Route planning system, route planning method, and route planning program

Abstract

This invention provides a route planning system, a route planning method, and a route planning program that enable easy and precise setting of waypoints in a planned route for assisting the driving of a mobile vehicle. [Solution] The planning route formulation system is a planning route formulation system for a moving object, and comprises a processing circuit, which acquires data of a reference point defined by latitude and longitude, acquires data of two coordinate axes constituting a plane orthogonal coordinate system whose origin is determined based on the reference point, acquires two-dimensional coordinate data of a waypoint in the plane orthogonal coordinate system, calculates the latitude and longitude of the waypoint from the positional relationship between the waypoint and the reference point in the plane orthogonal coordinate system, and the latitude and longitude data of the reference point, and outputs the calculated latitude and longitude information of the waypoint.

Description

[Technical Field]

[0001] This disclosure relates to a mobile vehicle route planning system, a route planning method, and a route planning program. [Background technology]

[0002] In vessels that provide operational support to the operator, such as autonomous navigation systems, a planned route is established in advance. Multiple waypoints are set within the planned route, and operational support is provided to the vessel to ensure that it passes through these waypoints sequentially during navigation.

[0003] Generally, Electronic Chart Display and Information Systems (ECDIS) are used as input and display devices for setting waypoints. In ECDIS, waypoints are set using a geographic coordinate system defined by latitude and longitude. For example, Patent Document 1 below proposes a route planning support system that makes it easier to set waypoints before and after a given waypoint. [Prior art documents] [Patent Documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2022-91667 [Overview of the project] [Problems that the invention aims to solve]

[0005] However, with ECDIS, it is difficult to precisely define waypoints using relationships with predetermined objects such as quays. This problem is not limited to ships, but can occur in any mobile entity that can perform driving assistance using a planned route with defined waypoints.

[0006] Therefore, the purpose of this disclosure is to provide a route planning system, a route planning method, and a route planning program that can easily and precisely set waypoints in a planned route for driving assistance of a mobile vehicle. [Means for solving the problem]

[0007] A route planning system in one aspect of the present disclosure is a route planning system for planning a route for a moving object, comprising a processing circuit, the processing circuit acquiring data of a reference point defined by latitude and longitude, acquiring data of two coordinate axes constituting a plane orthogonal coordinate system whose origin is determined based on the reference point, acquiring two-dimensional coordinate data of a waypoint in the plane orthogonal coordinate system, calculating the latitude and longitude of the waypoint from the positional relationship between the waypoint and the reference point in the plane orthogonal coordinate system and the latitude and longitude data of the reference point, and outputting the calculated latitude and longitude information of the waypoint.

[0008] Furthermore, a route planning method in another aspect of the present disclosure is a route planning method for planning a route for a moving object, comprising: acquiring data of a reference point defined by latitude and longitude; acquiring data of two coordinate axes constituting a plane orthogonal coordinate system whose origin is determined based on the reference point; acquiring two-dimensional coordinate data of a waypoint in the plane orthogonal coordinate system; calculating the latitude and longitude of the waypoint from the positional relationship between the waypoint and the reference point in the plane orthogonal coordinate system, and the latitude and longitude data of the reference point; and outputting the calculated latitude and longitude information of the waypoint.

[0009] Furthermore, a planning and routing program in another aspect of this disclosure causes a computer system including at least one processor to execute the planning and routing method. The program may be stored in a computer-readable, non-temporary, and tangible storage medium. [Effects of the Invention]

[0010] According to this disclosure, waypoints in a planned route for assisting the driving of a mobile vehicle can be easily and precisely set. [Brief explanation of the drawing]

[0011] [Figure 1] Figure 1 is a block diagram showing the schematic configuration of a route planning system according to one embodiment of the present disclosure. [Figure 2] Figure 2 is a flowchart showing the flow of the user-specified waypoint setting process in this embodiment. [Figure 3] Figure 3 is an illustrative diagram of the first map in this embodiment. [Figure 4] Figure 4 is an illustrative diagram of the second map, which represents the first map shown in Figure 3 in a plane orthogonal coordinate system. [Figure 5] Figure 5 shows an example of the planned route display screen in this embodiment. [Modes for carrying out the invention]

[0012] Hereinafter, one embodiment of the present disclosure will be described in detail with reference to the drawings. In the following, the same or corresponding elements are denoted by the same reference numerals in all the drawings, and redundant descriptions thereof will be omitted.

[0013] Figure 1 is a block diagram illustrating the schematic configuration of a route planning system according to one embodiment of the present disclosure. Hereinafter, a ship is used as an example of a mobile entity capable of providing driving assistance to a ship's operator, such as autonomous movement. The route planning system 1 shown in Figure 1 formulates a planned route, which is a planned route for providing driving assistance to a ship. The route planning system 1 comprises a processing circuit 2, a memory 3, and an input / output interface 4. These components 2 to 4 communicate data with each other via a bus 5.

