JP2002310701A - Navigation system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To display no unsuitable guide route when a route is searched on the basis of a route cost in regard to a navigation system wherein the route is searched from a start point to a destination and guided in accordance with a prescribed guide route. SOLUTION: In the navigation system 1 having a function wherein the route of the start point to the destination is searched, a toll is converted into the route cost at a prescribed place in the route, and the route is searched on the basis of the total of the route costs to calculate the most suitable guide route. Preferably, the navigation system has at least a node corresponding to the tollgate in the route, and is provided with a route search network obtained by giving the toll to the node. The route is searched on the basis of the route search network.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention provides a user (user or driver) with various information such as map data, traffic information, weather forecast, and the like, which can be obtained from outside, for a running vehicle. The present invention relates to a navigation device that performs a route search to a destination selected by a user and performs route guidance according to a predetermined guidance route.

[0002]

2. Description of the Related Art Generally, a CD-ROM (compact disk-rea) in which map data comprising road and terrain information is stored in advance.
d only memory) and DVD-ROM (digital visual d
While displaying map data taken out from an isk-read only memory) on a display device (display), a distance sensor, a direction sensor, and a GPS (global positioning system) are displayed.
A navigation device that displays the current position of a running vehicle on map data using a ystem (global positioning system) has been put to practical use.

In recent years, in a navigation device having such a configuration, in addition to information of map data taken out from a CD-ROM, a DVD-ROM, or the like, a VICS (vehicle information and communication system) is used.
A lot of information is provided, such as information from mobile communication systems and mobile phones. Further, in recent years, navigation devices generally not only display the current position of a running vehicle, but also search for a route from a departure point to a destination based on route costs caused by turning right and left of the vehicle and the presence or absence of a traffic light. In addition, a function is provided for determining a guidance route of the vehicle and performing route guidance to the destination according to the guidance route.

FIG. 7 is a schematic diagram for explaining a conventional route search method. However, here, when performing a route search from the departure point to the destination, a case where a uniform toll system is applied such as an urban expressway (for example, Hanshin Expressway) ((a) of FIG. 7) FIG. 7B shows a case where a pay-as-you-go system is applied, such as a long-distance inter-city expressway (for example, the Tomei Expressway).

In the flat fee system shown in FIG. 7A, the same fee is paid in a predetermined section. For example, a predetermined fee (for example, 500 yen) is paid at an entrance of a city expressway or the like, and another fee is paid at a gate (tollgate) on a main line connecting to another section. For example, in the example of FIG. 7A, the first gate adds 200 yen, the second gate adds 200 yen,
The toll to be paid when switching to another section or general road at each gate is increasing, such as adding 200 yen at the third gate. In other words, a uniform fee is applied to a plurality of exits provided between two adjacent gates (that is, the same section).

On the other hand, in the pay-as-you-go system shown in FIG. 7B, only tickets are taken at the entrance without paying a fee. Then, every time the vehicle passes the branch point (exit), the fee to be paid increases. For example, in the example of FIG. 7 (b), a fee of 5,000 yen when going down the first junction, a fee of 6,000 yen when going down the second junction,
A toll to be paid at each branch point (that is, a toll) is prescribed in advance, such as a fee of 7,000 yen when you get off the third branch point. In this case, unlike the case of the above-mentioned flat fare system, no exit is provided except for the branch point. In this sense, the branch point in FIG. 7B is different from the multiple outlets in FIG. 7A.

In the conventional route search method, a transfer point between a toll road and an ordinary road, such as an urban expressway or an intercity expressway, is controlled in order to suppress an increase in route costs including a mileage, a travel time, and a toll. And a predetermined route cost for each of the transfer points of the road and the line (the transfer point between the city expressway and the intercity expressway) (that is, the point where the toll is expected to change as described above) To avoid getting on and off the toll road at very short distances.

[0008]

As described above, conventionally, route costs have not been given in consideration of actual fees and attributes (uniform fees, metered fees). Here, it is assumed that the destination A exists at a position slightly beyond the third gate as shown in FIG. In this case, additional gate to minimize the increase in route cost)
It is appropriate to present a guide route to reach the destination A after getting off the general road at the exit before the road. However,
In the conventional route search method, since no cost is given to each gate, there is a problem that an inappropriate guidance route such as getting off on a general road immediately after another fee is presented occurs. .

