JP2001330459A - Route-setting apparatus and automobile navigation system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To guide appropriate routes and contribute to safety driving by not including routes whereby changing lanes is unreasonably forced (difficult-to-run routes) in guide routes. SOLUTION: When a point connected to a link of two or more lanes for one way is included in a route which is an object for calculating route costs (S100: YES) and there is no traffic light at the connecting point (S110: NO), it is judged whether or not there is right or left turning or branching after the connection (S120). When there is right or left turning/branching (S120: YES), a connecting lane where the vehicle is to inevitably run is specified at the connecting point (S130), and a distance 1 from the connecting point to the right or left turning/branching point and the number n of necessary times of changing lanes are calculated (S140 and S150). When the ratio (n/1) becomes larger than a predetermined value C (S160: YES), it is judged that the difficult-to-run route is included and costs of the route to be calculated are set to be relatively large.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a route setting device for setting a route to a set destination, and a navigation device for providing travel guidance for the set guide route.

[0002]

2. Description of the Related Art As a vehicle travels, a current position is detected by a GPS or the like, and the current position is displayed together with a road map on a display, and an appropriate route from the current position to a destination is set and used as a guide. Navigation systems are known and contribute to smoother driving. In setting the route, the Dijkstra method or a method similar thereto is generally used. Specifically, C
Using map data recorded in a static information source such as a D-ROM or a DVD, a route calculation cost (evaluation value for the route) from the current position to each node is calculated using link information for a link between nodes. Then, when all the cost calculations to the destination are completed, a link to minimize the total cost is connected to set a route to the destination.

A route setting device that performs such a route setting reads out traffic regulation information such as right / left prohibition and one-way traffic stored in map data, and sets a guidance route in consideration of the traffic regulation information. There were also things.

[0004]

However, even a guide route set in consideration of traffic regulation information as described above may include a route that is difficult to actually travel.
That is, when connecting to a road with a relatively large number of lanes and further turning right or left or branching ahead, the connecting lane is, for example, the rightmost lane and turns left or branches to the left, or reverse. The connecting lane is, for example, the leftmost lane and a route that turns right or branches to the right. In this case, traveling becomes more difficult as the distance from the connection point to the intersection or junction becomes shorter or as the number of lanes increases. That is, it is necessary to change lanes continuously over a short distance, and particularly when there is a large traffic volume or when the flow of the vehicle is fast, there is a high possibility that the vehicle cannot travel substantially.

[0005] When such a route is set, a situation occurs in which the vehicle deviates from the guide route during traveling. In addition, since the driver is forced to change lanes, it is not preferable in terms of safety. SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problems, and eliminates the setting of a guide route including a route for which an unreasonable lane change is forced, and sets a guide route that can travel substantially. It aims to contribute to appropriate route guidance and safe driving.

[0006]

According to a first aspect of the present invention, there is provided a route setting apparatus, comprising: a link setting unit configured to link a link between a node and a link; A guidance route, which is a route from the departure place to the destination, is set based on the connection information between them.

At this time, the route setting means can set a guide route that does not include a difficult-to-travel route.
A difficult-to-travel route is a route that is connected to a link of two or more lanes each way and then turns or branches in front of the route. A route whose calculated value based at least on the number of forced lane changes does not satisfy a predetermined determination condition.

In other words, the present invention has been made in view of the fact that it is difficult to continuously change lanes in a short traveling distance. Therefore, for example, the ratio between the distance from the connection point to the right / left turn / branch point and the number of lane changes forced while traveling the distance is defined as a calculated value, and the travel is performed based on whether the calculated value is greater than a certain value. It is conceivable to determine the difficult route.