[0014] The route planning system 1 may be configured as a computer or control device installed on the ship, or it may be configured as a computer different from the one installed on the ship. The computer different from the one installed on the ship may be, for example, a mobile device such as a tablet or smartphone, or a computer installed in a land-based facility. Furthermore, the system may be configured so that some functions of the route planning system 1 are performed by the computer installed on the ship, and other functions are performed by a computer different from the one installed on the ship, and that data is communicated between them using a predetermined communication device.

[0015] The input / output interface 4 constitutes an interface that receives data from the outside and transmits data to the outside. An input device 6 and a display device 7 are connected to the input / output interface 4. For example, the input device 6 includes an input device such as a touch panel or keyboard that allows user operation input. Also, for example, the display device 7 includes a monitor or touch panel. For example, the display device 7 may be the display unit of an Electronic Chart Display and Information System (ECDIS). The input device 6 or the display device 7 may be connected to the input / output interface 4 via a predetermined network. In this case, the input / output interface 4 is configured as a communication interface capable of sending and receiving data with the outside.

[0016] Memory unit 3 stores the data entered into input unit 6. Furthermore, memory unit 3 stores the planned route data, nautical chart data, and planned route formulation program, which will be described later. Memory unit 3 includes, for example, a writable storage device such as a hard disk or flash memory.

[0017] Processing circuit 2 includes a processor and main memory. The processor includes, for example, a CPU or MPU. The main memory includes, for example, RAM, ROM, etc. Processing circuit 2 executes various calculation processes described later by executing a planned path formulation program stored in memory 3.

[0018] The functions of the elements disclosed herein can be performed using circuits or processing circuits, including general-purpose processors, dedicated processors, integrated circuits, ASICs (Application Specific Integrated Circuits), conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuit because it includes transistors and other circuits. In this specification, a circuit, unit, means, or part is hardware that performs the enumerated functions, or hardware programmed to perform the enumerated functions. The hardware may be hardware disclosed herein, or other known hardware that is programmed or configured to perform the enumerated functions. If the hardware is a processor, which is considered a type of circuit, then the circuit, unit, or means is a combination of hardware and software, and the software is used to configure the hardware and / or the processor.

[0019] Processing circuit 2 performs a planned route generation process that calculates the planned route of a ship based on various information stored in memory 3. Processing circuit 2 acquires input data such as the ship's departure point, destination, ship performance data, departure time, and arrival time. This input data is input by input device 6. Ship performance data is data relating to the performance of the target ship individually. Processing circuit 2 may also acquire weather data in the route area. For example, processing circuit 2 may sequentially acquire weather data provided by an external organization and store it in memory 3.

[0020] The processing circuit 2 generates a planned route based on this input data and the chart data stored in the memory 3. The processing circuit 2 sets multiple waypoints that will be the planned waypoints for the ship between the departure point and the arrival point, and generates a planned route from the departure point to the arrival point by sequentially following the multiple waypoints. In this way, the processing circuit 2 can automatically generate multiple waypoints. However, depending on the route, for example, in narrow areas such as straits and harbors, it may be difficult to automatically generate waypoints or they may not be automatically set in appropriate locations. Therefore, in this embodiment, the route planning system 1 allows waypoints to be set individually by user specification.

[0021] Here, since nautical chart data is geographic coordinate system data, waypoints are also set as geographic coordinate positions. In other words, waypoints are positions determined by latitude and longitude. Therefore, in conventional systems, in order to set waypoints individually according to user specifications, the waypoints were specified using latitude and longitude. As mentioned above, waypoints that users want to set individually are often in narrow areas such as straits and harbors. In such narrow areas, it is necessary to set waypoints precisely, taking into account their positional relationship with objects such as quays and obstacles.

[0022] Therefore, in this embodiment, the processing circuit 2 executes a user-specified waypoint setting process that allows the user to intuitively set waypoints from reference point data defined by latitude and longitude.

[0023] Figure 2 is a flowchart showing the flow of the user-specified waypoint setting process in this embodiment. First, the processing circuit 2 acquires data of a reference point defined by latitude and longitude (step S1). The reference point is located near the waypoint to be set and is the reference position for setting the waypoint. In this embodiment, an example is given in which a waypoint near the destination is set by the user. In this case, for example, the reference point is determined based on the anchoring position of the ship.

