JP6512802B2 - Route search device, route search method and program - Google Patents

Description

This application, route search device, belonging to the technical field of the route search method, and program. More specifically, the route searching apparatus through the parking lot that determine a path for guiding the movement to a destination, the route search method, and belongs to the technical field of the program.

  In recent years, navigation devices for guiding a vehicle from a departure place to a destination are widely used. As such a navigation device, a navigation device is implemented by executing a program for navigation, for example, when the device itself is mounted on a vehicle, and a terminal device carried by a user of the vehicle (that is, a driver or a passenger) carries out the navigation program. There are cases where it functions as In addition, when there is a facility to be dropped in between the place of departure and the destination, for example, a guidance route through a parking lot associated with the facility is determined.

  As an example of such prior art, there is a technology described in Patent Document 1 below. In the technology described in this patent document 1, when the destination or transit point of movement is a parking lot, the entrance of the parking lot is determined so as to be the shortest guide route from the present location to the parking lot. It is supposed to be. In addition, when the parking lot itself is the departure place, it is decided to determine the exit of the parking lot which is the shortest route to the destination. That is, in the technology described in Patent Document 1 below, when the parking lot is determined as a passing place, the entrance of the parking lot which is the shortest guide route from the current location is determined first, and the route from the current location to the entrance Will be guided and will park the vehicle in the parking lot with its entrance. After that, when a route from the parking lot to the destination is searched, it is natural that only the exit of the parking lot is selected, and the guidance route from the exit to the destination is again guided.

Japanese Patent Application Publication No. 2004-12425

  However, in the case of the technology described in Patent Document 1, for example, even if a long traffic jam or the like has occurred from the time before the vehicle enters the parking lot on the road connected to the exit being guided, There is a problem in that the vehicle is forced to exit the road from the exit of the parking lot because it enters from the entrance of the parking lot, and therefore, it takes time for the subsequent travel. That is, according to the technology described in Patent Document 1 above, even when the parking lot is a transit point, the entire guide route to the final destination is not taken into consideration, and from the current position to the entrance of the parking lot The entrance with the shortest path is simply selected. Therefore, in this case, there is a problem that the entrance of the parking lot which has only an exit in contact with the road which takes a long time to pass is selected, and as a result, the time to reach the destination becomes long. It is

Therefore, the present application has been made in view of the above problems, and one example of the problem is guidance from the departure place to the destination even when moving through the parking lot as a transit place route search device that determine the optimum guidance route as a whole route is to provide a route searching method, and program.

In order to solve the above problems, the invention according to claim 1 is characterized in that departure point information including information indicating a departure point, destination information including information indicating a destination, and at least one of an entrance or an exit. Acquiring means for acquiring parking lot information, which is information including an entrance position and an exit position of a parking lot where a plurality of vehicles exist, a first moving cost in a first route from the departure place to the entrance position, The sum of the second travel cost in the second route from the exit position to the destination is calculated, and the combination of the first route and the second route that minimizes the total is calculated from the departure location to the parking lot And determining means for determining as a guide route to the destination via

In order to solve the above-mentioned problems, the invention according to claim 10 is a route searching method executed by a route searching apparatus, which includes departure place information including information indicating a departure place and information indicating a destination. An acquiring step of acquiring destination information and parking lot information which is information including an entrance position and an exit position of a parking lot in which there are a plurality of entrances and / or exits, and the entrance position from the departure point a first movement cost in the first route to the calculated second movement cost in the second path from the exit point to the destination, the sum of the said first path in which the sum is smallest first Determining a combination of the two routes as a guide route from the departure place to the destination via the parking lot.

In order to solve the above-mentioned subject, the invention according to claim 11 makes a computer function as each means of the route search device according to any one of claims 1 to 9.

It is a block diagram showing a schematic structure of a notification device concerning an embodiment. It is a block diagram etc. which show outline composition of a navigation device concerning an example, (a) is the block diagram concerned, (b) is a key map which illustrates arrangement of a parking lot etc. concerning an example, (c ) Is a figure which illustrates the contents of the entrance and exit table concerning an embodiment. It is a flowchart etc. which show the route determination operation | movement which concerns on an Example, (a) is the said flowchart, (b) is a figure which illustrates calculation of the movement cost which concerns on an Example. It is a conceptual diagram which illustrates route determination concerning an example. It is a conceptual diagram etc. which illustrate re-decision operation | movement of the path | route which concerns on a 1st modification, (a) is the said conceptual diagram, (b) is a flowchart which shows the said re-determination operation. It is a conceptual diagram which illustrates route determination concerning the 2nd modification.

