JP2006267008A - Navigation system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a technology for searching a route to return to the original route early in the case of deviating from the original route (when making a detour or the like). <P>SOLUTION: This navigation system searches a route to return to an intersection as close as possible from a deviation point. In searching a detour route to avoid congestion or the like, for instance, the detour route to return to an intersection on the original route and an intersection existing immediately after an avoidance point is searched. Also when the present position deviates from the original route, a route to return to the original route at an intersection as close as possible to (an intersection immediately after) a deviation point is searched. The choice of a point to which a user desires to return may be accepted from the user, and at least up to that point, the route to return to the original route is searched. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a navigation device, and more particularly to a route search technique for an in-vehicle navigation device.

  Patent Document 1 describes an in-vehicle navigation device that displays traffic jam information and regulation information on a guidance route (recommended route) and receives selection of traffic jam and regulation to be avoided. When a traffic jam or regulation to be avoided is selected, this in-vehicle navigation device searches for a detour route that avoids the traffic jam or the location of the regulation.

JP 2004-226168 A

  By the way, the user travels while keeping in mind the approximate route to the destination. If a route significantly different from the original route is presented during traveling, the user will be confused. Therefore, when presenting a detour route, it is better to present a route that is not far from the original route. In the technique of Patent Document 1, the detour route is not always a route that immediately returns to the original route. Depending on the travel time and travel distance, a completely new route that does not return to the original route may be searched and displayed.

  An object of the present invention is to provide a technique for searching for a route that quickly returns to the original route when deviating from the original route.

  In order to solve the above-described problem, when the navigation device deviates from the original route, the navigation device searches for a route that returns to the original route as close as possible to the departure point.

  For example, the first navigation device of the present invention includes a route search unit that searches for a recommended route, an avoidance point setting unit that sets an avoidance point on the recommended route, and a detour that searches for a bypass route that avoids the avoidance point. Route search means. Then, the detour route search means searches for a detour route that returns to the intersection that is on the recommended route and immediately after the avoidance point.

  The bypass route search means may search for a bypass route that is an intersection on the recommended route and that avoids between the intersections before and after the avoidance point.

  Further, when an avoidance point is received by the avoidance point reception unit, a return point reception unit that receives a return point on the recommended route, and avoids the avoidance point and returns to the recommended route at least by the return point You may have a detour route search means which searches for a detour route.

  Further, the second navigation device of the present invention includes route search means for searching for a recommended route, departure determination means for determining whether or not the current position has deviated from the recommended route, and the current position is determined by the departure determination means. A return route search means for searching for a return route to return to the recommended route when it is determined that the recommended route has been deviated; Then, the return route search means searches for a return route that returns to the intersection immediately after the intersection on the recommended route that deviates from the current position.

  Further, when it is determined by the departure determination means that the current position has deviated from the recommended route, return point setting means for setting a return point on the recommended route and return to the recommended route at least by the return point You may have a return route search means which searches for a return route.

  An embodiment of the present invention will be described below with reference to the drawings.

  FIG. 1 is a schematic configuration diagram of a navigation system according to an embodiment of the present invention. As shown in the figure, the navigation system of the present embodiment includes an in-vehicle navigation device 100 and a traffic information distribution server 200. The traffic information distribution server 200 is connected to the radio base station 202 via the network 201. The in-vehicle navigation device 100 is connected to the traffic information distribution server 200 via the radio base station 202. The traffic information distribution server 200 distributes traffic information held by the traffic information distribution server 200 to the in-vehicle navigation apparatus 100 via the FM multiplex broadcasting station 204, the beacon 205, and the like.

  The traffic information distribution server 200 is a server device that distributes traffic information to the in-vehicle navigation device 100. The traffic information distribution server 200 holds traffic information such as traffic jam information and traffic regulation information in its own storage device. The traffic jam information includes information indicating a traffic jam location, information indicating a traffic jam time zone, and traffic jam content. The information indicating the location of the traffic jam includes information specifying the coordinate position of the traffic jam and the road related to the traffic jam (such as a road name, a mesh ID and a link ID described later). The content of the traffic jam includes the type of traffic jam such as an accident traffic jam or a natural traffic jam, the traffic jam degree, the link travel time, and the like. The traffic regulation information includes information indicating a regulation location, information indicating a regulation time zone, and the contents of the regulation. The information indicating the place of restriction includes information (a road name, a mesh ID, a link ID, etc., which will be described later) specifying the coordinate position of the place of restriction and the road to be restricted. The contents of the regulation include, for example, road closure, right / left turn regulation, speed regulation, lane regulation, one-side regulation, chain regulation, on-ramp regulation, large-scale closure, movement regulation, off-ramp regulation, and the like.

