JPWO2007116650A1 - Route search device, route search method, route search program, and recording medium - Google Patents

Abstract

The route search device (100) acquires position information indicating the current position of the moving body by the acquisition unit (101), sets the destination by the destination setting unit (102), and sets the destination by the search unit (103). To search for a parking lot existing within a predetermined range. Then, when a plurality of parking lots existing within a predetermined range from the destination are searched, the route searching unit (104) searches for a candidate route from the current position of the moving body to the parking lot for each of the plurality of parking lots. The route selection unit (105) determines the ease of entering the parking lot, evaluates the candidate route, and selects the optimum route from the candidate routes.

Description

  The present invention provides a route search device, a route search method, and a route for selecting a route to an optimum parking lot from a plurality of searched routes to a parking lot when a plurality of parking lots around the destination are searched. The present invention relates to a search program and a recording medium.

  Traditionally, by going to the destination (facility etc.) set by the user and learning the location where the car was actually parked, learning was done by associating that destination with the parking location, and setting the destination after the next time In some cases, by providing the learned content, a route search device that can guide the route to the previously parked parking lot even when heading to a destination without a partner parking lot is provided. (For example, see Patent Document 1 below.)

  In addition, a collection unit that collects information about parking lots existing around a predetermined destination, a storage unit that stores information about parking lots collected by the collection unit, and a storage unit when a destination is set. An acquisition unit that acquires information about a parking lot existing around the destination, and a presentation unit that presents information about the parking lot acquired by the acquisition unit; A route search device for selecting an optimal parking lot is provided (for example, see Patent Document 2 below).

JP 2003-172622 A Japanese Patent Laying-Open No. 2005-326202

  However, in the conventional route search device described in Patent Document 1 described above, when there are a plurality of parking lots around the destination, the user selects a parking lot to be selected when performing a route search. There was a need. In this case, since the user selects a parking lot by performing an operation input, the input operation accompanying the operation input may be troublesome for the user, and a problem that further improvement in convenience cannot be achieved is given as an example. It is done.

  Further, in the conventional route search device described in Patent Document 2 described above, when there are a plurality of parking lots around the destination, for example, the parking fee of the parking lot is not considered without considering the current position of the vehicle. The optimal parking lot was selected from a plurality of parking lots based on the congestion situation of the parking lot. For this reason, when the parking lot which should be selected changes according to the current position of a vehicle, it cannot respond, and the selected parking lot may not be the optimal parking lot depending on the current position of the vehicle. The problem is an example.

  In order to solve the above-described problems and achieve the object, a route search device according to the invention of claim 1 is an acquisition unit that acquires position information indicating a current position of a mobile body, and a destination setting unit that sets a destination. Search means for searching for a parking lot existing within a predetermined range from the destination, and when a plurality of parking lots existing within a predetermined range from the destination are searched, the parking location is determined from the current position of the mobile object. A route searching means for searching for a candidate route to the parking lot for each of the plurality of parking lots, evaluating the ease of entering the parking lot and evaluating the candidate route, and selecting an optimum route from the candidate routes Route selection means.

  According to a sixth aspect of the present invention, there is provided a route search method for acquiring position information indicating a current position of a mobile object, a destination setting step for setting a destination, and a predetermined range from the destination. A search step for searching for a parking lot, and when a plurality of parking lots existing within a predetermined range from the destination are searched, a candidate route from the current position of the mobile body to the parking lot is determined for a plurality of parking lots. A route search step for searching for each, and a route selection step for evaluating ease of entry into the parking lot, evaluating the candidate route, and selecting an optimum route from the candidate routes, To do.

  A route search program according to a seventh aspect of the invention causes a computer to execute the route search method according to the sixth aspect.

  A computer-readable recording medium according to an eighth aspect of the invention records the route search program according to the seventh aspect.

