JP2009229294A - Navigation system, route guidance method, and route guidance program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a navigation system for supporting group traveling, a route guidance method, and a route guidance program. <P>SOLUTION: A route guidance server 2 obtains a plurality of current vehicular positions composing groups respectively, modifies a route and detects route modification vehicles via spots out of the route. When the route guidance server detects the route modification vehicle, vehicles belonging to another group other than the route modification vehicles calculate increased costs when traveling spots out of the route in each vehicle respectively, notify detection of the route modification vehicles, and guide the route based on increased costs. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a navigation system, a route guidance method, and a route guidance program.

There has been proposed a navigation device that supports smooth traveling in a group when a plurality of vehicles belonging to the group head for the same destination.
On the other hand, when each vehicle belonging to the group travels on the same route, one of the vehicles has a service area or parking area (hereinafter abbreviated as SA / PA) along the route for sudden purposes such as refueling or resting. ). The conventional system cannot cope with this sudden situation, and each vehicle may break before reaching the destination.

On the other hand, Patent Document 1 describes a navigation system for dealing with unexpected situations. In this system, when a “refueling button” or the like is pressed in a car navigation system of a vehicle belonging to a group, the dynamic management server selects a facility through which the leading vehicle traveling at the head of the group can pass through among the facilities corresponding to the button information. Search and send to each car navigation as route information.
JP 2002-296041 A

  However, it is also conceivable that the subsequent vehicle following the leading vehicle suddenly stops at the SA / PA or the like that has passed. In this case, the above system cannot provide optimum guidance for each vehicle belonging to the group.

  The present invention has been made in view of the above problems, and an object thereof is to provide a navigation system, a route guidance method, and a route guidance program that can support smooth traveling in a group.

  In order to solve the above problem, the invention according to claim 1 is characterized in that position acquisition means for acquiring the respective current positions of a plurality of vehicles constituting the group, and a preset set route are changed to Detecting means for detecting a route change vehicle passing through the point, and when the detection means detects the route change vehicle, among the vehicles belonging to the group, for the vehicles other than the route change vehicle, A cost calculating means for calculating for each vehicle the increased cost of the route passing through the point for each set route, and notifying the vehicle that has calculated the increased cost of the detection of the route change vehicle and the increase The gist of the present invention is that it includes guidance means for performing guidance based on cost.

  According to a second aspect of the present invention, in the navigation system according to the first aspect, when the increased cost is larger than a reference value, the guiding unit searches for a nearest waypoint different from the point and searches for the nearest waypoint. The gist is to guide the waypoints.

According to the third aspect of the present invention, position acquisition means for acquiring the current positions of other vehicles belonging to the same group as the own vehicle, and a route change via a point outside the route by changing a preset set route Detection means for detecting a vehicle; cost calculation means for calculating an increase cost for the set route of a route through which the own vehicle passes through the point when the detecting device detects the route change vehicle; and the own vehicle And a guide means for notifying the detection of the route change vehicle and guiding based on the increased cost.

  According to a fourth aspect of the present invention, in the route guidance method using the control means for supporting the traveling of the plurality of vehicles constituting the group, the control means obtains the current positions of the plurality of vehicles constituting the group, respectively. , By changing a preset route, detecting a route change vehicle passing through a point outside the route, and when detecting the route change vehicle, of the vehicles belonging to the group other than the route change vehicle For each vehicle, an increase cost for the set route of the route passing through the point is calculated for each vehicle, and the detection of the route change vehicle is notified to the vehicle for which the increase cost has been calculated. In addition, the gist is to provide guidance based on the increased cost.

  According to a fifth aspect of the present invention, in the route guidance program using the control means for supporting the traveling of the plurality of vehicles constituting the group, the control means obtains the current positions of the plurality of vehicles constituting the group, respectively. A position acquisition unit, a detection unit that changes a preset route and detects a route change vehicle that passes a point outside the route; and when the detection unit detects the route change vehicle, Of the vehicles that belong to the vehicle other than the route change vehicle, a cost calculation means that calculates an increase cost for the set route of the route that passes through the point for each vehicle, and the increase cost is calculated The gist of the invention is to notify the vehicle of the detection of the route change vehicle and to function as guidance means for performing guidance based on the increased cost.

