JP3883393B2 - Navigation system and method and recording medium - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a navigation system for a mobile body, and more particularly to a navigation system that receives route search results from a route search center and outputs guidance information.
[0002]
[Prior art]
In a navigation device that is mounted on a vehicle or carried by a human, the origin, destination, and route search conditions are transmitted to the route search center by wireless communication, and the route search result at the route search center is received. There is a navigation device that displays guidance information on a screen or outputs voice until the mobile body reaches a destination according to the route search result. As a conventional example of such a mobile navigation system, there is a system disclosed in Japanese Patent Laid-Open No. 10-54730. In this system, a GPS module and a GSM module are installed in the navigation device, a route search request is transmitted to the central computer via the GSM module, and the route search result is received and used for route guidance to the driver. is doing. Further, when the route search means is externally through a communication line as in this system, it is desirable that the size of the route search result data is small due to problems with the communication speed and communication cost of the communication line. When the route search means is mounted inside the navigation device, the route search result is road data for the entire route from the departure point to the destination. On the other hand, in the above system, a route search result is composed of route information of only points that require guidance.
[0003]
On the other hand, there is a method disclosed in Japanese Patent Application Laid-Open No. 4-313018 as a method for determining that the mobile body has deviated from the guidance route during guidance to the destination according to the searched route information. . In this method, the traveling track of the vehicle is compared with the map data, and the map is matched and evaluated by calculating the correlation between the road data and the shape of the nearby route. Deciding.
[0004]
[Problems to be solved by the invention]
However, the conventional navigation system has a problem that it cannot be determined whether the moving body is moving on the guide route or whether it is moving on the wrong road by deviating from the guide route. That is, when only the guide point list is used as the route data, the road to be traveled is not shown between the guide point that has already passed and the guide point that should pass next. Therefore, it is not possible to compare the route information with the travel locus after the map matching of the travel locus.
[0005]
There is also a problem that a deviation cannot be detected depending on the distance from the guidance point. In other words, it cannot be determined that the vehicle has deviated from the guidance route even if it is away from the next guidance point by a certain distance or more. For example, even when the distance between guide points is short, the distance traveled along the route between them is determined by the road to be moved, so it is not always possible to arrive at the next guide point just by moving a short distance. . Furthermore, depending on the guide route, it may be necessary to move in the direction opposite to the next guide point. Such an example frequently occurs when a part of the guide route includes a mountain road with few roads and a curved shape.
[0006]
The present invention solves the above-mentioned conventional problem, and even when the route of the moving body is guided based on the route information including the list of guidance information of only points to be guided such as intersections, the moving body deviates from the route. An object of the present invention is to provide a navigation device that can accurately determine this.
[0007]
[Means for Solving the Problems]
In order to solve the above problems, in the present invention, a navigation device of a navigation system including a navigation device and a route search center device held by a mobile body includes a position calculation means for calculating the current position of the mobile body, Route search result including route information including input means for inputting route search conditions including destination and destination, means for transmitting route search conditions, and a plurality of guide points and distances between guide points along the route between the guide points Receiving means, route information storage means for storing route information, output means for outputting route guidance based on the route information, guidance control means for calculating the positional relationship between the current position and the guide point, and the current position And a route departure determining means for detecting that the mobile body has deviated from the guide route based on the distance between the guide points, and a route search center In addition, a communication means for receiving route search conditions and transmitting route search results, map data in which roads are recorded as network data, and route search from a departure point to a destination by referring to map data according to the route search conditions And a route search means for performing the above.
[0008]
With this configuration, it is possible to accurately determine that the mobile object has deviated from the route even when the mobile object is route-guided based on route information including only a list of guide points such as intersections.
[0009]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to FIGS.