  FIG. 2 is a schematic configuration diagram of the in-vehicle navigation device 100. As shown in the figure, the in-vehicle navigation device 100 includes an arithmetic processing unit 1, a display 2, a storage device 3, a voice input / output device 4, an input device 5, a wheel speed sensor 6, a geomagnetic sensor 7, It has a gyro sensor 8, a GPS (Global Positioning System) receiver 9, an in-vehicle LAN device 11, an FM multiplex broadcast receiver 12, a beacon receiver 13, and a network communication device 15.

  The arithmetic processing unit 1 is a central unit that performs various processes. For example, the present location is detected based on information output from the various sensors 6 to 8 and the GPS receiver 9. Further, map data necessary for display is read out from the storage device 3 based on the obtained current location information. Further, the read map data is developed in graphics, and a mark indicating the current location is superimposed on the map data and displayed on the display 2. Further, using the map data stored in the storage device 3 and the time-series traffic information received from the traffic information distribution server 200, an optimum route (recommended) connecting the destination instructed by the user and the current location (departure location) Route). Further, the user is guided using the voice input / output device 4 and the display 2.

  The display 2 is a unit that displays graphics information generated by the arithmetic processing unit 1. The display 2 is composed of a CRT, a liquid crystal display, or the like. The signal S1 between the arithmetic processing unit 1 and the display 2 is generally connected by an RGB signal or an NTSC (National Television System Committee) signal.

  The storage device 3 is composed of a storage medium such as a CD-ROM, DVD-ROM, HDD, or IC card. In this storage medium, map data 300 is stored.

  FIG. 3 is a diagram illustrating the configuration of the map data 300. The map data 300 includes, for each mesh identification code (mesh ID) 310, which is a partitioned area on the map, link data 311 of each link constituting a road included in the mesh area.

  For each link ID 321, the link data 311 includes coordinate information 322 of two nodes (start node and end node) constituting the link, road type information 323 including the link, link length information 324 indicating the link length, link The travel time 325 includes a link ID (connection link ID) 326 of a link connected to each of the two nodes. Here, by distinguishing the start node and the end node for the two nodes constituting the link, the upward direction and the downward direction of the same road are managed as different links. Further, the link travel time 325 may be a link travel time associated with each condition such as date and weather.

  The map data 300 includes intersection position information, and also includes a node ID of a node corresponding to the intersection. For intersections classified as “main intersections”, information to that effect is included.

  The map data 300 also includes information (name, type, coordinate information, etc.) on map components other than roads included in the corresponding mesh area.

  Returning to FIG. The voice input / output device 4 converts the message to the user generated by the arithmetic processing unit 1 into a voice signal and outputs it. Also, a process of recognizing the voice uttered by the user and transferring the contents to the arithmetic processing unit 1 is performed.

  The input device 5 is a unit that receives instructions from the user. The input device 5 includes a hard switch such as a scroll key and a scale change key, a joystick, a touch panel pasted on a display, and the like.

  The sensors 6 to 8 and the GPS receiver 9 are used for detecting the current location (vehicle position) by the vehicle-mounted navigation device 100. The wheel speed sensor 6 measures the distance from the product of the wheel circumference and the measured number of rotations of the wheel, and further measures the angle at which the moving body is bent from the difference in the number of rotations of the paired wheels. The geomagnetic sensor 7 detects the magnetic field held by the earth and detects the direction in which the moving body is facing. The gyro 8 is configured by an optical fiber gyro, a vibration gyro, or the like, and detects an angle at which the moving body rotates. The GPS receiver 9 receives a signal from a GPS satellite and measures the distance between the mobile body and the GPS satellite and the rate of change of the distance with respect to three or more satellites to thereby determine the current position, travel speed, and travel of the mobile body. Measure orientation.

  The in-vehicle LAN device 11 receives various information of the vehicle on which the in-vehicle navigation device 100 is mounted, such as door opening / closing information, light lighting state information, engine status, failure diagnosis result, and the like.

  The FM multiplex broadcast receiver 12 receives the rough current traffic information, regulation information, SA / PA (service station / parking) information, parking lot information, weather information, etc. sent from the FM multiplex broadcast station 204 as FM multiplex broadcast signals. Receive.

