JP2008003027A - Navigation apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a navigation apparatus which proposes drop-in places where its user can drop in within a desired required time up to a destination, and which are favorable for the user. <P>SOLUTION: The navigation apparatus for displaying a route from the current position of its vehicle up to the destination, finds an estimated time to be considered necessary for reaching the destination by the route, displays drop-in places which the user can drop in at and pass through within a margin time being the difference between an input desired required time and the estimated necessary time according to the degree of a user's taste, when the estimated necessary time is shorter than the desired required time, and urges to perform selection of the drop-in places and input, and when at least one of the drop-in places is selected and input, displays a route passing through the selected drop-in place. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a navigation device that displays a route of a vehicle, and more particularly, to a navigation device that prompts a user to select a destination that can be routed within a desired required time to a destination.

  In-vehicle navigation devices, which have been widely used in recent years, detect the current position of a vehicle by using GPS (Global Positioning System) when a destination and a desired time are input, and within the desired time from the current position. The route that can reach the destination is searched from the map information, displayed to the user, and guided. The time required for a route searched by such a navigation device is calculated using the past average travel speed, etc., but due to factors such as the actual travel speed and traffic congestion, it is assumed that the destination will arrive within the desired travel time. Not exclusively.

For example, when the vehicle travels at a speed faster than the calculated traveling speed and arrives at the destination earlier than the desired time, there may be a margin time difference between the desired arrival time and the estimated arrival time. As a method of effectively utilizing such spare time, there is a patent on a navigation device that displays a detour that can be visited in a spare time when it is expected to arrive earlier than the original desired arrival time during route guidance. It is described in Document 1. Patent Document 2 discloses a navigation device that displays a position of a facility suitable for a purpose when the user intends a purpose different from the original purpose while traveling.
Japanese Patent No. 3228640 Japanese Patent Laid-Open No. 10-89981

  However, the detour point proposed by the conventional navigation device as described above is searched based on the required time when the detour is routed, and therefore, it is not always a suitable detour point for the user. In addition, when the user inputs a purpose, the user's operation becomes complicated.

  Accordingly, an object of the present invention made in view of the above is to provide a navigation device that can stop within a desired time required to reach a destination and propose a suitable detour for the user.

  In order to achieve the above object, according to a first aspect of the present invention, there is provided a navigation device for displaying a route from a current position of a vehicle to a destination, the estimated required time to the destination by the route. If the planned required time is shorter than the input desired required time, a detour that can be routed within a margin time that is the difference between the desired required time and the planned required time is determined according to the degree of user preference. A display is prompted to input a selection, and when at least one of the detours is selected and input, a route passing through the selected detour is displayed.

  According to the first aspect, it is possible to stop by within the desired required time and to propose a detour that meets the user's preference, so that there is no time left and the user's satisfaction is improved. be able to.

  According to a preferred aspect of the first aspect, the storage unit stores the detour destination in association with its genre, stores a history of selecting and inputting the detour destination as a destination or detour, A navigation apparatus navigation device is provided, wherein the degree of preference of a user for a detour destination is the frequency of the selection input for the detour destination or another detour destination of the same genre as the detour destination. According to this aspect, the navigation device can learn the user's preference genre from destinations and destinations that have been input in the past. Therefore, even if the user does not bother to input preferences and purposes, the preferred destination It is possible to propose a destination and improve user satisfaction.

  According to the above aspect of the present invention, it is possible to make a detour by effectively utilizing the desired required time to the destination, and a route to a suitable detour destination suitable for the user's preference even if the user does not input the purpose and preference. Can be set. Therefore, a navigation device that can present a more satisfactory route to the user without having time to spare is provided.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the technical scope of the present invention is not limited to these embodiments, but extends to the matters described in the claims and equivalents thereof.

  FIG. 1 is a diagram for explaining the configuration of the navigation device according to the present embodiment. In this navigation device 100, when the destination and the desired arrival time are input from the input operation unit 40, the CPU 10 searches for a route from the map information 24 according to the navigation program 22 stored in the storage unit 20, and displays the route. Start user guidance based. The CPU 10 acquires various types of information from the vehicle speed sensor 60, the direction sensor 70, the GPS receiver 80, and the VICS information receiver 90 via the interface 12 when performing route search / guidance, and performs various arithmetic processes based on these information. Do.