[0010]
(First embodiment)
In the first embodiment of the present invention, route information including a plurality of guide points and distances between guide points is received, route guidance is performed based on the route information, and the immediately preceding passing guide point and the immediately following scheduled passing guidance are provided. An ellipse area with the point as the focal point and the distance between the two guide points as the major axis distance is obtained, and if the current position is included in the ellipse area, the mobile object is determined to be moving on the guide route, and the current position is The navigation system determines that the moving body has deviated from the guide route when it is outside the elliptical area.
[0011]
FIG. 1 is a block diagram showing a configuration of a navigation system according to the first embodiment of the present invention. The navigation system includes a navigation device 101 and a route search center device 102. The navigation device 101 includes position calculation means 103, input means 104, communication means 105, guidance control means 106, route departure determination means 107, route information storage means 108, and guidance information output means 109. Yes. The route search center device 102 includes communication means 110, route search means 111, and map data 112.
[0012]
In FIG. 1, a navigation device 101 is a device for guiding a guide route from a departure place to a destination. The position calculation means 103 is means for calculating the position coordinates of the moving body. The input means 104 is a means for inputting a starting point and a destination such as a keyboard, a touch panel, and a voice recognition device. The communication unit 105 is a unit that transmits the departure point, the destination, and the route search condition to the route search center device 102 as a route search request and receives route information. The guidance control means 106 is a means for controlling other parts constituting the navigation device. The route departure determination unit 107 is a unit that determines that a departure from the route is made based on the route information and the current position of the moving object. The route information storage means 108 is a memory that stores route information. Guide information output means 109 is means for notifying the user of guide information.
[0013]
The route search center device 102 is a device that performs a route search and returns a result to the navigation device 101. The communication means 110 is a communication device that receives a route search request and returns a route search result. The route search means 111 is a means for searching for a guide route. The map data 112 is digitized road network data.
[0014]
FIG. 2 is a data structure diagram of a guidance point list used in the navigation system according to the first embodiment of the present invention. In FIG. 2, guidance position data 201 is position data of guidance points to which guidance information is to be output. The guidance information data 202 is guidance data to be output at the guidance point. The distance data 203 is a distance along the route to the next guidance point.
[0015]
FIG. 3 is a functional block diagram of the route deviation determining means of the navigation system according to the first embodiment of the present invention. In FIG. 3, an elliptical area calculating unit 301 is a means for calculating an elliptical area. Elliptical area inclusion determining means 302 is a means for determining whether or not a certain position is included in the elliptical area. The guidance point passage determination unit 303 is a unit that determines whether or not the moving body has passed a guidance point to be reached next. The control means 304 is means for controlling the elliptical area calculation means 301, the elliptical area inclusion judgment means 302, and the guidance point passage judgment means 303.
[0016]
FIG. 4 is an operation flowchart of the navigation device of the navigation system according to the first embodiment of the present invention. FIG. 5 is an operation flowchart of the route search center device. FIG. 6 is a flowchart showing the operation of the route deviation determination means.
[0017]
The operation of the navigation system according to the first embodiment of the present invention configured as described above will be described. First, the basic operation of the navigation system will be described with reference to FIG. The navigation device 101 is a device that is mounted on a vehicle or carried by a user, and guides a guide route from an arbitrary departure point to a destination. The position calculation means 103 calculates the position coordinates of the moving body with a GPS antenna and a GPS receiver. When the moving body is a vehicle, the position coordinates of the vehicle are calculated by a gyro sensor and a vehicle speed pulse counter or by a combination of a GPS antenna, a GPS receiver, a gyro sensor, and a vehicle speed pulse counter.
[0018]
The input unit 104 is a keyboard, a touch panel, a voice recognition device, or the like, and inputs a starting point and a destination of a route that the user wants to guide. As the departure point, the current position of the moving body output from the position calculation unit 103 may be used without inputting from the input unit 104. Further, from the input means 104, a search condition that matches the user's preference can also be input. For example, search conditions such as shortest distance route priority / shortest time route priority, general road priority / highway priority, etc. are used to select the route most desired by the user when a plurality of routes are searched.