  According to the first aspect of the present invention, a vehicle whose route is to be changed is detected, and an increased cost when the route is changed in accordance with the route-changed vehicle is calculated for each vehicle. Furthermore, since guidance according to the detection of the route change vehicle and the increased cost is performed, smooth group traveling can be supported.

  According to the invention described in claim 2, when the increased cost is larger than the reference value, a nearest waypoint different from the waypoint through which another vehicle has passed is searched. For this reason, even when it is difficult for each vehicle to pass through the same waypoint, it is possible to temporarily pass through different waypoints and prevent the vehicles belonging to the group from coming off.

  According to the third aspect of the present invention, there is an increase in the cost of the host vehicle when the vehicle belonging to the same group as the host vehicle is detected and the route change is detected according to the route change vehicle. Calculated. Furthermore, since guidance according to the detection of the route change vehicle and the increased cost is performed, smooth group traveling can be supported.

  According to the fourth aspect of the present invention, a vehicle whose route is changed is detected, and an increase cost when the route is changed in accordance with the route-change vehicle is calculated for each vehicle. Furthermore, since guidance according to the detection of the route change vehicle and the increased cost is performed, smooth group traveling can be supported.

  According to the fifth aspect of the present invention, a vehicle whose route is changed is detected according to the route guidance program, and an increased cost when the route is changed in accordance with the route-change vehicle is calculated for each vehicle. Furthermore, since guidance according to the detection of the route change vehicle and the increased cost is performed, smooth group traveling can be supported.

Hereinafter, an embodiment embodying the present invention will be described with reference to FIGS. FIG. 1 is a schematic diagram of a group travel support system 1 of the present embodiment. The group travel support system 1 includes a route guidance server 2 as a navigation system, a relay device 3, and a navigation device 10 (see FIG. 2) mounted on a member vehicle C that constitutes a group.

  The route guidance server 2 manages the vehicle behavior data of each member's vehicle C, and guides the route and waypoint to the destination. The route guidance server 2 and the relay device 3 are connected so as to be able to transmit and receive various data via a network N composed of a dedicated line or a public line network. The route guidance server 2 acquires the current position of the vehicle C belonging to the group registered in advance from the navigation device 10 mounted on the vehicle C via the relay device 3.

  The navigation device 10 generates vehicle behavior data including the current position and transmits it to the relay device 3 at a predetermined timing. The relay device 3 transmits the acquired data to the route guidance server 2.

  Next, the hardware configuration of the navigation device 10 will be described with reference to FIG. The navigation device 10 includes a control unit 11, and the control unit 11 includes a CPU 12, a RAM 13, a ROM 14, a vehicle side interface (I / F) 11 </ b> A, and a communication interface (I / F) 16.

CPU12 is GPS (Global Positioning System) via vehicle side I / F11A.
Based on the detection signals acquired from the receiver 30, the vehicle speed sensor 31, and the gyro sensor 32, the vehicle position is specified by radio wave navigation and autonomous navigation.

In addition, the navigation device 10 can read various data from a geographic information storage unit 17 and a POI (Point Of Interest) information storage unit 18 which are external storage media such as an internal hard disk or an optical disk.

  The geographic information storage unit 17 stores route network data (hereinafter referred to as route data 19) and map drawing data 20. The route data 19 includes a link ID, a connection node, a road type, a traveling direction, a link cost, and the like. The route data 19 has toll data indicating toll road charges.

  The map drawing data 20 is stored for each mesh obtained by dividing a map of the whole country, and has background data, road shape data indicating a road shape, and the like. The control unit 11 collates the road shape data with the travel locus to perform map matching.