  The beacon receiving device 13 receives current traffic information, regulation information, SA / PA information, parking lot information, and the like sent from the beacon 205.

  The network communication device 15 mediates exchange of information between the in-vehicle navigation device 100 and the traffic information distribution server 200. In addition, the traffic information distribution server 200 is accessed periodically or during route search, and traffic jam information and regulation information are received.

  FIG. 4 is a functional block diagram of the arithmetic processing unit 1.

  As illustrated, the arithmetic processing unit 1 includes a user operation analysis unit 41, a route search unit 42, a route guidance unit 43, a current position calculation unit 44, an information storage unit 45, a display processing unit 46, and a received information processing. Part 48.

  The user operation analysis unit 41 receives a request from the user input to the input device 5, analyzes the request content, and controls each unit of the arithmetic processing unit 1 so that processing corresponding to the request content is executed. To do. For example, when the user requests a search for a recommended route, the display processing unit 45 is requested to display a map on the display 2 in order to set a destination. Further, it requests the route search unit 42 to calculate a route from the current location (departure location) to the destination.

  The current position calculation unit 44 uses distance data and angle data obtained as a result of integrating the distance pulse data S5 measured by the wheel speed sensor 6 and the angular acceleration data S7 measured by the gyro 8, respectively. The current position (X ′, Y ′), which is the position after the vehicle travels, is periodically calculated from the initial position (X, Y). Further, by performing map matching processing using the calculation result, the current location is matched with the road (link) having the highest shape correlation.

  The route search unit 42 uses a Dijkstra method or the like to search for a route that minimizes the cost (for example, travel time) of a route connecting two designated points (current location, destination).

  The route guidance unit 43 performs route guidance using the route searched by the route search unit 42. For example, the information on the route is compared with the information on the current location, and the voice input / output device 4 is used to inform the user by voice whether the vehicle should go straight before passing an intersection or the like. Further, the route guiding unit 43 displays the direction to travel on the map displayed on the display 2 and notifies the user of the recommended route.

  The display processing unit 46 receives map data in an area required to be displayed on the display 2 from the storage device 3, and at a specified scale and drawing method, roads, other map components, current location, destination, A map drawing command is generated so as to draw a mark such as an arrow for the recommended route. Then, the generated command is transmitted to the display 2.

  The reception information processing unit 48 stores the received traffic jam information and regulation information in the information storage unit 45. When the storage device 3 is configured by a rewritable HDD, flash ROM, or the like, the reception information processing unit 47 may store the received information in the storage device 3.

  FIG. 5 is a diagram illustrating a hardware configuration example of the arithmetic processing unit 1.

  As illustrated, the arithmetic processing unit 1 has a configuration in which devices are connected by a bus 32. The arithmetic processing unit 1 includes a CPU (Central Processing Unit) 21 that executes various processes such as numerical calculation and control of each device, and a RAM (Random Access Memory) that stores map data, arithmetic data, and the like read from the storage device 3. ) 22, a ROM (Read Only Memory) 23 for storing programs and data, a DMA (Direct Memory Access) 24 for transferring data between the memories and between the memory and each device, and graphics drawing. In addition, a drawing controller 25 that performs display control, a video random access memory (VRAM) 26 that stores graphics image data, a color palette 27 that converts image data into RGB signals, and an A / D that converts analog signals into digital signals. Converter 28 and an SCI (Serial Communication Interface) that converts the serial signal into a parallel signal synchronized with the bus. ace) 29, a PIO (Parallel Input / Output) 30 that puts a parallel signal on the bus in synchronization with the bus, and a counter 31 that integrates the pulse signal.

  [Description of Operation] Next, the operation of the in-vehicle navigation device 100 having the above-described configuration will be described.

  When the route search unit 42 receives a route search request from the user via the input device 5, the route search unit 42 sets a departure point (current position) and a destination, and searches for a recommended route therebetween. For example, the route search unit 42 searches for a route with the minimum total cost by the Dijkstra method or the like using the link travel time as the link cost and sets it as a recommended route. If you have traffic information, you can either exclude the links that make up a road with traffic jams or weight the costs of the links to make it difficult for you to pass through the traffic jam links. I do.

  The route guidance unit 43 starts route guidance using the route thus searched.

  FIG. 6 is a flowchart of the operation during such route guidance.

  The route guidance unit 43 displays a map around the current position on the display 2 via the display processing unit 46 during route guidance. The recommended route is displayed along with the current position on the map, and route guidance is performed.