Here, as a method of "setting a guidance route not including a difficult-to-travel route", for example, it is conceivable to adjust the route calculation cost as described in claim 2. In other words, based on the link information and the connection information, the route calculation cost to reach each node is calculated using the Dijkstra method or a search method equivalent thereto, and the guide route is set by connecting the links that reduce the total cost to reach the destination. When setting a guide route that does not include a difficult-to-travel route under the configuration that determines that the difficult-to-travel route is included in the route to be calculated, the route calculation cost for the route is relatively increased, The guide route is set by connecting links that reduce the total cost. If the route calculation cost of a route including a difficult-to-travel route becomes relatively large, the guide route to be set does not include the difficult-to-travel route. That is, it is possible to eliminate unnecessary lane changes in the guide route, and it is possible to set a guide route that can travel substantially. As a result, it contributes to appropriate route guidance and safe driving.

Incidentally, the distance from the connection point to the right / left turn / branch point and the required number of lane changes may be obtained by any method. For example, since the link information usually includes the link length and the number of lanes, it is conceivable to calculate the distance from the connection point to the right / left turn / branch point based on the link length (claim 3). On the other hand, if the lane specifying information for specifying the connecting lane at the connecting point is stored as the connection information between the links, the number of lane changes can be calculated based on the lane specifying information and the number of lanes in the link information. (Claim 4). The connecting lane is one way 2
A lane that must travel when it is connected to a link that has more lanes.

It has already been mentioned that the ratio between the distance from the connection point to the right / left turn / branch point and the number of lane changes can be adopted as the calculated value. The reason why such a calculated value is calculated based on at least the distance and the number of lane changes is that other factors such as traffic volume other than the distance and the number of lane changes may be added. On the other hand, other factors may be added to the determination condition in addition to the calculated value.

For example, it is conceivable to change the predetermined condition based on the type of road from the connection point to the right / left turn / branch point. For example, the road from the connection point to the right / left turn / branch point is various such as an expressway, a toll road, and a general road. At this time, it is generally considered that the flow of the vehicle is faster on the highway than on the general road, so that it is more difficult to change the lane in a short distance. Therefore, if the road type is an expressway or a toll road, the conditions are relatively strict, and even if the calculated values based on the distance and the number of lane changes are the same, the rate of determination as a difficult-to-travel route is increased. This makes it more appropriate to determine that the route is a difficult-to-travel route.

Further, for example, the predetermined condition may be changed in consideration of the traffic volume. In this case, a configuration is provided in which receiving means capable of receiving traffic-related information from the outside is provided, and based on the traffic-related information received by the receiving means, the traffic volume of the route from the connection point to the right / left turn / branch point is determined. To change the predetermined condition. Here, the receiving means is ATIS (Advanced Traffic Informa
It can be considered as a means for acquiring traffic-related information from a service line via a telephone line. Also, VICS
(Vehicle Information and Communication System) may be a means for receiving traffic-related information broadcast by FM multiplexing from a vehicle. Generally, it becomes difficult to change lanes when the traffic volume increases. So VICS
If information such as "congestion" is received from the user, the determination condition is made relatively strict as described above, and even if the calculated value based on the distance and the number of lane changes is the same, it is determined that the route is difficult to travel. To be higher. As a result, there is a high possibility that the difficult-to-travel route can be determined appropriately. On the other hand, in a situation where traffic congestion occurs and almost no vehicles are flowing, lane change may be facilitated. Therefore, when the information “congestion” is received, the determination condition may be broadened.

Further, as set forth in claim 7, it is conceivable to change the determination condition based on an instruction from the user via the input means. Difficulties in traveling, which are a problem in the present invention, vary from individual to individual, and even if the route is difficult for a user who is not driving, it may not be so for a person who can drive. is there. In this case, for example, the determination conditions are set in a stepwise manner, and when traveling based on the guide route, when the user feels that a route that is difficult to travel is included, the user determines via the input means. It is conceivable to tighten the conditions. In this way, the difficult-to-travel route is determined appropriately for each user (driver).

From a similar viewpoint, it is conceivable that a veteran driver can drive with a sufficient margin even when it is necessary to change lanes in a short distance. Therefore, as set forth in claim 8, the route setting means may determine whether or not to set a guide route that does not include the difficult-to-travel route based on an instruction from the user via the input means. . That is, a configuration in which the user can select a route setting by a conventional method may be adopted. This is convenient for experienced drivers.