FIG. 1 is a block diagram illustrating an example of a functional configuration of the route search apparatus according to the present embodiment. FIG. 2 is a flowchart showing an example of processing contents of the route search apparatus according to the present embodiment. FIG. 3 is a block diagram illustrating an example of a hardware configuration of the navigation device according to the embodiment of the present invention. FIG. 4 is a flowchart illustrating an example of a route search processing procedure of the navigation device according to the embodiment of the present invention. FIG. 5 is an explanatory diagram illustrating an example of a situation when the vehicle enters the parking lot entrance. FIG. 6 is an explanatory diagram illustrating another example of the situation when the vehicle enters the entrance of the parking lot.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Route search apparatus 101 Acquisition part 102 Destination setting part 103 Search part 104 Route search part 105 Route selection part

  Exemplary embodiments of a route search device, a route search method, a route search program, and a recording medium according to the present invention will be explained below in detail with reference to the accompanying drawings.

(Embodiment)
(Functional configuration of route search device)
The functional configuration of the route search apparatus according to this embodiment will be described with reference to FIG. FIG. 1 is a block diagram illustrating an example of a functional configuration of the route search apparatus according to the present embodiment. In FIG. 1, the route search apparatus 100 includes an acquisition unit 101, a destination setting unit 102, a search unit 103, a route search unit 104, and a route selection unit 105.

  The acquisition unit 101 acquires position information indicating the current position of the moving object. The position information indicating the current position of the moving body is calculated using, for example, received waves from GPS satellites received by a GPS receiver mounted on the moving body, output values from various sensors provided on the moving body, and the like. .

  The destination setting unit 102 sets a destination. The destination is set by, for example, operating the operation unit (not shown) by the user. When setting the destination, specifically, for example, the user may input the place name or address of the destination by operating the operation unit, or by plotting on a map displayed on a display unit (not shown) It is good also as a structure which inputs the destination. Further, the destination includes not only the final destination that the user wants to finally reach but also a route destination that passes along the way.

  The search unit 103 searches for a parking lot existing within a predetermined range from the destination. The predetermined range may be set according to the type of destination, for example, and may be a straight distance from the destination to the parking lot or a road distance on the road. The type of destination is distinguished according to the type of destination. For example, when the destination is a facility, it is distinguished according to the size of the facility (for example, the difference in the scale of a large facility or a small facility). It may be classified according to the genre of the facility (for example, the type of facility such as a restaurant or a medical facility).

  Specifically, for example, a large-scale facility such as an amusement park is distinguished as a large facility, and a small-scale facility such as a convenience store is distinguished as a small facility. Then, the user sets a predetermined range for each large facility and small facility distinguished as described above. For example, in the case of a large facility with a large scale, the predetermined range set at this time is set as a range surrounded by a circular area having a radius of about 1 km around the large facility, or in the case of a small facility with a small scale, The small facility can be set as a range surrounded by a circular area having a radius of about 50 m.

  Moreover, the search part 103 may be comprised so that the parking lot matched with the destination may be searched. Here, the parking lot associated with the destination means a parking lot associated with the destination and recorded in advance in a storage unit (not shown). Specifically, for example, when the destination is a department store, such a parking lot is recorded in advance in the storage unit in association with the department store as parking lot information such as a dedicated parking lot.

  When a plurality of parking lots existing within a predetermined range from the destination are searched, the route searching unit 104 searches for candidate routes from the current position of the moving body to the parking lot for each of the plurality of parking lots. The candidate route is the optimal route from the current position of the moving object to the parking lot until the moving object arrives at the searched parking lot. In a certain search condition (distance priority, time priority, charge priority, etc.) This is the optimal route. Note that the route search unit 104 may search for a plurality of candidate routes by executing a process for searching for one route a plurality of times, or search for all of a plurality of candidate routes in a single process. May be.

  The route selection unit 105 determines the ease of entering the parking lot, evaluates candidate routes corresponding to each of the plurality of parking lots, and selects an optimum route from the candidate routes. The ease of entering the parking lot indicates the ease of entering the parking lot entrance or the difficulty of entering the parking lot, and the route selection unit 105 enters when the mobile body enters the entrance of the parking lot. Determine ease of use or difficulty of entering.