  Further, as described above, when generating the vehicle behavior data, the control unit 11 acquires the vehicle ID 15A, the current position, the current time, the traveling direction, and the like stored in the identification data storage unit 15, and uses these information as the vehicle It transmits to the relay apparatus 3 as behavior data.

  The POI information storage unit 18 stores POI data 21. The POI data 21 has point information such as SA / PA and interchange (I / C) for each area, and has, for example, a genre, a name, coordinates, and the like.

  The navigation device 10 also includes an image processor 22 and an audio processor 23. The image processor 22 reads the map drawing data 20 and other drawing data, and displays the map screen 24 and the like on the display 25. The voice processor 23 outputs a guidance voice from a speaker 26 provided in the passenger compartment.

Next, the hardware configuration of the route guidance server 2 will be described with reference to FIG. The route guidance server 2 includes a control unit 40, which includes a CPU 41, a RAM 42, and a ROM.
43. A communication I / F 44 is provided. The control unit 40 stores a route guidance program and constitutes a position acquisition unit, a detection unit, a cost calculation unit, a guidance unit, and a control unit. The route guidance server 2 includes a behavior data storage unit 45, a group information storage unit 46, a route information storage unit 47, and a POI information storage unit 48.

In the behavior data storage unit 45, vehicle behavior data 50 transmitted from the navigation device 10 is accumulated for each group.
The group information storage unit 46 stores registered group data 51. The registered group data 51 includes the vehicle ID of the vehicle C selected as a member of the group.

  The route information storage unit 47 stores route data 52. The route data 52 has the same data value as the route data 19 stored in the navigation device 10, but the data configuration may be different.

  The POI information storage unit 48 stores POI data 53. The POI data 53 has the same data as the POI data 21 stored in the navigation device 10, but the data structure may be different.

  Next, the processing procedure of this embodiment is demonstrated according to FIG.4 and FIG.5. FIG. 4 is a flowchart showing a group management process of the route guidance server 2, and FIG. 5 is a flowchart showing a procedure for initial setting of group travel and vehicle position acquisition.

  As shown in FIG. 4, the control unit 40 of the route guidance server 2 determines whether or not group registration has been performed (step S1-1). For example, when a group setting operation is performed on the navigation device 10 used by a group representative, it is determined that group registration has been performed. In this case, the representative designates the vehicle C included in the group from the database stored in the apparatus, and designates the destination. When this operation is performed, the navigation apparatus 10 extracts the vehicle ID of the vehicle C designated as the member from the database, and transmits the member's vehicle ID and the destination to the route guidance server 2. Alternatively, such group registration may be performed in advance using a computer terminal used by the representative.

  The control unit 40 of the route guidance server 2 acquires the vehicle ID of the member transmitted from the navigation device 10 (step S1-2). In addition, the control unit 40 acquires the coordinates of the destination transmitted from the navigation device 10 (step S1-3), and acquires the departure point of each vehicle C belonging to the group (step S1-4). This departure point may be determined based on the vehicle behavior data 50 acquired from the navigation device 10 of each member, or may be a departure point set by a representative. The acquired vehicle ID, destination and departure place are stored in the group information storage unit 46 as registered group data 51.

  When the starting point and the destination of each vehicle C are acquired, the control unit 40 searches for an initial route for joining the vehicles C belonging to the same group and heading to the same destination for each vehicle (step S1-5). . The link data indicating the searched initial route is stored in the group information storage unit 46. Further, the link data indicating the initial route may be transmitted to the navigation device 10 mounted on each member's vehicle C to notify the member of the initial route.

  Next, the control unit 40 determines whether or not group travel has been started (step S1-6). Specifically, when the group registration is completed, it may be determined that the group traveling has started immediately, or based on the vehicle behavior data 50, it is determined that one of the vehicles C belonging to the group has started traveling. At this time, it may be determined that the group traveling has started.

