Device, method, and program for computing reachable range

Abstract

To allow for limiting a search to a specific type of charge spot specified by a user when searching for a charge spot.SOLUTION: A recharge facility search device includes a computation unit 102 configured to compute a reachable range comprising an area that can be reached by a mobile vehicle with an amount of energy left in the mobile vehicle using a location of the mobile vehicle as a base point. When a supply facility that can supply energy to the mobile vehicle is present within the reachable range, the computation unit 102 computes a new reachable range using the supply facility as a base point based on an amount of energy the mobile vehicle would have if energy was supplied to the mobile vehicle at the supply facility.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a reachable range calculation device, a reachable range calculation method, and a reachable range calculation program that calculate the reachable range of a moving object based on the amount of remaining energy of the moving object, although the use of the present invention is not limited to the reachable range calculation device, the reachable range calculation method, and the reachable range calculation program. [Background technology]

[0002] Conventionally, a processing device that generates a reachable range of a mobile object based on the current position of the mobile object is known (see, for example, Patent Document 1 below). In Patent Document 1 below, the map is divided radially in all directions from the current position of the mobile object as the center, and for each divided area, the reachable intersection farthest from the current position of the mobile object is obtained as a node of the map information. Then, a Bezier curve obtained by connecting the obtained multiple nodes is displayed as the reachable range of the mobile object.

[0003] Also known is a processing device that generates a reachable range for each road from a mobile body's current location based on the mobile body's remaining battery capacity and power consumption (see, for example, Patent Document 2 below). In Patent Document 2 below, the mobile body's power consumption is calculated for multiple roads connected to the mobile body's current location, and the mobile body's travelable distance for each road is calculated based on the mobile body's remaining battery capacity and power consumption. The current location of the mobile body and multiple reachable locations for the mobile body that are the travelable distance away from the current location are obtained as nodes in map information, and a collection of line segments obtained by connecting the multiple nodes is displayed as the mobile body's reachable range.

[0004] Also, there is known a processing device that notifies a user when traffic restrictions or congestion occurs while a mobile object is traveling and the arrival time at the destination will be delayed (see, for example, Patent Document 3 below). In Patent Document 3 below, when it is not possible to reach the destination within business hours due to road restrictions, congestion, etc., a warning is displayed or output as audio. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 11-016094 [Patent Document 2] Japanese Patent Application Publication No. 07-085397 [Patent Document 3] Japanese Patent Application Laid-Open No. 2000-028377 Summary of the Invention [Problem to be solved by the invention]

[0006] However, the technologies of Patent Documents 1 to 3 described above were unable to clearly distinguish between a reachable range that a mobile body can reach and an unreachable range that a mobile body cannot reach, and to notify the user of this by display or the like. An unreachable range is a range that cannot be reached because the amount of energy held by the mobile body, i.e., the remaining battery capacity, has run out. As a result of being unable to clearly distinguish between a reachable range and an unreachable range, one example of a problem that has been raised in the past is that although a route can be set in an unreachable range, it is actually impossible to reach the destination.

[0007] In addition, although the unreachable range is a range outside the reachable range, it did not take into account factors that change the reachable range itself. For example, if the reachable range can be obtained not only with the current remaining battery capacity, but also by replenishing (charging) energy after the mobile unit reaches the obtained reachable range, the reachable range can be made wider. Energy replenishment is This can be done using charging facilities such as charging spots. However, conventional methods have not taken into account whether or not energy is replenished after reaching the reachable range, and have not been able to notify a more realistic reachable range. In addition, it has not been possible to clearly notify the unreachable range, which is actually unreachable even if energy is replenished. [Means for solving the problem]

[0008] In order to solve the above-mentioned problems and achieve the object, the reachable range calculation device of claim 1 of the present invention comprises a calculation means for calculating a reachable range based on the position of a mobile body and including an area that can be reached with the amount of energy possessed by the mobile body, and the calculation means is characterized in that, if a supply facility that can supply energy to the mobile body is within the reachable range, the calculation means performs a calculation process to calculate a new reachable range based on the supply facility based on the amount of energy possessed by the mobile body when it is assumed that energy is supplied to the mobile body by the supply facility.

[0009] Furthermore, the reachable range calculation method according to the invention of claim 11 is a reachable range calculation method executed by a reachable range calculation device, and includes a calculation step of calculating a reachable range based on the position of a moving body and including an area reachable with the amount of energy possessed by the moving body, wherein, if a supply facility capable of supplying energy to the moving body is within the reachable range, the calculation step performs a calculation process of calculating a new reachable range based on the amount of energy possessed by the moving body when it is assumed that energy is supplied to the moving body from the supply facility.

[0010] A reachable range calculation program according to the invention of claim 12 is characterized in that it causes a computer to execute the reachable range calculation method according to claim 11. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a block diagram illustrating an example of a functional configuration of an image processing apparatus according to a first embodiment. [Figure 2] FIG. 2 is a diagram illustrating the reachable range and unreachable range of a moving object. [Figure 3] FIG. 3 is a diagram illustrating a process for changing the reachable range of a mobile object by searching for a replenishment facility. [Figure 4] FIG. 4 is a flowchart showing an example of a procedure for image processing by the image processing device. [Figure 5]FIG. 5 is a block diagram showing an example of the hardware configuration of the navigation device. [Figure 6-1] FIG. 6-1 is an explanatory diagram that schematically illustrates an example of a reachable point search performed by a navigation device. [Figure 6-2] FIG. 6-2 is an explanatory diagram illustrating an example of a reachable point search performed by a navigation device. [Figure 6-3] FIG. 6-3 is an explanatory diagram illustrating an example of a reachable point search performed by a navigation device. [Figure 6-4] FIG. 6-4 is an explanatory diagram illustrating an example of a reachable point search by a navigation device. [Figure 7] FIG. 7 is an explanatory diagram that schematically shows an example of a reachable point search by a navigation device. [Figure 8] FIG. 8 is an explanatory diagram showing an example of reachable points by a navigation device in terms of longitude and latitude. [Figure 9] FIG. 9 is an explanatory diagram of an example in which reachable points by a navigation device are shown in mesh data. [Figure 10] FIG. 10 is an explanatory diagram showing an example of the closing process by the navigation device. [Figure 11] FIG. 11 is an explanatory diagram showing an example of the opening process performed by the navigation device. [Figure 12] FIG. 12 is an explanatory diagram that schematically shows an example of extraction of a reachable range for a vehicle by a navigation device. [Figure 13] FIG. 13 is an explanatory diagram that schematically shows an example of mesh data after the navigation device extracts the reachable range of the vehicle. [Figure 14] FIG. 14 is an explanatory diagram that schematically shows another example of extraction of a reachable range for a vehicle by a navigation device. [Figure 15-1] FIG. 15-1 is a flowchart illustrating an example of a procedure for processing a vehicle's reachable range by the navigation device. [Figure 15-2]FIG. 15-2 is a diagram showing a management table for replenishment equipment. [Figure 16] FIG. 16 is a diagram showing an example of a reachable range of a vehicle displayed by a navigation device. [Figure 17] FIG. 17 is a diagram showing an example of a display of an unreachable area for a vehicle by a navigation device. [Figure 18] FIG. 18 shows a search screen for type conditions when searching for charging spots. [Figure 19] FIG. 19 is a flowchart showing an example of a procedure for processing a vehicle's reachable range by the navigation device. [Figure 20] FIG. 20 is an explanatory diagram that schematically shows an example of acceleration acting on a vehicle traveling on a road with a slope. [Figure 21] FIG. 21 is a block diagram illustrating an example of a functional configuration of an image processing system according to the second embodiment. [Figure 22] FIG. 22 is a block diagram illustrating an example of a functional configuration of an image processing system according to the third embodiment. [Figure 23] FIG. 23 is an explanatory diagram of an example of a system configuration of the image processing apparatus according to the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of a reachable range calculation device, a reachable range calculation method, and a reachable range calculation program according to the present invention will be described in detail below with reference to the accompanying drawings.

[0013] (Embodiment 1) 1 is a block diagram showing an example of a functional configuration of an image processing device according to embodiment 1. The image processing device 100 according to embodiment 1 generates a reachable range of a moving object based on reachable points of the moving object searched based on the amount of remaining energy of the moving object, and displays the range on a display unit 110.

[0014] Furthermore, if there is a replenishment facility such as a charging spot where energy can be replenished within the reachable range, the image processing device 100 displays a new reachable range of the mobile body assuming that energy will be replenished (charged) at this replenishment facility. Furthermore, if there is a range that the mobile body cannot reach even after replenishment of energy at the replenishment facility, the image processing device 100 can generate this unreachable range and display it on the display unit 110.

[0015] This image processing device 100 is composed of an acquisition unit 101, a calculation unit 102, a search unit 103, a division unit 104, an assignment unit 105, a replenishment 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 assignment unit 105 constitute a reachable range calculation unit 109 that calculates the reachable range of a moving object.

[0016] Here, energy refers to, for example, the energy used in EVs (Electric Vehicles). In all cases, it is energy based on electricity, etc., and in the case of HV (Hybrid Vehicle) vehicles and PHV (Plug-in Hybrid Vehicle) vehicles, it is energy based on electricity, etc., as well as energy based on gasoline, diesel, gas, etc. In addition, in the case of fuel cell vehicles, for example, energy is energy based on electricity, etc., as well as fossil fuels that are the raw materials for hydrogen and hydrogen (hereinafter, EV vehicles, HV vehicles, PHV vehicles, and fuel cell vehicles will be simply referred to as "EV vehicles"). In addition, in the case of gasoline vehicles and diesel vehicles (hereinafter, simply referred to as "gasoline vehicles"), energy is energy based on gasoline, diesel, gas, etc. For example, residual energy is energy remaining in the fuel tank, battery, high-pressure tank, etc. of a mobile vehicle, and is energy that can be used for future travel of the mobile vehicle.

[0017] The acquisition unit 101 acquires information about the current location of a mobile body equipped with the image processing device 100, information about the initial stored energy amount, which is the amount of energy the mobile body has at its current location, information about charging facilities such as charging spots, etc. Specifically, the acquisition unit 101 acquires information about the current location (location information) by calculating the current location of the device itself using, for example, GPS information received from a GPS satellite, etc. The acquisition unit 101 also acquires information about the location of charging facilities such as charging spots where energy can be replenished, information about the charging type (rapid charging or normal charging), etc.

[0018] In addition, the acquisition unit 101 acquires the remaining energy amount of the mobile body managed by an electronic control unit (ECU) as the initial stored energy amount, for example, via an in-vehicle communication network that operates using a communication protocol such as CAN (Controller Area Network).

[0019] The acquisition unit 101 may acquire information related to the speed of the moving object, traffic congestion information, and moving object information. Information related to the speed of the moving object is the speed and acceleration of the moving object. The acquisition unit 101 may also acquire information related to roads from map information stored in a storage unit (not shown), or may acquire information such as road gradients from an inclination sensor. Information related to roads is, for example, the road type, road gradient, road surface conditions, and the like, which are driving resistances generated on the moving object.

[0020] The calculation unit 102 calculates an estimated energy consumption, which is the energy consumed when a mobile object travels a predetermined section. The predetermined section is, for example, a section connecting a predetermined point on a road (hereinafter referred to as a "node") to another node adjacent to the node (hereinafter referred to as a "link"). 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 is, for example, composed of vector data that quantifies intersections (points), roads (lines and curves), areas (surfaces), and the colors that represent them.

[0021] Specifically, the calculation unit 102 estimates the estimated energy consumption for a predetermined section based on an energy consumption estimation formula including first information, second information, and third information. More specifically, the calculation unit 102 estimates the estimated energy consumption for a predetermined section based on information related to the speed of the mobile object and mobile object information. The mobile object information is information that is a factor that changes the amount of energy consumed or recovered when the mobile object is traveling, such as the weight of the mobile object (including the weight due to the number of passengers and loaded luggage) and the weight of the rotating body. Note that if the road gradient is known, the calculation unit 102 may estimate the estimated energy consumption for a predetermined section based on an energy consumption estimation formula that further includes fourth information.

