.
  • FIG. 12A shows numbers indicating the adjacent directions of the regions 1210 to 1217 adjacent to the region 1200 (hereinafter referred to as “direction index (chain code)”) and arrows in eight directions corresponding to the direction index.
  • FIG. 12B shows mesh data 1220 of two-dimensional matrix data (Y, X) of h rows and h columns as an example.
  • the regions 1221 to 1234 to which reachable identification information is assigned and the regions to which reachable identification information is enclosed surrounded by the regions 1221 to 1234 are illustrated by hatching.
  • the direction index indicates the direction in which the line segment of the unit length is facing.
  • the coordinates corresponding to the direction index are (X + dx, Y + dy).
  • the direction index in the direction from the region 1200 toward the region 1210 adjacent to the lower left is “0”.
  • the direction index in the direction from the region 1200 toward the adjacent region 1211 is “1”.
  • the direction index in the direction from the region 1200 toward the region 1212 adjacent to the lower right is “2”.
  • the direction index in the direction from the region 1200 toward the region 1213 adjacent to the right is “3”.
  • the direction index in the direction from the region 1200 toward the region 1214 adjacent to the upper right is “4”.
  • the direction index in the direction from the region 1200 to the adjacent region 1215 is “5”.
  • the direction index in the direction from the region 1200 toward the region 1216 adjacent to the upper left is “6”.
  • the direction index in the direction from the region 1200 toward the region 1217 adjacent to the left is “7”.
  • the navigation device 500 searches the area to which the reachable identification information “1” adjacent to the area 1200 is assigned counterclockwise. In addition, the navigation device 500 determines a search start point of a region to which reachable identification information adjacent to the region 1200 is assigned based on the previous direction index. Specifically, when the direction index from another area toward area 1200 is “0”, navigation apparatus 500 has an area adjacent to the left of area 1200, that is, an area adjacent in the direction of direction index “7”. The search starts at 1217.
  • the navigation device 500 is adjacent to the lower left, lower, lower right, right, upper right, upper, upper left of the area 1200 when the direction index from another area toward the area 1200 is “1” to “7”.
  • the search is started from the matching regions, that is, the regions 1210 to 1216 adjacent in the directions of the direction indices “0”, “1”, “2”, “3”, “4”, “5”, “6”, respectively.
  • the navigation apparatus 500 detects the reachable identification information “1” from any one of the areas 1210 to 1217 from the area 1200, the areas 1210 to 1217 in which the reachable identification information “1” is detected.
  • the direction indices “0” to “7” corresponding to are written in the storage device in association with the area 1200.
  • the navigation device 500 extracts the outline of the reachable range of the vehicle as follows. As shown in FIG. 12 (B), the navigation apparatus 500 first identifies identification that can be reached in units of rows from the region of a row and a column of the mesh data 1220 of the two-dimensional matrix data (Y, X) of h row and h column. Search for an area to which information is assigned.
  • the navigation device 500 Since unreachable identification information is given to all the areas in the a-th row of the mesh data 1220, the navigation device 500 next moves the b-th row from the b-th row in the mesh data 1220 to the b-th row. Search for identification information that can be reached toward the area.
  • the navigation apparatus 500 detects the reachable identification information in the region 1221 of the b row and e column of the mesh data 1220, and then rotates counterclockwise from the region 1221 of the b row and e column of the mesh data 1220. The region having the reachable identification information that becomes the outline of is searched.
  • the navigation apparatus 500 since the navigation apparatus 500 has already searched for the region of b rows and d columns adjacent to the left of the region 1221, first, the identification that can be reached counterclockwise from the region 1222 adjacent to the lower left of the region 1221. Search whether there is an area having information.
  • the navigation apparatus 500 detects the reachable identification information of the area 1222 and stores the direction index “0” in the direction from the area 1221 toward the area 1222 in association with the area 1221 in the storage device.
  • navigation device 500 since the navigation device 500 has the previous direction index “0”, whether or not there is a region having reachable identification information counterclockwise from the region of c rows and c columns adjacent to the left of the region 1222. Search for. Then, navigation apparatus 500 detects reachable identification information of area 1223 adjacent to the lower left of area 1222, and stores direction index “0” in the direction from area 1222 to area 1223 in association with the previous direction index. Store in the device.