  If it is determined that group traveling has started (YES in step S1-6), control unit 40 sequentially acquires the position of vehicle C that changes with traveling based on vehicle behavior data 50 (step S1-7). Track member's current location.

  Then, control unit 40 repeats step S1-7 until it is determined that the group travel has ended (NO in step S1-8). The control unit 40 may determine that the group travel has ended when each vehicle C has arrived at the destination, or the group travel has ended when an operation to stop the group travel is performed by a member. You may judge.

  If it is determined that the group travel has ended (YES in step S1-8), control unit 40 initializes the group (step S1-9). For example, the destination temporarily stored in the RAM 42 or the like, the initial route stored in the group information storage unit 46, or the like is deleted.

  Further, the route guidance server 2 simultaneously performs the route change vehicle detection process while performing the above-described processing. As shown in FIG. 5, the control unit 40 compares the link data of the initial route searched in step S <b> 1-5 with the position of each vehicle C, and determines whether there is a vehicle C deviating from the initial route. Judgment is made (step S2-1).

  For example, as shown in FIG. 6 (a), when vehicles C1 to C3 are traveling in a group, one vehicle C2 enters the approach road 101 from the main road 100 to the SA, which is the initial route. When entering, the control unit 40 detects the departure of the vehicle C2 from the initial route based on the vehicle behavior data 50 transmitted from the vehicle C2 as the route change vehicle.

  Further, for example, as shown in FIG. 6B, the vehicle C2 belonging to the group detects the traffic jam column 104 forward in the traveling direction and avoids the traffic jam from the main road 100 as the initial route. Even when entering the exit path 102 connected to C, the control unit 40 detects the departure of the vehicle C2 from the initial path.

If it is determined in step S2-1 that each vehicle C is on the initial route (NO in step S2-1), the process of step S2-1 is repeated.
On the other hand, when the vehicle C deviating from the initial route is detected (YES in step S2-1), the waypoint of the vehicle C is specified (step S2-2). In the present embodiment, the transit point is a point outside the initial route and registered in the POI data 53. Note that a waypoint may be set at a point that is not registered in the POI data 53, such as the position of the vehicle C2 when the vehicle C2 deviating from the initial route is detected.

  For example, in FIG. 6A, when the position of the vehicle C2 is mapped to the approach path 101 to the SA or when the vehicle C2 enters the SA, the waypoint is set to SA. In FIG. 6B, when the position of the vehicle C2 is mapped to the exit path 102 connected to the I / C or passes through the I / C 103, the waypoint is set to the I / C 103.

  Moreover, the control part 40 selects one vehicle C used as the object which re-searches a path | route among each vehicles C which belong to a group and are detected by step S2-1 (step S2-3). When the vehicle C to be searched again is selected, a route from the current position of the vehicle C to the destination via the waypoint is searched (step S2-4).

For example, as shown in FIG. 6 (a), when the vehicle C3 that has entered the SA following the vehicle C2 and the SA is ahead in the traveling direction is selected in step S2-3, the vehicle C3 passes through the SA. Search for a route. Further, when the vehicle C1 that has already passed through the SA is selected in step S2-3, the route when the vehicle C1 passes through the SA is searched.

  Further, as shown in FIG. 6B, when the vehicle C3 that follows the vehicle C2 that has passed through the I / C 103 is selected in step S2-3, the route when the vehicle C3 passes through the I / C 103 is searched. . When the vehicle C1 that has passed through the I / C 103 is selected in step S2-3, a route when the vehicle C1 passes through the I / C 103 is searched.

  When re-searching for a route passing through the waypoint, the control unit 40 calculates an increase cost of the re-searched route with reference to the initial route (step S2-5). In the present embodiment, the control unit 40 calculates at least one increment among the charge cost, the distance cost, and the time cost. Toll costs are costs that correlate with tolls such as tolls on toll roads. The distance cost is a cost that increases according to the travel distance. The time cost is a cost that increases according to the travel time.