[0022] The energy consumption estimation formula is a formula for estimating the energy consumption of a moving body in a predetermined section. Specifically, the energy consumption estimation formula is a formula for estimating the energy consumption of a moving body in a predetermined section. The energy consumption estimation formula is a polynomial that includes first information, second information, and third information, which are factors that affect the energy consumption. If the road gradient is known, a fourth piece of information is added to the energy consumption estimation formula. The energy consumption estimation formula will be explained in detail later.

[0023] The first information is information about energy consumed by accessories provided on the vehicle, and also about energy consumed when the vehicle is traveling, including when it is accelerating and decelerating, and when it is stopped.

[0024] Specifically, the first information is the amount of energy consumed by factors unrelated to the running of the vehicle, and more specifically, the first information is the amount of energy consumed by equipment such as an air conditioner, car audio, headlights, turn signals, and brake pump that are equipped on the vehicle.

[0025] The second information is information about energy consumed and recovered when accelerating or decelerating a moving body. Acceleration or deceleration of a moving body refers to a traveling state in which the speed of the moving body changes over time. Specifically, acceleration or deceleration of a moving body refers to a traveling state in which the speed of the moving body changes within a predetermined time. The predetermined time is a fixed interval of time, such as per unit time. In the case of an electric vehicle, the recovered energy is, for example, the power that is charged into the battery when the moving body is traveling. In the case of a gasoline-powered vehicle, the recovered energy is, for example, fuel that can be saved by reducing fuel consumption (fuel cut).

[0026] The third information is information about the energy consumed by resistance generated when the mobile body is traveling. The mobile body traveling refers to a traveling state in which the speed of the mobile body is constant, accelerating, or decelerating within a predetermined time period. The resistance generated when the mobile body is traveling is a factor that changes the traveling state of the mobile body while the mobile body is traveling. Specifically, the resistance generated when the mobile body is traveling refers to various resistances generated on the mobile body due to weather conditions, road conditions, vehicle conditions, etc.

[0027] Resistance to a moving body due to weather conditions is, for example, air resistance caused by weather changes such as rain and wind. Resistance to a moving body due to road conditions is road surface resistance caused by road gradient, pavement condition, water on the road surface, etc. Resistance to a moving body due to vehicle conditions is load resistance imposed on the moving body due to tire air pressure, number of passengers, load weight, etc.

[0028] Specifically, the third information is the amount of energy consumed when the mobile body travels at a constant speed, accelerating, or decelerating while experiencing air resistance, road resistance, or load resistance. More specifically, the third information is the amount of energy consumed when the mobile body travels at a constant speed, accelerating, or decelerating while experiencing air resistance caused by a headwind, road resistance caused by an unpaved road, or the like.

[0029] The fourth information is information about energy consumed and recovered due to a change in the altitude at which the mobile body is located. The change in the altitude at which the mobile body is located refers to a state in which the altitude at which the mobile body is located changes over time. Specifically, the change in the altitude at which the mobile body is located refers to a traveling state in which the altitude changes within a predetermined time as the mobile body travels on a road with an incline.

[0030] The fourth information is additional information that can be obtained when the road gradient within a specified section is known, thereby improving the accuracy of estimating energy consumption. Note that when the road gradient is unknown or to simplify the calculation, energy consumption can be estimated by assuming that the altitude at which the mobile object is located remains unchanged and setting the road gradient θ = 0 in the energy consumption estimation formula described below.

[0031] The search unit 103 uses the map information stored in the storage unit and the travel information acquired by the acquisition unit 101. Based on the current location and initial energy amount of the moving body, and the estimated energy expenditure calculated by the calculation unit 102, a search is made for a plurality of reachable locations that are locations that the moving body can reach from the current location.

[0032] Specifically, the search unit 103 searches for predetermined points and predetermined sections along all possible routes from the current location of the mobile body, each starting from the current location of the mobile body, such that the cumulative total of estimated energy consumption in the predetermined sections connecting the predetermined points on the route from the mobile body is minimized.The search unit 103 then determines, as reachable points for the mobile body, predetermined points along all possible routes from the current location of the mobile body whose cumulative total of estimated energy consumption is within the range of the mobile body's current initial energy reserve.

[0033] More specifically, starting from the current location of the mobile body, the search unit 103 sequentially searches for all links accessible from the current location of the mobile body, the nodes connected to these links, all links accessible from these nodes, and all nodes and links reachable by the mobile body. At this time, each time the search unit 103 searches for a new link, it accumulates the estimated energy consumption of the route connected to that link, and searches for a node connected to that link and multiple links connected to that node so as to minimize the accumulated estimated energy consumption.

[0034] For example, when the one link and another link are connected to the same node, the search unit 103 calculates the cumulative estimated energy consumption of the node using the estimated energy consumption of the link with the smallest cumulative estimated energy consumption from the current location of the mobile body to the node among the multiple links connected to the node.The search unit 103 then searches, as reachable points of the mobile body, for all nodes in multiple routes formed by the searched nodes and links, each of which has a cumulative estimated energy consumption within the range of the initial energy reserve of the mobile body.By using the estimated energy consumption of the link with the smallest estimated energy consumption in this way, the correct cumulative estimated energy consumption of the node can be calculated.

[0035] Furthermore, the search unit 103 may search for reachable points by excluding a predetermined section where movement of a mobile object is prohibited from candidates for searching for reachable points of the mobile object. A predetermined section where movement of a mobile object is prohibited is, for example, a link where movement of a mobile object is prohibited against a one-way street, or a link where passage is prohibited due to time restrictions or seasonal restrictions. Time restrictions are, for example, a prohibition on passage during certain hours of the day due to a school route or an event. Seasonal restrictions are, for example, a prohibition on passage due to heavy rain or heavy snow.

[0036] If the importance of another predetermined section to be selected after a given section among the plurality of predetermined sections is lower than the importance of the given section, the search unit 103 may exclude the other predetermined section from candidates for searching for a reachable point of the mobile body and search for the reachable point. The importance of a predetermined section may be, for example, road type. Road type refers to a type of road that can be distinguished based on differences in road conditions such as legal speed limits, road gradients, road widths, and the presence or absence of traffic lights. Specifically, road types include general national highways, expressways, general roads, and narrow streets that run through urban areas. A narrow street is, for example, a road in an urban area that is specified by the Building Standards Act and has a width of less than four meters.

[0037] Furthermore, when the entrance and exit of a bridge or a tunnel are reachable points of the mobile body, the search unit 103 preferably searches for reachable points of the mobile body so that all areas constituting the bridge or the tunnel in the map information divided by the division unit 104 are included in the reachable range of the mobile body. Specifically, for example, when the entrance of a bridge or a tunnel is a reachable point of the mobile body, the search unit 103 searches for reachable points of the mobile body so that all areas constituting the bridge or the tunnel in the map information divided by the division unit 104 are included in the reachable range of the mobile body. The reachable points may be searched for such that multiple reachable points are searched for on a bridge or a tunnel from the entrance to the exit. The entrance of a bridge or a tunnel is the starting point of the bridge or the tunnel that is closer to the current location of the moving object.

[0038] Furthermore, when energy is replenished at a charging spot or the like, the search unit 103 searches for reachable points again using the amount of energy held after the replenishment.

[0039] The dividing unit 104 divides the map information into a plurality of regions. Specifically, the dividing unit 104 divides the map information into a plurality of rectangular regions based on the reachable point farthest from the current location of the moving object among the plurality of reachable points of the moving object searched by the searching unit 103, and converts the divided map information into mesh data of m×m dots, for example. The mesh data of m×m dots is treated as raster data (image data) to which identification information is assigned by the assigning unit 105, which will be described later. Note that the m in each of the m×m dots may be the same numerical value or may be different numerical values.

[0040] More specifically, the dividing unit 104 extracts the maximum longitude, minimum longitude, maximum latitude, and minimum latitude and calculates the distance from the current location of the mobile body.Then, the dividing unit 104 sets the size of one area obtained by dividing the farthest reachable point from the current location of the mobile body and the current location of the mobile body into n equal parts as the size of one area when the map information is divided into multiple areas, and divides the map information into mesh data of m x m dots.At this time, n = (m / 2) - 4 is set to leave, for example, 4 dots around the mesh data blank.

[0041] The assigning unit 105 assigns identification information identifying whether or not a mobile object is reachable to each of the multiple areas divided by the dividing unit 104, based on the multiple reachable points searched by the searching unit 103. Specifically, if one area divided by the dividing unit 104 includes a reachable point for the mobile object, the assigning unit 105 assigns to the one area identification information indicating that the area is reachable by the mobile object. Thereafter, if one area divided by the dividing unit 104 does not include a reachable point for the mobile object, the assigning unit 105 assigns to the one area identification information indicating that the area is unreachable by the mobile object.

[0042] More specifically, the assigning unit 105 assigns reachable identification information "1" or unreachable identification information "0" to each region of the mesh data divided into m x m, thereby converting the data into mesh data of two-dimensional matrix data with m rows and m columns. The dividing unit 104 and the assigning unit 105 divide the map information in this way and convert it into mesh data of two-dimensional matrix data with m rows and m columns, which is then treated as binarized raster data.

[0043] The assigning unit 105 includes a first changing unit and a second changing unit that change the identification information for the multiple regions divided by the dividing unit 104. Specifically, the assigning unit 105 treats the mesh data obtained by dividing the map information as binarized raster data by the first changing unit and the second changing unit, and performs a closing process (a process of performing a reduction process after an expansion process). The assigning unit 105 may also perform an opening process (a process of performing an expansion process after a reduction process) by the first changing unit and the second changing unit.

[0044] Specifically, when an area adjacent to a region to which identification information has been assigned has been assigned identification information indicating that the area is reachable, the first change unit changes the identification information of the area to identification information indicating that the area is reachable (expansion process).More specifically, when any of the other areas adjacent to the rectangular area in eight directions (bottom left, bottom, bottom right, right, top right, top, top left, and left) has been assigned identification information of "1" indicating that the area is reachable, the first change unit changes the identification information of the area to "1".

[0045] After the first change unit changes the identification information, if an unreachable identification information is assigned to another area adjacent to the area to which identification information has been assigned, the second change unit changes the identification information of the area to unreachable identification information (reduction process). More specifically, if "0", which is an unreachable identification information, is assigned to any of the other areas adjacent to the rectangular area in eight directions (bottom left, bottom, bottom right, right, top right, top, top left, and left), the second change unit changes the identification information of the area to "0". The expansion process by the first change unit and the reduction process by the second change unit are performed the same number of times.

[0046] In this way, the assigning unit 105 assigns reachable identification information that identifies that the mobile body is reachable to an area that includes a reachable point, which is a point that the mobile body can reach from its current location, among the multiple areas divided by the dividing unit 104, to set the area as the reachable range of the mobile body. Thereafter, the assigning unit 105 assigns reachable identification information to areas adjacent to the area to which the reachable identification information has been assigned, and changes the identification information of each area so that no missing points occur in the reachable range of the mobile body.

[0047] Furthermore, when identification information identifying that a bridge or tunnel is reachable is assigned to divided map information corresponding to the entrance and exit of the bridge or tunnel in the map information, the assigning unit 105 assigns identification information indicating that a bridge or tunnel is reachable to divided map information corresponding to all areas that make up the bridge or tunnel. Specifically, when identification information indicating that a bridge or tunnel is reachable is assigned to each of the areas corresponding to the entrance and exit of the bridge or tunnel, the assigning unit 105 assigns identification information indicating that a bridge or tunnel is reachable to all areas that the mobile object can move through, from the area corresponding to the entrance of the bridge or tunnel to the area corresponding to the exit.

[0048] More specifically, for example, in a case where, before the expansion process by the first changing unit, each of the regions corresponding to the entrance and exit of a bridge or a tunnel has been assigned the identification information "1" indicating reachability, and a missing point occurs on the bridge or the tunnel, the assigning unit 105 changes the identification information of all regions located on the section connecting the region corresponding to the entrance and the region corresponding to the exit of the bridge or the tunnel to "1." The section connecting the region corresponding to the entrance and the region corresponding to the exit of the bridge or the tunnel may be a section corresponding to a road including multiple curves, or may be a section corresponding to a single straight road.