  First, the CPU 10 obtains the current position based on a signal received from a GPS (Global Positioning System) satellite by the GPS receiver 80, and based on the road shape information and road connection information included in the map information 24, the CPU 10 Search for a route to reach the ground. At that time, the required time of the searched route is calculated based on the average value of the past traveling speeds stored in the storage unit 20. Further, the CPU 10 corrects the required time of the route based on the traffic jam information and road construction information received by the VICS information receiver 90 from the roadside device, and calculates the required time with higher accuracy. Then, the CPU 10 obtains a desired required time from the difference between the input desired arrival time and the current time, and extracts a route that can arrive at the destination within the desired required time from the searched route.

  The extracted route is displayed on the display 32 by being superimposed on the surrounding map of the current position by the display unit 30. The display 32 may be integrated with the input operation unit 40 by incorporating a touch panel. Further, along with the display, the reproduction control unit 50 outputs the guidance information of the route stored in the map information 24 from the speaker 52 and guides the user.

  The CPU 10 obtains the current position of the vehicle based on the GPS signal even while the vehicle is running. Then, the CPU 10 obtains a travel locus of the vehicle from the travel speed of the vehicle detected by the vehicle speed sensor 60 and the direction of travel of the vehicle detected by the direction sensor 70, and appropriately complements the error of the current position calculated based on the GPS signal. . By obtaining the current position of the vehicle in this way, the CPU 10 calculates the distance of the remaining travel on the set route, and the actual time required to reach the destination from the average value of the travel speed of the vehicle and the distance of the remaining travel. Obtain the required time and calculate the actual estimated time of arrival at the destination.

  The CPU 10 periodically calculates the estimated required time and the estimated arrival time based on the estimated required time, for example, every minute, and notifies the user when the deviation from the initially input desired arrival time becomes more than a certain degree. For example, when the arrival schedule is likely to be later than the desired arrival time, this can be notified to the user, and the user can respond by accelerating the traveling speed. On the contrary, when the arrival schedule is likely to be earlier than the desired arrival time, the CPU 10 calculates a difference between the desired arrival time and the estimated arrival time, that is, a margin time that is a difference between the desired required time and the estimated required time. When the time becomes more than a certain time, a destination that can be stopped in the spare time is searched from the facility information 28 stored in the storage unit 20, and the searched facility is arranged as a destination on the surrounding map. Displayed on the display 32.

  The facility information 28 stores information on facilities that can be visited together with the respective position information. The CPU 10 searches for a facility located within a certain range from the current position of the vehicle, and the time required for passing through the facility. Calculate Then, the CPU 10 narrows down the facilities that can be visited during the spare time and displays them on the display 32, thereby prompting the user to select a destination. When the user selects and inputs a detour to be displayed on the display 32 by using the input operation unit 40 configured by, for example, a touch panel, the CPU 10 responds to the selected detour and arrives at the destination by the desired arrival time. The route that arrives is searched and displayed on the display 32.

  The present embodiment is characterized in that, when searching for a detour destination, the detour destination is further narrowed down by referring to the user information 26 relating to the degree of user preference stored in the storage unit 20. The user information 26 includes a user input history as described below, and by referring to this history, a facility having a high degree of user preference is extracted from facilities that can be routed within the desired time. It becomes possible.

  FIG. 2 is a diagram schematically illustrating examples of facility information 28 and user information 26 stored in the storage unit 20. In the facility information 28, for each facility included in the map information 24, “coordinates” in the map information 24, “facility name” of each facility, “genre” of each facility, “required stay time” required for each facility ”And“ cost ”, and information such as“ recommendation level ”of each facility is included. As for the correspondence between facilities and genres, for example, facilities such as “A ramen”, “D ramen”, and “G ramen” are classified into the genre “ramen store”. Facilities such as “B bookstore”, “F bookstore”, and “H bookstore” are classified into the genre “bookstore”. Furthermore, facilities such as “C Museum” and “E Gallery” are classified into the genre “Museum”. Information such as “required stay”, “cost”, and “recommendation level” is set in advance based on information provided by the information service provider. Here, the “recommended degree” is the highest in the “A” rank, followed by the “B” rank and the “C” rank. For such facility information 28, update data is downloaded from the public line as needed using an information terminal such as a mobile phone (not shown) that can be connected to the navigation device 100, or data is provided from the information service provider via a storage medium. Received and updated. The items included in the facility information 28 are not limited to the above, and may include business hours, comments of other users, and the like.