On the other hand, as shown in FIG. 7B, it is assumed that the destination B is located far beyond the third gate and close to the fourth gate. In this case, it is originally appropriate to present a guide route that reaches the destination B after getting off the general road at the exit before the fourth gate, which is charged separately. However, in the conventional route search method, there is a problem that an inappropriate guidance route such as getting off on a general road at an exit after the fourth gate is presented for the same reason as in the case of the destination A described above. appear.

[0010] Originally, it is generally easy to pass on toll roads with low tolls and difficult on toll roads with high tolls. In some cases, the route cost is assigned differently from the actual fee. For this reason, there also arises a problem that it is difficult to present an appropriate guidance route using a toll road.

Furthermore, despite the user's desire to pay a certain amount of money and ride for as long as possible, a predetermined route cost can be obtained regardless of a difference in toll depending on the type of vehicle (for example, a small car or a normal car). All vehicles will be treated equally. For this reason,
There is also a problem that it is difficult to present an appropriate guidance route according to a vehicle type.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and it is an object of the present invention to prevent an inappropriate guide route from being presented when searching for a route from a departure place to a destination based on a route cost. It is an object of the present invention to provide a navigation device capable of performing the following.

[0013]

In order to solve the above-mentioned problems, a navigation device according to the present invention has a function of searching for a route from a departure place to a destination. The toll is converted into a route cost, and the route is searched based on the sum of the route costs to calculate an optimal guide route.

Preferably, the navigation device of the present invention has at least one node corresponding to a tollgate in the route, and includes a route search network obtained by giving the toll to the node. The route search is performed based on the route search network. More preferably, in the navigation device of the present invention, a toll for each vehicle type is set at the tollgate.

[0015] Further, preferably, in the navigation device of the present invention, the attributes of the toll include at least a flat fee and a metered fee. Further, preferably, the navigation device of the present invention has a function of changing the route cost with respect to the toll according to the type of the route search. Further, preferably, in the navigation device of the present invention, the route cost is calculated while distinguishing between the case of the flat fee and the case of the metered fee.

Further, preferably, in the navigation apparatus of the present invention, in the case of the above-mentioned metered fee, a fixed route cost is set regardless of the magnitude of the toll. In summary, according to the present invention, it is possible to present an appropriate guidance route that minimizes the route cost by converting a toll at a tollgate or the like on a toll road into a route cost.

More specifically, according to the present invention, it is possible to use a toll road as long as possible in a section to which a flat fare is applied, and to avoid unnecessary connections to a section having a different fare. Further, according to the present invention, an appropriate guidance route can be calculated according to the attribute of the toll by calculating the route cost while distinguishing between the metered fee and the flat fee having different fee systems. For example, if the same route cost is assigned to a flat fee and a metered fee and the route cost is calculated, a long-distance route cost becomes too large with the metered fee and the travel route passes through an intercity expressway or the like. It becomes impossible to choose. When the metered fee is compared with the flat fee, in the route cost calculation of the metered fee, an appropriate guidance route can be calculated by reducing the dependence on the fee.

[0018]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a preferred embodiment of the present invention will be described with reference to the accompanying drawings (FIGS. 1 to 6). FIG. 1 is a block diagram showing a configuration of an embodiment based on the principle of the present invention. Here, the configuration of the navigation device of the present invention is shown in a simplified manner. Hereinafter, the same components as those described above will be denoted by the same reference numerals.

A navigation device 1 according to the embodiment of FIG.
, A control means 2 is provided. The control part of the control means 2 is a CPU (central processing unit).
: Central processing unit). Further, the control means 2 includes a RAM (random access memory) and an RO
A route cost data storage unit 6 including M and the like is provided. The route cost data storage unit 6 stores in advance, as route cost data, a coefficient representing a cost generated due to a right / left turn of a vehicle, the presence or absence of a traffic light, a toll, a coefficient based on the number of lanes, and a coefficient based on a road type. It is something to keep. In addition, the presence or absence of a traffic light, the toll, the number of lanes, and the type of road are generally stored in the map data storage unit 4.