  Next, the control unit 40 determines whether or not the increased cost is equal to or less than a reference value (step S2-6). In step S2-5, when the charge cost increment is calculated, the reference value is set to “0 yen” or the like. When the distance cost increment is calculated, a reference value stored in a memory (not shown) of the control unit 40 is extracted, or a predetermined rate (for example, 5%) of the initial route distance is calculated as a reference value. To do. For example, if the initial route is 20 km, the cost corresponding to the distance 1 km of the predetermined rate (5%) is set as the reference value.

  When the time cost increment is calculated, a reference value stored in a memory (not shown) of the control unit 40 is extracted, or a predetermined rate of the required time of the initial route is calculated as a reference value. For example, if the total required time is 200 minutes, the cost corresponding to 10 minutes of the predetermined rate (5%) is set as the reference value. In addition, when the increase costs of a plurality of categories are calculated in step S2-5, it may be determined whether or not all the increase costs are equal to or less than a reference value set according to the category. It may be determined whether at least one increase cost is equal to or less than a reference value.

  If it is determined in step S2-6 that the increased cost is equal to or less than the reference value (YES in step S2-6), control unit 40 changes the route of vehicle C selected as the re-search target in step S2-2. C2 detection notification and increase cost guidance are performed (step S2-7). At this time, the control unit 40 transmits the own vehicle position and waypoint of the vehicle C2 and the increased cost calculated in step S2-5 to the navigation device 10 of the vehicle C to be searched again.

  As a result, the navigation apparatus 10 that has received the data controls the image processor 22 to output the guidance screen 60 shown in FIG. On the guidance screen 60, the other vehicle information display unit 61, the route information display unit 62, and the operation units 63A and 63B are displayed. The other vehicle information display unit 61 displays the name of the vehicle C2 whose route has been changed and the waypoints. The route information display unit 62 displays an increased cost when the vehicle passes through a route point. The member of the vehicle C checks each of the display units 61 and 62 and, when it is determined that the route is changed, operates the change operation unit 63A for changing the route. When this operation is performed, a route change request is transmitted from the navigation device 10 to the route guidance server 2. In order to maintain the initial route without changing the route, the operation unit 63B is operated.

The control unit 40 of the route guidance server 2 determines whether or not the vehicle C passes through the route point based on the presence or absence of a route change request from the navigation device 10 (step S2-8). When the route change request is received, it is determined that the route passes through the route (YES in step S2-8), and is set as the route of vehicle C (step S2-9). At this time, the route searched in step S2-4 is stored in the group information storage unit 46 as the subsequent route, and the control unit 40 supports group travel based on the route.

  When it is determined that the route is not routed by operating the operation unit 63B or the like (NO in step S2-8), or when a route point is set (step S2-9 in the case of YES in step S2-8). The control unit 40 determines whether or not the guidance has been completed for all the vehicles C in the group (step S2-14). That is, it is determined whether or not the above processing has been performed on all the vehicles C other than the vehicle C2 that has entered the waypoint. If there is a remaining vehicle C (NO in step S2-14), the process returns to step S2-2 and the above-described processing is repeated.

  On the other hand, when the control unit 40 determines in step S2-6 that the increased cost exceeds the reference value (NO in step S2-6), it is relatively difficult for the vehicle C to pass through the waypoint. Therefore, the nearest waypoint of the vehicle C is searched (step S2-10). For example, as shown in FIG. 6A, when the increase cost of the vehicle C1 traveling at the head exceeds the reference value, a transit point of the same genre as the transit point through which the vehicle C2 has passed is set for the vehicle C1. Search using POI data 53. For example, the front PA or the like in the traveling direction of the vehicle C1 is detected. For this reason, when the following vehicle C2 takes a break in SA, the vehicle C1 takes a break together with the PA ahead, so that the positions of the vehicles C1 and C2 are greatly separated, and smooth group traveling can be performed. It can be suppressed from disappearing.