If the traffic volume at the connection point is large, a traffic signal may be installed at the connection point. For example, it is found when merging from an exit road of an expressway to a general road having three or more lanes. In this case, since traffic other than the connecting lane is restricted,
The lane can be changed regardless of the distance to the branch point.

Therefore, as set forth in the ninth aspect, the route setting means may provide a guide that does not include a difficult-to-travel route when there is no traffic signal at the connection point for alternately passing the connecting lane and the other lane. It is advisable to set a route. In this way, a guide route can be appropriately set on condition that there is a traffic signal.

According to a tenth aspect of the present invention, there is provided a navigation apparatus including the above-described route setting device and guide means for performing travel guidance on a destination route set by the route setting device. You can also. The function of realizing the above-described processing related to the path setting in the computer system can be provided, for example, as a program activated on the computer system side. In the case of such a program, for example, F
It can be used by recording it on a computer-readable recording medium such as D, MD, DVD, CD-ROM, and hard disk, and loading and activating the computer system as needed. Alternatively, the program may be recorded in a ROM or a backup RAM as a computer-readable recording medium, and the ROM or the backup RAM may be incorporated in a computer system and used.

[0019]

Embodiments of the present invention will be described below with reference to the drawings. It is needless to say that the embodiments of the present invention are not limited to the following examples, and can take various forms as long as they belong to the technical scope of the present invention.

FIG. 1 is a block diagram showing the overall configuration of a vehicle-mounted navigation device 20 as one embodiment. The on-vehicle navigation device 20 includes a position detector 22, a map data input device 24, an operation switch group 26, and a display device 2.
8, a position detector 22 including a speaker 30, an external memory 32, a communication device 34, and an electronic control unit (ECU) 36
G detects the position of the vehicle based on radio waves from a known gyroscope 38, a vehicle speed sensor 40, and satellites.
It has a GPS receiver 42 for a PS (Global Positioning System). These sensors 38, 40, 4
2 is configured to be used while interpolating with a plurality of sensors because each has an error having a different property. Note that, depending on the accuracy, a part of the above may be used, and a geomagnetic sensor, a rotation sensor of the steering wheel, a wheel sensor of each rolling wheel, or the like may be used.

The map data input unit 24 inputs map data stored in a recording medium. The map data includes
The data includes road connection status data, map matching data for improving position detection accuracy, and the like. In this embodiment, particularly, as data indicating a road connection status, lane identification information indicating which lane to connect to when connecting to a link having two or more lanes each way is stored. The link information stores at least the link length and the number of lanes. By the way, a CD-ROM or a DVD is generally used as a recording medium for storing the map data because of its data amount, but another medium such as a memory card may be used.

The operation switch group 26 is composed of various switches for operating the on-vehicle navigation device 20. Specifically, the operation switch group 26 includes switches for switching display contents to be displayed on the display device 28, and a user's destination. It includes a switch for setting a route (guidance route) to the vehicle. Note that as various switches constituting the operation switch group 26, a touch switch integrated with the display device 28 may be used, or a mechanical switch may be used.

The display device 28 is a color display device,
The display screen includes a vehicle current position mark input from the position detector 22, map data input from the map data input device 24, and additional data such as a guide route and a mark of a set point to be displayed on the map. Can be superimposed and displayed.

The speaker 30 is configured to notify the driver of the traveling guidance by voice. In this embodiment, both the display by the display device 28 and the voice output from the speaker 30 are performed. Guidance can be given to the driver. For example, in the case of a right turn, a content such as "Please turn right at the next intersection" is output by voice. By notifying the driver by voice, the driver can check the traffic information of the set point without moving the viewpoint,
Further safe driving can be achieved.