  In addition, the route selection unit 105 enters the parking lot depending on whether the vehicle enters the parking lot by left turn, right turn, or straight ahead when the moving body moves along the candidate route searched by the route search unit 104. You may make it judge easiness. For example, it is determined that it is more difficult to enter the parking lot entrance when the mobile body turns right from the road and enters the parking lot entrance than when the mobile body turns left from the road and enters the parking lot entrance.

  Furthermore, the route selection unit 105 may determine the ease of entering the parking lot based on the entrance shape of the parking lot. The entrance shape of the parking lot is, for example, the shape of a road that passes when a moving body enters the entrance of the parking lot. Specifically, for example, when entering a parking lot entrance through a sloped road, the route selection unit 105 determines that it is difficult to enter the parking lot entrance.

  As described above, the route selection unit 105 determines the ease of entering the parking lot and moves the moving body to the parking lot along the candidate route searched by the route search unit 104. The candidate route is evaluated based on the distance from the parking lot to the parking lot, the required time, the fee (for example, traffic fee, parking fee per unit time), the number of traffic lights, road width, past driving frequency, etc. Is selected as the optimum route.

  Specifically, for example, when the required time from the current position of the moving object to the parking lot is an evaluation target, the route selection unit 105 considers the time required to enter the entrance of the parking lot and considers a plurality of parking lots. Candidate routes corresponding to each of the car parks are evaluated using the required time as an evaluation target, and the candidate route with the shortest required time until the moving body finishes entering the parking lot from the current position is selected as the optimum route.

  In addition, the route selection unit 105 indicates the moving object cost that is the cost when the moving object moves from the current position to the parking lot along the candidate route searched by the route searching unit 104, and the ease of entering the parking lot. The approach cost, which is the cost, is calculated for each candidate route, and the optimum route is selected from the candidate routes corresponding to each of the plurality of parking lots based on the combined cost of the moving object cost and the approach cost. . At this time, the route selection unit 105 may select, for example, the candidate route with the lowest composite cost as the optimum route.

  Here, the mobile cost is the time required for the mobile to move from the current position to the parking lot along the candidate route searched by the route search unit 104, the distance from the current position of the mobile to the destination, The cost is calculated based on the charge, the number of traffic lights, the road width, the past traveling frequency, and the like. Further, the entry cost is a cost calculated based on a method for entering the entrance of the parking lot. For example, in a one-lane road that can be face-to-face, if you turn right from the road and enter the parking lot entrance, the calculated entry cost will be high, and turn left from the road and enter the parking lot entrance. If so, the calculated entry cost is low.

  Furthermore, when there are a plurality of candidate routes having an evaluation suitable for the optimum route, the route selection unit 105 presents the candidate route information to the user, accepts the user's selection, and selects the optimum route based on the user's selection. Select a route. Specifically, the route selection unit 105 presents information on the candidate route to the user when there are a plurality of candidate routes whose required time from the current position of the moving body to the parking lot is hardly changed. The user is prompted to select the optimum route. Here, the candidate route information is information including, for example, the required time from the current position of the moving body to the parking lot, traffic charges, traffic jam information, the approach method of the parking lot, and the distance to the parking lot.

(Processing contents of route search device)
Next, the contents of processing of the route search apparatus according to the present embodiment will be described with reference to FIG. FIG. 2 is a flowchart showing an example of processing contents of the route search apparatus according to the present embodiment. In the flowchart of FIG. 2, the acquisition unit 101 acquires position information indicating the current position of the moving object (step S201).

  Next, it is determined whether or not the destination is set by the destination setting unit 102 (step S202). The destination is set by, for example, operating the operation unit (not shown) by the user. If the destination is set after waiting for the destination to be set (step S202: Yes), the search unit 103 searches for a parking lot existing within a predetermined range from the destination ( Step S203).