  For example, as shown in FIG. 6B, when the increase cost of the vehicle C1 traveling at the head exceeds the reference value, the I / C ahead in the traveling direction of the vehicle C1 is determined using the POI data 53. Search for. For this reason, when the following vehicle C2 enters the general road at I / C 103, the vehicle C1 can also quickly join the vehicle C2 by getting off the expressway at the I / C ahead. it can.

  When searching for the nearest waypoint, the control unit 40 notifies the detection of the vehicle C2 whose route has been changed and guides the nearest waypoint (step S2-11). At this time, the vehicle position and waypoint of the vehicle C2 and the nearest waypoint searched in step S2-10 are transmitted to the navigation device 10 of the vehicle C.

  As a result, the navigation apparatus 10 that has received the data controls the image processor 22 and outputs a guidance screen 65 shown in FIG. On the guidance screen 65, an other vehicle information display unit 66 and a waypoint display unit 67 are displayed. The other vehicle information display unit 66 displays the name of the vehicle C2 whose route has been changed and the waypoints.

  The route point display unit 67 displays an operation unit 67A for determining the route through the nearest route point. For example, the nearest SA / PA ahead in the traveling direction of the vehicle is displayed. The member operates the operation unit 67A to select a desired waypoint. When the operation unit 67 </ b> A is operated, a route change request is transmitted from the navigation device 10 to the route guidance server 2. In addition, the initial path can be maintained by operating an operation unit other than the operation unit 67A.

  The control unit 40 of the route guidance server 2 determines whether or not to pass through the nearest waypoint based on whether or not a route change request has been received from the navigation device 10 (step S2-12). When the route change request is received (YES in step S2-12), the nearest waypoint is set as the waypoint of the vehicle C (step S2-13), and the process proceeds to step S2-14. When data indicating that the initial path is maintained is received (NO in step S2-12), the process proceeds to step S2-14.

  In step S2-14, the control unit 40 determines whether or not the guidance has been completed for all the vehicles C in the group. If the guidance is terminated (YES in step S2-14), step S2-14 is performed. Return to 1 and repeat the process until the group running is completed.

According to the above embodiment, the following effects can be obtained.
(1) In the above-described embodiment, the route guidance server 2 acquires the current positions of the plurality of vehicles C constituting the group, and detects the vehicle C whose route has been changed. Further, when the route-changed vehicle C is detected, the waypoint of the vehicle C2 is specified, and the vehicle C belonging to a group other than the vehicle has an increased cost when passing through the waypoint for each vehicle. calculate. Further, the navigation device 10 is notified of the detection of the vehicle C whose route has been changed, and when the increase cost is below the reference value, the route point and the increase cost are guided, and the increase cost exceeds the reference value. If there is, guide the nearest waypoint. Therefore, the member can confirm that there is a vehicle C that has left the route. In addition, since an optimal waypoint can be guided to each vehicle C according to the increased cost, each vehicle C can be a smooth group without significantly changing the fee, distance or time from the initial route. It is possible to run.

  (2) In the above embodiment, the route guidance server 2 searches for the nearest waypoint different from the waypoint of the vehicle C that has left the initial route when the increased cost is larger than the reference value. For this reason, even if it is difficult for the vehicles C to pass through the same waypoint, they can quickly join together via different waypoints.

In addition, you may change the said embodiment as follows.
In the above embodiment, when the increased cost exceeds the reference value, the increased cost may be displayed on the guidance screen 65 displayed on the navigation device 10.

  In the above embodiment, the waypoints through which other vehicles have passed are guided when the increased cost is below the reference value, and the nearest waypoints are guided when the increased cost is above the reference value. In addition to this, regardless of whether the increase cost is large or small, the route point and the increase cost via which another vehicle has passed may be guided so that the member can select whether or not to pass. Alternatively, regardless of the increase cost, both of the waypoints may be guided so that the members can select each waypoint.