[0049] The replenishment facility search unit 106 searches for replenishment facilities such as charging spots within a range (reachable range) that has been searched for by the search unit 103 and assigned identification information indicating that the replenishment facility is reachable within a region that the mobile body can move within by the assignment unit 105. If this search finds a replenishment facility within the reachable range, the search unit 106 requests the acquisition unit 101 to acquire information about the replenishment facility again. Based on this request, the acquisition unit 101 outputs information about the replenishment facility to the calculation unit 102, search unit 103, and division unit 104, and the calculation unit 102 to the assignment unit 105 newly determine the reachable range of the mobile body centered on the replenishment facility when the mobile body replenishes energy at the replenishment facility (strictly speaking, charging to the maximum charge capacity, as will be described later).

[0050] The acquisition unit 101 described above acquires information about replenishment facilities from outside via communication, etc. Alternatively, the image processing device 100 may be configured to store information about replenishment facilities in a storage unit as a database, in which case the replenishment facility search unit 106 directly searches for information about replenishment facilities from the storage unit, and outputs the information about the replenishment facilities to the calculation unit 102 and the means for calculating the reachable range by the search unit 103.

[0051] The newly found reachable range is combined with the reachable range already found on the image and output to the display control unit 107. This makes it possible to display a wider reachable range, assuming that the moving object has been refilled with energy at a refill facility. Areas (ranges) outside the possible range can also be displayed as unreachable ranges, making it possible to clearly inform the user of areas (ranges) that are actually unreachable even when charging.

[0052] The display control unit 107 causes the display unit 110 to display the reachable range of the moving body together with map information based on the identification information of the area to which the identification information has been assigned by the assignment unit 105. Specifically, the display control unit 107 converts mesh data, which is a plurality of image data to which the identification information has been assigned by the assignment unit 105, into vector data, and causes the display unit 110 to display the mesh data together with the map information stored in the storage unit.

[0053] (Outline of reachable and unreachable areas of a mobile vehicle) Next, an overview of the reachable range and unreachable range of a mobile object will be explained. FIG. 2 is a diagram illustrating the reachable range and unreachable range of a mobile object. As an example, suppose there is a peninsula 201 jutting out into the sea, and there is a charging spot 202 on this peninsula 201. The reachable range A that the mobile object can reach when charging at charging spot 202 is indicated by diagonal lines in the figure. This reachable range A does not reach the tip of peninsula 201, and there are no other charging spots 202 near the tip. Therefore, the mobile object can only reach the extent of reachable range A, and cannot reach unreachable range X, which includes the tip of the peninsula. In this way, even if the mobile object reaches charging spot 202 and charges at this charging spot 202, an area that it cannot reach (unreachable range X) may occur.

[0054] (Regarding changes to the reachable range of mobile units due to energy replenishment facility searches) Next, the process of changing the reachable range of a mobile body by searching for an energy replenishment facility will be described. FIG. 3 is a diagram illustrating the process of changing the reachable range of a mobile body by searching for a replenishment facility. As shown in FIG. 3(a), the reachable range A of the mobile body is A=A1, and has a contour a1 centered on the current location 301. Once the reachable range A1 of the mobile body has been obtained in this way, the replenishment facility search unit 106 requests the acquisition unit 101 to search for charging spots 202 within this reachable range A1.

[0055] Then, as shown in FIG. 3(b), it is assumed that three charging spots 202a to 202c are found within reachable range A1. After that, when the mobile object charges at each of the charging spots 202a to 202c, the calculation unit 102 to the assignment unit 105 calculate new reachable ranges for the mobile object centered on each of the charging spots 202a to 202c. As a result, as shown in FIG. 3(c), a new reachable range A2 centered on charging spot 202a, a new reachable range A3 centered on charging spot 202b, and a new reachable range A4 centered on charging spot 202c are calculated. As a result, the reachable range A of the mobile object is a range obtained by overlapping each reachable range, and is wide as A=A1+A2+A3+A4. Note that the outline a of reachable range A is the outline of the range A obtained by overlapping each reachable range A1 to A4, as shown by the bold line in FIG. 3(c).

[0056] The search for recharge facilities is not limited to one time, but the same process can be repeated each time a new charging spot 202 is found in the expanded range, thereby making the reachable range even wider. For example, if three new charging spots 202a to 202c are found in (c) above, a new search for recharge facilities is performed for the corresponding reachable ranges A2 to A4.

[0057] As a result, as shown in (d), it is assumed that a new charging spot 202d is searched for in the reachable range A2 in response to a request from the recharge facility search unit 106. After this, when the mobile body charges at each charging spot 202d, the calculation unit 102 to the assignment unit 105 calculate a new reachable range for the mobile body centered on the charging spot 202d. As a result, as shown in (e), As a result, a new reachable range A5 centered on the charging spot 202d is calculated. As a result, the reachable range A of the moving object becomes a range in which each reachable range is overlapped, that is, A=A1+A2+A3+A4+A5, which is even wider.

[0058] The above process can obtain a reachable range A that the mobile object can reach by repeatedly charging at charging spots, for example, by continuing the search until there are no more charging spots within the new reachable range. In addition, because the reachable range A can be clearly displayed, it becomes possible to display the range outside of this reachable range A as an unreachable range X.

[0059] Next, image processing by the image processing device 100 will be described. Fig. 4 is a flowchart showing an example of the procedure of image processing by the image processing device. First, the image processing device 100 acquires, by the acquisition unit 101, information on the current location of the moving object and information on the initial amount of energy that is the amount of energy that the moving object has at the current location of the moving object (steps S401, S402). At this time, the image processing device 100 may also acquire moving object information.

[0060] Then, the image processing device 100 calculates, by the calculation unit 102, an estimated energy consumption, which is the energy consumed when the mobile object travels through a predetermined section (step S403). At this time, the image processing device 100 calculates the estimated energy consumption for each of a plurality of predetermined sections connecting predetermined points on the route of the mobile object.

[0061] Next, the image processing device 100 causes the search unit 103 to search for multiple reachable points of the moving object based on the map information stored in the memory unit and the initial energy amount and estimated energy consumption obtained in steps S402 and S403 (step S404).

[0062] Next, the image processing device 100 divides the map information made up of vector data into a plurality of regions using the dividing unit 104, converts it into mesh data made up of raster data, and assigns reachable identification information to each of the divided regions based on the plurality of reachable points searched for in step S404 using the assigning unit 105 (step S405). Thereafter, the image processing device 100 calculates a reachable range A of the moving object using the display control unit 107 based on the identification information of the plurality of regions to which the identification information has been assigned (step S406).

[0063] After that, the image processing device 100 requests the replenishment equipment search unit 106 to search for a charging spot 202 within the reachable range A (step S407). The acquisition unit 101 searches for a charging spot 202 within the reachable range A. If a charging spot 202 is found within the reachable range A (step S407: Yes), it is assumed that charging was performed at this charging spot 202 (and the current location of the mobile object is the charging spot 202) (step S408), and the processing from the calculation of the estimated energy consumption in step S403 onwards is executed again. If a charging spot 202 is not found within the reachable range A (step S407: No), the display control unit 107 displays the reachable range A obtained so far on the display unit 110 (step S409), and the above processing ends.

[0064] As explained above, the image processing device 100 according to the first embodiment calculates the amount of energy to be consumed based on the current position of the mobile body and the amount of energy it possesses, and determines and displays the reachable range of the mobile body. Then, it searches for a replenishment facility (charging spot) within this reachable range where energy can be replenished, and if there is a replenishment facility, it assumes that energy has been replenished at this replenishment facility and re-determines the reachable range with the replenishment facility as a new base point. As a result, if there is a replenishment facility within the reachable range, the reachable range of the mobile body becomes wider, and this reachable range It is also possible to clearly notify the user of unreachable ranges outside the reachable range. [Example]

[0065] A first embodiment of the present invention will be described below. In this embodiment, an example of the case where the present invention is applied will be described, with a navigation device 500 mounted on a vehicle serving as an image processing device 100.

[0066] (Hardware configuration of the navigation device 500) Next, the hardware configuration of the navigation device 500 will be described. Fig. 5 is a block diagram showing an example of the hardware configuration of the navigation device. In Fig. 5, the navigation device 500 includes a CPU 501, a ROM 502, a RAM 503, a magnetic disk drive 504, a magnetic disk 505, an optical disk drive 506, an optical disk 507, an audio I / F (interface) 508, a microphone 509, a speaker 510, an 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. The components 501 to 517 are connected to each other via a bus 520.

[0067] The CPU 501 is responsible for 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 assignment 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 is responsible for overall control of the navigation device 500 by executing the various programs stored in the ROM 502 while using the RAM 503 as a work area.

[0068] The estimated energy consumption calculation program calculates the estimated energy consumption of a link connecting one node to an adjacent node based on an energy consumption estimation formula that calculates the estimated energy consumption of a vehicle. The reachable point search program searches for multiple points (nodes) that can be reached with the remaining energy at the vehicle's current point based on the estimated energy consumption calculated in the estimation program. The identification information assignment program assigns identification information that identifies that the vehicle can reach multiple areas divided into map information based on the multiple reachable points searched for in the search program. The map data display program displays the vehicle's reachable range on display 513 based on the multiple areas to which identification information has been assigned by the identification information assignment program.

[0069] The magnetic disk drive 504 controls reading / writing of data from / to the magnetic disk 505 under the control of the CPU 501. The magnetic disk 505 records the data written under the control of the magnetic disk drive 504. The magnetic disk 505 may be, for example, a hard disk (HD) or a flexible disk (FD).

[0070] Furthermore, the optical disc drive 506 controls reading / writing of data from / to the optical disc 507 under the control of the CPU 501. The optical disc 507 is a removable recording medium from which data is read under the control of the optical disc drive 506. A writable recording medium can also be used for the optical disc 507. In addition to the optical disc 507, an MO, a memory card, etc. can also be used as the removable recording medium.

[0071] Examples of information recorded on the magnetic disk 505 and the optical disk 507 include map data, vehicle information, road information, and driving history. Map data is used in a car navigation system to search for reachable points for a vehicle or to display a reachable range for a vehicle. The vector data is used when displaying the road map, and includes background data that represents features such as buildings, rivers, and the ground surface, and road shape data that represents road shapes using links, nodes, etc. Information about charging spots 202, which are energy replenishment facilities, can also be recorded on the magnetic disk 505 and optical disk 507 and read out for use.

[0072] The audio I / F 508 is connected to a microphone 509 for audio input and a speaker 510 for audio output. The audio received by the microphone 509 is A / D converted within the audio I / F 508. The microphone 509 is installed, for example, on the dashboard of the vehicle, and the number of microphones may be one or more. The speaker 510 outputs audio obtained by D / A converting a predetermined audio signal within the audio I / F 508.

[0073] Examples of the input device 511 include a remote control, a keyboard, a touch panel, etc., which are provided with multiple keys for inputting characters, numbers, various instructions, etc. The input device 511 may be realized in any one form of the remote control, keyboard, or touch panel, but may also be realized in multiple forms.

[0074] The video I / F 512 is connected to the display 513. Specifically, the video I / F 512 is configured by, for example, a graphics 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 control IC that controls the display 513 based on image data output from the graphics controller.

[0075] Various types of data such as icons, cursors, menus, windows, characters, images, etc. are displayed on the display 513. As the display 513, for example, a TFT liquid crystal display, an organic EL display, etc. can be used.

[0076] The camera 514 captures video of the inside or outside of the vehicle. The video may be either a still image or a video. For example, the camera 514 captures the outside of the vehicle, and the captured image is analyzed by the CPU 501 or output to a recording medium such as a magnetic disk 505 or an optical disk 507 via the video I / F 512.

[0077] The communication I / F 515 is connected to a network via wireless communication 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, mobile phone networks, DSRC (Dedicated Short Range Communication), LAN, WAN, etc. The communication I / F 515 is, for example, a public line connection module, an ETC (nonstop automatic toll payment system) unit, an FM tuner, a VICS (Vehicle Information and Communication System) (registered trademark) / beacon receiver, etc.

[0078] 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, together with output values ​​from various sensors 517 (described later), is used when the CPU 501 calculates the current position of the vehicle. The information indicating the current position is, for example, information that identifies a point on map data, such as latitude, longitude, and altitude.

[0079] The various sensors 517 output information for determining the position and behavior of the vehicle, such as a vehicle speed sensor, an acceleration sensor, an angular velocity sensor, and an inclination sensor. It is used by U501 to calculate the current position of the vehicle and the amount of change in speed and direction.