  The user information 26 includes an input history including an input “date” associated with a “genre” of a facility input as a destination or a destination. As described above, in the navigation apparatus 100, the user selects and inputs a destination or a destination. Then, for example, when the user inputs “A ramen” located at the coordinates “(x1, y1)” of the map information 24 as the destination on April 1, the CPU 10 refers to the facility information 28 and coordinates “ The genre “ramen shop” of the facility “A ramen” in (x1, y1) ”and the date“ April 1 ”are stored in association with each other. Similarly, “B bookstore” is input as the destination on April 4, and the genre “bookstore” of the facility “B bookstore” and the date “April 4” are associated with the user information 26. Remembered. On April 10, “A ramen” is input as the destination, and the user information 26 stores the genre “ramen store” of the facility “A ramen” and the date “April 10” in association with each other. The Further, “F bookstore” is input as the destination on April 15, and the genre “bookstore” of the facility “F bookstore” and the date “April 15” are stored in the user information 26 in association with each other. . Further, “C Museum” is input as a destination on April 20, and the genre “museum” of the facility “C Museum” and the date “April 20” are stored in the user information 26 in association with each other. Then, “F bookstore” is input as the destination on April 25, and the genre “bookstore” of the facility “F bookstore” and the date “April 25” are stored in the user information 26 in association with each other.

  By grouping the user information 26 configured as described above for each genre and counting the number of histories, the input frequency for each genre in a certain period can be obtained. That is, according to the tabulation table 26a that tabulates the user information 26, the number of the genre “bookstore” is “3”, the number of the genre “ramen store” is “2”, and the number of the genre “museum” is “1”. . The number of cases for each genre represents the frequency with which a user visits a facility of the genre during one month in April, that is, the user's preference for the genre.

  Therefore, in the present embodiment, when the navigation apparatus 100 extracts and displays the detour destination from the facility that can be passed within the desired required time, the detour destination is extracted according to the degree of user preference. . For example, it is possible to search only the facilities of the “bookstore” genre that has the highest input frequency with the number of input “3” and therefore has the highest user preference, and display it as a destination. Further, in addition to the “bookstore” genre, facilities of the “ramen store” genre with the next highest degree of preference with the input number “2” may be extracted. Alternatively, different display forms may be used depending on the degree of preference between the extracted “bookstore” genre facility and the “ramen store” genre facility.

  Thus, by extracting facilities of a genre corresponding to the degree of user's preference, it is possible to propose a detour suitable for the user. In addition, since the user information 26 is updated each time a destination or a detour is input from the input operation unit 40, the navigation device 100 learns the user's preferences as the user input history is accumulated. I can go.

  3 and 4 are flowcharts for explaining the operation procedure of the navigation device 100. FIG. The flowchart of FIG. 4 corresponds to the subroutine of the procedure shown in FIG. 5 to 10 are display examples of screens that the display unit 30 displays on the display 32. In the following, the procedures in FIGS. 3 and 4 will be described in correspondence with the display examples in FIGS.

  First, in FIG. 3, when the destination and the desired arrival time are input (S10), the CPU 10 searches the map information 24 for a route that can reach the destination by the desired arrival time and displays it on the display 32 (S12). Then, the CPU 10 updates the user information 26 by adding the facility genre and the input date input as the destination to the user information 26 (S14).

  FIG. 5 is a display screen example when the destination “Z Zoo” and the desired arrival time “16:00” are input. On the map, a route Rt1 that can reach the destination DN from the current position CL to the desired arrival time is displayed. On the right side of the screen, "desired arrival time", "current location", "destination", "toll road" Information such as the use / non-use of and the presence / absence of “offering proposal” is displayed. Here, since the “departure proposal” mode is “ON”, a procedure for making a detour proposal will be described below. When this mode is “OFF”, only the shortest route is displayed. The current location CL is indicated as “home” from the coordinates calculated based on the GPS signal and the position information input and set in advance by the user. Then, “The route has been determined. Guidance will start.” Is displayed, and the user starts traveling.

