JP2001183157A - Automobile navigation system, recording medium to provide control program for the same, and transmitting medium - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automobile navigation system capable of performing highly accurate navigation through the use of information from an ETC on- vehicle device, etc. SOLUTION: In the automobile navigation system to control road guidance on the basis of map information 9 for road guidance and the location of one's own vehicle detected by a GPS sensor 1c, etc., information from the ETC on- vehicle device 103 to be used in an ETC system is used to recognize the entrance of the motor vehicle vehicle into a predetermined toll road, and the results of the recognition are utilized for the control of map matching, etc.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a car navigation device, a recording medium for providing a car navigation control program, and a transmission medium.

[0002]

2. Description of the Related Art A function of displaying a road map around a vehicle position, a function of calculating a recommended route from a departure point to a destination,
2. Description of the Related Art There is known a car navigation device having a function of performing route guidance based on a calculated recommended route.
In this car navigation device, it is necessary to detect the current location of the vehicle. For this purpose, for example, a direction sensor for detecting the traveling direction of the vehicle, a vehicle speed sensor for detecting the vehicle speed, and G
A GPS sensor for detecting a GPS signal from a PS (Global Positioning System) satellite is provided.

[0003] Since the position of the vehicle acquired by the GPS sensor has a certain error, the car navigation system uses a well-known map matching when the position of the vehicle acquired by the GPS sensor is not on the road in the road map data. The vehicle position is corrected so that it is on the road. As a result, the position of the vehicle can always be displayed on the road map with high accuracy.

[0004]

However, when an expressway and a general road are parallel to each other, it cannot be determined which road should be map-matched. There was a problem that it would. On the other hand, unlike car navigation systems,
Currently, ETC (Elec) collects tolls without stopping vehicles on toll roads, mainly led by the Road 4 Corporation.
tronic Toll Collection) system is under development. This ETC system is operated by exchanging predetermined information by wireless communication between a roadside antenna provided at a tollgate and an on-board ETC device provided at a vehicle side.

An object of the present invention is to provide a car navigation device for performing highly accurate navigation using information from an on-board ETC device, a recording medium for providing a car navigation control program, and a transmission medium.

[0006]

DETAILED DESCRIPTION OF THE INVENTION The present invention will be described below with reference to the embodiment shown in FIG. The invention according to claim 1 is a map information (9) used for road guidance, a current position detecting device (1) for detecting a current position of a vehicle, and a current position detected by the map information (9) and the current position detecting device (1). The present invention is applied to a car navigation device having a control device (3) for controlling road guidance based on the ETC on-board device (10).
The system receives the signal from 3), recognizes that the vehicle has entered a predetermined toll road, and controls road guidance based on the recognized result. According to a second aspect of the present invention, in the car navigation device according to the first aspect, the control device (3) controls map matching based on a recognition result. According to a third aspect of the present invention, in the car navigation device according to the first aspect, the control device (3) includes an IC card (1) in the on-board ETC device (103).
02), when a signal having information indicating that the vehicle has passed the entrance toll gate (104 (FIG. 4)) of the predetermined toll road is received, the vehicle has entered the predetermined toll road. Is to be recognized. According to a fourth aspect of the present invention, in the car navigation device according to the first or second aspect, the control device (3) is configured such that the vehicle is on a predetermined toll road in a state where the IC card (102) is inserted into the on-board ETC device (103). When a signal having information indicating that the vehicle has passed the exit toll gate (104 (FIG. 4)) is received, the recognition result that the vehicle has entered a predetermined toll road is cleared. According to a fifth aspect of the present invention, in the car navigation device according to any one of the first to third aspects, the control device (3) receives a signal from the on-board ETC device (103) and causes the vehicle to enter a predetermined toll road. While recognizing that the vehicle has entered, the onboard ETC device (1
When it is recognized that the vehicle has traveled a predetermined distance in a state where the IC card (102) has been removed from the device 03), the recognition result that the vehicle has entered a predetermined toll road is cleared. According to a sixth aspect of the present invention, in the car navigation device according to any one of the first to fifth aspects, the control device (3) receives a signal from the on-board ETC device (103) and causes the vehicle to enter a predetermined toll road. When it is recognized that the vehicle has entered the predetermined toll road when it is recognized that the current location of the vehicle is a predetermined distance away from the predetermined toll road, the recognition result that the vehicle has entered the predetermined toll road is cleared It is. According to a seventh aspect of the present invention, in the car navigation device according to any one of the first to sixth aspects, the control device (3).
In a state where the vehicle receives a signal from the on-board ETC device (103) and recognizes that the vehicle has entered a predetermined toll road,
When the IC card (102) that has been processed to pass through a predetermined toll road exit is inserted into the on-board ETC device (103), the recognition result that the vehicle has entered the predetermined toll road is cleared. is there. The invention according to claim 8 is applied to a recording medium on which a car navigation program is recorded. The car navigation program detects the first procedure for detecting the current location of the vehicle and the road guidance map information (9). A second procedure of controlling road guidance based on the current location of the vehicle, a third procedure of receiving a signal from the on-board ETC device (103), and recognizing that the vehicle has entered a predetermined toll road; And a fourth procedure for controlling road guidance based on the result recognized by the execution of the third procedure. The invention according to claim 9 is applied to a transmission medium for transmitting a car navigation program, and the car navigation program detects the first procedure for detecting the current location of the vehicle and the road guidance map information (9). Procedure and ETC for controlling road guidance based on the current location of the vehicle
A third procedure for receiving a signal from the vehicle-mounted device (103) and recognizing that the vehicle has entered a predetermined toll road; and a third procedure for controlling road guidance based on a result recognized by executing the third procedure. Step 4 is performed.