[0024] FIG. 3 is an image diagram of the first map in the present embodiment. The first map is a nautical chart. That is, the first map is a map of a geographic coordinate system represented by latitude and longitude. Therefore, the first map is set such that true north faces upward. In the present embodiment, waypoints WP in the vicinity of destination E e , WP n , WP n-1 , WP n-2 an aspect of setting the waypoints is exemplified. Specifically, waypoint WP n-2 indicates a position where the ship S is orthogonal to the quay W at a position separated by a predetermined distance L ya from the quay line Q. Waypoint WP n-1 indicates a position where the ship S is parallel to the quay line Q at a position separated by a predetermined distance L yb from the quay line Q. Waypoint WP n is a position obtained by advancing the ship S from waypoint WP n-1 by the predetermined distance L such that the destination E is located on the side of the ship S. Waypoint WP x indicates a position where the ship S is moved laterally from waypoint WP e to berth at the destination E n . The ship S in this example includes a side thruster and is a ship capable of moving laterally.

[0025] As described above, the last waypoint WP e is the anchoring position of the ship S corresponding to the destination E. The latitude and longitude of the last waypoint WP e are known. In the present embodiment, the last waypoint WP e is set as the reference point P r . The reference point P r is set as the center position of the ship S. The reference point P r can be set in consideration of the width of the ship S, that is, the length from the position of the reference point P r on the ship S to the widthwise end on the berthing side, and the distance between the ship S and the quay line Q due to the quay line Q and fenders installed on the ship S, etc.

[0026] Reference point P defined by latitude and longitude r The data may also be entered by the user using the input device 6. Furthermore, if the display device 7 is configured as a touch panel, the display device 7 will display a first map of the vicinity of the quay line Q as shown in Figure 3, and the latitude and longitude of the position entered by the user via touch on the first map will be used as the reference point P. r You can set it as data.

[0027] Processing circuit 2 is located at reference point P r Based on this, a plane orthogonal coordinate system is set (step S2). Processing circuit 2 controls the reference point P r Based on this, the origin of the plane orthogonal coordinate system is determined. Processing circuit 2 acquires data for the two coordinate axes that constitute the plane orthogonal coordinate system based on the determined origin.

[0028] In this embodiment, the processing circuit 2 determines a first set point P defined by latitude and longitude. S1 and second setting point P S2 Data is acquired, and the first setpoint P S1 and the second setting point P S2 The straight line connecting these two points is the reference line L. r Set as follows: First setting point P S1 and second setting point P S2 The data is from reference point P. r Similar to the data, this can be entered by the user. Note that the baseline L r The method of setting this is not limited to this. For example, the first setting point P S1 or second setting point P S2 Based on the data and the data of the set direction, the first set point P S1 or second setting point P S2 The straight line passing through and extending in the direction of the set direction is the reference line L. r It may be set as follows.

[0029] For example, if the quay line Q including the docking point is used as the reference line, the user inputs the coordinates of two points on the quay line Q numerically. Alternatively, if the display unit 7 is configured as a touch panel, the user may input the two points on the quay line Q by touching them on the first map displayed on the touch panel. The processing circuit 2 inputs the latitude and longitude of the two points at the positions of the user and sets them to the first setting point P S1 and second setting point P S2 The data is acquired. Processing circuit 2 sets the first setpoint P S1 and second setting point P S2 Calculate a straight line passing through the two points from the latitude and longitude coordinates, and set the baseline L r Set to the first set point P. S1 and second setting point P S2 The reference point P r It is set as a separate point. Instead, the first setting point P S1 and second setting point P S2 At least one of these points is reference point P r That's fine.

[0030] Processing circuit 2 is located at reference point P r The position based on this is the origin, and the reference line L r The x-axis is parallel to the line L, and the reference line L r A plane orthogonal coordinate system is set up with a y-axis perpendicular to the plane and a y-axis perpendicular to the plane.

[0031] Figure 4 is an illustrative diagram of the second map, which represents the first map shown in Figure 3 in a plane orthogonal coordinate system. In the example in Figure 4, the second map is obtained by rotating the first map shown in Figure 3 by a predetermined transformation angle θ such that the x-axis is in the vertical direction and the y-axis is in the horizontal direction. In this embodiment, the x-axis is the reference point P r It coincides with the forward direction of the vessel S. The transformation angle θ is in the direction of true north and the reference line L. r It is the angle between [point 1] and [point 2]. Also, in the example in Figure 4, the origin is the reference point P. r It coincides with the position of the origin and reference point P of the plane Cartesian coordinate system. r If there is a correspondence between the origin and reference point P, then the position of the origin and reference point P rThe position does not need to coincide with that of [the other element].

[0032] Processing circuit 2 controls the waypoint WP in the plane Cartesian coordinate system. n WP n-1 WP n-2 The settings are configured (step S3). For example, the processing circuit 2 displays the second map based on the plane orthogonal coordinate system shown in Figure 4 on the display unit 7. The processing circuit 2 also displays an input screen on the display unit 7. The input screen shows the reference point P r Distance from the x-axis and reference point P r The input screen includes an input field for entering the distance of separation in the y-axis direction. In addition to these, the input screen also includes a reference line L. r The input screen may include an input field for inputting the degree of parallelism. By the user entering a numerical value in the input field included in the input screen, the coordinates of the corresponding position on the second map are set as the coordinates of the waypoint. Alternatively, if the display unit 7 is configured as a touch panel, the user may touch the display unit 7 to input a desired position on the second map, and the coordinates of that position on the second map may be set as the coordinates of the waypoint. The processing circuit 2 displays the position of the waypoint on the second map based on the set two-dimensional coordinate data of the waypoint.