  When a plurality of parking lots existing within a predetermined range from the destination are searched, the route search unit 104 is configured by a route from the current position of the mobile body to the parking lot and a route from the parking lot to the destination. The candidate route to be searched is searched for each of the plurality of parking lots (step S204).

  Finally, the route selection unit determines the ease of entering the parking lot, evaluates candidate routes corresponding to each of the plurality of parking lots, and selects an optimum route from the candidate routes (step S205). A series of processing by this flowchart is complete | finished.

  In step S203, when no parking lot exists within the predetermined range from the destination, a route to the destination is searched and a series of processes according to this flowchart is ended. If the number of searched parking lots is one, a route to the parking lot is searched and a series of processes according to this flowchart is ended.

  As described above, according to the present embodiment, when a plurality of parking lots that exist within a predetermined range from the destination are searched, the route search device 100 determines whether the vehicle is from the current position to the parking lot. The candidate route is searched for each of the plurality of parking lots, and the optimum route is selected from the candidate routes by evaluating the candidate route in consideration of the ease of entering the parking lot. Thereby, when there are a plurality of parking lots around the destination, it is possible to automatically select the optimum route and the parking lot according to the current position of the moving body without the user performing an operation input.

  Next, examples according to the embodiment of the present invention will be described in detail. Here, the route search device according to this embodiment is applied to a navigation device mounted on a mobile terminal such as a vehicle (including a four-wheeled vehicle or a two-wheeled vehicle) or a portable terminal such as a mobile phone, for example. An example will be described in which, when a plurality of nearby parking lots are searched, an optimum route corresponding to the current position of the vehicle is selected from the searched routes to the plurality of parking lots.

(Hardware configuration of navigation device)
First, a hardware configuration of the navigation device 300 according to the embodiment of the present invention will be described. FIG. 3 is a block diagram illustrating an example of a hardware configuration of the navigation device according to the embodiment of the present invention. In FIG. 3, the navigation device 300 includes a CPU 301, a ROM 302, a RAM 303, a magnetic disk drive 304, a magnetic disk 305, an optical disk drive 306, an optical disk 307, an audio I / F (interface) 308, and a microphone 309. A speaker 310, an input device 311, a video I / F (interface) 312, a display 313, a communication I / F (interface) 314, a GPS unit 315, and various sensors 316. Each component 301 to 316 is connected by a bus 320.

  First, the CPU 301 governs overall control of the navigation device 300. The ROM 302 stores various programs such as a boot program, a current position calculation program, a route search program, a route guidance program, a voice generation program, a map information display program, a communication program, a database creation program, and a data analysis program.

  The current position calculation program calculates the current position of the vehicle (current position of the navigation device 300) based on output information from a GPS unit 315 and various sensors 316, which will be described later.

  The route search program searches for an optimum route from the departure place to the destination using map information recorded on a magnetic disk 305 described later. Here, the optimum route is, for example, the shortest (or fastest) route to the destination or the route that best meets the conditions specified by the user. Details of this route search program will be described later. The guidance route searched by executing this route search program is output to the audio I / F 308 and the video I / F 312 via the CPU 301, for example.

  The route guidance program includes guidance route information searched by executing the above-described route search program, position information indicating the current position of the vehicle calculated by executing the above-described current position calculation program, and a magnetic disk 305 described later. Real-time route guidance information is generated based on the map information recorded in the map. The route guidance information generated by executing the route guidance program is output to the audio I / F 308 and the video I / F 312 via the CPU 301, for example.

  The voice generation program generates tone and voice information corresponding to the voice pattern. That is, the voice guidance information corresponding to the guidance point is generated based on the route guidance information generated by executing the route guidance program. The generated voice guidance information is output to the voice I / F 308 via the CPU 301, for example.

  The map information display program determines the display format of the map information displayed on the display 313 by the video I / F 312 and displays the map information on the display 313 according to the determined display format.

  The RAM 303 is used as a work area for the CPU 301, for example.