  • the navigation device 500 determines a search start point based on the previous direction index, and searches for whether there is an area having identification information that can be reached counterclockwise from the search start point. Repeat until the corresponding arrow returns to region 1221. Specifically, navigation device 500 searches whether there is an area having identification information that can be reached counterclockwise from the area adjacent to the left of area 1222, and searches for the area 1224 adjacent to the lower left of area 1223. The reachable identification information is detected, and the direction index “1” is stored in the storage device in association with the previous direction index.
  • navigation device 500 searches for an area having identification information that can be reached counterclockwise from the search start point, and has an area that has reachable identification information. 1224 to 1234 are sequentially detected. Then, every time the navigation device 500 acquires the direction index, the navigation device 500 associates it with the previous direction index and stores it in the storage device.
  • the navigation apparatus 500 searches the region 1234 for an area having identification information that can be reached in the counterclockwise direction from the region of the b row and f column adjacent to the upper right of the region 1234, and the adjacent region on the region 1234
  • the reachable identification information 1221 is detected, and the direction index “5” is stored in the storage device in association with the previous direction index.
  • the direction index “0” ⁇ “0” ⁇ “1” ⁇ “0” ⁇ “2” ⁇ “3” ⁇ “4” ⁇ “3” ⁇ “2” ⁇ “5” ⁇ “5” ⁇ “6” ⁇ “6” ⁇ “5” is stored in this order.
  • the navigation device 500 sequentially searches counterclockwise the regions 1222 to 1234 having the reachable identification information adjacent to the region 1221 from the first detected region 1221 and acquires the direction index. Then, the navigation device 500 fills one area in the direction corresponding to the direction index from the area 1221, so that the vehicle reachable range outline 1301 and the portion 1302 surrounded by the outline 1301 are shown in FIG. 13. The mesh data having the vehicle reachable range 1300 is generated.
  • the navigation device 500 may extract the contour of the reachable range of the vehicle based on the longitude and latitude information of the mesh data of the two-dimensional matrix data (Y, X) to which reachable identification information is assigned.
  • the navigation apparatus 500 extracts the outline of the reachable range of the vehicle as follows.
  • FIG. 14 is an explanatory view schematically showing another example of vehicle reachable range extraction by the navigation device.
  • the mesh data 1400 of the two-dimensional matrix data (Y, X) of d rows and h columns as shown in FIG. 13 will be described as an example.
  • the navigation device 500 searches the mesh data 1400 for the region to which the reachable identification information “1” is assigned. Specifically, the navigation apparatus 500 first searches for the identification information “1” that can be reached from the area of a row and a column toward the area of a row and h column.
  • the navigation device 500 Since unreachable identification information “0” is assigned to all the regions in the a-th row of the mesh data 1400, the navigation device 500 next moves the region from the b-th row to the b-th column. A region having identification information “1” that can be reached is searched. Then, the navigation apparatus 500 acquires the minimum longitude px1 and the minimum latitude py1 (upper left coordinates of the area 1401) of the area 1401 in the b row and c column having the reachable identification information “1”.
  • the navigation apparatus 500 searches for an area having identification information “1” that can be reached from the area of b rows and d columns toward the area of b rows and h columns.
  • the navigation apparatus 500 searches for a boundary between the area having the reachable identification information “1” and the area having the reachable identification information “0”, and b rows having the reachable identification information “1”.
  • the maximum longitude px2 and the maximum latitude py2 (lower right coordinates of the area 1402) of the area 1402 in the f column are acquired.
  • the navigation device 500 has a rectangular area whose apex is the upper left coordinates (px1, py1) of the area 1401 of b rows and c columns and the lower right coordinates (px2, py2) of the area 1402 of b rows and f columns. Fill.
  • the navigation apparatus 500 searches the mesh data 1400 for the identification information “1” that can be reached from the b row g column to the b row h column area and further from the c row a column to the c row h column.
  • the navigation apparatus 500 acquires the minimum longitude px3 and the minimum latitude py3 (upper left coordinates of the area 1303) of the area 1403 in the c row and d column having the reachable identification information “1”.
  • the navigation apparatus 500 searches for an area having identification information “1” that can be reached from the area of the c row and the e column toward the area of the c row and the h column. Then, navigation device 500 searches for a boundary between an area having reachable identification information “1” and an area having reachable identification information “0”, and row c has reachable identification information “1”.