Further, the control means 2 in the embodiment of FIG.
Is provided with current position detecting means 3 for detecting the current position of the running vehicle. This current position detecting means 3 detects a rotation speed of wheels and a distance sensor 31 such as a vehicle speed sensor for detecting a traveling distance of the vehicle, and a terrestrial magnetism to determine an azimuth of the vehicle in the same manner as a general navigation device. An azimuth sensor 32 such as a gyro magnetic sensor or a GPS receiver that measures the position of a vehicle using artificial satellites (GP in FIG. 1)
(Abbreviated as S) 30 or the like, and has a function of accurately detecting the current position of the running vehicle. Further, map data extracted from the map data storage means 4 such as a DVD-ROM or CD-ROM in which map data including information on roads and terrain is stored in advance is displayed on display means 9 such as a liquid crystal display device.
And the current position of the traveling vehicle detected by the current position detecting means 3 is displayed on the map data.

Further, the control means 2 in the embodiment of FIG.
Is a route search means 5 for searching a route (for example, a travel route) from a departure point to a destination based on the route cost data in the route cost data storage means 6, and an optimum route determined by the route search means 5. Route guidance means 7 for guiding and guiding the vehicle according to a simple guidance route. The route search means 5 reads the route cost data from the route cost data storage means 6 and reads a route search network, which will be described later, from the map data storage means 4 based on the route cost data and the route search network. The route that minimizes the sum of the route costs is selected, and the optimal guide route is calculated based on this route.

More specifically, the route search means 5 weights the route costs in accordance with the amount of the toll at each tollgate in the route from the departure point to the destination, so that each It converts tolls at toll gates into route costs. Further, an optimal guidance route that minimizes the route cost is calculated based on the sum of these route costs.

Preferably, the map data storage means 4 in the above embodiment includes a plurality of nodes including nodes corresponding to toll gates in a route from a departure point to a destination, and a plurality of links connecting these nodes. Is stored in advance. This route search network is data obtained by networking actual roads for route calculation. When searching for a route, a route search network including a departure point and a destination is read from the map data storage unit 4 into the RAM. Used. On the other hand, coefficients (K, S, X, Y, and Z 'to be described later) used for calculating the link cost and the node cost are read from the route cost data storage unit 6, and the plurality of nodes and A corresponding path cost is assigned to each link. Further, by sequentially following the nodes and links of the route search network, it is possible to calculate the combination of the nodes and links that minimizes the sum of the route costs (that is, the guide route).

Further, preferably, in the map data storage means 4 in the above embodiment, the toll for each vehicle type (for example, small car or ordinary car) at the tollgate corresponding to the plurality of nodes is preset and stored. Have been. Further, preferably, in the map data storage means 4 in the above embodiment, a flat fee and a metered fee are preset and stored as attributes of the toll at various toll roads.

Further, preferably, the route cost data storage means 6 in the above embodiment, when searching for a route from a departure point to a destination, preferentially prioritizes a general road and a toll road. , It is possible to change the weight of the route cost related to the toll. Further, it is preferable that the route cost data storage means 6 in the above embodiment increases the route cost related to the toll as the toll at each gate increases on an urban expressway or the like to which a uniform toll is applied. It is possible.

Further, preferably, the route cost data storage means 6 in the above embodiment stores a fixed route cost on an inter-city expressway or the like to which a metered toll is applied, regardless of the magnitude of the toll at each interchange. It is possible to set. On the other hand, the navigation device 1 according to the above-described embodiment includes a receiving unit 8 that receives various kinds of information from outside using a VICS, a mobile phone, or the like. The control means 2 automatically selects information related to a departure place, a destination or a route from the information received by the reception means 8 and provides the information to the user.
The information selected in this way is displayed on the display means 9.
Is displayed visually, or is notified audibly by an audio output unit 33 such as an acoustic device.

FIG. 2 is a block diagram showing the configuration of a specific embodiment of the present invention. The navigation apparatus 1 shown in FIG. 2 is provided with a receiver 80 that receives a radio wave (FM broadcast signal) containing road information and a beacon signal (light or radio wave) as a navigation information collection unit. This receiver 80 substantially corresponds to the receiving means 8 shown in FIG.