  The magnetic disk drive 304 controls the reading / writing of the data with respect to the magnetic disk 305 according to control of CPU301. The magnetic disk 305 records data written under the control of the magnetic disk drive 304. Specifically, the magnetic disk drive 304 records, for example, voice guidance information generated by the above-described voice generation program on the magnetic disk 305 as voice data. As the magnetic disk 305, for example, an HD (hard disk) or an FD (flexible disk) can be used.

  One example of information recorded on the magnetic disk 305 is map information used for route search and route guidance. The map information includes background data representing features (features) such as buildings, rivers, and the ground surface, and road shape data representing the shape of the road. The map information is displayed two-dimensionally or three-dimensionally on the display screen of the display 313. Drawn. When the navigation device 300 is guiding a route, the map information and the vehicle mark indicating the current position of the vehicle are displayed in an overlapping manner.

  The road shape data further includes traffic condition data. The traffic condition data includes, for example, whether or not there are traffic lights or pedestrian crossings, highway entrances or junctions, length (distance) for each link, road width, direction of travel, road type (highway, Such as toll roads and general roads).

  In the traffic condition data, past traffic information is stored as past traffic information statistically processed based on seasons, days of the week, large holidays, and time. The navigation device 300 obtains, for example, information on a currently occurring traffic jam based on road traffic information received by a communication I / F 314 described later. By using the above-described past traffic jam information, for example, a traffic jam at a specified time. It is also possible to anticipate the situation.

  In this embodiment, the map information is recorded on the magnetic disk 305. However, the map information may be recorded on an optical disk 307 to be described later. Further, the map information is not recorded only on the one integrated with the hardware of the navigation device 300, and may be provided outside the navigation device 300. In this case, the navigation apparatus 300 may acquire map information via a network through the communication I / F 314, for example. The map information acquired in this way is stored in the RAM 303, for example.

  The optical disk drive 306 controls the reading / writing of the data with respect to the optical disk 307 according to control of CPU301. The optical disk 307 is a detachable recording medium from which data is read according to the control of the optical disk drive 306. As the optical disk 307, a writable recording medium can be used. In addition to the optical disk 307, an MO, a memory card, or the like can be used as a removable recording medium.

  The audio I / F 308 is connected to a microphone 309 for audio input and a speaker 310 for audio output. The sound received by the microphone 309 is A / D converted in the sound I / F 308. Note that the speaker 310 may be provided not only inside the vehicle but also outside the vehicle. From the speaker 310, sound based on the sound signal from the sound I / F 308 is output. The sound input from the microphone 309 can be recorded, for example, as sound data in a recording medium such as the magnetic disk 305 or the optical disk 307, a memory (not shown), or the like.

  Examples of the input device 311 include a remote controller having a plurality of keys for inputting characters, numerical values, various instructions, a keyboard, a mouse, a touch panel, and the like.

  The video I / F 312 is connected to the display 313. Specifically, the video I / F 312 includes, for example, a graphic controller that controls the entire display 313, a buffer memory such as a VRAM (Video RAM) that temporarily records image information that can be displayed immediately, and a graphic controller. And a control IC for controlling display of the display 313 on the basis of image data output from the image data.

  The display 313 displays icons, cursors, menus, windows, or various data such as characters and images. As the display 313, for example, a CRT, a TFT liquid crystal display, a plasma display, or the like can be adopted.

  The communication I / F 314 is connected to a network via wireless and functions as an interface between the navigation device 300 and the CPU 301. The communication I / F 314 is further connected to a communication network such as the Internet via wireless, and also functions as an interface between the communication network and the CPU 301.

  The network includes a LAN, a WAN, a public line network, a mobile phone network, and the like. Specifically, the communication I / F 314 includes, for example, an FM tuner, a VICS (Vehicle Information and Communication System) / beacon receiver, a radio navigation device, and other navigation devices, and is distributed from the VICS center. Get road traffic information such as traffic jams and traffic regulations.