  Returning to FIG. 3, the CPU 10 periodically obtains the current position after the start of travel (S16), and if it does not arrive at the destination or a predetermined distance from the destination (NO in S18), the remaining distance The estimated arrival time is calculated (S20). Then, the input desired arrival time and the calculated estimated arrival time are compared once every minute, for example. If the estimated arrival time is earlier than the reference value “X” seconds (YES in S22), the margin The facility information 28 is searched for facilities that can be visited within the time (S24). Here, as the reference value, a minimum time required to stop at another facility, for example, “1200 seconds” (20 minutes) is used. Then, based on the user information 26 of the user information from the searched destination, a destination that is frequently input by the user, that is, a destination with a higher degree of preference is extracted (S26), and the extracted destination is displayed on the display 32. It is displayed (S28).

  FIG. 6 is a display example of a screen that displays three detours. 6 (A) and 6 (B), based on the user information 26 from the facilities located at a position where the user can arrive at the destination DN by the desired arrival time when passing through each of the examples. This is a display example in which only items corresponding to the higher-level genres “bookstore” and “ramen store” are extracted.

  First of all, in the display example of the screen shown in Fig. 6 (A), in the center of the screen, "You are likely to arrive at your destination sooner than planned. We will propose a detour that can be routed. Three candidates were found." To alert the user. Then, the detours S1 to S3 are shown on the map. Further, on the right side of the screen, the destinations corresponding to the destinations S1 to S3 displayed on the map and the estimated arrival times when passing through the respective destinations are displayed. This estimated arrival time is obtained by adding the required stay time (FIG. 2) for each facility stored in the facility information 28 to the required time when traveling from the current position CL to the destination via the detour. For example, the detour destination S1 is “H bookstore”, and the estimated arrival time when passing through this detour is “15:50”. Further, the detour destination S2 is “A ramen”, and the estimated arrival time when passing through this detour is “15:55”. Further, the detour destination S3 is “D ramen”, and the estimated arrival time when passing through this detour is “15:55”. Furthermore, information such as a fee provided by the service provider and a recommendation level (FIG. 2) may be displayed for each facility. The navigation apparatus 100 can prompt the user to select a suitable detour by displaying such a screen.

  FIG. 6B shows an example in which the detour destinations S1 to S3 on the display screen of FIG. 6A are displayed in different display forms depending on the degree of preference of the user. That is, according to the user information 26, the user's preference is the highest for the genre “bookstore”, followed by the genre “ramen store”. Therefore, the detour destination S1 “H bookstore” corresponding to the genre “bookstore” is displayed in three stars, and the detour destination S2 “A ramen” and the detour destination S3 “D ramen” corresponding to the genre “ramen store” are two. By displaying with stars, the degree of preference is ranked and displayed. In this way, the user can easily select a detour suitable for his / her preference, and the convenience of operation and user satisfaction can be improved.

  As a further modification, when the detour destination has the same preference, the detour destination display form based on the “recommendation degree” information (FIG. 2) provided by the information service provider included in the facility information 28. May be used properly. For example, “A ramen” at the detour destination S2 and “D ramen” at the detour destination S3 are the same “ramen store” genre, so the degree of preference of the user is the same, but as shown in FIG. “A ramen shop” has an “A” rank, whereas “D ramen shop” has a “B” rank. Therefore, the “A ramen shop” at the detour destination S2 is changed to “D ramen” at the detour destination S3. It is also possible to display using colors and displays that stand out from the store. By doing so, it is possible to propose more detailed detours and improve user satisfaction.

  Returning to FIG. 3, when the user selects and inputs a detour (YES in S30), the CPU 10 changes to a route including the detour (S32) and displays it. FIG. 7A shows a screen display example of the selection input of a detour destination based on the display screen of FIG. First, when the user presses the display of the detour destination S1 on the map incorporating the touch panel, a temporary selection of the detour destination S1 is input. Then, the display of the detour destination S1 is surrounded by a circle, and a display in which “H bookstore” is temporarily selected is displayed on the right side of the screen. Alternatively, selection input may be made by pressing the display of “H bookstore” on the right side of the screen.