  FIG. 7 is a display example of the display 2 during route guidance. As shown in the drawing, a map 501 around the current position 502 is displayed on the display screen 500. A recommended route 503 is displayed on the map.

  The route guidance unit 43 monitors traffic information and regulation information from FM multiplex broadcast stations, beacons, and the like during route guidance. When traffic jam information or regulation information is obtained, the location of traffic jam or traffic regulation is displayed in correspondence with the position on the map.

  FIG. 8 shows a state in which the traffic information 504 is displayed on the map as a result of obtaining the traffic information. In the present embodiment, the traffic jam information and the regulation information are displayed so as to be selectable via the input device 5.

  During route guidance, the route guidance unit 43 accepts selection of points to be avoided. In the present embodiment, any point on the recommended route can be set as a point to be avoided. The route guidance unit 43 receives a point to be avoided by the cursor 505 on the screen via the input device 5 from the user. The route guiding unit 43 sets the point at the position of the cursor 505 as a point to be avoided.

  Further, when the traffic jam information or the regulation information displayed on the map is selected by the cursor 505, the route guiding unit 43 sets the position of the link related to the traffic jam information or the regulation information as a point to be avoided.

  Thus, when the point to be avoided (avoidance point) is received and set (Yes in S102), the route guidance unit 43 instructs the route search unit 42 to search for a detour route.

  In response, the route search unit 42 first refers to the map data 300 and extracts intersections that are on the recommended route and before and after the avoidance point. In the example of FIG. 8, an intersection 511 and an intersection 512 are extracted. The route guidance unit 43 may extract an intersection from those registered as “main intersections” included in the map data 300. In this way, it is possible to prevent an excessively small intersection that does not belong to the “main intersection” from being extracted.

  Next, the route search unit 42 searches for a detour route that avoids between the extracted intersections 511 and 512. Specifically, the link between the intersections 511 and 512 on the recommended route is excluded, and the route between the intersections 511 and 512 is searched.

  If a detour route cannot be searched, the intersection is extracted again and searched again. Specifically, an intersection that is on the recommended route and that is next to the previously extracted intersection (that is, far from the current position) is extracted as the intersection of the return point to the recommended route. Then, the route from the intersection just before the avoidance point to the intersection of the newly extracted return point is searched again. Until the detour route is searched, the intersection of the return point is shifted away from the avoidance point, and the search is performed again. In this way, it is possible to search for a detour route that is a returnable intersection and returns to the nearest intersection from the avoidance point.

  When the detour route is searched, the route guidance unit 42 displays the searched detour route (S108).

  FIG. 9 shows a state in which the detour route 506 is displayed. As shown in the figure, a detour route 506 from the departure point intersection 511 to the return point intersection 512 is displayed.

  Next, the route search unit 42 receives a selection as to whether or not to set the detour route as a recommended route (guide route) (S110).

  When the user requests not to set the detour route as the recommended route via the input device 5 (No in S110), the route guiding unit 43 sets the searched detour route as the recommended route without setting the current detour route as the recommended route. Continue route guidance using the recommended route.

  On the other hand, when it is requested to set the detour route as the recommended route (Yes in S110), the route guidance unit 43 sets the detour route as the recommended route and resumes the route guidance (S112).

  FIG. 10 shows a state in which a route including the detour route 506 is displayed as the recommended route 503 as a result of setting the searched detour route as the recommended route.

  The first embodiment has been described above.

  According to this embodiment, when there is a point to be avoided, it is possible to search for a detour route that returns as soon as possible to the original route while avoiding the point.

  It is also possible to search for a route that avoids only a route between intersections before and after the set avoidance point. Therefore, it is possible to keep the number of sections to be avoided to a minimum, and to prevent a route greatly different from the original route from being displayed as a recommended route. That is, even if a detour is made, a route that is significantly different from the original route is not searched and displayed, so that the user is not confused.

<Second Embodiment>
Since the second embodiment has a configuration similar to that of the first embodiment, description of the common configuration may be omitted.

  In the present embodiment, when the current position deviates from the recommended route during route guidance, a route that returns as early as possible to the original route is searched for and displayed.

  FIG. 11 is a flowchart of a process flow during route guidance.

  The route guiding unit 43 monitors whether or not the current position obtained from the current position calculating unit 44 deviates from the recommended route (S202).