  Next, a mode for carrying out the present application will be described with reference to FIG. FIG. 1 is a block diagram showing a schematic configuration of a notification device according to the embodiment.

  As shown in FIG. 1, the notification device S according to the embodiment includes an acquisition unit 1, a determination unit 2, and a notification unit 3.

  In this configuration, the acquiring means 1 is parking lot information indicating a parking lot having departure point information indicating a departure point, first point information indicating a first point, and at least one entrance and a plurality of exits. It acquires parking lot information including entrance position information indicating the position of the entrance and exit position information indicating the position of each of the exits.

  Then, when the first point is the destination, the determination means 2 indicates the position of the departure point indicated by the departure point information acquired by the acquisition means 1 and the first point information indicated by the acquisition point 1 From the place of departure through the parking lot to the first point based on the position of the point 1, the position of the entrance indicated by the entrance position information, and the positions of each of the plurality of exits indicated by the exit position information The route is determined, and one exit is determined from the plurality of exits as part of the determined route.

  The notification means 3 then notifies the one exit determined by the determination means 2.

  At this time, when the second point different from the first point is set as the destination, the determination means 2 sets the other point different from the one determined previously to the second point as the destination. As part of the

  As described above, according to the operation of the notification device S according to the embodiment, the departure place information, the first point information, and the parking lot information including the entrance position information and the exit position information are obtained, respectively. Based on, the route of the departure place-in the parking lot-the destination with the first point as the destination and the exit that constitutes the route are determined, and the exit of the determined one is notified. Furthermore, when the second point different from the first point is set as the destination, another exit is determined as part of the route with the second point as the destination. Therefore, the route to the destination is determined in consideration of the position of the entrance and the position of the outlet in the parking lot having a plurality of exits, so the optimum route as the whole route to the destination is determined and related thereto Information can be reported to the user.

  Next, specific examples corresponding to the above-described embodiment will be described using FIGS. 2 to 4. The embodiment described below is an embodiment in which the present invention is applied to a route determination operation and a notification operation in a navigation device for guiding a movement of a vehicle along a guide route to a destination.

  2 is a block diagram showing a schematic configuration of the navigation device according to the embodiment, FIG. 3 is a flowchart showing a route determination operation according to the embodiment, and FIG. 4 exemplifies route determination according to the embodiment. Is a conceptual diagram. At this time, in FIG. 2, the same component numbers as the constituent members in the informing device S are used for the constituent members of the embodiment corresponding to the respective constituent members in the informing device S according to the embodiment shown in FIG. .

  As shown to Fig.2 (a), the navigation apparatus NV which concerns on the Example containing the structure as an example of alerting | reporting apparatus S which concerns on embodiment is from CPU, RAM (Random Access Memory), ROM (Read Only Memory) etc. And a sensor unit that detects the current position of the vehicle on which the navigation device NV is mounted (in other words, the current position of the navigation device NV itself) by itself or by using a GPS (Global Positioning System) or the like 12 and a display 3 as an example of the notification means 3 according to the embodiment, a touch panel provided on the surface of the display 3, an operation unit 13 including an operation button or a remote control, a hard disk and a RAM. And the like.

  The processing unit 10 also includes a movement cost calculation unit 11, an interface 1 as an example of the acquisition unit 1 according to the embodiment, and a route determination unit 2 as an example of the determination unit 2 according to the embodiment. At this time, the movement cost calculation unit 11, the interface 1, and the route determination unit 2 may be realized by hardware logic circuits such as a CPU constituting the processing unit 10, respectively, and correspond to a flowchart showing a route determination operation described later. The program may be realized as software by the CPU or the like reading and executing the program. And as shown with a broken line in Drawing 2 (a), interface 1, course deciding part 2, and display 3 are equivalent to informing device S concerning an embodiment.

  In the configuration described above, the map database (abbreviated as "map DB" in FIG. 2A) 15 according to the embodiment is recorded in advance in the recording unit 14 in a non-volatile manner. The map database 15 is a map database used for the guidance operation in the navigation device NV according to the embodiment, and includes road data, intersection data, parking lot data, facility data and the like. Further, in the map database 15, an entrance / exit table TB according to the embodiment is recorded, which indicates the correspondence between the entrance and the exit for the parking lot used for the above-mentioned guidance operation.