  The GPS unit 315 receives radio waves from GPS satellites and outputs information indicating the current position of the vehicle. The output information of the GPS unit 315 is used when the CPU 301 calculates the current position of the vehicle together with output values of various sensors 316 described later. The position information indicating the current position is information for specifying one point on map information such as latitude / longitude and altitude.

  The various sensors 316 output information that can determine the position and behavior of the vehicle, such as a vehicle speed sensor, an acceleration sensor, and an angular velocity sensor. The output values of the various sensors 316 are used for the calculation of the current position of the vehicle by the CPU 301 and the measurement of the speed and direction change amount.

  The various sensors 316 include sensors that detect each operation of the vehicle by the driver. Detection of each operation of the vehicle may be configured to detect, for example, steering operation, turn signal input, opening / closing of a vehicle door, ON / OFF of a vehicle engine (or ON / OFF of an ACC power supply), and the like.

  Note that the acquisition unit 101 that is a functional configuration of the route search apparatus 100 according to the embodiment shown in FIG. 1 specifically includes, for example, the CPU 301, the GPS unit 315, and various sensors 316, and the destination setting unit 102 is Specifically, for example, the CPU 301 and the input device 311, the search unit 103, the route search unit 104, and the route selection unit 105 are, for example, the CPU 301, the magnetic disk 305, the optical disk 307, the GPS unit 315, various sensors. Each of the functions is realized by 316.

(Route search processing procedure of the navigation device)
Next, an example of a route search processing procedure of the navigation device 300 according to the embodiment of the present invention will be described. FIG. 4 is a flowchart illustrating an example of a route search processing procedure of the navigation device according to the embodiment of the present invention.

  In the flowchart of FIG. 4, the navigation apparatus 300 first acquires position information indicating the current position of the vehicle based on output information from the GPS unit 315 and various sensors 316 (step S401). In this case, specifically, for example, position information indicating the current position of the vehicle based on a received wave from a GPS satellite is acquired. At this time, by using output values from the various sensors 316, it is possible to acquire more accurate position information indicating the current position of the vehicle.

  Next, it is determined whether or not a destination is set via the input device 311 (step S402). The destination may be set by the user operating the input device 311 such as a remote controller, a keyboard, a mouse, a touch panel, etc. and inputting a destination name or address.

  Here, it waits for the destination to be set (step S402: No), and when it is set (step S402: Yes), it searches for a parking lot existing around the set destination (step S403). ). At this time, the search range may be arbitrarily set by the user. For example, a search range may be set according to the destination genre.

  When setting the search range, specifically, for example, when the destination is a restaurant such as a restaurant, the range surrounded by a circular area having a radius of about 500 m is set as the search range. When the destination is a large facility such as an amusement park, a range surrounded by a circular area having a radius of about 2 km is set as a search range. The parking lot may be searched using the parking lot information included in the map information recorded on the magnetic disk 305. Further, when parking lot information is recorded in a memory (not shown) or the like, the parking lot may be searched using the information.

  Next, it is determined whether or not a plurality of parking lots existing around the destination have been searched (step S404). Here, when a plurality of parking lots are searched (step S404: Yes), each of the plurality of parking lots is configured by a route from the current position of the vehicle to the parking lot and a route from the parking lot to the destination. The candidate route to be searched is searched (step S405).

  And for each candidate route, the vehicle cost that is the cost when the vehicle moves from the current position to the parking lot along the searched candidate route and the entry cost that is the cost when entering the entrance of the parking lot Calculate (step S406). The vehicle cost and the entry cost are calculated using, for example, road shape data and traffic condition data included in the map information recorded on the magnetic disk 305.

  In the calculation process in step S406, specifically, for example, the time required for the vehicle to travel from the current position to the parking lot along the candidate route, the distance from the current position to the destination, the charge, the number of traffic lights The vehicle cost is calculated based on the road width, the past traveling frequency, and the like. Further, for example, the entry cost is calculated based on the entry time required when the vehicle enters the parking lot entrance.