  • the maximum longitude px4 and the maximum latitude py4 (lower right coordinates of the area 1404) of the area 1404 in the f column are acquired.
  • the navigation device 500 has a rectangular area whose apexes are the upper left coordinates (px3, py3) of the area 1403 of c rows and d columns and the lower right coordinates (px4, py4) of the area 1404 of c rows and f columns. Fill.
  • the navigation apparatus 500 searches for an area having identification information “1” that can be reached from the area of the c row and the g column to the area of the c row and the h column and further from the d row and the a column to the d row and the h column. .
  • the navigation device 500 ends the process because the unreachable identification information “0” is assigned to all areas from the area of the c row and the g column to the d row and the h column.
  • the reachable range of the vehicle can be acquired by painting the area having the reachable identification information “1” for each row of the mesh data 1300 of the two-dimensional matrix data (Y, X).
  • FIG. 15A is a flowchart illustrating an example of a processing procedure of a vehicle reachable range by the navigation device
  • FIG. 15B is a chart illustrating a management table of supplementary equipment.
  • the navigation device 500 acquires the current position of the vehicle by the acquisition unit 101 (step S1501), and acquires the charge amount (remaining capacity) of the battery (step S1502).
  • the calculation unit 102 to the grant unit 105 perform a process of estimating the reachable range of the vehicle from the current position to the current charge amount based on the current position and the charge amount of the battery (step S1503).
  • the replenishment facility search unit 106 performs initialization to empty the contents of the management table (see FIG. 15-2) 1500 (step S1504).
  • the management table 1500 includes information on an identifier (ID) of a supplementary facility (charging spot) and a processing identifier (processed Yes or No) for the charging spot.
  • ID an identifier
  • processing identifier processed Yes or No
  • the management table 1500 is in a state where the charging spot ID and the processed information are deleted.
  • Each charging spot is previously assigned an individual ID. Alternatively, a unique ID may be given from the name or position of the charging spot.
  • the battery can be charged to about 80% in 30 minutes. It takes several hours to charge at a regular charging spot that is not fast charging.
  • Step S1512 is performed when quick charging is completed in a short time.
  • the ratio which can be charged by quick charge is 80% of battery capacity, for example. In this way, charging at the charging spot can be limited to rapid charging. In this case, a charging spot capable of rapid charging may be searched and acquired.
  • the charging unit 101 can acquire charging spots that can be quickly charged via the Internet or the like.
  • the calculation unit 102 calculates the obtained maximum charging capacity ⁇ the rate at which charging is possible, and obtains the maximum chargeable amount for the vehicle (step S1513). Further, the acquisition unit 101 acquires the position of the charging spot from the charging spot DB using the charging spot ID as a key (step S1514). Then, the calculation unit 102 to the granting unit 105 perform an estimation process of the reachable range (corresponding to one of A2 to A4 in FIG. 3) with the obtained maximum chargeable amount using the charging spot ID as a base point (step S1515 ), The process returns to step S1505.
  • new reachable ranges A2 to A5 that can be reached when charging is performed at the charging spot 202 in the processed reachable range A1 can be newly obtained, and each of these reachable ranges A1 to A5 can be obtained. Can be displayed and output.
  • a range that is not the reachable range A is set as the unreachable range X (step S1517). Then, the display control unit 107 superimposes the reachable range A and the unreachable range X on the map and displays them on the display unit 110 (step S1518), and ends the process.
  • FIG. 16 is a diagram illustrating a display example of the reachable range of the vehicle by the navigation device.
  • the reachable range A of the vehicle is displayed on the display screen of the display unit 110 so as to be superimposed on the map 1600.
  • the user can know clearly the reachable range which a vehicle can reach by charging with a charging spot.
  • the display color of the reachable range A1 that can be reached with the current remaining battery capacity is displayed in yellow
  • the display color of the reachable range A2 to A5 that can be reached by charging at the charging spot 202 (202a to 202d) is displayed in green
  • the reachable range that can be reached by using or not using the charging spot may be easily identified by the difference in color.
  • the range that can be performed only by quick charging and the range that cannot be performed by the process of changing the display color as described above, the range that can be performed only by quick charging and the range that cannot be performed, The range that can be charged and the range that cannot be charged can be displayed separately.