The external memory 32 stores the path set by the electronic control unit 36, and the stored contents are backed up by a power supply (not shown). The communication device 34 is connected to an external information center 10, for example, VICS (Vehi
cle Information and Communication System) is a device for receiving information provided from a system or the like and transmitting information to the outside. Information received from outside via the communication device 34 is processed by the electronic control device 36. Further, as a device used as the communication device 34, a mobile communication device such as an automobile phone or a mobile phone may be used, or a dedicated transceiver may be used.

The electronic control unit 36 is configured as a normal computer, and has a well-known CPU and RO inside.
M, RAM, I / O and bus lines for connecting these components are provided. Then, in response to inputs from the position detector 22, the map data input device 24, and the operation switch group 26, the display device 28, the speaker 30, the external memory 3
2. Control the communication device 34 to execute various processes such as route setting and guidance processes.

Here, the configuration of the information center 10 will be briefly described. The information center 10 collects by an external event collection device 12 that collects external events such as road conditions from various sensors S and the like attached near the road, and various regulations and external event collection devices 12 together with a road map in the center area. Road network data storage device 14 in which various types of traffic information created based on the generated external events are stored.
And a communication device 16 for communicating with the in-vehicle navigation device 20 via a wireless line such as a car phone or a mobile phone.
Based on the position data (current position and destination) received from the in-vehicle navigation device 20 and the information stored in the road network data storage device 14, the target road such as traffic regulation or traffic jam is specified, and the traffic-related information is specified. And a control device 18 as a control subject which transmits the communication via the communication device 16.

With such a configuration, the on-vehicle navigation device 20 performs the following operation. That is, when the driver operates the operation switch group 26 and inputs the position of the destination, the electronic control unit 36 automatically sets an optimal route from the current position to the destination (route setting).
Then, the information is displayed on the display device 28 and is guided by voice (route guidance) via the speaker 30.

The route setting by the electronic control unit 36 is generally performed as follows. That is, when the driver inputs a destination based on the map on the display device 28, G
The current position of the vehicle is obtained based on the satellite data obtained from the PS receiver 42, the cost is calculated by the Dijkstra method between the destination and the current position, and the route from the current position to the destination is determined as a guidance route. Done.

In the route calculation using the Dijkstra method, a route cost from the current location to each node (evaluation of the route) is obtained by using link information for links between nodes and connection information between links including traffic regulation. This is a well-known method of calculating a value and calculating a guide route by connecting a link with a minimum route cost when all cost calculations to the destination are completed.

However, since a connected route to the destination is set, it cannot be adopted as a route when it is not possible to enter the road, such as a one-way or pedestrian road. Therefore, if it is determined from the link connection information that there is such a traffic regulation, the route is set except for the corresponding link.

In the case of this embodiment, a relatively large route calculation cost is set for a route that is difficult to travel due to an excessive lane change. Set a guidance route that does not include a route. The determination of such a difficult-to-travel route is performed in the cost setting process shown in FIG. That is, as described above, when calculating a route cost from the current location to each node, if a route (a difficult-to-travel route) that satisfies a predetermined determination condition is included, the route calculation cost of the calculation target route is calculated. Set relatively large.

As shown in FIG. 2, first, in a first step (hereinafter, the steps are simply indicated by a symbol S), it is determined whether or not the route to be calculated is connected to a link of two or more lanes each way. to decide. Here, when it is determined that the vehicle is connected to a link having two or more lanes (S100: YE
S), proceed to S110. On the other hand, when it is determined that the vehicle is not connected to a link having two or more lanes (S100: N
O), the cost setting process ends.

In S110, it is determined whether there is a traffic signal at the connection point. If it is determined that there is a traffic signal (S110: YES), the cost setting process ends. On the other hand, when it is determined that there is no traffic light (S
110: NO), and proceeds to S120.

In S120, on the route to be calculated,
After connecting to the link having two or more lanes as described above, it is determined whether there is a right / left turn / branch. If it is determined that there is a right / left turn / branch (S120: YES), the process proceeds to S130. On the other hand, if it is determined that there is no right / left turn / branch (S120: NO), the cost setting process ends.