[0033] For the sake of simplicity, the following explanation assumes that the vessel S travels in a straight line except when docking. However, when formulating the planned route, it is possible to include sections in the planned route where the vessel S is maneuvered obliquely, taking into account the effects of wind, currents, etc. In the example in Figure 4, the final waypoint WP is the origin. e -Y in the y-axis direction n The location you moved to is a waypoint (WP). n It is set to the distance Y. n This is the final waypoint WP e This is the lateral distance traveled by ship S from [location]. Because the lateral distance can be directly entered in this way, waypoints WP can be intuitively created. n The position can be set. Also, in the example in Figure 4, waypoint WP n Further along the x-axis -X n-1The moved position is set as waypoint WP n-1 . Also, in the example of FIG. 4, the position moved in the -Y n-1 direction along the y-axis from waypoint WP n-2 +Y n is set as waypoint WP n-2 . From the above, in a planar rectangular coordinate system, the coordinates of waypoint WP e can be expressed as (0,0), the coordinates of waypoint WP n can be expressed as (0,-Y n ), the coordinates of waypoint WP n-1 can be expressed as (-X n-1 ,-Y n ), and the coordinates of waypoint WP n-2 can be expressed as (-X n-1 ,-Y n-2 ).

[0034] The processing circuit 2 acquires two-dimensional coordinate data of waypoints WP n , WP n-1 , WP n-2 in the set planar rectangular coordinate system. Further, the processing circuit 2 converts the coordinates of the waypoints WP n , WP n-1 , WP n-2 set in the planar rectangular coordinate system into a geographic coordinate system (step S4). More specifically, the processing circuit 2 calculates the latitude and longitude of waypoints WP n , WP n-1 , WP n-2 and the reference point P r based on the positional relationship between the waypoints WP r and the reference point P, and the latitude and longitude data of the reference point P n , WP n-1 , WP n-2 . The conversion from planar rectangular coordinates to geographic coordinates is realized by a known conversion method such as the Gauss-Krueger projection method.

[0035] The processing circuit 2 calculates the waypoints WP n , WP n-1 , WP n-2The latitude and longitude information is output (step S5). For example, the processing circuit 2 stores the waypoint information for the entire planned route, including the waypoint set by the user-specified waypoint setting process, in the memory 3 as planned route data. The processing circuit 2 displays the first map on the display 7 and displays the location of the waypoints on the first map based on the planned route data. As a result, the waypoints displayed on the first map include the waypoint WP set by the user-specified waypoint setting process. n WP n-1 WP n-2 This includes waypoints (WP). n WP n-1 WP n-2 This is displayed on the first map, which is shown by latitude and longitude.

[0036] Figure 5 shows an example of the planned route display screen in this embodiment. The planned route display screen GM1 includes a first map display unit D1 and a detailed information display unit D2. The first map display unit D1 displays waypoints WP on a first map where the location is indicated by latitude and longitude. e WP n WP n-1 WP n-2 The following is displayed. Furthermore, the first map display unit D1 displays an instruction pointer FI. The instruction pointer FI moves on the first map by touch operations or drag operations on the touch panel or by movement operations using an input device 6 such as a mouse.

[0037] The detailed information display unit D2 indicates that the indicator pointer FI is at any waypoint WP. e WP n WP n-1 WP n-2 When located at a certain point, it displays information about the corresponding waypoint. For example, the detailed information display unit D2 displays the latitude and longitude of the corresponding waypoint. The detailed information display unit D2 also displays the heading and reference point P set at the corresponding waypoint. r The relative position can be displayed. In addition, the detailed information display unit D2 may display the estimated time of arrival at the corresponding waypoint, etc.

[0038] Alternatively, instead of the detailed information display unit D2 shown in Figure 5, information such as the latitude and longitude of multiple waypoints may be displayed in a list. Furthermore, by selecting any one of the multiple waypoints displayed in the list, the first map display unit D1 may display a first map of the vicinity of the selected waypoint, and the waypoint on the first map may be highlighted. For example, the corresponding waypoint on the first map may be highlighted by flashing.

[0039] Thus, reference point P r In a plane orthogonal coordinate system with the origin set at the position determined based on the waypoint WP n WP n-1 WP n-2 Because it is possible to set the reference point P, the user r Intuitive waypoints WP based on this n WP n-1 WP n-2 You can input the settings. Therefore, waypoints WP for autonomous movement of ship S can be used. n WP n-1 WP n-2 This allows for easy and precise setting of waypoints WP in a plane orthogonal coordinate system. n WP n-1 WP n-2 Since this information is output as latitude and longitude, it is easy to implement a configuration that allows users to specify and set a portion of the planned route indicated by latitude and longitude, such as outputting to ECDIS.