  Here, the said entrance / exit table TB which concerns on an Example is concretely demonstrated using FIG.2 (b) and FIG.2 (c). Now, as illustrated in FIG. 2B, it is assumed that there are two parking lots P1 and P2 that are associated with a facility U used by a user of a vehicle equipped with the navigation device NV. The facility U and the parking lot P1 and the parking lot P2 are surrounded by the roads R1 to R4, and the parking lot P1 has two entrances I1 and I2, and two exits O1 and O2. . In addition, it is assumed that there is an entrance I3 and an exit O3 in the parking lot P2. In this case, the entrance / exit table TB illustrated in FIG. 2C is recorded in the map database 15 as the entrance / exit table TB corresponding to the parking lot P1 and the parking lot P2. In the entrance / exit table TB illustrated in FIG. 2C, for the entrance I1, the exit O1 and the exit O2 are available for exiting from the parking lot P1, and the exit O1 and the exit O2 are similarly available for the entrance I2. It is described that there is. On the other hand, as for the entrance I3, it is described that only the exit O3 can be used upon leaving the parking lot P2. In the following description, when the matters common to the inlets I1 to I3 are described, they will be collectively referred to simply as "the inlet I". Similarly, when the matters common to the outlets O1 to O3 are described, they are collectively referred to simply as "the outlet O".

  On the other hand, the sensor unit 12 detects the current position, generates current position data indicating the detected current position, and outputs the current position data to the processing unit 10. On the other hand, in the operation unit 13, an operation or the like necessary for causing the navigation apparatus NV to perform the route guidance operation according to the embodiment is executed, and the operation unit 13 generates an operation signal corresponding to the operation or the like Output to 10. Thus, the processing unit 10 performs overall control of the route guidance operation according to the embodiment using the current position data, the road data recorded in the map database 15, the entrance / exit table TB, etc. based on the operation signal. At this time, temporary data and the like necessary for the processing unit 10 to perform the route guidance operation are temporarily recorded in the recording unit 14, and a necessary map or guide route is presented to the user via the display 5. Ru. In the route guidance operation, the movement cost calculation unit 11 of the processing unit 10 calculates the movement cost necessary for determining the guidance route to be presented to the user, and the calculated movement cost is calculated using the interface 1. Output to the route determination unit 2 via

  Here, the “travel cost” refers to the so-called “link” or “node” constituting the road data, intersection data or parking lot data recorded in the map database 15 finally presented to the user. Data for each link or node indicating whether it is easy to select as a guide route (that is, a guide route from the departure place to the destination for the user). The movement cost is a value that changes according to, for example, the distance, the required time, or the state of congestion occurring at that time. The higher the movement cost, the harder it is to be selected as the guide route, and as the final guide route, a route in which a link or node with a lowest movement cost is continuous is selected. The movement cost calculation unit 11 calculates such movement costs for each link or node and outputs the movement cost to the route determination unit 2 via the interface 1.

  Then, the route determination unit 2 integrates the respective movement costs calculated by the movement cost calculation unit 11, determines the guidance route so as to include the road or the intersection (that is, the link or node) having the lowest total. The displayed guide route is presented to the user via the display 3 or the like.

  Next, the route determination operation according to the embodiment, which is executed mainly by the processing unit 10, will be specifically described with reference to FIGS. 3 and 4. FIG. In the following embodiment, after leaving a departure place not shown in FIG. 2 (b), the facility U illustrated in FIG. 2 (b) is used, and a final destination not shown in FIG. 2 (b) ( The route determination operation of the guide route presented to the user moving to the destination (different from the departure place) will be described.

  For example, when the operation for determining a guide route set in advance is performed in the operation unit 13, the movement cost calculation unit 11 of the processing unit 10, as shown in FIG. 3A, for each of the parking lot P1 and the parking lot P2. The value of the inlet parameter m, which is a natural number indicating each inlet I, is initialized with the number of inlets obtained by adding the number of inlets I (“3” in the case illustrated in FIG. 2B) as the maximum value (step S1). Next, the processing unit 10 searches for one or more routes from the above departure point to the entrance Im according to, for example, the same method as in the prior art (step S2), and then the movement cost calculation unit 11 calculates the movement cost for each of the searched routes. Each CIm is calculated and temporarily recorded in the recording unit 14 (step S3). Here, "the entrance Im" refers to the m-th entrance in the parking lot P1 and the parking lot P2, and the "movement cost CIM" refers to the movement cost of the route from the departure place to the entrance Im.