  • FIG. 17 is a diagram showing a display example of the unreachable range of the vehicle by the navigation device. As shown in the figure, on the map 1600, a range other than the reachable range A of the vehicle (a range outside the reachable range A, hatched in the figure) is set as the unreachable range X, for example, it can be seen that it cannot be reached. It can also be displayed in red or the like.
  • the navigation device 500 may display a warning display screen 1701 because the destination cannot be actually reached.
  • the warning display screen 1701 displays “The specified position cannot be reached even when charging is performed at the charging spot”.
  • FIG. 18 is a diagram illustrating a type condition search screen when searching for charging spots.
  • the search may be limited to the type of charging spot designated by the user when searching for the charging spot 202.
  • the types of charging spots 202 searched by the replenishment facility search unit 106 are checked with check boxes 1801 for various types such as car dealers, public facilities, parking lots, and gas stations. You can search as a condition. Thereby, the reachable range based on the type of charging spot desired by the user can be obtained.
  • business hours may be stored as data for each charging spot, and when searching for a charging spot, the search may be limited to the charging spot 202 within the business hours. For example, when the charging spot 202 of business hours from 8:00 to 20:00 is searched at 21:00, it is not enabled. For example, at present, the charging spot 202 has many car dealers and is not open at night. Further, when determining the business hours, the arrival time from the current position to the charging spot 202 may be considered. In that case, the search unit 103 searches for a route from the current position or the previous charging spot 202 to the charging spot 202, and calculates a required time. Then, the required time is summed from the current time to obtain the arrival time.
  • the time required for charging may be included in the required time to the destination. For example, if the charging spot 202 can be charged in 30 minutes by rapid charging, 30 minutes is added as the charging time at the charging spot 202.
  • the destination when the destination is set in consideration of the charging time at the charging spot 202, it cannot be reached at the current departure time (a set time zone), but another departure time (another set time such as midnight or early morning). If it is possible to reach the destination, a message to that effect may be displayed. In this case, the departure time may be switched by a user operation, and the reachable range A (and the unreachable range X) for each departure time may be displayed.
  • FIG. 19 is a flowchart illustrating an example of a processing procedure of a vehicle reachable range by the navigation device.
  • FIG. 19 the same processing contents as those in FIG.
  • processing for determining the type of charging spot 202 and arrival at the charging spot 202 within business hours is added (the processing of steps S1901 to S1905 is inserted between steps S1510 and S1511). .
  • step S1901 it is determined whether the charging spot selected in step S1509 can be rapidly charged. If it is possible (step S1901: Yes), the process proceeds to step S1902, and if quick charging is not possible (step S1901). : No), it returns to step S1507.
  • step S1902 the business hours of the selected charging spot 202 are acquired (step S1902).
  • step S1903 it is determined whether the business hours of the selected charging spot 202 are open for 24 hours (step S1903). If the business hours are open 24 hours (step S1903: Yes), the process proceeds to step S1511. If the business hours are not open 24 hours (step S1903: No), the process proceeds to step S1904.
  • step S1904 the search unit 103 calculates the required time to the selected charging spot 202, and obtains the time to arrive at the charging spot 202 by adding the required time to the current time (step S1904). Thereafter, it is determined whether the arrival time at the charging spot 202 is within business hours (step S1905). If the arrival time is within business hours (step S1905: Yes), the process proceeds to step S1511. If the arrival time is outside business hours (step S1905: No), the process returns to step S1507.
  • FIG. 20 is an explanatory diagram schematically illustrating an example of acceleration applied to a vehicle traveling on a road having a gradient.
  • the second term on the right side of the above equation (1) indicates the acceleration A accompanying the traveling of the vehicle and the combined acceleration C of the traveling direction component B of the gravitational acceleration g. Yes.
  • the distance D of the section in which the vehicle travels is defined as the travel time T and the travel speed V.
  • the navigation apparatus 500 estimation accuracy improves by estimating a fuel consumption in consideration of a road gradient, that is, the fourth information.
  • the slope of the road on which the vehicle travels can be known using, for example, an inclinometer mounted on the navigation device 500. Further, when the inclinometer is not mounted on the navigation device 500, for example, road gradient information included in the map data can be used.
  • traveling resistance generated in the vehicle will be described.
  • the navigation device 500 calculates the running resistance by the following equation (11), for example.