In S130, the connecting lane is specified by referring to the link connection information. This process specifies a lane to travel when connecting to a link having two or more lanes based on the lane specifying information. In S140, the distance 1 from the connection point to the right / left turn / branch point is calculated. The distance 1 is calculated by accumulatively adding the link lengths of the links constituting the connection point to the right / left turn / branch point.

In the next S150, turn right / left from the connection point /
The number of lane changes n forced to travel to the branch point is calculated. The lane change count n is calculated based on the connection lane and the link lane number described above. Then, in the next S160, it is determined whether or not the ratio (n / l) between the distance 1 and the lane change count n is larger than a predetermined value C. Ratio (n / l)
Is that the shorter the distance l, the more the number of lane changes n
The larger is the larger. That is, when the ratio (n / l) increases, the lane change occurs at a short distance, and it can be said that traveling becomes difficult. Therefore, here, it is determined whether or not traveling is difficult based on whether or not this ratio (n / l) is greater than a predetermined value C.

The predetermined value C is a value set prior to the present cost setting processing. The predetermined value C is selected and determined from a plurality of values set in advance in steps. Here, the determination of the predetermined value C will be described. The predetermined value C is determined based on the type of road from the connection point to the right / left turn junction, the traffic volume, and an instruction input from the user.

The road type is determined from the link information, and is set so that the predetermined value C becomes smaller if the road is an expressway or a toll road. When the predetermined value C decreases, the rate of affirmatively determined in S160 naturally increases. The traffic volume is determined based on the information transmitted from the information center 10 described above, and the predetermined value C is reduced when the information “congestion” is transmitted. On the other hand, if there is an instruction input from the user, the road type,
The predetermined value C is set prior to the traffic volume. The range that the predetermined value C can take may be determined experimentally by actually driving the vehicle. Further, in the present embodiment, the predetermined value C is changed stepwise, but may be changed continuously.

If (n / l)> c is satisfied in S160 in FIG. 2 (S160: YES), that is, if the route to be calculated includes a difficult-to-travel route, the route becomes a calculation target. The route calculation cost of the existing route is set relatively large (S170), and thereafter, the cost setting process ends. On the other hand, when (n / l) ≦ c (S160:
NO), the cost setting process ends without executing the process of S170. As a result, a relatively large route calculation cost is set for the route determined to include the difficult-to-travel route, and such a route is not selected in setting the guide route. That is, a guide route that does not include the difficult-to-travel route is set.

The cost setting process will be specifically described.
For example, a case where the cost of a route as shown in FIG. 3 is calculated will be described as an example. In FIG. 3, the toll road and the exit road from the toll road are shown by thin solid lines, and the general road is shown by broken lines. The route to be calculated is superimposed on these roads and indicated by thick solid lines. The route shown in FIG. 3 runs on a toll road, enters an exit road from the second IC, joins a general road at point X,
Turn left at point Y ahead. FIG. 4 is an enlarged view of the route from point X to point Y. As shown in FIG. 4, this route is a one-way 4 of lanes A, B, C, and D.
The exit from the toll road is connected to the rightmost lane D of the general lane.

When the cost setting process is performed on such a route, the route X is connected to the link of four lanes at the point X, so that the determination is affirmative in S100. It is determined whether there is (S11)
0). In this example, description will be continued assuming that there is no traffic light.

Then, it is determined whether there is a right / left turn / branch point ahead of the point X (S120). Here, a positive determination is made because there is a left turn point (point Y). Next, the connecting lane is specified as the lane D (S130), the distance 1 from the point X to the point Y is calculated (S140), and the lane change frequency n is calculated as “3” (S150). Lane D
This is because three lane changes, ie, lane C, lane C → lane B, lane B → lane A, are required for turning left. And
If the ratio (n / l) is larger than the predetermined value C, (S1
60: YES), the route calculation cost of the route to be calculated is set relatively large (S170).