  Next, the movement cost calculation unit 11 determines whether or not the value of the entrance parameter m at the present time is the sum of the numbers of entrances I of the parking lot P1 and the parking lot P2 (step S4). If it is determined in step S4 that the value of the inlet parameter m at the present time is smaller than the total number of inlets I ("3" in the case of the embodiment) (step S4; NO), the moving cost calculator 11 calculates the inlet parameter m. Is incremented by "1" (step S5), and the process returns to the operation of step S2.

  On the other hand, if it is determined in step S4 that the value of the entrance parameter m at the present time is the total of the number of entrances I (step S4; YES), the moving cost calculation unit 11 next determines the parking lot P1 and the parking lot P2. The value of the outlet parameter n, which is a natural number indicating each outlet O, is initialized with the number of outlets ("3" in the case of FIG. 2 (b) as an example illustrated in FIG. ). Next, the processing unit 10 searches for one or more routes from the exit On to the destination according to, for example, the same method as the conventional method (step S7), and then the movement cost calculation unit 11 calculates the movement cost for each of the searched routes. Each COn is calculated and temporarily recorded in the recording unit 14 (step S8). Here, "Exit On" refers to the n-th exit O in the parking lot P1 and the parking lot P2, and "moving cost COn" refers to the moving cost of the route from the exit On to the destination.

  Next, the movement cost calculation unit 11 determines whether or not the value of the exit parameter n at the present time is the sum of the number of exits O of each of the parking lot P1 and the parking lot P2 (step S9). If it is determined in step S9 that the value of the exit parameter n at this time is smaller than the sum of the number of exits O ("3" in the case of the embodiment) (step S9; NO), the movement cost calculation unit 11 outputs exit parameter n. Is incremented by "1" (step S10), and the process returns to the operation of step S7.

  On the other hand, if it is determined in step S9 that the value of the exit parameter n at the present time is the sum of the number of exits O (step S9; YES), the moving cost calculation unit 11 next determines the parking lot P1 and the parking lot P2. For each of the inlet I and the outlet O, the movement cost Cmn in each route when moving from the inlet Im to the outlet On is calculated and temporarily recorded in the recording unit 14 (step S11). Here, the “moving cost Cmn” refers to the moving cost of each route from the inlet Im to the outlet On.

  Thereafter, the route determination unit 2 calculates the sum of each of the combinations of the movement cost CIm, the movement cost COn, and the movement cost Cmn calculated above (step S12). Here, it is assumed that the sum of the movement costs calculated by the operation of step 12 becomes a value exemplified in FIG. 3 (b). In the case illustrated in FIG. 3B, for example, the movement cost CI1 from the departure point to the entrance I1 is "1200", and the movement cost CO1 from the exit I1 available from the entrance I1 to the destination is "3300 Furthermore, the moving cost C11 from the inlet I1 to the outlet O1 is “50”, and therefore the total moving cost from the above starting point to the destination via the inlet I1 and the outlet O1 is “4550”. It will be.

  Next, the route determination unit 2 determines a route having the smallest total movement cost calculated by the operation of step S12 as a guide route to be actually presented to the user (step S13), using, for example, the display 3 indicate. In the case illustrated in FIG. 3, since the movement cost is the smallest when moving from the departure place to the parking lot P1 using the entrance I1 and then moving to the destination using the exit O1, the route determination unit 2 This route is determined as a guidance route and presented to the user. As a result, on the display 3, for example, a guide route using the inlet I 1 → the outlet O 1 as shown in FIG. 4 is displayed. At this time, the movement cost (CIm + Cmn + COn) of the entire guide route in each of the case where a first point is a destination and the case where a second point different from the first point is a destination Are different from each other, the guide route presented to the user is also different in the two cases. In these cases, the exit O included in the determined guide route may change depending on whether the first point is the destination or the second point is the destination. become.