  Then, “Do you want to add the selected sidewalk” is displayed at the lower right of the screen, and the user presses “YES” or “NO” on the touch panel to make a selection input. Here, when “YES” is selected and input, a route R2 passing through the detour destination S1 is displayed as shown in FIG. 7B. In the center of the screen, the message “The route has been added to the detour. The guidance will be resumed.” Is displayed to notify the user that the route has been changed. Further, a display of the detour destination “H Bookstore” is added on the right side of the screen, and the estimated arrival time at the upper right of the screen is changed to “15:50” after passing the detour. In step S34 of FIG. 3, the genre “bookstore” and the input date of the selected destination “H bookstore” are added to the user information 26 to update the input history.

  The CPU 10 obtains the current position again (S16) and calculates the estimated arrival time (S20) while traveling according to the route passing through the detour set as described above. If there is a surplus time (YES in S22), the detour destination is displayed again (S28).

  FIG. 8 (A) shows a display example that prompts the user to select again by displaying the two destinations S3 and S4. In this case, since the trip destination classified into the genre “bookstore” with the highest degree of user preference is not searched, the trip destination S3 “D ramen” categorized into the genre “ramen store” with the next highest preference degree is searched. ", The case where the detour destination S4" G ramen "is retrieved and displayed is illustrated. Then, as described in FIG. 7, when a detour, for example, “D ramen” is selected and input (YES in step S30 in FIG. 3), as shown in FIG. 8B, the detour S3 “D” is taken from the route Rt2. The display is changed to the route Rt3 that passes through “ramen” (step S32 in FIG. 3). In addition, the scheduled arrival time on the right side of the screen and the display of the destination are also changed, and the message “The destination has been added to the route. Guidance will be resumed” is displayed in the center of the screen, and the user is notified of the change in route . Then, the input history is updated by adding the genre “ramen store” and the input date of the selected stop “D ramen” to the user information 26 (S34).

  Next, the procedure when the margin time is less than the reference value in step S22 of FIG. 3 will be described with reference to FIG. In FIG. 4, if the desired arrival time is earlier than the scheduled time (NO in S40), there is not enough time to take a detour, but the destination can be reached by the desired arrival time, so go to step S16 in FIG. Return. However, if the arrival schedule is later than the desired arrival time (YES in S40), the user is prompted to correct the route (S42).

  For example, as shown in FIG. 9 (A), there is a possibility that “the desired arrival time may be exceeded on the map of the display screen when the route Rt2 including the detour is changed in step S32 of FIG. Do you want to correct it? "Is displayed, and the estimated arrival time" 16:10 "is displayed in the upper right of the screen to prompt correction. If the user presses the “YES” display on the touch panel in FIG. 9A accordingly (YES in S44), the user is prompted to select a detour to be deleted on the screen shown in FIG. 9B (S46). . That is, on the right side of the screen in FIG. 9 (B), the estimated arrival time when each detour is deleted is calculated and displayed. Here, when the user presses the display of the detour destination S3 or the display of “D ramen” on the right side of the screen with the touch panel, the display of the detour destination S3 is marked with a cross mark to indicate that it has been temporarily selected for deletion. The display of “D ramen” on the right side of FIG.

  Then, when the user selects “Yes” in response to the message “Do you want to delete the selected destination” on the screen at the lower right of the screen, the selected destination S3 is deleted (S48), and FIG. As shown in FIG. 5, the display returns to the route Rt2 that does not pass through the detour destination S3. In the center of the screen, the message “The route has been corrected. Guidance will be resumed.” Is displayed to notify the user of the route change. In addition, the estimated arrival time when not passing through the detour destination S3 is displayed in the upper right of the screen, and “D ramen” is also deleted from the display of “detour destination” on the right side of the screen.

  Conversely, when the user selects and inputs “NO” on the screen of FIG. 9A, that is, when the route is not corrected (NO in S44), the original route as shown in FIG. Is maintained, and the initial desired arrival time is changed to the estimated arrival time “16:10” which is expected to be later than that. In the center of the screen, “The route is not corrected. The desired arrival time has been changed to the current scheduled time.” Is displayed to notify the user of the route maintenance and the change of the desired arrival time. In this case, in the subsequent processing, the detour destination is proposed according to the difference with the estimated arrival time calculated from time to time on the basis of the changed estimated arrival time.

  As a modification of the procedure of FIG. 3 described above, when a route is searched for and displayed in step S12, if a scheduled arrival time that is a little earlier than the inputted desired arrival time is calculated, traveling is started. Even before the navigation device 100, the destination may be suggested.