[0080] The acquisition unit 101, calculation unit 102, search unit 103, division unit 104, assignment unit 105, replenishment equipment search unit 106, and display control unit 107 of the image processing device 100 shown in Figure 1 realize their functions by having the CPU 501 execute a predetermined program using programs and data recorded in the ROM 502, RAM 503, magnetic disk 505, optical disk 507, etc. in the navigation device 500 described above, and control each unit in the navigation device 500.

[0081] (Outline of Estimated Energy Consumption Calculation by Navigation Device 500) The navigation device 500 of this embodiment calculates an estimated energy consumption of a vehicle in which the device is installed. Specifically, the navigation device 500 calculates an estimated energy consumption of the vehicle in a predetermined section using one or more energy consumption estimation equations including first information, second information, and third information based on, for example, the speed, acceleration, and gradient of the vehicle. The predetermined section is a link connecting a node (e.g., an intersection) on a road to another node adjacent to the node.

[0082] More specifically, the navigation device 500 calculates the travel time required for the vehicle to complete the link based on the congestion information provided by the probe, the congestion prediction data acquired via the server, the link length and road type stored in the storage device, etc. Then, the navigation device 500 calculates the estimated energy consumption per unit time using one of the following energy consumption estimation formulas (1) to (4), and calculates the estimated energy consumption when the vehicle completes the link within the travel time.

[0083]

number

[0084]

number

[0085] The energy consumption estimation formula shown in equation (1) above is a theoretical formula for estimating energy consumption per unit time during acceleration and driving. Here, ε is net thermal efficiency, and η is gross transmission efficiency. If the sum of the acceleration α of the moving body and the acceleration g of gravity resulting from the road gradient θ is taken as the resultant acceleration |α|, the energy consumption estimation formula when the resultant acceleration |α| is negative is expressed by equation (2) above. In other words, the energy consumption estimation formula shown in equation (2) above is a theoretical formula for estimating energy consumption per unit time during deceleration. In this way, the energy consumption estimation formula per unit time during acceleration / deceleration and driving is expressed as the product of the running resistance, the driving distance, the net motor efficiency, and the transmission efficiency.

[0086] In the above equations (1) and (2), the first term on the right side is the energy consumption (first information) consumed by the equipment attached to the moving body. The second term on the right side is the energy consumption due to the gradient component (fourth information) and the energy consumption due to the rolling resistance component (third information). The third term on the right side is the energy consumption due to the air resistance component (third information). Furthermore, the fourth term on the right side of equation (1) is the energy consumption due to the acceleration component (second information). The fourth term on the right side of equation (2) is the energy consumption due to the deceleration component (second information).

[0087] In the above equations (1) and (2), the motor efficiency and drive efficiency are assumed to be constant. However, in reality, motor efficiency and drive efficiency fluctuate due to the influence of motor rotation speed and torque. Therefore, the following equations (3) and (4) show empirical formulas for estimating energy consumption per unit time.

[0088] The empirical formula for calculating estimated energy consumption when the resultant acceleration |α + g sinθ| is positive, i.e., the empirical formula for calculating estimated energy consumption per unit time during acceleration and driving, is expressed by the following equation (3). Also, the empirical formula for calculating estimated energy consumption when the resultant acceleration |α + g sinθ| is negative, i.e., the empirical formula for calculating estimated energy consumption per unit time during deceleration, is expressed by the following equation (4).

[0089]

number

[0090]

number

[0091] In the above equations (3) and (4), coefficients a1 and a2 are constants that are set according to the vehicle conditions, etc. Coefficient k1 is a variable based on the energy consumption when driving, including acceleration and deceleration, and when stopped. Coefficients k2 and k3 are variables based on the energy consumption when driving, including acceleration and deceleration. In addition, the speed V and acceleration A are used, and the other variables are the same as in equations (1) and (2) above. The first term on the right-hand side corresponds to the first term on the right-hand side of equations (1) and (2) above. Coefficient k1 corresponds to the fuel efficiency coefficient k1 mentioned above.

[0092] Furthermore, in the above equations (3) and (4), the second term on the right-hand side corresponds to the energy of the gradient resistance component in the second term on the right-hand side of equations (1) and (2) and the energy of the acceleration resistance component in the fourth term on the right-hand side. The third term on the right-hand side corresponds to the energy of the rolling resistance component in the second term on the right-hand side of equations (1) and (2) and the energy of the air resistance component in the third term on the right-hand side. β in the second term on the right-hand side of equation (4) is the amount of potential energy and kinetic energy recovered (hereinafter referred to as the "recovery rate").

[0093] Furthermore, 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.The navigation device 500 may then use the average speed and average acceleration of the vehicle on the link to calculate the estimated energy consumption when the vehicle completes traveling the link within the travel time, based on the following equation (5) or (6) for estimating energy consumption.

[0094]

number

[0095]

number

[0096] The energy consumption estimation formula shown in the above formula (5) is a theoretical formula for calculating the estimated energy consumption amount on a link when the altitude difference Δh of the link on which the vehicle travels is positive. When the altitude difference Δh is positive, the vehicle is traveling uphill. The energy consumption estimation formula shown in the above formula (6) is a theoretical formula for calculating the estimated energy consumption amount on a link when the altitude difference Δh of the link on which the vehicle travels is negative. When the altitude difference Δh is negative, the vehicle is traveling downhill. When there is no altitude difference, the energy consumption estimation formula shown in the above formula (5) It is preferable to use:

[0097] In the above equations (5) and (6), the first term on the right-hand side is the amount of energy consumed by equipment attached to the moving body (first information). The second term on the right-hand side is the amount of energy consumed due to acceleration resistance (second information). The third term on the right-hand side is the amount of energy consumed as potential energy (fourth information). The fourth term on the right-hand side is the amount of energy consumed due to air resistance and rolling resistance (running resistance) per unit area (third information).

[0098] When the road gradient is not clear, the navigation device 500 may calculate the estimated energy consumption of the vehicle by setting the road gradient θ=0 in the energy consumption estimation formulas shown in the above formulas (1) to (6).

[0099] Next, the recovery rate β used in the above equations (1) to (6) will be explained. In the above equation (5), the second term on the right side is the energy consumption P of the acceleration component in the link. acc Then, the acceleration Energy consumption of the component P acc is calculated from the total energy consumption in the link (left side). This is the subtraction of the energy consumption during idling (first term on the right-hand side) and the energy consumption due to running resistance (fourth term on the right-hand side), and is expressed by the following equation (7).

[0100]

number

[0101] In the above equation (7), it is assumed that the vehicle is not affected by the road gradient θ (θ = 0). In other words, the third term on the right side of the above equation (5) is set to zero. Then, by substituting the above equation (7) into the above equation (5), the calculation formula for the recovery rate β shown in the following equation (8) can be obtained.

[0102]

number

[0103] The recovery rate β is approximately 0.7 to 0.9 for EVs, 0.6 to 0.8 for HVs, and 0.2 to 0.3 for gasoline vehicles. The recovery rate for gasoline vehicles is the ratio of the energy required for acceleration to the energy recovered during deceleration.

[0104] (Outline of Reachable Point Search in Navigation Device 500) The navigation device 500 of this embodiment searches for a plurality of nodes that are reachable from the current location of the vehicle in which the device is installed, as reachable points of the vehicle. Specifically, the navigation device 500 calculates the estimated energy consumption in the link using one or more of the energy consumption estimation equations shown in the above equations (1) to (6). Then, the navigation device 500 searches for nodes that are reachable by the vehicle so that the cumulative total of the estimated energy consumption in the link is minimized, and sets these as reachable points. An example of a reachable point search by the navigation device 500 will be described.

[0105] 6-1 to 6-4 are explanatory diagrams that schematically show an example of a reachable point search by the navigation device 500. In Fig. 6-1 to 6-4, nodes (e.g., intersections) in the map data are indicated by circles, and links (predetermined sections on roads) that connect adjacent nodes are indicated by line segments (nodes and links are similarly shown in Fig. 7).

[0106] As shown in FIG. 6-1, the navigation device 500 first searches for a link L1_1 that is closest to the current vehicle position 301. Then, the navigation device 500 searches for a node N1_1 that is connected to the link L1_1, and adds it to node candidates (hereinafter simply referred to as "node candidates") for searching for reachable points.

[0107] Next, the navigation device 500 uses the energy consumption estimation equation to calculate the estimated energy consumption in the link L1_1 connecting the current location 301 of the vehicle and the node N1_1 that is the node candidate. Then, the navigation device 500 writes the estimated energy consumption 3wh in the link L1_1 to a storage device (magnetic disk 505 or optical disk 507), for example, in association with the node N1_1.

[0108] Next, as shown in Fig. 6-2, the navigation device 500 searches for all links L2_1, L2_2, and L2_3 connected to the node N1_1 and determines them as link candidates (hereinafter simply referred to as "link candidates") for searching for reachable points. Next, the navigation device 500 calculates the estimated energy consumption in the link L2_1 using the energy consumption estimation formula.

[0109] Then, the navigation device 500 writes out to the storage device a cumulative energy amount of 7wh, which is the sum of the estimated energy consumption of 4wh in link L2_1 and the estimated energy consumption of 3wh in link L1_1, in association with node N2_1 connected to link L2_1 (hereinafter referred to as "setting the cumulative energy amount to the node").

[0110] Furthermore, the navigation device 500 calculates the estimated energy consumptions in the links L2_2 and L2_3 using the energy consumption estimation equation, similarly to the case of the link L2_1. Then, the navigation device 500 sets a cumulative energy amount 8wh obtained by accumulating the estimated energy consumption 5wh in the link L2_2 and the estimated energy consumption 3wh in the link L1_1 to the node N2_2 connected to the link L2_2.

[0111] Furthermore, the navigation device 500 sets a cumulative energy amount 6wh obtained by accumulating the estimated energy consumption 3wh in the link L2_3 and the estimated energy consumption 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 has been set is not a node candidate, the navigation device 500 adds the node to the node candidates.

[0112] Next, as shown in Fig. 6-3, the navigation device 500 searches for all links L3_1, L3_2_1 connected to the node N2_1, all links L3_2_2, L3_3, L3_4 connected to the node N2_2, and link L3_5 connected to the node N2_3, and determines them as link candidates. Next, the navigation device 500 calculates estimated energy consumptions for the links L3_1 to L3_5 using an energy consumption estimation formula.

[0113] Then, the navigation device 500 accumulates the estimated energy consumption 4wh in the link L3_1 to the accumulated energy amount 7wh set for the node N2_1, and sets the accumulated energy amount 11wh for the node N3_1 connected to the link L3_1. Further, the navigation device 500 also accumulates the estimated energy consumption 4wh in the link L3_1 to the accumulated energy amount 7wh set for the node N2_1 connected to the link L3_1. The cumulative energy amounts of 13wh, 12wh, and 10wh are set for the nodes N3_3 to N3_5 connected to the links L3_3 to L3_5, respectively.

[0114] Specifically, the navigation device 500 adds the estimated energy consumption 5wh in the link L3_3 to the cumulative energy amount 8wh set for the node N2_2, and sets the cumulative energy amount 13wh for the node N3_3. The navigation device 500 adds the estimated energy consumption 4wh in the link L_3_4 to the cumulative energy amount 8wh set for the node N2_2, and sets the cumulative energy amount 12wh for the node N3_4. The navigation device 500 adds the estimated energy consumption 4wh in the link L3_5 to the cumulative energy amount 6wh set for the node N2_3, and sets the cumulative energy amount 10wh for the node N3_5.

[0115] On the other hand, when multiple links L3_2_1, L3_2_2 are connected to one node such as node N3_2, the navigation device 500 sets the smallest cumulative energy amount 10wh to the one node N3_2 among the cumulative energy amounts on multiple routes from the vehicle's current position 301 to the one node N3_2.