As a result, as shown in FIG.
And a route that turns left at point Y is not included. As a result, as shown in FIG. 5A, for example, if the route merges at the point X, it is conceivable that a route that turns left at the point Y ′, which is further ahead of the point Y, may be set. Alternatively, as shown in FIG. 5B, a route may be set in which the vehicle exits at the first (front) IC, merges at the point X ′, and turns left at the point Y.

As described above, according to the in-vehicle navigation device 20 of the present embodiment, a guide route that can be forced to change lanes is not set, and a guide route that can travel substantially can be set. As a result, it contributes to appropriate route guidance and safe driving. Further, whether or not it is difficult to drive is determined based on the determination condition of S160 in FIG. 2, but the predetermined value C used for this determination condition may be changed in consideration of other factors. This is a feature of the present embodiment.

In this embodiment, the predetermined value C is changed stepwise according to the type of road from the connection point to the right / left turn / branch point. Specifically, on an expressway, a toll road, or the like, the predetermined value C is set to a relatively small value. This is because the flow of vehicles is generally considered to be faster on expressways and toll roads than on general roads, so that it is more difficult to change lanes at short distances. This makes the determination of the difficult-to-travel route more appropriate.

The predetermined value C is also changed stepwise according to the traffic volume from the connection point to the right / left turn / branch point. Specifically, when the information “congestion” is transmitted from the information center 10 such as VICS, the predetermined value C is set to a relatively small value. This is because it is generally difficult to change lanes when the traffic volume increases, and by setting the predetermined value C to a relatively small value, the rate at which the route is determined to be a difficult-to-travel route as described above. Is to increase. As a result, there is a high possibility that the difficult-to-travel route can be determined appropriately. On the other hand, in a situation where traffic congestion occurs and almost no vehicles are flowing, lane change may be facilitated. Therefore, when the information of “congestion” is received, the predetermined value C may be set to be relatively large, so that the ratio of being determined as a difficult-to-travel route may be reduced.

Further, when an instruction is given from the user, the predetermined value C is preferentially changed. This is because there is an individual difference in the difficulty of traveling, and a route that is difficult for a user who is not used to driving may not be so for a person who is used to driving. As a result, a difficult-to-travel route is appropriately determined according to each user (driver).

Further, in this embodiment, it is determined whether or not there is a traffic signal at the connection point (S110 in FIG. 2). Only when there is no traffic signal (S110: NO), the determination of the difficult-to-travel route is made. I did it. If traffic outside the connecting lane is restricted, regardless of the distance to the left / right turn / branch point
This is because the lane can be changed. Also in this regard, an appropriate guide route can be set.

Note that the electronic control unit 36 of the on-vehicle navigation device 20 in this embodiment corresponds to “route setting means”, and the cost setting process shown in FIG. 2 corresponds to the process as route setting means. Further, the communication device 34 of the in-vehicle navigation device 20 corresponds to “receiving means”, and the operation switch group 26 corresponds to “input means”. [Others] (a) In the above-described embodiment, the route including the difficult-to-travel route is not set as the guide route by setting the route calculation cost relatively large. On the other hand, it is conceivable that a plurality of routes are set as guide route candidates by a conventional method so that routes including difficult-to-drive routes are not selected. In addition, the guide route is set by the conventional method, and if the guide route includes a difficult-to-travel route, the route cost for the difficult-to-travel route is relatively increased, and the guide route is reset. It may be.

(B) In the above embodiment, the difficult-to-travel route is determined by the cost setting process shown in FIG. 2, and a guide route that does not include the difficult-to-travel route is set. However, it is conceivable that a veteran driver can drive with a margin even when it is necessary to change lanes in a short distance. In view of this, a configuration may be adopted in which a conventional route setting and a route setting that does not include the difficult-to-travel route described above can be switched by an instruction via the operation switch group 26.

(C) In the above embodiment, the lane identification information is included in the link connection information and stored.
The information may be stored by being included in the node information for each node. (D) In the above embodiment, a route merging from an expressway to a general road was taken as an example, but it goes without saying that the cost setting process described above can be similarly applied to a route connected to a link of two or more lanes each way. No. A situation where the connecting lane is a specific lane may be an approach or a branch on an expressway such as the Metropolitan Expressway. Further, on a general road, a case where the vehicle turns left on a dedicated left-turn lane, a case where the vehicle exits from an elevated road and joins the road, and the like are exemplified.