  After that, the processing unit 10 determines whether to end the route guidance operation according to the embodiment, for example, because the ending operation predetermined in the operation unit 13 is executed or the vehicle itself arrives at the destination. Is determined (step S14). If it is determined in step S14 that the route guidance operation is not ended (step S14; NO), the processing unit 10 proceeds to the operation of step S1. On the other hand, in the operation of step S14, when the route guidance operation is ended (step S14; YES), the processing unit 10 ends the route guidance operation as it is.

  As described above, according to the route guidance operation according to the embodiment, the movement cost CIM of the departure place-parking lot, the movement cost Cmn in each parking lot, and the movement cost COn of the parking lot-destination are respectively calculated. Based on them, the guidance route including the route of the departure place-parking lot, the route in the parking lot and the route of the parking lot-destination is determined and presented to the user. Therefore, since the guidance route is determined in consideration of the route in the parking lot and the route of the parking lot-destination in the parking lot having a plurality of exits, the optimum route as the entire guidance route is determined, and the information related thereto is determined. It can be presented to the user.

  More specifically, for example, in the case of parking lot P1 and parking lot P2 shown in FIG. 2 (b), parking lot P2 is the closest in distance to the starting point, and the distance to the destination is It is assumed that the exit O1 of the parking lot P1 is closest to. On the other hand, it is assumed that traffic congestion occurs on the road R2 leaving the exit O3 of the parking lot P2 and the road R4 leaving the exit O2 of the parking lot P1 and it takes a long time to pass. In this case, in the case of the technology described in Patent Document 1, since the entrance I3 of the parking lot P2 closest to the departure point is simply selected, the exit O3 causes the vehicle to be caught in traffic. It will be. On the other hand, in the case of the route determination operation according to the embodiment, since the guidance route is determined in consideration of the route of the parking lot-the destination and the route in the parking lot, even after the parking lot is left Since the guide route including the entrance I1 and the exit O1 of the parking lot P1 without congestion is presented, it is possible to move to the destination in a shorter time.

  In addition, since the movement cost Cmn in each parking lot is calculated based on the entrance / exit table TB indicating the relationship between the entrance I and the exit O, the movement cost Cmn is more accurately calculated to determine the guidance route. Can.

  At this time, even if the moving costs in the entire guide route to different destinations are different from each other, and even if the outlet O included in each guide route is different as a result, the position of the inlet I and the outlet O Since the guide route to the destination is determined in consideration of the position, as described above, it is possible to determine the optimum route as the entire guide route and to notify the user of the information related thereto.

[Modification]
Next, modified examples corresponding to the embodiment will be described using FIGS. 5 and 6 or the like. FIG. 5 is a conceptual diagram and the like illustrating the re-determining operation of the route according to the first modification, and FIG. 6 is a conceptual diagram illustrating the route determination according to the second modification. In the following description, when the member numbers and the like used in the examples can be cited, they will be cited and described as they are.

First Modification
First, as a first modification, in a case similar to the case illustrated in FIG. 2 (b), for example, when the guide route illustrated in FIG. 4 is presented, the case illustrated for FIG. If you enter the parking lot P2 from the entrance I3 and parked, the guidance route to the destination after that will be automatically exited as illustrated in FIG. 5 with reference to the entrance / exit table TB. A guide route including the route from O3 is redetermined. In this first variant, a different exit O path will be presented for the guide path according to the first presented embodiment.

  Here, the route re-determining operation according to the first modification will be described more specifically with reference to FIG. As shown in FIG. 5 (b), in the route redetermining operation according to the first modification, when the guide route illustrated in FIG. 4 is presented, the position of the vehicle is the facility U to be used. This is started by determining whether or not the guidance route illustrated in FIG. 4 is deviated at the entrance I of either the accompanying parking lot P1 or the parking lot P2 (step S20). In the description of the first modification shown below and FIG. 5 (b), the guide route illustrated in FIG. 4 is simply referred to as "the original guide route".

  If it is determined in step S20 that the position deviated from the original guide route is not one of the entrances I (step S20; NO, specifically, for example, when stopping at another store on the way to the facility U) Assuming that the route re-determining operation according to the first modification is not necessary (step S30), the processing unit 10 ends the re-determining operation as it is and continues the guidance using the original guide route.

  On the other hand, if it is determined in step S20 that the position deviated from the original guide route is any one of the entrances I (step S20; YES), the processing unit 10 next determines that the entrance I deviated from the original guide route is the original. It is determined whether it is different from the entrance I on the guide route (in the case illustrated in FIG. 5A, the entrance I1) (step S21). If it is determined in step S21 that the inlets I are the same (step S21; NO), the processing unit 10 proceeds to the operation of the step S30.