[0019]
The communication unit 105 transmits the departure point, the destination, and the route search condition input from the input unit 104 to the route search center device 102 as a route search request, and receives route information as a result. The communication means 105 is mainly a wireless communication device such as a mobile phone or a PHS, but it transmits a route search request to the route search center device and receives route information as a modem device connected to a general telephone line or the like. It is also possible to perform communication only until it is done, and then disconnect the telephone line to perform route guidance.
[0020]
The guidance control means 106 controls other parts constituting the navigation device, collects information necessary for outputting the guidance information, and calculates route information and position stored in the route information storage means 108. The current position of the moving object calculated by the means 103 is compared, and the timing for outputting the route information is controlled. The route departure determination unit 107 uses the route information stored in the route information storage unit 108 and the current position of the mobile unit calculated by the position calculation unit 103 to determine whether the mobile unit is moving on the guide route. When it is determined that the mobile body has deviated from the route, the guidance control means is notified of this, and processing such as re-search is performed.
[0021]
The route information storage means 108 stores the route information received by the communication means 105, and is a rewritable memory device, preferably a semiconductor memory having a high reading speed. The guidance information output means 109 outputs guidance information at the guidance point to the user. The guidance information output means 109 outputs a map around the guidance point, a monitor that displays the current position and the direction of turning at the guidance point, and the direction of turning at the guidance point. A speaker or the like that informs the user with voice or the like.
[0022]
The route search center device 102 performs a route search in response to a request from the navigation device 101, and returns the result to the navigation device 101. The communication unit 110 receives a route search request from the navigation device 101 and returns a route search result. Similar to the communication means 105 of the navigation device 101, it is mainly a wireless communication device such as a mobile phone or a PHS, but may be a wired communication device such as a telephone line and a modem. The route search unit 111 acquires the route search request from the navigation device 101 received by the communication unit 110, and searches for a guide route that meets the search conditions while referring to the map data 112. The map data 112 is digitized road network data recorded on a relatively large capacity recording medium such as a CD-ROM, DVD-ROM, or hard disk.
[0023]
Next, with reference to FIG. 2, the structure of the route information that is the result of the search by the route search means 111 will be described. The route information is transmitted to the navigation device 101 via the communication means 110 and 105 and used for route guidance. As communication means between the navigation device 101 and the route search center device 102, wireless communication is mainly used. For this reason, it is difficult to transmit / receive large data due to problems of data transmission / reception time and line usage cost. When the map data and the route search means are included inside as in the conventional navigation device, the route information obtained as a result of the route search is composed of all road data from the departure place to the destination. It had been. However, due to the above problems, in the navigation device of the present embodiment, the route data is composed of a list of guide points. The guidance point is a point where guidance from the departure point to the destination is required for the user. For example, the data indicates a place where the user has to perform a special operation such as a right or left turn at an intersection, an entrance / exit of an expressway, or a branch road.
[0024]
The guidance point is composed of guidance position data 201, guidance information data 202, and distance data 203 along the route to the next guidance point. In this way, when guidance is performed based only on the guidance information of the point to be guided, it is possible to detect when the guidance route is off the guidance route and travels on the wrong road in the middle of the guidance point. It becomes difficult. The route information used in the conventional navigation device is composed of the road data of the entire route connecting the departure point and the destination, so if the position of the moving body is calculated on a road other than the route, it will guide you immediately It was possible to judge that the route deviated. However, when the route information is composed of a list of only guide points, the route between the guide points cannot be understood at all, and it is difficult to determine the departure from the route. Therefore, by including the distance along the route from the guidance point to the next guidance point in the route information and using this information effectively, even when performing route guidance according to the route information consisting of a list of only guidance points, It is possible to make a proper path deviation judgment.