  In the above embodiment, the route guidance server 2 calculates the increased cost for the initial route and compares the increased cost with the reference value, but the navigation device 10 performs these processes on the host vehicle. It may be. In this case, for example, the navigation device 10 acquires a waypoint of another vehicle from the route guidance server 2 and calculates an increase cost based on the waypoint and the vehicle position. In other words, in this case, the navigation device 10 sets the vehicle to be re-searched as the only vehicle in step S2-3, and similarly performs the processing in steps S2-1 to S2-13.

  In the above embodiment, the navigation system is embodied in the route guidance server 2, but may be embodied in the navigation device 10. In this case, for example, the control unit 11 of the navigation device 10 acquires the current position of each member's vehicle C through inter-vehicle communication, and determines whether or not the vehicle C has left the initial route. At this time, the control part 11 comprises a position acquisition means, a detection means, a cost calculation means, a guidance means, and a control means, and stores a route guidance program.

Schematic of a group travel support system. The block diagram which shows the hardware constitutions of a navigation apparatus. The block diagram which shows the hardware constitutions of a route guidance server. The flowchart which shows the procedure of the initial setting of group driving | running | working, and vehicle position acquisition. The flowchart which shows the vehicle detection process which changed the path | route. (A) is a conceptual diagram in which the vehicle passes through SA / PA, and (b) is a conceptual diagram in which the vehicle passes through I / C. The screen figure of a guidance screen. The screen figure of a guidance screen.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Group driving assistance system, 2 ... Guide server as navigation system, 10 ... Navigation apparatus as navigation system, 40 ... Position acquisition means, detection means, cost calculation means, control means as guide means and control means, 103 ... I / C, C, C1 to C3 as vehicles outside the route.

Claims (5)

Position acquisition means for acquiring the current positions of a plurality of vehicles constituting the group,
Detecting means for changing a preset route and detecting a route-changing vehicle passing through a point outside the route;
When the detection means detects the route change vehicle, among the vehicles belonging to the group, for the vehicles other than the route change vehicle, an increase cost with respect to the set route of the route passing through the point, Cost calculating means for calculating each vehicle,
A navigation system comprising: guidance means for notifying the vehicle that has calculated the increased cost of detection of the route change vehicle and performing guidance based on the increased cost. The navigation system according to claim 1,
The guiding means includes
A navigation system characterized in that, when the increased cost is larger than a reference value, a nearest waypoint different from the place is searched and the searched waypoint is guided. Position acquisition means for acquiring current positions of other vehicles belonging to the same group as the own vehicle;
Detecting means for changing a preset route and detecting a route-changing vehicle passing through a point outside the route;
Cost calculating means for calculating an increase cost for the set route of a route through which the host vehicle passes through the point when the detecting means detects the route change vehicle;
A navigation system comprising: guidance means for notifying the host vehicle of detection of the route change vehicle and performing guidance based on the increased cost. In the route guidance method using the control means for supporting the traveling of a plurality of vehicles constituting the group,
The control means is
While acquiring the current position of each of a plurality of vehicles constituting the group, changing a preset route, detecting a route-change vehicle that passes a point outside the route,
When detecting the route change vehicle,
Of the vehicles belonging to the group, for each vehicle other than the route change vehicle, an increase cost for the set route of the route via the point is calculated for each vehicle, and the increase cost is calculated A route guidance method comprising notifying a vehicle of detection of the route change vehicle and performing guidance based on the increased cost. In the route guidance program using the control means for supporting the traveling of a plurality of vehicles constituting the group,
The control means;
Position acquisition means for acquiring the current positions of a plurality of vehicles constituting the group,
Detecting means for changing a preset route and detecting a route-changing vehicle passing through a point outside the route;
When the detection means detects the route change vehicle, among the vehicles belonging to the group, for the vehicles other than the route change vehicle, an increase cost with respect to the set route of the route passing through the point, Cost calculating means for calculating each vehicle,
A route guidance program that causes the vehicle that has calculated the increased cost to function as guidance means for notifying the detection of the route change vehicle and performing guidance based on the increased cost.

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