  On the other hand, in the case where it is determined in step S21 that the inlet I deviated from the original guide route is different from the inlet I on the original guide route (step S21; YES), in the case illustrated in FIG. The route determination unit 2 then acquires exit data indicating the exit O associated with the entrance I that has deviated from the guide route from the map database 15 with reference to the entrance / exit table TB (step S22). Then, the route determination unit 2 determines whether or not the outlet O on the original guide route is included in the outlet O indicated by the outlet data acquired by the operation of step S22 (step S23). In the determination of step S23, when the exit O indicated by the exit data includes the exit O on the original guide route (step S23; YES), the processing unit 10 shifts to the operation of the step S30. .

  On the other hand, in the determination of step S23, when the exit O indicated by the exit data does not include the exit O on the original guide route (step S23; NO, exit O3 illustrated in FIG. 5A). Is not included on the original guide route), and the movement cost calculation unit 11 next outputs the above-mentioned exit parameter n for the outlet O associated with the entrance I deviated from the original guide route in the entrance / exit table TB. Are initialized (step S24). Next, the processing unit 10 searches for one or more routes from the exit On to the destination in the same manner as the embodiment (step S25), and thereafter the movement cost calculation unit 11 calculates the movement cost COn for each of the searched routes. Each is calculated and temporarily recorded in the recording unit 14 (step S26).

  Next, the movement cost calculation unit 11 determines whether or not the value of the exit parameter n at the present time is the sum of the number of exits O associated with the entrance I that has deviated from the original guide route in the entrance / exit table TB. Is determined (step S27). If it is determined in step S27 that the value of the exit parameter n at the present time is smaller than the total number of exits O (step S27; NO), the movement cost calculation unit 11 increments the value of the exit parameter n by "1" ( Step S28), returns to the operation of the step S25.

  On the other hand, if it is determined in step S27 that the value of the exit parameter n at the present time is the sum of the number of exits O (step S27; YES), the movement cost calculation unit 11 and the route determination unit 2 calculate the calculated movement The guidance route is redetermined so as to include the route to the destination where the cost COn is minimum (step S29), and the processing unit 10 continues guidance using the redetermined guidance route.

  In the route redetermining operation according to the first modification, taking the case shown in FIG. 5A as an example, there is only one candidate for the new exit O at the exit O3, so the moving cost Cmn according to the embodiment is Calculation was unnecessary. However, if there are a plurality of candidates for the exit O associated with the entrance I which deviates from the original guide route in the entrance / exit table TB, the moving cost Cmn between the entrance I and the candidate exit O is Preferably, new guidance routes are re-determined in consideration of the above.

Second Modified Example
As a second modification, in a case similar to the case illustrated in FIG. 2B, for example, when the guide route illustrated in FIG. 4 is presented, as illustrated in FIG. 6 for some reason When passing through the entrance I1, as the guide route to the destination after that, referring to the entrance / exit table TB, via the other entrance I2 → exit O1 of the parking lot P1 as illustrated in FIG. Redetermined to include the route. In this second variant, for the guiding path according to the embodiment presented at the beginning, a path will be presented which differs at the entrance I but not at the exit O.

Third Modification
As a third modification, when the parking lot on the route has a plurality of entrances I, the movement cost Cmn is determined based on each of the distances between the plurality of entrances I and the plurality of exits O. May be Specifically, the sum of the movement cost CIM for each of the departure-parking route corresponding to each entrance I and the traveling cost COn for each parking-destination route corresponding to each exit O (CIm + COn It is preferable to set the guidance route including the route in the parking lot including the entrance I and the exit O, which are closest to each other, in the case where they are identical to each other. In this case, the guidance route is set by including the route in the parking lot including the entrance I and the exit O where the distance between the two is closest to each other. It can be set.