[Brief description of the drawings]

FIG. 1 is a block diagram schematically illustrating a configuration of a vehicle-mounted navigation device according to an embodiment.

FIG. 2 is a flowchart illustrating a cost setting process executed by the on-vehicle navigation device.

FIG. 3 is an explanatory diagram exemplifying a route targeted for cost setting processing;

FIG. 4 is an explanatory diagram showing in detail a route from a point X to a point Y on the route in FIG. 3;

FIG. 5 is an explanatory diagram exemplifying a guide route that can be set in a subsequent route setting process according to a result of the cost setting process.

[Explanation of symbols]

Reference Signs List 20 navigation device for vehicle 22 position detector 24 map data input device 26 operation switch group 28 display device 30 speaker 32 external memory 34 communication device 36 electronic control device 38 gyroscope 40 vehicle speed sensor 42 GPS receiver 10 Information center 12 External event collection device 14 Road NW data storage device 16 Communication device 18 Control device

Continued on front page F term (reference) 2C032 HB22 HB24 HC23 HC26 HD03 HD07 HD21 HD23 HD24 2F029 AA02 AB07 AB13 AC02 AC09 AC13 AC16 5H180 AA01 BB13 CC12 FF04 FF05 FF13 FF22 FF32 5J062 AA03 CC07 FF04 HH07

Claims (10)

[Claims] 1. A route setting device comprising: route setting means for setting a guide route, which is a route from a departure point to a destination, based on link information of links connecting nodes and connection information between links. The route setting means is a route that is connected to a link having two or more lanes each way and then turns right or left or branches in front of the link.
A calculated value based at least on the distance from the connection point to the right / left turn / branch point and the number of lane changes forced while traveling the distance does not include a difficult-to-travel route that is a route that does not satisfy a predetermined determination condition. A route setting device, wherein the guide route can be set. 2. The route setting device according to claim 1, wherein the route setting means calculates a route calculation cost using a Dijkstra method or a search method equivalent thereto based on the link information and the connection information. Setting the guide route by connecting links that reduce the calculated route calculation cost. In setting the guide route so as not to include the difficult-to-travel route, the difficult-to-travel route is set as a route to be calculated. A route setting device, which determines that the route is included, relatively increases a route calculation cost for the route, and sets the guide route by connecting a link that reduces the total cost. 3. The route setting device according to claim 1, wherein a distance from the connection point to the right / left turn / branch point is calculated based on a link length in the link information. Setting device. 4. The route setting device according to claim 1, wherein lane specifying information capable of specifying a connecting lane at the connecting point is stored, and the lane specifying information and the link information in the link information are stored. A route setting device, wherein the number of times of lane change is calculated based on the number of lanes. 5. The route setting device according to claim 1, wherein the determination condition is changed based on a road type from the connection point to the right / left turn / branch point. Setting device. 6. The route setting device according to claim 1, further comprising a receiving means capable of receiving traffic-related information from outside, wherein the traffic-related information received by said receiving means is provided. Based on
A route setting device for determining a traffic volume of a route from the connection point to the right / left turn / branch point and changing the determination condition. 7. The route setting device according to claim 1, wherein the determination condition is changed based on an instruction from a user through an input unit. 8. The route setting device according to claim 1, wherein said route setting means does not include said difficult-to-travel route based on an instruction from a user via an input means. A route setting device for determining whether to set a route. 9. The route setting device according to claim 1, wherein said route setting means includes a traffic signal for alternately passing said connection lane and another lane at said connection point. A route setting device that sets the guide route that does not include the difficult-to-travel route when there is no route. 10. A navigation device comprising: the route setting device according to claim 1; and guide means for performing travel guidance on a guide route set by the route setting device. .