  Here, the outline at the time of calculating the entry cost required when the vehicle enters the parking lot entrance will be described with reference to FIGS. 5 and 6. FIG. 5 is an explanatory diagram illustrating an example of a situation when the vehicle enters the parking lot entrance. Moreover, FIG. 6 is explanatory drawing which shows another example of the condition when a vehicle approachs the entrance of a parking lot. The roads shown in FIGS. 5 and 6 are one-lane roads on which vehicles can face each other, and the vehicles can travel on the left lane with respect to the traveling direction. Further, the lane in which the host vehicle (the vehicle equipped with the navigation device 300) travels is defined as a traveling lane, and the other lane is defined as an opposite lane.

  As shown in FIG. 5, the own vehicle 501 is about to enter the entrance 502 of the parking lot that exists on the front left side in the traveling direction. In this case, the own vehicle 501 can enter the parking lot entrance 502 by making a left turn from the traveling lane 503. For this reason, the navigation device 300 determines that it is easy to enter the entrance 502 of the parking lot, and calculates, for example, the entry cost as “0”.

  Next, as shown in FIG. 6, the own vehicle 601 is about to enter the entrance 602 of the parking lot existing on the front right side in the traveling direction. In this case, since the own vehicle 601 turns right from the traveling lane 603 and enters the entrance 602 of the parking lot, for example, the host vehicle 601 must cross the opposite lane 604 in which another vehicle is traveling. For this reason, the navigation apparatus 300 determines that it is difficult to enter the entrance 602 of the parking lot, and calculates, for example, “60” as the entry cost.

  In addition, for example, when turning right on a two-lane road that allows vehicles to face each other and entering the parking lot entrance, the navigation device 300 determines that it is more difficult to enter the parking lot entrance than in the above case. For example, the entry cost is calculated as “120”.

  Furthermore, for example, when the vehicle enters the parking lot entrance, the approach cost may be calculated by judging the shape of the passing road, such as having to go up or down a sloped road. . For example, in order to enter the entrance of the parking lot, if the user has to go up a slope and go up one floor, the entrance cost is calculated as “30”.

  Also, for example, if you have to turn right on a one-lane road where the vehicle can pass face-to-face, then go up the sloped road and go up one level to the entrance of the parking lot, The approach cost is determined to be “90”. In this way, the approach cost may be calculated by comprehensively determining the difficulty of entering the entrance of the parking lot.

  Information regarding the approach method to the entrance of the parking lot used for calculating the entrance cost is recorded in advance in a recording medium such as the magnetic disk 305 or the optical disc 307 or a memory (not shown) in association with the parking lot. Alternatively, the approach method may be determined when the vehicle enters the parking lot entrance and recorded as new information in a recording medium such as the magnetic disk 305 or the optical disk 307, a memory (not shown), or the like. . At this time, the parking lot and the approach method to the entrance of the parking lot may be recorded in association with each other.

  The approach method to the entrance of the parking lot is determined using, for example, position information indicating the current position of the vehicle calculated by executing the above-described current position calculation program, output values from various sensors 416, map information, and the like. It is good also as composition to do. Specifically, by using the position information of the vehicle, the traveling direction of the vehicle, and road shape data of the road on which the vehicle is traveling, for example, the parking lot on the opposite side across the road when the vehicle turns right It may be determined that the vehicle has entered the entrance. Furthermore, by detecting a steering operation performed by the driver, it is possible to determine how much the vehicle has entered the parking lot entrance with respect to the direction of the road.

  Here, returning to the description of the flowchart of FIG. 4, a combined cost is calculated by combining the calculated vehicle cost and the entry cost, and based on the combined cost, from among candidate routes corresponding to each of the plurality of parking lots. The optimum route is selected (step S407), and the series of processing according to this flowchart is terminated. Specifically, for example, the candidate route with the lowest combined cost including the vehicle cost and the approach cost is selected as the optimum route.

  In step S404, if no parking lot exists in the vicinity of the destination (step S404: No), the route to the destination is searched and a series of processing according to this flowchart is ended. If the number of searched parking lots is one (step S404: No), the route to the parking lot is searched for, and the series of processes according to this flowchart ends.