  Further, as a modified example of step S46 in FIG. 4 described above, instead of the user selecting a detour to be deleted, the navigation device 100 may select a detour to be automatically deleted. In that case, a detour with a low degree of preference of the user may be deleted, or a detour with a large increase in required time due to the route may be deleted. Alternatively, a facility with a low “recommendation level” of each facility included in the facility information 28, for example, a facility with a recommendation level “C” may be deleted. By doing so, the user's operation can be simplified.

  Furthermore, in the above embodiment, the user information 26 is updated when the user inputs a destination or a detour, but a method of updating based on the travel history of the vehicle is also possible. That is, regardless of whether or not the navigation device 100 guides the route, the CPU 10 is based on the GPS signal acquired by the GPS receiver 80, the vehicle speed acquired by the vehicle speed sensor 60, and the traveling direction of the vehicle acquired by the direction sensor 70. The current position of the vehicle is detected, and a log of the current position and the date and time when the current position is detected is periodically stored in the storage unit 20. For example, if the current position of the vehicle does not change even if the log recording date has passed to some extent, the vehicle has stopped for a certain period of time, so the coordinates of that point are acquired from the map information 24. The date corresponding to the genre of the facility located at the coordinates may be added to the user information 26. By doing so, it is possible for the navigation device to accumulate information on the place where the user stops without explicitly inputting the user, and to collect data relating to the user's preference.

  Alternatively, for example, a screen as shown in FIG. 11 may be displayed to prompt the user to input a preference, and a detour destination may be extracted based on the user's explicitly input preference level. FIG. 11A is an example of a screen that prompts the user to input a profile. For example, when the user selects the item “food”, the screen transitions to the screen of FIG. When "" is selected, the process transitions to FIG. When the user selects the noodle type “ramen”, the genre “ramen store” is stored in the user information 26 of the storage unit 20 as the user's preference. Therefore, when the navigation apparatus 100 extracts a detour, a facility of the genre “ramen store” having a high degree of user preference can be extracted with reference to this data.

  As described above, the navigation device according to the present embodiment proposes a detour suitable for the user's preference without the user having to bother to input an instruction when the estimated arrival time is earlier than the desired arrival time. The tip can be incorporated into the path. Therefore, the remaining time can be used effectively, and a route with higher satisfaction can be proposed.

It is a figure explaining the structure of the navigation apparatus in this Embodiment. 4 is a diagram schematically illustrating an example of facility information 28 and user information 26 stored in a storage unit 20. FIG. It is a flowchart figure explaining the operation | movement procedure of the navigation apparatus. FIG. 4 is a flowchart for explaining a procedure of a subroutine of a procedure shown in FIG. 3. It is an example of a display screen when a destination and a desired arrival time are input. It is a display example of a screen that displays a detour destination. It is an example of a screen display of selection input of a detour destination. It is a display example of a screen that displays a detour destination. It is an example of a display of the screen which urges change of a detour destination. It is a display example of a screen when not changing a detour destination. It is a display example of a screen for inputting user preference information.

Explanation of symbols

100: Navigation device 24: Map information 26: User information 28: Facility information

Claims (4)

A navigation device for displaying a route from a current position of a vehicle to a destination,
The estimated required time to the destination by the route is obtained, and if the expected required time is shorter than the input desired required time, it can be passed within the margin time that is the difference between the desired required time and the expected required time. Display detours according to the user's preference and prompt selection
When at least one of the detour destinations is selected and inputted, a route that passes through the selected detour destination is displayed. In claim 1,
A storage unit that stores the detour destination in association with the genre;
A history of selecting and inputting the destination as a destination or a destination is stored;
The navigation device according to claim 1, wherein the degree of user preference for the detour destination is the frequency of the selection input for the detour destination or another detour destination of the same genre as the detour destination. In claim 1 or 2,
The navigation device is characterized in that the detour destination is displayed in a different display form depending on the degree of preference of the user. In any one of Claims 1 thru | or 3,
Displaying the detours that can be routed within the margin time according to the user's preference level, prompting selection input, and displaying the route that passes through the deselected detours, and processing the planned required time as the desired time A navigation device that repeats whenever the time is shorter than the required time.

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