  • traveling resistance is generated in a moving body during acceleration or traveling due to road type, road gradient, road surface condition, and the like.
  • the map information is divided into a plurality of areas, and it is searched whether or not each mobile area can reach each area, and each mobile area can reach or reach each area. Reachable or unreachable identification information for identifying the impossibility is given. And the navigation apparatus 500 produces
  • a new reachable range by charging at this charging spot can be displayed.
  • the user can clearly know whether or not the user can travel to the destination from the displayed reachable range without worrying about the remaining capacity of the battery.
  • the unreachable range can also be clearly displayed, when the destination is in an unreachable range, it is not possible to set this destination, so that these can be known before actual driving. Become.
  • the navigation device 500 converts a plurality of regions obtained by dividing the map information into image data, and assigns identification information indicating that each of the plurality of regions is reachable or unreachable, and then performs an expansion process of cloning. For this reason, the navigation apparatus 500 can remove the missing point within the reachable range of the moving body.
  • the navigation device 500 converts a plurality of areas obtained by dividing the map information into image data, and assigns identification information that can be reached or unreachable to each of the plurality of areas, and then performs an opening reduction process. For this reason, the navigation apparatus 500 can remove the isolated points in the reachable range of the moving object. As described above, the navigation device 500 can remove missing points and isolated points from the reachable range of the moving body, and thus can display the travelable range of the moving body on a two-dimensional smooth surface in an easy-to-read manner. .
  • FIG. 21 is a block diagram of an example of a functional configuration of the image processing system according to the second embodiment.
  • a functional configuration of the image processing system 2100 according to the second embodiment will be described.
  • An image processing system 2100 according to the second embodiment includes a server 2110 and a terminal 2120.
  • the image processing system 2100 according to the second embodiment includes the function of the image processing apparatus 100 according to the first embodiment in the server 2110 and the terminal 2120.
  • the server 2110 generates information to be displayed on the display unit 110 by the terminal 2120 mounted on the mobile object. Specifically, the server 2110 detects information related to the reachable range of the moving object and transmits it to the terminal 2120.
  • the terminal 2120 may be mounted on a mobile object, may be used in the mobile object as a mobile terminal, or may be used outside the mobile object as a mobile terminal. Then, the terminal 2120 receives information related to the reachable range of the moving object from the server 2110.
  • the server 2110 includes a calculation unit 102, a search unit 103, a division unit 104, a grant unit 105, a supplement equipment search unit 106, a server reception unit 2111, and a server transmission unit 2112.
  • the terminal 2120 includes an acquisition unit 101, a display control unit 107, a terminal reception unit 2121, and a terminal transmission unit 2122.
  • the same components as those of the image processing apparatus 100 shown in FIG. 21 the same components as those of the image processing apparatus 100 shown in FIG.
  • the server reception unit 2111 receives information transmitted from the terminal 2120. Specifically, for example, the server reception unit 2111 receives information about a mobile unit from a terminal 2120 connected to a communication network such as a public line network, a mobile phone network, DSRC, LAN, and WAN via a wireless connection.
  • the information regarding the moving body is information regarding the current position of the moving body and information regarding the initial amount of energy that is the amount of energy held by the moving body at the current position of the moving body.
  • Information received by the server reception unit 2111 is information referred to by the calculation unit 102. Note that the information regarding the supplementary equipment may be acquired by either the terminal 2120 or the server 2110, and may be output to a means for calculating the reachable range by the calculation unit 102 and the search unit 103.
  • the server transmission unit 2112 uses the plurality of areas obtained by dividing the map information to which reachable identification information for identifying that the moving body is reachable by the assigning unit 105 as a reachable range of the mobile body as a terminal 2120. Specifically, for example, the server transmission unit 2112 transmits information to a terminal 2120 connected to a communication network such as a public network, a mobile phone network, a DSRC, a LAN, and a WAN via a radio.
  • a communication network such as a public network, a mobile phone network, a DSRC, a LAN, and a WAN via a radio.
  • Terminal 2120 is connected to server 2110 in a communicable state via, for example, an information communication network of a mobile terminal or a communication unit (not shown) provided in its own device.