Further, the navigation device 1 shown in FIG.
Is provided with a GPS receiver (abbreviated as GPS in FIG. 2) 30, a distance sensor 31, and a direction sensor 32 similar to those in FIG.
Through the navigation computer 10. On the other hand, the navigation apparatus 1 can be loaded with a disk medium, for example, a DVD-ROM 40, as a means for inputting map information. In order to obtain map information from the DVD-ROM 40, Driver 41 and DVD-
A ROM decoder 42 is provided. DVD-ROM
The driver 41 reads the information by rotating the DVD-ROM 40, and the DVD-ROM decoder 42 demodulates the map information from the read signal, converts it into a display signal, and inputs the display signal to the navigation computer 10. The above DVD-ROM 40, DVD-ROM driver 41,
The DVD-ROM decoder 42 constitutes the map data storage means 4 shown in FIG.

The navigation computer 10 includes a CPU 11 for controlling and a ROM 1 in which a program is stored.
2, a RAM 12 for temporarily storing data, and the like are provided, and are mutually connected by a bus 16. RAM
Reference numeral 12 can store the current position of the vehicle and the past running history at the corresponding time. The navigation computer 10 detects a reception signal from the GPS receiver 30 and a distance sensor 31 such as a vehicle speed sensor that detects the traveling distance of the vehicle by detecting the number of rotations of the wheels, and a gyro that detects the azimuth of the vehicle by detecting geomagnetism. The position of the vehicle is detected based on a signal from a direction sensor 32 such as a magnetic sensor.

On the other hand, the navigation computer 10 has an input device 14 for the user to input a destination and the like.
Is provided. The route searching means 5 and the route guiding means 7 shown in FIG. 1 are realized by the CPU 11 together with the current position detecting means 3 (not shown in FIG. 2). Further, the route cost data storage means 6 shown in FIG.
This is realized by the OM 12 or the RAM 13. Note that, instead of the ROM 12 or the RAM 13, the CPU 1
It is also possible to use a built-in ROM or RAM in 1.

Then, the navigation computer 10
Is connected to a display device 90 for displaying map data read from the DVD-ROM 40. This display device 90 substantially corresponds to the display means 9 shown in FIG. Further, the display device 90 has a display memory 9 such as a liquid crystal display and a liquid crystal display 91.
2. A graphic controller 93 for reading graphic data from the graphic memory 91 and a display controller 94 for controlling the display 92 are provided. The graphic controller 93 and the display controller 94 are connected to a common bus 16 with the navigation computer 10.

Further, the navigation computer 10
Is connected to an audio device 34. This acoustic device 34
Corresponds substantially to the audio output means 33 shown in FIG. This acoustic device 34 is also connected to the common bus 16 with the navigation computer 10. Sound device 3
4 is provided with a D / A converter 36 for converting digital data transmitted through the bus 16 into analog data, and a sound reproducing device 35 including a speaker, an amplifier and the like. The audio device 34 is a DVD-ROM driver 41
It is for reproducing voice and music recorded on the DVD-ROM 40 or CD-ROM mounted on the PC, and can reproduce music and the like, and can also reproduce voice navigation guide voice.

FIG. 3 is a schematic diagram showing an example of a route search network for calculating a route cost from a departure point to a destination. FIG. 4 is an example of a node table and a link table used for calculating a route cost. And FIG. 5 is a schematic diagram showing an example of a criterion for determining whether a vehicle turns right or left at a node.

The route search network shown in FIG. 3 includes a plurality of nodes N1 to Nn (n is an arbitrary positive integer) including nodes corresponding to tollgates in a route from a departure point to a destination.
And a plurality of links L1 connecting these nodes N1 to Nn
To Ln. In the embodiment shown in FIG. 2, when searching for a route from the departure point to the destination, each node cost of each of the nodes N1 to Nn and each link cost of the links L1 to Ln that the traveling vehicle passes. And the sum of the route costs from the starting point to the destination C
By calculating (Rn), it is possible to calculate a route that minimizes C (Rn). This C (R
The calculation of the route for calculating the route that minimizes n) is performed using a shortest distance calculation algorithm based on the Dijkstra method. Here, C (Rn)
Is adopted as the optimal guidance route.

If the node cost is C (Nn) and the link cost is C (Ln), the total sum C (Rn) of the route costs is basically the node cost C (Nn) and the link cost C (Nn).
(Ln) is defined as follows. C (Rn) = ΣC (Nn) + ΣC (Ln) (1) Here, the link cost C (Ln) is obtained by, for example, the following calculation.

C (Ln) = L × K × S (2) where L is the link length, K is a coefficient based on the number of lanes, and S is the type of road (urban expressway, intercity expressway, national road, prefectural road). , Or a general road).