[0040] Furthermore, in this embodiment, one reference point P r The nearest waypoint WP n In addition to being able to set waypoints WP n The previous waypoint (WP) n-1 You can set waypoints WP n-1 The waypoint one step back from there (WP) n-2 You can set the reference point P.r Depending on the setting position, the reference point P r It is also possible to set the next waypoint after a waypoint that has been set based on the previous waypoint. In this way, in a plane orthogonal coordinate system, waypoints before and after a given waypoint can be set relative to the position of that waypoint. Since multiple waypoints can be set sequentially in a plane orthogonal coordinate system, the user is saved the trouble of individually specifying each waypoint.

[0041] Furthermore, in this embodiment, the reference point P r However, since it is determined based on the anchoring position of the vessel S, the waypoint WP near the anchoring position in the planned route of the vessel S n WP n-1 WP n-2 This can be precisely set, taking into account the relative positional relationship of the vessel S with respect to its berthing position.

[0042] Furthermore, on the second map based on a plane orthogonal coordinate system, the set waypoints WP are placed. n WP n-1 WP n-2 The waypoint WP will be displayed. n WP n-1 WP n-2 This allows for more intuitive configuration. Additionally, the configured waypoints (WP) can be set. n WP n-1 WP n-2 Since it can be viewed in a plane orthogonal coordinate system, the user can place a waypoint WP at the desired location. n WP n-1 WP n-2 It is easy to check whether the settings have been configured correctly. Furthermore, waypoints WP set in the plane orthogonal coordinate system can be easily verified. n WP n-1 WP n-2 By displaying the waypoints on the first map, which is shown in latitude and longitude, the entire planned route can be viewed at once on the first map in the geographic coordinate system without distinguishing between waypoints set in the geographic coordinate system and waypoints set in the plane orthogonal coordinate system.

[0043] In this embodiment, the processing circuit 2 further includes waypoint WP e WP n WP n-1 WP n-2 Reference line L r The heading of the ship S is calculated from the displacement angle δ. For this purpose, the processing circuit 2 uses a reference line L set in a plane Cartesian coordinate system. r Direction and reference line L r Data showing the correspondence with the azimuth angle is obtained. In this embodiment, the reference line L r The orientation of in the plane orthogonal coordinate system coincides with the x-axis. Processing circuit 2 is based on the reference line L r The azimuth angle is set to the reference line L r First setting point P for setting S1 Latitude and longitude and second setting point P S2 It is calculated from the latitude and longitude of the base line L. r Orientation and reference line L in the plane orthogonal coordinate system r The correspondence with the azimuth angle is shown by the reference line L on the first map in Figure 3. r And the reference line L on the second map shown in Figure 4 r It is represented by the transformation angle θ between the x-axis and true north in a plane orthogonal coordinate system.

[0044] Processing circuit 2 processes each waypoint WP e WP n WP n-1 WP n-2 The system acquires data on the forward direction of the vessel S in a plane orthogonal coordinate system. The forward direction data of the vessel S can be input by the user. For example, the user may numerically input the angle relative to the x-axis in the plane orthogonal coordinate system using the input device 6. Alternatively, for example, a second map may be displayed on a display device 7 configured as a touch panel, and each waypoint WP on the second map may be displayed. e WP n WP n-1 WP n-2 The forward direction may be made inputtable. For example, each waypoint WP shown in Figure 4 e WP n WP n-1WP n-2 The display object of ship S in waypoint WP e WP n WP n-1 WP n-2 The display body of the ship S is made rotatable by the user's drag operation around a central axis, and the processing circuit 2 determines the orientation of the display body of the ship S at the completion of the drag operation to the corresponding waypoint WP. e WP n WP n-1 WP n-2 It may be set as the forward direction in this context.

[0045] Processing circuit 2 uses a reference line L in a plane orthogonal coordinate system. r The displacement angle δ of the ship S in the forward direction relative to L is calculated. In the example in Figure 4, the reference line L r The displacement angle δ of the ship S in the forward direction relative to waypoint WP is e WP n WP n-1 At this point, it is 0°, and waypoint WP n-2 It is 90°.

[0046] Therefore, the processing circuit 2 converts the displacement angle δ and the transformation angle θ to the waypoint WP. e WP n WP n-1 WP n-2 The heading of the ship S is calculated. For example, in the second map, if the transformation angle θ and displacement angle δ between the x-axis and true north in the plane orthogonal coordinate system are set with the x-axis as 0° and increasing clockwise, the processing circuit 2 calculates the angle (δ - θ) for each waypoint WP. e WP n WP n-1 WP n-2 The heading is calculated at each waypoint WP. e WP n WP n-1 WP n-2 Reference line L r The relative displacement angle is converted to the ship's heading in the geographic coordinate system.