In the means and means for solving the above problems, the description is made in correspondence with FIG. 1 of the embodiment for easy understanding, but this does not limit the present invention to the embodiment. Absent.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS First Embodiment A car navigation system according to the present invention utilizes a signal from an on-board ETC device used in an ETC system. Therefore, before describing the car navigation device of the present invention, the ETC system will be described first.

[0009] The ETC (Electronic Toll Collection) system is a system developed mainly by the Japan Highway 4 Public Corporation, and is a system for collecting tolls without stopping vehicles at tollgates on toll roads. FIG.
FIG. 1 is a diagram for explaining the outline of this ETC system. ET that inserts and uses IC card 102 in vehicle 101
A vehicle-mounted device 103 is mounted. ETC on-board unit 103
Wireless communication is performed with a roadside antenna 105 provided at the toll gate 104 at the tollgate. The roadside antenna 105 is
It is connected to a not-shown fee collection system (computer). Both the tollgate entrance and the exit, the roadside antenna 105 provided on the toll gate 104 and the on-board ETC device 103
This is the same configuration in that wireless communication is performed between the wireless LAN and the wireless LAN.

At the toll gate 104 at the entrance of the tollgate, a signal of the entrance information is transmitted from the toll collection system to the roadside antenna 1.
05. Toll gate 1 at the entrance of the tollgate
The vehicle-mounted ETC device 103 of the vehicle 101 passing through the vehicle 04 receives the signal and transmits predetermined entrance information data to the IC card 1.
Write to 02.

At the toll gate exit, the entry information written in the IC card 102 is transmitted to the ETC on-board unit 1 at a predetermined timing.
Roadside antenna 1 of exit tall gate 104 from 03
Send to 05. The toll collection system performs a predetermined toll calculation for the entrance information input via the roadside antenna 105, transmits the content via the roadside antenna 105, and at the same time, stores the IC card in the internal storage area. The fee information is stored together with the information (identification number and the like). E
The vehicle-mounted TC 103 receives the toll information transmitted via the roadside antenna 105 and stores the content in the IC card 1.
Write to 02.

The fee collection system collects the charges stored in the internal storage area at a later date, and the collected charges are charged to the IC card contractor. The IC card contractor pays the fee charged by a predetermined method.