[0025]
Third, with reference to FIG. 3, the operation of the route departure determination means will be described. The ellipse area calculation means 301 calculates the ellipse area by giving the positions of the two focal points of the ellipse and the length of the major axis. Elliptical area inclusion determining means 302 determines whether or not an arbitrary position is included in an arbitrary elliptical area. Guidance point passage determining means 303 determines whether or not the moving body has passed the next guidance point to be reached in the process of moving toward the destination while sequentially following the guiding points. The control unit 304 controls the ellipse area calculation unit 301, the ellipse area inclusion determination unit 302, and the guidance point passage determination unit 303, and advances the route departure determination process.
[0026]
Fourth, the operation of the navigation device 101 will be described with reference to FIGS. In step 401 shown in the figure, the user sets a starting point for starting guidance, a destination to arrive at, and route search conditions through the input means 104 shown in FIG. Since the departure point is often the current position of the mobile object, if the departure point is not set, it is automatically determined in step 402 that the departure point is the current position, and in step 403, the position calculation means 103 outputs Set the current location to be used as the departure point.
[0027]
In step 404, the guidance control means 106 summarizes the departure point, destination, and route guidance conditions input by the user as one route search request, and transmits the route search request to the route search center device 102 using the communication means 105. In step 501 shown in FIG. 5, in the route search center apparatus 102, the communication means 110 receives a route search request from a mobile object. In step 502, the route search means 111 searches for a route from the departure point to the destination while referring to the map data 112. In step 503, a guide route that seems to be closest to the user's route search condition is selected, and the route information is transmitted to the navigation device through the communication means 110. In step 405 shown in FIG. 4, the navigation device 101 receives route information by the communication means 105. In step 406, the received route information is stored in the route information storage unit 108 in accordance with an instruction from the guidance control unit 106.
[0028]
When the moving body starts moving from the departure place, the position calculating means 103 calculates the position of the moving body in step 407. In step 408, every time the position of the moving body is calculated, the guidance control means 106 compares the current position with the position of the next guidance point, and determines whether the positional relationship between the two satisfies a predetermined condition. To do. For example, this is a condition of whether or not the linear distance between the current position of the moving body and the next guide point to be passed is a predetermined value or less. When the condition is satisfied in step 408, the guidance control means 106 reads out the guidance information corresponding to the position of the guidance point that was referenced from the route information storage means 108 in step 409. In step 410, guide information is output to the user via the guide information output means.
[0029]
In step 411, every time the position of the moving body is calculated, the route departure determining means 107 determines whether or not the moving body is moving on the route. Here, if it is determined that the mobile body has deviated from the route, the guidance control means 106 is notified of this in step 412, and the guidance control means 106 outputs that fact through the guidance information output means 109. To do. In step 413, a guide route re-search request is transmitted from the communication means as necessary.
[0030]
Fifth, the route departure determination process will be described with reference to FIG. In step 601, it is determined whether or not the guidance point aimed at this time has been passed. If it has passed, in step 602, the position of the guide point that passed last time is read out. Subsequently, in step 603, the position of the guidance point to be passed next is read. Further, in step 604, the distance along the route from the guidance point that passed last time to the guidance point that should pass next is read, and the guidance point that passed last time and the guidance point that should pass next are updated.
[0031]
Next, in step 605, the ellipse area calculation means 301 uses the position of the guidance point that was previously passed and the guidance point that is to be passed next as the focal point, from the guidance point that was previously passed to the guidance point that should be passed next. The ellipse area having the major axis as the distance along the path is calculated. In step 606, the current position of the moving object calculated by the position calculation means 103 is acquired. In step 607, the positional relationship between the current position of the moving body acquired here and the elliptical area calculated in step 605 is compared. If the current position is not included in the elliptical area, it is determined in step 608 that the mobile body has deviated from the guidance route, and in step 609, the guidance control means 106 is notified that the guidance route has been removed. . If it is determined in step 607 that the current position is included in the elliptical area, it is determined in step 610 that the moving body is moving on the route.