[0047] Processing circuit 2 calculates the waypoint WP. e WP n WP n-1 WP n-2 The heading of the ship S in the map is output. For example, the processing circuit 2 displays the first map on the display unit 7 and the waypoint WP. e WP n WP n-1 WP n-2 Waypoint WP based on the ship's heading information e WP n WP n-1 WP n-2 The orientation of the ship S is displayed on the first map. This allows the waypoint WP to be displayed as shown in Figure 3. e WP n WP n-1 WP n-2 The orientation of ship S is displayed on the first map, which is shown by its latitude and longitude.

[0048] Thus, according to this embodiment, each waypoint WP e WP n WP n-1 WP n-2 The heading of the vessel S at each waypoint is output. In conventional configurations, the heading of the vessel S at each waypoint was not defined, making it difficult to autonomously navigate the vessel S based on conventional planned routes that included narrow areas such as straits and harbors. In contrast, according to this embodiment, the heading of the vessel S can be set for each waypoint, thereby improving the accuracy of autonomous navigation based on the planned route.

[0049] Furthermore, when docking a vessel S at a berthing position such as a quay line Q, the orientation of the vessel S relative to the berthing position is predetermined, making it difficult to automatically dock the vessel by simply setting the waypoint position as in the conventional method. Also, while the vessel S can determine its own bowing direction during navigation, it is difficult to determine the direction of an object such as a quay line Q or the displacement angle between the object and the vessel. In contrast, according to this embodiment, the orientation of the vessel S at the time of docking can be set based on its positional relationship with an object such as a quay line Q in the planned route, thus easily realizing automatic docking or docking assistance using the planned route.

[0050] Furthermore, according to this embodiment, the reference line L that serves as the reference for the forward direction of the ship S is r The first setting point P specified by the user S1 and second setting point P S2 Because it can be easily set using this method, the user can set the desired reference line L r The forward direction of the vessel S can be easily set.

[0051] While embodiments of this disclosure have been described above, this disclosure is not limited to the embodiments described above, and various improvements, changes, and modifications are possible without departing from the spirit of this disclosure.

[0052] [Other embodiments] For example, in the above embodiment, the reference line L r The example given was that the line is along the quay line Q, but the reference line L r This can be determined based on fixed or floating structures such as piers and dolphin berths. Also, the reference line L r This does not have to be determined based on the berthing target when the vessel S is at anchor. For example, the reference line L r The reference line L may be determined based on breakwaters, buoys, etc. r This may be determined based on lines or positions on a nautical chart. For example, the baseline L r These may be determined based on breakwater passage lines, port area boundaries, etc.

[0053] Furthermore, in the above embodiment, the reference point P r This is the final waypoint WP, which is the mooring position for ship S. e I have shown an example, but it is not limited to this. Reference point P r It is sufficient that the latitude and longitude are known and the corresponding position on the ship S can be set. Reference point P r This may correspond to a location inside the ship S, or to a location outside the ship S. For example, reference point P r This may correspond to the position of the antenna of a Global Navigation Satellite System (GNSS) such as GPS on the ship S, or to the position of the wheelhouse on the ship S, or to the position of the bow on the ship S.

[0054] Also, reference point P r The point does not have to coincide with a waypoint. For example, reference point P. r The destination may be set to E. In this case, the ship S will be the last waypoint WP. e The relative positions of the ship S and the destination E when it is located at point P are associated. For example, reference point P r When destination E is set, a plane orthogonal coordinate system is established with destination E as the origin, and the last waypoint WP in that plane orthogonal coordinate system is set. e The position of the reference point P may be set by the user. r These can also be determined based on fixed structures, floating structures, breakwaters, buoys, lines or positions on nautical charts, as described above.

[0055] Furthermore, positioning sensors such as GPS are placed at two predetermined locations on the vessel S, and positioning data from when the vessel S was previously anchored at the same location is used to define a baseline L. r or reference point P r This may be configured. In this case, it is preferable that the two positioning sensors are arranged such that the imaginary line connecting the two locations is parallel to the longitudinal direction of the vessel S. For example, the two positioning sensors may be placed at the front and rear ends of the parallel body of the vessel S.

[0056] Furthermore, in the above embodiment, the reference point P r An example was given of a configuration in which multiple waypoints are set based on the reference point P r A waypoint may be established based on this. Also, a reference point P r If multiple waypoints are set based on this, as in the embodiment described above, the waypoints before or after the set waypoint may be set sequentially based on the set waypoint, or multiple waypoints may be set to a single reference point P r It may be set based on its positional relationship with the others.