At the tollgate exit, it is possible to pass through a general exit where the ETC toll gate 104 is not provided. In that case, the IC card 102 is pulled out of the on-board ETC device 103 and handed over to a tollgate. The tollgate clerk inserts the IC card into a predetermined machine, writes data similar to the toll information from the roadside antenna 105 described above, and returns it to the driver. In this case, no payment is made at the general toll booth. The driver inserts the returned IC card back into the on-board ETC device 103 and continues driving.

When the IC card 102 is not inserted into the on-board ETC device 103 and passes through the toll gate at the entrance of the toll gate, nothing is written on the IC card 102. If the IC card 102 is not inserted into the on-board ETC device 103 and the vehicle passes through the toll gate at the toll gate exit, it is impossible to calculate the fee and a predetermined warning is issued. In some cases, gate 106 shuts off. For example, when entering a toll road through a general gate, the IC card 102 on which the entrance information is not written is placed in the ETC vehicle-mounted device 10.
Even when the vehicle is inserted in 3 and passes through the toll gate 104 at the tollgate exit, the calculation of the fee is impossible, and a predetermined warning is issued.

As described above, the ETC system collects tolls on toll roads. Therefore, a vehicle using the ETC system needs to mount the on-board ETC device 103 on the vehicle. The present invention intends to use a signal output from the on-board ETC device 103 mounted on the vehicle for car navigation. Hereinafter, an embodiment of a car navigation device of the present invention will be described.

FIG. 1 is a block diagram showing a configuration in which the above-described ETC vehicle-mounted device 103 is connected to the car navigation system according to the first embodiment of the present invention. In FIG.
Reference numeral 1 denotes a current position detecting device for detecting the current position (own vehicle position) of the vehicle, for example, a direction sensor 1a for detecting the traveling direction of the vehicle, a vehicle speed sensor 1b for detecting the vehicle speed, and a GPS (Global Positioning System).
Positioning System) It is composed of a GPS sensor 1c for detecting a GPS signal from a satellite.

The azimuth sensor 1a is constituted by a vibration gyro sensor or the like, detects a rotational angular velocity when the vehicle turns, and outputs a corresponding voltage signal. Vehicle speed sensor 1b
Is mounted, for example, on a transmission output shaft of a vehicle, and outputs a pulse according to the vehicle speed. With the combination of the direction sensor 1a and the vehicle speed sensor 1b, the movement of the vehicle can be detected two-dimensionally. The GPS sensor 1c performs a predetermined calculation based on the received GPS signal to obtain the position of the own vehicle. In the present embodiment, it is assumed that the vehicle position acquired by the GPS sensor 1c has an error represented by a circle having a radius of about 100 m. The own vehicle position is represented using the mesh number when the map is divided into meshes and the XY normalized coordinates which are the coordinate values obtained by further dividing the map mesh.

Reference numeral 2 denotes a DVD drive, which is usually a DV which is a recording medium on which road map data (information) is recorded.
D9 is mounted. Reference numeral 3 denotes a control circuit for controlling the entire apparatus, which comprises a microprocessor and its peripheral circuits. The control circuit 3 executes a program stored in the ROM 12, and controls the entire car navigation device including control described later. Reference numeral 4 denotes an input device having various switches for inputting a destination of the vehicle and the like. Includes a joystick that directs cursor movement and screen scrolling. The input device 4 may be of a remote control type. Further, a touch panel switch may be provided in the screen.

Reference numeral 7 denotes an image memory for storing image data to be displayed on the display monitor 8, and this image data is created from road map drawing data, various graphic data, and the like. The image data stored in the image memory 7 is read out as appropriate and displayed on the display monitor 8.

The car navigation device configured as described above performs various kinds of navigation based on the vehicle position information acquired by the current position detection device 1 and the road map data (information) stored in the DVD 9. For example, a road map near the vehicle position and the vehicle position are displayed on the display monitor 8, and the driver is guided along the route obtained by the route search.