Fourth Modified Example
Furthermore, as a fourth modification, in the case where the parking lot P1 and the parking lot P2 are parking lots attached to the facility U, and the parking lot P1 etc. has a plurality of entrances I (see FIG. 2 (b)) The movement cost Cmn may be determined based on the sum of the distance from the entrance I to the facility U and the distance from the facility U to the plurality of outlets O. Specifically, the movement cost CIM for each route of the departure place-parking lot corresponding to each entrance I, and the movement cost COn for each of a plurality of parking lot-destination paths respectively corresponding to each exit O When the sum (CIm + COn) is identical to each other, for example, by referring to the parking lot data in the map database 15, the sum of the distance between the entrance I and the facility U and the distance between the facility U and the exit Preferably, the guidance route is set to include the route in the parking lot including the shortest entrance I and exit O. In this case, a guidance route including a route in the parking lot including the inlet I and the outlet O, which has the shortest distance between the inlet I and the facility U and the distance between the facility U and the outlet O, is included. Therefore, it is possible to set an optimal guide route by including the entrance I or the exit O closest to the facility U to be used.

Fifth Modification
As a fifth modification, in the case where at least one of the parking lot P1 and the parking lot P2 is a three-dimensional parking lot having a plurality of floors, the moving cost Cmn is selected as part of the guidance route as the number of floors increases. It may be weighted so as to be difficult and added to other movement costs. In this case, it is possible to determine an optimal guide route by avoiding, for example, the floor of the parking lot where the moving distance is long.

Sixth Modification
Furthermore, as a sixth modification, for example, in the case where parking position data indicating the position of a parking position (parking spot or parking space) and space status data indicating the space status are included as parking lot data, for moving cost Cmn Based on the parking position data etc., the travel distance of the vehicle in the parking lot P1 or the parking lot P2 may be configured to have a value that is easier to be selected as a part of the guidance route as the path in the parking lot is shorter. In this case, it is possible to determine the optimum guide route, for example, by avoiding a parking position where the movement distance becomes long.

Seventh Modification
Furthermore, as a seventh modification, in the case of the sixth modification, based on the parking position data and the like, the moving distance between the entrance I or the exit O and the parking position, and from the parking position to the facility U The route within the parking lot where the distance is shorter may be configured to have a value that is more likely to be selected as part of the guide route. In this case, for example, a route with the shortest travel distance of both the vehicle and the user can be determined as the optimal guide route.

Eighth Modification
As an eighth modification, at least one of the movement cost CIM, the movement cost Cmn, and the movement cost COn is congested based on congestion information indicating congestion in the parking lot P1 or the parking lot P2 itself or around them. It may be configured to have a value that is less likely to be selected as part of the guide route as the parking lot P1 or the parking lot P2. In this case, it is possible to avoid the crowded parking lot and to determine the optimum guide route.

[Other modification]
In still another modification, for example, in the case of moving from home to the facility U and then returning home, the guidance route presented to the user via the display 3 includes at least home (place of departure)-parking lot It is sufficient if the route of and the route in the parking lot are presented. Even in this case, the return travel cost COn is calculated (although the corresponding route is not displayed on the display 3), and based on this, the optimum exit O is presented to the user. In this case, the home corresponds to the "destination" according to the embodiment. Furthermore, the present embodiment and each modification can be widely applied not only when the departure place is at home, but also when the destination of the entire guide route and the first departure place are the same.

  Further, for example, when map data in the parking lot P1 or the parking lot P2 (hereinafter simply referred to as "parking lot map data") is recorded in the map database 15, a map corresponding to the parking lot map data is selected. It is preferable to guide while displaying on the display 3.

  On the other hand, when the parking lot map data is not recorded, the display 3 displays, for example, "the name of the exit O", "the exit toward the ○ area" or "the name of the road" connected to the exit O It is preferable to guide. At this time, the distances to the exit O to be used may be displayed in parallel.

  Furthermore, similarly, when the parking lot map data is not recorded, a straight line mark and an arrow mark indicating the route from the current position detected by the sensor unit 12 to the exit O are displayed, and the distances on the straight line mark are parallelized. May be displayed.

  Furthermore, when the route in the parking lot is displayed, the map in the parking lot is displayed on a scale with the entrance I and the exit O to be used fit within the same screen (in other words, they are displayed simultaneously). It is preferable to display.

  Further, when presenting the determined guide route to the user, not only the display using the display 3 but also audio output from a speaker (not shown) may be used in combination.

  Furthermore, in the navigation device NV according to the embodiment, the case of incorporating the map database 15 and the movement cost calculation unit 11 has been described, but these are provided in an external server device (not shown) and necessary map data and each movement cost For example, the calculation result may be acquired via a network such as the Internet. In this case, the same function as that of the navigation device NV according to the embodiment can be realized even in, for example, a portable terminal device having a low processing capacity or a small recording capacity, a so-called smart phone or the like.