  • the terminal receiving unit 2121 receives information from the server 2110. Specifically, the terminal receiving unit 2121 displays map information that is divided into a plurality of regions and each region is provided with identification information that is reachable or unreachable based on the reachable point of the mobile object. Receive. More specifically, for example, the terminal receiving unit 2121 receives information from a server 2110 connected to a communication network such as a public line network, a mobile phone network, a DSRC, a LAN, and a WAN via a radio.
  • a communication network such as a public line network, a mobile phone network, a DSRC, a LAN, and a WAN via a radio.
  • the terminal transmission unit 2122 transmits information on the mobile object acquired by the acquisition unit 101 to the server 2110. Specifically, for example, the terminal transmission unit 2122 transmits information related to the mobile unit to a server 2110 that is connected to a communication network such as a public line network, a mobile phone network, DSRC, LAN, and WAN via a wireless connection.
  • a communication network such as a public line network, a mobile phone network, DSRC, LAN, and WAN via a wireless connection.
  • Image processing by the image processing system 2100 includes estimated energy consumption calculation processing, reachable point search processing, energy supplement equipment search processing, and identification information addition processing among the image processing performed by the image processing apparatus 100 according to the first embodiment.
  • the server 2110 performs.
  • the terminal 2120 performs the process of step S ⁇ b> 401 and transmits the information acquired in steps S ⁇ b> 401 and S ⁇ b> 402 to the server 2110.
  • the server 2110 receives information from the terminal 2120.
  • the server 2110 performs the processing in steps S403 to S407 based on the information received from the terminal 2120, and transmits the information acquired in step S207 to the terminal 2120.
  • the terminal 2120 receives information from the server 2110.
  • the terminal 2120 performs step S408 based on the information received from the server 2110, and ends the processing according to this flowchart.
  • the image processing system 2100 and the image processing method according to the second embodiment can obtain the same effects as the image processing apparatus 100 and the image processing method according to the first embodiment.
  • FIG. 22 is a block diagram of an example of a functional configuration of the image processing system according to the third embodiment.
  • An image processing system 2200 according to the third embodiment includes a first server 2210, a second server 2220, a third server 2230, and a terminal 2240.
  • the first server 2210 has the function of the calculation unit 102 of the image processing apparatus 100 of the first embodiment
  • the second server 2220 has the function of the search unit 103 of the image processing apparatus 100 of the first embodiment.
  • the third server 2230 has the functions of the dividing unit 104, the assigning unit 105, and the replenishment facility searching unit 106 of the image processing apparatus 100 according to the first embodiment.
  • the terminal 2240 has the function of the control unit 107.
  • terminal 2240 has the same configuration as terminal 2120 of the second embodiment.
  • the terminal 2240 includes an acquisition unit 101, a display control unit 107, a terminal reception unit 2241, and a terminal transmission unit 2242.
  • Terminal receiving section 2241 has the same configuration as terminal receiving section 2121 of the second embodiment.
  • Terminal transmission section 2242 has the same configuration as terminal transmission section 2122 of the second embodiment.
  • the first server 2210 includes a calculation unit 102, a first server reception unit 2211, and a first server transmission unit 2212.
  • the second server 2220 includes a search unit 103, a second server reception unit 2221, and a second server transmission unit 2222.
  • the third server 2230 includes a dividing unit 104, a granting unit 105, a supplementary facility searching unit 106, a third server receiving unit 2231, and a third server transmitting unit 2232.
  • the first server reception unit 2211 receives the information transmitted from the terminal 2240. Specifically, for example, the first server reception unit 2211 receives information from the terminal transmission unit 2242 of the terminal 2240 that is connected to a communication network such as a public line network, a mobile phone network, DSRC, LAN, WAN, or the like wirelessly. Receive. Information received by the first server reception unit 2211 is information referred to by the calculation unit 102.
  • the first server transmission unit 2212 transmits the information calculated by the calculation unit 102 to the second server reception unit 2221. Specifically, the first server transmission unit 2212 transmits information to the second server reception unit 2221 that is connected to a communication network such as a public network, a mobile phone network, DSRC, LAN, and WAN via a radio. Alternatively, the information may be transmitted to the second server receiving unit 2221 connected by wire.
  • a communication network such as a public network, a mobile phone network, DSRC, LAN, and WAN via a radio.
  • the information may be transmitted to the second server receiving unit 2221 connected by wire.
  • the second server receiver 2221 receives the information transmitted by the terminal transmitter 2242 and the first server transmitter 2212.