On the other hand, the on-board ETC unit 103 includes an on-board unit antenna 111 for performing wireless communication with the roadside antenna 105 (FIG. 6), a wireless unit 112 for controlling wireless communication, and an ET.
A CPU 113 for controlling the entire vehicle-mounted device 103;
The security module 114 includes a security module 114 that controls reading and writing to the C card 102 by encryption, an IC card reader / writer 115 that reads and writes to the IC card 102, and an external interface 116 for connecting to an external device. The external interface 116 is connected to a predetermined port (not shown) inside the control circuit 3 of the car navigation device.

The on-board ETC device 103 outputs predetermined information via the external interface 116 in order to use the external device as a display. The predetermined information includes information on passing through a predetermined tollgate entrance of a predetermined toll road, passing through a predetermined tollgate exit of a predetermined toll road, and information on a toll fee involved. However, IC
It does not include information related to cardholder security. Therefore, the car navigation device to which the on-board ETC device 103 is connected displays the information sent from the on-board ETC device 103 on the display monitor 8 as appropriate.

According to the present invention, as described above, the ETC on-vehicle device 1
The above information sent from 03 is not only displayed on the display monitor 8 but also used for other navigation control. Hereinafter, an example used for map matching will be described in detail.

FIG. 2 shows a routine in which the control circuit 3 receives a signal from the on-board ETC device 103 and stores the information in the RAM 13 in the car navigation system. The routine in FIG. 2 is a routine that is started when any signal is received from the on-board ETC device 103. In the first embodiment, a signal from the on-board ETC device 103 includes, in a predetermined format, toll road identification information for identifying a toll road, toll gate identification information for identifying a toll gate, and whether the vehicle has entered a toll road. It includes entry / exit information indicating whether the user has left. These pieces of information are not always sent as individual signals. For example, if different tollgate identification numbers are assigned to the tollgate exit and the tollgate entrance, the tollgate identification information and the in / out information will be transmitted at the same time simply by transmitting the tollgate identification number. That is, in the present invention, E
Any type of signal may be used as long as the signal from the on-board TC 103 includes information that indicates which toll road has entered or exited the toll road.

In step S1, the control circuit 3 sets the ETC
The signal from the on-board unit 103 is the toll gate 1 at the toll gate entrance
It is determined whether the signal includes information of passing through 04. In the case of passing through the toll gate 104 at the toll gate entrance, the process proceeds to step S2. In step S2, a signal from the on-board ETC device 103 is analyzed to obtain which toll road from which toll gate, and the contents of the toll road identification information and the toll gate identification information are stored in the toll road information area in the RAM 13. (Hereinafter, the toll road information area is also denoted by reference numeral 13). On the other hand, when it is determined in step S1 that the vehicle is not passing through the toll gate 104 at the entrance of the toll gate, step S2 is skipped and the process proceeds to step S3.

In step S3, it is determined whether or not the signal from the on-board ETC device 103 is a signal including information of passing through the toll gate 104 at the tollgate exit. Toll gate 1 at the toll gate exit
In the case of passing through 04, the process proceeds to step S4. In step S4, the toll road information area 13 is cleared and the process ends. On the other hand, if it is determined in step S3 that the vehicle is not passing through the toll gate 104 at the tollgate exit, step S4 is skipped and the process ends.

If any toll road identification information is set in the toll road information area 13, the vehicle is recognized as being on the toll road. On the other hand, if it is cleared, it is not necessarily recognized that the vehicle is not on a toll road. Simply because there is no toll road information from the on-board ETC device 103, it may be recognized that the vehicle is on a certain toll road based on the own vehicle position and road map data.

FIG. 3 is a flowchart showing control for using the toll road information obtained in FIG. 2 for map matching. The normal map matching is to correct the own vehicle position to be on the road by using a known method when the own vehicle position acquired by the GPS sensor 1c is not on the road in the road map data. The vehicle position is corrected by the map matching because the vehicle position acquired by the GPS sensor 1c has an error of a radius of about 100 m as described above. By this map matching, the own vehicle position can always be displayed on the road map with high accuracy.
In the first embodiment, in addition to the normal map matching, map matching using toll road information with high priority is performed. In order to raise the priority of map matching using toll road information over normal map matching, the routine of FIG. 3 is executed after updating the own vehicle position by normal map matching.