[0032]
An ellipse is a locus drawn by a set of points where the sum of distances from two focal points is constant, and the distance from the two focal points is the same as the length of the major axis of the ellipse. The inside of the elliptical area is a set of points such that the sum of the distances from the two focal points is shorter than the length of the long axis, and the outside of the elliptical area is the sum of the distances from the two focal points. It is a set of points that are longer than the length. This is an ellipse with the long axis as the distance along the guide route between the two guide points as a focal point and moving between the two guide points via one point outside the area of the ellipse. It means that the travel distance between them becomes longer than the length of the major axis of the ellipse due to the property of the ellipse regardless of the route. That is, when the position of the moving body is outside the elliptical area, it can be seen that the travel distance for moving between the two guide points exceeds the distance along the guide route between the two guide points. In other words, the determinations in step 608 and step 610 are based on the nature of the ellipse.
[0033]
As described above, in the first embodiment of the present invention, the navigation system receives route information including a plurality of guide points and distances between guide points, performs route guidance based on the route information, The ellipse area is determined with the passing guide point and the next scheduled passing guide point as the focal point, and the distance between the two guide points as the major axis distance. If the current position is included in the ellipse area, the moving object moves on the guide route. If the current position is outside the ellipse area, the moving object is determined to have deviated from the guidance route. Therefore, the vehicle moves based on route information consisting only of a list of guidance points such as intersections. Even when performing route guidance of the body, it is accurately determined that the moving body has deviated from the route, and the navigation device user is notified that the route has deviated, or re-searched. You can instruct to perform.
[0034]
(Second Embodiment)
In the second embodiment of the present invention, route information including a plurality of guide points and distances between guide points is received, route guidance is performed based on the route information, the immediately preceding passing guide point and the immediately following passing scheduled guidance. Subtract the travel distance after the previous passing guidance point from the distance to the point to find the distance difference, find a circle area centered on the next passing guidance point and radius the distance difference, and the current position is the circle area In the navigation system, it is determined that the moving body is traveling on the guidance route when it is included in the navigation route, and that the moving body has deviated from the guidance route when the current position is outside the circular area.
[0035]
The basic configuration of the navigation system according to the second embodiment of the present invention is the same as that of the first embodiment shown in FIGS. The basic operation of the navigation system is the same as the operation of the first embodiment shown in FIGS. The second embodiment is different from the first embodiment in the configuration of the route departure determination unit and the route departure determination procedure.
[0036]
FIG. 7 is a functional block diagram of the route departure determining means of the navigation system in the second embodiment of the present invention. In FIG. 7, a circle area calculation unit 701 is a means for calculating a circle area by giving the center and radius of the circle. The moving distance calculation means 702 is a means for calculating the total distance traveled by the moving body. The distance difference calculation means 703 is a means for calculating a difference between two distances. The circle area inclusion relation determining means 704 is a means for determining whether or not a certain position is included in the circle area. The guidance point passage determination means 705 is a means for determining whether or not the moving body has passed a guidance point to be reached next. The control means 706 is means for controlling the circle area calculation means 701, the movement distance calculation means 702, the distance difference calculation means 703, the circle area inclusion relation determination means 704, and the guidance point passage determination means 705. FIG. 8 is an operation flowchart of the navigation system in the second embodiment.
[0037]
The operation of the navigation system configured as described above according to the second embodiment of the present invention will be described. First, the operation of the route departure determination unit will be described with reference to FIG. The circle area calculation unit 701 calculates a circle area from the center position of the circle and the length of the radius. The moving distance calculation means 702 calculates the difference between two consecutive positions among the current current positions calculated sequentially as the distance traveled by the moving body between them, and calculates the sum of the distances as the moving distance. The distance difference calculation means 703 calculates the difference between the two distances. The circular area inclusion relation determining means 704 determines whether or not an arbitrary position is included in an arbitrary circular area. The guide point passage determination means 705 determines whether or not the mobile body has passed the next guide point to be reached in the process of moving toward the destination while sequentially following the guide points. The control means 706 controls the circle area calculation means 701, the movement distance calculation means 702, the distance difference calculation means 703, the circle area inclusion relation determination means 704, and the guidance point passage determination means 705, and performs route departure determination processing. Go ahead.