Generally, the link length, the number of lanes, and the type of road are stored in the map data storage means 4.
Coefficients such as K and S are stored in the ROM. However,
The link length of C (L1) as shown in FIG. 3 is defined as the distance on the link at the link end from the departure point, and C (L1)
The link length n) is defined as the distance on the link at the link end from the destination.

On the other hand, the node cost C (Nn) is
For example, it is obtained by the following calculation. C (Nn) = X + Y + Z '(3) Here, X is the cost (right / left turn, left turn, U-turn, etc.) of the vehicle, Y is the cost due to the traffic light (presence or absence of the traffic light), and Z' is the cost. This represents the toll cost (a feature of the present invention).

In general, the presence / absence of the above traffic light and the toll are stored in the map data storage means 4.
Coefficients relating to costs such as Y and Z 'are stored in the ROM. The link cost C (Ln) is, for example, a link table (62-1 to 62-) as shown in FIG.
n) ROM 12 or RAM 13 (see FIG. 2)
Is calculated based on the information stored in. Meanwhile,
The node cost C (Nn) is stored in the ROM 1 in the form of a node table (60-1 to 60-n) as shown in FIG.
2 or based on information stored in the RAM 13 (see FIG. 2).

More specifically, an arbitrary link Li as shown in FIG. 4 (i is an arbitrary integer from 1 to n)
In addition to the link length L, the number of lanes, and the type of road, data relating to traffic regulation such as one-way traffic, direction, and a connection node to an adjacent node are stored in the link table 62-i corresponding to. Have been. Meanwhile, FIG.
In the node table 60-i corresponding to an arbitrary node Ni as shown in FIG. 1, data on the presence or absence of a traffic light, data on a connection link to an adjacent node, and data on traffic regulation such as right / left turn of a vehicle are stored. ing. However, these data have existed conventionally. Further, in the navigation device of the present invention, the applicable flag of the tollgate, the attributes of toll including the flat fee and the metered fee, and the fee for each vehicle type including small cars and ordinary cars (for example, small cars 100 yen, ordinary cars 200 yen) ) Is stored.

In the embodiment of the present invention, the route with the minimum sum C (Rn) of the route costs is calculated by using the data on the cost Z 'due to the toll, and the route is determined as the optimal guide route. I am trying to do it. At the toll booth where the flat fee is settled, the following transfer costs are given.

Cto = flat fee × Cc + Co (4) Here, Cc and Co are adjustment coefficients when the transfer cost is weighted almost in proportion to the toll. On the other hand, the following transfer costs are provided at a toll booth where a fare adjustment other than a flat fee such as a pay-as-you-go fee occurs.

Ct1 = Cj (5) Here, with reference to FIG. 5, a description will be given of a criterion for determining a right / left turn of a vehicle at an arbitrary node Ni when calculating a cost X due to a right / left turn of the vehicle. . An entry link (for example, link Li-1) into which the vehicle enters and a link existing within a range of ± 20 ° on a straight line extension thereof are defined as a link in a straight traveling direction. On the other hand, a link existing in the range of α which is on the left side of the straight line with the approach link where the vehicle enters is defined as a left turn link. On the other hand, a link existing in the range of β which is on the right side of the straight line with the approach link where the vehicle enters is defined as a right turn link.

Furthermore, the vehicle is approached by an approach link, ie, 160 ° (or 170 °) on the left or right side of the straight line.
°) If the direction of the vehicle changes over the range above,
It is defined as a turn. FIG. 6 is a flowchart for explaining a procedure of calculating a guide route according to the present invention. Here, a series of operations of the CPU 11 (see FIG. 2) in the case of performing a route search by converting a toll into a route cost will be described.

First, the navigation device is activated and the CP
A route search by U is started (step S1). Next, by setting a departure place and a destination, a route search network having a plurality of nodes and a plurality of links including the departure place and the destination is read (step S).
2). Further, a node cost and a link cost are calculated for each node and link, respectively, and a total of the node cost and the link cost is calculated to calculate a route cost from the departure point to the destination (step S3). The route cost data includes attributes of tolls including flat rates and metered rates, and data on rates for each type of vehicle including small cars and ordinary cars.