[0057] Furthermore, in the above embodiment, the output method of the planned route formulation system 1 is the waypoint WP set by the user-specified waypoint setting process. n WP n-1 WP n-2 The example given is that waypoints for the entire planned route, including the waypoints, are displayed on a display unit 7 connected to the input / output interface 4 of the route planning system 1, but this is not limited to this. For example, the route planning system 1 may display waypoints WP designated as targets for configuration changes in ECDIS. n WP n-1 WP n-2 By obtaining the data and executing the user-specified waypoint setting process, the waypoint WP is reconfigured to the location desired by the user. n WP n-1 WP n-2 The edited result data may be output to ECDIS. In this case, the waypoint WP, which was changed in the planning route formulation system 1, will be output to ECDIS. n WP n-1 WP n-2 All waypoints along the planned route, including [specific waypoints], can be displayed on the first map.

[0058] Furthermore, while the above embodiment illustrates a route planning system 1 that assists in the operation of a vessel S, the mobile entity to which the operation assistance is provided is not limited to a vessel S. For example, the mobile entity may include automobiles such as buses, aircraft, etc. Also, the mobile entity is not limited to an autonomously moving entity. For example, in the case of a mobile entity that moves by manual operation, the route planning system 1 may formulate a planned route, and route guidance based on that route may be performed.

[0059] Furthermore, the route planning system 1 in the above embodiment may be installed inside the target mobile body or outside the mobile body. In other words, the target mobile body in the route planning system 1 can be arbitrarily set or selected. That is, the user of the route planning system 1 does not have to be a passenger on the target mobile body. For example, if the mobile body is a ship S, the user of the route planning system 1 may be a land-based administrator managing the ship S.

[0060] Furthermore, the route planning system 1 may be configured as a single device or as a set of multiple devices. For example, the input / output interface 4, input device 6, and display device 7 may be installed inside the mobile body, while the processing circuit 2 and memory device 3 may be installed outside the mobile body, for example, on a predetermined server. In this case, the input / output interface 4 installed inside the mobile body and the processing circuit 2 and memory device 3 installed outside the mobile body are connected via a communication network such as the Internet. In a route planning system 1 with such a configuration, the mobile body can use the external device, including the processing circuit 2 and memory device 3, as a cloud to plan the mobile body's route. In addition, various combinations of one or more devices constituting the route planning system 1 can be adopted, such as the processing circuit 2 and memory device 3 being configured as separate devices.

[0061] [Summary of this disclosure] [Aspect 1] A route planning system according to one aspect of the present disclosure is a route planning system for planning a route for a moving object, comprising a processing circuit, the processing circuit acquiring data of a reference point defined by latitude and longitude, acquiring data of two coordinate axes constituting a plane orthogonal coordinate system whose origin is determined based on the reference point, acquiring two-dimensional coordinate data of a waypoint in the plane orthogonal coordinate system, calculating the latitude and longitude of the waypoint from the positional relationship between the waypoint and the reference point in the plane orthogonal coordinate system and the latitude and longitude data of the reference point, and outputting the calculated latitude and longitude information of the waypoint.

[0062] With the above configuration, waypoints can be set in a plane orthogonal coordinate system with the origin set at a position based on a reference point. Therefore, users can intuitively input waypoint settings based on the reference point. Consequently, waypoints in the planned route for assisting the driving of a moving object can be set easily and precisely.

[0063] [Aspect 2] In the planning route formulation system described in Embodiment 1, the processing circuit may acquire data showing the correspondence between the orientation of a reference line in the plane orthogonal coordinate system and the azimuth angle of the reference line, acquire data on the forward direction of the moving body at the waypoint in the plane orthogonal coordinate system, calculate the orientation of the moving body at the waypoint from the displacement angle of the moving body in the forward direction relative to the reference line in the plane orthogonal coordinate system and the correspondence between the orientation of the reference line in the plane orthogonal coordinate system and the azimuth angle of the reference line, and output the calculated orientation of the moving body at the waypoint. This makes it possible to set the orientation of the moving body for each waypoint, thereby improving the accuracy of driving assistance for the moving body.

[0064] [Aspect 3] In the planning route formulation system described in Embodiment 2, the processing circuit may acquire data for a first setting point and a second setting point defined by latitude and longitude, use a straight line connecting the first setting point and the second setting point as the reference line, and calculate the azimuth angle of the reference line from the latitude and longitude of the first setting point and the latitude and longitude of the second setting point. This allows the user to easily set a reference line that serves as the basis for the forward direction of the moving body, and thus makes it easy for the user to set the forward direction of the moving body relative to the reference line they desire.

[0065] [Aspect 4] In the route planning system described in any of embodiments 1 to 3, the moving body may include a vessel, and the reference point may be determined based on the anchorage position of the vessel. This allows for the precise setting of waypoints near the anchorage position for the vessel's planned route.