  FIG. 12 is a screen display example showing a state where the current position 502 deviates from the recommended route 503 during route guidance. At the intersection 511, it can be seen that the vehicle deviates from the recommended route 503.

  Returning to FIG. When the current position deviates from the recommended route (Yes in S202), the route guidance unit 43 instructs the route search unit 42 to search for a route that returns as early as possible to the original route (recommended route).

  In response, the route search unit 42 first sets an intersection 512 that is on the recommended route and that is next to the departure point intersection 511 as the return point intersection. Then, a route (referred to as “return route”) from the current position 502 to the intersection 512 of the return point is searched (S204).

  If the return route to the intersection set as the return point cannot be searched, the next intersection after the intersection set as the return point intersection (that is, the next distant intersection from the current position on the water soluble route) ) Is set again at the intersection of the return point, and the return route is searched again.

  Next, the route search unit 42 displays the searched return route (S208).

  FIG. 13 shows a state where the return route 508 to the intersection 512 of the return point is displayed.

  Next, the route search unit 42 receives a selection as to whether or not to set the return route as a recommended route (S210).

  When the user requests not to set the return route as the recommended route via the input device 5 (No in S210), the route guiding unit 43 sets the searched return route as the recommended route without setting the current return route as the recommended route. Continue route guidance using the recommended route.

  On the other hand, when it is requested to set the detour route as the recommended route (Yes in S110), the route guidance unit 43 sets the return route as the recommended route and resumes route guidance (S212).

  FIG. 14 shows a state in which a route including the return route 508 is displayed as the recommended route 503 as a result of setting the searched return route as the recommended route.

  The second embodiment has been described above.

  According to the present embodiment, when a departure from the recommended route is made, a return route that returns as soon as possible to the original route can be searched.

  It is also possible to search for a route that returns to the intersection immediately after the point of departure. Therefore, the deviating section can be kept to a minimum, and a route that is significantly different from the original route can be prevented from being displayed as a recommended route. That is, even if the route deviates, a route that is significantly different from the original route is not searched for and displayed, and the user is not confused.

  <Modification> The above-described embodiment can be variously modified.

  For example, the user may receive a point where the user wishes to return via the input device 5 and at least search for a detour route or return route that returns to that point.

  For example, some users may want to avoid traffic jams and restrictions, but always want to stop by a ramen shop. In such a case, it is not always possible to return to the recommended route up to the point of the ramen shop ahead on a route that avoids traffic jams and restrictions.

  Therefore, when searching for a detour route or a return route, a return point designation is received from the user before that.

  FIG. 15 is a flowchart of processing in such a case. The processing flow is basically the same as the processing flow shown in FIG.

  When the route guidance unit 43 receives the avoidance point (S102), it subsequently receives the designation of the return point on the recommended route (S105). The designation of the return point can be accepted by a cursor on the map.

  When receiving the return point, the route search unit 42 searches for a detour route that returns to the recommended route at least by the designated return point. Specifically, the route from the intersection located before the avoidance point (intersection of the departure point) to the designated return point is searched. However, the route search is performed by excluding the links constituting the recommended route between the intersections before and after the avoidance point (S107). In this way, it is possible to search for a detour route that avoids the avoidance point and returns to at least the recommended route to the designated return point. The subsequent processing (S108 to S112) is as described above.

  FIG. 16 shows a state where a route 506 that returns to the recommended route 503 is searched for and displayed by the designated return point 506x.

  FIG. 17 is a flowchart of processing when the return point is designated in the embodiment (second embodiment) in which the return route is searched when the recommended route is deviated. The process flow is basically the same as the process flow shown in FIG.

  When the route guiding unit 43 detects a deviation from the recommended route (Yes in S202), the route guiding unit 43 subsequently accepts designation of a return point on the recommended route (S205). The designation of the return point can be accepted by a cursor on the map.

  When the return point is received, the route search unit 42 searches for a return route that returns to the recommended route at least by the designated return point. Specifically, the route from the intersection of the departure point to the designated return point is searched (S207). The subsequent processing (S208 to S212) is as described above.

  FIG. 18 shows a state where a route 508 that returns to the recommended route 503 is searched and displayed up to the designated return point 508x.

  Heretofore, some embodiments and modifications have been described.

  In the above embodiment, an example in which the present invention is applied to a vehicle-mounted navigation device has been described. However, the present invention can also be applied to a navigation device other than a vehicle-mounted navigation device.