[0116] Specifically, the navigation device 500 accumulates the estimated energy consumption of 4wh in link L3_2_1 into the accumulated energy amount of 7wh set for node 2_1 (=accumulated energy amount of 11wh), and accumulates the estimated energy consumption of 2wh in link L3_2_2 into the accumulated energy amount of 8wh set for node 2_2 (=accumulated energy amount of 10wh).The navigation device 500 then compares the accumulated energy amount of 11wh of the route from the current vehicle position 301 to link L3_2_1 with the accumulated energy amount of 10wh of the route from the current vehicle position 301 to link L3_2_2, and sets the accumulated energy amount of 10wh of the route on the link L3_2_2 side, which is the smallest accumulated energy amount, to node N3_2.

[0117] When there are multiple nodes at the same level from the current vehicle location 301, such as the above-mentioned nodes N2_1 to N2_3, the navigation device 500 calculates the estimated energy consumption and the cumulative energy amount, for example, from the links connected to the nodes at the same level in order starting from the node with the smallest cumulative energy amount. Specifically, the navigation device 500 calculates the estimated energy consumption for the links connected to each node in the order of node N2_3, node N2_1, and node N2_2, and accumulates these into the cumulative energy amount for each node. In this way, by specifying the order of the nodes for which the estimated energy consumption and the cumulative energy amount are calculated, it is possible to efficiently calculate the range that can be reached with the remaining energy amount.

[0118] Thereafter, the navigation device 500 continues to accumulate the accumulated energy amounts as described above from the nodes N3_1 to N3_5 to nodes in deeper layers. Then, the navigation device 500 extracts all nodes for which the accumulated energy amount is set to a predetermined designated energy amount or less as reachable points of the vehicle, and writes the longitude and latitude information of the nodes extracted as reachable points to the storage device in association with each node.

[0119] Specifically, for example, if the designated energy amount is 10 wh, the navigation device 500 extracts nodes N1_1, N2_1, N2_2, N2_3, N3_2, and N3_5, which are set with a cumulative energy amount of 10 wh or less, as reachable points of the vehicle, as shown by the hatched circles in Fig. 6-4. The predetermined designated energy amount is, for example, the remaining energy amount (initial energy amount) at the current point 301 of the vehicle.

[0120] The map data 640 shown in FIG. 6-4, which includes the current vehicle position 301 and a plurality of nodes and links, is an example for explaining the search for reachable points. 0 actually searches for more nodes and links in a wider range than the map data 640 shown in FIG. 6-4, as shown in FIG.

[0121] FIG. 7 is an explanatory diagram showing an example of a search for reachable points by the navigation device 500. When the cumulative energy amount is continuously calculated for all roads (excluding narrow streets) as described above, it is possible to search in detail for the cumulative energy amount at all nodes of each road without omission, as shown in FIG. 7. However, this would mean calculating and accumulating the estimated energy consumption for approximately 2 million links across Japan, which would result in an enormous amount of information processing by the navigation device 500. For this reason, the navigation device 500 may narrow down the roads for which a search for reachable points for a mobile object is to be performed, for example, based on the importance of the links.

[0122] Specifically, the navigation device 500 calculates the cumulative energy amount for all roads (excluding narrow streets) around the vehicle's current location 301, and calculates the cumulative energy amount only for roads of high importance within a range of a certain distance or more. This reduces the number of nodes and links searched by the navigation device 500, and reduces the amount of information processing by the navigation device 500. Therefore, the processing speed of the navigation device 500 can be improved.

[0123] (Outline of map data division in navigation device 500) The navigation device 500 of this embodiment divides the map data stored in the storage device based on the reachable points searched for as described above. Specifically, the navigation device 500 converts the map data made up of vector data into, for example, 64 x 64 dot mesh data (X, Y) and converts the map data into raster data (image data).

[0124] Fig. 8 is an explanatory diagram showing an example of reachable points using longitude-latitude coordinates by the navigation device 500. Fig. 9 is an explanatory diagram showing an example of reachable points using the navigation device 500 as mesh data. Fig. 8 shows the longitude-latitude information (x, y) of the searched reachable points in absolute coordinates. Fig. 9 shows 64 x 64 dot mesh data (X, Y) to which identification information is assigned based on the reachable points in screen coordinates.

[0125] As shown in Fig. 8, the navigation device 500 first generates longitude / latitude information (x, y) having a point cloud 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 bottom left of Fig. 8. The navigation device 500 then calculates distances w1 and w2 from the longitude of ofx of the vehicle's current point 301 to the maximum longitude x_max and minimum longitude x_min of the reachable point that is the furthest in the longitude x direction. The navigation device 500 also calculates distances w3 and w4 from the latitude of ofy of the vehicle's current point 301 to the maximum latitude y_max and minimum latitude y_min of the reachable point that is the furthest in the latitude y direction.

[0126] Next, the navigation device 500 converts the map data including multiple reachable points into mesh data (X, Y) of, for example, m x m dots (for example, 64 x 64 dots) so that the length of one side of one rectangular element of the mesh data (X, Y) is 1 / n of the distance w2 (hereinafter, w5 = max(w1, w2, w3, w4)) from the vehicle's current point 301 to the minimum longitude x_min, which is the longest of the distances w1 to w4 from the vehicle's current point 301.

[0127] Specifically, the navigation device 500 converts the longitude and latitude information (x, y) into mesh data (X, Y) by using a magnification factor mag=w5 / n, which is the ratio of the size of one mesh to the longitude and latitude, so that the longitude and latitude information (x, y) and the mesh data (X, Y) satisfy the following equations (9) and (10).

[0128] X=(x-ofx) / mag (9)

[0129] Y = (y - ofy) / mag (10)

[0130] By converting the longitude and latitude information (x, y) into mesh data (X, Y), as shown in Fig. 9, the vehicle's current location 301 becomes the center of rectangular image data composed of m x m dot mesh data (X, Y), and the mesh data (X, Y) of the vehicle's current location 301 is equal in both the X-axis direction and the Y-axis direction, so that X = Y = m / 2 = n + 4. Furthermore, to leave, for example, four dots around the mesh data (X, Y) blank, n = (m / 2) - 4. When converting the longitude and latitude information (x, y) into mesh data (X, Y), the navigation device 500 assigns identification information to each region of the mesh data (X, Y) and converts it into mesh data of two-dimensional matrix data (Y, X) with m rows and m columns.

[0131] Specifically, when a region of the mesh data (X, Y) includes a point reachable by the vehicle, the navigation device 500 assigns, for example, "1" as reachable identification information that identifies that the region is reachable by the vehicle (in FIG. 9, one dot is drawn in black, for example). On the other hand, when a region of the mesh data (X, Y) does not include a point reachable by the vehicle, the navigation device 500 assigns, for example, "0" as unreachable identification information that identifies that the region is unreachable by the vehicle (in FIG. 9, one dot is drawn in white, for example).

[0132] In this way, the navigation device 500 converts the map data into mesh data of two-dimensional matrix data (Y,X) with m rows and m columns, in which identification information is assigned to each divided area, and treats the map data as binarized raster data. Each area of ​​the mesh data is represented by a rectangular area of ​​a certain range. Specifically, as shown in FIG. 9, for example, mesh data (X,Y) of m x m dots is generated in which a point cloud 700 of multiple reachable points is drawn in black. The origin (0,0) of the mesh data (X,Y) is at the top left.

[0133] (Outline of Assigning Identification Information in Navigation Device 500 - Part 1) The navigation device 500 of this embodiment changes the identification information assigned to each area of ​​the m×m dot mesh data (X, Y) divided as described above. Specifically, the navigation device 500 performs a closing process (a process of performing a reduction process after an expansion process) on the mesh data of two-dimensional matrix data (Y, X) with m rows and m columns.

[0134] 10 is an explanatory diagram showing an example of closing processing by a navigation device. (A) to (C) are mesh data of two-dimensional matrix data (Y, X) with m rows and m columns, in which identification information is assigned to each region. (A) shows mesh data 1000 to which identification information is assigned for the first time after the map data division processing. In other words, the mesh data 1000 shown in (A) is the same as the mesh data shown in FIG. 9.

[0135] Also, (B) shows mesh data 1010 after a closing process (expansion) has been performed on the mesh data 1000 shown in (A). (C) shows mesh data 1020 after a closing process (reduction) has been performed on the mesh data 1010 shown in (B). In the mesh data 1000, 1010, and 1020 shown in (A) to (C), vehicle reachable ranges 1001, 1011, and 1021 generated by multiple areas assigned reachable identification information are shown filled in black.

[0136] As shown in (A), in the mesh data 1000 after the identification information is added, there are missing points 1002 (hatched) which are unreachable areas included in the reachable range 1001 of the vehicle. A missing point 1002 occurs when, for example, the number of nodes that are reachable points is reduced when the number of roads for which nodes and links are searched is narrowed down in order to reduce the load on the navigation device 500 in searching for reachable points.

[0137] Next, as shown in (B), the navigation device 500 performs a closing expansion process on the mesh data 1000 after the identification information has been assigned. In the closing expansion process, the identification information of one area of ​​the mesh data 1000 after the identification information has been assigned that is adjacent to an area to which reachable identification information has been assigned is changed to reachable identification information. As a result, a missing portion 1002 that was present in the vehicle's reachable range 1001 before the expansion process (after the identification information has been assigned) disappears.

[0138] Furthermore, the identification information of all areas adjacent to the outermost area of ​​the vehicle's reachable range 1001 before the expansion process is changed to reachable identification information. Therefore, each time the expansion process is performed, the periphery of the vehicle's reachable range 1011 after the expansion process expands by one dot so as to surround the periphery of each of the outermost areas of the vehicle's reachable range 1001 before the expansion process.

[0139] Then, as shown in (C), the navigation device 500 performs a closing reduction process on the mesh data 1010. In the closing reduction process, the identification information of one area of ​​the mesh data 1010 after the expansion process, which is adjacent to an area to which an unreachable identification information has been assigned, is changed to an unreachable identification information.

[0140] As a result, each region on the outermost periphery of the vehicle's reachable range 1011 after the expansion process becomes an unreachable region by one dot each time the reduction process is performed, and the periphery of the vehicle's reachable range 1011 after the expansion process shrinks. As a result, the periphery of the vehicle's reachable range 1021 after the reduction process becomes approximately the same as the periphery of the vehicle's reachable range 1001 before the expansion process.

[0141] The navigation device 500 performs the above-described expansion process and reduction process the same number of times. Specifically, if the expansion process is performed twice, the subsequent reduction process is also performed twice. By performing the expansion process and the reduction process the same number of times, the identification information of almost all areas on the periphery of the vehicle's reachable range, which was changed to reachable identification information by the expansion process, can be changed to the original unreachable identification information by the reduction process. In this way, the navigation device 500 can remove missing points 1002 within the vehicle's reachable range and generate the vehicle's reachable range 1021, which can clearly display the periphery.

[0142] (Outline of Assigning Identification Information in Navigation Device 500 - Part 2) The navigation device 500 may perform opening processing (a process of performing expansion processing after reduction processing) on ​​mesh data of two-dimensional matrix data (Y, X) to generate a vehicle reachable range that can clearly display the periphery. Specifically, the navigation device 500 performs the opening processing as follows.

[0143] Fig. 11 is an explanatory diagram showing an example of opening processing by a navigation device. Fig. 11(A) to Fig. 11(C) show mesh data of two-dimensional matrix data (Y, X) with m rows and m columns, in which identification information is assigned to each region. (A) shows mesh data 1100 after identification information has been assigned. (B) shows mesh data 1110 after opening processing (reduction) for (A). (C) shows mesh data 1120 after opening processing (expansion) for (B). In the mesh data 1100, 1110, and 1120 shown in (A) to (C), vehicle reachable ranges 1101, 1111, and 1121 generated by multiple regions assigned reachable identification information are shown filled in black.

[0144] As shown in (A), if there are many isolated points 1102 on the periphery of a vehicle's reachable range 1101 in mesh data 1100 after identification information has been assigned, the isolated points 1102 can be removed by performing opening processing on the mesh data 1100 after identification information has been assigned. Specifically, as shown in (B), the navigation device 500 performs opening reduction processing on the mesh data 1100 after identification information has been assigned.

[0145] In the opening reduction process, the identification information of an area adjacent to an area to which an unreachable identification information has been assigned in the mesh data 1100 after the identification information has been assigned is changed to unreachable identification information. This removes an isolated point 1102 that was present within the vehicle's reachable range 1101 before the reduction process (after the identification information has been assigned).