  In step S407, when there are a plurality of candidate routes suitable as the optimum route, information regarding the candidate route may be presented to the user to prompt the user to select the optimum route. Here, the candidate route suitable as the optimum route is, for example, a route having the lowest composite cost and a composite cost with almost no cost difference. Specifically, for example, a predetermined threshold is set as a difference from the lowest composite cost, and if the difference from the lowest composite cost is within the set threshold, the candidate route is suitable as an optimal route. to decide.

  Further, as a method of presenting to the user, for example, there is a method of displaying information on a candidate route suitable as the optimum route on the display 313 and presenting it. In this case, the user can determine which route is optimal by visually recognizing (visually) information related to the candidate route displayed on the display 313, and can select the optimum route. The optimum route may be selected by, for example, a user touching a predetermined position on the displayed screen, or may be selected according to a candidate route for selecting a cursor displayed on the screen.

  As described above, according to the present embodiment, when a plurality of parking lots existing within a predetermined range from the destination are searched, the navigation device 300 displays a candidate route from the current position of the vehicle to the parking lot. A search is made for each of the plurality of parking lots, and the optimum route is selected from the candidate routes by evaluating the candidate route in consideration of the ease of entering the parking lot. Thereby, when there are a plurality of parking lots around the destination, it is possible to automatically select the optimum route and the parking lot according to the current position of the vehicle without performing an operation input by the user. Furthermore, it is possible to automatically select an optimum route and a parking lot in consideration of the ease of entering the parking lot.

  The route search method described in this embodiment can be realized by executing a program prepared in advance on a computer such as a personal computer or a workstation. This program is recorded on a computer-readable recording medium such as a hard disk, a flexible disk, a CD-ROM, an MO, and a DVD, and is executed by being read from the recording medium by the computer. The program may be a transmission medium that can be distributed via a network such as the Internet.

Claims (8)

Acquisition means for acquiring position information indicating the current position of the moving body;
Destination setting means for setting the destination;
Search means for searching for a parking lot existing within a predetermined range from the destination;
A route search means for searching for a candidate route from the current position of the mobile body to the parking lot for each of a plurality of parking lots when a plurality of parking lots existing within a predetermined range from the destination are searched;
A route selecting means for determining the ease of entering the parking lot, evaluating the candidate route, and selecting an optimum route from the candidate routes;
A route search apparatus comprising:   The route selection means may determine the ease of entry depending on whether the vehicle enters the parking lot by any of left turn, right turn, and straight drive when a moving body moves along the candidate route. Item 4. The route search device according to Item 1.   The route search device according to claim 1, wherein the route selection unit determines the ease of entry based on an entrance shape of the parking lot. The route selection means includes
A moving object cost that is a cost when the moving object moves from the current position to the parking lot along the candidate route, and an entry cost that is a cost indicating ease of entering the parking lot Calculated for each
The route search device according to claim 1, wherein an optimum route is selected from the candidate routes based on a combined cost that is a combination of the mobile cost and the entry cost.   When there are a plurality of candidate routes having an evaluation suitable for the optimum route, the route selection means presents the candidate route information to the user, accepts the user's selection, and selects the optimum route based on the user's selection. The route search device according to claim 1, wherein the route search device is selected. An acquisition step of acquiring position information indicating the current position of the moving object;
A destination setting process for setting a destination;
A search step of searching for a parking lot existing within a predetermined range from the destination;
When a plurality of parking lots existing within a predetermined range from the destination are searched, a route searching step of searching for a candidate route from the current position of the mobile body to the parking lot for each of the plurality of parking lots;
A route selection step of evaluating the candidate route by judging the ease of entry into the parking lot, and selecting an optimum route from the candidate routes;
A route search method comprising:   A route search program causing a computer to execute the route search method according to claim 6.   A computer-readable recording medium on which the route search program according to claim 7 is recorded.

Images