  Furthermore, a program corresponding to the flowchart shown in FIG. 3 (a) or FIG. 5 (b) is recorded in a recording medium such as an optical disk or a hard disk, or acquired via a network such as the Internet. It is also possible to cause the microcomputer or the like to function as the processing unit 10 according to the embodiment by reading and executing this on a general-purpose microcomputer or the like.

1 Acquisition means (interface)
2 Decision means (route decision unit)
3 Notification means (display)
DESCRIPTION OF REFERENCE NUMERALS 10 processing unit 11 moving cost calculation unit 14 recording unit 15 map database TB entrance and exit table P1, P2 parking lot U facility I1, I2, I3 entrance O1, O2, O3 exit S notification device NV navigation device

Claims (11)

Starting point information including information indicating a starting point, destination information including information indicating a destination, and information including an entrance position and an exit position of a parking lot in which a plurality of at least one of an entrance and an exit exist Parking lot information, and acquisition means for acquiring
The sum of the first movement cost on the first route from the departure point to the entrance position and the second movement cost on the second route from the exit position to the destination is calculated, and the sum is minimized A determination unit configured to determine a combination of the first route and the second route as a guide route from the departure place to the destination via the parking lot;
A route search apparatus comprising: In the path search device according to claim 1,
The determination means further calculates a third movement cost on a third route from the entrance position to the exit position based on the parking lot information, the first movement cost, the second movement cost, and the third movement cost. A route search apparatus , which calculates a sum of movement costs and determines a combination of the first route, the second route, and the third route which minimizes the total as the guide route. In the route search device according to claim 2,
The parking lot information further includes distance information corresponding to a distance from the entrance position to the exit position,
The determining means may be configured to use one of the entrances and the entrance so that the sum is minimized based on the sum of the first movement cost, the second movement cost, and the third movement cost. A route search device characterized by determining one of the exits. In the route search device according to claim 2 or 3,
The parking lot is a parking lot attached to a facility to be used,
The parking lot information further includes facility distance information corresponding to at least one of the distance between the entrance and the facility or the distance between the facility and the exit.
The determining means may be configured to use one of the entrances and the entrance so that the sum is minimized based on the sum of the first movement cost, the second movement cost, and the third movement cost. A route search device characterized by determining one of the exits. The route search device according to any one of claims 2 to 4,
The first moving cost, the second moving cost, or the third moving cost is crowded based on congestion information indicating at least one of the parking lot and the crowded state in the vicinity of the parking lot. route search apparatus characterized by having the peripheral extent have large values of parking and the parking lot is. In the path search device according to any one of claims 2 to 5,
If parking corresponding to the parking lot information is multi-storey car park having a plurality of floors, said third movement cost, it has the higher have magnitude values rank increases parking corresponding to the parking lot information A route search apparatus characterized by In the route search device according to any one of claims 2 to 6,
The parking lot information further includes parking position related information related to each parking position in the parking lot corresponding to the parking lot information,
The third movement cost, route the parking position based on the parking lot information including related information, and having the car travel distance of the vehicles that put the lot is less shorter the parking position value Search device. In the route search device according to claim 7,
The parking lot is a parking lot attached to a facility to be used,
The third movement cost, and characterized by having on the basis of the parking information, the moving distance and the distance from the parking position to the facility is less shorter the parking position value including the parking position-related information Route searching device. The route search device according to any one of claims 1 to 8.
The storage system further comprises storage means for storing the parking lot information.
The route search apparatus, wherein the acquisition unit acquires the stored parking lot information. A route search method executed by a route search apparatus, comprising:
Starting point information including information indicating a starting point, destination information including information indicating a destination, and information including an entrance position and an exit position of a parking lot in which a plurality of at least one of an entrance and an exit exist Parking lot information, and an acquisition process for acquiring
The sum of the first movement cost on the first route from the departure point to the entrance position and the second movement cost on the second route from the exit position to the destination is calculated, and the sum is minimized Determining a combination of the first route and the second route as a guide route from the departure place to the destination via the parking lot;
A route search method comprising:   A program that causes a computer to function as each means of the route search apparatus according to any one of claims 1 to 9.