[0066] [Aspect 5] The route planning system described in any of embodiments 1 to 4 includes a display that shows a first map indicated by latitude and longitude, and the processing circuit may display the position of the waypoint on the first map based on the latitude and longitude information of the waypoint. Since waypoints set in a plane orthogonal coordinate system are displayed on the first map indicated by latitude and longitude, the entire planned route can be viewed at once on the first map in the geographic coordinate system without distinguishing between waypoints set in a geographic coordinate system and waypoints set in a plane orthogonal coordinate system.

[0067] [Aspect 6] The route planning system described in embodiments 1 to 5 includes a display that shows a second map based on the plane orthogonal coordinate system, and the processing circuit may display the position of the waypoint on the second map based on the two-dimensional coordinate data of the waypoint. By displaying the set waypoints on the second map based on the plane orthogonal coordinate system, waypoints can be set more intuitively. In addition, since the set waypoints can be confirmed in the plane orthogonal coordinate system, the user can easily confirm whether the waypoints have been set at the desired positions.

[0068] [Aspect 7] A route planning method according to another aspect of the present disclosure is a route planning method for planning a route for a moving object, comprising: acquiring data of a reference point defined by latitude and longitude; acquiring data of two coordinate axes constituting a plane orthogonal coordinate system whose origin is determined based on the reference point; acquiring two-dimensional coordinate data of a waypoint in the plane orthogonal coordinate system; calculating the latitude and longitude of the waypoint from the positional relationship between the waypoint and the reference point in the plane orthogonal coordinate system, and the latitude and longitude data of the reference point; and outputting the calculated latitude and longitude information of the waypoint.

[0069] [Aspect 8] A planning route planning program relating to other aspects of this disclosure causes at least one processor to execute the method described in aspect 7. [Explanation of Symbols]

[0070] 1. Route Planning System 4 Processing Circuit 7 Display L r Reference line P r Reference point P S1 First setting point P S2 Second setting point S Ship (mobile) WP e WP n WPn-1 WP n-2 Waypoint

Claims

1. A route planning system for formulating planned routes for moving objects, Equipped with a processing circuit, The aforementioned processing circuit is By obtaining data on reference points defined by latitude and longitude, Based on the aforementioned reference point, data for two coordinate axes constituting a plane orthogonal coordinate system whose origin is determined is obtained. Obtain the two-dimensional coordinate data of the waypoint in the aforementioned orthogonal coordinate system, From the positional relationship between the waypoint and the reference point in the aforementioned orthogonal coordinate system, and the latitude and longitude data of the reference point, the latitude and longitude of the waypoint are calculated. A route planning system that outputs the latitude and longitude information of the calculated waypoints.

2. The aforementioned processing circuit is Data is obtained showing the correspondence between the orientation of the reference line in the aforementioned orthogonal coordinate system and the azimuth angle of the reference line. The data of the forward direction of the moving body in the plane orthogonal coordinate system at the waypoint is obtained, The orientation of the moving body at the waypoint is calculated from the displacement angle in the forward direction of the moving body with respect to the reference line in the aforementioned orthogonal coordinate system, and the correspondence between the orientation of the reference line in the aforementioned orthogonal coordinate system and the azimuth angle of the reference line. The route planning system according to claim 1, which outputs the orientation of the moving object at the calculated waypoint.

3. The aforementioned processing circuit is We acquire data for the first and second setpoints, which are defined by latitude and longitude. The planning route formulation system according to claim 2, wherein a straight line connecting the first setting point and the second setting point is used as the reference line, and the azimuth angle of the reference line is calculated from the latitude and longitude of the first setting point and the latitude and longitude of the second setting point.

4. The aforementioned moving body includes a ship, The route planning system according to any one of claims 1 to 3, wherein the reference point is determined based on the anchoring position of the vessel.

5. It is equipped with a display that shows a first map indicated by latitude and longitude, The planning route planning system according to any one of claims 1 to 3, wherein the processing circuit displays the location of the waypoint on the first map based on the latitude and longitude information of the waypoint.

6. The system includes a display that shows a second map based on the aforementioned orthogonal coordinate system, The planning route planning system according to any one of claims 1 to 3, wherein the processing circuit displays the position of the waypoint on the second map based on the two-dimensional coordinate data of the waypoint.

7. A method for formulating a planned route for a moving object, By obtaining data on reference points defined by latitude and longitude, Based on the aforementioned reference point, data for two coordinate axes constituting a plane orthogonal coordinate system whose origin is determined is obtained. Obtain the two-dimensional coordinate data of the waypoint in the aforementioned orthogonal coordinate system, From the positional relationship between the waypoint and the reference point in the aforementioned orthogonal coordinate system, and the latitude and longitude data of the reference point, the latitude and longitude of the waypoint are calculated. A method for formulating a planned route, which outputs the latitude and longitude information of the calculated waypoints.

8. A route planning program that causes at least one processor to perform the method according to claim 7.

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