[0038]
Second, the route departure determination process will be described with reference to FIG. In step 801, it is determined whether or not the guidance point aimed at this time has been passed. If it has passed, in step 802, the position of the guide point that passed last time is read. Subsequently, in step 803, the position of the guidance point to be passed next is read. Further, in step 804, the distance along the route from the guidance point that passed last time to the guidance point that should pass next is read, and the guidance point that passed last time and the guidance point that should pass next are updated.
[0039]
In step 805, the distance from the previous guidance point is cleared to zero. In step 806, the current position of the moving object calculated by the position calculation means 103 is acquired. Next, in step 807, the movement distance calculation means 702 calculates the movement distance of the moving body after passing the previous guidance point. Usually, the difference between two consecutive positions of the current current position calculated sequentially is set as the distance traveled by the moving body, and the sum of the distances is calculated as the moving movement distance. In step 808, the distance difference calculation means 703 reads in step 804, the distance along the route from the previously passed guidance point to the next guidance point to be passed, and the previously passed guidance calculated in step 807. The difference distance of the travel distance of the moving body from the point is calculated as the remaining distance to the guidance point that should be passed next.
[0040]
In step 809, a circular area is calculated with the remaining distance to the next guidance point calculated in step 808 as a radius centered on the next guidance point to be passed. In step 810, the current position of the moving object acquired in step 806 is compared with the positional relationship between the circular areas calculated in step 809. If it is determined in step 811 that the current position is not included in the circular area, it is determined that the moving body has deviated from the guide route. In step 812, the guidance control means 106 is notified that the guidance route has been removed. In step 813, if the current position is included in the circular area in step 810, it is determined that the moving body is moving on the route.
[0041]
This means that when the remaining distance along the route to the next guide point to be passed is compared with the straight line distance between the next guide point to be passed and the moving object, the vehicle travels on the specified guide route. If this is the case, the fact that the remaining distance along the route is always longer than the straight distance is utilized.
[0042]
As described above, in the second embodiment of the present invention, the navigation system receives route information including a plurality of guide points and distances between guide points, performs route guidance based on the route information, The distance between the passing guidance point and the next scheduled passing guidance point is subtracted from the distance after the previous passing guidance point to obtain the distance difference. When the current position is included in the circular area, it is determined that the moving body is traveling on the guide route. When the current position is outside the circular area, the moving body deviates from the guide route. Therefore, it is possible to accurately determine that the mobile object has deviated from the route even when the mobile object is route-guided based on the route information including only a list of guide points such as intersections. , And you can instruct to perform or tell it deviates from the path to the user of the navigation device, the re-search.
[0043]
【The invention's effect】
As is apparent from the above description, in the present invention, the navigation system includes means for receiving route information including a plurality of guide points and distances between guide points along the route between the guide points as a route search result, Even if the route guidance is based on the list of guidance points, it is possible to move even if the route guidance is based on the list of guidance points. The effect is obtained that it is possible to accurately determine that the body has deviated from the path.
[Brief description of the drawings]
FIG. 1 is a functional block diagram of a navigation system according to a first embodiment of the present invention;
FIG. 2 is a data structure diagram of a guide point list used in the navigation system according to the first embodiment of the present invention;
FIG. 3 is a functional block diagram of route deviation determination means of the navigation system according to the first embodiment of the present invention;
FIG. 4 is an operation flowchart of the navigation device of the navigation system according to the first embodiment of the present invention;
FIG. 5 is an operation flowchart of the route search center device of the navigation system according to the first embodiment of the present invention;
FIG. 6 is an operation flowchart of the navigation system according to the first embodiment of the present invention;
FIG. 7 is a functional block diagram of route deviation determination means of the navigation system according to the second embodiment of the present invention;
FIG. 8 is an operation flowchart of the navigation system according to the second embodiment of the present invention.