In the following description, the own vehicle position acquired by the GPS sensor 1c is simply referred to as a "GPS position", and is updated by the own vehicle position obtained based on the GPS position or the moving distance of the vehicle or by matching. The own vehicle position is simply referred to as “own vehicle position”. This own vehicle position is the own vehicle position displayed on the display monitor 8.

The routine shown in FIG. 3 is a routine executed at regular time intervals. In step S11, it is determined whether information is set in the toll road information area 13. If the information has been set, the process proceeds to step S12. In step S12, which toll road is recognized, the closest point (coordinate) on the toll road from the own vehicle position is calculated based on the road map data. In step S13,
The vehicle position is updated to the coordinate values calculated in step S12, and the process ends.

On the other hand, if it is determined in step S11 that no information has been set in the toll road information area 13, the processing ends. After the routine of FIG. 3 ends, the position of the host vehicle is displayed on the display monitor 8 by a predetermined method.

Although a part of the description of the ETC system has been described above, the following case may occur with the toll road information set in the toll road information area 13. (1) A case where the vehicle travels with the IC card 102 pulled out of the on-board ETC device 103 and exits from the toll road as it is. (2) A case in which an IC card is inserted into the on-board ETC device 103 and paid at a general toll booth with cash or the like before exiting a toll road. (3) Toll collection on toll roads is a simple collection method (a method of collecting tolls at the entrance), and then exits the toll road without passing through the toll gate. (4) Present the IC card 102 at the general toll booth
When leaving the toll road after having the card perform the prescribed processing.

In such a case, if it is not recognized that the vehicle has left the toll road in any way, the vehicle will be treated as if it is on the toll road forever. Therefore, after the processing in FIG. 3, the processing in FIG. 4 described below is performed.

FIG. 4 is a flowchart of control for clearing toll road information in a special case. First, in step S21, it is checked whether toll road information is present. If the content of the toll road information area 13 is zero, it is determined that there is no toll road information, and the process ends. On the other hand, that the toll road information area 13 is not zero means that some toll road information is set, and the process proceeds to step S22.

In step S22, it is determined whether the vehicle has traveled a predetermined distance with the IC card 102 removed. In the ETC on-board unit 103, the IC card 102
Each time a signal is inserted or removed from the on-board TC 103, a signal including information to that effect is output to the external interface 116.
To the external device via. The control circuit 3 obtains a signal to that effect, and stores the IC card 1 in the ETC vehicle-mounted device 103 at present.
02 can be determined.
Therefore, if the IC card 102 has been removed from the on-board ETC device 103 before, the output from the vehicle speed sensor 1b from that point is counted, and the IC card 102 is counted.
It is possible to detect the distance that the vehicle has traveled in a state where the vehicle has been removed. If it is determined in step S22 that the vehicle has traveled a predetermined distance with the IC card 102 removed, the process proceeds to step S22.
Proceed to 25 to clear the contents of the toll road information area 13.
This content corresponds to the above (1).

If it is determined in step S22 that the vehicle has not traveled a predetermined distance with the IC card 102 removed, the process proceeds to step S23. In step S23, it is determined whether or not the current position of the vehicle (the position of the vehicle before map matching) is separated from the toll road set in the toll road information area 13 by a predetermined distance. When the vehicle is on the toll road, the own vehicle position is map-matched to the toll road as described above, but in the present embodiment, the position of the vehicle before the map matching is held as data. Then, in step S22, the distance between the own vehicle position before this map matching and the toll road is calculated. The distance from the toll road means the distance from the vehicle position before the map matching to the nearest node or interpolation point on the toll road. If it is determined in step S23 that the vehicle position before the map matching is a predetermined distance from the toll road, the process proceeds to step S25 and the toll road information area 13
Clear the contents of. This content corresponds to the above (2) and (3).