[0146] As a result, each region on the outermost periphery of the reachable range 1101 of the vehicle after the identification information has been assigned becomes an unreachable region by one dot each time the reduction process is performed, and the periphery of the reachable range 1101 of the vehicle after the identification information has been assigned shrinks. Also, isolated points 1102 that have appeared in the reachable range 1101 of the vehicle after the identification information has been assigned are removed.

[0147] Then, as shown in (C), the navigation device 500 performs an opening expansion process on the mesh data 1110. In the opening expansion process, the identification information of one area in the mesh data 1110 after the reduction process that is adjacent to an area that has been assigned identification information indicating unreachable is changed to identification information indicating reachable. Therefore, with each expansion process, the periphery of the vehicle's reachable range 1121 after the expansion process expands by one dot so as to surround the periphery of each of the outermost areas of the vehicle's reachable range 1111 after the reduction process.

[0148] The navigation device 500 performs the expansion process and the reduction process the same number of times in the opening process as in the closing process. By performing the expansion process and the reduction process the same number of times in this way, it is possible to widen the periphery of the vehicle's reachable range 1111 that was reduced by the reduction process, and to return the periphery of the vehicle's reachable range 1121 after the reduction process to the periphery of the vehicle's reachable range 1101 before the reduction process. In this way, the navigation device 500 can generate the vehicle's reachable range 1121 without generating isolated points 1102 and with the periphery clearly displayed.

[0149] (Outline of Reachable Range Contour Extraction in Navigation Device 500 - Part 1) The navigation device 500 of this embodiment extracts the contour of the vehicle's reachable range based on identification information assigned to mesh data of two-dimensional matrix data (Y, X) with m rows and m columns. Specifically, the navigation device 500 extracts the contour of the vehicle's reachable range using, for example, Freeman's chain code. More specifically, the navigation device 500 extracts the contour of the vehicle's reachable range as follows.

[0150] FIG. 12 is an explanatory diagram that schematically shows an example of a vehicle's reachable range extracted by a navigation device. FIG. 13 is an explanatory diagram that schematically shows an example of mesh data after the vehicle's reachable range is extracted by the navigation device. FIG. 12(A) shows numbers (hereinafter referred to as "directional indexes (chain codes)") that indicate the adjacent directions of areas 1210-1217 adjacent to area 1200, and eight-directional arrows corresponding to the directional indexes. FIG. 12(B) shows an example of mesh data 1220, which is two-dimensional matrix data (Y, X) with h rows and h columns. FIG. 12(B) also shows, by hatching, areas 1221-1234 that have been assigned identification information indicating reachability, and areas surrounded by the areas 1221-1234 that also have been assigned identification information indicating reachability.

[0151] The direction index indicates the direction of a line segment of unit length. In this case, the coordinates corresponding to the directional index are (X+dx, Y+dy). Specifically, as shown in FIG. 12(A), the directional index of the direction from area 1200 to area 1210 adjacent to it on the lower left is "0". The directional index of the direction from area 1200 to area 1211 adjacent to it on the lower right is "1". The directional index of the direction from area 1200 to area 1212 adjacent to it on the lower right is "2".

[0152] The directional index of the direction from area 1200 to area 1213, which is adjacent to the right, is "3." The directional index of the direction from area 1200 to area 1214, which is adjacent to the upper right, is "4." The directional index of the direction from area 1200 to area 1215, which is adjacent to the upper left, is "5." The directional index of the direction from area 1200 to area 1216, which is adjacent to the upper left, is "6." The directional index of the direction from area 1200 to area 1217, which is adjacent to the left, is "7."

[0153] The navigation device 500 searches counterclockwise for areas adjacent to the area 1200 that have been assigned the identification information "1" indicating that they are reachable. The navigation device 500 also determines the search start point for areas adjacent to the area 1200 that have been assigned the identification information indicating that they are reachable, based on the previous directional index. Specifically, if the directional index from another area toward the area 1200 is "0", the navigation device 500 starts the search from the area adjacent to the left of the area 1200, that is, the area 1217 adjacent in the direction of the directional index "7".

[0154] Similarly, when the directional index from another area toward area 1200 is "1" to "7," navigation device 500 starts the search from the areas adjacent to the lower left, lower, lower right, right, upper right, upper, and upper left of area 1200, i.e., areas 1210 to 1216 adjacent in the directions of directional indexes "0," "1," "2," "3," "4," "5," and "6," respectively. Then, when navigation device 500 detects reachable identification information "1" from any one of areas 1210 to 1217 from area 1200, navigation device 500 writes the directional index "0" to "7" corresponding to area 1210 to 1217 from which reachable identification information "1" was detected to a storage device in association with area 1200.

[0155] Specifically, the navigation device 500 extracts the contour of the vehicle's reachable range as follows: As shown in Fig. 12(B), the navigation device 500 first searches for areas to which reachable identification information has been assigned, row by row, from the area of ​​a row and a column in the mesh data 1220 of the two-dimensional matrix data (Y, X) of h rows and h columns.

[0156] Since all areas in row a of the mesh data 1220 have been assigned identification information indicating unreachable, the navigation device 500 then searches for identification information indicating reachable from the area in row b, column a of the mesh data 1220 toward the area in row b, column h of the mesh data 1220. After detecting identification information indicating reachable in the area 1221 in row b, column e of the mesh data 1220, the navigation device 500 searches counterclockwise from the area 1221 in row b, column e of the mesh data 1220 for areas having identification information indicating reachable that form the outline of the vehicle's reachable range.

[0157] Specifically, since the navigation device 500 has already searched for the area at row b and column d adjacent to the left of area 1221, the navigation device 500 first searches counterclockwise from area 1222 adjacent to the lower left of area 1221 to see if there is an area with reachable identification information. The navigation device 500 then detects the reachable identification information of area 1222, and associates a direction index of "0" for the direction from area 1221 to area 1222 with area 1221 and stores it in the storage device.

[0158] Next, since the previous direction index is "0", the navigation device 500 determines that there is an area having reachable identification information in a counterclockwise direction from the area at row c and column c adjacent to the left of the area 1222. Then, the navigation device 500 detects the identification information of the area 1223 adjacent to the lower left of the area 1222 as being reachable, and stores the direction index "0" of the direction from the area 1222 to the area 1223 in the storage device in association with the previous direction index.

[0159] Thereafter, the navigation device 500 determines a search start point based on the previous directional index, and repeats the process of searching whether there is an area having identification information indicating that it is reachable in a counterclockwise direction from the search start point, until the arrow corresponding to the directional index returns to the area 1221. Specifically, the navigation device 500 searches whether there is an area having identification information indicating that it is reachable in a counterclockwise direction from the area adjacent to the left of the area 1222, detects the identification information indicating that it is reachable for the area 1224 adjacent to the lower left of the area 1223, and stores the directional index "1" in association with the previous directional index in the storage device.

[0160] Similarly, after determining the search start point based on the previous directional index, the navigation device 500 searches for areas having identification information indicating that the area is reachable in a counterclockwise direction from the search start point, and sequentially detects areas 1224 to 1234 having identification information indicating that the area is reachable. Then, each time the navigation device 500 acquires a directional index, the navigation device 500 associates the acquired directional index with the previous directional index and stores it in the storage device.

[0161] Thereafter, the navigation device 500 searches counterclockwise, starting from the area at row b and column f adjacent to the upper right of the area 1234, for an area having reachable identification information, and detects reachable identification information for the area 1221 adjacent to the top right of the area 1234, and stores the directional index "5" in association with the previous directional index in the storage device. As a result, the directional indexes stored in the storage device are "0" → "0" → "1" → "0" → "2" → "3" → "4" → "3" → "2" → "5" → "5" → "6" → "6" → "5" in this order.

[0162] In this way, the navigation device 500 obtains a direction index by sequentially searching counterclockwise for areas 1222 to 1234 that have reachable identification information and are adjacent to the initially detected area 1221. The navigation device 500 then fills in one area in the direction from the area 1221 that corresponds to the direction index, thereby generating mesh data having a vehicle reachable range 1300 that is made up of an outline 1301 of the vehicle's reachable range and an area 1302 surrounded by the outline 1301, as shown in FIG.

[0163] (Outline of Reachable Range Contour Extraction in Navigation Device 500 - Part 2) Another example of vehicle reachable range extraction by the navigation device 500 of this embodiment will be described. The navigation device 500 may extract the outline of the vehicle reachable range based on, for example, longitude and latitude information of mesh data of two-dimensional matrix data (Y, X) to which reachable identification information has been assigned. Specifically, the navigation device 500 extracts the outline of the vehicle reachable range as follows.

[0164] Fig. 14 is an explanatory diagram that schematically shows another example of extraction of a vehicle's reachable range by a navigation device. An example will be described using mesh data 1400, which is two-dimensional matrix data (Y, X) with d rows and h columns as shown in Fig. 13. The navigation device 500 searches for an area in the mesh data 1400 to which the reachable identification information "1" has been assigned. Specifically, the navigation device 500 first searches for the reachable identification information "1" from the area at row a, column a toward the area at row a, column h.

[0165] Since all areas in row a of the mesh data 1400 have been assigned the unreachable identification information "0," the navigation device 500 then searches for areas having the reachable identification information "1" from the area in row b, column a toward the area in row b, column h. The navigation device 500 then obtains the minimum longitude px1 and minimum latitude py1 (the upper left coordinates of area 1401) of area 1401 in row b, column c that has the reachable identification information "1."

[0166] Next, the navigation device 500 searches for an area having reachable identification information "1" from the area at row b, column d toward the area at row b, column h. The navigation device 500 then searches for the boundary between the area having reachable identification information "1" and the area having reachable identification information "0," and obtains the maximum longitude px2 and maximum latitude py2 (the bottom right coordinates of the area 1402) of the area 1402 at row b, column f that has reachable identification information "1."

[0167] Next, the navigation device 500 fills in a rectangular area having opposing vertices at the upper left coordinates (px1, py1) of area 1401 at row b, column c and the lower right coordinates (px2, py2) of area 1402 at row b, column f.

[0168] Next, the navigation device 500 searches for reachable identification information "1" in the area from row b, column g to row b, column h of the mesh data 1400, and further from row c, column a to row c, column h. The navigation device 500 then obtains the minimum longitude px3 and minimum latitude py3 (the upper left coordinates of the area 1303) of the area 1403 in row c, column d that has reachable identification information "1."

[0169] Next, the navigation device 500 searches for an area having reachable identification information "1" from the area at row c, column e toward the area at row c, column h. The navigation device 500 then searches for the boundary between the area having reachable identification information "1" and the area having reachable identification information "0," and obtains the maximum longitude px4 and maximum latitude py4 (the bottom right coordinates of the area 1404) of the area 1404 at row c, column f that has reachable identification information "1."

[0170] Next, the navigation device 500 fills in a rectangular area having opposing vertices at the upper left coordinates (px3, py3) of area 1403 at row c, column d and the lower right coordinates (px4, py4) of area 1404 at row c, column f.

[0171] The navigation device 500 then searches for areas having reachable identification information "1" from the area at row c, column g to the area at row c, column h, and further from row d, column a to row d, column h. The navigation device 500 ends the process because all areas from the area at row c, column g to the area at row d, column h have been assigned unreachable identification information "0".

[0172] In this way, the reachable range of the vehicle can be obtained by filling in the areas having the reachable identification information "1" for each row of the mesh data 1300 of the two-dimensional matrix data (Y, X).

[0173] (Displaying reachable ranges based on charging spot searches performed by the navigation system) FIG. 15-1 is a flowchart showing an example of a procedure for processing a vehicle's reachable range by a navigation device, and FIG. 15-2 is a diagram showing a management table of replenishment facilities. First, the navigation device 500 acquires the current location of the vehicle using the acquisition unit 101 (step S1501) and acquires the charge amount (remaining capacity) of the battery (step S1502). Next, the calculation unit 102 to the assignment unit 105 perform a process of estimating the reachable range of the vehicle from the current location with the current charge amount based on the current location and the charge amount of the battery (step S1503). At this time, the replenishment facility search unit 106 performs initialization to empty the contents of the management table 1500 (see FIG. 15-2) (step S1504).