  • the second server reception unit 2221 includes a first server transmission unit 2212 and a terminal transmission unit that are wirelessly connected to a communication network such as a public line network, a mobile phone network, DSRC, LAN, and WAN. 2242 information is received.
  • the second server reception unit 2221 may receive information from the first server transmission unit 2212 connected by wire.
  • the information received by the second server reception unit 2221 is information referred to by the search unit 103.
  • the second server transmission unit 2222 transmits the information searched by the search unit 103 to the third server reception unit 2231. Specifically, for example, the second server transmission unit 2222 transmits information to a third server reception unit 2231 connected wirelessly to a communication network such as a public network, a mobile phone network, DSRC, LAN, WAN, or the like. Alternatively, the information may be transmitted to the third server reception unit 2231 connected by wire.
  • a communication network such as a public network, a mobile phone network, DSRC, LAN, WAN, or the like.
  • the information may be transmitted to the third server reception unit 2231 connected by wire.
  • the third server reception unit 2231 receives the information transmitted by the terminal transmission unit 2242 and the second server transmission unit 2222.
  • the third server reception unit 2231 includes a second server transmission unit 2222 and a terminal transmission unit that are wirelessly connected to a communication network such as a public line network, a mobile phone network, DSRC, LAN, and WAN.
  • Information from 2242 may be received.
  • the third server reception unit 2231 may receive information from the second server transmission unit 2222 connected by wire.
  • Information received by the third server reception unit 2231 is information referred to by the division unit 104.
  • the third server transmission unit 2232 transmits information on the reachable range generated by the grant unit 105 and searched by the supplement facility search unit 106 to the terminal reception unit 2241. Specifically, for example, the third server transmission unit 2232 transmits information to a terminal reception unit 2241 that is connected to a communication network such as a public network, a mobile phone network, DSRC, LAN, and WAN via a wireless connection. Information relating to the energy replenishment facility may be acquired by the terminal 2240 or any of the first server 2210 to the third server 2230, and is output as information for calculating the reachable range by the calculation unit 102 and the search unit 103. To do.
  • a communication network such as a public network, a mobile phone network, DSRC, LAN, and WAN via a wireless connection.
  • Information relating to the energy replenishment facility may be acquired by the terminal 2240 or any of the first server 2210 to the third server 2230, and is output as information for calculating the reachable range by the calculation unit 102 and the search unit 103
  • the first server 2210 performs the estimated energy consumption calculation processing
  • the second server 2220 performs the reachable point search processing.
  • the third server 2230 performs the identification information addition process.
  • the terminal 2240 performs the process of step S201 and transmits the information acquired in steps S401 and S402 to the first server 2210.
  • the first server 2210 receives information from the terminal 2240.
  • the first server 2210 performs the process of step S403 based on the information received from the terminal 2240, and transmits the information calculated in step S403 to the second server 2220.
  • the second server 2220 receives information from the first server 2210.
  • the second server 2220 performs the process of step S404 based on the information received from the first server 2210, and transmits the information searched in step S404 to the third server 2230.
  • the third server 2230 receives information from the second server 2220.
  • the third server 2230 performs the processing from step S405 to step S408 based on the information from the second server 2220, and transmits the information generated in step S406 to the terminal 2240.
  • the terminal 2240 receives information from the third server 2230. Then, the terminal 2240 performs step S409 based on the information received from the third server 2230, and ends the processing according to this flowchart.
  • the image processing system 2200 and the image processing method according to the third embodiment can obtain the same effects as those of the image processing apparatus 100 and the image processing method according to the first embodiment.
  • FIG. 23 is an explanatory diagram of an example of a system configuration of the image processing apparatus according to the second embodiment.
  • an example in which the present invention is applied to an image processing system 2300 in which a navigation device 2310 mounted on a vehicle is a terminal 2120 and a server 2320 is a server 2110 will be described.
  • the image processing system 2300 includes a navigation device 2310, a server 2320, and a network 2340 mounted on the vehicle 2330.
  • Navigation device 2310 is mounted on vehicle 2330.
  • the navigation device 2310 transmits information on the current location of the vehicle and information on the initial stored energy amount to the server 2320.
  • the navigation device 2310 displays the information received from the server 2320 on the display and notifies the user.