Further, a route that minimizes the above route cost (see the above-described equations (1) to (3)) is selected.
(Step S4). An optimal guidance route is calculated based on the route thus selected (step S
5). Following this guidance route, the vehicle guidance and
Guidance is performed.

[0047]

As described above, according to the present invention,
By converting a toll at a tollgate or the like on a toll road into route costs, it is possible to provide an appropriate guidance route that minimizes route costs. Furthermore, according to the present invention, it is possible to use a toll road as long as possible in a section to which a flat fare is applied, and to avoid unnecessary connections to a section to be charged a different fare.

Further, according to the present invention, an appropriate guide route according to the attribute of the toll is calculated by making the cost dependency on the toll in the case of the metered fee lower than in the case of the flat fee. It becomes possible.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of an embodiment based on the principle of the present invention.

FIG. 2 is a block diagram showing a configuration of a specific example of the present invention.

FIG. 3 is a schematic diagram showing an example of a route search network for calculating a route cost from a departure place to a destination.

FIG. 4 is a route search network data format diagram showing an example of a node table and a link table used for calculating a route cost.

FIG. 5 is a schematic diagram illustrating an example of a criterion for determining whether a vehicle turns right or left at a node;

FIG. 6 is a flowchart illustrating a procedure for calculating a guide route according to the present invention.

FIG. 7 is a schematic diagram for explaining a conventional route search method.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Navigation apparatus 2 ... Control means 3 ... Current position detection means 4 ... Map data storage means 5 ... Route search means 6 ... Route cost data storage means 7 ... Route guidance means 8 ... Receiving means 9 ... Display means 10 ... Navigation computer 11 ... CPU 12 ... ROM 13 ... RAM 14 ... input device 15 ... interface 16 ... bus 30 ... GPS receiver 31 ... distance sensor 32 ... direction sensor 33 ... audio output means 34 ... sound device 35 ... sound reproduction device 40 ... DVD-ROM 41 DVD-ROM driver 60-1 to 60-n Node table 62-1 to 62-n Link table 80 Receiver 90 Display device 91 Graphic memory 92 Display device

 ──────────────────────────────────────────────────続 き Continued on the front page (71) Applicant 000005821 Matsushita Electric Industrial Co., Ltd. ) Inventor Masatsugu Uemura Fujitsu Ten Co., Ltd. 1-2-28, Goshodori, Hyogo-ku, Kobe-shi, Hyogo (72) Inventor Jun Atsushi Ichimura 1-2-28, Goshodori, Hyogo-ku, Kobe, Hyogo FUJITSU TEN LIMITED (72) Inventor Hidenobu Suzuki 1 Toyota Town, Toyota City, Aichi Prefecture Inside Toyota Automobile Co., Ltd. Kenki Matsushita Communication Industrial Co., Ltd. 3-3-1 Tsunashima Higashi, Kohoku-ku, Yokohama-shi, Kanagawa Prefecture (72) Inventor Hiroaki Tsuji Next to Kanagawa Prefecture Matsushita Communication Industrial Co., Ltd. (3-1) Tsunashima Higashi 4-chome, Kohoku-ku, Tokyo (72) Inventor Yukihiro Nagata 6-18 Okamachi Harayama, Okazaki City, Aichi Prefecture Inside Aisin AW Co., Ltd. (72) Inventor Mamoru Kainuma Aichi 6-18, Harayama, Okamachi, Okazaki-shi, Japan AA01 BB13 CC12 EE10 FF04 FF05 FF12 FF22 FF25 FF27

Claims (6)

[Claims] 1. A navigation device having a function of searching for a route from a departure place to a destination, wherein a toll at a predetermined place in the route is converted into a route cost, and a route cost is calculated based on a sum of the route costs. A navigation device, wherein the route is searched to calculate an optimal guidance route. 2. A route search network having at least one node corresponding to a tollgate in the route, the route search network being obtained by giving the toll to the node, and The navigation device according to claim 1, wherein a search for a route is performed. 3. The navigation device according to claim 2, wherein a toll for each vehicle type is set at said tollgate. 4. The navigation device according to claim 2, wherein the attributes of the toll include at least a flat fee and a metered fee. 5. The navigation device according to claim 2, further comprising a function of changing the route cost with respect to the toll according to a type of the route search. 6. The navigation device according to claim 4, wherein the route cost is calculated while distinguishing between the case of the flat fee and the case of the metered fee.