[0174] The management table 1500 of the replenishing equipment shown in FIG. 15-2 is managed by the replenishing equipment search unit 106, and data is stored in the RAM 503 of FIG. 5 or the like. This management table 1500 includes information on the identifier (ID) of the replenishing equipment (charging spot) and the processing identifier (processed Yes or No) for the charging spot. Note that by executing step S1504, the management table 1 500, the charging spot ID and processed information are deleted. Each charging spot is assigned an individual ID in advance. Alternatively, a unique ID may be assigned based on the name or location of the charging spot.

[0175] Next, the replenishment equipment search unit 106 searches for charging spots within the reachable range (corresponding to A1 in FIG. 3) estimated in step S1503 (step S1505). Specifically, the replenishment equipment search unit 106 requests the acquisition unit 101 to search for charging spots within the reachable range. If the acquisition unit 101 is able to find a charging spot within the reachable range, the replenishment equipment search unit 106 adds the processing identifier of the found charging spot with an ID that is not in the replenishment equipment management table 1500 to the management table 1500 as "processed = No" (step S1506).

[0176] Next, the replenishment equipment search unit 106 searches for a charging spot ID whose processing identifier is "Processed = No" in the management table 1500 (step S1507). If a charging spot ID whose processing identifier is "Processed = No" is found in the management table 1500 (step S1508: Yes), the process proceeds to step S1509, and if not found (step S1508: No), the process proceeds to step S1516.

[0177] In step S1509, the replenishment equipment search unit 106 selects one charging spot in the management table 1500 whose processing identifier is "Processed = No" (step S1509), and rewrites the processing identifier of this selected charging spot ID to "Processed = Yes" (see FIG. 15-2, step S1510). After this, the acquisition unit 101 acquires the maximum charging capacity of the vehicle (battery) (step S1511), and also acquires the rate at which rapid charging is possible at the charging spot using the charging spot ID as a key (step S1512). The rate at which rapid charging is possible at this charging spot can be set in advance.

[0178] The above-mentioned rapid charging will now be explained. With rapid charging, for example, a battery can be charged to about 80% in 30 minutes. At a charging spot that uses normal charging, not rapid charging, charging takes several hours. Step S1512 is performed when rapid charging is to be completed in a short time. The percentage of the battery that can be charged with rapid charging is, for example, 80% of the battery capacity. In this way, charging at a charging spot can be limited to rapid charging. In this case, it is sufficient to search for and acquire charging spots that allow rapid charging. Charging spots that allow rapid charging can be acquired by the acquisition unit 101 via the Internet, etc.

[0179] Next, the calculation unit 102 calculates the obtained maximum charging capacity multiplied by the chargeable rate to obtain the maximum chargeable amount for the vehicle (step S1513). Furthermore, the acquisition unit 101 acquires the location 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 assignment unit 105 perform a process of estimating a reachable range (corresponding to one of A2 to A4 in FIG. 3) for the obtained maximum chargeable amount, using the charging spot ID as a base point (step S1515), and return to step S1505. By repeating this process, new reachable ranges A2 to A5 that can be reached when charging at the charging spot 202 within the processed reachable range A1 can be newly obtained, and these reachable ranges A1 to A5 can be combined and displayed.

[0180] Furthermore, in step S1508, if a charging spot ID with a processing identifier of "Processed=No" is not found in the management table 1500 (step S1508: No), all reachable ranges A1 to A5 included so far are combined (step S1516). Specifically, the assigning unit 105 adds up the area identification information "1" of each of the reachable ranges A1 to A5 to obtain the combined reachable range A.

[0181] Furthermore, the range that is not the reachable range A is set as the unreachable range X (step S1517). Then, the display control unit 107 displays the reachable range A and the unreachable range X superimposed on the map on the display unit 110 (step S1518), and the process ends.

[0182] (Example of reachable range displayed when searching for charging spots) 16 is a diagram showing an example of a vehicle's reachable range displayed by a navigation device. Through the above process, the vehicle's reachable range A is displayed on the display screen of the display unit 110, superimposed on a map 1600. This allows the user to clearly know the reachable range that the vehicle can reach by charging at a charging spot.

[0183] Alternatively, the reachable ranges that can be reached with or without the use of a charging spot may be easily distinguished by different colors, such as by displaying the reachable range A1 that can be reached with the current remaining battery capacity in yellow and the reachable ranges A2 to A5 that can be reached by charging at a charging spot 202 (202a to 202d) in green. Also, by using different display colors as described above, taking into account the type of charging (rapid charging or normal charging) at the charging spot 202 (202a to 202d), it becomes possible to separately display the ranges that can and cannot be reached with rapid charging alone and the ranges that can and cannot be reached with normal charging.

[0184] 17 is a diagram showing an example of a display of an unreachable range for a vehicle by a navigation device. As shown in the figure, on a map 1600, the range other than the vehicle's reachable range A (the range outside the reachable range A, shown with diagonal lines in the figure) can be displayed as an unreachable range X, for example, in red to make it easy to understand that it is unreachable.

[0185] Furthermore, if the user operates the navigation device 500 to set a destination 1700 within this unreachable range X, the destination cannot actually be reached, and therefore the navigation device 500 may display a warning display screen 1701. In the illustrated example, the warning display screen 1701 displays, "The specified location cannot be reached even if charging is performed at a charging spot." This makes it possible to clearly inform the user if the user operates the navigation device 500 to set a destination in an unreachable location and the destination cannot actually be reached even if charging is performed at the charging spot 202.

[0186] (Additional information obtained when searching for charging spots) 18 is a diagram showing a search screen for type conditions when searching for charging spots. As shown in the figure, the search may be limited to charging spots of a type specified by the user when searching for charging spots 202. On the search item screen 1800 shown in the figure, the type of charging spot 202 to be searched for by the recharge facility search unit 106 can be searched for by checking check boxes 1801 for various categories such as automobile dealership, public facility, parking lot, attached gas station, etc. This makes it possible to obtain the reachable range based on the type of charging spot desired by the user.

[0187] Furthermore, business hours may be stored as data for each charging spot, and when searching for a charging spot, the search may be limited to charging spots 202 that are open during business hours. For example, if a charging spot 202 that is open from 8:00 to 20:00 is searched for at 9:00 p.m., it will not be valid. Currently, for example, many charging spots 202 are car dealerships and are not open at night. Furthermore, when determining business hours, the arrival time from the current location to the charging spot 202 may be taken into consideration. In this case, the search unit 103 searches for a route to the charging spot 202 from the current location or the previous charging spot 202, and calculates the required time. The required time is then added up to the current time to determine the arrival time.

[0188] Furthermore, when the vehicle travels via multiple charging spots 202, the time required to reach the destination is The time required for charging may be included between the two. For example, if a charging spot 202 allows for quick charging in 30 minutes, 30 minutes may be added to the charging time at this charging spot 202. In addition, when a destination is set taking into account the charging time at the charging spot 202, if the destination cannot be reached at the current departure time (a certain set time period), but can be reached at a different departure time (another set time period, such as late night or early morning), this may be displayed. In this case, the departure time may be switched by user operation, and the reachable range A (and unreachable range X) for each departure time may be displayed.

[0189] (Another example of a process for displaying reachable ranges based on a charging spot search performed by a navigation device) Fig. 19 is a flowchart showing an example of a processing procedure for determining a vehicle's reachable range by a navigation device. In Fig. 19, the same processing steps as those in Fig. 15-1 are assigned the same step numbers, and descriptions thereof will be omitted. In this processing example, 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).

[0190] In step S1901, it is determined whether the charging spot selected in step S1509 allows rapid charging. If it does (step S1901: Yes), the process proceeds to step S1902. If it does not allow rapid charging (step S1901: No), the process returns to step S1507. In step S1902, the business hours of the selected charging spot 202 are acquired (step S1902). Next, it is determined whether the business hours of the selected charging spot 202 are 24 hours a day (step S1903). If it is open 24 hours a day with no restrictions on business hours (step S1903: Yes), the process proceeds to step S1511. If it is not open 24 hours a day (step S1903: No), the process proceeds to step S1904.

[0191] In step S1904, the search unit 103 calculates the time required to reach the selected charging spot 202, and adds the required time to the current time to determine the time to arrive at the charging spot 202 (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, and if the arrival time is outside business hours (step S1905: No), the process returns to step S1507.

[0192] The above processing makes it possible to search for a charging spot 202 that can be reached within the operating hours, taking into consideration the charging time when charging at the charging spot 202 and the operating hours of the charging spot 202. As a result, even if the number of charging spots 202 currently installed is limited, charging can be performed using the searched charging spot 202, and the vehicle can travel to the destination without being restricted by the departure time.

[0193] (Regarding road gradients) Next, we will explain the road gradient θ used as a variable on the right-hand sides of the above equations (1) to (6). FIG. 20 is an explanatory diagram that schematically shows an example of the acceleration acting on a vehicle traveling on a road with a gradient. As shown in FIG. 20, a vehicle traveling on a slope with a road gradient of θ is subjected to acceleration A (= dx / dt) associated with the vehicle's travel and a forward-direction component B of gravitational acceleration g (= g·sinθ). For example, using the above equation (1) as an example, the second term on the right-hand side of equation (1) represents a resultant acceleration C of the acceleration A associated with the vehicle's travel and the forward-direction component B of gravitational acceleration g. Furthermore, let D be the distance of the section over which the vehicle travels, T be the travel time, and V be the travel speed.

[0194] When power consumption is estimated without taking into account the road gradient θ, the error between the estimated power consumption and the actual power consumption is small in areas where the road gradient θ is small, but the error between the estimated power consumption and the actual power consumption becomes large in areas where the road gradient θ is large. In the navigation device 500, the estimation accuracy is improved by estimating fuel efficiency while taking into account the road gradient, that is, the fourth information.

[0195] The gradient of the road on which the vehicle is traveling can be known, for example, by using an inclinometer mounted on the navigation device 500. Furthermore, if the navigation device 500 is not equipped with an inclinometer, for example, road gradient information included in the map data can be used.

[0196] (Regarding rolling resistance) Next, the running resistance generated in a vehicle will be described. The navigation device 500 calculates the running resistance, for example, using the following equation (11). Generally, running resistance is generated in a moving object during acceleration or running, depending on the road type, road gradient, road surface conditions, etc.

[0197]

number

[0198] As described above, the navigation device 500 divides map information into multiple regions, searches for whether each region is reachable by a mobile object, and assigns to each region identification information indicating whether the region is reachable or unreachable by the mobile object. The navigation device 500 then generates a reachable range for the mobile object based on the regions that have been assigned the reachable identification information. This allows the navigation device 500 to generate a reachable range for the mobile object while excluding regions that cannot be navigated by the mobile object, such as oceans, lakes, and mountain ranges. This allows the image processing device 100 to accurately display the reachable range for the mobile object.

[0199] Based on the charging spots included in the reachable range of the mobile vehicle, the new reachable range resulting from charging at these charging spots can be displayed. This allows the user to clearly know whether or not they can travel to their destination based on the displayed reachable range, without worrying about the remaining battery capacity. Furthermore, since the unreachable range can also be clearly displayed, if the destination is unreachable, it can be prevented from being set, allowing the user to know this before actually traveling.

[0200] The navigation device 500 also converts the map information into divided areas into image data. The navigation device 500 converts the map information into a plurality of divided regions into image data, assigns identification information indicating whether the regions are reachable or unreachable to each of the plurality of regions, and then performs an opening expansion process. As a result, the navigation device 500 can remove missing points within the reachable range of the mobile object. The navigation device 500 also converts the divided regions into image data, assigns identification information indicating whether the regions are reachable or unreachable to each of the plurality of regions, and then performs an opening reduction process. As a result, the navigation device 500 can remove isolated points within the reachable range of the mobile object. In this way, the navigation device 500 can remove missing points and isolated points within the reachable range of the mobile object, and therefore can display the driving range of the mobile object as a smooth, easily viewable two-dimensional surface.

[0201] (Embodiment 2) 21 is a block diagram showing an example of a functional configuration of an image processing system according to the second embodiment. The functional configuration of an image processing system 2100 according to the second embodiment will be described. The image processing system 2100 according to the second embodiment is configured by a server 2110 and a terminal 2120. The image processing system 2100 according to the second embodiment has the functions of the image processing device 100 according to the first embodiment in the server 2110 and the terminal 2120.