FIG. 1 is a schematic configuration diagram of a navigation system to which an embodiment of the present invention is applied. FIG. 2 is a schematic configuration diagram of the in-vehicle navigation device. FIG. 3 is a diagram illustrating a configuration example of map data stored in the storage device 3. FIG. 4 is a diagram illustrating a hardware configuration of the arithmetic processing unit 1. FIG. 5 is a diagram illustrating a functional configuration of the arithmetic processing unit 1. FIG. 6 is a flowchart of processing during route guidance (when detouring). FIG. 7 is a display example during route guidance. FIG. 8 is a display example during route guidance. FIG. 9 is a display example during route guidance. FIG. 10 is a display example during route guidance. FIG. 11 is a flowchart of processing during route guidance (when deviating from a recommended route). FIG. 12 is a display example during route guidance. FIG. 13 is a display example during route guidance. FIG. 14 is a display example during route guidance. FIG. 15 is a flowchart of processing during route guidance. FIG. 16 is a display example during route guidance. FIG. 17 is a flowchart of processing during route guidance. FIG. 18 is a display example during route guidance.

Explanation of symbols

100: In-vehicle navigation device,
200 ... Traffic information distribution server,
201 ... Network, 202 ... Wireless base station, 204 ... FM multiplex broadcasting station, 205 ... Beacon,
DESCRIPTION OF SYMBOLS 1 ... Arithmetic processing part, 2 ... Display, 3 ... Memory | storage device, 4 ... Voice input / output device, 5 ... Input device, 6 ... Wheel speed sensor, 7 ... Geomagnetic sensor, 8 ... Gyro, 9 ... GPS receiver, 21 ... CPU, 22 ... RAM, 23 ... ROM, 24 ... DMA, 25 ... Drawing controller, 26 ... VRAM, 27 ... Color palette, 28 ... A / D converter, 29 ... SCI, 30 ... PIO, 31 ... Counter, 41 ... User operation analysis unit, 42 ... route search unit, 43 ... route guidance unit, 44 ... current position calculation unit, 45 ... information storage unit, 46 ... display processing unit, 48 ... received information processing unit

Claims (8)

A navigation device,
A route search means for searching for a recommended route;
Avoidance point setting means for setting an avoidance point on the recommended route;
Detour route search means for searching for a detour route that avoids the avoidance point,
The detour route search means includes:
A navigation device that searches for a detour route that is an intersection on the recommended route and returns to an intersection immediately after the avoidance point. In claim 1,
Having means for storing major intersections on the road;
The detour route search means includes:
A navigation device that searches for a detour route that returns to a main intersection on the recommended route and immediately after the avoidance point. A navigation device,
A route search means for searching for a recommended route;
Avoidance point setting means for setting an avoidance point on the recommended route;
Detour route search means for searching for a detour route that avoids the avoidance point,
The detour route search means includes:
A navigation device that searches for a detour route that is an intersection on the recommended route and that avoids between intersections before and after the avoidance point. In claim 3,
Having means for storing major intersections on the road;
The detour route search means includes:
A navigation device that searches for a detour route that avoids a main intersection on the recommended route before and after the avoidance point. In claim 1,
Traffic information receiving means for receiving traffic information;
Traffic information display means for displaying received traffic information;
Selection accepting means for accepting selection of displayed traffic information;
The avoidance point setting means includes:
A navigation apparatus characterized in that a point related to traffic information whose selection is received by the selection receiving means is set as an avoidance point. A navigation device,
A route search means for searching for a recommended route;
Avoidance point accepting means for accepting an avoidance point on the recommended route;
When an avoidance point is received by the avoidance point reception unit, a return point reception unit that receives a return point on the recommended route;
A navigation device, comprising: a bypass route search means for searching for a bypass route that avoids the avoidance point and returns to the recommended route at least by the return point. A navigation device,
A route search means for searching for a recommended route;
Deviation determination means for determining whether or not the current position has deviated from the recommended route;
When it is determined by the departure determination means that the current position has deviated from the recommended route, return route search means for searching for a return route to return to the recommended route,
The return route search means includes
A navigation device that searches for a return route that returns to an intersection immediately after a point on the recommended route that deviates from the current position. A navigation device,
A route search means for searching for a recommended route;
Deviation determination means for determining whether or not the current position has deviated from the recommended route;
When it is determined that the current position has deviated from the recommended route by the departure determining means, return point setting means for setting a return point on the recommended route;
A navigation device comprising return route search means for searching for a return route that returns to the recommended route at least by the return point.

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