If it is determined in step S23 that the vehicle position before the map matching is not a predetermined distance from the toll road, the process proceeds to step S24. In step S24,
It is determined whether the IC card 102 has been subjected to predetermined processing. The predetermined processing is, as described above, the toll gate 10.
A case where the IC card 102 is presented to a clerk at a general toll booth other than 4, and the IC card performs predetermined processing and is returned. Here, the returned IC card 102
Is to be inserted into the on-board ETC device 103 again. E
When the IC card 102 is inserted into the ETC on-board unit 103, the TC on-board unit 103 outputs a signal including information indicating that the processing has been completed to the external interface 116 when the above-described processing has been completed.
To the external device via. The control circuit 3 analyzes the signal and determines whether the IC card 102 has been processed as described above. If it is determined in step S22 that the IC card 102 has been processed as described above, the process proceeds to step S2.
Proceed to 5 to clear the contents of the toll road information area 13. This content corresponds to the above (4).

By performing the processing shown in FIG. 4, accurate map matching processing can be performed even in a special situation. Note that the execution order of the above-described steps S22 to S24 does not necessarily have to be as shown in FIG. Further, it is not necessary to execute all of steps S22 to S24,
Only some steps may be executed. For example, the vehicle may still travel on a toll road with the IC card 102 removed. In this case, step S
Executing step 22 clears the contents of the toll road information area 13. In order to avoid this, step S22
May be performed only in step S23 and step S24 without being incorporated in the program. Further, in the case of YES in step 22, a process of lowering the priority of the information in the toll road information area 13 without completely clearing the contents of the toll road information area 13 may be performed.

As described above, in the car navigation system according to the first embodiment, when the vehicle is recognized as having entered a toll road by a signal from the on-board ETC device 103, the vehicle is displayed on the recognized toll road. Map matching is performed so that the own vehicle position is displayed. Therefore, even when the toll road (expressway) and the general road are parallel,
If the vehicle is on a toll road, the map is accurately matched to the toll road.

Although the ETC system has been described in the first embodiment, the specification of the ETC system may be changed. However, even when the specification of the ETC system is changed, the present invention can be established if the information that the vehicle has entered the toll road can be obtained in some form through the on-board ETC device. In addition, the present invention can be applied to such a system other than the ETC system as long as similar information can be obtained.

In the first embodiment, the control program executed by the control circuit 3 of the car navigation system is R
Although the description has been made with reference to the example stored in the OM 12, it is not necessary to limit to this content. The control program and its installation program may be provided on a recording medium of the DVD 9. Note that the recording medium need not be limited to DVD,
A D-ROM, a magnetic tape, or any other recording medium may be used.

Further, it is also possible to provide those programs via a transmission medium such as a communication line represented by the Internet. FIG. 5 is a diagram showing this state. The car navigation device 201 is the car navigation device described above, and has a function of connecting to the communication line 202. The computer 203 is a server computer that provides a control program for the car navigation device 201, and stores the program.
The communication line 202 is a communication line such as the Internet or personal computer communication, or a dedicated communication line. The communication line 202 includes a telephone line and a wireless telephone line such as a mobile phone.

The above-described control program may be executed on a personal computer to realize a car navigation device. In this case, the current position detection device 1 and the on-board ETC device 103 may be connected to a predetermined I / O port of a personal computer.

[0044]

As described above, the present invention is configured as described above, so that when the vehicle is traveling on a toll road, map matching with the toll road can be performed with high accuracy. For example, even when a toll road (expressway) and a general road are parallel to each other, if a vehicle is on the toll road, map matching is accurately performed on the toll road.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating a configuration in which an on-board ETC device is connected to a car navigation device according to a first embodiment.

FIG. 2: Receives a signal from an on-board ETC device and converts the information to R
It is a flowchart stored in AM.

FIG. 3 is a flowchart showing control for using toll road information for map matching.

FIG. 4 is a flowchart of control for clearing toll road information in a special case.