[0202] 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 mobile object and transmits it to the terminal 2120. The terminal 2120 may be mounted on the mobile object, may be used as a portable terminal inside the mobile object, or may be used as a portable terminal outside the mobile object. The terminal 2120 then receives the information related to the reachable range of the mobile object from the server 2110.

[0203] 21, a server 2110 is configured with a calculation unit 102, a search unit 103, a division unit 104, an assignment unit 105, a replenishment equipment search unit 106, a server receiving unit 2111, and a server transmitting unit 2112. A terminal 2120 is configured with an acquisition unit 101, a display control unit 107, a terminal receiving unit 2121, and a terminal transmitting unit 2122. In the image processing system 2100 shown in FIG. 21, the same components as those in the image processing device 100 shown in FIG. 1 are denoted by the same reference numerals, and descriptions thereof will be omitted.

[0204] In the server 2110, the server receiving unit 2111 receives information transmitted from the terminal 2120. Specifically, for example, the server receiving unit 2111 receives information about a mobile object from the terminal 2120 wirelessly connected to a communication network such as a public line network, a mobile phone network, DSRC, a LAN, or a WAN. The information about the mobile object includes information about the current location of the mobile object and information about the initial amount of energy that is the amount of energy that the mobile object holds at the current location of the mobile object. The information received by the server receiving unit 2111 is information referenced by the calculation unit 102. Note that the information about the replenishment facility may be acquired by either the terminal 2120 or the server 2110, and may be output to the means for calculating the reachable range by the calculation unit 102 and the search unit 103.

[0205] The server transmitting unit 2112 transmits, as a reachable range of the mobile unit, a plurality of areas obtained by dividing the map information to which the reachable identification information for identifying that the mobile unit is reachable by the assigning unit 105, to the terminal 2120. Specifically, for example, the server transmitting unit 2112 transmits information to the terminal 2120 connected wirelessly to a communication network such as a public line network, a mobile phone network, DSRC, a LAN, or a WAN.

[0206] The terminal 2120 is connected to the server 2110 in a communicable state via, for example, an information communication network of the mobile terminal or a communication unit (not shown) provided in the terminal itself.

[0207] In the terminal 2120, the terminal receiving unit 2121 receives information from the server 2110. Specifically, the terminal receiving unit 2121 receives map information that is divided into a plurality of areas and to which each area is assigned identification information indicating whether it is reachable or unreachable based on the reachable points of the mobile object. More specifically, for example, the terminal receiving unit 2121 receives information from the server 2110 that is wirelessly connected to a communication network such as a public line network, a mobile phone network, DSRC, a LAN, or a WAN.

[0208] The terminal transmitting unit 2122 transmits the information about the mobile object acquired by the acquiring unit 101 to the server 2110. Specifically, for example, the terminal transmitting unit 2122 transmits the information about the mobile object to the server 2110 that is wirelessly connected to a communication network such as a public line network, a mobile phone network, DSRC, LAN, or WAN.

[0209] Next, image processing by the image processing system 2100 according to the second embodiment will be described. Since the image processing by the image processing system 2100 is almost the same as that by the image processing device 100 according to the first embodiment, the differences from the first embodiment will be described using the flowchart in FIG.

[0210] In the image processing by the image processing system 2100, the server 2110 performs the estimated energy consumption calculation process, the reachable point search process, the energy replenishment facility search process, and the identification information assignment process, which are all part of the image processing by the image processing device 100 according to the first embodiment.

[0211] 4, terminal 2120 performs the process of step S401 and transmits the information acquired in steps S401 and S402 to server 2110. Next, server 2110 receives the information from terminal 2120. Next, server 2110 performs the processes of steps S403 to S407 based on the information received from terminal 2120 and transmits the information acquired in step S207 to terminal 2120. Next, terminal 2120 receives the information from server 2110. Then, terminal 2120 performs step S408 based on the information received from server 2110 and ends the processing according to this flowchart.

[0212] As described above, the image processing system 2100 and the image processing method according to the second embodiment can obtain the same effects as the image processing device 100 and the image processing method according to the first embodiment.

[0213] (Embodiment 3) 22 is a block diagram showing an example of a functional configuration of an image processing system according to the third embodiment. The functional configuration of an image processing system 2200 according to the third embodiment will be described. The image processing system 2200 according to the third embodiment is configured by a first server 2210, a second server 2220, a third server 2230, and a terminal 2240. In the image processing system 2200, the first server 2210 has the function of the calculation unit 102 of the image processing device 100 according to the first embodiment, the second server 2220 has the function of the search unit 103 of the image processing device 100 according to the first embodiment, the third server 2230 has the functions of the division unit 104, the assignment unit 105, and the replenishment equipment search unit 106 of the image processing device 100 according to the first embodiment, and the terminal 2240 has the functions of the acquisition unit 101 and the display control unit 107 of the image processing device 100 according to the first embodiment.

[0214] In FIG. 22, the terminal 2240 has the same configuration as the terminal 2120 of the second embodiment. Specifically, the terminal 2240 is configured by an acquisition unit 101, a display control unit 107, a terminal receiving unit 2241, and a terminal transmitting unit 2242. The terminal receiving unit 2241 has the same configuration as the terminal receiving unit 2121 of the second embodiment. The terminal transmitting unit 2242 has the same configuration as the terminal transmitting unit 2122 of the second embodiment. The first server 2210 is configured by a calculation unit 102, a first server receiving unit 2241, a display control unit 107, a terminal receiving unit 2241, and a terminal transmitting unit 2242. The first server transmitting unit 2211 and the second server transmitting unit 2212 are included.

[0215] The second server 2220 is configured with a searching unit 103, a second server receiving unit 2221, and a second server transmitting unit 2222. The third server 2230 is configured with a dividing unit 104, an assigning unit 105, a replenishment equipment searching unit 106, a third server receiving unit 2231, and a third server transmitting unit 2232. In the image processing system 2200 shown in Fig. 22, the same components as those in the image processing device 100 shown in Fig. 1 and the image processing system 2100 shown in Fig. 21 are denoted by the same reference numerals, and descriptions thereof will be omitted.

[0216] In the first server 2210, the first server receiving unit 2211 receives information transmitted from the terminal 2240. Specifically, for example, the first server receiving unit 2211 receives information from the terminal transmitting unit 2242 of the terminal 2240 that is wirelessly connected to a communication network such as a public line network, a mobile phone network, DSRC, a LAN, or a WAN. The information received by the first server receiving unit 2211 is information referenced by the calculation unit 102.

[0217] The first server transmitting unit 2212 transmits the information calculated by the calculating unit 102 to the second server receiving unit 2221. Specifically, the first server transmitting unit 2212 may transmit the information to the second server receiving unit 2221 that is wirelessly connected to a communication network such as a public line network, a mobile phone network, DSRC, a LAN, or a WAN, or may transmit the information to the second server receiving unit 2221 that is wired.

[0218] In the second server 2220, the second server receiving unit 2221 receives information transmitted by the terminal transmitting unit 2242 and the first server transmitting unit 2212. Specifically, for example, the second server receiving unit 2221 receives information from the first server transmitting unit 2212 and the terminal transmitting unit 2242 that are wirelessly connected to a communication network such as a public line network, a mobile phone network, DSRC, a LAN, or a WAN. The second server receiving unit 2221 may also receive information from the first server transmitting unit 2212 that is connected via a wired connection. The information received by the second server receiving unit 2221 is information referenced by the searching unit 103.

[0219] The second server transmitting unit 2222 transmits the information searched for by the searching unit 103 to the third server receiving unit 2231. Specifically, for example, the second server transmitting unit 2222 may transmit the information to the third server receiving unit 2231 that is wirelessly connected to a communication network such as a public line network, a mobile phone network, DSRC, a LAN, or a WAN, or may transmit the information to the third server receiving unit 2231 that is wired.

[0220] In the third server 2230, the third server receiving unit 2231 receives information transmitted by the terminal transmitting unit 2242 and the second server transmitting unit 2222. Specifically, for example, the third server receiving unit 2231 may receive information from the second server transmitting unit 2222 and the terminal transmitting unit 2242 that are wirelessly connected to a communication network such as a public line network, a mobile phone network, DSRC, a LAN, or a WAN. The third server receiving unit 2231 may also receive information from the second server transmitting unit 2222 that is connected via a wired connection. The information received by the third server receiving unit 2231 is information referenced by the dividing unit 104.

[0221] The third server transmitting unit 2232 transmits information about the reachable range generated by the assigning unit 105 and searched for by the replenishment facility searching unit 106 to the terminal receiving unit 2241. Specifically, for example, the third server transmitting unit 2232 transmits information to the terminal receiving unit 2241 connected wirelessly to a communication network such as a public line network, a mobile phone network, DSRC, a LAN, or a WAN. Note that the information about 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 the calculation unit 102 and the search unit 103 to calculate the reachable range.

[0222] Next, image processing by the image processing system 2200 according to the third embodiment will be described. Since the image processing by the image processing system 2200 is almost the same as that by the image processing device 100 according to the first embodiment, the differences from the first embodiment will be described using the flowchart in FIG.

[0223] In the image processing by the image processing system 2200, among the image processing by the image processing device 100 according to the first embodiment, the first server 2210 performs the estimated energy consumption calculation process, the second server 2220 performs the reachable point search process, and the third server 2230 performs the identification information assignment process. In the flowchart of Fig. 4, the terminal 2240 performs the process of step S201 and transmits the information acquired in steps S401 and S402 to the first server 2210.

[0224] Next, the first server 2210 receives information from the terminal 2240. Next, 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. Next, the second server 2220 receives the information from the first server 2210. Next, 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 for in step S404 to the third server 2230.

[0225] Next, third server 2230 receives the information from second server 2220. Next, third server 2230 performs the processes of steps S405 to S408 based on the information from second server 2220, and transmits the information generated in step S406 to terminal 2240. Next, terminal 2240 receives the information from third server 2230. Then, terminal 2240 performs step S409 based on the information received from third server 2230, and ends the processing according to this flowchart.

[0226] As described above, the image processing system 2200 and the image processing method according to the third embodiment can obtain the same effects as the image processing device 100 and the image processing method according to the first embodiment. [Example]

[0227] A second embodiment of the present invention will be described below. Fig. 23 is an explanatory diagram showing an example of a system configuration of an image processing device according to the second embodiment. In the second embodiment, an example of the case where the present invention is applied to an image processing system 2300 in which a navigation device 2310 mounted on a vehicle serves as a terminal 2120 and a server 2320 serves as a server 2110 will be described. The image processing system 2300 is configured by the navigation device 2310 mounted on a vehicle 2330, the server 2320, and a network 2340.

[0228] The navigation device 2310 is mounted on the 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 also displays the information received from the server 2320 on a display to notify the user. The server 2320 receives information on the current location of the vehicle and information on the initial stored energy amount from the navigation device 2310. The server 2320 generates information on the reachable range of the vehicle 2330 based on the received vehicle information. The server 2320 also searches for replenishment facilities and determines a new reachable range.

[0229] 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 also has a function of transmitting vehicle information to the server 2320 and a function of receiving information from the server 2320. It is only necessary to have a hardware configuration corresponding to the function of receiving and notifying the user.

[0230] Furthermore, the image processing system 2300 may be configured such that the navigation device 2310 mounted on the vehicle is 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.

[0231] The image processing method described in this embodiment can be realized by executing a prepared program 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, flexible disk, CD-ROM, MO, or DVD, and is executed by being read from the recording medium by the computer. This program may also be a transmission medium that can be distributed via a network such as the Internet. [Explanation of symbols]

[0232] 100 Image processing device 101 Acquisition Department 102 Calculation Unit 103 Search Department 104 Division 105 Granting Department 106 Replenishment Equipment Search Department 107 Display control unit 109 Reachable range calculation unit 110 Display section

Claims

[Claim 1] a calculation means for calculating a reachable range including an area that can be reached by the amount of energy possessed by the mobile body, the reachable range being based on the position of the mobile body; A reachable range calculation device characterized in that, if a supply facility capable of supplying energy to the mobile body is within the reachable range, the calculation means performs a calculation process to calculate a new reachable range based on the supply facility, based on the amount of energy that the mobile body would have if energy were supplied to the mobile body by the supply facility.

Images