[Explanation of symbols]
101 Navigation device
102 Route search center device
103 Position calculation means
104 Input means
105 Communication means
106 Guidance control means
107 Route deviation judgment means
108 Route information storage means
109 Guide information output means
110 Communication means
111 Route search means
112 Map data
201 Guide position data
202 Guide information data
203 Distance data
301 Elliptical area calculation means
302 Elliptic region inclusion relation determination means
303 Guidance point passage judgment means
304 Control means
701 Circle area calculation means
702 Moving distance calculation means
703 Distance difference calculation means
704 Circle area inclusion relation judging means
705 Guide point passage judgment means
706 Control means

Claims (6)

In a navigation system comprising a navigation device and a route search center device held by a moving body, the navigation device inputs a position search means for calculating the current position of the moving body, and a route search condition including a departure place and a destination. Means for transmitting the route search condition, means for receiving route information including a plurality of guide points and distances between guide points along the route between the guide points as a route search result, and the route Route information storage means for storing information; output means for outputting route guidance based on the route information; guidance control means for calculating a positional relationship between the current position and the guide point; the current position and the guidance Route deviation determining means for detecting that the mobile body has deviated from the guide route based on a distance between points; and The route search center device includes a communication unit that receives the route search condition and transmits the route search result, map data in which a road is recorded as network data, and the map data according to the route search condition. Route search means for searching for a route from the destination to the destination, wherein the route departure determination means includes a guidance point passage determination means for determining that the mobile body has passed the guidance point, a previous passage guidance point, An ellipse area calculating means for calculating an ellipse area whose focal point is a planned passing guide point immediately after and the distance between the two guide points is a long axis distance; and an ellipse for determining whether or not the current position is included in the ellipse area A mobile navigation system comprising a region inclusion relation determining means . In a navigation system comprising a navigation device and a route search center device held by a moving body, the navigation device inputs a position search means for calculating the current position of the moving body, and a route search condition including a departure place and a destination. Means for transmitting the route search condition, means for receiving route information including a plurality of guide points and distances between guide points along the route between the guide points as a route search result, and the route Route information storage means for storing information; output means for outputting route guidance based on the route information; guidance control means for calculating a positional relationship between the current position and the guide point; the current position and the guidance Route deviation determining means for detecting that the mobile body has deviated from the guide route based on a distance between points; and The route search center device includes a communication unit that receives the route search condition and transmits the route search result, map data in which a road is recorded as network data, and the map data according to the route search condition. Route search means for searching the route from the destination to the destination, the route departure determination means is a guide point passage determination means for determining that the mobile body has passed the guide point, and A moving distance calculating means for calculating a moving distance; a distance difference calculating means for calculating a difference distance by subtracting the moving distance from a distance between guide points between a previous passing guidance point and a next scheduled passing guidance point; A circle area calculation means for calculating a circle area having the difference distance as a radius around the position of the scheduled passage guide point of the vehicle, and the circle area The moving body navigation systems that anda current position elliptical region inclusion relation determination means for determining whether it is included.   The route information including a plurality of guide points and the distance between the guide points along the route between the guide points is received and route guidance is performed based on the route information. And when the current position is included in the elliptical area, it is determined that the moving body is moving on the guidance route, and the current position is included in the elliptical area. A guide route departure determination method, characterized in that, when the position is outside the elliptical area, it is determined that the mobile body has deviated from the guide route.   The route information including a plurality of guide points and the distance between the guide points along the route between the guide points is received and route guidance is performed based on the route information. The distance between the guide points along the guide route is subtracted from the distance between the previous guide points and the distance difference is obtained. In the case where the current position is included in the circle area, it is determined that the moving body is traveling on the guide route. When the current position is outside the circle area, the moving body deviates from the guide route. A guide route departure determination method, characterized by: Computer program describing the procedure for executing the guide route deviation determination method according to claim 3 or 4, wherein. Recording medium storing a computer program according to claim 5.

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