  • Server 2320 receives information on the current location of the vehicle and information on the initial stored energy amount from navigation device 2310.
  • Server 2320 generates information related to the reachable range of vehicle 2330 based on the received vehicle information.
  • the replenishment facility is searched and a new reachable range is obtained.
  • the hardware configuration of the server 2320 and the navigation device 2310 is the same as the hardware configuration of the navigation device 500 of the first embodiment.
  • the navigation device 2310 only needs to have a hardware configuration corresponding to a function of transmitting vehicle information to the server 2320 and a function of receiving information from the server 2320 and notifying the user.
  • the image processing system 2300 uses the navigation device 2310 mounted on the vehicle as the terminal 2240 of the third embodiment, and the functional configuration of the server 2320 is distributed to the first to third servers 2210 to 2230 of the third embodiment. It is good.
  • the image processing method described in the present embodiment can be realized by executing a program prepared in advance on a computer such as a personal computer or a workstation.
  • This program is recorded on a computer-readable recording medium such as a hard disk, a flexible disk, a CD-ROM, an MO, and a DVD, and is executed by being read from the recording medium by the computer.
  • the program may be a transmission medium that can be distributed via a network such as the Internet.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Navigation (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

L'invention porte sur un appareil de traitement d'image (100) qui comprend : une unité de calcul de plage atteignable (109) qui calcule une plage atteignable, qui comprend une pluralité de zones qu'un corps mobile peut atteindre, sur la base d'informations relatives à la position courante du corps mobile, d'informations relatives à la quantité d'énergie que le corps mobile contient, et d'une quantité de consommation d'énergie estimée qui indique une quantité d'énergie qui sera consommée quand le corps mobile parcourra une section donnée ; une unité de recherche d'équipement de complémentation (106) qui recherche un équipement de complémentation existant dans la plage atteignable et apte à compléter l'énergie pour le corps mobile ; et une unité de commande d'affichage (107) qui amène une unité d'affichage (110) à afficher la plage atteignable. Lorsqu'un nouvel équipement de complémentation est trouvé par la recherche d'équipement de complémentation, l'unité de calcul de plage atteignable (109) calcule une nouvelle plage atteignable par utilisation de la quantité d'énergie complétée par l'équipement de complémentation.
PCT/JP2012/051879 2012-01-27 2012-01-27 Appareil de traitement d'image, appareil de traitement/gestion d'image, terminal et procédé de traitement d'image WO2013111342A1 (fr)

Priority Applications (2)

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PCT/JP2012/051879 WO2013111342A1 (fr) 2012-01-27 2012-01-27 Appareil de traitement d'image, appareil de traitement/gestion d'image, terminal et procédé de traitement d'image
JP2013555094A JP5819445B2 (ja) 2012-01-27 2012-01-27 画像処理装置、画像処理管理装置、端末および画像処理方法

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Cited By (2)

* Cited by examiner, † Cited by third party
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JP2017072873A (ja) * 2015-10-05 2017-04-13 日産自動車株式会社 交通システム
WO2022049942A1 (fr) * 2020-09-03 2022-03-10 ソニーグループ株式会社 Dispositif de traitement d'informations, procédé de traitement d'informations et système de traitement d'informations

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JP2003262525A (ja) * 2002-03-08 2003-09-19 Nissan Motor Co Ltd 充電スタンド情報提供装置
JP2011214894A (ja) * 2010-03-31 2011-10-27 Aisin Aw Co Ltd 車両用走行案内装置、車両用走行案内方法及びコンピュータプログラム

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JP5500634B2 (ja) * 2010-02-23 2014-05-21 アルパイン株式会社 車載ナビゲーション装置

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Publication number Priority date Publication date Assignee Title
JP2003262525A (ja) * 2002-03-08 2003-09-19 Nissan Motor Co Ltd 充電スタンド情報提供装置
JP2011214894A (ja) * 2010-03-31 2011-10-27 Aisin Aw Co Ltd 車両用走行案内装置、車両用走行案内方法及びコンピュータプログラム

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017072873A (ja) * 2015-10-05 2017-04-13 日産自動車株式会社 交通システム
WO2022049942A1 (fr) * 2020-09-03 2022-03-10 ソニーグループ株式会社 Dispositif de traitement d'informations, procédé de traitement d'informations et système de traitement d'informations

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