FIG. 5 is a diagram illustrating a state in which a program is provided via a transmission medium.

FIG. 6 is a diagram illustrating an outline of an ETC system.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Current location detection device 1a Direction sensor 1b Vehicle speed sensor 1c GPS sensor 2 DVD drive 3 Control circuit 4 Input device 7 Image memory 8 Display monitor 9 DVD 12 ROM 13 RAM 101 Vehicle 102 IC card 103 ETC on-board unit 104 Toll gate 105 Road side antenna

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁷ Identification code FI Theme coat ゛ (Reference) G09B 29/10 G09B 29/10 A F-term (Reference) 2C032 HC02 HD03 HD30 2F029 AA02 AB01 AB07 AB09 AB13 AC01 AC02 AC04 AC06 AC08 AC14 AD01 5H180 AA01 BB04 BB05 BB12 BB13 BB15 EE10 FF04 FF05 FF10 FF22 FF27 FF32 5J062 AA05 BB01 CC07 FF00 FF04 HH05 9A001 JJ11 JJ77 JJ78

Claims (9)

[Claims] 1. Map information used for road guidance, a current position detection device for detecting a current position of a vehicle, and a control device for controlling road guidance based on the map information and a current position detected by the current position detection device. In the car navigation device provided, the control device receives a signal from the on-board ETC device, recognizes that the vehicle has entered a predetermined toll road, and controls road guidance based on the recognized result. A car navigation device characterized by the above-mentioned. 2. The car navigation device according to claim 1, wherein the control device controls map matching based on the recognition result. 3. The car navigation device according to claim 1, wherein the control device determines that the vehicle has passed an entrance toll gate of the predetermined toll road in a state where an IC card is inserted into the on-board ETC device. A car navigation device, which recognizes that the vehicle has entered the predetermined toll road when receiving a signal having information indicating the vehicle. 4. The car navigation device according to claim 1, wherein the control device is configured to control the vehicle to pass through an exit toll gate of the predetermined toll road in a state where an IC card is inserted in the on-board ETC device. When receiving a signal having information indicating that the vehicle has entered a predetermined toll road, the recognition result that the vehicle has entered a predetermined toll road is cleared. 5. The car navigation device according to claim 1, wherein the control device receives a signal from the on-board ETC device and determines that the vehicle has entered a predetermined toll road. When it is recognized that the vehicle has traveled a predetermined distance in a state where the IC card has been removed from the ETC vehicle-mounted device, the recognition result that the vehicle has entered a predetermined toll road is cleared. Characteristic car navigation device. 6. The car navigation device according to claim 1, wherein the control device receives a signal from the on-board ETC device and determines that the vehicle has entered a predetermined toll road. A car which, when recognizing that the current location of the vehicle is separated from the predetermined toll road by a predetermined distance, clears a recognition result that the vehicle has entered a predetermined toll road. Navigation device. 7. The car navigation device according to claim 1, wherein the control device receives a signal from the on-board ETC device and determines that the vehicle has entered a predetermined toll road. In a state where the IC card is recognized, when the IC card subjected to the process of passing the exit of the predetermined toll road is inserted into the on-board ETC device,
A car navigation device, which clears a recognition result that the vehicle has entered a predetermined toll road. 8. A first procedure for detecting a current location of a vehicle, a second procedure for controlling road guidance based on road guidance map information and the detected current location of the vehicle, and a signal from an on-board ETC device. A third procedure for receiving and recognizing that the vehicle has entered a predetermined toll road, and a fourth procedure for controlling road guidance based on a result recognized by executing the third procedure are executed. Recording medium for recording a car navigation program. 9. A first procedure for detecting a current location of a vehicle, a second procedure for controlling road guidance based on road guidance map information and the detected current location of the vehicle, and a signal from an on-board ETC device. A third procedure for receiving and recognizing that the vehicle has entered a predetermined toll road, and a fourth procedure for controlling road guidance based on a result recognized by executing the third procedure are executed. Transmission medium for transmitting car navigation programs for use.